CN117458935A - Motor initial position identification method, motor control device and motor - Google Patents
Motor initial position identification method, motor control device and motor Download PDFInfo
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- CN117458935A CN117458935A CN202311581896.2A CN202311581896A CN117458935A CN 117458935 A CN117458935 A CN 117458935A CN 202311581896 A CN202311581896 A CN 202311581896A CN 117458935 A CN117458935 A CN 117458935A
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- 238000000034 method Methods 0.000 title claims abstract description 64
- 239000013598 vector Substances 0.000 claims abstract description 356
- 238000002347 injection Methods 0.000 description 6
- 239000007924 injection Substances 0.000 description 6
- 230000004044 response Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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Abstract
The invention discloses a motor initial position identification method, a motor control device and a motor, wherein the motor initial position identification method comprises the following steps: firstly, acquiring a plurality of vector directions, and applying a preset first voltage to a motor according to each vector direction; then, obtaining a corresponding d-axis current value in each vector direction, and setting a vector direction corresponding to the maximum value in the d-axis current values as a second vector direction; then applying a preset second voltage to the motor according to a second vector direction to drive the motor to rotate, and acquiring a rotation angle of the motor; and determining the initial position of the motor according to the rotation angle and the second vector direction. The invention aims to improve the accuracy of the motor initial position identification result.
Description
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to a motor initial position identification method, a motor control device, and a motor.
Background
In the advanced servo system, the initial position of the motor has a relatively large influence on the starting stage of the servo system, and phenomena such as galloping and locked rotor are easy to occur due to incorrect setting of the initial position. In the prior art, aiming at the motor initial position identification method, a rotor pre-positioning method and a high-frequency signal injection method are generally adopted to identify the initial position, however, the rotor pre-positioning method is to apply a voltage vector to enable the motor to move to a designated position, and the rotor movement distance is too large, so that the method is not applicable to some precise servo fields; the rotary high-frequency injection method requires the motor to have salient pole characteristics, and the pulse vibration high-frequency injection method requires to design a complex filter, and has larger limitation.
Disclosure of Invention
The invention mainly aims to provide a motor initial position identification method, a motor control device and a motor, and aims to improve accuracy of motor initial position identification results.
In order to achieve the above object, the present invention provides a method for identifying an initial position of a motor, the method comprising:
step S100, obtaining a plurality of vector directions, and applying a preset first voltage to the motor according to each vector direction;
step 200, obtaining a d-axis current value corresponding to each vector direction, and setting a vector direction corresponding to the maximum value of a plurality of d-axis current values as a second vector direction;
step S300, applying a preset second voltage to the motor according to the second vector direction to drive the motor to rotate, and obtaining a rotation angle of the motor;
and step 400, determining the initial position of the motor according to the rotation angle and the second vector direction.
Optionally, the step S200 further includes:
acquiring a corresponding d-axis current value in each vector direction, and setting a vector direction corresponding to the maximum value in a plurality of d-axis current values as a third vector direction;
respectively generating a plurality of third sub-vector directions at intervals of a plurality of first angles by taking the third vector direction as a reference;
applying a preset third voltage to the motor according to the third vector direction and each third sub-vector direction;
and acquiring the third vector direction and a second d-axis current value corresponding to each third sub-vector direction, and setting a third vector direction or a third sub-vector direction corresponding to the maximum value of the second d-axis current values as the second vector direction.
Optionally, the preset third voltage is greater than the preset first voltage, and the preset second voltage is greater than the preset third voltage.
Optionally, the step S200 further includes:
repeating the steps S100-S200 to obtain a plurality of second vector directions, and setting the plurality of second vector directions as the same group of second vector directions;
judging whether a plurality of second vector directions in the same group of second vector directions are consistent;
when a plurality of second vector directions in the same group of second vector directions are consistent, executing step S300;
when a plurality of the second vector directions in the same set of second vector directions are inconsistent, steps S100-S200 are performed again to obtain a new same set of second vector directions.
Optionally, when the second vector directions in the same group of second vector directions are inconsistent, the step of executing the step S100-S200 again to obtain a new second vector direction in the same group specifically includes:
when a plurality of second vector directions in the same group of second vector directions are inconsistent, repeatedly executing the steps S100-S200 to obtain a plurality of second vector directions in the same group;
if the second vector directions in the same group are consistent, executing step S300;
and if the second vector directions in the same group are inconsistent, judging that the identification fails.
Optionally, the step S300 further includes:
and applying a second voltage with a preset gradient increase to the motor according to the second vector direction until the second voltage reaches the preset second voltage so as to drive the motor to rotate.
Optionally, the step S400 further includes:
when the rotation angle is smaller than a preset rotation angle, determining that the second vector direction is the initial position of the motor;
and when the rotation angle is larger than a preset rotation angle, judging that the identification fails.
The invention also provides a motor control device, which comprises:
a memory;
a processor; and
a motor initial position identification control program stored on a memory and executable on a processor, the processor implementing the motor initial position identification method of any one of the above when executing the motor initial position identification control program.
The invention also provides a motor, which comprises the motor control device.
In the motor initial position identification method, a plurality of vector directions are acquired firstly, and a preset first voltage is applied to a motor according to each vector direction; then, obtaining a corresponding d-axis current value in each vector direction, and setting a vector direction corresponding to the maximum value in the d-axis current values as a second vector direction; then applying a preset second voltage to the motor according to a second vector direction to drive the motor to rotate, and acquiring a rotation angle of the motor; and determining the initial position of the motor according to the rotation angle and the second vector direction. In this way, the invention firstly applies voltage to a plurality of vector directions and obtains the current response of each vector direction, and after taking the maximum value of the d-axis current value as the second vector direction, a rotor pre-positioning method is adopted to apply enough voltage to the second vector direction to rotate the motor, and the initial position of the motor is determined according to the rotation angle and the second vector direction, thus obtaining the motor initial position identification result. Because the second vector direction is close to the initial position of the motor, the motor moves relatively less in distance, so that the method can be applied to precise servo occasions, and the accuracy of the motor initial position identification result is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of an embodiment of a method for identifying an initial position of a motor according to the present invention;
FIG. 2 is a flowchart of a motor initial position identification method according to another embodiment of the present invention;
FIG. 3 is a flowchart of a motor initial position identification method according to another embodiment of the present invention;
FIG. 4 is a flowchart of a method for identifying an initial position of a motor according to another embodiment of the present invention;
FIG. 5 is a flowchart of a motor initial position identification method according to another embodiment of the present invention;
FIG. 6 is a flowchart of a motor initial position identification method according to another embodiment of the present invention;
FIG. 7 is a schematic diagram of a vector direction of an embodiment of a motor initial position identification method according to the present invention;
fig. 8 is a schematic diagram of vector directions of another embodiment of the motor initial position identification method according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. 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.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
It should be noted that, in this document, step numbers such as S100 and S200 are adopted, and the purpose of the present disclosure is to more clearly and briefly describe the corresponding content, and not to constitute a substantial limitation in order, and those skilled in the art may execute S200 first and then execute S100 when implementing the present disclosure, which is within the scope of protection of the present disclosure.
In an advanced servo system, the initial position of a motor has larger influence on the starting stage of the servo system, and in the prior art, aiming at the initial position identification method of the motor, a rotor pre-positioning method and a high-frequency signal injection method are generally adopted to realize the initial position identification method, however, the rotor pre-positioning method is to apply a voltage vector to enable the motor to move to a designated position, and the rotor movement distance is too large, so that the method is not applicable to some precise servo fields; the rotary high-frequency injection method requires the motor to have salient pole characteristics, and the pulse vibration high-frequency injection method requires to design a complex filter, and has larger limitation.
To this end, the present invention proposes a method for identifying an initial position of a motor, referring to fig. 1, the method for identifying an initial position of a motor includes:
step S100, obtaining a plurality of vector directions, and applying a preset first voltage to the motor according to each vector direction;
step 200, obtaining a d-axis current value corresponding to each vector direction, and setting a vector direction corresponding to the maximum value of a plurality of d-axis current values as a second vector direction;
step S300, applying a preset second voltage to the motor according to the second vector direction to drive the motor to rotate, and obtaining a rotation angle of the motor;
and step 400, determining the initial position of the motor according to the rotation angle and the second vector direction.
In this embodiment, the motor initial position identification method of the present invention may be applied to a motor control device, for example, a memory for storing the motor initial position identification method of the present invention and a processor for executing the motor initial position identification method of the present invention are integrated in the motor control device. The motor control device may be implemented by a main controller, such as an MCU, a DSP (Digital Signal Process, digital signal processing Chip), an FPGA (Field Programmable Gate Array, programmable gate array Chip), a PLC, an SOC (System On Chip), or the like.
It will be appreciated that the plurality of vector directions may be a plurality of vector directions within one electrical cycle, and that the motor applies a constant space voltage vector of 1 electrical cycle to the armature winding in a stationary state, typically with the flux direction having the highest saturation of the equivalent inductance of the set of windings closest to the rotor poles, the lowest inductance, and the highest current. For this reason, when the motor control device receives an external trigger signal, a plurality of vector directions are acquired, for example, 12 vector directions are acquired within 360 degrees of electrical angles, a preset first voltage is applied to an armature winding of the motor according to each vector direction, a d-axis current value corresponding to each vector direction is acquired, for example, a current detection chip is integrated in the control device to acquire a d-axis current value corresponding to each vector direction, then the vector direction corresponding to the maximum value of the plurality of d-axis current values is taken as a second vector direction, a preset second voltage is applied to the second vector direction to drive the motor to rotate, and a rotation angle of the motor is acquired. Specifically, referring to fig. 7, if the d-axis current value corresponding to the vector direction 4 is the largest, the vector direction 4 is determined as the second vector direction, and then a preset second voltage sufficient to rotate the motor is applied to the motor in the vector direction 4 to obtain the rotation angle. When a preset first voltage is applied in a plurality of vector directions, after the preset first voltage is applied in one vector direction, the PWM output needs to be controlled to be turned off before the preset first voltage is applied in the next vector direction, so that the current is enabled to be 0 by ensuring the value of the current to be 0, and after the current returns to the zero point, the preset first voltage is continuously applied in the next vector direction.
It should be noted that, since the application of the preset first voltage is small and the action time is short, the motor is not rotated, and therefore, the preset second voltage needs to be greater than the preset first voltage to be able to drive the motor to rotate. In this embodiment, the incremental encoder may be used to measure the angle value corresponding to the second vector direction and the rotation angle of the motor. And then determining whether the identification result is successful or not according to the rotation angle, for example, the rotation angle or the preset rotation angle range can be preset in advance, if the rotation angle measured by the encoder is larger than or equal to the preset rotation angle or is not in the preset rotation angle range, the identification is failed, the identification needs to be re-identified, otherwise, the control device determines that the identification is successful, and the second vector direction can be used as the initial position of the motor. The preset rotation angle or the preset rotation angle range is preset by a researcher in advance, can be stored in a memory in the control device, and is convenient for the control device to compare the rotation angle measured by the encoder with the preset rotation angle or the preset rotation range, and the identification result is directly given. In addition, the external trigger signal may be a signal issued by the motor control device itself or a signal issued by a user through an external terminal communicatively connected to the motor control device.
Through the arrangement, the motor initial position identification method firstly determines the vector direction close to the magnetic pole of the motor rotor, then adopts the rotor pre-positioning method to move the motor rotor to the appointed position, namely the second vector direction, and finally obtains the initial position of the motor. Because the rotating distance of the motor is relatively smaller, the motor can be applied to precise servo occasions, and meanwhile, the precision of the motor identification result is improved by adopting a rotor pre-positioning method.
In the motor initial position identification method, a plurality of vector directions are acquired firstly, and a preset first voltage is applied to a motor according to each vector direction; then, obtaining a corresponding d-axis current value in each vector direction, and setting a vector direction corresponding to the maximum value in the d-axis current values as a second vector direction; then applying a preset second voltage to the motor according to a second vector direction to drive the motor to rotate, and acquiring a rotation angle of the motor; and determining the initial position of the motor according to the rotation angle and the second vector direction. In this way, the invention firstly applies voltage to a plurality of vector directions and obtains the current response of each vector direction, and after taking the maximum value of the d-axis current value as the second vector direction, a rotor pre-positioning method is adopted to apply enough voltage to the second vector direction so as to enable the motor to rotate, and the initial position of the motor, namely the motor initial position identification result, is determined according to the rotation angle and the second vector direction. Because the second vector direction is close to the initial position of the motor, the motor moves relatively less in distance, so that the method can be applied to precise servo occasions, and the accuracy of the motor initial position identification result is improved.
In order to further improve accuracy of the motor identification result, in an embodiment of the present invention, included angles in two adjacent vector directions in any direction among the plurality of vector directions are consistent.
Referring to fig. 2, the step S200 further includes:
s210, acquiring a d-axis current value corresponding to each vector direction, and setting a vector direction corresponding to the maximum value of a plurality of d-axis current values as a third vector direction;
s220, respectively generating a plurality of third sub-vector directions at intervals of a plurality of first angles by taking the third vector direction as a reference;
s230, applying a preset third voltage to the motor according to the third vector direction and each third sub-vector direction;
s240, acquiring the third vector direction and a second d-axis current value corresponding to each third sub-vector direction, and setting a third vector direction or a third sub-vector direction corresponding to the maximum value of the second d-axis current values as the second vector direction.
In combination with the foregoing embodiment, after the motor control device receives the external trigger signal, a plurality of vector directions are obtained, where an included angle between two vectors adjacent to each other in the plurality of vector directions may be set to be a consistent included angle, for example, referring to fig. 7, an included angle between any two adjacent vector directions is 30 degrees, that is, 12 vector directions are determined in one electrical cycle, the control device applies a preset first voltage to the motor according to each vector direction, obtains a d-axis current value corresponding to each vector direction, and then takes a vector direction corresponding to a maximum value in the plurality of d-axis current values as a third vector direction, for example, if a d-axis current value corresponding to the vector direction 3 is the largest, and takes the vector direction 3 as the third vector direction. Referring to fig. 8, a plurality of third sub-vector directions, such as vector direction 13, vector direction 14, vector direction 15, vector direction 16, vector direction 17, vector direction 18, are respectively generated at a plurality of first angles with respect to the third vector direction; and applying a preset third voltage to the motor in the third vector direction and each third sub-vector direction in turn, acquiring second d-axis current values corresponding to the third vector direction and the third sub-vector direction, selecting the third vector direction corresponding to the maximum value of the second d-axis current values or the third sub-vector direction as the second vector direction, for example, determining the vector direction 16 as the second vector direction if the d-axis current value of the vector direction 16 is the maximum, then applying a preset second voltage to the second vector direction to drive the motor to rotate, acquiring a rotation angle of the motor, and determining whether the second vector direction can serve as an initial position of the motor according to the rotation angle. The first angles may be equal angles or unequal angles. Referring to fig. 8, any two adjacent vector directions have an included angle that is 10 ° in the first angle, so that vector direction 18 coincides with vector direction 12 in fig. 7 and vector direction 17 coincides with vector direction 5 in fig. 7.
In this embodiment, the current response, that is, the maximum value of the current is obtained by applying the voltage to the corresponding vector direction twice, and the vector direction corresponding to the maximum value of the d-axis current value of the last time is used as the second vector direction, and then the motor is rotated to the second vector direction by adopting the rotor pre-positioning method. It should be noted that, the method for identifying the initial position of the motor of the present invention may employ multiple applications of vector voltage pulses to gradually find the initial position close to the rotor of the motor, and take the vector direction corresponding to the maximum value in the d-axis current value of the last time as the second vector direction, then apply a preset second voltage sufficient to rotate the motor to the second vector direction, and finally obtain the rotation angle and the initial position of the motor. Thus, the accuracy of the motor initial position identification result is improved.
It will be appreciated that the external trigger signal may be a signal sent by the control device itself or a signal sent by the user through an external terminal. The control device can be set to start working when receiving a high-level signal or a low-level signal so as to acquire a plurality of vector directions, and then the identification process of the initial position of the motor is performed.
In an embodiment of the present invention, the preset third voltage is greater than the preset first voltage, and the preset second voltage is greater than the preset third voltage. Specifically, because the third vector direction is taken as a reference, the preset third voltage is applied to the third vector direction and the third sub-vector direction to obtain a larger current response, so that the position closer to the motor rotor is obtained, the preset third voltage needs to be larger than the preset first voltage to obtain a larger current response, and in combination with the embodiment, after the preset first voltage and the preset third voltage are applied to the corresponding vector directions, the motor cannot rotate, and the preset second voltage is applied to the second vector direction, so that the motor needs to be ensured to rotate to an angle corresponding to the second vector direction, and therefore the preset second voltage needs to be larger than the preset first voltage and the preset third voltage. In addition, it should be noted that the method for identifying the initial position of the motor according to the present invention may be used to obtain the final rotation angle and the initial position of the motor when the preset third voltage is less than or equal to the preset first voltage. The third voltage needs to be larger than the first voltage in this embodiment only to obtain a larger current response in the vector direction. Therefore, the accuracy of the identification result obtained by adopting the motor initial position identification method is further improved.
In combination with the foregoing embodiment, in an embodiment of the present invention, referring to fig. 3, the step S200 further includes:
step S250, repeating the steps S100-S200 to obtain a plurality of second vector directions, and setting the plurality of second vector directions as the same group of second vector directions;
step S260, judging whether a plurality of second vector directions in the same group of second vector directions are consistent;
step S270, when a plurality of second vector directions in the same group of second vector directions are consistent, executing step S300;
step S280, when a plurality of second vector directions in the same group of second vector directions are inconsistent, executing steps S100-S200 again to acquire a new same group of second vector directions.
When a plurality of second vector directions in the same group of second vector directions are inconsistent, executing the steps S100-S200 again to acquire a new same group of second vector directions specifically comprises:
step S281, when a plurality of second vector directions in the same group of second vector directions are inconsistent, repeatedly executing steps S100-S200 to obtain a plurality of second vector directions in the same group;
step S282, if the second vector directions of one of the plurality of second vector directions in the same group are identical, executing step S300;
in step S283, if the second vector directions in the same group of second vector directions are not identical, the identification is determined to be failed.
In this embodiment, after a preset first voltage is sequentially applied to a plurality of vector directions acquired in one electrical cycle, after a vector direction corresponding to the maximum value of d-axis current values corresponding to the plurality of vector directions is set as a second vector direction, the value of the incremental encoder at the current time may be recorded as the vector direction 21, that is, the second vector direction at this time is the vector direction 21, then a preset first voltage is sequentially applied to the plurality of vector directions acquired in one electrical cycle again, the vector direction corresponding to the maximum value of d-axis current values corresponding to the plurality of vector directions is set as the second vector direction, and the value of the incremental encoder at this time is set as the vector direction 22, for example, steps S100 to S200 may be repeated to acquire a plurality of second vector directions, and set as the same group of vector directions, for example, if the steps S100 to S200 are repeated twice, three third vector directions are respectively the vector direction 21, the vector direction 22 and the vector direction 23, and the third vector directions are the same group of the second vector direction, and if the vector directions 21, the vector directions and the vector directions 22 and the vector directions 23 are the same, and the second vector directions are 30 ° and the vector directions are both the same when the vector directions and the vector directions are the second vector directions are the same, and the vector directions are 30 ° and the second vector directions are applied. When a plurality of the second vector directions in the same group of second vector directions are inconsistent, that is, the vector direction 21, the vector direction 22 and the vector direction 23 are not completely consistent, steps S100-S200 are required to be re-executed to obtain another same group of second vector directions, so as to determine whether a plurality of the second vector directions in the same group of second vector directions in another group are consistent. If the second vector directions in the same set of second vector directions in the other set are still inconsistent, the steps S100-S200 are re-executed to obtain a new second vector direction in the same set, until the second vector directions in the same set are consistent, and the step S300 is executed.
It should be noted that, in order to avoid the unnecessary of multiple operations, in this embodiment, when multiple second vector directions in the same group of second vector directions are inconsistent, steps S100-S200 may be repeated to obtain a second same group of second vector directions, if multiple second vector directions in the second same group of second vector directions are inconsistent, a third same group of second vector directions may be obtained, and if multiple second vector directions in the third same group of second vector directions are inconsistent, the identification is judged to be failed.
Through the arrangement, when the second vector directions in the same group of second vector directions are consistent, the preset second voltage is applied to the motor as the second vector direction, so that accidental errors can be eliminated, and the accuracy of the motor initial position identification result is improved.
In another embodiment of the present invention, referring to fig. 5 and 6, the step S300 further includes:
and step S310, applying a second voltage increased by a preset slope to the motor according to the second vector direction until the second voltage reaches the preset second voltage so as to drive the motor to rotate.
The step S400 further includes:
step S410, when the rotation angle is smaller than a preset rotation angle, determining the second vector direction as an initial position of the motor;
and step S420, judging that the identification fails when the rotation angle is larger than a preset rotation angle.
In this embodiment, in combination with the foregoing embodiment, referring to fig. 7, a third vector direction is obtained after applying a preset first voltage to a plurality of vector directions in one electrical period, if a d-axis current value corresponding to the vector direction 3 is the largest, the vector direction 3 is determined to be a third vector, and then a plurality of third sub-vector directions are generated at intervals of a plurality of first angles with the vector direction 3 as a reference; the included angle between the third vector direction and any adjacent direction in the multiple third sub-vector directions can be selected arbitrarily. In order to improve accuracy, referring to fig. 8, the included angle between the third vector direction and any direction adjacent to the third sub-vector directions in this embodiment is 10 °. And then the control device respectively applies preset third voltage to the motor in a third vector direction and a third sub-vector direction, acquires second d-axis current values corresponding to the third vector direction and each third sub-vector direction, sets the third vector direction or the third sub-vector direction corresponding to the maximum value in the second d-axis current values as the second vector direction, and determines the vector direction 14 as the second vector direction if the d-axis current value corresponding to the vector direction 14 is the maximum value, so that the control device applies preset second voltage to the second vector direction to enable the motor to rotate to the second vector direction and acquire a rotation angle. It should be noted that, when the preset second voltage is applied to the motor in the second vector direction, since the current in the second vector direction has returned to zero before the preset second voltage is applied, the motor may be damaged due to the impact of the excessive preset second voltage on the motor when the preset second voltage is directly applied to the motor, so in this embodiment, the second voltage increased by the preset slope is applied to the motor in the second vector direction until the second voltage is increased to the preset second voltage capable of driving the motor to rotate, so as to obtain the rotation angle of the motor to rotate. I.e. the second voltage increases from 0 to a predetermined second voltage with a predetermined slope. The preset slope is set in advance by a developer. Comparing the rotation angle with a preset rotation angle, wherein the second vector direction is generally close to the actual position of the motor, the rotation angle of the motor rotor is quite small in theory, and if the rotation angle is quite large, the identification is inaccurate, and after the motor position is changed greatly, the identification result needs to be cleared. For example, a developer sets a preset rotation angle to 30 ° in advance, and when the rotation angle is smaller than 30 °, it indicates that the motor initial position is successfully identified, and at this time, the motor initial position is a position corresponding to the second vector direction, that is, an angle θ2 corresponding to the vector direction 14, and at this time θ2 is 40 °. If the rotation angle is greater than 30 °, it indicates that the recognition fails, and it may be that the vector direction is not accurately selected in the recognition process, that is, the recognition failure is determined, and steps S100-S400 may be repeatedly performed according to the actual requirement, so as to restart the recognition. Thus, the accuracy of the motor initial position identification result is improved.
In another embodiment of the present invention, in combination with the foregoing embodiment, when the control device receives an external trigger signal, a preset first voltage is applied to a plurality of uniform vector directions in one electrical period, for example, 12 vector directions are determined in one electrical period, where an included angle between every two adjacent vector directions is 30 °, the preset first voltage is sequentially applied to the 12 vector directions, d-axis current values corresponding to the 12 vector directions are obtained, a vector direction corresponding to a maximum value of the 12 d-axis current values is taken as a third vector direction, and referring to fig. 7, if the d-axis current value of the vector direction 3 is the maximum, the vector direction 3 is determined as the third vector direction. At this time, the vector direction 3 corresponds to an angle of 30 °. Then, a plurality of third sub-vector directions are generated at intervals of 10 ° to the left and right with respect to the vector direction 3, for example, in fig. 8, the vector direction 13, the vector direction 14, the vector direction 15, the vector direction 16, the vector direction 17, and the vector direction 18 are 6 third sub-vector directions, a preset third voltage is sequentially applied to the motor in the vector direction 3, the vector direction 13, the vector direction 14, the vector direction 15, the vector direction 16, the vector direction 17, and the vector direction 18, d-axis current values corresponding to the five vector directions are measured, and a maximum value of d-axis current values corresponding to the third vector direction and the plurality of third sub-vector directions is obtained, for example, if the d-axis current value corresponding to the vector direction 13 is the maximum value, the vector direction 13 is determined to be the second vector direction, and the angle value θ2 of the second vector direction, that is, θ2 is, 40 ° may be recorded using an incremental encoder. At this time, the second vector direction is already close to the actual position of the motor rotor, the control device applies a second voltage which is increased by a preset slope to the motor in the second vector direction, and the second voltage is kept for a period of time until the second voltage reaches the preset second voltage, so that the motor is driven to rotate sufficiently, the motor rotates to the direction of the vector direction 13, the motor rotation angle is obtained, and compared with the preset rotation angle, if the rotation angle is 5 degrees, the preset rotation angle is 30 degrees, the identification is successful, and the angle corresponding to the vector direction 13 is taken as the angle corresponding to the initial position of the motor; if the rotation angle is larger than the preset rotation angle, judging that the identification fails. Thus, the accuracy of the motor initial position identification result is improved.
The invention also provides a motor control device, which comprises:
a memory;
a processor; and
a motor initial position identification control program stored on a memory and executable on a processor, the processor implementing the motor initial position identification method of any one of the above when executing the motor initial position identification control program.
It should be noted that, because the motor control device of the present invention is based on the above-mentioned motor initial position identification method, embodiments of the motor control device of the present invention include all technical solutions of all embodiments of the above-mentioned motor initial position identification method, and the achieved technical effects are identical, and are not described herein again.
The invention also provides a motor, which comprises the motor control device.
It should be noted that, because the motor of the present invention is based on the motor control device, embodiments of the motor of the present invention include all technical solutions of all embodiments of the motor control device, and the achieved technical effects are identical, and are not described herein again.
The foregoing description is only of the optional embodiments of the present invention, and is not intended to limit the scope of the invention, and all equivalent mechanical changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (9)
1. The motor initial position identification method is characterized by comprising the following steps of:
step S100, obtaining a plurality of vector directions, and applying a preset first voltage to the motor according to each vector direction;
step 200, obtaining a d-axis current value corresponding to each vector direction, and setting a vector direction corresponding to the maximum value of a plurality of d-axis current values as a second vector direction;
step S300, applying a preset second voltage to the motor according to the second vector direction to drive the motor to rotate, and obtaining a rotation angle of the motor;
and step 400, determining the initial position of the motor according to the rotation angle and the second vector direction.
2. The method of claim 1, wherein the step S200 further comprises:
acquiring a corresponding d-axis current value in each vector direction, and setting a vector direction corresponding to the maximum value in a plurality of d-axis current values as a third vector direction;
respectively generating a plurality of third sub-vector directions at intervals of a plurality of first angles by taking the third vector direction as a reference;
applying a preset third voltage to the motor according to the third vector direction and each third sub-vector direction;
and acquiring the third vector direction and a second d-axis current value corresponding to each third sub-vector direction, and setting a third vector direction or a third sub-vector direction corresponding to the maximum value of the second d-axis current values as the second vector direction.
3. The motor initial position recognition method according to claim 2, wherein the preset third voltage is greater than the preset first voltage, and the preset second voltage is greater than the preset third voltage.
4. The method for identifying an initial position of a motor according to claim 3, wherein the step S200 further comprises:
repeating the steps S100-S200 to obtain a plurality of second vector directions, and setting the plurality of second vector directions as the same group of second vector directions;
judging whether a plurality of second vector directions in the same group of second vector directions are consistent;
when a plurality of second vector directions in the same group of second vector directions are consistent, executing step S300;
when a plurality of the second vector directions in the same set of second vector directions are inconsistent, steps S100-S200 are performed again to obtain a new same set of second vector directions.
5. The method of claim 4, wherein when the second vector directions of the same set of second vector directions are not identical, the step of executing steps S100-S200 again to obtain a new second vector direction of the same set comprises:
when a plurality of second vector directions in the same group of second vector directions are inconsistent, repeatedly executing the steps S100-S200 to obtain a plurality of second vector directions in the same group;
if the second vector directions in the same group are consistent, executing step S300;
and if the second vector directions in the same group are inconsistent, judging that the identification fails.
6. The method of claim 1 to 5, wherein the step S300 further comprises:
and applying a second voltage with a preset gradient increase to the motor according to the second vector direction until the second voltage reaches the preset second voltage so as to drive the motor to rotate.
7. The method of claim 1 to 5, wherein the step S400 further comprises:
when the rotation angle is smaller than a preset rotation angle, determining that the second vector direction is the initial position of the motor;
and when the rotation angle is larger than a preset rotation angle, judging that the identification fails.
8. A motor control device, characterized in that the motor control device comprises:
a memory;
a processor; and
a motor initial position recognition control program stored on a memory and executable on a processor, the processor implementing the motor initial position recognition method according to any one of claims 1 to 7 when executing the motor initial position recognition control program.
9. An electric motor, characterized in that the electric motor comprises the motor control device of claim 8.
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| CN202311581896.2A CN117458935A (en) | 2023-11-23 | 2023-11-23 | Motor initial position identification method, motor control device and motor |
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| CN202311581896.2A CN117458935A (en) | 2023-11-23 | 2023-11-23 | Motor initial position identification method, motor control device and motor |
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