CN116846284B - EPS system motor rotor angle centering data identification processing method - Google Patents

EPS system motor rotor angle centering data identification processing method Download PDF

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Publication number
CN116846284B
CN116846284B CN202311118535.4A CN202311118535A CN116846284B CN 116846284 B CN116846284 B CN 116846284B CN 202311118535 A CN202311118535 A CN 202311118535A CN 116846284 B CN116846284 B CN 116846284B
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motor
angle
phase
rotor
value
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CN116846284A (en
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刘海亭
闫鹏
谢涛娟
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Tianjin Dexing Intelligent Technology Co ltd
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Tianjin Dexing Intelligent Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • 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
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Abstract

The invention discloses a method for identifying and processing data in angle centering of a motor rotor of an EPS system, which relates to the technical field of data identification and processing and comprises the following steps of S1: centering the rotor angle; s2: closed-loop control of the rotating speed and calculation of the lead angle; s3: setting a target rotating speed; s4: clockwise and counterclockwise lead angle comparison and S5: through verification and compensation. The invention reduces the complexity of the angular midpoint value centering of the motor with the rotor position sensor integrated on the PCB of the ECU, and can be completed without an external device; the invention provides a motor rotor midpoint centering and checking compensation method, which can effectively check the accuracy of an initial motor angle midpoint value and improve the accuracy of the motor angle midpoint value through the checking and compensation method; the method can be applied to various road vehicles such as commercial vehicles and passenger vehicles, and improves the accuracy of calibrating the angle midpoint value of the motor and the control performance of the EPS.

Description

EPS system motor rotor angle centering data identification processing method
Technical Field
The invention relates to the technical field of data identification processing, in particular to a method for identifying and processing data in angle centering of a motor rotor of an EPS system.
Background
Whether the angle acquisition and the midpoint value of the motor rotor of the EPS system are accurate or not can directly influence the control performance, and the comfort and the safety of a driver are greatly influenced.
The rotor angle is used for flux linkage decoupling in an EPS system permanent magnet synchronous motor driving algorithm and is one of important parameters. The existing zero initial angle calibration method of the permanent magnet synchronous motor has the problems of complex operation and large error.
The invention provides a method for identifying and processing rotor angle centering data, which is used for identifying and checking the midpoint of angles when the motor rotor angle centering is carried out, identifying and compensating the checking result, thereby improving the accuracy of midpoint values.
Disclosure of Invention
The invention aims to provide a method for identifying and processing angle centering data of an EPS system motor rotor, which aims to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a method for identifying and processing data in angle centering of a motor rotor of an EPS system comprises the following steps:
s1: in the rotor angle pair, voltages are respectively applied to A, B, C three-phase windings to enable the rotor position to be positioned to ABC three phases, and when the rotor rotates to A phase, the angle of the motor is read and used as the angle midpoint value of the motorReading an angle signal when the rotor rotates to the B phase, and calculating that the electric angle difference value of the B phase and the A phase is 120+/-5 degrees, wherein the B phase is qualified under the first pair of poles, reading the angle signal when the rotor rotates to the C phase, and calculating that the electric angle difference value of the C phase and the A phase is within the range of 240+/-5 degrees, judging that the C phase is qualified under the first pair of poles, judging that the first pair of poles is successful when the B phase and the C phase under the first pair of poles are qualified, and analogizing to execute the second pair of poles and the third pair of poles of the motor centering operation respectively;
s2: closed-loop control of rotation speed and advance angle calculation, wherein rated rotation speed of motor is 1050rpm, and target rotation speed of given motor is at verificationNo-load rotation speed closed-loop control is performed at 1000rpm, according to the calculation formula of motor rotation speed:
wherein,is the motor speed>Is the frequency of the stator three-phase current,/->Calculating the frequency of current by the pole pair number of the motor, thereby estimating and rotating the period T=10 ms of the calculated lead angle when the motor rotates at a constant speed, and continuously calculating N=100 lead angle values;
s3: target rotational speed of a given motorWhen the motor is controlled to rotate clockwise in a rotating speed closed-loop manner, N=100 lead angle values are continuously calculated, and the clockwise lead angle is obtained after filtering>Target rotational speed of a given motorWhen the motor is controlled to rotate anticlockwise in a rotating speed closed-loop manner, N=100 advance angle values are continuously calculated, and anticlockwise advance angle ++is obtained after filtering>；
S4: absolute value comparison of clockwise and counterclockwise lead angles:；
s5: determining the final compensation angle value asThe actual angle midpoint value of the motor is+/>The calibration method is that the clockwise and anticlockwise lead angles in S4 are compared, and the compensation method is that: by rotating the lead angle clockwise and the lead angle counter-clockwiseAbsolute value of lead angle: />And->Judging whether the midpoint value of the motor meets the performance requirement or not according to the difference value of the motor, if not, judging that the midpoint value of the motor is +.>Angle midpoint value for motor->Compensating in the forward and backward directions to determine the final compensation angle value as +.>。
Preferably, in S1, in order to avoid failure caused by different errors generated by the motor characteristics, the centering is successful when all 3 times of centering are required to be qualified.
Preferably, the step of calculating the lead angle is as follows:
step one: acquiring a target rotating speed and a motor rotating speed, acquiring/calculating, and performing rotating speed closed-loop PI adjustment to obtain a q-axis target current: target currents of Iq and d axes: id=0;
wherein, PI: proportional and integral adjustment;
step two: collecting three-phase current and rotor angle, calculating feedback current of d axis and q axis, and regulating current loop PI to refresh PWM;
wherein, PWM: pulse width modulation;
step three: when the 10ms period of PWM refreshing is not reached, the rotating speed is controlled in a closed loop mode;
step four: when the 10ms period of PWM refreshing arrives, three-phase voltage acquisition and rotor angle acquisition are completed, and the acquired three-phase voltage is: ud, uq, the lead angle is calculated at this time.
The invention has the technical effects and advantages that:
the complexity of the angular midpoint value centering of the motor on the PCB of the ECU, which is integrated by the rotor position sensor, is reduced, and the rotor position sensor can be completed without an external device;
the invention provides a motor rotor midpoint centering and checking compensation method, which can effectively check the accuracy of an initial motor angle midpoint value and improve the accuracy of the motor angle midpoint value through the checking and compensation method;
the method can be applied to various road vehicles such as commercial vehicles and passenger vehicles, and improves the accuracy of calibrating the angle midpoint value of the motor and the control performance of the EPS.
Drawings
FIG. 1 is a diagram of the H-bridge, three-phase voltage, and three-phase current sampling point locations according to the present invention.
FIG. 2 is a block diagram of motor angle centering and verification compensation according to the present invention.
FIG. 3 is a graph showing the relationship between sinusoidal voltage and current according to the present invention.
Fig. 4 is a schematic view of the lead angle calculation structure of the present invention.
FIG. 5 is a schematic diagram of the identification and processing structure of the present invention.
Fig. 6 is a diagram of a pair of middle points in the motor rotor according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a method for identifying and processing angle centering data of an EPS system motor, which is shown in fig. 1-6, wherein the method is used for identifying an angle midpoint value of a motor of an EPS system permanent magnet synchronous motor, and a rotor position sensor is integrated on a PCB (printed circuit board) of an ECU (electronic control unit). After the motor and the controller are assembled, the motor rotor angle centering and verification compensation are required to be completed before the motor and the controller are assembled with the mechanical assembly.
The control model of the permanent magnet synchronous motor is simplified, and current control on the dq axis is simplified. The current under the three-phase static coordinate system ABC is converted into the current under the two-phase rotating coordinate system dq through three-two conversion, decoupling of torque current and exciting current is achieved, and closed-loop control is carried out on currents under d-axis and q-axis respectively. The angular midpoint value of the motor directly affects the decoupling property of the d axis and the q axis during coordinate transformation, thereby affecting the motor control performance. The invention adopts a rotating speed closed loop IdAnd the control strategy performs angle midpoint value verification of the motor.
According to the phase characteristics of the voltage and the current when the motor rotates clockwise and anticlockwise, a given target rotating speed is adoptedThe angular midpoint value of the motor when the closed-loop control of the rotational speed is performed +.>And (5) checking. At->Calculating d and q axis voltage values under the control strategy, and calculating the lead angle +.>。
And when the motor rotates at a constant speed, calculating the lead angle by taking the period as T, continuously calculating N angle values, and obtaining the lead angle after filtering.
By rotating the lead angle clockwiseAnd counterclockwise rotation advance angle->And judging whether the angle midpoint value of the motor meets the performance requirement or not. If not meeting the requirement, the step length is +.>Angle midpoint value for motor->Compensating in the forward and backward directions to determine the final compensation angle value as +.>. The actual midpoint value of the angle of the motor is +.>+/>The specific method block diagram is shown in fig. 2.
The mathematical model is as follows:
(1) Three-phase stationary coordinate system to two-phase rotating coordinate system:
in the formula:
: motor rotor angle
Ia: phase A current
Ib: b-phase current
Ic: c-phase current
Id: d-axis current
Iq: q-axis current
The d, q-axis currents are derived according to the above formula:
Id=formula (1)
Iq=-Formula (2)
Similarly, d and q axis voltages are obtained:
=/>formula (3)
Uq=-Formula (4)
In the formula:
ua: a phase voltage
Ub: b-phase voltage
Uc: c-phase voltage
Ud: d-axis voltage
Uq: q-axis voltage
(2) The coil has inductance, current phase lags voltage, and lead angle isThe schematic diagram is shown in fig. 3.
In the formula (5), u is the voltage of a bus in the coil, and +.>For bus voltage>Is the waveform coefficient of the bus voltage.
In the formula (6), i is the bus current in the coil, ++>For bus current +.>Is the waveform coefficient of the bus current.
Wherein,，/>formula (7), in formula (7), +.>Is the voltage phase.
，/>Formula (8), in formula (8), +.>Is the current phase.
According to the above formula (7) -formula (8), the angle of the voltage leading current is obtained:
=/>-/>=/>-/>public formula (9)
The permanent magnet synchronous motor used in the specific implementation process is 3 pairs of poles=3, the rotor position sensor adopts a non-contact magnetic rotary encoder, integrated on the PCB board of the ECU.
Rotor angle centering implementation method
S1: in the rotor angle centering, voltages are respectively applied to the A, B, C three-phase windings to position the rotor to ABC threeReading the angle of the motor when the rotor rotates to the phase A and taking the angle as the angle midpoint value of the motorReading an angle signal when the rotor rotates to the B phase, and calculating that the electric angle difference value of the B phase and the A phase is 120+/-5 degrees, wherein the B phase is qualified under the first pair of poles, reading the angle signal when the rotor rotates to the C phase, and calculating that the electric angle difference value of the C phase and the A phase is within the range of 240+/-5 degrees, judging that the C phase is qualified under the first pair of poles, judging that the first pair of poles is successful when the B phase and the C phase under the first pair of poles are qualified, and analogizing to execute the second pair of poles and the third pair of poles of the motor centering operation respectively;
s2: and (3) rotating speed closed-loop control and lead angle calculation, wherein the rated rotating speed of the motor is 1050rpm, the given target rotating speed is 1000rpm during verification, no-load rotating speed closed-loop control is performed, and a calculating formula of the rotating speed of the motor is adopted:
wherein,is the motor speed>Is the frequency of the stator three-phase current,/->Calculating the frequency of current by the pole pair number of the motor, thereby estimating and rotating the period T=10 ms of the calculated lead angle when the motor rotates at a constant speed, and continuously calculating N=100 lead angle values;
s3: given a target rotational speedWhen the motor is controlled to rotate clockwise in a rotating speed closed-loop manner, N=100 lead angle values are continuously calculated, and the clockwise lead angle is obtained after filtering>Given target speed +.>When the motor is controlled to rotate anticlockwise in a rotating speed closed-loop manner, N=100 lead angle values are continuously calculated, and the anticlockwise lead angle is obtained after filtering；
Wherein,for clockwise rotation speed +.>For anticlockwise rotation speed>For the clockwise lead angle +.>For anticlockwise lead angle>And->The absolute value of the clockwise lead angle and the absolute value of the counterclockwise lead angle, respectively.
S4: absolute value comparison of clockwise and counterclockwise lead angles:；
s5: determining the final compensation angle value asThe actual angle midpoint value of the motor is+/>Wherein the verification method is as in S4The clockwise and anticlockwise lead angles are compared, and the compensation method comprises the following steps: using the absolute values of the clockwise rotation lead angle and the counter-clockwise rotation lead angle: />And->Judging whether the midpoint value of the motor meets the performance requirement or not according to the difference value of the motor, if not, judging that the midpoint value of the motor is +.>Angle midpoint value for motor->Compensating in the forward and backward directions to determine the final compensation angle value as +.>；
Wherein,to compensate step size +.>For the final compensation angle value, +.>+/>Is the actual midpoint value of the motor angle.
In S1, in order to avoid disqualification caused by different errors generated by motor characteristics, the centering is successful when 3 times of centering are required to be finished.
The step of calculating the lead angle is as follows:
step one: acquiring a target rotating speed and a motor rotating speed, acquiring/calculating, and performing rotating speed closed-loop PI adjustment to obtain a q-axis target current: target currents of Iq and d axes: id=0;
wherein, PI: proportional and integral regulation.
Step two: collecting three-phase current and rotor angle, calculating feedback current of d axis and q axis, and regulating current loop PI to refresh PWM;
wherein, PWM: pulse width modulation;
step three: when the 10ms period of PWM refreshing is not reached, the rotating speed is controlled in a closed loop mode;
step four: when the 10ms period of PWM refreshing arrives, three-phase voltage acquisition and rotor angle acquisition are completed, and the acquired three-phase voltage is: ud, uq, the lead angle can be calculated at this time.
As shown in fig. 5, when performing closed-loop control and advance angle calculation, first, midpoint verification of the clockwise and counterclockwise advance angles is performed to determine the difference between the clockwise and counterclockwise advance angles, that isAnd->When the difference between the two is smaller than the judgment threshold value, the midpoint is determined, and the actual midpoint value of the motor angle is equal to the angle midpoint value +.>The +final compensation angle value is +.>The method comprises the steps of carrying out a first treatment on the surface of the If the difference value is larger than or equal to the judgment threshold value, the angle midpoint value of the motor is +.>And compensating according to the step length +/-2 degrees, and then re-judging the difference value of the motor angle and the motor angle after the compensation, wherein the compensation times are less than 5 times, if the motor angle is qualified after the compensation is performed within 5 times, determining the actual midpoint value of the motor angle, and if the motor angle is more than 5 times, judging that the motor angle is unqualified.
As shown in fig. 6, the initial PWM for the first pair of poles of phase a is given as 4000, -2000, -2000, and the motor angle is read and taken as the current motor phase a when the rotor turns to phase aAngle midpoint value of (2)The mark A phase mark is a1;
the initial PWM for the first pair of poles of phase B is given as-2000, 4000, -2000, and the motor angle is read when the rotor turns to phase B and is used as the angle midpoint value of the current motor phase BJudging whether the angle of the B phase is smaller than a judging threshold value, if so, marking the B phase mark as B0, if the angle of the B phase is smaller than the judging threshold value, marking the B phase mark as B1, and continuously setting the initial PWM (pulse width modulation) set at-2000, -2000, 4000 when the angle of the B phase is smaller than the judging threshold value and the first pair of poles of the C phase is centered, and reading the motor angle when the rotor rotates to the C phase and taking the motor angle as the angle midpoint value of the current motor C phase>Judging whether the angle of the C phase is smaller than a judging threshold value, if the angle of the C phase is larger than or equal to the judging threshold value, marking a C phase mark as C0, if the angle of the C phase is smaller than the judging threshold value, marking a C phase mark as C1, and when the marked A phase mark as a1, the marked B phase mark as B1 and the marked C phase mark as C1, the midpoint of the first antipodal motor is valid, and at the moment, obtaining a first antipodal midpoint value (namely, the actual midpoint value of the motor angle is shown in the specification)>+/>) If the conditions of a phase mark a1, B phase mark B1 and C phase mark C1 are not satisfied, the midpoint of the first pair of pole motors is invalid; when the pole is to be paired again, the motor angle is cleared, and then the motor angle is processed according to the method, wherein the angle midpoint value of the motor is +.>Angle midpoint value comprising motor phase a +.>Angular midpoint value of motor phase B>Angle midpoint value of phase C of motor +.>。

Claims (3)

1. A method for identifying and processing angle centering data of a motor rotor of an EPS system is characterized by comprising the following steps of: the method comprises the following steps:
s1: in the rotor angle pair, voltages are respectively applied to A, B, C three-phase windings to enable the rotor position to be positioned to ABC three phases, and when the rotor rotates to A phase, the angle of the motor is read and used as the angle midpoint value of the motorReading an angle signal when the rotor rotates to the B phase, and calculating that the electric angle difference value of the B phase and the A phase is 120+/-5 degrees, wherein the B phase is qualified under the first pair of poles, reading the angle signal when the rotor rotates to the C phase, and calculating that the electric angle difference value of the C phase and the A phase is within the range of 240+/-5 degrees, judging that the C phase is qualified under the first pair of poles, judging that the first pair of poles is successful when the B phase and the C phase under the first pair of poles are qualified, and analogizing to execute the second pair of poles and the third pair of poles of the motor centering operation respectively;
s2: closed-loop control of rotation speed and advance angle calculation, wherein rated rotation speed of motor is 1050rpm, and target rotation speed of given motor is at verificationClosed loop control of no-load rotation speed is carried out by the method of the motor with the speed of 1000rpm according to the calculation formula of motor rotation speed: the speed of>Wherein (1)>Is the motor speed>Is the frequency of the stator three-phase current,/->The method comprises the steps of calculating the frequency of current by the pole pair number of a motor, calculating the period T=10ms of the advance angle when the rotating motor rotates at a constant speed, and continuously calculating N=100 advance angle values;
s3: target rotational speed of a given motorWhen the motor is controlled to rotate clockwise in a rotating speed closed-loop manner, N=100 lead angle values are continuously calculated, and the clockwise lead angle is obtained after filtering>Target rotational speed of a given motorWhen the motor is controlled to rotate anticlockwise in a rotating speed closed-loop manner, N=100 advance angle values are continuously calculated, and anticlockwise advance angle ++is obtained after filtering>；
S4: absolute value comparison of clockwise and counterclockwise lead angles:；
s5: determining the final compensation angle value asThe actual angular midpoint of the motor is +.>+Wherein, the verification methodFor the comparison of the clockwise and counterclockwise lead angles in S4, the compensation method is as follows: using absolute values of the clockwise rotation lead angle and the counterclockwise rotation lead angle: />And->Judging whether the midpoint value of the motor meets the performance requirement or not according to the difference value of the motor, if not, judging that the midpoint value of the motor is +.>Angle midpoint value for motor->Compensating in the forward and backward directions to determine the final compensation angle value as +.>。
2. The method for recognizing and processing the angle centering data of the motor rotor of the EPS system according to claim 1, wherein the method comprises the following steps: in the step S1, in order to avoid disqualification caused by different errors generated by motor characteristics, the centering is successful when 3 times of centering are required to be qualified.
3. The method for recognizing and processing the angle centering data of the motor rotor of the EPS system according to claim 1, wherein the method comprises the following steps: the step of calculating the lead angle is as follows:
step one: acquiring a target rotating speed and a motor rotating speed, acquiring/calculating, and performing rotating speed closed-loop PI adjustment to obtain a q-axis target current: target currents of Iq and d axes: id=0;
wherein, PI: proportional and integral adjustment;
step two: collecting three-phase current and rotor angle, calculating feedback current of d axis and q axis, and regulating current loop PI to refresh PWM;
wherein, PWM: pulse width modulation;
step three: when the 10ms period of PWM refreshing is not reached, the rotating speed is controlled in a closed loop mode;
step four: when the 10ms period of PWM refreshing arrives, three-phase voltage acquisition and rotor angle acquisition are completed, the acquired three-phase voltage is calculated to obtain Ud and Uq, and at the moment, the lead angle is calculated.
CN202311118535.4A 2023-09-01 2023-09-01 EPS system motor rotor angle centering data identification processing method Active CN116846284B (en)

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