CN117074936A - Method, device, medium and equipment for detecting motor rotation - Google Patents

Method, device, medium and equipment for detecting motor rotation Download PDF

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Publication number
CN117074936A
CN117074936A CN202310835382.9A CN202310835382A CN117074936A CN 117074936 A CN117074936 A CN 117074936A CN 202310835382 A CN202310835382 A CN 202310835382A CN 117074936 A CN117074936 A CN 117074936A
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China
Prior art keywords
rotation
angle
motor
actual
included angle
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Pending
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CN202310835382.9A
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Chinese (zh)
Inventor
李天文
柳振方
李广林
王斌
赵凯
顾博宇
谢宇
胡志远
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Shougang Zhixin QianAn Electromagnetic Materials Co Ltd
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Shougang Zhixin QianAn Electromagnetic Materials Co Ltd
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Application filed by Shougang Zhixin QianAn Electromagnetic Materials Co Ltd filed Critical Shougang Zhixin QianAn Electromagnetic Materials Co Ltd
Priority to CN202310835382.9A priority Critical patent/CN117074936A/en
Publication of CN117074936A publication Critical patent/CN117074936A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane
    • G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The application relates to the technical field of motor control, and discloses a motor rotation detection method, a motor rotation detection device, a motor rotation detection medium and motor rotation detection equipment. The detection method comprises the following steps: the motor rotor is controlled to rotate anticlockwise from the rotary zero position to a second position, and a first rotation angle is obtained; calculating a first included angle between the rotary zero position and the second position according to the first rotation angle; controlling the motor rotor to rotate anticlockwise to a third position, and acquiring a second rotation angle; calculating a second included angle between the rotation zero position and the third position according to the first rotation angle and the second rotation angle; and calculating the actual rotation direction of the motor rotor according to the first included angle and the second included angle, and judging whether the actual rotation direction is anticlockwise rotation or not. The application can rapidly detect whether the actual rotation direction of the motor is consistent with the direction to be controlled, and if not, the motor can be corrected in time.

Description

Method, device, medium and equipment for detecting motor rotation
Technical Field
The present application relates to the field of motor control technologies, and in particular, to a method, an apparatus, a medium, and a device for detecting motor rotation.
Background
The detection of motor rotation needs to detect whether motor zero calibration is accurate, and motor zero calibration is crucial to the precision of motor output torque for the rotary zero position of the rotary transformer for the driving motor of new energy 150 kw. When the electrical angle offset of +/-2 exists in the zero position deflection angle of the rotation variation, the motor output torque can be caused to have an error of about +/-3 Nm in a low-speed non-flux weakening region and an error of about +/-8 Nm in a high-speed flux weakening region.
The zero calibration of the motor is generally to calibrate whether the current zero rotation position is suitable by manually continuously modifying the zero rotation position in a program and observing the running condition of the motor, when the actual rotation direction of a motor rotor is opposite to the pre-controlled rotation direction during the zero calibration of the motor, the calculated zero rotation deflection angle of the motor is larger than the actual zero rotation deflection angle of the motor, namely, when the rotor rotates anticlockwise during the zero calibration of the motor, the calculated zero rotation deflection angle of the motor is theta, but when the rotor rotates clockwise, the calculated zero rotation deflection angle of the motor is 360 DEG-theta (when the motor and the rotation are both 1 pair of poles). The process of correcting the rotation zero offset angle (the rotation zero offset angle is embodied in the controller by the rotation initial position) is that according to the torque formula tem=pn [ ψ fiq + (Ld-Lq) idiq ], when the rotation initial position is correct, when given iq values are the same and opposite in sign, the motor performance is the opposite rotation torque, and the method for calibrating the motor zero by manually continuously correcting the rotation initial position in the program takes a long time, so that the motor zero calibration cannot be fast and efficient.
The motor rotation detection also detects whether the motor rotates in opposite phase, if the motor rotates in opposite phase, the motor needs to be detected and corrected in time, and the initial position of the rotation change can be calibrated rapidly, efficiently and accurately.
Disclosure of Invention
The application aims to provide a method, a device, a medium and equipment for detecting motor rotation, which can rapidly detect whether the actual rotation direction of a motor is consistent with the direction to be controlled, correct the motor in time if the motor is inconsistent with the direction to be controlled, rapidly and preliminarily judge the accuracy of the initial position of the motor after zero calibration, and rapidly, efficiently and accurately mark the initial position of the motor by detecting that the actual rotation speed of a motor rotor is the same as a preset threshold value, inputting the d-axis current of the motor and the q-axis current of the motor, and comparing the actual torque with the ideal torque.
Other features and advantages of the application will be apparent from the following detailed description, or may be learned by the practice of the application.
According to an aspect of an embodiment of the present application, there is provided a method of detecting rotation of a motor, the method including: the d-axis of the motor rotor is controlled to rotate anticlockwise from the rotary zero position to a second position, and a first rotation angle is obtained; calculating a first included angle between the rotary zero position and the second position according to the first rotation angle; controlling the d-axis of the motor rotor to rotate anticlockwise to a third position, and acquiring a second rotation angle; calculating a second included angle between the rotation zero position and the third position according to the first rotation angle and the second rotation angle; and calculating the actual rotation direction of the motor rotor according to the first included angle and the second included angle, and judging whether the actual rotation direction is anticlockwise rotation or not.
In some embodiments, the sum of the first rotation angle and the second rotation angle is controlled to be smaller than 360 degrees, and the first included angle and the second included angle are all included angles in the clockwise direction of the rotary zero position.
In some embodiments, in calculating an actual rotational direction of the motor rotor from the first angle and the second angle and determining whether the actual rotational direction is counter-clockwise, the method includes: comparing the first included angle with the second included angle, if the first included angle is larger than the second included angle, judging that the actual rotation direction is anticlockwise rotation, and if the second included angle is larger than the first included angle, judging that the actual rotation direction is clockwise rotation.
In some embodiments, after determining that the actual rotation direction is clockwise rotation if the second angle is greater than the first angle, the method further comprises: and checking and modifying the motor parameters, entering a step of controlling the d-axis of the motor rotor to rotate anticlockwise from the rotary zero position to a second position after modification, and calculating the actual rotation direction of the motor rotor again according to the step so as to judge whether the actual rotation direction is anticlockwise.
In some embodiments, in controlling the counter-clockwise rotation of the motor rotor d-axis from the zero rotational position to the second position, the method comprises: and controlling the d-axis of the motor rotor to rotate anticlockwise to the motor zero position so as to finish motor zero position calibration.
In some embodiments, after determining that the actual direction of rotation is counter-clockwise if the first included angle is greater than the second included angle, the method further comprises: controlling the rotation speed of the motor rotor to be a preset threshold value; and detecting the actual rotation speed of the motor rotor, and if the actual rotation speed is the same as the preset threshold value, judging that the preliminary verification of the zero calibration of the motor is successful.
In some embodiments, after the detecting the actual rotation speed of the motor rotor, if the actual rotation speed is the same as the preset threshold, the method further includes: acquiring ideal torque of a motor; inputting a motor d-axis current and a motor q-axis current; detecting the actual torque of the motor; and comparing the actual torque with the ideal torque, and if the actual torque is the same as the ideal torque, judging that the final verification of the zero calibration of the motor is successful.
According to an aspect of an embodiment of the present application, there is provided a motor rotation detection apparatus including: the first rotation angle acquisition module is used for controlling the d-axis of the motor rotor to rotate anticlockwise from the rotary zero position to the second position and acquiring a first rotation angle; the first included angle calculation module is used for calculating a first included angle between the rotary zero position and the second position according to the first rotation angle; the second rotation angle acquisition module is used for controlling the d-axis of the motor rotor to rotate anticlockwise to a third position and acquiring a second rotation angle; the second included angle calculation module is used for calculating a second included angle between the rotation zero position and the third position according to the first rotation angle and the second rotation angle; and the judging module is used for calculating the actual rotation direction of the motor rotor according to the first included angle and the second included angle and judging whether the actual rotation direction is anticlockwise rotation or not.
According to an aspect of an embodiment of the present application, there is provided a computer readable medium having stored thereon a computer program which, when executed by a processor, implements a method as described in the above embodiments.
According to an aspect of an embodiment of the present application, there is provided an electronic apparatus including: one or more processors; and a memory for storing executable instructions of the processor, which when executed by the one or more processors, cause the one or more processors to implement the method as described in the above embodiments.
Compared with the prior art, the technical scheme of the application has the remarkable beneficial effects that: the application can rapidly detect whether the actual rotation direction of the motor is consistent with the direction to be controlled, if not, the motor can be corrected in time, and the accuracy of the initial position of the rotation change after the zero calibration of the motor can be rapidly and preliminarily judged. The progress of motor test is quickened, the working efficiency of motor test is improved, and the economic benefit is increased.
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 application as claimed.
Drawings
The above and other features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
FIG. 1 illustrates a flow chart of a method of detecting motor rotation according to one embodiment of the application;
FIG. 2 shows a schematic diagram of the angle of the zero-turn clockwise direction according to one embodiment of the application;
FIG. 3 shows a schematic diagram of a motor rotation detection device according to one embodiment of the application;
fig. 4 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the application.
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 application. One skilled in the relevant art will recognize, however, that the application 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 application.
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.
The following is a brief description of the technical solution of the embodiment of the present application:
according to some embodiments, as shown in fig. 1, the present application provides a method for detecting rotation of a motor, wherein the motor and a rotation sensor are both 1 pair poles, and when an electrical angle and a mechanical angle of rotation of a d-axis of a rotor are the same, the method includes:
step 101, controlling a d-axis of a motor rotor to rotate anticlockwise from a rotary zero position to a second position, and acquiring a first rotation angle;
102, calculating a first included angle between the rotation zero position and the second position according to the first rotation angle;
step 103, controlling the d-axis of the motor rotor to rotate anticlockwise to a third position, and acquiring a second rotation angle;
104, calculating a second included angle between the rotary zero position and the third position according to the first rotation angle and the second rotation angle;
and 105, calculating the actual rotation direction of the motor rotor according to the first included angle and the second included angle, and judging whether the actual rotation direction is anticlockwise rotation.
Based on the above embodiment, the motor is in a stopped state at the beginning, and the controller controls the d-axis of the motor to rotate counterclockwise from the zero rotation position to the second position, and acquires the first rotation angle. At this time, the controller calculates a first included angle between the zero position of the rotation and the second position according to the first rotation angle, wherein the first included angle=360° -the first rotation angle. And after the calculation, the controller continuously controls the d-axis of the motor rotor to rotate anticlockwise to a third position, and a second rotation angle is obtained. At this time, the controller calculates a second included angle between the zero position of the rotation transformer and the third position according to the first rotation angle and the second rotation angle, and the second included angle=360° - (first rotation angle+second rotation angle). Finally, comparing the first included angle with the second included angle to judge whether the motor rotor rotates clockwise or anticlockwise.
Wherein although the controller controls the motor to rotate counterclockwise, whether the motor actually rotates counterclockwise is not determined, so that further judgment is required through step 105.
In order for those skilled in the art to better understand the present application, details of the present application will be described below with reference to fig. 1.
According to some embodiments, the sum of the first rotation angle and the second rotation angle is controlled to be smaller than 360 degrees, and the first included angle and the second included angle are all included angles in the clockwise direction of the turning zero position.
According to some embodiments, in step 106, calculating an actual rotation direction of the motor rotor according to the first angle and the second angle, and determining whether the actual rotation direction is counter-clockwise, the method comprises:
comparing the first included angle with the second included angle, if the first included angle is larger than the second included angle, judging that the actual rotation direction is anticlockwise rotation, and if the second included angle is larger than the first included angle, judging that the actual rotation direction is clockwise rotation.
Based on the above embodiment, the rotation angle of the first included angle and the rotation angle of the second included angle are controlled within 360 degrees, so as to facilitate calculation. As shown in fig. 2, when the first angle and the second angle are both the angle θ of the zero rotation direction in the clockwise direction, the first angle and the second angle are compared, and if the first angle is greater than the second angle, the actual rotation direction is illustrated as counterclockwise rotation. If the second included angle is larger than the first included angle, the actual rotation direction is indicated to be clockwise rotation.
Wherein, the first included angle=360 ° -the first rotation angle; second included angle = 360 ° - (first rotation angle + second rotation angle).
In other embodiments, when the first angle and the second angle are both angles in the counterclockwise direction, the first angle and the second angle are compared, and if the first angle is greater than the second angle, the actual rotation direction is indicated to be clockwise rotation. If the second included angle is larger than the first included angle, the actual rotation direction is indicated to be anticlockwise rotation.
According to some embodiments, after determining that the actual rotation direction is clockwise rotation if the second angle is greater than the first angle, the method further comprises:
and (3) checking and modifying the motor parameters, entering a step 101 after modification, and controlling the d-axis of the motor rotor to rotate anticlockwise from the rotary zero position to a second position, and calculating the actual rotation direction of the motor rotor again according to the steps 101 to 106 so as to judge whether the actual rotation direction is anticlockwise.
According to some embodiments, in controlling the counter-clockwise rotation of the motor rotor d-axis from the zero rotation position to the second position, the method comprises:
and controlling the d-axis of the motor rotor to rotate anticlockwise to the motor zero position so as to finish motor zero position calibration.
Based on the above embodiments, in some embodiments of the application, the second position is set to a motor zero position. The motor is in a stop state at the beginning, the controller detects and acquires the superposition position of the d-axis of the rotor and the rotary zero position, the controller controls the motor to rotate anticlockwise for the first time, and the motor stops when the motor rotates to the zero position, so that the zero calibration of the motor is completed.
According to some embodiments, after determining that the actual rotation direction is counter-clockwise if the first angle is greater than the second angle, the method further comprises:
controlling the rotation speed of the motor rotor to be a preset threshold value;
and detecting the actual rotation speed of the motor rotor, and if the actual rotation speed is the same as the preset threshold value, judging that the preliminary verification of the zero calibration of the motor is successful.
Based on the above embodiment, after confirming that the actual rotation direction is counterclockwise rotation, inputting a rotation speed of a preset threshold to the upper computer, and transmitting the rotation speed of the preset threshold to the controller by the upper computer, wherein the preset threshold can be set according to actual requirements, and in some embodiments, the preset threshold is set to 400rpm. And starting the tested motor, wherein the actual rotating speed of the tested motor is controlled by a frequency converter in the controller, the feedback value of the rotating speed of the tested motor is measured by a rotary transformer, and if the rotating speed feedback value of the upper computer is 400rpm (or the speed deviation is +/-1 rpm), the initial success of the zero calibration of the motor is indicated.
According to some embodiments, after the detecting the actual rotation speed of the motor rotor, if the actual rotation speed is the same as the preset threshold, the method further includes:
acquiring ideal torque of a motor;
inputting a motor d-axis current and a motor q-axis current;
detecting the actual torque of the motor;
and comparing the actual torque with the ideal torque, and if the actual torque is the same as the ideal torque, judging that the final verification of the zero calibration of the motor is successful.
Based on the above embodiment, a set of d-axis current and q-axis current values of the motor is arbitrarily selected and input into the upper computer, and the upper computer transmits the d-axis current and q-axis current values to the controller. If the actual torque finally obtained is consistent with the ideal torque (or the torque deviation is +/-1 N.m), the zero calibration of the motor is successful.
The application can rapidly detect whether the actual rotation direction of the motor is consistent with the direction to be controlled, and if not, the motor can be corrected in time. And the method can also be used for rapidly, efficiently and accurately verifying whether the initial rotation position of the motor after zero calibration is accurate. The progress of motor test is quickened, the working efficiency of motor test is improved, and the economic benefit is increased.
The following describes an embodiment of the apparatus of the present application, which can be used to perform the motor rotation detection method in the above-described embodiment of the present application.
Fig. 3 shows a schematic diagram of a motor rotation detection device 200 according to an embodiment of the present application, the device comprising:
a first rotation angle acquisition module 201, configured to control the d-axis of the motor rotor to rotate counterclockwise from a zero rotation position to a second position, and acquire a first rotation angle;
a first included angle calculating module 202, configured to calculate a first included angle between the zero position and the second position according to the first rotation angle;
a second rotation angle acquisition module 203 for controlling the d-axis of the motor rotor to rotate counterclockwise to a third position and acquiring a second rotation angle;
a second included angle calculating module 204, configured to calculate a second included angle between the zero position of the rotation transformer and the third position according to the first rotation angle and the second rotation angle;
and the determining module 205 is configured to calculate an actual rotation direction of the motor rotor according to the first angle and the second angle, and determine whether the actual rotation direction is counterclockwise.
Based on the above embodiment, the motor is in a stopped state at the beginning, and the controller controls the d-axis of the motor to rotate counterclockwise from the zero rotation position to the second position, and acquires the first rotation angle. At this time, the controller calculates a first included angle between the zero position of the rotation and the second position according to the first rotation angle, wherein the first included angle=360° -the first rotation angle. And after the calculation is finished, the controller continuously controls the motor rotor to rotate anticlockwise to a third position, and a second rotation angle is obtained. At this time, the controller calculates a second included angle between the zero position of the rotation transformer and the third position according to the first rotation angle and the second rotation angle, and the second included angle=360° - (first rotation angle+second rotation angle). Finally, comparing the first included angle with the second included angle to judge whether the motor rotor rotates clockwise or anticlockwise.
Wherein, although the controller controls the motor to rotate counterclockwise, whether the motor actually rotates counterclockwise is not determined, so that further judgment by the judgment module 205 is needed.
Fig. 4 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the application.
It should be noted that, the computer system 300 of the electronic device shown in fig. 4 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
As shown in fig. 4, the computer system 300 includes a central processing unit (Central Processing Unit, CPU) 301 that can perform various appropriate actions and processes, such as the motor rotation detection method described in the above embodiment, according to a program stored in a Read-Only Memory (ROM) 302 or a program loaded from a storage section 308 into a random access Memory (Random Access Memory, RAM) 303. In the RAM303, various programs and data required for the system operation are also stored. The CPU301, ROM302, and RAM303 are connected to each other through a bus 304. An Input/Output (I/O) interface 305 is also connected to bus 304.
The following components are connected to the I/O interface 305: an input section 306 including a keyboard, a mouse, and the like; an output portion 307 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, a speaker, and the like; a storage section 308 including a hard disk or the like; and a communication section 309 including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section 309 performs communication processing via a network such as the internet. The drive 310 is also connected to the I/O interface 305 as needed. A removable medium 311 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed on the drive 310 as needed, so that a computer program read therefrom is installed into the storage section 308 as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application 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 an embodiment, the computer program may be downloaded and installed from a network via the communication portion 309, and/or installed from the removable medium 311. When executed by a Central Processing Unit (CPU) 301, performs the various functions defined in the system of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application 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 (Erasable Programmable Read Only Memory, EPROM), 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 application, 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, wired, 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 application. Where 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 modules involved in the embodiments of the present application may be implemented in software, or may be implemented in hardware, and the described modules may also be disposed in a processor. The names of these modules do not constitute a limitation on the module itself in some cases.
As another aspect, the present application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the electronic device performs the motor rotation detection method described in the above embodiment.
As another aspect, the present application also provides a computer-readable medium that may be contained in the electronic device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer-readable medium carries one or more programs that, when executed by one of the electronic devices, cause the electronic device to implement the motor rotation detection method described in the above embodiment.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
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 application may be embodied in the form of a software product, where the software product may be stored in a nonvolatile 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 method for detecting motor rotation described in the foregoing embodiments.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains.
It is to be understood that the application 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 application is limited only by the appended claims.

Claims (10)

1. A method of detecting rotation of a motor, the method comprising:
the d-axis of the motor rotor is controlled to rotate anticlockwise from the rotary zero position to a second position, and a first rotation angle is obtained;
calculating a first included angle between the rotary zero position and the second position according to the first rotation angle;
controlling the d-axis of the motor rotor to rotate anticlockwise to a third position, and acquiring a second rotation angle;
calculating a second included angle between the rotation zero position and the third position according to the first rotation angle and the second rotation angle;
and calculating the actual rotation direction of the motor rotor according to the first included angle and the second included angle, and judging whether the actual rotation direction is anticlockwise rotation or not.
2. The method of claim 1, wherein the sum of the first rotation angle and the second rotation angle is controlled to be less than 360 degrees, and the first angle and the second angle are both angles in a clockwise direction of a zero rotation.
3. The method according to claim 2, wherein in calculating an actual rotation direction of the motor rotor from the first angle and the second angle, and determining whether the actual rotation direction is counterclockwise rotation, the method comprises:
comparing the first included angle with the second included angle, if the first included angle is larger than the second included angle, judging that the actual rotation direction is anticlockwise rotation, and if the second included angle is larger than the first included angle, judging that the actual rotation direction is clockwise rotation.
4. A method according to claim 3, wherein after determining that the actual rotation direction is clockwise if the second angle is greater than the first angle, the method further comprises:
and checking and modifying the motor parameters, entering a step of controlling the d-axis of the motor rotor to rotate anticlockwise from the rotary zero position to a second position after modification, and calculating the actual rotation direction of the motor rotor again according to the step so as to judge whether the actual rotation direction is anticlockwise.
5. A method according to claim 3, wherein in said controlling the counter-clockwise rotation of the motor rotor d-axis from the zero rotation position into the second position, the method comprises:
and controlling the d-axis of the motor rotor to rotate anticlockwise to the motor zero position so as to finish motor zero position calibration.
6. The method of claim 5, wherein after determining that the actual direction of rotation is counter-clockwise if the first angle is greater than the second angle, the method further comprises:
controlling the rotation speed of the motor rotor to be a preset threshold value;
and detecting the actual rotation speed of the motor rotor, and if the actual rotation speed is the same as the preset threshold value, judging that the preliminary verification of the zero calibration of the motor is successful.
7. The method of claim 6, wherein after said detecting an actual rotational speed of the motor rotor, if said actual rotational speed is the same as said preset threshold, determining that the preliminary verification of the motor zero calibration was successful, the method further comprises:
acquiring ideal torque of a motor;
inputting a motor d-axis current and a motor q-axis current;
detecting the actual torque of the motor;
and comparing the actual torque with the ideal torque, and if the actual torque is the same as the ideal torque, judging that the final verification of the zero calibration of the motor is successful.
8. A device for detecting rotation of a motor, the device comprising:
the first rotation angle acquisition module is used for controlling the d-axis of the motor rotor to rotate anticlockwise from the rotary zero position to the second position and acquiring a first rotation angle;
the first included angle calculation module is used for calculating a first included angle between the rotary zero position and the second position according to the first rotation angle;
the second rotation angle acquisition module is used for controlling the d-axis of the motor rotor to rotate anticlockwise to a third position and acquiring a second rotation angle;
the second included angle calculation module is used for calculating a second included angle between the rotation zero position and the third position according to the first rotation angle and the second rotation angle;
and the judging module is used for calculating the actual rotation direction of the motor rotor according to the first included angle and the second included angle and judging whether the actual rotation direction is anticlockwise rotation or not.
9. A computer readable storage medium having stored therein at least one program code loaded and executed by a processor to implement operations performed by the method of any of claims 1 to 7.
10. An electronic device comprising one or more processors and one or more memories, the one or more memories having stored therein at least one piece of program code that is loaded and executed by the one or more processors to implement the operations performed by the method of any of claims 1-7.
CN202310835382.9A 2023-07-10 2023-07-10 Method, device, medium and equipment for detecting motor rotation Pending CN117074936A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310835382.9A CN117074936A (en) 2023-07-10 2023-07-10 Method, device, medium and equipment for detecting motor rotation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310835382.9A CN117074936A (en) 2023-07-10 2023-07-10 Method, device, medium and equipment for detecting motor rotation

Publications (1)

Publication Number Publication Date
CN117074936A true CN117074936A (en) 2023-11-17

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310835382.9A Pending CN117074936A (en) 2023-07-10 2023-07-10 Method, device, medium and equipment for detecting motor rotation

Country Status (1)

Country Link
CN (1) CN117074936A (en)

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