CN118074586A - Method and device for identifying positioning angle of motor rotor and motor - Google Patents
Method and device for identifying positioning angle of motor rotor and motor Download PDFInfo
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- CN118074586A CN118074586A CN202211475342.XA CN202211475342A CN118074586A CN 118074586 A CN118074586 A CN 118074586A CN 202211475342 A CN202211475342 A CN 202211475342A CN 118074586 A CN118074586 A CN 118074586A
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- 238000004364 calculation method Methods 0.000 description 4
- 230000004907 flux Effects 0.000 description 4
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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
- H02P21/14—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
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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Abstract
The application relates to the technical field of intelligent household appliances, and discloses a method for identifying a positioning angle of a motor rotor, which comprises the following steps: under the condition that sine high-frequency voltage is injected into the d-axis of the motor, q-axis estimated current is obtained; adjusting the rotor position angle error based on the q-axis estimated current such that the rotor position angle error tends to zero; determining the estimated position of the rotor according to the change trend of the d-axis inductance and the corresponding information of the sine high-frequency voltage; and determining the position of the rotor positioning angle according to the estimated position. The method is based on the d-axis inductance and the change trend of the sinusoidal high-frequency voltage, and the estimated position of the rotor is determined. The estimated rotor position tends to the actual position as the rotor position angle error tends to zero. And further, the rotor positioning angle is determined, and the accuracy of rotor positioning angle position estimation is improved. The application also discloses a device for identifying the positioning angle of the motor rotor, a motor and a storage medium.
Description
Technical Field
The present application relates to the field of motor technology, and for example, to a method, an apparatus, a motor, and a storage medium for identifying a positioning angle of a rotor of a motor.
Background
In order to improve the energy-saving effect of the variable frequency air conditioner, a permanent magnet synchronous motor is adopted for control. However, the fault can be caused by improper control in the restarting process of the permanent magnet synchronous motor. Typical start-up procedures include positioning control, synchronous start-up, and sensorless speed closed loop control. In positioning control, the rotor positioning angle is typically initialized to zero degrees. However, the position of the rotor at the last stop is not fixed, and if the positioning angle of the rotor at the start-up is determined incorrectly, the motor cannot be started.
The related art discloses injecting a periodic signal into a field trend controller of a brushless motor having a rotor and a stator; measuring phase currents in stator windings of the brushless motor; determining d-axis current and q-axis current by transformation of the phase currents; the d-axis current and the q-axis current are adjusted to extract angle-dependent current characteristics including a sine component of the rotor angle estimate and a cosine component of the rotor angle estimate, and the rotor angle estimate is determined from the sine component and the cosine component.
In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:
The rotor angle estimation method in the related art is suitable for a synchronous starting stage, and the rotor positioning angle cannot be correctly identified in a positioning control stage.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the application and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.
The embodiment of the disclosure provides a method, a device, a motor and a storage medium for identifying a rotor positioning angle of a motor, so as to improve the accuracy of rotor positioning angle identification in a positioning control stage.
In some embodiments, the method comprises: under the condition that sine high-frequency voltage is injected into the d-axis of the motor, q-axis estimated current is obtained; adjusting the rotor position angle error based on the q-axis estimated current such that the rotor position angle error tends to zero; determining the estimated position of the rotor according to the change trend of the d-axis inductance and the corresponding information of the sine high-frequency voltage; and determining the position of the rotor positioning angle according to the estimated position.
In some embodiments, the apparatus comprises: a processor and a memory storing program instructions, the processor being configured to perform the method for identifying a motor rotor positioning angle as described before when the program instructions are run.
In some embodiments, the motor comprises: a motor body; the device for identifying the positioning angle of the motor rotor as described above is mounted to the motor body.
In some embodiments, the storage medium stores program instructions that, when executed, perform a method for identifying a motor rotor positioning angle as previously described.
The method, the device, the motor and the storage medium for identifying the positioning angle of the motor rotor provided by the embodiment of the disclosure can realize the following technical effects:
Here, after the sinusoidal high-frequency voltage is injected to the d-axis, the rotor position angle error is obtained based on the q-axis estimated current. And determining the estimated position of the rotor based on the d-axis inductance and the variation trend of the sinusoidal high-frequency voltage. The q-axis estimated current tends to be zero as the rotor position angle error tends to be zero. At this time, the estimated position of the rotor tends to the actual position. And further determining the rotor positioning angle. Thus, the accuracy of rotor positioning angle position estimation is improved.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:
FIG. 1 is a schematic illustration of a method for identifying a motor rotor positioning angle provided by an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of another method for identifying a motor rotor positioning angle provided by an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a method of controlling rotor position angle error toward zero provided by an embodiment of the present disclosure;
FIG. 4 is a schematic illustration of another method for identifying a motor rotor positioning angle provided by an embodiment of the present disclosure;
FIG. 5 is a schematic illustration of rotor position angle error provided by an embodiment of the present disclosure;
FIG. 6 is a schematic illustration of an apparatus for identifying a motor rotor positioning angle provided by an embodiment of the present disclosure;
Fig. 7 is a schematic diagram of an application of a motor provided in an embodiment of the present disclosure to an air conditioner.
Detailed Description
So that the manner in which the features and techniques of the disclosed embodiments can be understood in more detail, a more particular description of the embodiments of the disclosure, briefly summarized below, may be had by reference to the appended drawings, which are not intended to be limiting of the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.
The terms first, second and the like in the description and in the claims of the embodiments of the disclosure and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the present disclosure. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The term "plurality" means two or more, unless otherwise indicated.
In the embodiment of the present disclosure, the character "/" indicates that the front and rear objects are an or relationship. For example, A/B represents: a or B.
The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.
The term "corresponding" may refer to an association or binding relationship, and the correspondence between a and B refers to an association or binding relationship between a and B.
The permanent magnet synchronous motor can cause faults when being improperly controlled in the starting process. In positioning control, the rotor positioning angle is typically initialized to zero. Before starting, if the rotor is stopped between 0-90 degrees, or 270-360 degrees, the rotor angle converges to a position of 0 degrees when starting (i.e. the rotor positioning angle at which the motor can start normally when starting). However, if the rotor is stopped between 90 and 270 degrees, the rotor angle converges to a 180 degree position when the motor is started, and the motor cannot be started.
The problems described above are addressed. As shown in conjunction with fig. 1, an embodiment of the present disclosure provides a method for identifying a positioning angle of a rotor of an electric machine, including:
S101, in the case where a sinusoidal high-frequency voltage is injected into the d-axis of the motor, the processor acquires a q-axis estimated current.
S102, the processor adjusts the rotor position angle error according to the q-axis estimated current so that the rotor position angle error tends to be zero.
And S103, the processor determines the estimated position of the rotor according to the change trend of the d-axis inductance and the corresponding information of the sine high-frequency voltage.
S104, the processor determines the position of the rotor positioning angle according to the estimated position.
Here, the phase resistance of the motor stator is small in the ratio of the phase resistance to the impedance under the action of the high-frequency signal, and the angular velocity of the rotor is negligible at low or zero speed. Thus, the d-axis current and q-axis current in the synchronous rotation coordinate system are related only to the voltage and inductance of the corresponding axes. And the q-axis controls torque and the d-axis controls magnetic field. To prevent torque ripple, sinusoidal high frequency voltages are injected into the d-axis of the motor. And further estimates the estimated current of the q-axis.
Wherein the estimated current of the q-axis and the estimated current of the d-axis are equations based on the rotor position angle error. In the rotor positioning angle identification process, in order to ensure the accuracy of prediction, the rotor position angle error is required to trend to zero. In this way, the estimated rotor positioning angle tends to the actual positioning angle. However, when the angular error of the rotor position tends to zero, the estimated current of the d-axis presents a high-frequency sinusoidal signal, and the position of the rotor cannot be estimated. The estimated current of the q-axis tends to be zero when the rotor position angle error tends to be zero. In this way, the rotor position angle error can be adjusted based on the q-axis estimated current. The rotor position error tends to be zero, so that the estimated position of the rotor is closer to the actual position of the rotor, and the accuracy of the rotor positioning angle is improved.
In addition, the d-axis controls the magnetic field, so that the magnetic field changes with the change of the voltage after the injection of the high-frequency voltage. The change of the magnetic field causes the d-axis inductance to change, and the estimated position of the rotor can be judged according to the change of the d-axis inductance and the change information of the voltage. And further determining the position of the rotor positioning angle.
By adopting the method for identifying the positioning angle of the motor rotor, which is provided by the embodiment of the disclosure, after sine high-frequency voltage is injected into the d-axis, the rotor position angle error is obtained based on q-axis estimated current. And determining the estimated position of the rotor based on the d-axis inductance and the variation trend of the sinusoidal high-frequency voltage. The q-axis estimated current tends to be zero as the rotor position angle error tends to be zero. At this time, the estimated position of the rotor tends to the actual position. And further determining the rotor positioning angle. Thus, the accuracy of rotor positioning angle position estimation is improved.
Optionally, in step S103, the processor determines a trend of change of the d-axis inductance by the following method, including:
The sensor acquires d-axis current and voltage multiple times.
The processor calculates d-axis inductance from the d-axis current and voltage.
The processor compares the calculated d-axis inductances and determines the change trend of the d-axis inductances.
Here, the trend of the d-axis inductance needs to be acquired a plurality of times, and thus the trend of the change is obtained. In order to improve the accuracy of the judgment of the change trend, the d-axis inductance is acquired at least three times. In addition, the d-axis inductance needs to be obtained through voltage and current calculation. And then comparing the values of the plurality of inductors to determine the change trend.
In some embodiments, the d-axis inductance may be calculated by the following equation:
Ld＝(Ud-R*(Idn+Idm)/2)*Tm-n/(Idm-Idn)
Wherein U d is a d-axis voltage vector, R is a stator resistor, id n is d-axis current acquired for the nth time, id m is d-axis current acquired for the mth time, T m-n is a time interval of two acquisitions, and n is smaller than m. In this manner, the d-axis current may be periodically or aperiodically collected. When aperiodic, T m-n can be obtained by recording acquisition time calculations. In periodic acquisition, T m-n can be obtained by calculation of acquisition times and acquisition periods. In addition, the inductance is calculated through the formula, so that the accuracy of inductance calculation can be improved.
Optionally, in step S103, the processor determines a trend of change of the d-axis inductance, including:
the time interval for acquiring the d-axis current and the d-axis voltage twice is larger than the preset duration.
Here, the time for collecting the current and the voltage twice is limited, and the minimum value of the preset time length is 0.01 second. The method can avoid the situation that the acquisition time interval is short and the change trend of the d-axis inductance cannot be accurately judged.
As shown in connection with fig. 2, an embodiment of the present disclosure provides another method for identifying a positioning angle of a rotor of an electric machine, comprising:
S101, in the case where a sinusoidal high-frequency voltage is injected into the d-axis of the motor, the processor acquires a q-axis estimated current.
S102, the processor adjusts the rotor position angle error according to the q-axis estimated current so that the rotor position angle error tends to be zero.
S131, under the condition that the sine high-frequency voltage generates an enhanced magnetic field, if the change trend of the d-axis inductance is increased, the processor determines that the estimated position of the rotor is in the d-axis opposite direction; otherwise, the processor determines the estimated position of the rotor as the d-axis positive direction.
S132, under the condition that the sine high-frequency voltage generates a weakening magnetic field, if the change trend of the d-axis inductance is reduced, the processor determines that the estimated position of the rotor is the d-axis opposite direction; otherwise, the processor determines the estimated position of the rotor as the d-axis positive direction.
S104, the processor determines the position of the rotor positioning angle according to the estimated position.
As described above, when the rotor convergence angle (i.e., the positioning angle of the rotor) is determined by the d-axis direction, the rotor may converge to the true rotor position, or may converge to the opposite direction to the true rotor position. Here, the position of the rotor is estimated based on the magnitude of the magnetic field generated by the voltage and the trend of the change in the d-axis inductance. Specifically, if the rotor converges to the d-axis positive direction when the magnetic field becomes large, flux linkage increases, which in turn causes the d-axis inductance to become small. If the rotor converges in the opposite direction of the d-axis, flux linkage weakens, resulting in an increase in d-axis inductance. Similarly, when the magnetic field becomes smaller, if the magnetic field converges to the d-axis positive direction, the flux linkage is weakened, resulting in an increase in inductance. If the convergence is in the opposite direction of the d-axis, the flux linkage increases, resulting in a decrease in inductance.
Therefore, if the magnetic field generated by the voltage is an enhanced magnetic field, and the trend of change in the d-axis inductance is increased. Then the estimated position of the rotor is determined to be in the opposite direction of the d-axis, where the estimated position of the rotor refers to the convergence of the estimated rotor to the opposite direction of the d-axis. If the magnetic field generated by the voltage is an enhanced magnetic field, the change trend of the d-axis inductance is weakened. Then the estimated position of the rotor is determined to be the d-axis direction. Similarly, when the magnetic field generated by the voltage is a weakening magnetic field, if the trend of the change of the d-axis inductance is reduced, the estimated position of the rotor is determined to be the d-axis opposite direction. If the trend of the d-axis inductance change is increased, the estimated position of the rotor is determined to be the d-axis positive direction.
In some embodiments, the trend of the magnetic field is determined by the injected high frequency sinusoidal voltage. If the high frequency sinusoidal voltage is a positive half-cycle (where the high frequency sinusoidal voltage is referenced to the x-axis, i.e., positive half-cycles above the x-axis), then the magnetic field is a boost magnetic field. If the high frequency sinusoidal voltage is negative half-cycles (i.e. below the x-axis), the magnetic field is a small weak magnetic field.
Optionally, in step S104, the processor determines a position of the rotor positioning angle according to the estimated position of the rotor, including:
And under the condition that the estimated position of the rotor is in the direction opposite to the d axis, the processor takes the position of the estimated position of the rotor after compensating the first angle as the position of the rotor positioning angle.
And under the condition that the convergence position of the rotor positioning is in the positive direction of the d axis, the processor takes the estimated position of the rotor as the position of the rotor positioning angle.
Here, if the estimated rotor position is in the opposite direction of the d-axis, the position of the rotor positioning angle needs to be compensated for the first angle based on the estimated position. Wherein the first angle is 180 degrees. Therefore, the rotor angle converges to 0 degree when the motor is started, and the motor can be started normally. If the estimated rotor position is in the positive d-axis direction, the rotor positioning angle position is the estimated position, and the first angle does not need to be compensated.
Optionally, in step S102, the processor controls the rotor angle error to go to zero by:
The processor PI adjusts the rotor position angle error in the q-axis estimated current such that the output rotor position angle error tends to zero.
Here, after the q-axis estimated current is obtained, it is adjusted so that the q-axis estimated current tends to zero. Since the q-axis estimated current tends to be zero only when the rotor position angle error tends to be zero. The q-axis estimated current tending to zero may characterize the rotor position angle error tending to zero. Specifically, a PI (Proportion-Integral) controller is used for adjustment so that the rotor position angle error tends to zero.
As shown in fig. 3, optionally, step S102, the processor obtains a rotor position angle error in the q-axis estimated current by:
The processor extracts an estimation equation of the high frequency response current from the estimation equation of the q-axis current.
And the processor extracts low-frequency signals in an estimation equation of the high-frequency response current to obtain the rotor position angle error.
As previously described, the q-axis estimated current is related only to the injected high frequency sinusoidal signal, rotor position angle error. In more detail, the q-axis estimated current includes a fundamental current and a response current of a high-frequency sinusoidal signal. The high frequency response current may be filtered out by a Band pass filter (BPF, band-PASS FILTER). After the q-axis estimated current is extracted by a band-pass filter, a sine signal with the same frequency is multiplied, and the original sine signal symmetrical about the x-axis is integrally translated to be above the x-axis. Since the amplitude is 0 after passing through a Low pass filter (LPF, low-PASS FILTER) if the signal is symmetrical about the x-axis. After translation above the x-axis, the amplitude information of the sinusoidal signal can be extracted by a low pass filter. The low pass filter may filter out the high frequency signal, leaving the low frequency signal (which is related to rotor position angle error).
As shown in connection with fig. 4, an embodiment of the present disclosure provides another method for identifying a motor rotor positioning angle, comprising:
S401, starting;
s402, injecting sine high-frequency voltage into a d-axis of a motor;
s403, acquiring q-axis estimated current, and adjusting rotor position angle error to enable the rotor position angle error to trend to zero;
S404, judging whether the magnetic field generated by the sinusoidal high-frequency voltage is an enhanced magnetic field, and executing S405 if the magnetic field is the enhanced magnetic field; if the magnetic field is weakened, S406 is performed;
s405, judging whether the change trend of the d-axis inductance is increased, if so, executing S407; if it is a decrease, then S408 is performed;
s406, judging whether the change trend of the d-axis inductance is reduced, if so, executing S407; if so, S408 is performed;
S407, determining the estimated position of the rotor as the direction opposite to the d axis; and taking the position of the rotor after the estimated position of the rotor is compensated by the first angle as the position of the rotor positioning angle.
S408, determining the estimated position of the rotor as the positive direction of the d axis; and taking the estimated position of the rotor as the position of the rotor positioning angle.
Under the action of high-frequency signals, the differential form of the currents of the d axis and the q axis is as follows:
Where u d、Ld is the d-axis voltage and inductance and u q、Lq is the q-axis voltage and inductance. Then the d-axis and q-axis estimated currents are:
wherein the estimated current is obtained based on an estimated d '-q' coordinate system, rotor position angle error Refers to the angle between the d axis and the d' axis. The more the angle tends to be zero, the more the d' axis tends to be d (as shown in fig. 5). The above is expanded and the d-axis equation is written separately:
Defining an average inductance:
defining a half difference inductance:
Let L d、Lq be represented as the average inductance L and the half difference inductance al as follows:
Lq＝L+ΔL
Ld＝L-ΔL
substituting Ld, lq into d-axis equation and sorting:
The method comprises the following steps:
And (3) the same principle:
The injected high-frequency voltage signal is
Substituting into the d-axis equation above:
And (4) integrating at two sides:
And (3) finishing to obtain:
And (3) the same principle:
above mentioned After filtering in fig. 3, it is obtained:
Inputting the error into a PI controller for adjustment so as to lead the rotor position angle error Tending toward 0.
The embodiment of the disclosure provides a device for identifying a positioning angle of a motor rotor, which comprises an acquisition module, an adjustment module, a first determination module and a second determination module. The acquisition module is configured to acquire a q-axis estimated current with a sinusoidal high frequency voltage injected into a d-axis of the motor. The adjustment module is configured to adjust the rotor position angle error based on the q-axis estimated current such that the rotor position angle error tends to zero. The first determining module is configured to determine an estimated position of the rotor according to the change trend of the d-axis inductance and the corresponding information of the sinusoidal high-frequency voltage. The second determination module is configured to determine a position of the rotor positioning angle based on the estimated position.
By adopting the device for identifying the positioning angle of the motor rotor, which is provided by the embodiment of the disclosure, after sine high-frequency voltage is injected into the d axis, the rotor position angle error is obtained based on q-axis estimated current. And determining the estimated position of the rotor based on the d-axis inductance and the variation trend of the sinusoidal high-frequency voltage. The q-axis estimated current tends to be zero as the rotor position angle error tends to be zero. At this time, the estimated position of the rotor tends to the actual position. And further determining the rotor positioning angle. Thus, the accuracy of rotor positioning angle position estimation is improved.
As shown in connection with fig. 6, an embodiment of the present disclosure provides an apparatus 300 for identifying a motor rotor positioning angle, including a processor (processor) 100 and a memory (memory) 101. Optionally, the apparatus may further comprise a communication interface (Communication Interface) 102 and a bus 103. The processor 100, the communication interface 102, and the memory 101 may communicate with each other via the bus 103. The communication interface 102 may be used for information transfer. The processor 100 may invoke logic instructions in the memory 101 to perform the method for identifying motor rotor positioning angles of the above-described embodiments.
Further, the logic instructions in the memory 101 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product.
The memory 101 is a computer readable storage medium that can be used to store a software program, a computer executable program, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 100 executes functional applications and data processing by running program instructions/modules stored in the memory 101, i.e. implements the method for identifying the positioning angle of the motor rotor in the above-described embodiments.
The memory 101 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the terminal device, etc. Further, the memory 101 may include a high-speed random access memory, and may also include a nonvolatile memory.
As shown in connection with fig. 7, the embodiment of the present disclosure provides a motor applied to a compressor of an air conditioner 200; comprising the following steps: a motor body, and the above-described device 300 for identifying a positioning angle of a motor rotor. A device for identifying the positioning angle of the motor rotor is mounted to the motor body. The mounting relationships described herein are not limited to placement within a product, but include mounting connections to other components of a product, including but not limited to physical, electrical, or signal transmission connections, etc. Those skilled in the art will appreciate that the means for identifying the positioning angle of the motor rotor may be adapted to the available product body to achieve other possible embodiments.
Embodiments of the present disclosure provide a computer-readable storage medium storing computer-executable instructions configured to perform the above-described method for identifying a motor rotor positioning angle.
The computer readable storage medium may be a transitory computer readable storage medium or a non-transitory computer readable storage medium.
Embodiments of the present disclosure may be embodied in a software product stored on a storage medium, including one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of a method according to embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium including: a plurality of media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or a transitory storage medium.
The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. Moreover, the terminology used in the present application is for the purpose of describing embodiments only and is not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a," "an," and "the" (the) are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this disclosure is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, when used in the present disclosure, the terms "comprises," "comprising," and/or variations thereof, mean that the recited features, integers, steps, operations, elements, and/or components are present, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method or apparatus that includes the element. In this context, each embodiment may be described with emphasis on the differences from the other embodiments, and the same similar parts between the various embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method sections disclosed in the embodiments, the description of the method sections may be referred to for relevance.
Those of skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. The skilled artisan may use different methods for each particular application to achieve the described functionality, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the embodiments disclosed herein, the disclosed methods, articles of manufacture (including but not limited to devices, apparatuses, etc.) may be practiced in other ways. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the units may be merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form. The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to implement the present embodiment. In addition, each functional unit in the embodiments of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
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 embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). 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. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than that disclosed in the description, and sometimes no specific order exists between different operations or steps. For example, two consecutive operations or steps may actually be performed substantially in parallel, they may sometimes be performed in reverse order, which may be dependent on the functions involved. Each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/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.
Claims (10)
1. A method for identifying a positioning angle of a rotor of an electric machine, comprising:
Under the condition that sine high-frequency voltage is injected into the d-axis of the motor, q-axis estimated current is obtained;
Adjusting the rotor position angle error based on the q-axis estimated current such that the rotor position angle error tends to zero;
Determining the estimated position of the rotor according to the change trend of the d-axis inductance and the corresponding information of the sine high-frequency voltage;
And determining the position of the rotor positioning angle according to the estimated position.
2. The method of claim 1, wherein the trend of d-axis inductance is determined by:
D-axis current and voltage are obtained for multiple times;
Calculating d-axis inductance according to the d-axis current and the d-axis voltage;
and comparing the calculated d-axis inductances to determine the change trend of the d-axis inductances.
3. The method of claim 2, wherein the multiple acquiring d-axis current and voltage comprises:
the time interval for acquiring the d-axis current and the d-axis voltage twice is larger than the preset duration.
4. The method of claim 1, wherein determining the estimated position of the rotor based on the trend of d-axis inductance and the corresponding sinusoidal high frequency voltage information comprises:
Under the condition that the sine high-frequency voltage generates an enhanced magnetic field, if the change trend of the d-axis inductance is increased, determining the estimated position of the rotor as the d-axis opposite direction; otherwise, determining the estimated position of the rotor as the positive direction of the d axis;
Under the condition that the sine high-frequency voltage generates a weakening magnetic field, if the change trend of the d-axis inductance is reduced, determining the estimated position of the rotor as the d-axis opposite direction; otherwise, determining the estimated position of the rotor as the positive direction of the d axis.
5. The method of claim 4, wherein determining a rotor positioning angle based on the predicted position comprises:
under the condition that the estimated position of the rotor is in the opposite direction of the d axis, taking the position of the rotor after the estimated position of the rotor is compensated for a first angle as the position of the rotor positioning angle;
and when the convergence position of the rotor positioning is in the d-axis positive direction, taking the estimated rotor position as the position of the rotor positioning angle.
6. A method according to any one of claims 1 to 5, characterized in that the rotor position angle error is controlled towards zero by:
PI-adjusting the rotor position angle error in the q-axis estimated current to enable the output rotor position angle error to trend to zero.
7. The method of claim 6, wherein obtaining a rotor position angle error in the q-axis estimated current by:
extracting an estimation equation of the high-frequency response current in the estimation equation of the q-axis current;
And extracting low-frequency signals in an estimation equation of the high-frequency response current to obtain the rotor position angle error.
8. An apparatus for identifying a motor rotor positioning angle comprising a processor and a memory storing program instructions, wherein the processor is configured to perform the method for identifying a motor rotor positioning angle of any one of claims 1 to 7 when the program instructions are executed.
9. An electric machine, comprising:
A motor body;
The apparatus for identifying a motor rotor positioning angle of claim 8, mounted to the motor body.
10. A storage medium storing program instructions which, when executed, perform the method for identifying a motor rotor positioning angle according to any one of claims 1 to 7.
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| CN202211475342.XA CN118074586A (en) | 2022-11-23 | 2022-11-23 | Method and device for identifying positioning angle of motor rotor and motor |
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| CN202211475342.XA CN118074586A (en) | 2022-11-23 | 2022-11-23 | Method and device for identifying positioning angle of motor rotor and motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118508811A (en) * | 2024-07-19 | 2024-08-16 | 比亚迪股份有限公司 | Motor rotor position determination method, motor rotor position determination device, readable storage medium, and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118508811A (en) * | 2024-07-19 | 2024-08-16 | 比亚迪股份有限公司 | Motor rotor position determination method, motor rotor position determination device, readable storage medium, and vehicle |
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