CN116317723A - Permanent magnet synchronous motor initial position calibration method based on magnetic encoder - Google Patents
Permanent magnet synchronous motor initial position calibration method based on magnetic encoder 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
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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Abstract
The invention discloses a permanent magnet synchronous motor initial position calibration method based on a magnetic encoder, which comprises the steps of determining whether a motor phase sequence is correct or not according to a motor electric angle set value variable quantity and a mechanical angle variable quantity fed back by the magnetic encoder; recording a given motor electrical angle, a mechanical angle fed back by a magnetic encoder, a motor electrical angle variation and a mechanical angle variation fed back by the magnetic encoder in a circle of forward rotation and reverse rotation of the motor after determining that the motor phase sequence is correct; calculating an average angle difference according to the data recorded by the forward and reverse rotation of the motor for one circle; and correcting the electric angle of the motor according to the mechanical angle fed back by the magnetic encoder and the average angle difference to obtain a first corrected electric angle. According to the method, the average angle difference is calculated according to the data recorded by the forward and reverse rotation of the motor for one circle, so that the initial position of the permanent magnet synchronous motor is calibrated, the problem that the position of the rotor of the permanent magnet synchronous motor fed back by the encoder is inaccurate is avoided, and the control precision of the permanent magnet synchronous motor is improved.
Description
Technical Field
The invention relates to the technical field of motor drive control, in particular to a permanent magnet synchronous motor initial position calibration method based on a magnetic encoder.
Background
With the development of permanent magnet material technology and the progress of power electronics and driving device technology, permanent magnet synchronous motors are widely applied to the fields of industrial manufacture, aerospace, robots and the like at present. The permanent magnet synchronous motor generally adopts rotor magnetic field directional control, the real-time position information of the rotor is a precondition for realizing the accurate control of the permanent magnet synchronous motor, and currently, a photoelectric encoder or a rotary transformer is adopted to collect the position information, so that the volume is larger, and the cost is higher. The magnetic encoder has the remarkable advantages of small volume and low cost, but is influenced by the installation precision, and a certain error exists in the position angle fed back by the magnetic encoder, so that the deviation exists between the input electric angle when the motor is controlled to rotate and the actual electric angle when the motor is controlled to rotate to a required position. The existing method for calibrating the initial position of the permanent magnet synchronous motor is difficult to solve the problem of inaccurate rotor position fed back by a magnetic encoder caused by the problem of mounting precision, and influences the control precision of the permanent magnet synchronous motor.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention aims to provide a permanent magnet synchronous motor initial position calibration method and device which can eliminate the influence of motor rotation moment friction, cogging torque effect and magnetic code installation accuracy on the feedback position of an encoder and avoid the problem of inaccurate position of a rotor of the permanent magnet synchronous motor fed back by the encoder.
To achieve the above object, a first aspect of the present invention provides a method for calibrating an initial position of a permanent magnet synchronous motor based on a magnetic encoder, comprising the steps of:
determining whether the phase sequence of the motor is correct according to the change quantity of the set value of the electric angle of the motor and the change quantity of the mechanical angle fed back by the magnetic encoder;
recording a given motor electric angle, a mechanical angle fed back by a magnetic encoder, a motor electric angle variation and a mechanical angle variation fed back by the magnetic encoder in a forward rotation circle of the motor after determining that the motor phase sequence is correct;
recording a given motor electric angle in one circle of reverse rotation of the motor, a mechanical angle fed back by the magnetic encoder, a motor electric angle variation and a mechanical angle variation fed back by the magnetic encoder;
calculating an average angle difference according to the data recorded by the motor rotating forward for one circle and the data recorded by the motor rotating backward for one circle;
and correcting the electric angle of the motor according to the mechanical angle fed back by the magnetic encoder and the average angle difference to obtain a first corrected electric angle.
Further, the method further comprises the following steps:
and carrying out moving average filtering on the corrected first correction electric angle to obtain a second correction electric angle.
Further, the method further comprises the following steps:
and correcting the corrected second correction angle by adopting data recorded by one circle of forward rotation of the motor and data recorded by one circle of reverse rotation of the motor to obtain a third correction electrical angle.
Further, recording the given electromechanical angle in the one-rotation forward direction of the motor, the mechanical angle fed back by the magnetic encoder, the electromechanical angle variation amount, and the mechanical angle variation amount fed back by the magnetic encoder includes:
given the direct axis current i d The motor rated current, the quadrature axis current i q At 0, give the motor electrical angle theta ref 0 and recording the mechanical angle theta fed back by the magnetic encoder at the moment fb ；
And adjusting and increasing the given motor electric angle according to the preset motor electric angle change amount until the motor rotates forward for one circle, and recording the given motor electric angle each time and the mechanical angle change amount fed back by the magnetic encoder.
Further, recording the given motor electrical angle in the reverse rotation of the motor, the mechanical angle fed back by the magnetic encoder, the motor electrical angle variation amount, and the mechanical angle variation amount fed back by the magnetic encoder includes:
and regulating the given motor electric angle according to the preset motor electric angle variation until the motor electric angle is reduced to 0 degrees, and recording the mechanical angle and the mechanical angle variation fed back by the magnetic encoder every time of the given motor electric angle.
Further, calculating the average angle difference from the data recorded for one revolution of the motor in the forward direction and the data recorded for one revolution of the motor in the reverse direction includes:
calculating the pole pair number p of the motor according to a first preset formula according to the recorded motor electrical angle change and the mechanical angle change fed back by the magnetic encoder;
transforming the mechanical angle fed back by the magnetic encoder into an encoder electrical angle by utilizing the pole pair number p of the motor;
calculating an electrical angle offset from the transformed encoder electrical angle and the given motor electrical angle;
the electrical angle average angle difference is calculated according to a second predetermined formula from the electrical angle offset calculated from the encoder electrical angle and the given motor electrical angle for each transformation.
Further, the first predetermined formula is:
wherein ΣΔθ ref Sum of all recorded motor electric angle variation values, sigma delta theta fb The sum of the mechanical angle variations fed back for all the recorded magnetic encoders, p being the motor pole pair number.
Further, the second predetermined formula is:
wherein, θ' fbn Mechanical angle, θ ', for feedback of magnetic encoder' refn For a given electromechanical angle, pxθ' fbn For conversion ofThe electric angle of the encoder, n is the number of mechanical angles fed back by the encoder, theta err_dc Is the electrical angle average angle difference.
A second aspect of the present invention provides an electronic device comprising:
one or more processors; and
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to perform the method of the first aspect.
A third aspect of the invention provides a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements a method as described in the first aspect.
According to the method, the average angle difference is calculated according to the data recorded by one circle of forward rotation and one circle of reverse rotation of the motor, so that the initial position of the permanent magnet synchronous motor is calibrated, the influence of motor rotation moment friction, cogging torque effect and magnetic code mounting precision on the feedback position of the encoder can be eliminated, the problem that the encoder feeds back the rotor position of the permanent magnet synchronous motor to be inaccurate is avoided, and the control precision of the permanent magnet synchronous motor is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for calibrating an initial position of a permanent magnet synchronous motor based on a magnetic encoder according to an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
As shown in fig. 1, a first aspect of the present invention provides a method for calibrating an initial position of a permanent magnet synchronous motor based on a magnetic encoder, comprising the steps of:
step S100: determining whether the phase sequence of the motor is correct according to the change quantity of the set value of the electric angle of the motor and the change quantity of the mechanical angle fed back by the magnetic encoder;
step S110: recording a given motor electric angle, a mechanical angle fed back by a magnetic encoder, a motor electric angle variation and a mechanical angle variation fed back by the magnetic encoder in a forward rotation circle of the motor after determining that the motor phase sequence is correct;
step S120: recording a given motor electric angle in one circle of reverse rotation of the motor, a mechanical angle fed back by the magnetic encoder, a motor electric angle variation and a mechanical angle variation fed back by the magnetic encoder;
step S130: calculating an average angle difference according to the data recorded by the motor rotating forward for one circle and the data recorded by the motor rotating backward for one circle;
step S140: and correcting the electric angle of the motor according to the mechanical angle fed back by the magnetic encoder and the average angle difference to obtain a first corrected electric angle.
In an embodiment of the present invention, the step S100 specifically includes: given the direct axis current i d The motor rated current, the quadrature axis current i q 0, while the electric angle of the motor is given a value of theta ref And 0, gradually increasing the electric angle of the motor, namely setting the electric angle variation of the motor to be positive, gradually rotating the motor along with the given value variation of the electric angle, and obtaining the mechanical angle fed back by the magnetic encoder in real time, wherein if the mechanical angle variation fed back by the magnetic encoder is increased, the phase sequence is correct, otherwise, exchanging the phases of any two phases in the motor until the phase sequence of the motor is correct.
In an embodiment of the present invention, the step S110 specifically includes:
given the direct axis current i d The motor rated current, the quadrature axis current i q At 0, give the motor electrical angle theta ref 0 and recording the mechanical angle theta fed back by the magnetic encoder at the moment fb ；
The motor electrical angle is increased by a predetermined motor electrical angle variation until the motor rotates forward by one revolution, e.g. each time the motor electrical angle variation delta theta ref The motor rotates forward along with the increase of the given electric angle, and the mechanical angle change amount fed back by the magnetic encoder and the electric angle of the given motor are recorded each time in the process of one rotation. Due to the influences of cogging torque and mechanical friction, a certain tracking error exists between a current angle and a mechanical angle of motor rotor rotation, and the tracking error is eliminatedA direction rotating motor.
In an embodiment of the present invention, step S120 specifically includes: adjusting a given motor electric angle according to a predetermined motor electric angle variation until the motor electric angle decreases to 0 DEG, e.g. each time the motor electric angle variation delta theta ref The motor rotates reversely along with the reduction of the given electric angle until the electric angle of the motor is reduced to 0 degrees, and the mechanical angle change quantity fed back by the magnetic encoder and the given electric angle of the motor are recorded each time, so that the influence of mechanical friction is eliminated.
In an embodiment of the present invention, step S130 specifically includes:
and calculating the pole pair number p of the motor according to a first preset formula according to the recorded motor electric angle change and the mechanical angle change fed back by the magnetic encoder. The first predetermined formula is:
wherein ΣΔθ ref Sum of all recorded motor electric angle variation values, sigma delta theta fb The sum of the mechanical angle variations fed back for all the recorded magnetic encoders, p being the motor pole pair number.
Transforming the mechanical angle fed back by the magnetic encoder into the encoder electrical angle p x theta 'using the motor pole pair number p' fb . Encoder electrical angle p x theta' fb Subtracting a given electromechanical angle theta' refn Thereby calculating the electrical angle offset θ err_dc 。
The electrical angle average angle difference is calculated according to a second predetermined formula from the electrical angle offset calculated from the encoder electrical angle and the given motor electrical angle for each transformation. The second predetermined formula is:
wherein, θ' fbn Mechanical angle, θ ', for feedback of magnetic encoder' refn For a given electromechanical angle, p×θ′ fbn For the transformed encoder electrical angle, n is the number of mechanical angles fed back by the encoder, θ err_dc Is the electrical angle average angle difference.
Step S140: and correcting the electric angle of the motor according to the mechanical angle fed back by the magnetic encoder and the average angle difference to obtain a first corrected electric angle. For example, the first corrected electrical angle is calculated by the following formula
θ′ fbe ＝p×θ′ fb -θ err_dc
In addition, due to the existence of the cogging torque, the motor rotor always tends to stay at a fixed position, causing periodic torque fluctuations of the cogging torque, which may cause additional torque fluctuations, thereby affecting positioning accuracy in position calibration. And carrying out moving average filtering on the corrected first correction electric angle to obtain a second correction electric angle in order to eliminate the cogging torque effect. In order to filter out the cogging torque effect, the window width of the moving average filter is set to be one electrical period, and a second correction angle theta 'after the filter is obtained' fbe after filtering 。
The second correction angle after sliding filtering has filtered the interference of the cogging torque effect, only comprises the nonlinear interference when the magnetic encoder is installed, and further comprises the step of correcting the corrected second correction angle by adopting data recorded by one circle of forward rotation of the motor and data recorded by one circle of reverse rotation of the motor to obtain a third correction electrical angle in order to compensate the nonlinear interference when the magnetic encoder is installed. Specifically, the second correction angle corresponding to the electric angle given each time before is made into a table, when the motor rotor rotates to the corresponding electric angle, the electric angle at the position is corrected by adopting a table look-up method to obtain a third correction electric angle, and nonlinear errors caused by installation of the magnetic encoder are eliminated.
A second aspect of the present invention provides an electronic device comprising:
one or more processors; and
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to perform the method of the first aspect.
A third aspect of the invention provides a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements a method as described in the first aspect.
For example, the electronic device includes a central processing unit that can perform various appropriate actions and processes according to a program stored in a read only memory or a program loaded from a storage section into a Random Access Memory (RAM). In the RAM, various programs and data required for the system operation are also stored. The CPU, ROM and RAM are connected to each other by a bus. An input/output (I/O) interface is also connected to the bus.
The following components are connected to the I/O interface: an input section including a touch screen or the like; an output section including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage section including a hard disk or the like; and a communication section including a network interface card such as a LAN card, a modem, and the like. The communication section performs communication processing via a network such as the internet or bluetooth. The drives are also connected to the I/O interfaces as needed. Removable media such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, TF cards, and the like are mounted on the drive as needed so that a computer program read therefrom is mounted into the storage section as needed.
In particular, according to embodiments of the present invention, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. The above-described functions defined in the system of the present application are performed when the computer program is executed by a Central Processing Unit (CPU).
In conclusion, the invention can realize the automatic calibration of the initial position angle of the magnetic encoder, simultaneously eliminates the influence of mechanical friction and cogging torque effect on the identification precision, and simultaneously adopts a table look-up method to carry out nonlinear compensation aiming at nonlinear errors caused by the installation precision of the magnetic encoder, thereby effectively improving the rotor position feedback precision of the magnetic encoder, and being beneficial to improving the position control precision of the permanent magnet synchronous motor.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. 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 or flowchart illustration, and combinations of blocks in the block diagrams 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.
The units involved in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present invention may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a usb disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the control method according to the embodiments of the present invention.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. The initial position calibration method of the permanent magnet synchronous motor based on the magnetic encoder is characterized by comprising the following steps of:
determining whether the phase sequence of the motor is correct according to the change quantity of the set value of the electric angle of the motor and the change quantity of the mechanical angle fed back by the magnetic encoder;
recording a given motor electric angle, a mechanical angle fed back by a magnetic encoder, a motor electric angle variation and a mechanical angle variation fed back by the magnetic encoder in a forward rotation circle of the motor after determining that the motor phase sequence is correct;
recording a given motor electric angle in one circle of reverse rotation of the motor, a mechanical angle fed back by the magnetic encoder, a motor electric angle variation and a mechanical angle variation fed back by the magnetic encoder;
calculating an average angle difference according to the data recorded by the motor rotating forward for one circle and the data recorded by the motor rotating backward for one circle;
and correcting the electric angle of the motor according to the mechanical angle fed back by the magnetic encoder and the average angle difference to obtain a first corrected electric angle.
2. The method for calibrating an initial position of a permanent magnet synchronous motor according to claim 1, further comprising:
and carrying out moving average filtering on the corrected first correction electric angle to obtain a second correction electric angle.
3. The method for calibrating an initial position of a permanent magnet synchronous motor according to claim 1, further comprising:
and correcting the corrected second correction angle by adopting data recorded by one circle of forward rotation of the motor and data recorded by one circle of reverse rotation of the motor to obtain a third correction electrical angle.
4. The method of calibrating an initial position of a permanent magnet synchronous motor according to claim 1, wherein recording a given motor electrical angle, a mechanical angle fed back by a magnetic encoder, a motor electrical angle variation, and a mechanical angle variation fed back by the magnetic encoder in one forward rotation of the motor comprises:
given the direct axis current i d The motor rated current, the quadrature axis current i q At 0, give the motor electrical angle theta ref 0 and recording the mechanical angle theta fed back by the magnetic encoder at the moment fb ；
And adjusting and increasing the given motor electric angle according to the preset motor electric angle change amount until the motor rotates forward for one circle, and recording the given motor electric angle each time and the mechanical angle change amount fed back by the magnetic encoder.
5. The method of calibrating an initial position of a permanent magnet synchronous motor according to claim 4, wherein recording a given motor electrical angle, a mechanical angle fed back by a magnetic encoder, a motor electrical angle variation, and a mechanical angle variation fed back by a magnetic encoder in one rotation of the motor in a reverse direction comprises:
and regulating the given motor electric angle according to the preset motor electric angle variation until the motor electric angle is reduced to 0 degrees, and recording the mechanical angle and the mechanical angle variation fed back by the magnetic encoder every time of the given motor electric angle.
6. The method of calibrating an initial position of a permanent magnet synchronous motor according to claim 1, wherein calculating an average angle difference from data recorded for one rotation of the motor in a forward direction and data recorded for one rotation of the motor in a reverse direction comprises:
calculating the pole pair number p of the motor according to a first preset formula according to the recorded motor electrical angle change and the mechanical angle change fed back by the magnetic encoder;
transforming the mechanical angle fed back by the magnetic encoder into an encoder electrical angle by utilizing the pole pair number p of the motor;
calculating an electrical angle offset from the transformed encoder electrical angle and the given motor electrical angle;
the electrical angle average angle difference is calculated according to a second predetermined formula from the electrical angle offset calculated from the encoder electrical angle and the given motor electrical angle for each transformation.
7. The method of calibrating an initial position of a permanent magnet synchronous motor according to claim 6, wherein the first predetermined formula is:
wherein ΣΔθ ref Sum of all recorded motor electric angle variation values, sigma delta theta fb The sum of the mechanical angle variations fed back for all the recorded magnetic encoders, p being the motor pole pair number.
8. The method of calibrating an initial position of a permanent magnet synchronous motor according to claim 6, wherein the second predetermined formula is:
wherein, θ' fbn Mechanical angle, θ ', for feedback of magnetic encoder' refn For a given electromechanical angle, pxθ' fbn For the transformed encoder electrical angle, n is the number of mechanical angles fed back by the encoder, θ err_dc Is the electrical angle average angle difference.
9. An electronic device, comprising:
one or more processors; and
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to perform the method of any of claims 1-8.
10. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-8.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116915118A (en) * | 2023-07-14 | 2023-10-20 | 苏州利氪科技有限公司 | Zero position learning method and device for motor |
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| CN116915118A (en) * | 2023-07-14 | 2023-10-20 | 苏州利氪科技有限公司 | Zero position learning method and device for motor |
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