CN115208247B - Rotor position measuring method and device of motor - Google Patents
Rotor position measuring method and device of motor Download PDFInfo
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- CN115208247B CN115208247B CN202211116161.8A CN202211116161A CN115208247B CN 115208247 B CN115208247 B CN 115208247B CN 202211116161 A CN202211116161 A CN 202211116161A CN 115208247 B CN115208247 B CN 115208247B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides a method and a device for measuring the position of a rotor of a motor, which relate to the motor technology and comprise the following steps: determining an initial position of a rotor in the motor, controlling the motor to rotate for a preset number of turns at a preset angular speed according to a first working voltage, and acquiring a first linear output voltage and a second linear output voltage output by a first Hall sensor and a second Hall sensor in the rotation process of the rotor; acquiring position information of the rotor at each rotation moment according to the preset angular speed of the rotor; acquiring a first voltage cycle and a second voltage cycle of the first linear output voltage and the second linear output voltage, and performing preset equal division processing on the first voltage cycle and the second voltage cycle to obtain a plurality of first cycle points and second cycle points; acquiring position information of the rotation time corresponding to each first period point and each second period point, and generating a corresponding position measurement corresponding table; and measuring the rotor position of the motor based on the position measurement corresponding table.
Description
Technical Field
The invention relates to the motor technology, in particular to a method and a device for measuring the position of a rotor of a motor.
Background
The key link in the control of the brushless direct current motor is that the current position of the motor rotor needs to be determined immediately, and further control is performed on equipment corresponding to the brushless direct current motor according to the current position of the motor rotor.
A hall sensor is a magnetic field sensor made according to the hall effect. The magnetic field sensor can sense the change of a magnetic field, and further obtain different and required information according to different scenes. The rotor can have regular change in the course of the work, and corresponding hall sensor also can have regular change this moment, so, can be according to the different operating voltage of motor, the different change law come confirm the position of rotor, among the prior art, can not combine a plurality of hall sensors to carry out detection, the calibration of rotor position, lead to the rotor position of motor to fix a position the precision low, the error rate is high.
Disclosure of Invention
The embodiment of the invention provides a method and a device for measuring the position of a rotor of a motor, which can be used for detecting and calibrating the position of the rotor by combining a plurality of Hall sensors, and have high positioning accuracy and low error rate on the position of the rotor of the motor.
In a first aspect of the embodiments of the present invention, a method for measuring a rotor position of a motor is provided, including:
the method comprises the steps that a first Hall sensor and a second Hall sensor are respectively arranged at a first preset position and a second preset position of a motor in advance, and the first preset position and the second preset position are arranged in a preset angle;
determining an initial position of a rotor in the motor, controlling the motor to rotate for a preset number of turns at a preset angular speed according to a first working voltage, and acquiring a first linear output voltage and a second linear output voltage output by a first Hall sensor and a second Hall sensor in the rotation process of the rotor;
acquiring the position information of the rotor at each rotation moment according to the preset angular speed of the rotor;
acquiring a first voltage cycle and a second voltage cycle of the first linear output voltage and the second linear output voltage, and performing preset equal division processing on the first voltage cycle and the second voltage cycle to obtain a plurality of first cycle points and second cycle points;
acquiring position information of the rotation time corresponding to each first period point and each second period point, and generating a corresponding position measurement corresponding table;
and measuring the rotor position of the motor based on the position measurement corresponding table.
Optionally, in a possible implementation manner of the first aspect, determining an initial position of a rotor in the motor, controlling the motor to rotate at a preset angular speed for a preset number of turns according to a first working voltage, and acquiring a first linear output voltage and a second linear output voltage output by the first hall sensor and the second hall sensor during rotation of the rotor includes:
based on a manual correction mode, enabling the rotor to be at a preset initial position of the motor, and receiving a first working voltage and a preset number of turns of rotation configured by a user;
loading a first working voltage to the motor, controlling the motor to rotate for a preset number of turns according to a preset angular speed, and acquiring the output voltage of the first Hall sensor and the second Hall sensor at each moment by the processor;
and the processor performs linear fitting processing according to the output voltages of the first Hall sensor and the second Hall sensor at each moment to obtain a first linear output voltage and a second linear output voltage.
Optionally, in a possible implementation manner of the first aspect, the performing, by the processor, a linear fitting process according to output voltages of the first hall sensor and the second hall sensor at each time to obtain a first linear output voltage and a second linear output voltage includes:
when a rotor in the motor is at an initial position, voltages output by a first Hall sensor and a second Hall sensor are used as a first reference voltage and a second reference voltage;
subtracting the output voltage of the first Hall sensor at each moment from the first reference voltage at the processor to obtain a first fitting voltage, and performing linear fitting processing on the first fitting voltage at each moment to obtain a first linear output voltage;
and subtracting the second reference voltage from the output voltage of the second Hall sensor at each moment at the processor to obtain a second fitting voltage, and performing linear fitting processing on the second fitting voltage at each moment to obtain a second linear output voltage.
Optionally, in a possible implementation manner of the first aspect, the obtaining position information of the rotor at each rotation time according to the preset angular velocity of the rotor includes:
multiplying the preset angular speed by the rotation duration of the rotor at each rotation moment to obtain the rotation angle of each rotation moment relative to the initial position;
if the rotation angle is judged to be 360 degrees, the rotation angle is reset to zero, and the rotation angle corresponding to each rotation moment is recalculated;
and taking the rotation angle corresponding to each rotation moment as corresponding position information.
Optionally, in a possible implementation manner of the first aspect, the obtaining a first voltage cycle and a second voltage cycle of the first linear output voltage and the second linear output voltage, and performing preset equal division processing on the first voltage cycle and the second voltage cycle to obtain a plurality of first cycle points and second cycle points includes:
selecting a first moment with a rotation angle of 0 degrees and a second moment with a rotation angle of 359 degrees in the first linear output voltage, wherein the second moment is positioned after the first moment and is the moment with the rotation angle of 359 degrees which is closest to the first moment;
calculating a time period from the first moment to the second moment to obtain a first voltage cycle, equally dividing 358 parts of the first voltage cycle to obtain a plurality of third moments, wherein the first moment, the second moment and the third moments total 360 moment points, and taking the 360 moment points as first cycle points;
selecting a fourth moment at which the rotation angle is 0 degrees and a fifth moment at which the rotation angle is 359 degrees in the second linear output voltage, wherein the fifth moment is after the fourth moment, and the fifth moment is the moment at which the rotation angle is 359 degrees and is closest to the fourth moment;
and calculating the time period from the fourth time to the fifth time to obtain a second voltage cycle, equally dividing 358 parts of the second voltage cycle to obtain a plurality of sixth times, wherein the fourth time, the fifth time and the sixth time total 360 time points, and taking the 360 time points as second cycle points.
Optionally, in a possible implementation manner of the first aspect, the obtaining position information of a rotation time corresponding to each of the first cycle point and the second cycle point, and generating a corresponding position measurement mapping table includes:
determining a rotation time which is the same as the first period point and the second period point;
extracting the determined first output voltage of the first period point, the determined second output voltage of the second period point and the position information of the rotation moment to generate position corresponding sub information of each same moment;
and extracting 360 pieces of position corresponding sub-information at the same time, and sequencing the sub-information in ascending order according to the position information to obtain a position measurement corresponding table.
Optionally, in a possible implementation manner of the first aspect, the method further includes:
receiving a plurality of first working voltages input in advance, and establishing a sub-region corresponding to each first working voltage in the position measurement corresponding table;
and determining that the position corresponding sub information of 360 same moments is filled in the corresponding sub area under each first working voltage.
Optionally, in a possible implementation manner of the first aspect, the measuring the position of the rotor of the electric motor based on the position measurement correspondence table includes:
when the motor is judged to rotate, receiving a first instantaneous monitoring voltage and a second instantaneous monitoring voltage output by a first Hall sensor and a second Hall sensor in real time;
obtaining the working voltage of the motor at the current moment, and determining a target sub-region in a position measurement corresponding table according to the working voltage;
determining corresponding position sub information in a target sub-area according to the first instantaneous monitoring voltage, and extracting the position information corresponding to the position sub information to serve as first monitoring position information;
determining corresponding position corresponding sub-information in a target sub-area according to the second instantaneous monitoring voltage, and extracting the position information corresponding to the position corresponding sub-information to serve as second monitoring position information;
if the first monitoring position information corresponds to the second monitoring position information, outputting the first monitoring position information as final position information;
and if the first monitoring position information and the second monitoring position information do not correspond, outputting reminding information.
Optionally, in a possible implementation manner of the first aspect, if the first monitoring location information and the second monitoring location information do not correspond to each other, outputting a prompting message includes:
calculating according to the first monitoring position information and the second monitoring position information to obtain monitoring position difference information;
and if the monitoring position difference information is larger than the preset position difference information, judging that the first monitoring position information and the second monitoring position information do not correspond to each other, and outputting reminding information.
In a second aspect of the embodiments of the present invention, there is provided a rotor position measuring device of a motor, including:
the device comprises a setting module, a control module and a control module, wherein the setting module is used for respectively setting a first Hall sensor and a second Hall sensor at a first preset position and a second preset position of the motor in advance, and the first preset position and the second preset position are arranged at a preset angle;
the voltage acquisition module is used for determining the initial position of a rotor in the motor, controlling the motor to rotate for a preset number of turns at a preset angular speed according to a first working voltage, and acquiring a first linear output voltage and a second linear output voltage output by a first Hall sensor and a second Hall sensor in the rotation process of the rotor;
the position acquisition module is used for acquiring the position information of the rotor at each rotation moment according to the preset angular speed of the rotor;
the period acquisition module is used for acquiring a first voltage period and a second voltage period of the first linear output voltage and the second linear output voltage, and performing preset equal division processing on the first voltage period and the second voltage period to obtain a plurality of first period points and second period points;
the generating module is used for acquiring the position information of the rotation time corresponding to each first period point and each second period point and generating a corresponding position measurement corresponding table;
and the measuring module is used for measuring the rotor position of the motor based on the position measurement corresponding table.
Has the advantages that:
1. the scheme is provided with a first Hall sensor and a second Hall sensor, the position of a rotor is measured, firstly, a first linear output voltage and a second linear output voltage output by the first Hall sensor and the second Hall sensor are obtained by combining a first working voltage, then a plurality of first period points and second period points in a first voltage period and a second voltage period are obtained, the position information of the rotor at each rotation moment is obtained by combining the preset angular speed of the rotor, the first period points, the second period points and the position information at the rotation moment are combined to obtain a position measurement corresponding table, and a subsequent server can directly refer to the position measurement corresponding table to measure the position of the electronic rotor; according to the scheme, the two Hall sensors are matched with each other to detect and calibrate the position of the rotor, so that the position of the rotor of the motor can be quickly and accurately positioned, data between the two Hall sensors can be compared with each other to judge whether the Hall sensors send position offset or are damaged, and the method has the advantages of high accuracy and low error rate;
2. the scheme can obtain corresponding 360 time points by equally dividing the first voltage period and the second voltage period so as to obtain a first period point and a second period point, then obtain position information, first output voltage and second output voltage of each same time by using the first output voltage of the first period point, the second output voltage of the second period point and the position information of the rotation time, obtain position corresponding sub-information, further obtain a position measurement corresponding table, and then directly compare the position measurement corresponding table by using data in the position measurement corresponding table as reference data. In addition, due to the fact that different working voltages and corresponding data are different, the scheme can set corresponding sub-regions in the position measurement corresponding table according to different working voltages to fill corresponding position corresponding sub-information, corresponding comparison can be directly carried out subsequently, and comparison efficiency and comparison accuracy are improved.
3. When the rotor position is measured by using the position measurement correspondence table, the current working voltage is firstly determined, then the corresponding target sub-region is found, the position corresponding sub-information in the target sub-region is determined, then the first instantaneous monitoring voltage and the second instantaneous monitoring voltage output by the first Hall sensor and the second Hall sensor are collected in real time, then the first monitoring position information and the second monitoring position information in the corresponding position corresponding sub-information are determined, whether the results output by the two first Hall sensors and the second Hall sensor correspond or not is judged by using the comparison result of the first monitoring position information and the second monitoring position information, if so, the rotor position is accurate, and meanwhile, the first Hall sensor and the second Hall sensor are in an accurate monitoring state.
Drawings
Fig. 1 is a schematic flowchart of a method for measuring a rotor position of an electric motor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a rotor position measuring device of an electric motor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1, which is a schematic flowchart of a method for measuring a rotor position of an electric machine according to an embodiment of the present invention, an execution subject of the method shown in fig. 1 may be a software and/or hardware device. The execution subject of the present application may include, but is not limited to, at least one of: user equipment, network equipment, etc. The user equipment may include, but is not limited to, a computer, a smart phone, a Personal Digital Assistant (PDA), the above mentioned electronic equipment, and the like. The network device may include, but is not limited to, a single network server, a server group of multiple network servers, or a cloud of numerous computers or network servers based on cloud computing, wherein cloud computing is one type of distributed computing, a super virtual computer consisting of a cluster of loosely coupled computers. The present embodiment does not limit this. The rotor position measuring method of the motor comprises steps S1 to S6, and specifically comprises the following steps:
s1, a first Hall sensor and a second Hall sensor are respectively arranged at a first preset position and a second preset position of the motor in advance, and the first preset position and the second preset position are arranged at preset angles.
It can be understood that after the rotor is electrified, a magnetic field is generated, the position of the rotor changes, the magnetic field also changes, the hall sensor is a magnetic field sensor manufactured according to the hall effect, and therefore, the voltage value output by the corresponding hall sensor also changes.
It should be noted that, this scheme has set up two hall sensor, and the difference is first hall sensor and second hall sensor, can combine a plurality of hall sensor to carry out detection, the calibration of rotor position, can carry out quick, accurate location to the rotor position of motor, has the advantage that the precision is high, the error rate is low.
The first preset position and the second preset position are arranged at a preset angle, for example, the first preset position and the second preset position are arranged at 180 degrees, that is, the first preset position and the second preset position are on the same straight line.
S2, determining an initial position of a rotor in the motor, controlling the motor to rotate for a preset number of turns according to a first working voltage and according to a preset angular speed, and acquiring a first linear output voltage and a second linear output voltage output by the first Hall sensor and the second Hall sensor in the rotation process of the rotor.
Firstly, the scheme determines an initial position of a rotor in the motor, then controls the motor to rotate for a preset number of turns (for example, 100 turns) according to a first working voltage (for example, 110V, 220V and the like) and according to a preset angular speed, and acquires a first linear output voltage and a second linear output voltage output by the first hall sensor and the second hall sensor during the rotation of the rotor.
It can be understood that the first operating voltage is different, and the first linear output voltage and the second linear output voltage outputted by the corresponding first hall sensor and the second hall sensor are also different.
In some embodiments, S2 (determining an initial position of a rotor in the motor, controlling the motor to rotate at a preset angular speed for a preset number of turns according to a first working voltage, and acquiring first and second linear output voltages output by first and second hall sensors during rotation of the rotor) includes S21-S23:
s21, based on a manual correction mode, enabling the rotor to be located at a preset initial position of the motor, receiving a first working voltage configured by a user, and rotating for a preset number of turns.
In order to ensure the accuracy of the subsequent measurement, a manual correction mode is firstly adopted to enable the rotor to be at a preset initial position of the motor, and then a first working voltage (for example, 110V) configured by a user is received, and the rotor is rotated for a preset number of turns (for example, 100 turns).
And S22, loading a first working voltage to the motor, controlling the motor to rotate for a preset number of turns according to a preset angular speed, and acquiring the output voltage of the first Hall sensor and the second Hall sensor at each moment by the processor.
Illustratively, the motor is controlled to rotate 100 turns at a preset angular speed of 360 DEG/S, and the processor acquires the output voltage of the first Hall sensor and the second Hall sensor at each moment.
And S23, the processor performs linear fitting processing according to the output voltages of the first Hall sensor and the second Hall sensor at each moment to obtain a first linear output voltage and a second linear output voltage.
In some embodiments, S23 (the processor performs a linear fitting process according to the output voltages of the first hall sensor and the second hall sensor at each time to obtain a first linear output voltage and a second linear output voltage) includes S231-S233:
and S231, taking the voltages output by the first Hall sensor and the second Hall sensor as a first reference voltage and a second reference voltage when the rotor in the motor is at the initial position.
The scheme considers that the measurement of the first Hall sensor and the second Hall sensor is interfered by the magnetic field of the environment, and the corresponding magnetic field interference is different when the environment is different.
In order to remove interference, after the position of the motor is determined, and when a rotor in the motor is at an initial position, the voltages output by the first Hall sensor and the second Hall sensor are measured to obtain a first reference voltage and a second reference voltage. It is understood that the first reference voltage and the second reference voltage at this time are interference voltages generated by magnetic fields corresponding to the environment.
And S232, subtracting the first reference voltage from the output voltage of the first Hall sensor at each moment in the processor to obtain a first fitting voltage, and performing linear fitting processing on the first fitting voltage at each moment to obtain a first linear output voltage.
It can be understood that in the scheme, the output voltage of the first hall sensor at each moment is subtracted from the first reference voltage, interference is removed, a first fitting voltage is obtained, and then the first fitting voltage at each moment is subjected to linear fitting processing, so that a first linear output voltage is obtained. The linear fitting is a way of curve fitting, and is not described herein again for the prior art.
And S233, subtracting the output voltage of the second Hall sensor at each moment from the second reference voltage at the processor to obtain a second fitting voltage, and performing linear fitting processing on the second fitting voltage at each moment to obtain a second linear output voltage.
Similar to step S232, in this solution, the output voltage of the second hall sensor at each moment is subtracted from the second reference voltage, so as to remove interference, and obtain a second fitting voltage, and then the second fitting voltage at each moment is subjected to linear fitting processing, so as to obtain a second linear output voltage.
And S3, acquiring the position information of the rotor at each rotation moment according to the preset angular speed of the rotor.
It will be appreciated that the position information of the rotor at each moment of rotation can be calculated from a preset angular velocity of the rotor. In the embodiment, the predetermined angular velocity is, for example, 360 °/S, that is, the rotor 1S rotates for one circle, in practical applications, the angular velocity of the rotor will be relatively fast, and the example of the present solution is only for assisting the clear explanation, and the numerical value is not limited.
In some embodiments, S3 (said obtaining of the position information of the rotor at each moment of rotation according to the preset angular velocity of said rotor) comprises S31-S33:
and S31, multiplying the preset angular speed by the rotation duration of the rotor at each rotation moment to obtain the rotation angle of each rotation moment relative to the initial position.
Illustratively, the rotation time period at a certain rotation time is 0.1S, and the preset angular velocity is 360 °/S, then at the rotation time of 0.1S, the rotation angle with respect to the initial position is 36 degrees.
And S32, if the rotation angle is judged to be 360 degrees, the rotation angle is reset to zero, and the rotation angle corresponding to each rotation moment is recalculated.
It can be understood that, in the scheme, 360 degrees in one cycle is taken as a cycle, and after the rotor rotates for one cycle, the rotation angle is returned to zero, and the rotation angle corresponding to each rotation moment is recalculated.
And S33, taking the corresponding rotation angle of each rotation moment as corresponding position information.
It can be understood that the present solution associates the rotation time with the corresponding rotation angle, and when determining a rotation time, the rotation angle corresponding to the rotation time can be known, that is, the corresponding position information of the rotor can be known.
And S4, acquiring a first voltage cycle and a second voltage cycle of the first linear output voltage and the second linear output voltage, and performing preset equal division processing on the first voltage cycle and the second voltage cycle to obtain a plurality of first cycle points and second cycle points.
It can be understood that the present solution performs a preset equal division process on the first voltage cycle and the second voltage cycle to obtain a plurality of first cycle points and second cycle points.
In some embodiments, S4 (the obtaining of the first voltage cycle and the second voltage cycle of the first linear output voltage and the second linear output voltage, and the performing of the preset equal division process on the first voltage cycle and the second voltage cycle to obtain a plurality of first cycle points and second cycle points) includes S41 to S44:
s41, selecting a first moment with a rotation angle of 0 degrees and a second moment with a rotation angle of 359 degrees in the first linear output voltage, wherein the second moment is positioned after the first moment and is the moment with the rotation angle of 359 degrees which is closest to the first moment.
It can be understood that the present scheme uses 360 degrees as a rotation period, and when the rotation angle is 0 degrees, it is marked as a first time, and when the rotation angle is 359 degrees, it is marked as a second time. It will also be appreciated that at a rotation angle of 360 degrees, it returns to the position at a rotation angle of 0 degrees. Thus, the first time instant and the second time instant are the closest, and the second time instant is located after the first time instant.
And S42, calculating a time period from the first moment to the second moment to obtain a first voltage cycle, equally dividing 358 parts of the first voltage cycle to obtain a plurality of third moments, wherein the first moment, the second moment and the third moments total 360 moment points, and taking the 360 moment points as first cycle points.
For illustrative convenience, the angular speed is 1 °/S, that is, 360S is required for one rotation every 1S rotation of the rotor, and the time period from the first time to the second time is 0-360S, so as to obtain the first voltage cycle. Meanwhile, the scheme equally divides the first voltage period according to 358 parts to obtain a plurality of third time points, wherein the first time point, the second time point and the third time point total 360 time points, and the 360 time points are taken as first period points. It is understood that every 1S is a time point.
And S43, selecting a fourth moment with a rotation angle of 0 degree and a fifth moment with a rotation angle of 359 degrees in the second linear output voltage, wherein the fifth moment is positioned after the fourth moment, and the fifth moment is the moment with the rotation angle of 359 degrees which is closest to the fourth moment.
Similar to step S41, the present solution takes 360 degrees as a rotation period, and marks it as the fourth time when the rotation angle is 0 degrees, and marks it as the fifth time when the rotation angle is 359 degrees. It will also be appreciated that at a rotation angle of 360 degrees, it returns to the position at a rotation angle of 0 degrees.
And S44, calculating a time period from the fourth time to the fifth time to obtain a second voltage cycle, equally dividing 358 parts of the second voltage cycle to obtain a plurality of sixth times, wherein the fourth time, the fifth time and the sixth time total 360 time points, and taking the 360 time points as second cycle points.
Similar to step S42, for illustrative convenience, the angular speed is 1 °/S, that is, 360S is required for one rotation every 1S of the rotor, and the time period from the fourth time to the fifth time is 0 to 360S, thereby obtaining the second voltage period. Meanwhile, in the scheme, 358 parts of the second voltage cycle are equally divided to obtain a plurality of sixth time points, the total of the fourth time point, the fifth time point and the sixth time point is 360 time points, and the 360 time points are taken as second cycle points. It is understood that every 1S is a time point.
And S5, acquiring the position information of the rotation time corresponding to each first period point and each second period point, and generating a corresponding position measurement corresponding table.
It is understood that the position measurement correspondence table is a correspondence between time and position information, for example, at 0S, the corresponding position relationship is 0 degrees, at 1S, the corresponding position relationship is 1 degree, at 2S, the corresponding position relationship is 2 degrees, at 359S, the corresponding position relationship is 359 degrees, and at 360S, the corresponding position relationship is 0 degrees.
In some embodiments, S5 (obtaining the position information of the rotation time corresponding to each of the first period point and the second period point, and generating the corresponding position measurement correspondence table) includes S51-S53:
and S51, determining the rotation time which is the same as the first periodic point and the second periodic point.
It can be understood that the first period point refers to a period point corresponding to the first hall sensor, and the second period point refers to a period point corresponding to the second hall sensor, and the present solution may determine the rotation time at the same time as the first period point and the second period point, for example, the rotation time of the first period point and the second period point at the 10 th S.
And S52, extracting the determined first output voltage of the first periodic point, the determined second output voltage of the second periodic point and the position information of the rotation moment, and generating position corresponding sub-information of each same moment.
The scheme extracts the determined first output voltage of the first period point, the determined second output voltage of the second period point and the position information of the rotation moment, and generates the position corresponding sub-information of each same moment, namely the scheme establishes a corresponding relation among the moment, the voltage and the position. The position correspondence sub information may be, for example, "10 degrees (position information at the time of rotation) -0.3V (first output voltage) -0.5V (second output voltage)".
And S53, extracting 360 pieces of position corresponding sub information at the same time, and sequencing the sub information in ascending order according to the position information to obtain a position measurement corresponding table.
It can be understood that, in the position measurement correspondence table, ascending sorting is sequentially performed according to the position information in the position correspondence sub-information, that is, the position measurement correspondence table is arranged before the position measurement sub-information with a smaller rotation angle and arranged after the position measurement sub-information with a larger rotation angle.
On the basis of the above embodiment, the method further includes:
receiving a plurality of first working voltages input in advance, and establishing a sub-region corresponding to each first working voltage in the position measurement corresponding table;
and determining that the position corresponding sub information of 360 same moments is filled in the corresponding sub area under each first working voltage.
It can be understood that, different operating voltages, a corresponding series of data (such as the magnetic field of the rotor, the voltage output by the hall sensor, and the position corresponding sub-information) will change, and therefore, the present solution will determine the relevant data at each first operating voltage (such as 110V, 150V, and 220V), and fill the relevant data into the corresponding sub-region.
In the embodiment, a sub-region corresponding to each first operating voltage is established in the position measurement correspondence table, and then a plurality of first operating voltages which are input in advance are filled into the corresponding sub-regions, so that the position measurement correspondence table includes the first operating voltages and 360 pieces of position corresponding sub-information at the same time under the first operating voltages.
And S6, measuring the rotor position of the motor based on the position measurement corresponding table.
To measure the rotor position of the motor, in some embodiments, S6 (which measures the rotor position of the motor based on the position measurement correspondence table) includes S61-S66:
and S61, receiving the first instantaneous monitoring voltage and the second instantaneous monitoring voltage output by the first Hall sensor and the second Hall sensor in real time when the motor is judged to rotate.
When the motor is judged to rotate, the rotor is indicated to rotate at the moment, and the scheme can receive the first instantaneous monitoring voltage and the second instantaneous monitoring voltage output by the first Hall sensor and the second Hall sensor in real time.
S62, obtaining the working voltage of the motor at the current moment, and determining a target sub-area in the position measurement corresponding table according to the working voltage.
According to the scheme, the working voltage of the motor at the current moment can be obtained, and then the corresponding target sub-area is found in the position measurement corresponding table by utilizing the working voltage. For example, if the operating voltage is 110V, the target sub-area corresponding to 110V in the position measurement correspondence table is determined.
S63, determining corresponding position corresponding sub information in a target sub-area according to the first instantaneous monitoring voltage, and extracting the position information corresponding to the position corresponding sub information to serve as first monitoring position information.
After the first instantaneous monitoring voltage is obtained, the corresponding position corresponding sub information (for example, "10 degrees (position information at the rotation moment) -0.3V (first output voltage) -0.5V (second output voltage)") in the target sub area is found according to the first instantaneous monitoring voltage (for example, 0.3V), and then the position information corresponding to the position corresponding sub information is extracted as the first monitoring position information (for example, 10 degrees).
It can be understood that, according to the present embodiment, the first monitoring location information corresponding to the first instantaneous monitoring voltage in the location measurement mapping table is found.
And S64, determining corresponding position corresponding sub information in the target sub-area according to the second instantaneous monitoring voltage, and extracting the position information corresponding to the position corresponding sub information to serve as second monitoring position information.
Similar to step S63, after obtaining the second instantaneous monitoring voltage (e.g. 0.5V), the present solution finds the corresponding sub information of the position in the target sub-area (e.g. "10 degrees (position information at rotation time) -0.3V (first output voltage) -0.5V (second output voltage)") according to the second instantaneous monitoring voltage, and then extracts the position information corresponding to the sub information of the position as the second monitoring position information (e.g. 10 degrees).
It can be understood that, in the present embodiment, the second monitoring position information corresponding to the second instantaneous monitoring voltage in the position measurement corresponding table is found.
And S65, if the first monitoring position information corresponds to the second monitoring position information, outputting the first monitoring position information as final position information.
After the first monitoring position information and the second monitoring position information are obtained, the scheme can compare the first monitoring position information with the second monitoring position information, if the first monitoring position information corresponds to the second monitoring position information, the situation that the position of the rotor is correct and accurate is shown, and meanwhile, the situation that the first monitoring position information and the second monitoring position information are accurate is shown, namely, the first Hall sensor and the second Hall sensor are both in accurate measurement states, and the scheme can output the first monitoring position information as final position information.
And S66, if the first monitoring position information and the second monitoring position information do not correspond to each other, outputting reminding information.
It can be understood that if the first monitoring position information and the second monitoring position information do not correspond to each other, it indicates that one of the first hall sensor and the second hall sensor is changed or damaged, and a reminding message is output to inform a worker in time.
In some embodiments, S66 (which outputs reminder information if the first and second monitored location information do not correspond) includes S661-S662:
and S661, calculating according to the first monitoring position information and the second monitoring position information to obtain monitoring position difference information.
In the scheme, errors are considered in the measurement process, so that the scheme can calculate the first monitoring position information and the second monitoring position information to obtain the difference value of the first monitoring position information and the second monitoring position information, namely the monitoring position difference value information.
And S662, if the monitoring position difference information is greater than the preset position difference information, judging that the first monitoring position information and the second monitoring position information do not correspond to each other, and outputting reminding information.
It can be understood that if the monitoring position difference information is greater than the preset position difference information, it is indicated that the difference between the first monitoring position information and the second monitoring position information is large, at this time, it is determined that the first monitoring position information and the second monitoring position information do not correspond to each other, and reminding information is output to inform a worker in time.
Referring to fig. 2, a schematic structural diagram of a rotor position measuring device of an electric machine according to an embodiment of the present invention is shown, where the rotor position measuring device of the electric machine includes:
the setting module is used for respectively setting a first Hall sensor and a second Hall sensor at a first preset position and a second preset position of the motor in advance, wherein the first preset position and the second preset position are arranged at a preset angle;
the voltage acquisition module is used for determining the initial position of a rotor in the motor, controlling the motor to rotate for a preset number of turns at a preset angular speed according to a first working voltage, and acquiring a first linear output voltage and a second linear output voltage output by a first Hall sensor and a second Hall sensor in the rotation process of the rotor;
the position acquisition module is used for acquiring the position information of the rotor at each rotation moment according to the preset angular speed of the rotor;
the period acquisition module is used for acquiring a first voltage period and a second voltage period of the first linear output voltage and the second linear output voltage, and performing preset equal division processing on the first voltage period and the second voltage period to obtain a plurality of first period points and second period points;
the generating module is used for acquiring the position information of the rotation time corresponding to each first period point and each second period point and generating a corresponding position measurement corresponding table;
and the measuring module is used for measuring the rotor position of the motor based on the position measurement corresponding table.
The apparatus in the embodiment shown in fig. 2 can be correspondingly used to perform the steps in the method embodiment shown in fig. 1, and the implementation principle and technical effect are similar, which are not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A method of measuring a rotor position of an electric machine, comprising:
the method comprises the following steps that a first Hall sensor and a second Hall sensor are respectively arranged at a first preset position and a second preset position of a motor in advance, and the first preset position and the second preset position are arranged at a preset angle;
determining an initial position of a rotor in the motor, controlling the motor to rotate for a preset number of turns at a preset angular speed according to a first working voltage, and acquiring a first linear output voltage and a second linear output voltage output by a first Hall sensor and a second Hall sensor in the rotation process of the rotor;
acquiring the position information of the rotor at each rotation moment according to the preset angular speed of the rotor;
acquiring a first voltage cycle and a second voltage cycle of the first linear output voltage and the second linear output voltage, and performing preset equal division processing on the first voltage cycle and the second voltage cycle to obtain a plurality of first cycle points and second cycle points;
acquiring position information of the rotation time corresponding to each first period point and each second period point, and generating a corresponding position measurement corresponding table;
measuring the rotor position of the motor based on the position measurement corresponding table;
confirm the initial position of rotor in the motor, control according to first operating voltage the motor rotates according to predetermineeing angular velocity and predetermineeing the number of turns, at the rotation in-process of rotor, acquires first linear output voltage and the second linear output voltage of first hall sensor and second hall sensor output, includes:
based on a manual correction mode, enabling the rotor to be at a preset initial position of the motor, and receiving a first working voltage and a preset number of turns of rotation configured by a user;
loading a first working voltage to the motor, controlling the motor to rotate for a preset number of turns according to a preset angular speed, and acquiring the output voltage of the first Hall sensor and the second Hall sensor at each moment by the processor;
the processor performs linear fitting processing according to the output voltages of the first Hall sensor and the second Hall sensor at each moment to obtain a first linear output voltage and a second linear output voltage;
the processor carries out linear fitting processing according to the output voltage of the first Hall sensor and the second Hall sensor at each moment to obtain a first linear output voltage and a second linear output voltage, and the method comprises the following steps:
when a rotor in the motor is at an initial position, voltages output by a first Hall sensor and a second Hall sensor are used as a first reference voltage and a second reference voltage;
subtracting the output voltage of the first Hall sensor at each moment from the first reference voltage at the processor to obtain a first fitting voltage, and performing linear fitting processing on the first fitting voltage at each moment to obtain a first linear output voltage;
subtracting the output voltage of the second Hall sensor at each moment from the second reference voltage at the processor to obtain a second fitting voltage, and performing linear fitting processing on the second fitting voltage at each moment to obtain a second linear output voltage;
the acquiring position information of the rotor at each rotation moment according to the preset angular velocity of the rotor includes:
multiplying the preset angular speed by the rotation duration of the rotor at each rotation moment to obtain the rotation angle of each rotation moment relative to the initial position;
if the rotation angle is judged to be 360 degrees, the rotation angle is reset to zero, and the rotation angle corresponding to each rotation moment is recalculated;
and taking the rotation angle corresponding to each rotation moment as corresponding position information.
2. The rotor position measuring method of an electric motor according to claim 1,
the acquiring a first voltage cycle and a second voltage cycle of the first linear output voltage and the second linear output voltage, and performing preset equal division processing on the first voltage cycle and the second voltage cycle to obtain a plurality of first cycle points and second cycle points, includes:
selecting a first moment with a rotation angle of 0 and a second moment with a rotation angle of 359 in the first linear output voltage, wherein the second moment is positioned after the first moment and is the moment with the rotation angle of 359 closest to the first moment;
calculating a time period from the first moment to the second moment to obtain a first voltage cycle, equally dividing the first voltage cycle according to 358 to obtain a plurality of third moments, wherein the first moment, the second moment and the third moments total 360 moment points, and taking the 360 moment points as first cycle points;
selecting a fourth moment of time when the rotation angle is 0 and a fifth moment of time when the rotation angle is 359, wherein the fifth moment of time is after the fourth moment of time, and the fifth moment of time is the moment of time when the rotation angle is 359 and is closest to the fourth moment of time;
and calculating the time period from the fourth time to the fifth time to obtain a second voltage cycle, equally dividing the second voltage cycle according to 358 to obtain a plurality of sixth times, wherein the fourth time, the fifth time and the sixth time total 360 time points, and taking the 360 time points as second cycle points.
3. The rotor position measuring method of an electric motor according to claim 2,
the acquiring of the position information of the rotation time corresponding to each first period point and each second period point and the generating of the corresponding position measurement mapping table include:
determining a rotation time which is the same as the first period point and the second period point;
extracting the determined first output voltage of the first period point, the determined second output voltage of the second period point and the position information of the rotation moment to generate position corresponding sub information of each same moment;
and extracting 360 pieces of position corresponding sub-information at the same time, and sequencing the sub-information in ascending order according to the position information to obtain a position measurement corresponding table.
4. The rotor position measuring method of an electric machine according to claim 3, further comprising:
receiving a plurality of first working voltages input in advance, and establishing a sub-region corresponding to each first working voltage in the position measurement corresponding table;
and under each first working voltage, filling 360 pieces of position corresponding sub information at the same time into corresponding sub areas.
5. The rotor position measuring method of an electric motor according to claim 4,
the measuring the rotor position of the motor based on the position measurement correspondence table includes:
when the motor is judged to rotate, receiving a first instantaneous monitoring voltage and a second instantaneous monitoring voltage output by a first Hall sensor and a second Hall sensor in real time;
obtaining the working voltage of the motor at the current moment, and determining a target sub-region in a position measurement corresponding table according to the working voltage;
determining corresponding position sub information in a target sub-area according to the first instantaneous monitoring voltage, and extracting the position information corresponding to the position sub information to serve as first monitoring position information;
determining corresponding position sub information in a target sub-area according to the second instantaneous monitoring voltage, and extracting the position information corresponding to the position sub information to serve as second monitoring position information;
if the first monitoring position information corresponds to the second monitoring position information, outputting the first monitoring position information as final position information;
and if the first monitoring position information and the second monitoring position information do not correspond, outputting reminding information.
6. The rotor position measuring method of an electric motor according to claim 5,
if the first monitoring position information and the second monitoring position information do not correspond to each other, outputting reminding information, including:
calculating according to the first monitoring position information and the second monitoring position information to obtain monitoring position difference information;
and if the monitoring position difference information is larger than the preset position difference information, judging that the first monitoring position information and the second monitoring position information do not correspond to each other, and outputting reminding information.
7. A rotor position measuring device of an electric motor, comprising:
the device comprises a setting module, a control module and a control module, wherein the setting module is used for respectively setting a first Hall sensor and a second Hall sensor at a first preset position and a second preset position of the motor in advance, and the first preset position and the second preset position are arranged at a preset angle;
the voltage acquisition module is used for determining the initial position of a rotor in the motor, controlling the motor to rotate for a preset number of turns at a preset angular speed according to a first working voltage, and acquiring a first linear output voltage and a second linear output voltage output by a first Hall sensor and a second Hall sensor in the rotation process of the rotor;
the position acquisition module is used for acquiring the position information of the rotor at each rotation moment according to the preset angular speed of the rotor;
the period acquisition module is used for acquiring a first voltage period and a second voltage period of the first linear output voltage and the second linear output voltage, and performing preset equal division processing on the first voltage period and the second voltage period to obtain a plurality of first period points and second period points;
the generating module is used for acquiring the position information of the rotation time corresponding to each first period point and each second period point and generating a corresponding position measurement corresponding table;
the measuring module is used for measuring the rotor position of the motor based on the position measurement corresponding table;
confirm the initial position of rotor in the motor, control according to first operating voltage the motor rotates according to predetermineeing angular velocity and predetermineeing the number of turns, at the rotation in-process of rotor, acquires first linear output voltage and the second linear output voltage of first hall sensor and second hall sensor output, includes:
based on a manual correction mode, enabling the rotor to be at a preset initial position of the motor, and receiving a first working voltage and a preset number of turns of rotation configured by a user;
loading a first working voltage to the motor, controlling the motor to rotate for a preset number of turns according to a preset angular speed, and acquiring the output voltage of the first Hall sensor and the second Hall sensor at each moment by the processor;
the processor performs linear fitting processing according to the output voltages of the first Hall sensor and the second Hall sensor at each moment to obtain a first linear output voltage and a second linear output voltage;
the processor carries out linear fitting processing according to the output voltage of the first Hall sensor and the second Hall sensor at each moment to obtain a first linear output voltage and a second linear output voltage, and the method comprises the following steps:
when a rotor in the motor is at an initial position, voltages output by a first Hall sensor and a second Hall sensor are used as a first reference voltage and a second reference voltage;
subtracting the output voltage of the first Hall sensor at each moment from the first reference voltage at the processor to obtain a first fitting voltage, and performing linear fitting processing on the first fitting voltage at each moment to obtain a first linear output voltage;
subtracting the output voltage of the second Hall sensor at each moment from the second reference voltage at the processor to obtain a second fitting voltage, and performing linear fitting processing on the second fitting voltage at each moment to obtain a second linear output voltage;
the acquiring position information of the rotor at each rotation moment according to the preset angular velocity of the rotor includes:
multiplying the preset angular speed by the rotation duration of the rotor at each rotation moment to obtain the rotation angle of each rotation moment relative to the initial position;
if the rotation angle is judged to be 360 degrees, the rotation angle is reset to zero, and the rotation angle corresponding to each rotation moment is recalculated;
and taking the rotation angle corresponding to each rotation moment as corresponding position information.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104919696A (en) * | 2013-01-09 | 2015-09-16 | 飞思卡尔半导体公司 | Device for determining a position of a rotor of a polyphase electric motor |
| CN110932514A (en) * | 2019-12-30 | 2020-03-27 | 深圳市优必选科技股份有限公司 | Brushless motor and detection method for motor rotor position |
| CN111327233A (en) * | 2020-02-17 | 2020-06-23 | 浙江科技学院 | Method and system for detecting position of permanent magnet motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104919696A (en) * | 2013-01-09 | 2015-09-16 | 飞思卡尔半导体公司 | Device for determining a position of a rotor of a polyphase electric motor |
| CN110932514A (en) * | 2019-12-30 | 2020-03-27 | 深圳市优必选科技股份有限公司 | Brushless motor and detection method for motor rotor position |
| CN111327233A (en) * | 2020-02-17 | 2020-06-23 | 浙江科技学院 | Method and system for detecting position of permanent magnet motor |
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