CN116907331A - Permanent magnet synchronous motor rotor angle acquisition device and acquisition method - Google Patents
Permanent magnet synchronous motor rotor angle acquisition device and acquisition method Download PDFInfo
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- CN116907331A CN116907331A CN202310633984.6A CN202310633984A CN116907331A CN 116907331 A CN116907331 A CN 116907331A CN 202310633984 A CN202310633984 A CN 202310633984A CN 116907331 A CN116907331 A CN 116907331A
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- 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
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Abstract
The application discloses a permanent magnet synchronous motor rotor angle acquisition device, which comprises: three linear hall sensors and three switch type hall sensors; the three switch Hall sensors are arranged in three notches of the coil winding stator at intervals of 120 degrees, and the magnetic sensitive surfaces of the switch Hall sensors are opposite to the magnetic pole surfaces of the magnet rotor; the three linear Hall sensors are arranged on the coil winding stators at the outer sides of the same angles with the three switch sensors, and the measuring surfaces of the linear Hall sensors are perpendicular to the magnetic force lines of the permanent magnets of the magnet rotor. The linear Hall sensor and the switch type Hall sensor are used for replacing a mechanical position sensor in a mixed mode, so that photoelectric coding discs, rotary transformers and other detection equipment with high price are omitted, the cost is effectively reduced, and the structure is simple.
Description
Technical Field
The application relates to the technical field of permanent magnet synchronous motors, in particular to a device and a method for acquiring a rotor angle of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the advantages of good dynamic performance, compact structure, high operation efficiency and the like, and is widely used in industrial production, transportation and daily life.
Most encoders in permanent magnet synchronous motors use one of a switch hall sensor and a linear hall sensor, and are monotonous in structure, simple in function and low in precision. The switch hall sensors are commonly used for detecting speed and position, and the output state value of each switch hall sensor is determined to be a low-level or high-level digital signal by measuring the vector direction of the magnetic induction intensity of the position where each switch hall sensor is located, so that the switch hall sensor has no intermediate value and is easily influenced by environmental factors, and the sensitivity is reduced. The linear Hall sensor outputs an electric signal proportional to the measured magnetic field intensity, the output voltage and the external magnetic field intensity are in linear relation, good linearity is achieved in a certain magnetic induction intensity range, once the linear Hall sensor exceeds the range, the linearity is poor, and the measuring distance is greatly limited; meanwhile, the temperature drift is generated due to the influence of the temperature, so that the acquisition precision is low.
Disclosure of Invention
Aiming at the defects in the prior art, the application provides a device and a method for acquiring the rotor angle of a permanent magnet synchronous motor, which are used for solving the technical problems of low acquisition precision and large data error caused by singly using a switch Hall sensor or a linear Hall sensor in the prior art.
The application provides a permanent magnet synchronous motor rotor angle acquisition device, which comprises: three linear hall sensors and three switch type hall sensors;
the three switch Hall sensors are arranged in three notches of the coil winding stator at intervals of 120 degrees, and the magnetic sensitive surfaces of the switch Hall sensors are opposite to the magnetic pole surfaces of the magnet rotor;
the three linear Hall sensors are arranged on the coil winding stators at the outer sides of the same angles with the three switch sensors, and the measuring surfaces of the linear Hall sensors are perpendicular to the magnetic force lines of the permanent magnets of the magnet rotor.
The application provides a method for acquiring the rotor angle of a permanent magnet synchronous motor, which comprises the following steps:
step 1: acquiring the rotating speed of a permanent magnet synchronous motor and the response time of a linear Hall sensor;
step 2: calculating the deviation angle of the linear Hall sensor and the sampling times of the linear Hall sensor according to the rotating speed and the response time;
step 3: selecting a linear Hall sensor or a switch type Hall sensor as a position sensor according to the deviation angle and the sampling times;
step 4: and (3) acquiring the motor rotor angle through the position sensor selected in the step (3).
Optionally, the calculation formula of the deviation angle of the linear hall sensor in the step 2 is as follows:
where E represents the angular deviation, t represents the response time of the linear hall sensor, and v represents the rotational speed of the motor.
Optionally, the sampling frequency calculation formula of the linear hall sensor in the step 2 is as follows:
wherein N represents the sampling times of obtaining angle information in one circle, f represents the main frequency of the motor, and v represents the rotating speed of the motor.
Optionally, the specific method of the step 3 is as follows:
when the angle deviation is more than or equal to 2 degrees, the switch type Hall sensor is used as a position sensor,
or/and, when the sampling frequency is less than or equal to 12 times, the switch type Hall sensor is used as a position sensor.
Optionally, the mounting position of the linear hall sensor is adjusted when the angular deviation is greater than 5 °.
Optionally, in the step 4, when the position sensor is a linear hall sensor, a calculation formula of the motor rotor angle is:
in the psi- a Is motor winding flux linkage; psi phi type f Is a permanent magnet flux linkage; li (Li) A Is the armature inductance.
Optionally, in the step 4, when the position sensor is a switch-type hall sensor, a calculation formula of the motor rotor angle is:
wherein ω (t) is the instantaneous angular velocity of the current hall interval motor; t is t k K=1, 2,3,4,5,6 for the moment when the motor rotor enters the kth hall interval; θ k An initial angle at which the rotor magnetic axis enters the kth sector.
The application has the beneficial effects that:
the linear Hall sensor and the switch type Hall sensor are used for replacing a mechanical position sensor in a mixed mode, so that photoelectric coding discs, rotary transformers and other detection equipment with high price are omitted, the cost is effectively reduced, and the structure is simple.
According to the application, the switch-type Hall sensor and the linear Hall sensor are selected according to the rotating speed condition of the motor, so that the application effect of the Hall sensor is effectively ensured, the angle deviation is reduced, and the rotor position information is accurately acquired.
Compared with the traditional encoder, the application has the advantages that the anti-interference performance is improved, the data precision is effectively improved, and the adaptability and the stability of the system are improved.
Drawings
The features and advantages of the present application will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the application in any way, in which:
FIG. 1 is a schematic diagram of an embodiment of the present application;
fig. 2 is a flow chart of an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
The application will be further elucidated with reference to specific examples. It will be appreciated by those skilled in the art that these examples are intended to illustrate the application and not to limit the scope of the application, and that various equivalent modifications to the application fall within the scope of the application as defined by the appended claims.
As shown in fig. 1, a specific embodiment of the present application provides a rotor angle acquisition device of a permanent magnet synchronous motor, including: three linear hall sensors 1, three switch type hall sensors 2;
the three switch Hall sensors 2 are arranged in three notches of the coil winding stator at intervals of 120 degrees, and the magnetic sensitive surfaces of the switch Hall sensors are opposite to the magnetic pole surfaces of the magnet rotor;
the three linear Hall sensors 1 are arranged on the coil winding stators at the outer sides of the same angles as the three switch sensors 2, and the measuring surfaces of the linear Hall sensors 1 are perpendicular to the magnetic force lines of the permanent magnets of the magnet rotor.
As shown in fig. 2, the embodiment of the application further provides a method for obtaining the rotor angle of the permanent magnet synchronous motor, which is suitable for the device for obtaining the rotor angle of the permanent magnet synchronous motor, and the method comprises the following steps:
step 1: acquiring the rotating speed of a permanent magnet synchronous motor and the response time of a linear Hall sensor;
step 2: calculating the deviation angle of the linear Hall sensor and the sampling times of the linear Hall sensor according to the rotating speed and the response time;
the calculation formula of the deviation angle is as follows:
wherein E represents angular deviation, t represents response time of the linear Hall sensor, and v represents rotation speed of the motor;
the calculation formula of the sampling times is as follows:
wherein N represents the sampling times of obtaining angle information in one circle, f represents the main frequency of the motor, and v represents the rotating speed of the motor;
step 3: selecting a linear Hall sensor or a switch type Hall sensor as a position sensor according to the deviation angle and the sampling times;
when the angle deviation is more than or equal to 2 degrees, the switch type Hall sensor is used as a position sensor,
or/and, when the sampling times are less than or equal to 12 times, taking the switch type Hall sensor as a position sensor;
in other cases, the linear Hall sensor is used as a position sensor;
when the deviation angle is larger than 5 degrees, the linear Hall sensor is considered to have larger deviation, and the installation of the linear Hall sensor needs to be rechecked;
step 4: acquiring the angle of a motor rotor through the position sensor selected in the step 3;
when the position sensor is a linear Hall sensor, a three-phase static coordinate system is established, and a voltage balance equation of the permanent magnet synchronous motor is obtained as follows:
wherein u is A ,u B ,u C Phase voltages of three-phase windings of the motor respectively; i.e A ,i B ,i C Phase currents of three-phase windings of the motor respectively; r is a phase resistance; psi phi type a ,ψ b ,ψ c Respectively a motor three-phase winding flux linkage;
the flux linkage equation is:
in the psi- f Is the flux linkage of the permanent magnet, L is the armature inductance,
therefore, the calculation formula of the motor rotor angle is:
in the psi- a Is motor winding flux linkage; psi phi type f Is a permanent magnet flux linkage; li (Li) A Is an armature inductance;
when the position sensor is a switch type Hall sensor, the position sensor is uniformly distributed and installed according to an angle of 2/3 pi, the discrete signals have 6 combined output states, 100-110-010-011-001-101, an electric cycle is equally divided into 6 60-degree Hall intervals, and when the sensor detects that a rotor magnetic pole enters a new 60-degree Hall interval, the calculation formula of the angle of the motor rotor is as follows:
wherein ω (t) is the instantaneous angular velocity of the current hall interval motor; t is t k K=1, 2,3,4,5,6 for the moment when the motor rotor enters the kth hall interval; θ k An initial angle at which the rotor magnetic axis enters the kth sector.
In the following, a linear Hall sensor of SC4643VB model is selected, the response time t is 3.6us, the main sampling frequency is 20KHz, for example,
when the motor rotation speed v is 60000 rpm, the motor rotation speed v can be calculated by the following formula:
when the motor is 60000 r/min, the angle deviation is 1.296 degrees, and the Hall sensor of the switch is not used as a position sensor;
when the motor rotation speed v reaches 120000 rpm, it is calculated by the following formula:
in this case, as the motor speed increases, a larger deviation occurs in the angle error, and the angle deviation e=2.592° > 2 °, so that the switching hall sensor is switched as the position sensor.
When the motor rotation speed v is 60000 r/min, the following formula can be adopted for calculation:
the angle information of 20 times is obtained in one electrical period, wherein N=20 > 12, so that the Hall sensor is not switched into a switch;
when the rotational speed v reached 120000 revolutions per minute, it was obtained at this time:
the number of times of acquiring angle information in one electrical cycle is 10 times and less than 12 times, and then the angle information needs to be provided by switching from the linear Hall sensor to the switch Hall sensor serving as a position sensor.
The angular deviation is caused by sampling delay in a high rotation speed state, and the root cause of the delay is the response time and sampling frequency limitation of the linear Hall. The sampling delay can lead to angular lag, which in turn affects the control system. After the switch Hall sensor is switched to, the switch Hall sensor responds faster, and the problem of angle deviation caused by sampling lag can be effectively solved.
In addition, if the motor adopts vector control which is more dependent on angle information, more than 12 times of angle information needs to be acquired in one electrical period, and more than 12 times of angle information needs to be provided by a linear Hall sensor; when the rotating speed is increased, and angle information within 12 times can be obtained in one electrical period, the angle information can not be required to be controlled by a vector, the square wave control is required to be switched to in time, and the angle of the square wave control is more suitable by adopting a switch Hall sensor.
Although embodiments of the present application have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the application, and such modifications and variations are within the scope of the application as defined by the appended claims.
Claims (8)
1. A permanent magnet synchronous motor rotor angle acquisition device, comprising: three linear hall sensors and three switch type hall sensors;
the three switch Hall sensors are arranged in three notches of the coil winding stator at intervals of 120 degrees, and the magnetic sensitive surfaces of the switch Hall sensors are opposite to the magnetic pole surfaces of the magnet rotor;
the three linear Hall sensors are arranged on the coil winding stators at the outer sides of the same angles with the three switch sensors, and the measuring surfaces of the linear Hall sensors are perpendicular to the magnetic force lines of the permanent magnets of the magnet rotor.
2. A method for acquiring a rotor angle of a permanent magnet synchronous motor, which is applicable to the device for acquiring the rotor angle of the permanent magnet synchronous motor according to claim 1, and is characterized in that the method comprises the following steps:
step 1: acquiring the rotating speed of a permanent magnet synchronous motor and the response time of a linear Hall sensor;
step 2: calculating the deviation angle of the linear Hall sensor and the sampling times of the linear Hall sensor according to the rotating speed and the response time;
step 3: selecting a linear Hall sensor or a switch type Hall sensor as a position sensor according to the deviation angle and the sampling times;
step 4: and (3) acquiring the motor rotor angle through the position sensor selected in the step (3).
3. The method for obtaining the rotor angle of the permanent magnet synchronous motor according to claim 2, wherein the calculation formula of the deviation angle of the linear hall sensor in the step 2 is as follows:
where E represents the angular deviation, t represents the response time of the linear hall sensor, and v represents the rotational speed of the motor.
4. The method for obtaining the rotor angle of the permanent magnet synchronous motor according to claim 2, wherein the sampling frequency calculation formula of the linear hall sensor in the step 2 is as follows:
wherein N represents the sampling times of obtaining angle information in one circle, f represents the main frequency of the motor, and v represents the rotating speed of the motor.
5. The method for obtaining the rotor angle of the permanent magnet synchronous motor according to claim 2, wherein the specific method in the step 3 is as follows:
when the angle deviation is more than or equal to 2 degrees or the sampling frequency is less than or equal to 12 times, the switch type Hall sensor is used as a position sensor,
when the angle deviation is smaller than 2 degrees or the sampling times are larger than 12 times, the linear Hall sensor is used as a position sensor.
6. The method for acquiring the rotor angle of the permanent magnet synchronous motor according to claim 2 or 5, wherein the installation position of the linear hall sensor is adjusted when the angular deviation is greater than 5 °.
7. The method for obtaining the rotor angle of the permanent magnet synchronous motor according to claim 2 or 5, wherein in the step 4, when the position sensor is a linear hall sensor, a calculation formula of the rotor angle of the motor is:
in the psi- a Is motor winding flux linkage; psi phi type f Is a permanent magnet flux linkage; li (Li) A Is the armature inductance.
8. The method for obtaining the rotor angle of the permanent magnet synchronous motor according to claim 2 or 5, wherein in the step 4, when the position sensor is a switch-type hall sensor, a calculation formula of the rotor angle of the motor is:
wherein ω (t) is the instantaneous angular velocity of the current hall interval motor; t is t k K=1, 2,3,4,5,6 for the moment when the motor rotor enters the kth hall interval; θ k An initial angle at which the rotor magnetic axis enters the kth sector.
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| Application Number | Priority Date | Filing Date | Title |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117477996A (en) * | 2023-12-26 | 2024-01-30 | 深圳曦华科技有限公司 | Motor control method, apparatus, computer device, and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117477996A (en) * | 2023-12-26 | 2024-01-30 | 深圳曦华科技有限公司 | Motor control method, apparatus, computer device, and storage medium |
| CN117477996B (en) * | 2023-12-26 | 2024-04-30 | 深圳曦华科技有限公司 | Motor control method, apparatus, computer device, and storage medium |
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