CN115580199A - Rotary transformer zero calibration method and device, electronic equipment and storage medium - Google Patents
Rotary transformer zero calibration method and device, electronic equipment and storage medium Download PDFInfo
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
Abstract
The embodiment of the application provides a method and a device for calibrating a rotary zero position, electronic equipment and a storage medium, wherein the method comprises the following steps: dragging the motor rotor to rotate and controlling the rotating speed of the motor rotor; controlling a motor stator winding to enter a three-phase short circuit from a three-phase alternating current inverter (ASC), and acquiring a three-phase current numerical value of a three-phase alternating current motor when the rotating speed of a motor rotor is greater than a rotating speed threshold value and a fluctuation state value of the rotating speed is less than a fluctuation threshold value; acquiring a rotary transformer zero position according to the three-phase current numerical value; writing the rotated zero bits to a read only memory. By implementing the embodiment, the error can be reduced, so that the obtained rotation zero position precision is higher.
Description
Technical Field
The application relates to the technical field of motors, in particular to a rotation zero calibration method and device, electronic equipment and a storage medium.
Background
At present, the rotation zero calibration of an electric automobile motor includes the following methods: 1. and the zero position method is manually adjusted, and the voltage direction of the phase voltage is consistent with that of the rotary transformer by manually adjusting the position of the rotary transformer. 2. The static voltage zero adjustment method includes that a voltage instruction is given to phase voltage of a motor, an electronic rotor rotates by an angle under the influence of electromagnetic torque, a rotary transformer rotates along with the rotation, and the angle is recorded as a zero angle of the rotary transformer. 3. A rotating voltage deviation calibration method, namely a rotating motor and a rotating transformer, calculates the rotating zero position of the motor by comparing the deviation angle between the peak point of three-phase voltage and the zero point of the voltage of the rotating transformer, but the voltage calibration method is mainly difficult to accurately obtain the peak point of a voltage wave pattern.
The above methods all need personnel or test equipment to record, calculate and write the rotary zero position, the personnel or test equipment has the capability of recording, calculating and correctly writing, the requirement on the personnel or equipment is high, and the personnel or equipment can be used only by doing certain training or debugging. And the conditions of error recording, error writing, missing writing and the like of the rotary-change zero position are easily caused by manual operation, errors are easily caused, and certain potential risks are brought to the use of subsequent electric driving.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for calibrating a rotation zero, an electronic device, and a storage medium, which can automatically avoid errors.
In a first aspect, an embodiment of the present application provides a method for calibrating a resolver zero, including:
dragging the motor rotor to rotate and controlling the rotating speed of the motor rotor;
controlling a motor stator winding to enter a three-phase short circuit from a three-phase alternating current inverter ASC;
when the rotating speed of the motor rotor is greater than a rotating speed threshold value and the fluctuation state value of the rotating speed is smaller than a fluctuation threshold value, acquiring a three-phase current value of the three-phase alternating current motor;
acquiring a rotary transformer zero position according to the three-phase current value;
and writing the rotating zero position into a read-only memory.
In the implementation process, when the rotating speed of the motor rotor is greater than the rotating speed threshold value and the fluctuation state value of the rotating speed is smaller than the fluctuation threshold value, the three-phase current numerical value of the three-phase alternating current motor is obtained, and the rotary transformer zero position is obtained according to the three-phase current numerical value, so that the error can be reduced, and the obtained rotary transformer zero position is high in precision.
Further, the step of obtaining three-phase current values of the three-phase ac motor includes:
and when the time of the motor rotor rotating at the rotating speed is greater than the time threshold, acquiring a plurality of groups of three-phase current values within a preset time range.
In the implementation process, when the time that the motor rotor rotates at the rotating speed is greater than the time threshold, multiple groups of three-phase current values are obtained within a preset time range, so that the obtained three-phase current values are accurate, the variance is small, and the obtained rotary transformer zero position is accurate.
Further, the step of obtaining the rotation zero position according to the three-phase current value includes:
acquiring temporary rotary transformer zero positions corresponding to each group of three-phase current values to obtain a plurality of temporary rotary transformer zero positions;
and acquiring the rotational change zero position according to the plurality of temporary rotational change zero positions.
In the implementation process, a plurality of temporary rotation zero positions are obtained, and the large error risk caused by a single rotation zero position can be overcome by obtaining the rotation zero positions based on the plurality of temporary rotation zero positions.
Further, the step of obtaining the temporary rotation zero position corresponding to each group of three-phase current values includes:
performing CLARK conversion on each group of three-phase current values to obtain a first conversion current value under an ab fixed coordinate system;
acquiring a preset rotation zero position;
performing PARK conversion on the first conversion current value according to the preset rotation zero position to obtain a second conversion current value under a dq rotation coordinate system;
turning the second conversion current value on a q axis to obtain a third conversion current value under a dq rotation coordinate system;
acquiring a first angle of the third conversion current value in the dq rotation coordinate system;
and acquiring the sum of the preset rotation zero position and the first angle to obtain the temporary rotation zero position.
In the implementation process, the method for acquiring the temporary rotational deformation zero position is provided, and based on the method, a plurality of temporary rotational deformation zero positions can be accurately acquired based on a plurality of groups of three-phase current values.
Further, the step of writing the rotated zero bits to a read only memory comprises:
writing the temporary rotated zero bits to random access memory;
and responding to a rising edge signal of the identification bit, and writing the acquired rotation zero position according to the plurality of temporary rotation zero positions into the read-only memory.
In the implementation process, the rotation zero position is written into the read-only memory, so that the rotation zero position can be prevented from being tampered.
Further, after the step of writing the rotated zero bits to random access memory, the method further comprises:
responding to a rising edge signal of the completion identification bit, and acquiring the average value and the variance of a plurality of temporary rotation zero positions;
and judging whether the average value and the variance exceed preset values, and if so, sending alarm information.
In the implementation process, if the average value and the variance of the temporary rotation zero positions exceed preset values, the obtained rotation zero position error is large, and warning information is sent.
Further, the rotation speed threshold is the rotation speed of the three-phase alternating-current inverter corresponding to the motor when the three-phase alternating-current inverter enters the ASC to rotate.
In a second aspect, an embodiment of the present application provides a rotation zero calibration apparatus, including:
the dragging and rotating speed control module is used for dragging the motor rotor to rotate and controlling the rotating speed of the motor rotor;
the three-phase alternating-current inverter control module is used for controlling the ASC to enable the motor stator winding to enter a three-phase short circuit;
the current value acquisition module is used for acquiring a three-phase current value of the three-phase alternating current motor when the rotating speed of the motor rotor is greater than a rotating speed threshold value and the fluctuation state value of the rotating speed is less than a fluctuation threshold value;
the zero position acquisition module is used for acquiring a rotary transformer zero position according to the three-phase current value;
and the writing module is used for writing the rotary zero position into the read-only memory.
In a third aspect, an electronic device provided in an embodiment of the present application includes: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any of the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having instructions stored thereon, which, when executed on a computer, cause the computer to perform the method according to any one of the first aspect.
Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the above-described techniques.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a rotation zero calibration method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a rotation zero calibration apparatus provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, an embodiment of the present application provides a method for calibrating a rotational zero position, which is applied to an electric drive assembly, where the electric drive assembly includes: three-phase AC inverter, motor stator, electronic rotor, etc., the method comprising:
s1: dragging the motor rotor to rotate and controlling the rotating speed of the motor rotor;
s2: controlling a motor stator winding to enter a three-phase short circuit from a three-phase alternating current inverter (ASC);
in the above embodiment, the three-phase ac inverter is a motor controller of the electric drive assembly to be calibrated.
S3: when the rotating speed of the motor rotor is greater than a rotating speed threshold value and the fluctuation state value of the rotating speed is smaller than a fluctuation threshold value, acquiring a three-phase current value of the three-phase alternating current motor;
s4: acquiring a rotary transformer zero position according to the three-phase current numerical value;
s5: writing the rotated zero bits to the read only memory.
In the implementation process, when the rotating speed of the motor rotor is greater than the rotating speed threshold value and the fluctuation state value of the rotating speed is smaller than the fluctuation threshold value, the three-phase current numerical value of the three-phase alternating current motor is obtained, and the rotary transformer zero position is obtained according to the three-phase current numerical value, so that errors can be reduced, and the obtained rotary transformer zero position is high in precision.
In one possible embodiment, the rotational speed threshold is the rotational speed at which the three-phase ac inverter corresponding to the motor enters into ASC rotation.
It should be noted that, at this time, the motor controller controls the lower switch tube of the three-phase bridge arm of the driving circuit to enter the ASC. The ASC state refers to the condition that an upper switching tube of a three-phase bridge arm of the motor controller or a lower three-bridge of the switching tube of the three-phase bridge arm is fully opened (conducted), so that a motor stator winding forms a closed loop.
At the moment, the motor controller enters the ASC, the motor rotor is dragged to rotate, and the motor stator winding is subjected to electromagnetic induction to generate electromotive force, so that current is generated in three phases.
In a possible embodiment, S2 comprises:
and when the time that the motor rotor rotates at the rotating speed is greater than the time threshold, acquiring a plurality of groups of three-phase current values within a preset time range.
In the implementation process, when the time of the motor rotor rotating at the rotating speed is greater than the time threshold, the multiple groups of three-phase current values are acquired within the preset time range, the acquired three-phase current values can be ensured to be accurate, the variance is small, and therefore the acquired rotary transformer zero position can be more accurate.
In a possible embodiment, the step of obtaining the rotation zero position according to the three-phase current values includes:
acquiring temporary rotary transformer zero positions corresponding to each group of three-phase current values to obtain a plurality of temporary rotary transformer zero positions;
and acquiring the rotary zero position according to the plurality of temporary rotary zero positions.
In the implementation process, a plurality of temporary rotation zero positions are obtained, and the large error risk caused by a single rotation zero position can be overcome by obtaining the rotation zero positions based on the plurality of temporary rotation zero positions.
In a possible embodiment, the step of obtaining the temporary rotation zero position corresponding to each set of three-phase current values includes:
performing CLARK conversion on each three-phase current value to obtain a first conversion current value under an ab fixed coordinate system;
acquiring a preset rotation zero position;
performing PARK conversion on the first conversion current value according to a preset rotation zero position to obtain a second conversion current value under a dq rotation coordinate system;
the second conversion current value is turned over on the q axis to obtain a third conversion current value under the dq coordinate system;
acquiring a first angle of a third conversion current value in a dq rotation coordinate system;
and acquiring the sum of a preset rotation zero position and the first angle to obtain a temporary rotation zero position.
In the above embodiment, the temporary resolver zero is an offset angle of the resolver with respect to the U-phase of the motor.
In the implementation process, a method for acquiring the rotational zero position is provided, and based on the method, a plurality of temporary rotational zero positions can be accurately acquired based on the current value.
In one possible embodiment, the step of writing the rotated zero bits to the read only memory comprises:
writing the temporary rotated zero bits to a random access memory;
and responding to a rising edge signal of the completion identification bit, and writing the acquired rotation zero positions according to the plurality of temporary rotation zero positions into a read-only memory.
In the implementation process, the rotation zero position is written into the read-only memory, so that the rotation zero position can be prevented from being tampered.
In a possible embodiment, after the rising edge is detected, it is further required to determine whether the current motor controller is in a rotation calibration mode and a factory mode, and in a case that only three conditions are met, the software of the motor controller writes the rotation zero value recorded in the random access memory into the read only memory.
In a possible embodiment, after the step of writing the rotated zero to the random access memory, the method further includes:
responding to a rising edge signal of the completion identification bit, and acquiring the average value and the variance of a plurality of temporary rotation zero positions;
and judging whether the average value and the variance exceed preset values, and if so, sending alarm information.
In the implementation process, if the average value and the variance of the temporary rotation zero positions exceed preset values, the obtained rotation zero position error is large, and warning information is sent.
In summary, the motor controller firstly obtains the deviation angle of the resolver relative to the U-phase of the motor, and determines whether the stable operation rotation speed threshold and the data recording time threshold are met, when the rotation speed of the motor rotor is within the target rotation speed fluctuation range and continuously reaches the stable operation time threshold, the motor controller starts to automatically record the value of the deviation angle, and when the motor rotor is within the target rotation speed fluctuation range and continuously reaches the data recording time threshold, the motor controller calculates the average value of the recorded deviation angle, sends out a rotation zero recording completion flag bit, and records the average value into the motor controller RAM.
In one possible embodiment, the motor controller communicates with the gantry or the upper computer through a CAN line, and the method further includes: when the rotary transformer operation is needed, prompt information is sent to the upper computer to remind a bench operator to adjust the rotating speed of the motor, so that the rotating speed of the motor reaches a rotating speed threshold value.
In a possible implementation mode, after the rotary zero position is written into the read-only memory, the reminding information is sent to the upper computer to remind a bench operator that the test is completed, and the subsequent powering-off and recovery work can be executed.
In one possible embodiment, the method further comprises: and (4) checking whether the switching of the rotary transformer calibration mode is successful or not, wherein the checking comprises the checking of bus voltage and a relay, and the checking of self-checking of the motor controller, and if the switching fails, reporting a fault and prompting a fault reason.
In one possible embodiment, the method further comprises: and checking the rotation zero calculation condition, and if the rotating speed of the motor fails to reach a rotating speed threshold value and the duration time exceeds a preset unstable operation time threshold value, reporting a fault by the motor controller and prompting.
In one possible embodiment, the method further comprises: and when the rotating speed of the motor fails to reach the target rotating speed threshold range and the duration time exceeds the unrecorded data time threshold, the motor controller reports a fault and prompts.
In one possible embodiment, the method further comprises: after the rising edge of the rotation zero position recording completion identification bit is sent out, the writing completion identification bit cannot be received after a certain time threshold value is exceeded, and then the motor controller reports a fault and prompts the fault.
Example 2
Referring to fig. 2, an embodiment of the present application provides a rotation zero calibration apparatus, including:
the control module 1 is used for dragging a motor rotor to rotate and controlling the rotating speed of the motor rotor;
the three-phase alternating-current inverter control module 2 is used for controlling the ASC to enable the motor stator winding to enter a three-phase short circuit;
the current value acquisition module 3 is used for acquiring the three-phase current values of the three-phase alternating current motor when the rotating speed of the motor rotor is greater than the rotating speed threshold value and the fluctuation state value of the rotating speed is less than the fluctuation threshold value;
the zero position acquisition module 4 is used for acquiring a rotary transformer zero position according to the three-phase current value;
and the writing module 5 is used for writing the rotary zero position into the read-only memory.
In a possible embodiment, the current value obtaining module 3 is further configured to obtain a plurality of sets of three-phase current values within a preset time range when the time for which the motor rotor rotates at the rotation speed is greater than a time threshold.
In a possible implementation manner, the zero position obtaining module 4 is further configured to obtain temporary rotation zero positions corresponding to each group of three-phase current values, so as to obtain a plurality of temporary rotation zero positions; and acquiring the rotational zero position according to the plurality of temporary rotational zero positions.
In a possible implementation manner, the zero position obtaining module 4 is further configured to perform CLARK conversion on each group of three-phase current values to obtain a first conversion current value in an ab fixed coordinate system; acquiring a pre-rotation zero position;
performing PARK conversion on the first conversion current value according to a preset rotation zero position to obtain a second conversion current value under a dq rotation coordinate system; the second conversion current value is turned over on the q axis to obtain a third conversion current value under a dq rotation coordinate system; acquiring a first angle of a third conversion current value in a dq rotation coordinate system; and acquiring the sum of the preset rotation zero position and the first angle to obtain a temporary rotation zero position.
In a possible embodiment, the write module 5 writes temporary rotated zero bits to the random access memory; and responding to a rising edge signal of the completion identification bit, and writing the acquired rotation zero positions according to the plurality of temporary rotation zero positions into a read-only memory.
In one possible embodiment, the apparatus further comprises: the reminding module is used for responding to the rising edge signal of the finished identification position and acquiring the average value and the variance of a plurality of temporary rotary-change zero positions; and judging whether the average value and the variance exceed preset values, and if so, sending alarm information.
In one possible embodiment, the rotational speed threshold is the rotational speed at which the three-phase ac inverter associated with the electric machine enters into ASC rotation.
Fig. 3 shows a block diagram of an electronic device according to an embodiment of the present disclosure, where fig. 3 is a block diagram of the electronic device. The electronic device may include a processor 31, a communication interface 32, a memory 33, and at least one communication bus 34. Wherein the communication bus 34 is used for realizing direct connection communication of these components. In the embodiment of the present application, the communication interface 32 of the electronic device is used for performing signaling or data communication with other node devices. The processor 31 may be an integrated circuit chip having signal processing capabilities.
The Processor 31 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor 31 may be any conventional processor or the like.
The Memory 33 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 33 stores computer readable instructions which, when executed by the processor 31, enable the electronic device to perform the various steps involved in the above-described method embodiments.
Optionally, the electronic device may further include a memory controller, an input output unit.
The memory 33, the memory controller, the processor 31, the peripheral interface, and the input/output unit are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses 34. The processor 31 is adapted to execute executable modules stored in the memory 33, such as software functional modules or computer programs comprised by the electronic device.
The input and output unit is used for providing a task for a user and starting an optional time interval or preset execution time for the task creation so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in fig. 3 is merely illustrative and that the electronic device may include more or fewer components than shown in fig. 3 or have a different configuration than shown in fig. 3. The components shown in fig. 3 may be implemented in hardware, software, or a combination thereof.
The embodiments of the present application further provide a computer-readable storage medium, where instructions are stored on the computer-readable storage medium, and when the instructions are run on a computer, a computer program is executed by a processor to implement the method of the method embodiments, and details are not repeated here to avoid repetition.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules 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 or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute 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 program codes, 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 above embodiments are merely examples of the present application and are not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method for calibrating a rotary zero position is characterized by comprising the following steps:
dragging the motor rotor to rotate and controlling the rotating speed of the motor rotor;
controlling a motor stator winding to enter a three-phase short circuit from a three-phase alternating current inverter (ASC);
when the rotating speed of the motor rotor is greater than a rotating speed threshold value and the fluctuation state value of the rotating speed is smaller than a fluctuation threshold value, acquiring a three-phase current value of the three-phase alternating current motor;
acquiring a rotary transformer zero position according to the three-phase current value;
writing the rotated zero bits to a read only memory.
2. The method for calibrating a resolver zero according to claim 1, wherein the step of obtaining three-phase current values of the three-phase ac motor comprises:
and when the time that the motor rotor rotates at the rotating speed is greater than a time threshold, acquiring a plurality of groups of three-phase current values within a preset time range.
3. The method for calibrating the resolver zero position according to claim 2, wherein the step of obtaining the resolver zero position according to the three-phase current values comprises:
acquiring temporary rotary transformer zero positions corresponding to each group of three-phase current values to obtain a plurality of temporary rotary transformer zero positions;
and acquiring the rotational change zero position according to the plurality of temporary rotational change zero positions.
4. The method for calibrating the rotational-deformation zero position according to claim 3, wherein the step of obtaining the temporary rotational-deformation zero position corresponding to each group of three-phase current values comprises the following steps:
performing CLARK conversion on each group of three-phase current values to obtain a first conversion current value under an ab fixed coordinate system;
acquiring a preset rotation zero position;
performing PARK conversion on the first conversion current value according to the preset rotation zero position to obtain a second conversion current value under a dq rotation coordinate system;
turning the second conversion current value on a q axis to obtain a third conversion current value under a dq rotation coordinate system;
acquiring a first angle of the third conversion current value in the dq rotation coordinate system;
and acquiring the sum of the preset rotation zero position and the first angle to obtain the temporary rotation zero position.
5. The method of claim 4, wherein the step of writing the rotated zero to a read only memory comprises:
writing the temporary rotated zero bits to random access memory;
and responding to a rising edge signal of the identification bit, and writing the acquired rotation zero position according to the plurality of temporary rotation zero positions into the read-only memory.
6. The method of claim 1, wherein the step of writing the rotated zero to a random access memory is followed by the step of writing the rotated zero to a random access memory further comprising:
responding to a rising edge signal of the completion identification bit, and acquiring the average value and the variance of a plurality of temporary rotation zero positions;
and judging whether the average value and the variance exceed preset values, and if so, sending alarm information.
7. The method for calibrating a resolver zero position according to any one of claims 1 to 6, wherein the rotation speed threshold is a rotation speed when a three-phase ac inverter corresponding to the motor enters an ASC.
8. A rotary zero calibration device is characterized by comprising:
the dragging and rotating speed control module is used for dragging the motor rotor to rotate and controlling the rotating speed of the motor rotor;
the three-phase alternating-current inverter control module is used for controlling the ASC to enable the motor stator winding to enter a three-phase short circuit;
the current value acquisition module is used for acquiring a three-phase current value of the three-phase alternating current motor when the rotating speed of the motor rotor is greater than a rotating speed threshold value and the fluctuation state value of the rotating speed is less than a fluctuation threshold value;
the zero position acquisition module is used for acquiring a rotary transformer zero position according to the three-phase current value;
and the writing module is used for writing the rotary zero position into the read-only memory.
9. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any of claims 1-7 when executing the computer program.
10. A computer-readable storage medium having stored thereon instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1-7.
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