KR101361551B1 - device and method for correcting phase error of resolver - Google Patents

Abstract

A resolver phase error correction apparatus and method are disclosed. The resolver phase error correcting apparatus includes: a command signal output unit configured to output a torque command signal to stop the rotor of the motor by a predetermined phase angle after rotation; A phase that calculates a phase error value by using a difference between a resolver phase angle corresponding to a sensing signal of a resolver that senses rotation of the rotor by the torque command signal and a rotor phase angle predetermined to correspond to the torque command signal An error value calculator; And a controller configured to recognize the rotor phase angle by reflecting the phase error value in a resolver phase angle corresponding to a sensing signal of a resolver input while driving the motor. According to the present invention, even if the resolver is not mounted in the correct position, the motor can be detected and compensated for in a simpler manner by detecting and correcting the phase error between the resolver and the rotor (ie, the degree of phase mismatch between the resolver and the rotor). Can generate maximum output.

Description

Device and method for correcting phase error of resolver

The present invention relates to a resolver phase error correction device and method.

Electric motors are devices that convert electrical energy into mechanical energy by using rotor magnetic flux and stator current, and are widely used in various fields including hybrid vehicles.

In a hybrid vehicle, a motor controller must set a coordinate system in synchronization with a flux position for vector control of a synchronous motor or an induction motor, and a resolver that reads the absolute position of the motor rotor is used. .

At this time, the maximum output is produced when the stator current of the motor and the magnetic flux of the rotor show the phase difference of 90 degrees. Therefore, the magnetic flux position of the rotor is controlled to control the magnetic flux of the stator and the rotor to have the phase difference of 90 degrees. It is because it needs to detect.

The resolver is a type of transformer that applies an excitation voltage to the primary winding (input side) and rotates the shaft to change the magnetic coupling coefficient, resulting in a voltage in which the amplitude of the carrier changes on the secondary winding (output side). It changes to sin and cos state with respect to rotation angle. Therefore, by reading the carrier amplitude ratio of the sin output and the cos output, the rotation angle of the resolver can be recognized.

The resolver operated on the same principle is a sensor that provides the motor speed information and the rotor position information to the motor controller as information for generating the torque command and speed command. To ensure this, the phase angle of the resolver (i.e. the reference angle) and the phase angle of the rotor (i.e. the position angle and the angle between the rotor's N pole and the center of the stator's coil) must be adjusted in advance. .

In order to synchronize the phase of the resolver with the rotor, a method of measuring the counter electromotive force of the motor generated by forcibly rotating the motor externally and attaching the resolver to synchronize the phase of the resolver has been generally used. .

However, this method does not prevent the problem that the phase is out of phase when mounting or assembling the resolver, and also it is difficult to accurately match the phase of the resolver with the counter electromotive force of the motor.

As a remedy, mechanical grooves are formed to be assembled with a constant phase angle displacement about the resolver's reference point (zero point) so that the phase of the resolver can be completely synchronized to the rotor position when the motor is manufactured. A method of assembling the resolver in the groove has also been proposed.

However, this method, which is proposed as a remedy, also has a machining error of a groove formed mechanically, and the machining error is different for each motor, and the error degree of the position angle according to the machining error increases as the number of poles of the motor rotor increases. An increasing phenomenon is causing. In addition, repeated assembly and disassembly of the resolver may cause a further reduction in accuracy due to mechanical wear.

As described above, the conventional techniques for mechanically mounting the resolver inevitably involve an error, which causes adverse effects such as lowering the power factor and efficiency of the motor and the motor controller. .

Therefore, even if the resolver is not mounted in the correct position, it is easier to detect the phase error between the resolver and the rotor (i.e., the degree of phase mismatch between the resolver and the rotor) and compensate for it. What is needed is a way to make it happen.

The present invention can detect the phase error between the resolver and the rotor (i.e., the degree of phase mismatch between the resolver and the rotor) in an easier way even if the resolver is not mounted in the correct position. To provide a resolver phase error correction apparatus and method that can generate a.

The present invention enables the software to analyze and correct the phase error between the resolver and the rotor caused by installing the resolver, and thus does not have any limitation in installing the resolver in the motor. It is to provide.

The present invention is to provide a resolver phase error correction apparatus and method for visually and conveniently checking the phase error between the rotor and the resolver of the motor.

Other objects of the present invention will become readily apparent from the following description.

According to an aspect of the present invention, there is provided a resolver phase error correcting apparatus, comprising: a command signal output unit configured to output a torque command signal such that a rotor of the motor rotates at a predetermined phase angle and then stops; A phase that calculates a phase error value by using a difference between a resolver phase angle corresponding to a sensing signal of a resolver that senses rotation of the rotor by the torque command signal and a rotor phase angle predetermined to correspond to the torque command signal An error value calculator; And a control unit for recognizing the rotor phase angle by reflecting the phase error value in a resolver phase angle corresponding to a sensing signal of a resolver input while driving the motor.

The command signal output unit and the phase error value calculating unit may calculate the output of the torque command signal and the phase error value whenever the resolver phase error correction device starts driving according to the application of power.

The torque command signal is a signal of a DC power supply of a predetermined phase such that the rotor of the motor rotates only by a predetermined phase angle and then stops, and may be applied to the gate driver.

The resolver phase error correcting apparatus may further include a display unit configured to output one or more of the resolver phase angle, the predetermined rotor phase angle, and the phase error value.

The resolver phase error correcting apparatus may further include a storage configured to store one or more of the resolver phase angle, the predetermined rotor phase angle, and the phase error value.

According to another aspect of the present invention, a resolver phase error correction method performed by the resolver phase error correction device, the method comprising: outputting a torque command signal to cause the rotor of the motor to stop after rotating at a predetermined phase angle; Calculating a phase error value by using a difference between a resolver phase angle corresponding to a sensing signal of a resolver that senses rotation of the rotor by the torque command signal and a rotor phase angle predetermined to correspond to the torque command signal; ; And recognizing the rotor phase angle by reflecting the phase error value in a resolver phase angle corresponding to a sensing signal of a resolver input while driving the motor.

The outputting of the torque command signal and the calculating of the phase error value may be performed whenever the resolver phase error correcting apparatus starts driving according to the application of power.

The torque command signal may be a signal of a DC power source having a predetermined phase such that the rotor of the motor rotates at a predetermined phase angle and then stops.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

According to an embodiment of the present invention, even if the resolver is not mounted in the correct position, a phase error between the resolver and the rotor (that is, the degree of phase mismatch between the resolver and the rotor) is detected and compensated for. As a result, the motor can generate the maximum output.

In addition, by enabling the software to analyze and correct the phase error between the resolver and the rotor caused by installing the resolver, it is possible to provide convenience to the operator because there is no restriction in installing the resolver in the motor. have.

In addition, the phase error between the rotor and the resolver of the motor can also be visually convenient to check.

1 is a view schematically showing the configuration of a motor control and phase error correction apparatus according to an embodiment of the present invention.
2 is a diagram illustrating a phase of applying a DC power supply to find a phase shift of a resolver with respect to a rotor phase of a three-phase electric motor according to an exemplary embodiment of the present invention.
3 is a flowchart illustrating a resolver phase error correction method according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

Also, the terms " part, "" unit," " module, "and the like, which are described in the specification, refer to a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software .

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

1 is a view schematically showing the configuration of the motor control and phase error correction apparatus according to an embodiment of the present invention, Figure 2 is a resolver for the rotor phase of a three-phase motor according to an embodiment of the present invention It is a figure which illustrates the phase regarding DC power application for finding a phase shift.

As described above, in the vector control process for controlling the torque and speed of the motor, since the base information of the resolver is the phase information of the resolver, the resolver can accurately and in real time determine the position of the rotor during operation of the motor. It is necessary to match the phase (i.e., reference angle) of the phase and the phase (i.e., position angle) of the rotor.

However, various techniques for mechanically mounting the resolver inevitably have an error, and the error causes adverse effects such as lowering the power factor and efficiency of the motor and the motor controller.

Hereinafter, referring to the related drawings, a method for generating a maximum output power of a motor by detecting and compensating for a phase error between a resolver and a rotor regardless of whether the resolver according to the present embodiment is mounted in the correct position is described. Explain.

Referring to FIG. 1, the motor control and phase error correcting apparatus 100 may include a control unit 150, a gate driver 155, a power switch unit 160, a display unit 165, and a storage unit 170. have.

The control unit 150 may include a command signal output unit 180, a phase error value calculator 182, and a controller 184.

The command signal output unit 180 applies a DC power of a predetermined phase so that the phase error value of the resolver phase with respect to the motor rotor can be calculated by the phase error value calculation unit 182, and the motor rotor is designated. Outputs a torque command signal that rotates at a phase angle to stop.

FIG. 2 shows a phase diagram for applying DC power to find the phase error of a resolver with respect to the rotor phase of a three-phase motor. As illustrated in FIG. 2, a DC power source may be applied such that a point having an electrical angle of 90 degrees is a reference point. Of course, the reference point may be specified differently, and if a different reference point is specified, it is natural that a corresponding DC power supply will be applied.

The torque command signal output from the command signal output unit 180 is transmitted to the motor 110 through the gate driver 155 and the power switch unit 160, and the motor 110 transmits the rotor to the torque command signal. It will operate to stop after rotating by the specified phase angle to match.

Referring back to FIG. 1, the phase error value calculator 182 may include a phase angle of a motor rotor sensed by the resolver 120 from a resolver to digital converter (RDC) 130 (hereinafter, referred to as a resolver phase angle). A phase that is different from the phase angle of the rotor (hereinafter referred to as the rotor phase angle) that is to be inputted and is rotated according to the torque command signal output by the command signal output unit 180. Calculate the error value. For example, if the rotor phase angle to be rotated according to the torque command signal output by the command signal output unit 180 is 30 degrees, the resolver phase angle input from the RDC unit 130 is 20 degrees. The phase error value generated when the 120 is mounted may be calculated to be +10 degrees.

The controller 184 outputs one or more of the resolver phase angle input from the RDC unit 130 and the phase error value calculated by the phase error value calculator 182 through the display unit 165, and calculates the calculated phase error. The value is stored in the storage unit 184.

The phase error value stored in the storage unit 184 has a certain phase error from the resolver zero whenever the motor control and phase error correction device 100 starts the operation (for example, starts by applying power). It may be read from the storage unit 184 to see if it is. Accordingly, a phase error existing between the resolver 120 and the rotor of the motor 110 may be recognized every time the motor is driven, and more accurate motor control may be possible by reflecting the recognized phase error when the motor is driven.

In addition, the controller 184 may further perform a function of controlling torque and speed to drive the electric motor 110 according to an arbitrary purpose.

The gate driver 155 amplifies a gating signal for positioning the rotor of the motor 110 at a constant phase angle calculated by the control unit 150 and transmits the gating signal to the power switch unit 160.

The power switch unit 160 may be, for example, a three-phase inverter including a field effect transistor (FET) and an insulated gate bipolar transistor (IGBT).

The display unit 165 outputs, as time information, one or more of the resolver phase angle input from the RDC unit 130 and the phase error value calculated by the phase error value calculator 182.

For example, the display unit 165 may include one or more of LEDs and LCDs. When the display unit 165 includes the LED, the display unit 165 may blink for a unit time at a number corresponding to the phase error with respect to the reference value, so that the user may easily check the position of the phase shift (ie, the phase error). If the phase error is within a predetermined tolerance range, for example, the LED may be continuously lighted without blinking, and conversely, the further away from the tolerance, the farther the LED blinks.

The storage unit 184 stores the phase error value calculated by the phase error value calculator 182. The storage unit 184 may further store an operation program for driving the motor control and phase error correction device 100. The storage unit 184 may be, for example, an electrically erasable and programmable read-only memory (EEPROM).

In addition, the motor 110 shown in FIG. 1 may be a synchronous motor or an induction motor, and the torque and speed are controlled and driven by the motor control and phase error correction device 100.

The resolver 120 is a sensor for detecting the position of the motor rotor and the speed of the motor as described above. When the excitation signal is applied, the resolver 120 modulates the signal for the rotation phase angle and outputs the excitation signal. The RDC unit 130 calculates a phase angle (ie, resolver phase angle) of the motor rotor, which is a digital signal, by referring to the analog signal input from the resolver 120 and inputs the phase error value calculator 182. .

3 is a flowchart illustrating a resolver phase error correction method according to an embodiment of the present invention.

Referring to FIG. 3, in step 310, the control unit 150 determines whether a phase error value (that is, a phase difference value between the rotor phase resolver phase angle) should be newly detected.

The point of time determined to be newly detected by the step 310 may be, for example, every time a power is applied to the motor control and phase error correction device 100 and newly started, or a time when a user's detection command is input.

If the phase error value does not need to be newly detected, the process proceeds to step 380 and the control unit 150 performs motor control using the phase error value already stored in the storage unit 184. That is, the control unit 150 will read out the already stored phase error value from the storage unit 184 and perform the motor control using the offset value with respect to the resolver zero point.

For example, if the rotor phase angle to be rotated according to the torque command signal output by the command signal output unit 180 is 30 degrees, the resolver phase angle input from the RDC unit 130 is 20 degrees. The phase error value generated at the time of mounting 120 may be calculated as +10 degrees and stored in the storage unit 170. As such, by using the phase error value stored in the storage unit 170, the phase angle of the rotor at the corresponding time is accurately reflected to the resolver phase angle information input from the RDC unit 130 during the operation of the motor 110. Can be calculated.

However, if the phase error value needs to be newly detected, the command signal output unit 180 outputs a torque command signal for stopping the rotor after rotating by a predetermined phase angle in step 320. As the torque of the motor 110 is adjusted by the output torque command signal, the rotor of the motor 110 is rotated to a predetermined position and stopped (step 330).

When the rotor of the motor 110 rotates to have a specified phase angle and stops, the phase error value calculator 182 receives the resolver phase angle from the RDC unit 130 in step 340, and proceeds to step 350. The difference between the input resolver phase angle and the rotor phase angle that should be obtained by the torque command signal output in step 330 is calculated as a phase error value.

The phase error value calculated in step 350 is stored in the storage unit 184 (step 360), and the controller 184 performs motor control using the phase error value stored in the storage unit 184. If the phase error value stored in the storage unit 170 is +10 degrees, for example, and the resolver phase angle input from the RDC unit 130 during operation of the motor is 40 degrees, the controller 184 may have a rotor phase angle of 50 degrees. It can be recognized as.

Naturally, the above-described resolver phase error correction method may be performed by an automated procedure according to a time series sequence by a program embedded in or installed in a digital processing apparatus. The codes and code segments that make up the program can be easily deduced by a computer programmer in the field. In addition, the program is stored in a computer readable medium readable by the digital processing apparatus, and is read and executed by the digital processing apparatus to implement the method. The information storage medium includes a magnetic recording medium, an optical recording medium, and a carrier wave medium.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the following claims And changes may be made without departing from the spirit and scope of the invention.

100: motor control and phase error correction device
110: electric motor 120: resolver
130: resolver to digital converter (RDC) unit
150: control unit 155: gate driver
160: power switch unit 165: display unit
170: storage unit 180: command signal output unit
182: phase error value calculation unit 184: control unit

Claims (9)

In the resolver phase error correction device,
A command signal output unit for outputting a torque command signal to cause the rotor of the motor to rotate after being rotated at a predetermined phase angle;
A phase that calculates a phase error value by using a difference between a resolver phase angle corresponding to a sensing signal of a resolver that senses rotation of the rotor by the torque command signal and a rotor phase angle predetermined to correspond to the torque command signal An error value calculator;
A storage unit for storing the calculated phase error value; And
And a controller configured to recognize the actual phase angle of the rotor by reflecting the stored phase error value to a resolver phase angle corresponding to a sensing signal of an input resolver when the motor is driven.
The method of claim 1,
The command signal output unit and the phase error value calculating unit output the torque command signal and the phase error every time the resolver phase error correction device starts driving according to power application or when a detection command of a user is input. A resolver phase error correction device, characterized in that for calculating a value.
The method of claim 1,
And the torque command signal is a signal of a DC power supply of a predetermined phase such that the rotor of the motor rotates at a predetermined phase angle and then stops, and is applied to a gate driver.
The method of claim 1,
And a display unit for outputting at least one of the resolver phase angle, the predetermined rotor phase angle, and the phase error value.
The method of claim 1,
And the storage unit further stores one or more of the resolver phase angle and the predetermined rotor phase angle.
In the resolver phase error correction method performed by the resolver phase error correction device,
Outputting a torque command signal such that the rotor of the motor rotates at a predetermined phase angle and then stops;
Calculating a phase error value by using a difference between a resolver phase angle corresponding to a sensing signal of a resolver that senses rotation of the rotor by the torque command signal and a rotor phase angle predetermined to correspond to the torque command signal; ;
Storing the calculated phase error value in a storage unit; And
And recognizing the actual phase angle of the rotor by reflecting the stored phase error value to a resolver phase angle corresponding to a sensing signal of an input resolver when the motor is driven.
The method according to claim 6,
The outputting of the torque command signal and the calculating of the phase error value may be performed every time the resolver phase error correcting apparatus starts driving according to the application of power or every time a user's detection command is input. A resolver phase error correction method.
The method according to claim 6,
And the torque command signal is a signal of a DC power supply of a predetermined phase such that the rotor of the motor rotates only by a predetermined phase angle and then stops.
A program of instructions that can be executed in a digital processing apparatus is recorded to perform the resolver phase error correction method according to any one of claims 6 to 8, and a program that can be read by the digital processing apparatus is Recorded media.

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