CN118117937A - Motor rotor position detection method and system - Google Patents
Motor rotor position detection method and system Download PDFInfo
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Abstract
The invention relates to the technical field of motor rotor position detection, in particular to a motor rotor position detection method and a motor rotor position detection system, wherein an A-phase square wave pulse signal, a B-phase square wave pulse signal and a Z-phase square wave pulse signal on a motor working time period are obtained through an incremental photoelectric encoder to obtain each rotation time sequence interval and all corresponding phase state codes; obtaining a reference abnormality degree according to the time length change, the number of phase state codes, the periodic distribution condition of the phase state codes and the time length of the rotation time sequence interval; the method and the device have the advantages that the abnormal rotation time sequence intervals needing to be corrected are screened out more accurately by combining the reference abnormal degree differences, the relevance and the motor running state differences among the rotation time sequence intervals, so that the accuracy of corrected motor pulse signals is improved, and the accuracy of motor rotor position detection according to the corrected motor pulse signals is higher.
Description
Technical Field
The invention relates to the technical field of motor rotor position detection, in particular to a motor rotor position detection method and system.
Background
The motor rotor is a rotating component inside the motor, typically a magnetic material, that generates a rotational motion by converting electrical energy into mechanical energy. In view of the fact that the motor is to be operated at maximum efficiency, it is necessary to accurately determine the position of the motor rotor; thus motor rotor position detection is required. The conventional motor rotor position detection method is generally based on the principle of photoelectric effect, and detects the position of a rotor by means of a motor pulse signal output by an incremental photoelectric encoder. But the motor pulse signal obtained by the incremental photoelectric encoder is easily influenced by environmental factors such as the outside or the ageing of a detection device, so that signal abnormality occurs, and the detected motor rotor position is inaccurate. Replacement or removal of the abnormal signal value is required.
In the prior art, a local pulse signal of each rotation time sequence interval of the pulse signal is generally input into a trained deep learning model, the rotation time sequence interval with abnormality is output, and the local pulse signal of the rotation time sequence interval is corrected by a local interpolation method. But the independent method for inputting the local pulse signal of each rotation time sequence interval into the deep learning model can neglect the correlation between signals of different rotation time sequence intervals and the characteristic that the phase data of different steering outputs of the rotor in the motor operation process, so that the accuracy of the abnormal rotation time sequence interval obtained by adopting the method for screening the abnormal rotation time sequence interval by adopting the deep learning model in the prior art is poor, the accuracy of the corrected motor pulse signal is influenced, and the accuracy of motor rotor position detection according to the corrected motor pulse signal is low.
Disclosure of Invention
In order to solve the technical problems that in the prior art, the accuracy of an abnormal rotation time sequence interval obtained by adopting a method for screening the abnormal rotation time sequence interval by adopting a deep learning model is poor, the accuracy of a corrected motor pulse signal is influenced, and the accuracy of motor rotor position detection according to the corrected motor pulse signal is low, the invention aims to provide a motor rotor position detection method and a motor rotor position detection system, and the adopted technical scheme is as follows:
The invention provides a motor rotor position detection method, which comprises the following steps:
Collecting an A-phase square wave pulse signal, a B-phase square wave pulse signal and a Z-phase square wave pulse signal on the working time period of the motor through an incremental photoelectric encoder; dividing the motor working time period into at least two rotation time sequence intervals according to the level change in the Z-phase square wave pulse signal; obtaining all phase state codes of each rotation time sequence interval according to the level states of the A-phase square wave pulse signals and the B-phase square wave pulse signals;
Obtaining a time sequence reliability factor of each rotation time sequence interval according to the time length change between adjacent rotation time sequence intervals and the number of phase state codes of each rotation time sequence interval; obtaining the reference abnormality degree of each rotation time sequence interval according to the phase state code period distribution condition, the time sequence reliability factor and the time length of each rotation time sequence interval;
Performing cluster analysis according to the similarity of reference abnormal degrees, the correlation of phase state codes and the similarity of time lengths among the rotation time sequence intervals to obtain at least two rotation time sequence interval clusters; screening out abnormal rotation time sequence interval clusters according to the reference abnormal degree distribution condition in each rotation time sequence interval cluster;
and correcting the rotation time sequence interval in the abnormal rotation time sequence interval cluster, and then detecting the position of the motor rotor.
Further, the method for acquiring the rotation time sequence interval comprises the following steps:
the time corresponding to the low level of the signal in the Z-phase square wave pulse signal is converted into the high level, and the time is taken as the interval time; the time interval between adjacent interval moments is taken as a rotation time sequence interval.
Further, the method for acquiring the phase state code comprises the following steps:
acquiring a reference state code of each moment; the reference state code is a two-bit binary number, wherein the first-bit binary number is the level state code of the B-phase square wave pulse signal, and the second-bit binary number is the level state code of the A-phase square wave pulse signal;
in each rotation time sequence interval, the time when the reference state code changes is taken as the state change time; and taking the reference state code of the previous time corresponding to each state change time as the phase state code of each state change time.
Further, the method for acquiring the time sequence reliability factor comprises the following steps:
In time sequence, taking the difference between the time length of each rotation time sequence interval and the time length of the previous rotation time sequence interval as a first time length change value of each rotation time sequence interval; taking the difference between the time length of each rotation time sequence interval and the time length of the next rotation time sequence interval as a second time length change value of each rotation time sequence interval; taking the ratio of the difference between the first time length change value and the second time length change value and the time length of each rotation time sequence interval as the abnormal degree of rotation change of each rotation time sequence interval;
Taking the difference between the mode of the phase state code quantity of all the rotation time sequence intervals and the phase state code quantity of each rotation time sequence interval as the state code quantity abnormality degree of each rotation time sequence interval;
And taking a negative correlation mapping value of the product between the rotation variation abnormality degree and the state code quantity abnormality degree as a time sequence reliability factor of each rotation time sequence interval.
Further, the method for acquiring the reference abnormality degree includes:
In time sequence, taking the number of the preset state periods after each phase state code as the period state code of each phase state code; taking the exclusive OR operation value between each phase state code and the corresponding periodic state code as the periodic state difference of each phase state code; taking the average value of all periodic state differences in each rotation time sequence interval as a periodic abnormal value of each rotation time sequence interval;
taking the product of the time sequence reliability factor and the time length of each rotation time sequence interval as a reference product of each rotation time sequence interval; and taking a positive correlation mapping value of the ratio between the periodic abnormal value and the reference product as the reference abnormal degree of each rotation time sequence interval.
Further, the method for acquiring the rotation time sequence interval cluster comprises the following steps:
In time sequence, taking the rotation time sequence interval in a preset neighborhood window of each rotation time sequence interval as a reference time sequence interval of each rotation time sequence interval; taking the negative correlation mapping value of the normalized value of the reference abnormality degree of each reference time sequence interval as the abnormality degree weight of each reference time sequence interval; taking the product of the time length of each reference time sequence interval and the abnormality degree weight as the weighted time length of each reference time sequence interval; taking the accumulated value of the weighted time length of all the reference time sequence intervals corresponding to each rotation time sequence interval as the motor operation characteristic parameter of each rotation time sequence interval;
Arranging all phase state codes in each rotation time sequence interval in time sequence to obtain a phase state code time sequence of each rotation time sequence interval;
Sequentially taking each rotation time sequence interval as a target time sequence interval; taking other rotation time sequence intervals except the target time sequence interval as comparison time sequence intervals of the target time sequence interval; obtaining a reference clustering distance between the target time sequence interval and each comparison time sequence interval according to the phase state code time sequence relevance between the target time sequence interval and each comparison time sequence interval, the motor operation characteristic parameter difference and the reference abnormality degree difference;
And carrying out cluster analysis by a K-means clustering algorithm according to the reference cluster distance between each rotation time sequence interval and the rest rotation time sequence intervals to obtain at least two rotation time sequence interval clusters.
Further, the calculation formula of the reference clustering distance includes:
wherein, For the target timing interval/>And corresponding/>Reference clustering distances between the comparison time sequence intervals; /(I)For the target timing interval/>Is referred to as the degree of abnormality; /(I)For the target timing interval/>Corresponding/>Reference abnormality degrees of the individual comparison time sequence intervals; /(I)For the target timing interval/>Is a motor operation characteristic parameter; /(I)For the target timing interval/>Corresponding/>Comparing motor operation characteristic parameters of the time sequence interval; /(I)For the target timing interval/>Phase state code timing sequence of (c) and corresponding/>Pearson correlation coefficients between phase state code timing sequences of the contrasting timing intervals.
Further, the method for acquiring the abnormal rotation time sequence interval cluster comprises the following steps:
Taking the average value of the reference abnormality degree of all the rotation time sequence intervals in each rotation time sequence interval cluster as an abnormality judgment value of each rotation time sequence interval cluster;
and taking the rotation time sequence interval cluster corresponding to the maximum abnormal judgment value as an abnormal rotation time sequence interval cluster.
Further, the method for detecting the position of the motor rotor after correcting the rotation time sequence interval in the abnormal rotation time sequence interval cluster comprises the following steps:
Taking the rotation time sequence interval in the abnormal rotation time sequence interval cluster as an abnormal rotation time sequence interval; taking other rotation time sequence intervals except the abnormal rotation time sequence interval as normal rotation time sequence intervals; taking a normal rotation time sequence interval which is closest to each abnormal rotation time sequence interval in time sequence as a matched rotation time sequence interval of each abnormal rotation time sequence interval;
Sequentially taking the A-phase square wave pulse signal, the B-phase square wave pulse signal and the Z-phase square wave pulse signal as target square wave pulse signals; on the target square wave pulse signal, replacing each abnormal rotation time sequence interval with a corresponding matched rotation time sequence interval to obtain a corrected target square wave pulse signal;
Decoding according to the corrected A-phase square wave pulse signal, the corrected B-phase square wave pulse signal and the corrected Z-phase square wave pulse signal through a decoding table of the incremental photoelectric encoder to obtain a decoding result; and obtaining the position of the motor rotor according to the decoding result.
The invention also provides a motor rotor position detection system, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes any one of the steps of a motor rotor position detection method when executing the computer program.
The invention has the following beneficial effects:
The incremental photoelectric encoder can collect an A-phase square wave pulse signal, a B-phase square wave pulse signal and a Z-phase square wave pulse signal in the working process of the motor based on the photoelectric effect principle, wherein the Z-phase square wave pulse signal can have transient level change after each rotation of the motor rotor grating disk, so that if the rotation time sequence interval is divided according to the level change of the Z-phase square wave pulse signal, the time length of the rotation time sequence interval can represent the rotation speed of the motor rotor grating disk. The phase difference between the A-phase square wave pulse signal and the B-phase square wave pulse signal can determine the rotation direction; under the normal working state of the same rotating direction, the phase state codes corresponding to the A-phase square wave pulse signals and the B-phase square wave pulse signals show regular changes, and under the normal working condition, as the rotating speed of a motor rotor increases, the level change frequency of the A-phase square wave pulse signals and the B-phase square wave pulse signals can be increased, so that the quantity of the phase state codes is always unchanged under the condition that the motor rotor grating disc rotates for one circle; and the change of the rotation speed of the motor rotor in a short time under the normal running condition is generally uniform; according to the characteristic of the motor under the normal running condition, the time sequence reliability factor of each rotation time sequence interval is obtained according to the time length change between adjacent rotation time sequence intervals and the phase state code quantity of each rotation time sequence interval, and the abnormality of each rotation time sequence interval is initially represented through the time sequence reliability factor.
The time length of the rotation time sequence interval can represent the rotation speed of the motor rotor, when the rotation speed is higher, the output current is higher, the corresponding generated electric noise is higher, and the corresponding rotation time sequence interval can be abnormal. In addition, in the rotation time sequence interval, the phase state code can show periodic regular change, so that the poorer the periodicity of the phase state code is, the greater the degree of abnormality of the corresponding rotation time sequence interval is. Therefore, the invention combines the phase state code period distribution condition, the time sequence reliability factor and the time length according to each rotation time sequence interval to obtain the reference abnormality degree of each rotation time sequence interval, thereby further screening out abnormal rotation time sequence intervals by combining the reference abnormality degree.
The abnormal degree corresponding to the rotating time sequence interval of the normal operation of the motor is usually smaller, namely the reference abnormal degree has high similarity; the change rule of the phase state codes in the rotation time sequence interval of the normal operation of the motor is the same, so that the phase state codes between the rotation time sequence intervals of the normal operation of the motor have high relevance; when the motor runs abnormally, the corresponding motor running state is abnormal, and the time length of the rotation time sequence interval influences the rotation speed of the motor rotor, namely the motor running state can be indirectly represented through the time length; according to the invention, clustering analysis is carried out according to the similarity condition of the reference abnormal degree and the correlation of the phase state code and the time length between each rotation time sequence interval, so that at least two rotation time sequence interval clustering clusters are obtained, and the rotation time sequence intervals with similar abnormal degree and running state are concentrated into one clustering cluster.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions and advantages of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for detecting a rotor position of an electric motor according to an embodiment of the present invention;
fig. 2 is a signal state diagram of an incremental photoelectric encoder under motor reversal according to an embodiment of the present invention.
Detailed Description
In order to further describe the technical means and effects adopted by the present invention to achieve the preset purpose, the following detailed description refers to specific embodiments, structures, features and effects of a method and a system for detecting a rotor position of a motor according to the present invention, with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" means that the embodiments are not necessarily the same. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
The following specifically describes a specific scheme of a motor rotor position detection method and system provided by the invention with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of a method for detecting a rotor position of an electric motor according to an embodiment of the invention is shown, where the method includes:
Step S1: collecting an A-phase square wave pulse signal, a B-phase square wave pulse signal and a Z-phase square wave pulse signal on the working time period of the motor through an incremental photoelectric encoder; dividing the working time period of the motor into at least two rotation time sequence intervals according to the level change in the Z-phase square wave pulse signal; and obtaining all phase state codes of each rotation time sequence interval according to the level states of the A-phase square wave pulse signals and the B-phase square wave pulse signals.
The embodiment of the invention aims to provide a motor rotor position detection method, which is based on a photoelectric effect principle, analyzes by means of level phase changes of an A-phase square wave pulse signal, a B-phase square wave pulse signal and a Z-phase square wave pulse signal output by an incremental photoelectric encoder to obtain a more accurate abnormal rotation time sequence interval, so that the accuracy of a corrected motor pulse signal is improved, and the accuracy of motor rotor position detection according to the corrected motor pulse signal is higher.
Therefore, the embodiment of the invention firstly collects the A-phase square wave pulse signal, the B-phase square wave pulse signal and the Z-phase square wave pulse signal on the working time period of the motor through the incremental photoelectric encoder, and specifically: in the embodiment of the invention, the light is emitted by the light emitting device in the incremental photoelectric encoder, and in the working process of the motor, the light corresponding to the rotation of the grating disk along with the motor is divided into a series of light pulses, and the light pulses are detected by the photosensitive device and then converted into the A-phase square wave pulse signal, the B-phase square wave pulse signal and the Z-phase square wave pulse signal which are required by the embodiment of the invention.
After each rotation of the motor rotor grating disk, the Z-phase square wave pulse signal has a short level change, so that if the rotation time sequence interval is divided according to the level change of the Z-phase square wave pulse signal, the time length of the rotation time sequence interval can represent the rotation speed of the motor rotor grating disk; therefore, according to the embodiment of the invention, the working time period of the motor is divided into at least two rotation time sequence intervals according to the level change in the Z-phase square wave pulse signal. Preferably, the method for acquiring the rotation time sequence interval includes:
The time corresponding to the low level of the signal in the Z-phase square wave pulse signal is converted into the high level, and the time is taken as the interval time; the time interval between adjacent interval moments is taken as a rotation time sequence interval. The longer the time length of the rotation time sequence interval, the slower the rotation speed of the motor rotor in the corresponding time period is indicated.
The phase difference between the A-phase square wave pulse signal and the B-phase square wave pulse signal can determine the rotation direction; under the same rotation direction and normal working condition, the level state corresponding to the A phase square wave pulse signal and the B phase square wave pulse signal can change regularly, and the level change rule can be influenced under the abnormal working condition, so that the analysis can be performed by combining the signal change rule in the working process of the motor, and the abnormal rotation time sequence interval obtained by the follow-up detection can be more accurate. The embodiment of the invention quantizes the level states corresponding to the A-phase square wave pulse signal and the B-phase square wave pulse signal into the phase state code, thereby enabling the subsequent signal analysis to be more visual; therefore, according to the embodiment of the invention, all phase state codes of each rotation time sequence interval are obtained according to the level states of the A-phase square wave pulse signal and the B-phase square wave pulse signal. Preferably, the method for acquiring the phase state code includes:
Acquiring a reference state code of each moment; the reference state code is a two-bit binary number, wherein the first bit binary number is the level state code of the B-phase square wave pulse signal, and the second bit binary number is the level state code of the A-phase square wave pulse signal; in each rotation time sequence interval, the time when the reference state code changes is taken as the state change time; taking the reference state code of the previous moment corresponding to each state change moment as the phase state code of each state change moment; the change of the level states of the A-phase square wave pulse signal and the B-phase square wave pulse signal can be reflected through the change of the phase state code. Referring to FIG. 2, a signal state diagram of an incremental photoelectric encoder with motor reversal is shown; in fig. 2, a is an a-phase square wave pulse signal, B is a B-phase square wave pulse signal, and Z is a Z-phase square wave pulse signal; each square wave pulse signal is in low level and in high level; the phase difference between the a-phase square wave pulse signal and the B-phase square wave pulse signal is 90 degrees, which is used to determine the rotation direction, and in fig. 2, the corresponding phase status codes are periodically changed in the order of 01, 00, 10, 11. It should be noted that, the incremental photoelectric encoder in the embodiment of the present invention is an ABZ encoder, so as to ensure that an a-phase square wave pulse signal, a B-phase square wave pulse signal and a Z-phase square wave pulse signal are obtained.
Step S2: obtaining a time sequence reliability factor of each rotation time sequence interval according to the time length change between adjacent rotation time sequence intervals and the number of phase state codes of each rotation time sequence interval; and obtaining the reference abnormality degree of each rotation time sequence interval according to the phase state code period distribution condition, the time sequence reliability factor and the time length of each rotation time sequence interval.
Considering that under the normal working state in the same rotation direction, the phase state codes corresponding to the A-phase square wave pulse signals and the B-phase square wave pulse signals show regular changes, and under the normal running condition, as the rotation speed of a motor rotor increases, the level change frequency of the A-phase square wave pulse signals and the B-phase square wave pulse signals can be increased, and the quantity of the phase state codes is always unchanged under the condition that the corresponding motor rotor grating disc rotates for one circle; and the change of the rotation speed of the motor rotor in a short time under the normal running condition is generally uniform; according to the time length characteristic and the phase state code quantity characteristic under the normal running condition, the time sequence reliability factor of each rotation time sequence interval is obtained according to the time length change between adjacent rotation time sequence intervals and the phase state code quantity of each rotation time sequence interval, and the abnormality of each rotation time sequence interval is primarily represented through the time sequence reliability factor.
Preferably, the method for acquiring the time sequence reliability factor comprises the following steps:
In time sequence, taking the difference between the time length of each rotation time sequence interval and the time length of the previous rotation time sequence interval as a first time length change value of each rotation time sequence interval; taking the difference between the time length of each rotation time sequence interval and the time length of the next rotation time sequence interval as a second time length change value of each rotation time sequence interval; and taking the ratio of the difference between the first time length variation value and the second time length variation value and the time length of each rotation time sequence interval as the abnormal degree of the rotation variation of each rotation time sequence interval. Firstly, the time length of the rotation time sequence intervals can represent the rotation speed of the motor rotor, so that the time length difference between each rotation time sequence interval and the adjacent rotation time sequence interval can represent the change of the rotation speed of the motor rotor, namely, the first time length change value and the second time length change value represent the change of the rotation speed of the motor rotor; since the change of the rotation speed of the motor rotor in a short time is generally uniform in the normal working state of the motor rotor, the larger the difference between the first time length change value and the second time length change value is, the more likely the motor rotor is not in normal operation, the larger the corresponding abnormal degree of the rotation change is, and the more the corresponding rotation time sequence interval is abnormal.
In the normal operation condition, the number of the phase state codes is always unchanged under the condition that the motor rotor grating disk rotates for one circle, namely, the number of the phase state codes in all the rotation time sequence intervals is unchanged under the normal operation condition, so that the larger the difference between the number of the phase state codes in the corresponding rotation time sequence interval and the mode of the number of the phase state codes in all the rotation time sequence intervals is, the more abnormal the corresponding rotation time sequence intervals are indicated, and the embodiment of the invention takes the difference between the mode of the number of the phase state codes in all the rotation time sequence intervals and the number of the phase state codes in each rotation time sequence interval as the abnormal degree of the number of the state codes in each rotation time sequence interval, and the larger the abnormal degree of the number of the state codes is, the more abnormal the rotation time sequence intervals are indicated.
The greater the degree of abnormality of the rotation change, the greater the degree of abnormality of the state code quantity, the more abnormal the corresponding rotation time sequence interval, and the lower the corresponding reliability, so the embodiment of the invention takes the negative correlation mapping value of the product between the degree of abnormality of the rotation change and the degree of abnormality of the state code quantity as the time sequence reliability factor of each rotation time sequence interval. It should be noted that, the implementer may also obtain the timing reliability factor according to the rotation variation anomaly degree and the state code quantity anomaly degree by other methods, for example, a normalized value of the negative correlation mapping value of the sum of the rotation variation anomaly degree and the state code quantity anomaly degree is used as the timing reliability factor, which is not further described herein.
The time length of the rotation time sequence interval can represent the rotation speed of the motor rotor, when the rotation speed is higher, the output current is higher, the corresponding generated electric noise is higher, and the corresponding rotation time sequence interval can be abnormal. In addition, in the rotation time sequence interval, the phase state code can show periodic regular change, so that when the periodicity of the phase state code is worse, the corresponding abnormal degree of the rotation time sequence interval is larger, and therefore, according to the phase state code period distribution condition, the time sequence reliability factor and the time length of each rotation time sequence interval, the reference abnormal degree of each rotation time sequence interval is further obtained, the abnormal degree of the rotation time sequence interval is further represented through the reference abnormal degree, and the abnormal rotation time sequence interval selected subsequently is more accurate.
Preferably, the method for acquiring the reference abnormality degree includes:
In time sequence, taking the number of the preset state periods after each phase state code as the period state code of each phase state code; and taking the exclusive OR operation value between each phase state code and the corresponding periodic state code as the periodic state difference of each phase state code. In the embodiment of the present invention, the preset state period number is set to 4. As can be seen from fig. 2, in the case of normal operation of the motor, the phase status codes periodically change in time sequence, and each phase status code and the 4 th phase status code after the phase status code should be the same, if different, the phase status code is abnormal. Therefore, when the periodic state difference of the phase state code is 1, the phase state code is abnormal, and the periodic variation is abnormal; otherwise, when the periodic state difference of the phase state code is 0, the phase state code is a normal phase state code, and the periodic variation is normal. Further, in the overall angle of each rotation time sequence interval, taking the average value of all periodic state differences in each rotation time sequence interval as the periodic abnormal value of each rotation time sequence interval, the larger the corresponding periodic abnormal value is, the larger the number of abnormal phase state codes in the corresponding rotation time sequence interval is, and the overall abnormal state is.
Further, as the time length is smaller, namely, the rotation speed of the motor rotor is higher, the corresponding electric noise is stronger, and the degree of abnormality of the rotation time sequence interval is higher; when the time sequence reliability factor is larger, the degree of abnormality of the corresponding rotation time sequence interval is smaller; therefore, the time sequence reliability factor and the time length of the rotation time sequence interval are in negative correlation with the reference abnormal degree, and the period abnormal value is in positive correlation with the reference abnormal degree. The embodiment of the invention takes the product of the time sequence reliability factor and the time length of each rotation time sequence interval as the reference product of each rotation time sequence interval; and taking a positive correlation mapping value of the ratio between the periodic abnormal value and the reference product as the reference abnormal degree of each rotation time sequence interval. It should be noted that, the practitioner may also obtain the reference abnormality degree by other methods; for example, a product of a negative correlation map value of a product between the timing reliability factor and the time length of the rotation timing section and a period anomaly value is used as a reference anomaly degree for each rotation timing section.
Step S3: performing cluster analysis according to the similarity of reference abnormal degrees, the correlation of phase state codes and the similarity of time lengths among the rotation time sequence intervals to obtain at least two rotation time sequence interval clusters; and screening out abnormal rotation time sequence interval clusters according to the reference abnormal degree distribution condition in each rotation time sequence interval cluster.
The abnormal degree corresponding to the rotating time sequence interval of the normal operation of the motor is usually smaller, namely the reference abnormal degree has high similarity; the change rule of the phase state codes in the rotation time sequence interval of the normal operation of the motor is the same, so that the phase state codes between the rotation time sequence intervals of the normal operation of the motor have high relevance; when the motor runs abnormally, the corresponding motor running state is abnormal, and the time length of the rotation time sequence interval influences the rotation speed of the motor rotor, namely the motor running state can be indirectly represented through the time length; therefore, the embodiment of the invention performs cluster analysis according to the similarity condition of the reference abnormality degree, the correlation of the phase state codes and the similarity condition of the time length between the rotation time sequence intervals to obtain at least two rotation time sequence interval clusters, so that the rotation time sequence intervals with similar abnormality degree and operation state are concentrated into one cluster, and the abnormal rotation time sequence intervals are further screened out.
Preferably, the method for acquiring the cluster of the rotation time sequence interval comprises the following steps:
In time sequence, taking the rotation time sequence interval in a preset neighborhood window of each rotation time sequence interval as a reference time sequence interval of each rotation time sequence interval; and taking the negative correlation mapping value of the normalized value of the reference abnormality degree of each reference time sequence interval as the abnormality degree weight of each reference time sequence interval. In the embodiment of the invention, the accumulated value of the reference abnormality degree of all the reference time sequence intervals of each rotation time sequence interval is used as a reference accumulated value; and taking the ratio of the reference abnormality degree of each reference time sequence interval to the corresponding reference accumulated value as a normalized value of the reference abnormality degree of each reference time sequence interval, and further subtracting the normalized value from a positive number 1 to obtain the abnormality degree weight of each reference time sequence interval. It should be noted that, the practitioner may perform normalization by other methods, such as linear normalization. Because the rotation time sequence interval is obtained by dividing the interval time of the Z-phase square wave pulse signal, when an abnormality occurs in a certain rotation time sequence interval, the actual running state of the motor is difficult to obtain from the time sequence information of the rotation time sequence interval, so that if the running state of the motor in a certain rotation time sequence interval is to be analyzed, the motor needs to be analyzed by combining adjacent time sequence intervals; when the reference abnormal degree of the corresponding reference time sequence interval is larger, the corresponding abnormal degree weight is used for reducing the weight of the rotation time sequence interval with larger abnormal degree in the neighborhood when the subsequent calculation of the motor operation characteristic parameters is carried out by combining the abnormal degree, so that the calculated motor operation characteristic parameters are more accurate.
In the running process of the motor, the corresponding motor rotor continuously rotates, so that the running state of the motor can be represented by the rotation speed of the motor rotor; the rotation speed of the motor rotor can be represented by the time length of the rotation time sequence interval; further combining the time length and the abnormality degree weight of each reference time sequence interval corresponding to each rotation time sequence interval, and taking the product of the time length and the abnormality degree weight of each reference time sequence interval as the weighted time length of each reference time sequence interval; and taking the accumulated value of the weighted time length of all the reference time sequence intervals corresponding to each rotation time sequence interval as the motor operation characteristic parameter of each rotation time sequence interval, thereby achieving the aim of analyzing the motor operation state by combining each rotation time sequence interval and the adjacent time sequence interval.
Further arranging all phase state codes in each rotation time sequence interval in time sequence to obtain a phase state code time sequence of each rotation time sequence interval; sequentially taking each rotation time sequence interval as a target time sequence interval; taking other rotation time sequence intervals except the target time sequence interval as comparison time sequence intervals of the target time sequence interval; according to the thought of cluster analysis, the more similar or the higher the association degree between two rotation time sequence intervals, the more likely the corresponding rotation time sequence intervals are in the same cluster, namely, the shorter the cluster distance. Therefore, the embodiment of the invention performs the analysis of the clustering distance by combining the motor running states and the reference abnormal degrees of the two rotation time sequence intervals in the angle of similarity, and performs the analysis of the clustering distance from the associated angle by combining the relevance between the corresponding phase state code sequences.
Preferably, the calculation formula of the reference cluster distance includes:
wherein, For the target timing interval/>And corresponding/>Reference clustering distances between the comparison time sequence intervals; /(I)For the target timing interval/>Is referred to as the degree of abnormality; /(I)For the target timing interval/>Corresponding/>Reference abnormality degrees of the individual comparison time sequence intervals; /(I)For the target timing interval/>Is a motor operation characteristic parameter; /(I)For the target timing interval/>Corresponding/>Comparing motor operation characteristic parameters of the time sequence interval; /(I)For the target timing interval/>Phase state code timing sequence of (c) and corresponding/>Pearson correlation coefficients between phase state code timing sequences of the contrasting timing intervals. Firstly, in the process of cluster analysis, the smaller the cluster distance between two data is, the higher the similarity of the two data is, and the smaller the difference in each dimension is; thus target timing interval/>And corresponding/>The larger the difference between the comparison time sequence intervals in two dimensions of the motor operation characteristic parameter and the reference abnormality degree is, the larger the corresponding reference clustering distance is. Similarly, when the relevance between two data in the clustering analysis process is larger, the corresponding clustering distance is smaller; thus passing the target timing interval/>And corresponding/>The absolute value of the pearson correlation coefficient calculated by the phase state code time sequence corresponding to each comparison time sequence interval is larger, the target time sequence interval/> isdescribedAnd corresponding/>The larger the correlation between the comparison time sequence intervals is, the smaller the corresponding clustering distance is, so that negative correlation mapping is needed, and the absolute value of the pearson correlation coefficient is in the range of 0 to 1, so that the absolute value of the pearson correlation coefficient is subtracted by positive number 1/>Negative correlation mapping is performed. Therefore, the embodiment of the invention combines the target time sequence interval/>, through the form of the productAnd corresponding/>The difference between the comparison time sequence intervals in two dimensions of the motor operation characteristic parameter and the reference abnormality degree is combined by the product/>The characterized relevance features enable the calculated reference clustering distance to be more accurate.
Further according to the target time sequence intervalAnd corresponding/>And (3) comparing the reference clustering distances between the time sequence intervals, and calculating the reference clustering distances between every two rotation time sequence intervals, so that clustering analysis is carried out through a K-means clustering algorithm according to the reference clustering distance between each rotation time sequence interval and each other rotation time sequence interval, and at least two rotation time sequence interval clusters are obtained. In the embodiment of the invention, the K value in the K-means clustering algorithm is 2, that is, two rotation time sequence interval clusters are obtained, and the operator can adjust the K value according to the specific implementation environment, and the K-means clustering algorithm is a prior art well known to those skilled in the art and will not be further described herein. After the two rotating time sequence interval clusters are obtained, because the rotating time sequence intervals of the normal operation of the motor have high similarity and the reference abnormality degree is smaller as a whole, the abnormal rotating time sequence interval cluster is further screened out according to the distribution condition of the reference abnormality degree in each rotating time sequence interval cluster, namely, one of the two corresponding rotating time sequence interval clusters in the embodiment of the invention is the abnormal rotating time sequence interval cluster, and the other is the normal rotating time sequence interval cluster. Preferably, the method for acquiring the cluster of the abnormal rotation time sequence interval comprises the following steps:
Because the rotation time sequence intervals of the normal operation of the motor have high similarity, and the reference abnormal degree is smaller as a whole; therefore, the abnormal rotation time sequence interval cluster can be obtained according to the overall reference abnormal degree in each abnormal rotation time sequence interval cluster. The embodiment of the invention takes the average value of the reference abnormality degree of all the rotation time sequence intervals in each rotation time sequence interval cluster as the abnormality judgment value of each rotation time sequence interval cluster; taking the rotation time sequence interval cluster corresponding to the maximum abnormal judgment value as an abnormal rotation time sequence interval cluster; namely, the rotation time sequence interval cluster corresponding to the larger abnormal judgment value in the two rotation time sequence interval clusters corresponding to the embodiment of the invention is used as the abnormal rotation time sequence interval cluster.
Step S4: and correcting the rotation time sequence interval in the abnormal rotation time sequence interval cluster, and then detecting the position of the motor rotor.
So far, an abnormal rotation time sequence interval cluster is obtained, namely an abnormal rotation time sequence interval is obtained; therefore, in order to make the accuracy of detecting the position of the motor rotor higher, the embodiment of the invention further needs to correct the abnormal rotation time sequence interval, and the embodiment of the invention corrects the rotation time sequence interval in the abnormal rotation time sequence interval cluster and then detects the position of the motor rotor. Preferably, the method for detecting the position of the motor rotor after correcting the rotation time sequence interval in the abnormal rotation time sequence interval cluster comprises the following steps:
Taking the rotation time sequence interval in the abnormal rotation time sequence interval cluster as an abnormal rotation time sequence interval; taking other rotation time sequence intervals except the abnormal rotation time sequence interval as normal rotation time sequence intervals; and taking the normal rotation time sequence interval which is closest to each abnormal rotation time sequence interval in time sequence as a matched rotation time sequence interval of each abnormal rotation time sequence interval. Sequentially taking the A-phase square wave pulse signal, the B-phase square wave pulse signal and the Z-phase square wave pulse signal as target square wave pulse signals; and on the target square wave pulse signal, replacing each abnormal rotation time sequence interval with a corresponding matched rotation time sequence interval to obtain a corrected target square wave pulse signal. By correcting each abnormal rotation time sequence interval by the nearest normal rotation time sequence interval in time sequence, all rotation time sequence intervals can be replaced by normal rotation time sequence intervals while the influence of time variation is reduced, so that the purpose of correcting the abnormal rotation time sequence intervals is achieved. When two normal rotation time sequence intervals with the closest time intervals exist in the abnormal rotation time sequence interval, the normal rotation time sequence interval with the smallest time length difference corresponding to the abnormal rotation time sequence interval is taken as the matched rotation time sequence interval.
In addition, it should be noted that, in order to avoid abnormal fluctuation caused by the non-linking of the electrical level after the replacement of the rotation time sequence interval, the embodiment of the invention adjusts the target square wave pulse signals of the adjacent rotation time sequence interval with the non-linking of the electrical level by an interpolation method after the replacement of the abnormal rotation time sequence interval, so that the electrical level is linked; for example, four rotation time sequence intervals which are originally abcd and are distributed sequentially in time sequence on an A-phase square wave pulse signal, wherein b is an abnormal rotation time sequence interval, c is a matched rotation time sequence interval corresponding to b, and c is further replaced to the position b; if the initial position level of c is different from the final position level of a, level jump occurs, so interpolation is performed before c, and the level is smoothly transited. Further carrying out decoding processing according to the corrected A-phase square wave pulse signal, the corrected B-phase square wave pulse signal and the corrected Z-phase square wave pulse signal through a decoding table of the incremental photoelectric encoder to obtain a decoding result; and obtaining a more accurate motor rotor position according to the decoding result. It should be noted that the decoding process performed by the decoding table of the incremental photoelectric encoder is well known in the art, and is not further limited and described herein.
In summary, according to the invention, an a-phase square wave pulse signal, a B-phase square wave pulse signal and a Z-phase square wave pulse signal on a motor working period are obtained by an incremental photoelectric encoder, so that each rotation time sequence interval and all corresponding phase state codes are obtained; obtaining a reference abnormality degree according to the time length change, the number of phase state codes, the periodic distribution condition of the phase state codes and the time length of the rotation time sequence interval; the method and the device have the advantages that the abnormal rotation time sequence intervals needing to be corrected are screened out more accurately by combining the reference abnormal degree differences, the relevance and the motor running state differences among the rotation time sequence intervals, so that the accuracy of corrected motor pulse signals is improved, and the accuracy of motor rotor position detection according to the corrected motor pulse signals is higher.
The invention also provides a motor rotor position detection system, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes any one of the steps of a motor rotor position detection method when executing the computer program.
It should be noted that: the sequence of the embodiments of the present invention is only for description, and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.
Claims (10)
1. A method of detecting a position of a rotor of an electric machine, the method comprising:
Collecting an A-phase square wave pulse signal, a B-phase square wave pulse signal and a Z-phase square wave pulse signal on the working time period of the motor through an incremental photoelectric encoder; dividing the motor working time period into at least two rotation time sequence intervals according to the level change in the Z-phase square wave pulse signal; obtaining all phase state codes of each rotation time sequence interval according to the level states of the A-phase square wave pulse signals and the B-phase square wave pulse signals;
Obtaining a time sequence reliability factor of each rotation time sequence interval according to the time length change between adjacent rotation time sequence intervals and the number of phase state codes of each rotation time sequence interval; obtaining the reference abnormality degree of each rotation time sequence interval according to the phase state code period distribution condition, the time sequence reliability factor and the time length of each rotation time sequence interval;
Performing cluster analysis according to the similarity of reference abnormal degrees, the correlation of phase state codes and the similarity of time lengths among the rotation time sequence intervals to obtain at least two rotation time sequence interval clusters; screening out abnormal rotation time sequence interval clusters according to the reference abnormal degree distribution condition in each rotation time sequence interval cluster;
and correcting the rotation time sequence interval in the abnormal rotation time sequence interval cluster, and then detecting the position of the motor rotor.
2. The motor rotor position detection method according to claim 1, wherein the rotation timing section acquisition method includes:
the time corresponding to the low level of the signal in the Z-phase square wave pulse signal is converted into the high level, and the time is taken as the interval time; the time interval between adjacent interval moments is taken as a rotation time sequence interval.
3. The method for detecting the position of a rotor of an electric motor according to claim 1, wherein the method for acquiring the phase state code comprises:
acquiring a reference state code of each moment; the reference state code is a two-bit binary number, wherein the first-bit binary number is the level state code of the B-phase square wave pulse signal, and the second-bit binary number is the level state code of the A-phase square wave pulse signal;
in each rotation time sequence interval, the time when the reference state code changes is taken as the state change time; and taking the reference state code of the previous time corresponding to each state change time as the phase state code of each state change time.
4. The method for detecting a rotor position of an electric motor according to claim 1, wherein the method for acquiring the time-series reliability factor comprises:
In time sequence, taking the difference between the time length of each rotation time sequence interval and the time length of the previous rotation time sequence interval as a first time length change value of each rotation time sequence interval; taking the difference between the time length of each rotation time sequence interval and the time length of the next rotation time sequence interval as a second time length change value of each rotation time sequence interval; taking the ratio of the difference between the first time length change value and the second time length change value and the time length of each rotation time sequence interval as the abnormal degree of rotation change of each rotation time sequence interval;
Taking the difference between the mode of the phase state code quantity of all the rotation time sequence intervals and the phase state code quantity of each rotation time sequence interval as the state code quantity abnormality degree of each rotation time sequence interval;
And taking a negative correlation mapping value of the product between the rotation variation abnormality degree and the state code quantity abnormality degree as a time sequence reliability factor of each rotation time sequence interval.
5. The motor rotor position detection method according to claim 1, wherein the reference abnormality degree acquisition method includes:
In time sequence, taking the number of the preset state periods after each phase state code as the period state code of each phase state code; taking the exclusive OR operation value between each phase state code and the corresponding periodic state code as the periodic state difference of each phase state code; taking the average value of all periodic state differences in each rotation time sequence interval as a periodic abnormal value of each rotation time sequence interval;
taking the product of the time sequence reliability factor and the time length of each rotation time sequence interval as a reference product of each rotation time sequence interval; and taking a positive correlation mapping value of the ratio between the periodic abnormal value and the reference product as the reference abnormal degree of each rotation time sequence interval.
6. The method for detecting the position of a motor rotor according to claim 1, wherein the method for acquiring the cluster of the rotation timing interval comprises:
In time sequence, taking the rotation time sequence interval in a preset neighborhood window of each rotation time sequence interval as a reference time sequence interval of each rotation time sequence interval; taking the negative correlation mapping value of the normalized value of the reference abnormality degree of each reference time sequence interval as the abnormality degree weight of each reference time sequence interval; taking the product of the time length of each reference time sequence interval and the abnormality degree weight as the weighted time length of each reference time sequence interval; taking the accumulated value of the weighted time length of all the reference time sequence intervals corresponding to each rotation time sequence interval as the motor operation characteristic parameter of each rotation time sequence interval;
Arranging all phase state codes in each rotation time sequence interval in time sequence to obtain a phase state code time sequence of each rotation time sequence interval;
Sequentially taking each rotation time sequence interval as a target time sequence interval; taking other rotation time sequence intervals except the target time sequence interval as comparison time sequence intervals of the target time sequence interval; obtaining a reference clustering distance between the target time sequence interval and each comparison time sequence interval according to the phase state code time sequence relevance between the target time sequence interval and each comparison time sequence interval, the motor operation characteristic parameter difference and the reference abnormality degree difference;
And carrying out cluster analysis by a K-means clustering algorithm according to the reference cluster distance between each rotation time sequence interval and the rest rotation time sequence intervals to obtain at least two rotation time sequence interval clusters.
7. The method of claim 6, wherein the formula for calculating the reference cluster distance comprises:
wherein, For the target timing interval/>And corresponding/>Reference clustering distances between the comparison time sequence intervals; /(I)For the target timing interval/>Is referred to as the degree of abnormality; /(I)For the target timing interval/>Corresponding/>Reference abnormality degrees of the individual comparison time sequence intervals; /(I)For the target timing interval/>Is a motor operation characteristic parameter; /(I)For the target timing interval/>Corresponding/>Comparing motor operation characteristic parameters of the time sequence interval; /(I)For the target timing interval/>Phase state code timing sequence of (c) and corresponding/>Pearson correlation coefficients between phase state code timing sequences of the contrasting timing intervals.
8. The motor rotor position detection method according to claim 1, wherein the method for acquiring the abnormal rotation timing interval cluster includes:
Taking the average value of the reference abnormality degree of all the rotation time sequence intervals in each rotation time sequence interval cluster as an abnormality judgment value of each rotation time sequence interval cluster;
and taking the rotation time sequence interval cluster corresponding to the maximum abnormal judgment value as an abnormal rotation time sequence interval cluster.
9. The method for detecting the position of the motor rotor according to claim 1, wherein the method for detecting the position of the motor rotor after correcting the rotation time sequence interval in the abnormal rotation time sequence interval cluster comprises the steps of:
Taking the rotation time sequence interval in the abnormal rotation time sequence interval cluster as an abnormal rotation time sequence interval; taking other rotation time sequence intervals except the abnormal rotation time sequence interval as normal rotation time sequence intervals; taking a normal rotation time sequence interval which is closest to each abnormal rotation time sequence interval in time sequence as a matched rotation time sequence interval of each abnormal rotation time sequence interval;
Sequentially taking the A-phase square wave pulse signal, the B-phase square wave pulse signal and the Z-phase square wave pulse signal as target square wave pulse signals; on the target square wave pulse signal, replacing each abnormal rotation time sequence interval with a corresponding matched rotation time sequence interval to obtain a corrected target square wave pulse signal;
Decoding according to the corrected A-phase square wave pulse signal, the corrected B-phase square wave pulse signal and the corrected Z-phase square wave pulse signal through a decoding table of the incremental photoelectric encoder to obtain a decoding result; and obtaining the position of the motor rotor according to the decoding result.
10. A motor rotor position detection system comprising a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor, when executing the computer program, carries out the steps of a motor rotor position detection method according to any one of claims 1 to 9.
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