WO2023169268A1 - 电机转子位置观测方法、装置、转子位置观测器及介质 - Google Patents

电机转子位置观测方法、装置、转子位置观测器及介质 Download PDF

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WO2023169268A1
WO2023169268A1 PCT/CN2023/078942 CN2023078942W WO2023169268A1 WO 2023169268 A1 WO2023169268 A1 WO 2023169268A1 CN 2023078942 W CN2023078942 W CN 2023078942W WO 2023169268 A1 WO2023169268 A1 WO 2023169268A1
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Prior art keywords
current
sampling
voltage vector
motor
effective voltage
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PCT/CN2023/078942
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English (en)
French (fr)
Inventor
王志宇
许培林
陈辉
秦向南
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威灵（芜湖）电机制造有限公司
美的威灵电机技术（上海）有限公司
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Publication of WO2023169268A1 publication Critical patent/WO2023169268A1/zh

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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
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors

Definitions

  • the present disclosure relates to the field of motor control technology, and in particular to a motor rotor position observation method, device, rotor position observer and medium.
  • the motor position sensorless control method based on high-frequency injection is simple to implement, low in cost, has good control performance in the low-speed area, and can realize low-speed load starting of the motor.
  • This method is to inject periodic positive and negative pulses into the d-axis, sample the q-axis high-frequency current response caused by the pulse, and send the high-frequency current response into the phase-locked loop to solve to obtain the estimated position of the motor.
  • the observer method in the related art has good performance in the medium-high speed region, but cannot converge in the low-speed region, so the high-frequency injection method has high practical application value.
  • the single-resistance sampling technology uses the sampling resistor on the DC negative bus to sample the current. It needs to be sampled twice in one control cycle, sampling within the action time of two effective voltage vectors (that is, non-zero voltage vectors). After the end, according to the voltage vector situation, the phase sequence of the sampled current is judged.
  • the two sampling times are generally placed as close as possible, usually around the second or fifth switching tube action time. However, the sampling points of this sampling method will change at all times, thus introducing sampling errors.
  • the estimated position calculated through this sampling current often has a large error.
  • the present disclosure aims to solve one of the technical problems in the related art, at least to a certain extent.
  • the first purpose of the present disclosure is to propose a motor rotor position observation method that can effectively improve the sampling current accuracy of single resistor sampling, thereby improving the accuracy of motor rotor position observation.
  • the second purpose of the present disclosure is to propose another motor rotor position observation method.
  • a third object of the present disclosure is to provide a computer-readable storage medium.
  • a fourth object of the present disclosure is to provide a rotor position observer.
  • the fifth object of the present disclosure is to provide a motor rotor position observation device.
  • the sixth object of the present disclosure is to provide another motor rotor position observation device.
  • the first embodiment of the present disclosure proposes a motor rotor position observation method, which includes: when injecting high-frequency pulses into the d-axis of the motor, determining the three-way modulation corresponding to the required voltage vector output under single-resistance sampling
  • the six comparison values Act11, Act21, Act31, Act32, Act22, Act12 determine the first current sampling trigger value and the second current sampling trigger value according to the comparison value Act22; determine the first current sampling trigger value and the second current sampling trigger value according to the six comparison values Act11, Act21, Act31, Act32, Act22 , Act12 controls the motor, conducts current sampling on the motor according to the first current sampling trigger value and the second current sampling trigger value, obtains the first sampling current and the second sampling current, and obtains the first sampling current and the second sampling current according to the first sampling current and the second sampling current.
  • the effective voltage vector that acts after the second current sampling trigger value is triggered is determined based on the second current sampling trigger value and the comparison value Act12, and the q-axis current is compensated based on the effective voltage vector.
  • the compensated q-axis current estimates the rotor position of the motor, which can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the accuracy of motor rotor position observation.
  • the second embodiment of the present disclosure proposes another motor rotor position observation method, which includes: when injecting high-frequency pulses into the d-axis of the motor, determining the three paths corresponding to the required voltage vectors output under single-resistance sampling.
  • the current determines the q-axis current of the motor; determines the effective voltage vector before the first current sampling trigger value is triggered based on the first current sampling trigger value and the comparison value Act11; compensates the q-axis current according to the effective voltage loss, and calculates The q-axis current estimates the rotor position of the motor.
  • the effective voltage vector acting before the first current sampling trigger value is triggered is determined based on the first current sampling trigger value and the comparison value Act11, and the q-axis current is compensated based on the effective voltage vector. , and estimating the rotor position of the motor based on the compensated q-axis current, which can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the accuracy of motor rotor position observation.
  • a third embodiment of the present disclosure provides a computer-readable storage medium on which a motor rotor position observation program is stored.
  • the motor rotor position observation program is executed by a processor, the aforementioned first embodiment or The motor rotor position observation method of the second aspect embodiment.
  • the sampling current accuracy of single resistor sampling can be effectively improved, thereby improving the accuracy of motor rotor position observation.
  • a fourth embodiment of the present disclosure proposes a rotor position observer, including a memory, a processor and a
  • the motor rotor position observation program is stored in the memory and can be run on the processor.
  • the processor executes the motor rotor position observation program, the motor rotor position observation method of the first embodiment or the second embodiment is implemented.
  • the sampling current accuracy of single resistor sampling can be effectively improved, thereby improving the accuracy of motor rotor position observation.
  • the fifth embodiment of the present disclosure proposes a motor rotor position observation device, including: a first determination module for determining the required voltage vector output under single-resistance sampling when injecting high-frequency pulses into the d-axis of the motor.
  • the effective voltage vector that acts after the second current sampling trigger value is triggered is determined based on the second current sampling trigger value and the comparison value Act12, and the q-axis current is compensated based on the effective voltage vector.
  • the compensated q-axis current estimates the rotor position of the motor, which can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the accuracy of motor rotor position observation.
  • the sixth embodiment of the present disclosure proposes another motor rotor position observation device, including: a first determination module for determining the output required under single-resistance sampling when injecting high-frequency pulses into the d-axis of the motor.
  • the second determination module is used to determine the first current sampling trigger value and the second current sampling trigger value based on the comparison value Act21 ;
  • Control module used to control the motor based on six comparison values Act11, Act21, Act31, Act32, Act22, Act12, and conduct current sampling on the motor based on the first current sampling trigger value and the second current sampling trigger value to obtain the third A sampling current and a second sampling current, and determining the q-axis current of the motor based on the first sampling current and the second sampling current; a third determination module for determining the first current sampling based on the first current sampling trigger value and the comparison value Act11
  • the effective voltage vector that acts before the trigger value is triggered;
  • the compensation module is used to compensate the q-axis current according to the effective voltage loss;
  • the control module is also used to estimate the rotor position of the motor based on the compensated q-axis current.
  • the effective voltage vector acting before the first current sampling trigger value is triggered is determined based on the first current sampling trigger value and the comparison value Act11, and the q-axis current is compensated based on the effective voltage vector. , and estimating the rotor position of the motor based on the compensated q-axis current, which can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the accuracy of motor rotor position observation.
  • Figure 1 is a diagram of a motor control system according to an embodiment of the present disclosure
  • Figure 2 is a schematic diagram of the sampling current lacking part of the effective voltage vector effect
  • Figure 3a is a schematic diagram of the voltage vector of a positive voltage pulse injected at the 0° position and the operation of the switch tube according to an embodiment of the present disclosure
  • Figure 3b is a schematic diagram of the voltage vector of a negative voltage pulse injected at the 0° position and the operation of the switch tube according to an embodiment of the present disclosure
  • Figure 4 is a schematic diagram of current compensation when positive and negative voltage pulses are injected at the 0° position according to an embodiment of the present disclosure
  • Figure 5 is a schematic flowchart of a motor rotor position observation method according to an embodiment of the present disclosure
  • Figure 6 is a schematic diagram showing the effect of an extra portion of the effective voltage vector in the sampling current
  • Figure 7a is a schematic diagram of the voltage vector of a positive voltage pulse injected at the 0° position and the operation of the switch tube according to another embodiment of the present disclosure
  • Figure 7b is a schematic diagram of the voltage vector of a negative voltage pulse injected at the 0° position and the operation of the switch tube according to another embodiment of the present disclosure
  • Figure 8 is a schematic flowchart of a motor rotor position observation method according to another embodiment of the present disclosure.
  • Figure 9 is a schematic diagram of a motor rotor position observation device according to an embodiment of the present disclosure.
  • the two sampling times are generally placed as close as possible, usually around the second or fifth switching tube action time.
  • sampling can be performed before and after the fifth switching tube action time (that is, the time corresponding to the comparison value Act22), that is, sampling can be performed at the time corresponding to Trig1 and Trig2.
  • the moment corresponding to Trig2 is within the action time of the last effective voltage vector, and in order to ensure that the error caused by different sampling of the two-phase currents is small, the sampled current will be missing.
  • a part of the effective voltage vector acts, thereby introducing sampling errors.
  • the action time Terr of the missing effective voltage vector that is, the effective voltage vector within the Terr time has not yet taken effect
  • FIG. 3a shows a schematic diagram of the voltage vector and switching tube action when a positive voltage pulse is injected at the 0° position.
  • Figure 3b shows a schematic diagram of the voltage vector and switching tube action when a negative voltage pulse is injected at the 0° position, as shown in Figure 3a.
  • the action time Terr of the missing effective voltage vector when a positive voltage pulse is injected at the 0° position is much greater than the action time Terr of the missing effective voltage vector when a negative voltage pulse is injected at the 0° position. Both exist.
  • the sampling error changes greatly, which will introduce errors when calculating the rotor position through the high-frequency injection algorithm.
  • the sampling current is compensated to the time when the effective voltage vector completely ends within a control cycle to compensate for the error introduced by the current sampling. , improve the accuracy of position estimation.
  • the dotted line is a schematic diagram of the effective voltage vector action of each section in Figure 3a, and the dotted line is equivalent to the effect of the effective voltage vector at the time corresponding to Trig2 in Figure 3a.
  • the effective voltage vector, the solid line is the expected effective voltage vector, and there is a large difference between the two; in the left half of Figure 4, the dotted line is a schematic diagram of the effective voltage vector action of each section in Figure 3b, and the dotted line is equivalent to Figure In 3b, the effective voltage vector that has been applied when sampling at the time corresponding to Trig2, and the solid line is the effective voltage vector that is expected to act. There is a large difference between the two.
  • this application adopts The sampling current is compensated to the black solid point to eliminate this error, that is, it is compensated to the moment when the effective voltage vector in a control cycle ends completely to eliminate this error and improve the position estimation accuracy.
  • FIG. 5 is a schematic flowchart of a motor rotor position observation method according to an embodiment of the present disclosure.
  • the motor rotor position observation method may include the following steps:
  • Step S101 when injecting high-frequency pulses into the d-axis of the motor, determine the six comparison values Act11, Act21, Act31, Act32, Act22, and Act12 of the three-way modulation corresponding to the required voltage vector output under single-resistance sampling.
  • each PWM Pulse Width Modulation, Pulse Width Modulation
  • the comparison values of the signals are Act11, Act21, Act31, Act32, Act22, and Act12.
  • Act11 represents the triangular wave carrier count value corresponding to the action moment of the first switch tube in the three-phase inverter bridge within a control cycle
  • Act21 represents the second switch
  • Act31 represents the triangular wave carrier count value corresponding to the action time of the third switch tube.
  • Act32 represents the triangular wave carrier count value corresponding to the action time of the fourth switch tube.
  • Act22 represents the action of the fifth switch tube.
  • Act12 represents the triangular wave carrier count value corresponding to the sixth switch tube action time.
  • the triangular wave carrier counting method is first increasing and then decreasing, corresponding to Act11 ⁇ Act21 ⁇ Act31, Act32>Act22>Act12.
  • PWM1, PWM2 and PWM3 are the PWM control signals of the upper-side switch tubes VT1, VT3 and VT5 shown in Figure 1 (the signals of the lower-side switch tubes VT4, VT6 and VT2) respectively.
  • PWM control signal and upper arm switch tube VT1 The PWM control signals of VT3 and VT5 differ by 180° from each other).
  • the duty cycle of PWW3 is the middle value; when the voltage vector is in sector IV, the comparison values corresponding to PWM1 are Act31 and Act32, the comparison values corresponding to PWM2 are Act21 and Act22, and the comparison values corresponding to PWM3 are Act11 and Act12, that is, PWM1
  • the duty cycle of PWM2 is the minimum value, the duty cycle of PWM2 is the middle value, and the duty cycle of PWW3 is the maximum value; when the voltage vector is in sector V, the comparison values corresponding to PWM1 are Act21 and Act22, and the comparison values corresponding to PWM2 are Act31 and Act32, and the corresponding comparison values of PWM3 are Act11 and Act12, that is, the duty cycle of PWM1 is the middle value, the duty cycle of PWM2 is the minimum value, and the duty cycle of PWW3 is the maximum value; when the voltage vector is in sector VI When , the comparison values corresponding to PWM1 are Act11 and Act12, the comparison values corresponding to PWM2 are
  • the determined comparison value is also phase-shifted to ensure single-resistance sampling within the effective voltage vector action time and ensure the effectiveness and accuracy of current sampling.
  • the determined comparison value is also phase-shifted to ensure single-resistance sampling within the effective voltage vector action time and ensure the effectiveness and accuracy of current sampling.
  • Step S102 determine the first current sampling trigger value and the second current sampling trigger value according to the comparison value Act22.
  • single resistance sampling can be performed during the rising or falling phase of the triangular wave carrier.
  • current sampling can be performed before and after the second or fifth switching tube action moment, that is, at the comparison value.
  • Current sampling is performed before and after the time corresponding to Act21 or Act22.
  • current sampling is performed before and after the time corresponding to the comparison value Act22 to obtain the first current sampling touch.
  • the trigger value Trig1 and the second current sampling trigger value Trig2 are generated.
  • the time required for hardware sampling such as the sampling time of the ADC converter
  • the dead time i.e. , when the PWM signal is output, the time reserved to prevent the upper and lower switch tubes of the same bridge arm from being turned on at the same time. For example, after the upper bridge arm switch tube is turned off and the dead time is delayed, the lower bridge arm switch tube can be turned on.
  • the upper arm switch can be turned on only after the lower arm switch is turned off and the dead time is delayed) and the current stabilization time after the switch is turned on and off (for example, after the switch is turned on, the current gradually increases until it is in a stable state corresponding time) to ensure sufficient current sampling time, avoid dead time and current non-stability time, and ensure the effectiveness and accuracy of current sampling.
  • the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are determined through the following formula (1):
  • Step S103 control the motor according to six comparison values Act11, Act21, Act31, Act32, Act22, and Act12, and conduct current sampling on the motor according to the first current sampling trigger value and the second current sampling trigger value to obtain the first sampling current. and the second sampling current, and determining the q-axis current of the motor based on the first sampling current and the second sampling current.
  • the motor is also controlled based on the six comparison values, and during the control process, current sampling is performed based on the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2,
  • the first sampling current and the second sampling current are obtained, and the q-axis current of the motor is determined based on the first sampling current and the second sampling current.
  • the bridge arm switch tube VT2 remains on, and the other switch tubes are turned off; when the timer count value is equal to the comparison value Act31, the upper arm switch tube VT5 in Figure 1 is controlled to be on, and the upper arm switch tubes VT1 and VT3 remain on.
  • the timer count value is equal to the comparison value Act32, the lower arm switch VT2 in Figure 1 is turned on, the upper arm switch VT1 and VT3 remain on, and the other switch tubes are turned on.
  • the motor can be controlled, and current sampling is performed during the control process to obtain the first sampling current and the second sampling current, and then the motor can be determined based on the first sampling current and the second sampling current.
  • the q-axis current of And the third sampling current, the d-axis current and q-axis current of the motor are obtained through coordinate transformation.
  • Step S104 Determine the effective voltage vector that will act after the second current sampling trigger value is triggered based on the second current sampling trigger value and the comparison value Act12.
  • the second sampling current obtained by sampling the second current sampling trigger value Trig2 will be The role of a part of the effective voltage loss is missing, that is, the effective voltage loss corresponding to the Terr time in Figure 3a. Therefore, after obtaining the second current sampling trigger value Trig2, the second current sampling trigger value Trig2 and the comparison value Act12 are also determined.
  • the effective voltage vector that acts after the current sampling trigger value is triggered that is, the effective voltage loss corresponding to the Terr time.
  • the difference between the effective voltage vector that has acted and the effective voltage vector that is expected to act is the effective voltage vector of time T5 (i.e. Terr in Figure 3a), that is, Vcomp. Since the motor rotor position ⁇ e can be determined according to the above The position of one control cycle is estimated, so the component of the effective voltage vector Vcomp on the q-axis can be calculated. By calculating the current change caused by the effective voltage vector Vcomp on the q-axis, the sampling current can be compensated until the black solid point , and then performing position calculation based on the compensated current can effectively improve the accuracy of position estimation.
  • Vcomp is the effective voltage vector
  • Nperiod is the triangular wave carrier vertex count value
  • Udc is the DC bus voltage
  • Step S105 Compensate the q-axis current according to the effective voltage vector, and estimate the rotor position of the motor based on the compensated q-axis current.
  • the effective voltage vector Vcomp can be The pressure loss Vcomp compensates the q-axis current, and the position is observed based on the compensated q-axis current and d-axis current to obtain a high-precision rotor position, thereby effectively reducing the current sampling error introduced by the single resistor sampling time.
  • the q-axis current is compensated according to the effective voltage loss, including: determining the q-axis component of the effective voltage vector according to the sector where the voltage vector is located; and compensating the q-axis current according to the q-axis component of the effective voltage vector.
  • determining the q-axis component of the effective voltage vector according to the sector where the voltage vector is located includes: obtaining the corresponding geometric formula according to the sector where the voltage loss is located; according to the effective voltage vector, the value of the previous control cycle The motor rotor position and the corresponding geometric formula determine the q-axis component of the effective voltage vector.
  • the q-axis component Vqcomp of the effective voltage loss Vcomp can be obtained through theoretical analysis in advance. In actual application, it is directly based on the location of the voltage loss Uinj.
  • the sector obtains the corresponding calculation formula, and then calculates and obtains the q-axis component Vqcomp of the effective voltage loss Vcomp based on the calculation formula, the effective voltage loss Vcomp, and the motor rotor position ⁇ e of the previous control cycle.
  • the q-axis component Vqcomp of the effective voltage vector Vcomp can be obtained in the following manner:
  • Vqcomp -Vcomp*sin( ⁇ 1 ), where ⁇ 1 corresponding to sector I is ⁇ e and ⁇ 1 corresponding to sector III is ⁇ e -120°, the ⁇ 1 corresponding to sector V is ⁇ e -240°;
  • Vqcomp Vcomp*sin(60°- ⁇ 1 ), where ⁇ 1 corresponding to sector II is ⁇ e -60°, and sector IV The corresponding ⁇ 1 is ⁇ e -180°, and the corresponding ⁇ 1 of sector VI is ⁇ e -300°.
  • the q-axis current can be compensated according to the q-axis component Vqcomp of the effective voltage vector Vcomp.
  • the q-axis current is compensated based on the q-axis component of the effective voltage vector, including: determining the compensation current based on the q-axis component of the effective voltage vector and the motor voltage equation; superimposing the compensation current to the d-axis current to obtain the compensated d-axis current.
  • ⁇ Iq is the compensation current
  • Vqcomp is the q-axis component of the effective voltage vector
  • R is the motor resistance
  • L is the motor inductance
  • Terr is the difference between the second current sampling trigger value and the comparison value Act12
  • t is the counting time of the triangular wave carrier interval.
  • the six comparison values Act11, Act21, Act31, Act32, Act22, and Act12 corresponding to the output required voltage vector are calculated based on single resistor sampling, and based on the comparison value Act22, the time required for hardware sampling Tsample, and
  • the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are calculated according to the above formula (1) based on the zone time Tdead and the time Tup when the current rises to a stable level.
  • the motor is controlled according to the comparison values Act11, Act21, Act31, Act32, Act22, and Act12, and during the control process, when the triangular wave carrier count value is equal to the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2, the current Sampling, the first sampling current Iqsample1 and the second sampling current Iqsample2 are obtained, and the third sampling current Iqsample3 is calculated according to the first sampling current Iqsample1 and the second sampling current Iqsample2, and the third sampling current Iqsample3 is calculated according to the first sampling current Iqsample1, the second sampling current Iqsample2 and The third sampling current Iqsample3 is used to obtain the d-axis current Id and q-axis current Iq of the motor through coordinate transformation.
  • the q-axis component Vqcomp of the voltage vector Vcomp and based on the q-axis component Vqcomp, the difference Terr and the motor resistance and capacitance parameters, the current compensation is performed through the above formula (4) to obtain the compensation current ⁇ Iq, and the compensation current ⁇ Iq is superimposed on the q-axis
  • the current Iq is compensated by the q-axis current Iq'.
  • position observation is performed to obtain the motor rotor position in the current control cycle.
  • the sampling current is also compensated to the moment when the effective voltage vector completely ends within a control period, that is, the black solid point in Figure 4.
  • the position can be improved based on the compensated current calculation position. Estimate accuracy.
  • the effective voltage vector that acts after the second current sampling trigger value is triggered is determined based on the second current sampling trigger value and the comparison value Act12, and the q-axis current is compensated based on the effective voltage vector. , and estimating the motor rotor position based on the compensated q-axis current, which can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the motor rotor position.
  • the accuracy of the positional observation is simple, and the algorithm is easy to apply in engineering, thus maintaining excellent control performance at a low cost.
  • sampling can be performed before and after the second switching tube action time (that is, the time corresponding to the comparison value Act21), that is, sampling can be performed at the time corresponding to Trig1 and Trig2.
  • the moment corresponding to Trig1 is within the action time of the first effective voltage vector, and in order to ensure that the error caused by different sampling of the two-phase currents is small, the sampled current will have an extra part of the effective voltage vector. , thereby introducing sampling errors, and when the voltage vectors are located in different areas, the action time Terr of the extra effective voltage vector (that is, the effective voltage vector within the Terr time has already taken effect) is not fixed.
  • FIG. 7a shows a schematic diagram of the voltage vector and switching tube action when a positive voltage pulse is injected at the 0° position.
  • Figure 7b shows a schematic diagram of the voltage vector and switching tube action when a negative voltage pulse is injected at the 0° position, as shown in Figure 7a.
  • the action time Terr of the extra effective voltage vector when a positive voltage pulse is injected at the 0° position is much greater than the action time Terr of the extra effective voltage vector when a negative voltage pulse is injected at the 0° position. Both of them exist.
  • the sampling error changes greatly, which will introduce errors when calculating the rotor position through the high-frequency injection algorithm.
  • FIG. 8 is a schematic flowchart of a motor rotor position observation method according to another embodiment of the present disclosure.
  • the motor rotor position observation method may include the following steps:
  • Step S201 when injecting high-frequency pulses into the d-axis of the motor, determine the six comparison values Act11, Act21, Act31, Act32, Act22, and Act12 of the three-way modulation corresponding to the required voltage vector output under single-resistance sampling.
  • step S201 is the same as step S101. Please refer to the above for details and will not be described again here.
  • Step S202 determine the first current sampling trigger value and the second current sampling trigger value according to the comparison value Act21.
  • single resistance sampling can be performed during the rising or falling phase of the triangular wave carrier.
  • current sampling can be performed before and after the second or fifth switching tube action moment, that is, at the comparison value.
  • Current sampling is performed before and after the time corresponding to Act21 or Act22.
  • current sampling is performed before and after the time corresponding to the comparison value Act21 to obtain the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2.
  • the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 can be determined based on the time required for hardware sampling, the dead time and the current stabilization time after the switch tube is turned on and off. , to ensure sufficient current sampling time, avoid dead time and current non-stability time, and ensure the effectiveness and accuracy of current sampling.
  • the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are determined through the following formula (5):
  • Step S203 control the motor according to six comparison values Act11, Act21, Act31, Act32, Act22, and Act12, and conduct current sampling on the motor according to the first current sampling trigger value and the second current sampling trigger value to obtain the first sampling current. and the second sampling current, and determining the q-axis current of the motor based on the first sampling current and the second sampling current.
  • step S203 is the same as step S103. Please refer to the above for details and will not be described again here.
  • Step S204 Determine the effective voltage vector that acts before the first current sampling trigger value is triggered based on the first current sampling trigger value and the comparison value Act11.
  • the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are determined based on the comparison value Act21, the first sampling current obtained by sampling the first current sampling trigger value Trig1 will The effect of the extra effective voltage loss is the effective voltage loss corresponding to the Terr time in Figure 7a. Therefore, after obtaining the first current sampling trigger value Trig1, the first current sampling trigger value Trig1 and the comparison value Act11 are also determined. The effective voltage vector that acts before the current sampling trigger value is triggered, that is, the effective voltage loss corresponding to the Terr time.
  • Vcomp is the effective voltage vector
  • Nperiod is the triangular wave carrier vertex count value
  • Udc is the DC bus voltage
  • Step S205 Compensate the q-axis current according to the effective voltage loss, and estimate the rotor position of the motor based on the compensated q-axis current.
  • the q-axis current can be compensated according to the effective voltage loss Vcomp, and the position can be observed based on the compensated q-axis current to obtain a high Accurate rotor position, thereby effectively reducing the current sampling error caused by the single resistor sampling moment.
  • the q-axis current is compensated according to the effective voltage loss, including: determining the q-axis component of the effective voltage vector according to the sector where the voltage vector is located; and calculating the q-axis current according to the q-axis component of the effective voltage vector. Make compensation.
  • determining the q-axis component of the effective voltage vector according to the sector where the voltage vector is located includes: obtaining the corresponding geometric formula according to the sector where the voltage loss is located; according to the effective voltage vector, the value of the previous control cycle The motor rotor position and the corresponding geometric formula determine the q-axis component of the effective voltage vector.
  • the q-axis component Vqcomp of the effective voltage loss Vcomp can be obtained through theoretical analysis in advance. In actual application, it is directly based on the location of the voltage loss Uinj.
  • the sector obtains the corresponding calculation formula, and then calculates and obtains the q-axis component Vqcomp of the effective voltage loss Vcomp based on the calculation formula, the effective voltage loss Vcomp, and the motor rotor position ⁇ e of the previous control cycle.
  • the q-axis component Vqcomp of the effective voltage vector Vcomp can be obtained in the following manner:
  • Vqcomp -Vcomp*sin( ⁇ 1 ), where ⁇ 1 corresponding to sector I is ⁇ e and ⁇ 1 corresponding to sector III is ⁇ e -120°, the ⁇ 1 corresponding to sector V is ⁇ e -240°;
  • Vqcomp Vcomp*sin(60°- ⁇ 1 ), where ⁇ 1 corresponding to sector II is ⁇ e -60°, and sector IV The corresponding ⁇ 1 is ⁇ e -180°, and the corresponding ⁇ 1 of sector VI is ⁇ e -300°.
  • Vqcomp -Vcomp*sin ⁇ e (7)
  • the q-axis current can be compensated according to the q-axis component Vqcomp of the effective voltage vector Vcomp.
  • the q-axis current is compensated based on the q-axis component of the effective voltage vector, including: determining the compensation current based on the q-axis component of the effective voltage vector and the motor voltage equation; subtracting the compensation current from the q-axis current to obtain the compensated q-axis current.
  • ⁇ Iq is the compensation current
  • Vqcomp is the q-axis component of the effective voltage vector
  • R is the motor resistance
  • L is the motor inductance
  • Terr is the difference between the first current sampling trigger value and the comparison value Act11
  • t is the counting time of the triangular wave carrier interval.
  • the following is an example of injecting a positive voltage pulse into the motor at the 0° position and selecting the rising stage of the triangular wave carrier for single-resistance sampling to illustrate the above-mentioned motor rotor position observation method.
  • the six comparison values Act11, Act21, Act31, Act32, Act22, and Act12 corresponding to the output required voltage vector are calculated based on single resistor sampling, and based on the comparison value Act21, the time required for hardware sampling Tsample, and The first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are calculated using the above formula (5) based on the zone time Tdead and the time Tup when the current rises to a stable level.
  • the motor is controlled according to the comparison values Act11, Act21, Act31, Act32, Act22, and Act12, and during the control process, when the triangular wave carrier count value is equal to the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2, the current Sampling, the first sampling current Iqsample1 and the second sampling current Iqsample2 are obtained, and the third sampling current Iqsample3 is calculated according to the first sampling current Iqsample1 and the second sampling current Iqsample2, and the third sampling current Iqsample3 is calculated according to the first sampling current Iqsample1, the second sampling current Iqsample2 and The third sampling current Iqsample3 is used to obtain the d-axis current Id and q-axis current Iq of the motor through coordinate transformation.
  • the effective voltage vector Vcomp before the first current sampling trigger value Trig1 is triggered is obtained. Then, determine the corresponding calculation formula according to the sector where the voltage loss is located, such as the above formula (7), and calculate the effective value according to the above formula (7), the effective voltage loss Vcomp and the motor rotor position ⁇ e of the previous control cycle.
  • the q-axis component Vqcomp of the voltage vector Vcomp and based on the q-axis component Vqcomp, the difference Terr, and the motor resistance and capacitance parameters, current compensation is performed through the above formula (8) to obtain the compensation current ⁇ Iq, and the compensation current is subtracted from the q-axis current Iq ⁇ Iq is the compensated q-axis current Iq1'. Finally, based on the compensated q-axis current Iq1' and d-axis current Id, position observation is performed to obtain the motor rotor position in the current control cycle.
  • the effective voltage vector acting before the first current sampling trigger value is triggered is determined based on the first current sampling trigger value and the comparison value Act11, and the q-axis current is compensated based on the effective voltage vector. , and estimating the rotor position of the motor based on the compensated q-axis current, which can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the accuracy of motor rotor position observation.
  • the algorithm is simple and easy to apply in engineering, thus achieving low-cost advantages. Maintain excellent control performance.
  • Embodiments of the present disclosure also provide a computer-readable storage medium on which a motor rotor position observation program is stored.
  • the motor rotor position observation program is executed by a processor, the aforementioned motor rotor position observation method is implemented.
  • the sampling current accuracy of single resistor sampling can be effectively improved, thereby improving the accuracy of motor rotor position observation.
  • Embodiments of the present disclosure also provide a rotor position observer, which includes a memory, a processor, and a motor rotor position observation program stored in the memory and executable on the processor.
  • a motor rotor position observation program stored in the memory and executable on the processor.
  • the sampling current accuracy of single resistor sampling can be effectively improved, thereby improving the accuracy of motor rotor position observation.
  • FIG 9 is a schematic diagram of a motor rotor position observation device according to an embodiment of the present disclosure.
  • the motor rotor position observation device may include: a first determination module 10, a second determination module 20, a control module 30, Three determination module 40 and compensation module 50.
  • the first determination module 10 is used to determine the six comparison values Act11, Act21, Act31, Act32, Act22, Act11, Act21, Act31, Act32, Act22, Act12;
  • the second determination module 20 is used to determine the first current sampling trigger value and the second current sampling trigger value according to the comparison value Act22;
  • the control module 30 is used to determine the first current sampling trigger value and the second current sampling trigger value according to the six comparison values Act11, Act21, Act31, Act32, Act22 and Act12.
  • the motor is controlled, and current sampling is performed on the motor according to the first current sampling trigger value and the second current sampling trigger value, the first sampling current and the second sampling current are obtained, and the motor is determined based on the first sampling current and the second sampling current.
  • the q-axis current; the third determination module 40 is used to determine the effective voltage vector that will act after the second current sampling trigger value is triggered based on the second current sampling trigger value and the comparison value Act12; the compensation module 50 is used to determine the q-axis current based on the effective voltage vector Perform compensation; the control module 30 is also used to estimate the rotor position of the motor based on the compensated q-axis current.
  • the first determination module 10 is used to determine the six comparison values Act11, Act21, Act31, Act32, Act22 of the three-way modulation corresponding to the required voltage vector output under single resistor sampling when injecting high-frequency pulses into the d-axis of the motor.
  • the second determination module 20 is used to determine the first current sampling trigger value and the second current sampling trigger value according to the comparison value Act21;
  • the control module 30 is used to determine the first current sampling trigger value and the second current sampling trigger value according to the six comparison values Act11, Act21, Act31, Act32, Act22, Act12 Control the motor, perform current sampling on the motor according to the first current sampling trigger value and the second current sampling trigger value, obtain the first sampling current and the second sampling current, and determine the motor based on the first sampling current and the second sampling current.
  • the q-axis current; the third determination module 40 is used to determine the effective voltage vector acting before the first current sampling trigger value is triggered according to the first current sampling trigger value and the comparison value Act11; the compensation module 50 is used to determine q according to the effective voltage loss
  • the control module 30 is also used to estimate the rotor position of the motor based on the compensated q-axis current.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
  • Non-exhaustive list of computer readable media include the following: electrical connections with one or more wires (electronic device), portable computer disk cartridges (magnetic device), random access memory (RAM), Read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, and subsequently edited, interpreted, or otherwise suitable as necessary. process to obtain the program electronically and then store it in computer memory.
  • various parts of the present disclosure may be implemented in hardware, software, firmware, or combinations thereof.
  • various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a logic gate circuit with a logic gate circuit for implementing a logic function on a data signal.
  • Discrete logic circuits application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.
  • connection In this disclosure, unless otherwise explicitly stated and limited, the terms “installation”, “connection”, “connection”, “fixing” and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated into one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise specified restrictions. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure can be understood according to specific circumstances.

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  • Engineering & Computer Science (AREA)
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  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

一种电机转子位置观测方法、装置、转子位置观测器及介质，方法包括：在向电机d轴注入高频脉冲时，确定三路调制的六个比较值(S101)；根据比较值Act22确定第一、第二电流采样触发值(S102)；根据六个比较值对电机进行控制，并根据第一、第二电流采样触发值对电机进行电流采样，获得第一、第二采样电流，以及根据第一、第二采样电流确定电机的q轴电流(S103)；根据第二电流采样触发值和比较值Act12确定第二电流采样触发值触发后作用的有效电压矢量(S104)；根据有效电压矢量对q轴电流进行补偿，并根据补偿后的q轴电流估算电机的转子位置(S105)。

Description

电机转子位置观测方法、装置、转子位置观测器及介质
相关申请的交叉引用
本公开要求于2022年03月09日提交的申请号为202210226678.6，名称为“电机转子位置观测方法、装置、转子位置观测器及介质”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及电机控制技术领域，尤其涉及一种电机转子位置观测方法、装置、转子位置观测器及介质。
背景技术
基于高频注入的电机无位置传感器控制方法实现简单，成本低，在低速区域具有较好的控制性能，可以实现电机的低速负载启动。该方法是在d轴注入周期性的正负脉冲，对脉冲引起的q轴高频电流响应进行采样，将高频电流响应送入锁相环求解得到电机的估计位置。相关技术中的观测器方法在中高速区域具有较好的性能，而在低速区域无法收敛，因此高频注入法具有很高的实际应用价值。
单电阻采样技术是通过利用直流负母线上的采样电阻对电流进行采样，一个控制周期内需要采样两次，分别在两个有效电压矢量(也即非零电压矢量)作用时间内进行采样，采样结束后根据电压矢量情况，判断采样电流所属相序。在单电阻采样时，为了减少两相电流采样不同时对电流采样带来的误差，一般会尽可能将两个采样时刻靠近，通常在第2个或者第5个开关管动作时刻的前后。但是，此种采样方式的采样点时刻会发生变化，从而引入采样误差，通过此采样电流计算得到的估计位置，往往具有较大误差。
公开内容
本公开旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本公开的第一个目的在于提出一种电机转子位置观测方法，能够有效提高单电阻采样的采样电流精度，进而提高电机转子位置观测的精度。
本公开的第二个目的在于提出另一种电机转子位置观测方法。
本公开的第三个目的在于提出一种计算机可读存储介质。
本公开的第四个目的在于提出一种转子位置观测器。
本公开的第五个目的在于提出一种电机转子位置观测装置。
本公开的第六个目的在于提出另一种电机转子位置观测装置。
为达到上述目的，本公开第一方面实施例提出一种电机转子位置观测方法，包括：在向电机d轴注入高频脉冲时，确定单电阻采样下输出所需电压矢量所对应的三路调制的六个比较值Act11、Act21、Act31、Act32、Act22、Act12；根据比较值Act22确定第一电流采样触发值和第二电流采样触发值；根据六个比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并根据第一电流采样触发值和第二电流采样触发值对电机进行电流采样，获得第一采样电流和第二采样电流，以及根据第一采样电流和第二采样电流确定电机的q轴电流；根据第二电流采样触发值和比较值Act12确定第二电流采样触发值触发后作用的有效电压矢量；根据有效电压矢量对q轴电流进行补偿，并根据补偿后的q轴电流估算电机的转子位置。
根据本公开实施例的电机转子位置观测方法，通过根据第二电流采样触发值和比较值Act12确定第二电流采样触发值触发后作用的有效电压矢量，并根据有效电压矢量对q轴电流进行补偿，以及补偿后的q轴电流估算电机的转子位置，能够有效提高单电阻采样的采样电流精度，进而提高电机转子位置观测的精度。
为达到上述目的，本公开第二方面实施例提出另一种电机转子位置观测方法，包括：在向电机d轴注入高频脉冲时，确定单电阻采样下输出所需电压矢量所对应的三路调制的六个比较值Act11、Act21、Act31、Act32、Act22、Act12；根据比较值Act21确定第一电流采样触发值和第二电流采样触发值；根据六个比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并根据第一电流采样触发值和第二电流采样触发值对电机进行电流采样，获得第一采样电流和第二采样电流，以及根据第一采样电流和第二采样电流确定电机的q轴电流；根据第一电流采样触发值和比较值Act11确定第一电流采样触发值触发前作用的有效电压矢量；根据有效电压失量对q轴电流进行补偿，并根据补偿后的q轴电流估算电机的转子位置。
根据本公开实施例的电机转子位置观测方法，通过根据第一电流采样触发值和比较值Act11确定第一电流采样触发值触发前作用的有效电压矢量，并根据有效电压矢量对q轴电流进行补偿，以及根据补偿后的q轴电流估算电机的转子位置，能够有效提高单电阻采样的采样电流精度，进而提高电机转子位置观测的精度。
为达到上述目的，本公开第三方面实施例提出一种计算机可读存储介质，其上存储有电机转子位置观测程序，该电机转子位置观测程序被处理器执行时实现前述第一方面实施例或第二方面实施例的电机转子位置观测方法。
根据本公开实施例的计算机可读存储介质，基于前述的电机转子位置观测方法，能够有效提高单电阻采样的采样电流精度，进而提高电机转子位置观测的精度。
为达到上述目的，本公开第四方面实施例提出一种转子位置观测器，包括存储器、处理器及存储在 存储器上并可在处理器上运行的电机转子位置观测程序，处理器执行电机转子位置观测程序时，实现前述第一方面实施例或第二方面实施例的电机转子位置观测方法。
根据本公开实施例的转子位置观测器，基于前述的电机转子位置观测方法，能够有效提高单电阻采样的采样电流精度，进而提高电机转子位置观测的精度。
为达到上述目的，本公开第五方面实施例提出一种电机转子位置观测装置，包括：第一确定模块，用于在向电机d轴注入高频脉冲时确定单电阻采样下输出所需电压矢量所对应的三路调制的六个比较值Act11、Act21、Act31、Act32、Act22、Act12；第二确定模块，用于根据比较值Act22确定第一电流采样触发值和第二电流采样触发值；控制模块，用于根据六个比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并根据第一电流采样触发值和第二电流采样触发值对电机进行电流采样，获得第一采样电流和第二采样电流，以及根据第一采样电流和第二采样电流确定电机的q轴电流；第三确定模块，用于根据第二电流采样触发值和比较值Act12确定第二电流采样触发值触发后作用的有效电压矢量；补偿模块，用于根据有效电压矢量对q轴电流进行补偿；控制模块还用于，根据补偿后的q轴电流估算电机的转子位置。
根据本公开实施例的电机转子位置观测装置，通过根据第二电流采样触发值和比较值Act12确定第二电流采样触发值触发后作用的有效电压矢量，并根据有效电压矢量对q轴电流进行补偿，以及补偿后的q轴电流估算电机的转子位置，能够有效提高单电阻采样的采样电流精度，进而提高电机转子位置观测的精度。
为达到上述目的，本公开第六方面实施例提出另一种电机转子位置观测装置，包括：第一确定模块，用于在向电机d轴注入高频脉冲时，确定单电阻采样下输出所需电压矢量所对应的三路调制的六个比较值Act11、Act21、Act31、Act32、Act22、Act12；第二确定模块，用于根据比较值Act21确定第一电流采样触发值和第二电流采样触发值；控制模块，用于根据六个比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并根据第一电流采样触发值和第二电流采样触发值对电机进行电流采样，获得第一采样电流和第二采样电流，以及根据第一采样电流和第二采样电流确定电机的q轴电流；第三确定模块，用于根据第一电流采样触发值和比较值Act11确定第一电流采样触发值触发前作用的有效电压矢量；补偿模块，用于根据有效电压失量对q轴电流进行补偿；控制模块还用于，根据补偿后的q轴电流估算电机的转子位置。
根据本公开实施例的电机转子位置观测装置，通过根据第一电流采样触发值和比较值Act11确定第一电流采样触发值触发前作用的有效电压矢量，并根据有效电压矢量对q轴电流进行补偿，以及根据补偿后的q轴电流估算电机的转子位置，能够有效提高单电阻采样的采样电流精度，进而提高电机转子位置观测的精度。
本公开附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本公开的实践了解到。
附图说明
图1为根据本公开一个实施例的电机控制系统图；
图2为采样电流缺少一部分有效电压矢量作用的示意图；
图3a为根据本公开一个实施例的0°位置时注入正电压脉冲的电压矢量以及开关管动作示意图；
图3b为根据本公开一个实施例的0°位置时注入负电压脉冲的电压矢量以及开关管动作示意图；
图4为根据本公开一个实施例的0°位置时注入正负电压脉冲时的电流补偿示意图；
图5为根据本公开一个实施例的电机转子位置观测方法的流程示意图；
图6为采样电流多出一部分有效电压矢量作用的示意图；
图7a为根据本公开另一个实施例的0°位置时注入正电压脉冲的电压矢量以及开关管动作示意图；
图7b为根据本公开另一个实施例的0°位置时注入负电压脉冲的电压矢量以及开关管动作示意图；
图8为根据本公开另一个实施例的电机转子位置观测方法的流程示意图；
图9为根据本公开一个实施例的电机转子位置观测装置的示意图。
具体实施方式
下面详细描述本公开的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性地，旨在用于解释本公开，而不能理解为对本公开的限制。
在电机无位置传感器矢量控制过程中，为获得电机转子位置，可在d轴注入周期性的正负电压脉冲，并对脉冲引起的q轴高频电流响应进行采样，以及将高频电流响应送入锁相环求解得到电机转子位置。基于成本考虑，通常采用单电阻采样技术对高频电流响应进行采样，单电阻采样技术是通过利用直流负母线上的采样电阻对电流进行采样，如图1所示，通过直流负母线上的采样电阻R对电流进行采样，在采样时，一个控制周期内需要采样两次，分别在两个有效电压矢量的作用时间内进行采样，采样结束后根据电压矢量情况，判断采样电流所属相序，得到两相电流。
在单电阻采样时，为了减少两相电流采样不同时对电流采样带来的误差，一般会尽可能将两个采样时刻靠近，通常在第2个或者第5个开关管动作时刻的前后。
针对其中一种情况，如图2所示，可在第5个开关管动作时刻(即比较值Act22对应的时刻)的前后进行采样，也即在Trig1和Trig2对应的时刻进行采样。从图2可以看出，Trig2对应的时刻在最后一段有效电压矢量的作用时间内，且为了保证两相电流采样不同引起的误差较小，采样得到的电流会缺失 一部分有效电压矢量的作用，从而引入采样误差，而电压矢量Uinj位于不同区域时，缺失的有效电压矢量的作用时间Terr(即，Terr时间内的有效电压矢量还没有发生作用)是不固定的，在高频注入算法中，注入的正负电压脉冲近似相差180°，引起的采样误差更为明显。图3a给出了在0°位置注入正电压脉冲时的电压矢量及开关管动作的示意图，图3b给出了在0°位置注入负电压脉冲时的电压矢量及开关管动作的示意图，如图3a-3b所示，在0°位置注入正电压脉冲时所缺失的有效电压矢量的作用时间Terr远大于在0°位置注入负电压脉冲时所缺失的有效电压矢量的作用时间Terr，二者存在的采样误差发生较大变化，由此在通过高频注入算法计算转子位置时会引入误差。
基于此，在本申请中，在以第5个开关管动作时刻为基准进行电流采样时，通过将采样电流补偿至一个控制周期内有效电压矢量完全作用结束的时刻，以补偿电流采样引入的误差，提高位置估计的精度。
示例性地，如图4所示，在图4右半部分，虚线为图3a中各段有效电压矢量作用的示意图，点划线等效于图3a中在Trig2对应的时刻采样时已作用的有效电压矢量，实线为预期作用的有效电压矢量，二者存在较大差值；在图4左半部分，虚线为图3b中各段有效电压矢量作用的示意图，点划线等效于图3b中在Trig2对应的时刻采样时已作用的有效电压矢量，实线为预期作用的有效电压矢量，二者存在较大差值。并且，图4右半部分的差值和图4左半部分的差值之间发生了较大变化，由此在通过高频注入算法计算电机转子位置时将引入误差，基于此本申请通过将采样电流补偿至黑色实心点处来消除此误差，也即补偿至一个控制周期内有效电压矢量完全作用结束的时刻来消除此误差，提高位置估算精度。
图5为根据本公开一个实施例的电机转子位置观测方法的流程示意图。参考图5所示，该电机转子位置观测方法可包括以下步骤：
步骤S101，在向电机d轴注入高频脉冲时，确定单电阻采样下输出所需电压矢量所对应的三路调制的六个比较值Act11、Act21、Act31、Act32、Act22、Act12。
示例性地，在向电机d轴注入高频脉冲，即频率较高的正负电压脉冲时，可先根据单电阻采样计算得到控制电机所需的各路PWM(Pulse Width Modulation，脉冲宽度调制)信号的比较值Act11、Act21、Act31、Act32、Act22、Act12，其中，Act11表示一个控制周期内三相逆变桥中第1个开关管动作时刻对应的三角波载波计数值，Act21表示第2个开关管动作时刻对应的三角波载波计数值，Act31表示第3个开关管动作时刻对应的三角波载波计数值，Act32表示第4个开关管动作时刻对应的三角波载波计数值，Act22表示第5个开关管动作时刻对应的三角波载波计数值，Act12表示第6个开关管动作时刻对应的三角波载波计数值。在本申请中，三角波载波计数方式为先增大后减小方式，相应的Act11＜Act21＜Act31，Act32＞Act22＞Act12。
举例来说，如图3a-图3b所示，PWM1、PWM2和PWM3分别为图1所示上桥臂开关管VT1、VT3和VT5的PWM控制信号(下桥臂开关管VT4、VT6和VT2的PWM控制信号与上桥臂开关管VT1、 VT3和VT5的PWM控制信号对应互差180°)。在注入正负电压脉冲时，当电压矢量处于扇区I时，PWM1对应的比较值为Act11和Act12，PWM2对应的比较值为Act21和Act22，PWM3对应的比较值为Act31和Act32，即PWM1的占空比为最大值，PWM2的占空比为中间值，PWW3的占空比为最小值；当电压矢量处于扇区II时，PWM1对应的比较值为Act21和Act22，PWM2对应的比较值为Act11和Act12，PWM3对应的比较值为Act31和Act32，即PWM1的占空比为中间值，PWM2的占空比为最大值，PWW3的占空比为最小值；当电压矢量处于扇区III时，PWM1对应的比较值为Act31和Act32，PWM2对应的比较值为Act11和Act12，PWM3对应的比较值为Act21和Act22，即PWM1的占空比为最小值，PWM2的占空比为最大值，PWW3的占空比为中间值；当电压矢量处于扇区IV时，PWM1对应的比较值为Act31和Act32，PWM2对应的比较值为Act21和Act22，PWM3对应的比较值为Act11和Act12，即PWM1的占空比为最小值，PWM2的占空比为中间值，PWW3的占空比为最大值；当电压矢量处于扇区V时，PWM1对应的比较值为Act21和Act22，PWM2对应的比较值为Act31和Act32，PWM3对应的比较值为Act11和Act12，即PWM1的占空比为中间值，PWM2的占空比为最小值，PWW3的占空比为最大值；当电压矢量处于扇区VI时，PWM1对应的比较值为Act11和Act12，PWM2对应的比较值为Act31和Act32，PWM3对应的比较值为Act21和Act22，即PWM1的占空比为最大值，PWM2的占空比为最小值，PWW3的占空比为中间值。
需要说明的是，在确定各路PWM信号的比较值时，还对确定的比较值进行移相处理，以保证在有效电压矢量作用时间内进行单电阻采样，保证电流采样的有效性和准确性。在进行移相处理时，根据电流采样阶段、t1/2和t2/2的大小调整相应的比较值，以使t1/2和t2/2中的较小值大于最小采样时间(需要说明的是，t1为输出合成电压失量Uinj时对应的第一个基本电压失量的作用时间，t2为输出合成电压失量Uinj时对应的第二个基本电压失量的作用时间)。举例来说，如图3a所示，在三角波载波周期下降阶段进行电流采样时，t2/2较小，此时将PWM3的高电平左移，相应的比较值Act31减小，比较值Act32增大；在三角波载波周期上升阶段进行电流采样时，t2/2较小，此时将PWM3的高电平右移，相应的比较值Act31增大，比较值Act32减小。如图3b所示，在三角波载波周期下降阶段进行电流采样时，t1/2较小，此时将PWM1的高电平右移，相应的比较值Act11增大，比较值Act12减小；在三角波载波周期上升阶段进行电流采样时，t1/2较小，此时将PWM1的高电平左移，相应的比较值Act11减小，比较值Act12增大。
步骤S102，根据比较值Act22确定第一电流采样触发值和第二电流采样触发值。
示例性地，在一个控制周期中，可在三角波载波的上升阶段或下降阶段进行单电阻采样，具体可在第2个或者第5个开关管动作时刻的前后进行电流采样，也即在比较值Act21或者Act22对应的时刻的前后进行电流采样，这里选取在比较值Act22对应的时刻的前后进行电流采样，以获得第一电流采样触 发值Trig1和第二电流采样触发值Trig2。
需要说明的是，在根据比较值Act22获取第一电流采样触发值Trig1和第二电流采样触发值Trig2时，可根据硬件采样所需时间(如ADC转换器的采样时间)、死区时间(即，PWM信号输出时，为避免同一桥臂的上下开关管同时导通所预留的时间，如在上桥臂开关管关断且延时死区时间后，下桥臂开关管才能导通，或者在下桥臂开关管关断且延时死区时间后，上桥臂开关管才能导通)和开关管通断后的电流稳定时间(如，开关管导通后，电流逐步上升直至处于稳定状态所对应的时间)进行确定，以保证足够的电流采样时间，且避开了死区时间以及电流非稳定时间，保证了电流采样的有效性和准确性。
根据本公开的一个实施例，根据比较值Act22，通过下述公式(1)确定第一电流采样触发值Trig1和第二电流采样触发值Trig2：
需要说明的是，如图3a所示，基于比较值Act22获取第一电流采样触发值Trig1时，只需要考虑硬件采样所需时间Tsample即可，而在基于比较值Act22获取第二电流采样触发值Trig2时，由于比较值Act22对应的时刻为第5个开关管动作的时刻，将存在死区时间和电流上升时间，因此需要在开关管动作后的一段时间后再进行电流采样，即需要考虑死区时间Tdead和电流上升至稳定的时间Tup，以保证电流采样的有效性。
步骤S103，根据六个比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并根据第一电流采样触发值和第二电流采样触发值对电机进行电流采样，获得第一采样电流和第二采样电流，以及根据第一采样电流和第二采样电流确定电机的q轴电流。
示例性地，在获得六个比较值后，还根据六个比较值对电机进行控制，并在控制的过程中，根据第一电流采样触发值Trig1和第二电流采样触发值Trig2进行电流采样，从而得到第一采样电流和第二采样电流，并根据第一采样电流和第二采样电流确定电机的q轴电流。
如图3a所示，在获得六个比较值后，若利用定时器产生三角波载波，那么在定时器计数值等于比较值Act11时，控制图1中的上桥臂开关管VT1导通，下桥臂开关管VT6和VT2保持导通，其余开关管均关断；在定时器计数值等于比较值Act21时，控制图1中的上桥臂开关管VT3导通，上桥臂开关管VT1和下桥臂开关管VT2保持导通，其余开关管均关断；在定时器计数值等于比较值Act31时，控制图1中的上桥臂开关管VT5导通，上桥臂开关管VT1和VT3保持开通，其余开关管均关断；在定时器计数值等于比较值Act32时，控制图1中的下桥臂开关管VT2导通，上桥臂开关管VT1和VT3保持导通，其余开关管均关断；在定时器计数值等于第一电流采样触发值Trig1时，通过图1中的采样电阻R进行电流采样得到第一采样电流；在定时器计数值等于比较值Act22时，控制图1中的下桥臂开关管VT6导 通，上桥臂开关管VT1和下桥臂开关管VT2保持导通，其余开关管均关断；在定时器计数值等于第二电流采样触发值Trig2时，通过图1中的采样电阻R进行电流采样得到第二采样电流；在定时器计数值等于比较值Act12时，控制图1中的下桥臂开关管VT4导通，下桥臂开关管VT2和VT6保持导通，其余开关管均关断。
由此，基于比较值和采样触发值，可实现对电机的控制，并在控制过程进行电流采样得到第一采样电流和第二采样电流，而后可以根据第一采样电流和第二采样电流确定电机的q轴电流，具体可以是，先根据第一采样电流和第二采样电流计算得到第三采样电流(基于三相电流之和为零计算得到)，而后根据第一采样电流、第二采样电流和第三采样电流，通过坐标变换得到电机的d轴电流和q轴电流。
步骤S104，根据第二电流采样触发值和比较值Act12确定第二电流采样触发值触发后作用的有效电压矢量。
示例性地，基于前述分析可知，在以比较值Act22作为基准确定第一电流采样触发值Trig1和第二电流采样触发值Trig2时，在第二电流采样触发值Trig2采样获得的第二采样电流会缺失一部分有效电压失量的作用，即图3a中Terr时间对应的有效电压失量，因此在获得第二电流采样触发值Trig2后，还根据第二电流采样触发值Trig2和比较值Act12确定第二电流采样触发值触发后作用的有效电压矢量，即Terr时间对应的有效电压失量。
如图4所示，已作用的有效电压矢量与期望作用的有效电压矢量之间相差一个T5(即图3a中的Terr)时间的有效电压矢量，即Vcomp，由于电机转子位置θe可以根据上一控制周期的位置估计得到，因此有效电压矢量Vcomp在q轴的分量可以计算得到，通过计算有效电压矢量Vcomp在q轴引起的电流变化，即可对采样电流进行补偿，补偿至黑色实心点处，进而根据补偿的电流进行位置计算即可有效提高位置估计的精度。
其中，在获取有效电压矢量Vcomp时，可先根据第二电流采样触发值Trig2和比较值Act12计算得到T5时间，也即缺失的有效电压矢量的作用时间Terr，即Terr等于第二电流采样触发值Trig2与比较值Act12之间的差值。而后，根据第二电流采样触发值Trig2与比较值Act12之间的差值、三角波载波顶点计数值和直流母线电压获取有效电压矢量Vcomp，具体可通过下述公式(2)计算获得有效电压矢量Vcomp：
Vcomp＝(2/3)*Udc*Terr/Nperiod     (2)
其中，Vcomp为有效电压矢量，Terr为第二电流采样触发值Trig2与比较值Act12之差，即Terr＝Trig2-Act12，Nperiod为三角波载波顶点计数值，Udc为直流母线电压。
步骤S105，根据有效电压矢量对q轴电流进行补偿，并根据补偿后的q轴电流估算电机的转子位置。
示例性地，在获得第二电流采样触发值Trig2触发后作用的有效电压矢量Vcomp后，可根据有效电 压失量Vcomp对q轴电流进行补偿，并根据补偿得到的q轴电流和d轴电流进行位置观测得到高精度的转子位置，从而有效减小因单电阻采样时刻引入的电流采样误差。其中，根据有效电压失量对q轴电流进行补偿，包括：根据电压矢量所处扇区确定有效电压矢量的q轴分量；根据有效电压矢量的q轴分量对q轴电流进行补偿。也就是说，在获得有效电压失量Vcomp后，可先确定电压失量Uinj所处扇区，根据电压失量Uinj所处扇区确定有效电压失量Vcomp的q轴分量Vqcomp，而后根据有效电压失量Vcomp的q轴分量Vqcomp对q轴电流进行补偿。
根据本公开的一个实施例，根据电压矢量所处扇区确定有效电压矢量的q轴分量，包括：根据电压失量所处扇区获取相应的几何公式；根据有效电压矢量、上一控制周期的电机转子位置以及相应的几何公式确定有效电压矢量的q轴分量。
也就是说，在计算有效电压失量Vcomp的q轴分量Vqcomp时，不同的扇区对应不同的计算公式，该计算公式可预先通过理论分析获得，实际应用时，直接根据电压失量Uinj所处扇区获取相对应的计算公式，而后根据计算公式、有效电压失量Vcomp和上一控制周期的电机转子位置θe计算获得有效电压失量Vcomp的q轴分量Vqcomp。示例性地，可通过以下方式获取有效电压矢量Vcomp的q轴分量Vqcomp：
当电压失量所处扇区为扇区I、III和V时，Vqcomp＝-Vcomp*sin(θ1)，其中，扇区I对应的θ1为θe，扇区III对应的θ1为θe-120°，扇区V对应的θ1为θe-240°；
当电压失量所处扇区为扇区II、IV和VI时，Vqcomp＝Vcomp*sin(60°-θ1)，其中，扇区II对应的θ1为θe-60°，扇区IV对应的θ1为θe-180°，扇区VI对应的θ1为θe-300°。
举例来说，如图4所示，当电压失量Uinj处于扇区I时，可通过下述公式(3)计算获得有效电压矢量Vcomp的q轴分量Vqcomp：
Vqcomp＝-Vcomp*sinθe      (3)
进一步的，在获得有效电压矢量Vcomp的q轴分量Vqcomp后，可根据有效电压矢量Vcomp的q轴分量Vqcomp对q轴电流进行补偿。可选的，根据有效电压矢量的q轴分量对q轴电流进行补偿，包括：根据有效电压矢量的q轴分量和电机电压方程确定补偿电流；将补偿电流叠加到d轴电流，获得补偿后的d轴电流。
示例性地，在获得有效电压矢量Vcomp的q轴分量Vqcomp后，可先根据q轴分量Vqcomp以及电机电压方程计算得到补偿电流△Iq，具体如下述公式(4)所示：
ΔIq＝Vqcomp/(R+L/(Terr*t))    (4)
其中，△Iq为补偿电流，Vqcomp为有效电压矢量的q轴分量，R为电机电阻，L为电机电感，Terr为第二电流采样触发值与比较值Act12之差，t为三角波载波的计数时间间隔。
而后，将补偿电流△Iq叠加至q轴电流Iq即可得到补偿后的q轴电流，即补偿后的q轴电流Iq’＝Iq+△Iq。
最后，根据d轴电流和补偿后的q轴电流Iq’，进行位置观测，得到当前控制周期的电机转子位置。
下面以电机处于0°位置注入正电压脉冲、且选取三角波载波的下降阶段进行单电阻采样为例，来对上述的电机转子位置观测方法进行说明。
参考图3a所示，首先基于单电阻采样计算得到输出所需电压矢量对应的六个比较值Act11、Act21、Act31、Act32、Act22、Act12，并根据比较值Act22、硬件采样所需时间Tsample、死区时间Tdead和电流上升至稳定的时间Tup，通过上述公式(1)计算得到第一电流采样触发值Trig1和第二电流采样触发值Trig2。而后根据比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并在控制过程中，当三角波载波计数值等于第一电流采样触发值Trig1和第二电流采样触发值Trig2时进行电流采样，得到第一采样电流Iqsample1和第二采样电流Iqsample2，并根据第一采样电流Iqsample1和第二采样电流Iqsample2计算得到第三采样电流Iqsample3，以及根据第一采样电流Iqsample1、第二采样电流Iqsample2和第三采样电流Iqsample3，通过坐标变换得到电机的d轴电流Id和q轴电流Iq。而后获取第二电流采样触发值Trig2与比较值Act12之间的差值Terr，并根据差值Terr、当前控制周期对应的三角波载波顶点计数值Nperiod、直流母线电压Udc，通过上述公式(2)计算得到第二电流采样触发值Trig2触发后的有效电压矢量Vcomp。接着，根据电压失量所处扇区确定相应的计算公式，如上述公式(3)，并根据上述公式(3)、有效电压失量Vcomp和上一控制周期的电机转子位置θe计算得到有效电压矢量Vcomp的q轴分量Vqcomp，以及根据q轴分量Vqcomp、差值Terr以及电机电阻电容参数，通过上述公式(4)进行电流补偿得到补偿电流△Iq，并将补偿电流△Iq叠加至q轴电流Iq得到补偿后的q轴电流Iq’。最后根据d轴电流Id和补偿后的q轴电流Iq’，进行位置观测，得到当前控制周期的电机转子位置。
由此，通过将采样电流补偿至一个控制周期内有效电压矢量完全作用结束的时刻，以补偿电流采样引入的误差，有效提高位置估计的精度。需要说明的是，在注入负电压脉冲时，同样将采样电流补偿至一个控制周期内有效电压矢量完全作用结束的时刻，即图4中的黑色实心点处，根据补偿的电流计算位置可提高位置估算精度。
根据本公开实施例的电机转子位置观测方法，通过根据第二电流采样触发值和比较值Act12确定第二电流采样触发值触发后作用的有效电压矢量，并根据有效电压矢量对q轴电流进行补偿，以及根据补偿后的q轴电流估算电机的转子位置，能够有效提高单电阻采样的采样电流精度，进而提高电机转子位 置观测的精度，算法简单，易于工程应用，从而实现了在低成本优势下保持优异的控制性能。
针对另一种情况，如图6所示，可在第2个开关管动作时刻(即比较值Act21对应的时刻)的前后进行采样，也即在Trig1和Trig2对应的时刻进行采样。从图6可以看出，Trig1对应的时刻在第一段有效电压矢量的作用时间内，且为了保证两相电流采样不同引起的误差较小，采样得到的电流会多出一部分有效电压矢量的作用，从而引入采样误差，而电压矢量位于不同区域时，多出的有效电压矢量的作用时间Terr(即，Terr时间内的有效电压矢量已经发生作用)是不固定的，在高频注入算法中，注入的正负电压脉冲近似相差180°，引起的采样误差更为明显。图7a给出了在0°位置注入正电压脉冲时的电压矢量及开关管动作的示意图，图7b给出了在0°位置注入负电压脉冲时的电压矢量及开关管动作的示意图，如图7a-7b所示，在0°位置注入正电压脉冲时多出的有效电压矢量的作用时间Terr远大于在0°位置注入负电压脉冲时多出的有效电压矢量的作用时间Terr，二者存在的采样误差发生较大变化，由此在通过高频注入算法计算转子位置时会引入误差。
基于此，在本申请中，在以第2个开关管动作时刻作为基准进行电流采样时，通过将多出的有效电压失量所产生的电流从采样电流中去除，以补偿电流采样引入的误差，提高位置估计的精度。
图8为根据本公开另一个实施例的电机转子位置观测方法的流程示意图。参考图8所示，该电机转子位置观测方法可包括以下步骤：
步骤S201，在向电机d轴注入高频脉冲时，确定单电阻采样下输出所需电压矢量所对应的三路调制的六个比较值Act11、Act21、Act31、Act32、Act22、Act12。
需要说明的是，步骤S201与步骤S101相同，具体参考前述，这里不再赘述。
步骤S202，根据比较值Act21确定第一电流采样触发值和第二电流采样触发值。
示例性地，在一个控制周期中，可在三角波载波的上升阶段或下降阶段进行单电阻采样，具体可在第2个或者第5个开关管动作时刻的前后进行电流采样，也即在比较值Act21或者Act22对应的时刻的前后进行电流采样，这里选取在比较值Act21对应的时刻的前后进行电流采样，以获得第一电流采样触发值Trig1和第二电流采样触发值Trig2。
需要说明的是，在根据比较值Act21获取第一电流采样触发值Trig1和第二电流采样触发值Trig2时，可根据硬件采样所需时间、死区时间和开关管通断后的电流稳定时间进行确定，以保证足够的电流采样时间，且避开了死区时间以及电流非稳定时间，保证了电流采样的有效性和准确性。
根据本公开的一个实施例，根据比较值Act21，通过下述公式(5)确定第一电流采样触发值Trig1和第二电流采样触发值Trig2：
需要说明的是，如图7a所示，基于比较值Act21获取第一电流采样触发值Trig1时，只需要考虑硬件采样所需时间Tsample即可，而在基于比较值Act21获取第二电流采样触发值Trig2时，由于比较值Act21对应的时刻为第2个开关管动作的时刻，将存在死区时间和电流上升时间，因此需要在开关管动作后的一段时间后再进行电流采样，即需要考虑死区时间Tdead和电流上升至稳定的时间Tup，以保证电流采样的有效性。
步骤S203，根据六个比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并根据第一电流采样触发值和第二电流采样触发值对电机进行电流采样，获得第一采样电流和第二采样电流，以及根据第一采样电流和第二采样电流确定电机的q轴电流。
需要说明的是，步骤S203与步骤S103相同，具体参考前述，这里不再赘述。
步骤S204，根据第一电流采样触发值和比较值Act11确定第一电流采样触发值触发前作用的有效电压矢量。
示例性地，基于前述分析可知，在以比较值Act21作为基准确定第一电流采样触发值Trig1和第二电流采样触发值Trig2时，在第一电流采样触发值Trig1采样获得的第一采样电流会多出一部分有效电压失量的作用，即图7a中Terr时间对应的有效电压失量，因此在获得第一电流采样触发值Trig1后，还根据第一电流采样触发值Trig1和比较值Act11确定第一电流采样触发值触发前作用的有效电压矢量，即Terr时间对应的有效电压失量。
在获取有效电压矢量Vcomp时，可先根据第一电流采样触发值Trig1和比较值Act11计算得到T1时间，也即多出的有效电压矢量的作用时间Terr，即Terr等于第一电流采样触发值Trig1与比较值Act11之间的差值。而后，根据第一电流采样触发值Trig1与比较值Act11之间的差值、三角波载波顶点计数值和直流母线电压获取有效电压矢量Vcomp，具体可通过下述公式(6)计算获得有效电压矢量Vcomp：
Vcomp＝(2/3)*Udc*Terr/Nperiod      (2)
其中，Vcomp为有效电压矢量，Terr为第一电流采样触发值Trig1与比较值Act11之差，即Terr＝Trig1-Act11，Nperiod为三角波载波顶点计数值，Udc为直流母线电压。
步骤S205，根据有效电压失量对q轴电流进行补偿，并根据补偿后的q轴电流估算电机的转子位置。
示例性地，在获得第一电流采样触发值Trig1触发前作用的有效电压矢量Vcomp后，可根据有效电压失量Vcomp对q轴电流进行补偿，并根据补偿得到的q轴电流进行位置观测得到高精度的转子位置，从而有效减小因单电阻采样时刻引入的电流采样误差。其中，根据有效电压失量对q轴电流进行补偿，包括：根据电压矢量所处扇区确定有效电压矢量的q轴分量；根据有效电压矢量的q轴分量对q轴电流 进行补偿。也就是说，在获得有效电压失量Vcomp后，可先确定电压失量Uinj所处扇区，根据电压失量Uinj所处扇区确定有效电压失量Vcomp的q轴分量Vqcomp，而后根据有效电压失量Vcomp的q轴分量Vqcomp对q轴电流进行补偿。
根据本公开的一个实施例，根据电压矢量所处扇区确定有效电压矢量的q轴分量，包括：根据电压失量所处扇区获取相应的几何公式；根据有效电压矢量、上一控制周期的电机转子位置以及相应的几何公式确定有效电压矢量的q轴分量。
也就是说，在计算有效电压失量Vcomp的q轴分量Vqcomp时，不同的扇区对应不同的计算公式，该计算公式可预先通过理论分析获得，实际应用时，直接根据电压失量Uinj所处扇区获取相对应的计算公式，而后根据计算公式、有效电压失量Vcomp和上一控制周期的电机转子位置θe计算获得有效电压失量Vcomp的q轴分量Vqcomp。示例性地，可通过以下方式获取有效电压矢量Vcomp的q轴分量Vqcomp：
当电压失量所处扇区为扇区I、III和V时，Vqcomp＝-Vcomp*sin(θ1)，其中，扇区I对应的θ1为θe，扇区III对应的θ1为θe-120°，扇区V对应的θ1为θe-240°；
当电压失量所处扇区为扇区II、IV和VI时，Vqcomp＝Vcomp*sin(60°-θ1)，其中，扇区II对应的θ1为θe-60°，扇区IV对应的θ1为θe-180°，扇区VI对应的θ1为θe-300°。
举例来说，当电压失量Uinj处于扇区I时，可通过下述公式(7)计算获得有效电压矢量Vcomp的q轴分量Vqcomp：
Vqcomp＝-Vcomp*sinθe      (7)
进一步的，在获得有效电压矢量Vcomp的q轴分量Vqcomp后，可根据有效电压矢量Vcomp的q轴分量Vqcomp对q轴电流进行补偿。可选的，根据有效电压矢量的q轴分量对q轴电流进行补偿，包括：根据有效电压矢量的q轴分量和电机电压方程确定补偿电流；将q轴电流减去补偿电流，获得补偿后的q轴电流。
示例性地，在获得有效电压矢量Vcomp的q轴分量Vqcomp后，可先根据q轴分量Vqcomp以及电机电压方程计算得到补偿电流△Iq，具体如下述公式(8)所示：
ΔIq＝Vqcomp/(R+L/(Terr*t))    (8)
其中，△Iq为补偿电流，Vqcomp为有效电压矢量的q轴分量，R为电机电阻，L为电机电感，Terr为第一电流采样触发值与比较值Act11之差，t为三角波载波的计数时间间隔。
而后，将q轴电流Iq减去补偿电流△Iq即可得到补偿后的q轴电流，即补偿后的q轴电流Iq’＝Iq1- △Iq。
最后，根据补偿后的q轴电流Iq1’进行位置观测，得到当前控制周期的电机转子位置。
下面以电机处于0°位置注入正电压脉冲、且选取三角波载波的上升阶段进行单电阻采样为例，来对上述的电机转子位置观测方法进行说明。
参考图7a所示，首先基于单电阻采样计算得到输出所需电压矢量对应的六个比较值Act11、Act21、Act31、Act32、Act22、Act12，并根据比较值Act21、硬件采样所需时间Tsample、死区时间Tdead和电流上升至稳定的时间Tup，通过上述公式(5)计算得到第一电流采样触发值Trig1和第二电流采样触发值Trig2。而后根据比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并在控制过程中，当三角波载波计数值等于第一电流采样触发值Trig1和第二电流采样触发值Trig2时进行电流采样，得到第一采样电流Iqsample1和第二采样电流Iqsample2，并根据第一采样电流Iqsample1和第二采样电流Iqsample2计算得到第三采样电流Iqsample3，以及根据第一采样电流Iqsample1、第二采样电流Iqsample2和第三采样电流Iqsample3，通过坐标变换得到电机的d轴电流Id和q轴电流Iq。而后获取第一电流采样触发值Trig1与比较值Act11之间的差值Terr，并根据差值Terr、当前控制周期对应的三角波载波顶点计数值Nperiod、直流母线电压Udc，通过上述公式(6)计算得到第一电流采样触发值Trig1触发前的有效电压矢量Vcomp。接着，根据电压失量所处扇区确定相应的计算公式，如上述公式(7)，并根据上述公式(7)、有效电压失量Vcomp和上一控制周期的电机转子位置θe计算得到有效电压矢量Vcomp的q轴分量Vqcomp，以及根据q轴分量Vqcomp、差值Terr以及电机电阻电容参数，通过上述公式(8)进行电流补偿得到补偿电流△Iq，并将q轴电流Iq减去补偿电流△Iq得到补偿后的q轴电流Iq1’。最后根据补偿后的q轴电流Iq1’和d轴电流Id，进行位置观测，得到当前控制周期的电机转子位置。
由此，通过将多出的有效电压失量作用产生的电流从采样电流中去除，以补偿电流采样引入的误差，能够有效提高位置估计的精度。需要说明的是，在注入负电压脉冲时与注入正电压脉冲相同，具体这里不再赘述。
根据本公开实施例的电机转子位置观测方法，通过根据第一电流采样触发值和比较值Act11确定第一电流采样触发值触发前作用的有效电压矢量，并根据有效电压矢量对q轴电流进行补偿，以及根据补偿后的q轴电流估算电机的转子位置，能够有效提高单电阻采样的采样电流精度，进而提高电机转子位置观测的精度，算法简单，易于工程应用，从而实现了在低成本优势下保持优异的控制性能。
本公开的实施例还提供一种计算机可读存储介质，其上存储有电机转子位置观测程序，该电机转子位置观测程序被处理器执行时实现前述的电机转子位置观测方法。
根据本公开实施例的计算机可读存储介质，基于前述的电机转子位置观测方法，能够有效提高单电阻采样的采样电流精度，进而提高电机转子位置观测的精度。
本公开的实施例还提供一种转子位置观测器，包括存储器、处理器及存储在存储器上并可在处理器上运行的电机转子位置观测程序，处理器执行电机转子位置观测程序时，实现前述的电机转子位置观测方法。
根据本公开实施例的转子位置观测器，基于前述的电机转子位置观测方法，能够有效提高单电阻采样的采样电流精度，进而提高电机转子位置观测的精度。
图9为根据本公开一个实施例的电机转子位置观测装置的示意图，参考图9所示，该电机转子位置观测装置可包括：第一确定模块10、第二确定模块20、控制模块30、第三确定模块40和补偿模块50。
其中，第一确定模块10用于在向电机d轴注入高频脉冲时确定单电阻采样下输出所需电压矢量所对应的三路调制的六个比较值Act11、Act21、Act31、Act32、Act22、Act12；第二确定模块20用于根据比较值Act22确定第一电流采样触发值和第二电流采样触发值；控制模块30用于根据六个比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并根据第一电流采样触发值和第二电流采样触发值对电机进行电流采样，获得第一采样电流和第二采样电流，以及根据第一采样电流和第二采样电流确定电机的q轴电流；第三确定模块40用于根据第二电流采样触发值和比较值Act12确定第二电流采样触发值触发后作用的有效电压矢量；补偿模块50用于根据有效电压矢量对q轴电流进行补偿；控制模块30还用于根据补偿后的q轴电流估算电机的转子位置。
或者，第一确定模块10用于在向电机d轴注入高频脉冲时，确定单电阻采样下输出所需电压矢量所对应的三路调制的六个比较值Act11、Act21、Act31、Act32、Act22、Act12；第二确定模块20用于根据比较值Act21确定第一电流采样触发值和第二电流采样触发值；控制模块30用于根据六个比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并根据第一电流采样触发值和第二电流采样触发值对电机进行电流采样，获得第一采样电流和第二采样电流，以及根据第一采样电流和第二采样电流确定电机的q轴电流；第三确定模块40用于根据第一电流采样触发值和比较值Act11确定第一电流采样触发值触发前作用的有效电压矢量；补偿模块50用于根据有效电压失量对q轴电流进行补偿；控制模块30还用于根据补偿后的q轴电流估算电机的转子位置。
需要说明的是，关于本申请中电机转子位置观测装置的描述，请参考本申请中关于电机转子位置观测方法的描述，具体这里不再赘述。
需要说明的是，在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于 实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本公开的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本公开的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本公开中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。
尽管上面已经示出和描述了本公开的实施例，可以理解的是，上述实施例是示例性地，不能理解为对本公开的限制，本领域的普通技术人员在本公开的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (20)

  1. 电机转子位置观测方法，包括：
    在向电机d轴注入高频脉冲时，确定单电阻采样下输出所需电压矢量所对应的三路调制的六个比较值Act11、Act21、Act31、Act32、Act22、Act12；
    根据比较值Act22确定第一电流采样触发值和第二电流采样触发值；
    根据所述六个比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并根据所述第一电流采样触发值和所述第二电流采样触发值对所述电机进行电流采样，获得第一采样电流和第二采样电流，以及根据所述第一采样电流和所述第二采样电流确定所述电机的q轴电流；
    根据所述第二电流采样触发值和比较值Act12确定所述第二电流采样触发值触发后作用的有效电压矢量；
    根据所述有效电压失量对所述q轴电流进行补偿，并根据补偿后的q轴电流估算所述电机的转子位置。
  2. 根据权利要求1所述的方法，其中，所述根据所述有效电压失量对所述q轴电流进行补偿，包括：
    根据电压矢量所处扇区确定所述有效电压矢量的q轴分量；
    根据所述有效电压矢量的q轴分量对所述q轴电流进行补偿。
  3. 根据权利要求2所述的方法，其中，根据所述有效电压矢量的q轴分量对所述q轴电流进行补偿，包括：
    根据所述有效电压矢量的q轴分量和电机电压方程确定补偿电流；
    将所述补偿电流叠加到所述q轴电流，获得补偿后的q轴电流。
  4. 根据权利要求3所述的方法，其中，根据以下公式确定所述补偿电流：
    ΔIq＝Vqcomp/(R+L/(Terr*t))
    其中，△Iq为所述补偿电流，Vqcomp为所述有效电压矢量的q轴分量，R为电机电阻，L为电机电感，Terr为所述第二电流采样触发值与所述比较值Act12之差，t为三角波载波的计数时间间隔。
  5. 根据权利要求2-4中任一项所述的方法，其中，根据电压矢量所处扇区确定所述有效电压矢量的q轴分量，包括：
    根据所述电压失量所处扇区获取相应的几何公式；
    根据所述有效电压矢量、上一控制周期的电机转子位置以及相应的几何公式确定所述有效电压矢量的q轴分量。
  6. 根据权利要求5所述的方法，其中，通过以下方式确定所述有效电压矢量的q轴分量：
    当所述电压失量所处扇区为扇区I、III和V时，Vqcomp＝-Vcomp*sin(θ1)，其中，扇区I对应的θ1为θe，扇区III对应的θ1为θe-120°，扇区V对应的θ1为θe-240°；
    当所述电压失量所处扇区为扇区II、IV和VI时，Vqcomp＝Vcomp*sin(60°-θ1)，其中，扇区II对应的θ1为θe-60°，扇区IV对应的θ1为θe-180°，扇区VI对应的θ1为θe-300°，Vqcomp为所述有效电压矢量的q轴分量，Vcomp为所述有效电压矢量，θe为所述上一控制周期的电机转子位置。
  7. 根据权利要求1-6中任一项所述的方法，其中，根据以下公式确定所述有效电压矢量：
    Vcomp＝(2/3)*Udc*Terr/Nperiod
    其中，Nperiod为三角波载波顶点计数值，Vcomp为所述有效电压矢量，Udc为直流母线电压，Terr所述第二电流采样触发值与所述比较值Act12之差。
  8. 根据权利要求1-7中任一项所述的方法，其中，根据以下公式确定所述第一电流采样触发值和所述第二电流采样触发值：
    Trig1＝Act22+Tsample；
    Trig2＝Act22-Tdead-Tup；
    其中，Trig1为所述第一电流采样触发值，Trig2为所述第二电流采样触发值，Tsample为硬件采样所需时间，Tdead为死区时间，Tup为电流上升至稳定的时间。
  9. 电机转子位置观测方法，包括：
    在向电机d轴注入高频脉冲时，确定单电阻采样下输出所需电压矢量所对应的三路调制的六个比较值Act11、Act21、Act31、Act32、Act22、Act12；
    根据比较值Act21确定第一电流采样触发值和第二电流采样触发值；
    根据所述六个比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并根据所述第一电流采样触发值和所述第二电流采样触发值对所述电机进行电流采样，获得第一采样电流和第二采样电流，以及根据所述第一采样电流和所述第二采样电流确定所述电机的q轴电流；
    根据所述第一电流采样触发值和比较值Act11确定所述第一电流采样触发值触发前作用的有效电压矢量；
    根据所述有效电压失量对所述q轴电流进行补偿，并根据补偿后的q轴电流估算所述电机的转子位置。
  10. 根据权利要求9所述的方法，其中，所述根据所述有效电压失量对所述q轴电流进行补偿，包括：
    根据电压矢量所处扇区确定所述有效电压矢量的q轴分量；
    根据所述有效电压矢量的q轴分量对所述q轴电流进行补偿。
  11. 根据权利要求10所述的方法，其中，根据所述有效电压矢量的q轴分量对所述q轴电流进行补偿，包括：
    根据所述有效电压矢量的q轴分量和电机电压方程确定补偿电流；
    将所述q轴电流减去所述补偿电流，获得补偿后的q轴电流。
  12. 根据权利要求11所述的方法，其中，根据以下公式确定所述补偿电流：
    ΔIq＝Vqcomp/(R+L/(Terr*t))
    其中，△Iq为所述补偿电流，Vqcomp为所述有效电压矢量的q轴分量，R为电机电阻，L为电机电感，Terr为所述第一电流采样触发值与所述比较值Act11之差，t为三角波载波的计数时间间隔。
  13. 根据权利要求9-12中任一项所述的方法，其中，根据电压矢量所处扇区确定所述有效电压矢量的q轴分量，包括：
    根据所述电压失量所处扇区获取相应的几何公式；
    根据所述有效电压矢量、上一控制周期的电机转子位置以及相应的几何公式确定所述有效电压矢量的q轴分量。
  14. 根据权利要求13所述的方法，其中，通过以下方式确定所述有效电压矢量的q轴分量：
    当所述电压失量所处扇区为扇区I、III和V时，Vqcomp＝-Vcomp*sin(θ1)，其中，扇区I对应的θ1为θe，扇区III对应的θ1为θe-120°，扇区V对应的θ1为θe-240°；
    当所述电压失量所处扇区为扇区II、IV和VI时，Vqcomp＝Vcomp*sin(60°-θ1)，其中，扇区II对应的θ1为θe-60°，扇区IV对应的θ1为θe-180°，扇区VI对应的θ1为θe-300°，Vqcomp为所述有效电压矢量的q轴分量，Vcomp为所述有效电压矢量，θe为所述上一控制周期的电机转子位置。
  15. 根据权利要求9-14中任一项所述的方法，其中，根据以下公式确定所述有效电压矢量：
    Vcomp＝(2/3)*Udc*Terr/Nperiod
    其中，Nperiod为三角波载波顶点计数值，Vcomp为所述有效电压矢量，Udc为直流母线电压，Terr为所述第一电流采样触发值与所述比较值Act11之差。
  16. 根据权利要求9-15中任一项所述的方法，其中，根据以下公式确定所述第一电流采样触发值和所述第二电流采样触发值：
    Trig1＝Act21-Tsample；
    Trig2＝Act21+Tdead+Tup；
    其中，Trig1为所述第一电流采样触发值，Trig2为所述第二电流采样触发值，Tsample为硬件采样所需时间，Tdead为死区时间，Tup为电流上升至稳定的时间。
  17. 计算机可读存储介质，其上存储有电机转子位置观测程序，该电机转子位置观测程序被处理器执行时实现根据权利要求1-8中任一项所述的电机转子位置观测方法，或者实现根据权利要求9-16中任一项所述的电机转子位置观测方法。
  18. 转子位置观测器，包括存储器、处理器及存储在存储器上并可在处理器上运行的电机转子位置观测程序，所述处理器执行所述电机转子位置观测程序时，实现根据权利要求1-8中任一项所述的电机转子位置观测方法，或者实现根据权利要求9-16中任一项所述的电机转子位置观测方法。
  19. 电机转子位置观测装置，包括：
    第一确定模块，用于在向电机d轴注入高频脉冲时确定单电阻采样下输出所需电压矢量所对应的三路调制的六个比较值Act11、Act21、Act31、Act32、Act22、Act12；
    第二确定模块，用于根据比较值Act22确定第一电流采样触发值和第二电流采样触发值；
    控制模块，用于根据所述六个比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并根据所述第一电流采样触发值和所述第二电流采样触发值对所述电机进行电流采样，获得第一采样电流和第二采样电流，以及根据所述第一采样电流和所述第二采样电流确定所述电机的q轴电流；
    第三确定模块，用于根据所述第二电流采样触发值和比较值Act12确定所述第二电流采样触发值触发后作用的有效电压矢量；
    补偿模块，用于根据所述有效电压矢量对所述q轴电流进行补偿；
    所述控制模块还用于，根据补偿后的q轴电流估算所述电机的转子位置。
  20. 电机转子位置观测装置，包括：
    第一确定模块，用于在向电机d轴注入高频脉冲时，确定单电阻采样下输出所需电压矢量所对应的三路调制的六个比较值Act11、Act21、Act31、Act32、Act22、Act12；
    第二确定模块，用于根据比较值Act21确定第一电流采样触发值和第二电流采样触发值；
    控制模块，用于根据所述六个比较值Act11、Act21、Act31、Act32、Act22、Act12对电机进行控制，并根据所述第一电流采样触发值和所述第二电流采样触发值对所述电机进行电流采样，获得第一采样电流和第二采样电流，以及根据所述第一采样电流和所述第二采样电流确定所述电机的q轴电流；
    第三确定模块，用于根据所述第一电流采样触发值和比较值Act11确定所述第一电流采样触发值触发前作用的有效电压矢量；
    补偿模块，用于根据所述有效电压失量对所述q轴电流进行补偿；
    所述控制模块还用于，根据补偿后的q轴电流估算所述电机的转子位置。
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