WO2023169275A1

WO2023169275A1 - Motor rotor position observation method and apparatus, rotor position observer, and medium

Info

Publication number: WO2023169275A1
Application number: PCT/CN2023/078964
Authority: WO
Inventors: 王志宇; 许培林; 陈辉; 秦向南
Original assignee: 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
Priority date: 2022-03-09
Filing date: 2023-03-01
Publication date: 2023-09-14
Also published as: CN114598214A

Abstract

A motor rotor position observation method and apparatus, a rotor position observer, and a medium, wherein the method comprises: determining a reference value when a high-frequency pulse is injected into a d axis of a motor, and determining six comparison values of three modulations corresponding to a voltage vector required for output under single resistance sampling (S101); determining a difference between the reference value and the comparison value Act21 or Act22 (S102); adjusting the six comparison values according to the difference, and determining a first current sampling trigger value and a second current sampling trigger value according to the adjusted comparison value Act21New or Act22New (S103); controlling the motor according to the adjusted six comparison values, and performing current sampling on the motor according to the first current sampling trigger value and the second current sampling trigger value to obtain a first sampling current and a second sampling current (S104); and estimating a rotor position of the motor according to the first sampling current and the second sampling current (S105).

Description

Motor rotor position observation method, device, rotor position observer and medium

Cross-references to related applications

This disclosure claims the priority of the Chinese patent application with application number 202210226684.1 submitted on March 9, 2022, titled "Motor Rotor Position Observation Method, Device, Rotor Position Observer and Medium", the entire content of which is incorporated by reference in This disclosure is ongoing.

Technical field

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.

Background technique

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.

When sampling a single resistor, both current samplings require a certain amount of time. Generally, sampling is done before and after the second or fifth switching tube action time, that is, within the action time of the two effective voltage vectors. If the resultant voltage vector is located in the fan Near the area switching boundary, there is a situation where at least one effective voltage vector is too small. Therefore, in order to meet the sampling time requirements, the switching tube action moment needs to be phase-shifted to ensure the accuracy of the two current samplings. However, the sampling time of single-resistance sampling will change, especially near different sector switching areas, and the different phase shifting methods will lead to large differences in sampling time. Since the back electromotive force and resistance voltage drop of the motor are small when the motor is running at low speed, the controller output voltage is mainly high-frequency injection voltage, and the high-frequency injection voltage is positive and negative periodic injection. The corresponding sectors are 180° different, resulting in phase shift. Introducing a large sampling time error will lead to a large error in the q-axis high-frequency current response obtained by sampling, and the estimated position obtained by solving the problem will also have a large error, thus affecting the control performance of the system.

public content

The present disclosure aims to solve one of the technical problems in the related art, at least to a certain extent. To this end, 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.

A second object of the present disclosure is to provide a computer-readable storage medium.

A third object of the present disclosure is to provide a rotor position observer.

The fourth object of the present disclosure is to provide a motor rotor position observation device.

In order to achieve the above purpose, 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 a reference value, and determining the required voltage vector output under single-resistance sampling. Corresponding six comparison values Act11, Act21, Act31, Act32, Act22, Act12 of the three-way modulation; determine the difference between the reference value and the comparison value Act21 or Act22; compare the six comparison values Act11, Act21, Act31 based on the difference , Act32, Act22, Act12 are adjusted, and the first current sampling trigger value and the second current sampling trigger value are determined according to the adjusted comparison value Act21 _New or Act22 _New ; according to the adjusted six comparison values Act11 _New , Act21 _New , Act31 _New , Act32 _New , Act22 _New , and Act12 _New control the motor 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; according to the The first sampled current and the second sampled current estimate the rotor position of the motor.

According to the motor rotor position observation method according to the embodiment of the present disclosure, the six comparison values of the three-way modulation corresponding to the output required voltage vector under single resistor sampling are adjusted according to the difference between the reference value and the comparison value, and according to The adjusted comparison value determines the first current sampling trigger value and the second current sampling trigger value, and controls the motor according to the six adjusted comparison values, and controls the motor according to the first current sampling trigger value and the second current sampling trigger value. The motor performs current sampling, obtains the first sampling current and the second sampling current, and estimates the rotor position of the motor based on the first sampling current and the second sampling current, which can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the observation of the motor rotor position. accuracy.

According to an embodiment of the present disclosure, determining the reference value includes: obtaining a triangular wave carrier vertex count value; and determining the reference value according to the triangular wave carrier vertex count value.

According to an embodiment of the present disclosure, the reference value is greater than or equal to the difference between the comparison value Act22 and the comparison value Act11.

According to one embodiment of the present disclosure, the reference value is 0.5 times the vertex count value of the triangular wave carrier.

According to an embodiment of the present disclosure, six comparison values Act11, Act21, Act31, Act32, Act22, Act12 are adjusted according to the following formula:

Act11 _New = Act11+DetaN;

Act21 _New =Nref;

Act31 _New = Act31+DetaN;

Act32 _New = Act32-DetaN;

Act22 _New =Nref;

Act12 _New = Act12-DetaN;

Among them, DetaN is the difference value and Nref is the reference value.

According to an embodiment of the present disclosure, when single-resistance sampling is performed during the rising stage of the triangular wave carrier, the first current sampling trigger value and the second current sampling trigger value are determined according to the following formula:

Trig1 _New = Act21 _New -Tsample;

Trig2 _New ＝Act21 _New +Tdead+Tup;

Among them, Trig1 _New is the first current sampling trigger value, Trig2 _New is the second current sampling trigger value, Tsample is the time required for hardware sampling, Tdead is the dead time, and Tup is the time for the current to rise to stability.

According to an embodiment of the present disclosure, when single-resistance sampling is performed during the falling stage of the triangular wave carrier, the first current sampling trigger value and the second current sampling trigger value are determined according to the following formula:

Trig1 _New = Act22 _New +Tsample;

Trig2 _New = Act22 _New -Tdead-Tup;

In order to achieve the above object, a second embodiment of the present disclosure proposes a computer-readable storage medium on which a motor rotor position observation program is stored. When the motor rotor position observation program is executed by a processor, the aforementioned motor rotor position observation method is implemented. .

According to the computer-readable storage medium according to the embodiment of the present disclosure, based on the aforementioned motor rotor position observation method, the sampling current accuracy of single resistor sampling can be effectively improved, thereby improving the accuracy of motor rotor position observation.

In order to achieve the above object, a third embodiment of the present disclosure proposes 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. The processor executes the motor rotor position. When observing the program, implement the aforementioned motor rotor position observation method.

According to the rotor position observer according to the embodiment of the present disclosure, based on the aforementioned motor rotor position observation method, the sampling current accuracy of single resistor sampling can be effectively improved, thereby improving the accuracy of motor rotor position observation.

In order to achieve the above purpose, the fourth embodiment of the present disclosure proposes a motor rotor position observation device, including: a first determination module for determining a reference value; a second determination module for determining the required output voltage under single-resistance sampling The six comparison values Act11, Act21, Act31, Act32, Act22, and Act12 of the three-way modulation corresponding to the vector; the adjustment module is used to determine the difference between the reference value and the comparison value Act21 or Act22 when injecting high-frequency pulses into the d-axis of the motor. and adjust the six comparison values Act11, Act21, Act31, Act32, Act22, and Act12 according to the difference; the third determination module is used to determine the first current according to the adjusted comparison value Act21 _New or Act22 _New The sampling trigger value and the second current sampling trigger value; the control module is used to control the motor according to the six adjusted comparison values Act11 _New , Act21 _New , Act31 _New , Act32 _New , Act22 _New , and Act12 _New , and control the motor according to the first The current sampling trigger value and the second current sampling trigger value perform current sampling on the motor, obtain the first sampling current and the second sampling current, and estimate the rotor position of the motor based on the first sampling current and the second sampling current.

According to the motor rotor position observation device according to the embodiment of the present disclosure, the six comparison values of the three-way modulation corresponding to the output required voltage vector under single resistor sampling are adjusted according to the difference between the reference value and the comparison value, and according to The adjusted comparison value determines the first current sampling trigger value and the second current sampling trigger value, and controls the motor according to the six adjusted comparison values, and controls the motor according to the first current sampling trigger value and the second current sampling trigger value. The motor performs current sampling, obtains the first sampling current and the second sampling current, and estimates the rotor position of the motor based on the first sampling current and the second sampling current, which can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the observation of the motor rotor position. accuracy.

Additional aspects and advantages of the disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the disclosure.

Description of the drawings

Figure 1 is a diagram of a motor control system according to an embodiment of the present disclosure;

Figure 2 is a single resistor high frequency injection control system diagram;

Figure 3 (a) and (b) are schematic diagrams of the voltage vector of a positive voltage pulse injected at the 0° position and the operation of the switching tube according to an embodiment of the present disclosure;

Figure 4 (a) and (b) are schematic diagrams 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 5 is a schematic flowchart of a motor rotor position observation method according to an embodiment of the present disclosure;

Figure 6 (a) and (b) are schematic diagrams of the adjusted switching tube operations corresponding to Figure 3 (a) and (b) and Figure 4 (a) and (b);

Figure 7 is a schematic structural diagram of a motor rotor position observation device according to an embodiment of the present disclosure.

Detailed ways

Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present disclosure and are not to be construed as limiting the present disclosure.

In the motor position sensorless vector control process, in order to obtain the motor rotor position, periodic positive and negative voltage pulses can be injected into the d-axis, the q-axis high-frequency current response caused by the pulses is sampled, and the high-frequency current response is sent to Enter the phase-locked loop to solve and obtain the motor rotor position. Based on cost considerations, single-resistance sampling technology is usually used to sample the high-frequency current response. The single-resistance sampling technology samples the current by using the sampling resistor on the DC negative bus. As shown in Figure 1, through the sampling on the DC negative bus The resistor R samples the current. When sampling, it needs to be sampled twice in a control cycle, respectively within the action time of two effective voltage vectors (that is, non-zero voltage vectors). After the sampling is completed, according to the voltage vector situation, Determine the phase sequence of the sampling current and obtain the two-phase current.

When sampling a single resistor, both current samplings require a certain amount of time. Generally, sampling is done before and after the second or fifth switching tube action time, that is, within the action time of the two effective voltage vectors. If the resultant voltage vector is located in the fan Near the area switching boundary, there is a situation where at least one effective voltage vector is too small. Therefore, in order to meet the sampling time requirements, the switching tube action moment needs to be phase-shifted to ensure the accuracy of the two current samplings. However, the sampling time of single-resistance sampling will change, especially near different sector switching areas, and the different phase shifting methods will lead to large differences in sampling time. Since the back electromotive force and resistor voltage drop are small when the motor is running at low speed, as shown in Figure 2, the controller output voltage is mainly high-frequency injection voltage, and the high-frequency injection voltage is positive and negative periodic injection, and the corresponding sectors differ by 180 °, which will introduce a large sampling time error due to phase shift, resulting in a large error in the sampled q-axis high-frequency current response, and a large error in the estimated position obtained by solving the problem, thus affecting the control of the control system. performance.

For example, the motor is at the 0° position for illustration. In related technologies, when estimating the rotor position, a positive voltage pulse is first injected, as shown in (a) of Figure 3. At this time, the output synthetic voltage vector Uinj basically coincides with U4(100), and the first effective voltage vector The action time t1 of is large, and the action time t2 of the second effective voltage vector is small, so the phase shift is required. The current sampling time determined after the phase shift is close to the middle of the triangular wave carrier cycle, as shown in Trig1 and Trig1 in (b) of Figure 3 Trig2 is close to the middle of the triangular wave carrier period; after the positive voltage pulse ends, a negative voltage pulse is injected, as shown in (a) of Figure 4. The resultant voltage vector -Uinj output at this time is similar to the resultant voltage vector Uinj when the positive voltage pulse is injected. The difference is 180°, and basically coincides with U3(011). The action time t1 of the first effective voltage vector is small, and the action time t2 of the second effective voltage vector is large. The phase shift is also required, but based on the current determined after the phase shift. The sampling time is close to the end of the triangular wave carrier cycle. Trig1 and Trig2 in (b) of Figure 4 are close to the end of the triangular wave carrier cycle. Therefore note The current sampling time when a positive voltage pulse is injected is different from the current sampling time when a negative voltage pulse is injected, resulting in a large error in the sampled high-frequency current response, which in turn leads to a large error in the estimated position.

Based on this, in this disclosure, the reference value can first be selected based on the triangular wave carrier cycle count value. Since the current sampling time is calculated based on the action time of the second or fifth switch tube, the second or fifth switch is Aligning the tube action moment with the reference value can ensure that the current sampling moments when positive and negative voltage pulses are injected are the same after phase shifting, thereby reducing the current sampling error caused by different current sampling moments, thereby improving the estimation accuracy of the motor rotor position.

Figure 5 is a schematic flowchart of a motor rotor position observation method according to an embodiment of the present disclosure. Referring to Figure 5, 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 reference value and determine the six comparison values Act11, Act21, Act31, Act32, Act22, Act11, Act21, Act31, Act32, Act22, Act12.

For example, when injecting high-frequency pulses, that is, positive and negative voltage pulses with higher frequency, into the d-axis of the motor, the reference value required to reduce the current sampling error caused by different current sampling moments can be obtained, and the reference value can be obtained according to the single-resistance sampling Calculate the comparison values Act11, Act21, Act31, Act32, Act22, and Act12 of each PWM (Pulse Width Modulation) signal required to control the motor, where Act11 represents the first switching tube in the three-phase inverter bridge. The triangular wave carrier count value corresponding to the action time, Act21 represents the triangular wave carrier count value corresponding to the second switch tube action time, Act31 represents the triangular wave carrier count value corresponding to the third switch tube action time, Act32 represents the fourth switch tube action time The corresponding triangular wave carrier count value, Act22 represents the triangular wave carrier count value corresponding to the fifth switching tube action time, Act12 represents the triangular wave carrier count value corresponding to the sixth switch tube action time. In this disclosure, the triangular wave carrier counting method is first increasing and then decreasing, corresponding to Act11＜Act21＜Act31, Act32＞Act22＞Act12.

For example, as shown in Figure 3 (b) and Figure 4 (b), PWM1, PWM2 and PWM3 are the PWM control signals of the upper arm switch tubes VT1, VT3 and VT5 shown in Figure 1 respectively (lower arm switch tubes VT1, VT3 and VT5). The PWM control signals of switching tubes VT4, VT6 and VT2 correspond to the PWM control signals of the upper arm switching tubes VT1, VT3 and VT5, which are 180° different from each other). When positive and negative voltage pulses are injected, when the voltage vector is in sector I, the comparison values corresponding to PWM1 are Act11 and Act12, the comparison values corresponding to PWM2 are Act21 and Act22, and the comparison values corresponding to PWM3 are Act31 and Act32, that is, the comparison values of PWM1 The duty cycle is the maximum value, the duty cycle of PWM2 is the middle value, and the duty cycle of PWW3 is the minimum value; when the voltage vector is in sector II, the comparison values corresponding to PWM1 are Act21 and Act22, and the comparison values corresponding to PWM2 are Act11 and Act12, the corresponding comparison values of PWM3 are Act31 and Act32, that is, the duty cycle of PWM1 is the middle value, the duty cycle of PWM2 is the maximum value, and the duty cycle of PWW3 is the minimum value; when the voltage vector is in sector III , the comparison values corresponding to PWM1 are Act31 and Act32, the comparison values corresponding to PWM2 are Act11 and Act12, and the comparison values corresponding to PWM3 are Act21 and Act22, that is, the duty cycle of PWM1 is the minimum value, and the duty cycle of PWM2 is the maximum value. The duty cycle of PWW3 is 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, the duty cycle of PWM1 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, the comparison values corresponding to PWM2 are Act31 and Act32, and the corresponding comparison values of PWM3 The comparison values 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, the comparison value corresponding to PWM1 are Act11 and Act12, the comparison values corresponding to PWM2 are Act31 and Act32, and the comparison values corresponding to PWM3 are Act21 and Act22, that is, the duty cycle of PWM1 is the maximum value, the duty cycle of PWM2 is the minimum value, and the duty cycle of PWW3 is Median.

It should be noted that when determining the comparison value of each PWM signal, 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. . When performing phase shifting processing, the corresponding comparison value is adjusted according to the current sampling stage, the size of t1/2 and t2/2, so that the smaller value of t1/2 and t2/2 is greater than the minimum sampling time. For example, as shown in (b) of Figure 3, when current sampling is performed during the decreasing stage of the triangular wave carrier cycle, t2/2 is small. At this time, the high level of PWM3 is shifted to the left, and the corresponding comparison value Act31 decreases. The comparison value Act32 increases; when current sampling is performed during the rising stage of the triangular wave carrier cycle, t2/2 is small. At this time, the high level of PWM3 is shifted to the right, and the corresponding comparison value Act31 increases and the comparison value Act32 decreases. As shown in (b) of Figure 4, when current sampling is performed during the decreasing stage of the triangular wave carrier cycle, t1/2 is small. At this time, the high level of PWM1 is moved to the right, and the corresponding comparison value Act11 increases, and the comparison value Act12 decreases. Small; when current sampling is performed during the rising stage of the triangular wave carrier cycle, t1/2 is small. At this time, the high level of PWM1 is shifted to the left, and the corresponding comparison value Act11 decreases and the comparison value Act12 increases.

When obtaining the reference value, since the current sampling time is calculated based on the action time of the second or fifth switch tube, ensuring that the action time of the second or fifth switch tube is consistent can ensure that the current sampling time is consistent, as shown in the figure As shown in (b) of Figure 3 and (b) of Figure 4, the action time of the fifth switching tube is the time corresponding to the comparison value Act22. The time corresponding to Trig1 and Trig2, that is, the current sampling time, is calculated based on the comparison value Act22, so it is guaranteed The time corresponding to the comparison value Act22 in (a) of Figure 3 is consistent with the time corresponding to the comparison value Act22 in (b) of Figure 4 to ensure that the current sampling time in (a) of Figure 3 is the same as that of (b) of Figure 4 The current sampling moments in are consistent. Considering that the triangular wave carrier cycle count value when a positive voltage pulse is injected is the same as the triangular wave carrier cycle count value when a negative voltage pulse is injected, the base value can be selected based on the triangular wave carrier cycle count value, and the second or fifth Aligning the switching tube action moment with this reference value ensures that the current sampling moment when the positive and negative voltage pulses are injected after the phase shift is the same. The time corresponding to the comparison value Act22 in Figure 3 (b) is the same as that in Figure 4 (b) The time corresponding to the comparison value Act22 is aligned with the reference value to ensure that the current sampling time in (b) of Figure 3 is consistent with the current sampling time in (b) of Figure 4, thereby reducing the difference in current sampling time due to phase shift. The current sampling error introduced.

In some embodiments of the present disclosure, determining the reference value may include: obtaining a triangular wave carrier vertex count value; and determining the reference value according to the triangular wave carrier vertex count value.

For example, when injecting high-frequency pulses into the d-axis of the motor, a positive voltage pulse can be injected first. At this time, the triangular wave carrier vertex count value N _1/2Period corresponding to the positive voltage pulse is first determined, and based on the triangular wave carrier vertex count value N _{1 /2Period} gets the reference value Nref. After the positive voltage pulse ends, a negative voltage pulse is injected. Since the negative voltage pulse is a voltage pulse in the opposite direction to the positive voltage pulse, the reference value Nref determined when the positive voltage pulse is injected can be directly used as the reference determined when the negative voltage pulse is injected. The value Nref can of course be calculated directly.

It should be noted that when determining the reference value Nref, it can be specifically determined based on the triangular wave carrier vertex count value N _1/2Period and the amplitude of the injected positive and negative voltage pulses. For example, when estimating the motor rotor position based on the high-frequency injection method, the amplitude of the selected positive and negative voltage pulses generally does not exceed 50% of the DC bus voltage Udc, so the reference value Nref can be 0.5 times the triangular wave carrier vertex count value, That is, the reference value Nref=(1/2)*N _1/2Period . It should be noted that the reference value Nref is greater than or equal to the difference between the comparison value Act22 and the comparison value Act11.

Step S102, determine the difference between the reference value and the comparison value Act21 or Act22.

For example, when the current is sampled during the rising stage of the triangular wave carrier, the corresponding comparison value is Act21, and the difference between the reference value and the comparison value Act21 is DetaN = Nref-Act21; when the current is sampled during the falling stage of the triangular wave carrier, the corresponding The comparison value is Act22, and the difference between the reference value Nref and the comparison value Act22 is DetaN=Nref-Act22. It can be understood that when the triangular wave carrier counting method is to increase first and then decrease, and the comparison values Act21 and Act22 are not phase-shifted during the phase shift, the two calculated differences DetaN are equal and will be used later. However, in other cases, the two calculated differences DetaN may not be equal and need to be distinguished in subsequent use.

Step S103, adjust the six comparison values Act11, Act21, Act31, Act32, Act22, and Act12 according to the differences, and determine the first current sampling trigger value and the second current sampling trigger according to the adjusted comparison value Act21 _New or Act22 _New . value.

For example, after obtaining the difference value DetaN, the six comparison values can be adjusted based on the difference value DetaN. The adjustment principle is that if t2 is a smaller value, use the zero voltage vector U0 (000) to compensate the zero voltage vector U7 (111), that is, increase the duty cycle of PWM1, PWM2 and PWM3, that is, increase the high level time of PWM1, PWM2 and PWM3; if t1 is a smaller value, use the zero voltage vector U7 (111) to compensate the zero voltage vector U0(000), that is, reduce the duty cycle of PWM1, PWM2 and PWM3, that is, reduce the high level time of PWM1, PWM2 and PWM3.

For example, as shown in (b) of Figure 3, if t2 is a small value, the zero voltage vector U0 (000) is used to compensate the zero voltage vector U7 (111). The adjusted PWM1, PWM2 and PWM3 are as shown in Figure 6 As shown in (a), compared to before adjustment PWM signal, the high level of the adjusted PWM signal is increased (i.e., expanded); as shown in Figure 4 (b), if t1 is a smaller value, the zero voltage vector U7 (111) is used to compensate the zero voltage vector U0 (000), the adjusted PWM1, PWM2 and PWM3 are shown in (b) of Figure 6. Compared with the PWM signal before adjustment, the high level of the adjusted PWM signal is reduced (ie, indented).

It should be noted that the purpose of setting the reference value Nref to be greater than or equal to the difference between the comparison value Act22 and the comparison value Act11 is to ensure that when t2 is a smaller value, the zero voltage vector U0 (000) is enough to supplement the zero voltage vector U7 (111). Avoid the fact that the duration of the zero voltage vector U0(000) is too short to supplement the zero voltage vector U7(111), and when t1 is a small value, the zero voltage vector U7(111) is sufficient to supplement the zero voltage vector U0(000). Avoid Because the duration of the zero-voltage vector U7(111) is too short, it is not enough to supplement the zero-voltage vector U0(000), ensuring normal control of the motor.

For example, when adjusting the six comparison values according to the difference value DetaN, the six comparison values Act11, Act21, Act31, Act32, Act22, and Act12 can be adjusted specifically through the following formula (1):

It should be noted that since the difference DetaN can be positive or negative, formula (1) is applicable to the above two situations. For example, the difference value DetaN=Nref-Act22. If t2 is a smaller value, the difference value DetaN<0. At this time, the six adjusted comparison values determined based on formula (1) are the same as shown in (a) of Figure 6 consistent; if t1 is a smaller value, the difference value DetaN>0, at this time, the six adjusted comparison values determined based on formula (1) are consistent with what is shown in (b) of Figure 6.

After obtaining the six adjusted comparison values, the first current sampling trigger value and the second current sampling trigger value are determined based on the adjusted comparison value Act21 _New or Act22 _New . For example, in a control cycle, current sampling can be performed before and after the second or fifth switching tube action time, that is, before and after the time corresponding to the comparison value Act21 _New or Act22 _New , current sampling can be obtained. After comparing the values Act21 _New and Act22 _New , the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 can be obtained according to one of the two comparison values. For example, if the falling phase of the triangular wave carrier is selected for single-resistance sampling, the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are obtained according to the comparison value Act22 _New ; if the rising phase of the triangular wave carrier is selected for single-resistance sampling, then The first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are obtained according to the comparison value Act21 _New .

It should be noted that when obtaining the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 based on the comparison value Act21 _New or Act22 _New , the time required for hardware sampling (such as the sampling time of the ADC converter), dead time Zone time (that is, when the PWM signal is output, the time reserved to prevent the upper and lower switching 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 zone time is delayed, the lower bridge arm switch tube can be turned on, or the upper arm switch can be turned on after the lower arm switch is turned off and the dead time is delayed) and the current stabilization time after the switch tube is turned on and off (for example, after the switch tube is turned on, the current gradually rises The time corresponding to the stable state) is determined to ensure sufficient current sampling time, avoid dead time and current non-stable time, and ensure the effectiveness and accuracy of current sampling.

According to an embodiment of the present disclosure, when single-resistance sampling is performed during the rising stage of the triangular wave carrier, the first current sampling trigger value and the second current sampling trigger value are determined according to the following formula (2):

According to an embodiment of the present disclosure, when single-resistance sampling is performed during the falling stage of the triangular wave carrier, the first current sampling trigger value and the second current sampling trigger value are determined according to the following formula (3):

That is to say, the first current sampling is performed before the second or fifth switching tube action moment, and the second current sampling is performed after it. Considering that the two sampling moments are as close as possible to reduce the sampling time error, For the first current sampling, just reserve a time Tsample required for hardware sampling. For the second current sampling, reserve a dead time Tdead and the time Tup for the current to rise to stability.

Step S104, control the motor according to the six adjusted comparison values Act11 _New , Act21 _New , Act31 _New , Act32 _New , Act22 _New , and Act12 _New , and control the motor according to the first current sampling trigger value and the second current sampling trigger value. Perform current sampling to obtain the first sampling current and the second sampling current.

For example, after obtaining the six adjusted comparison values, the motor is also controlled based on the six adjusted comparison values, and during the control process, the first current sampling trigger value Trig1 and the second current sampling trigger are The value Trig2 is used for current sampling, thereby obtaining the first sampling current and the second sampling current.

Take single-resistance sampling during the falling phase of the triangular wave carrier as an example. As shown in Figure 6 (a) and Figure 6 (b), after obtaining the six adjusted comparison values, if the timer count value is used to generate a triangular wave carrier, then when the timer count value is equal to the comparison value Act11 _New , control the upper arm switch VT1 in Figure 1 to be turned on, the lower arm switches VT6 and VT2 to remain on, and the other switch tubes are turned off; when the timer count value is equal to the comparison value Act21 _New , control the The upper arm switch VT3 is turned on, the upper arm switch VT1 and the lower arm switch VT2 remain on, and the other switch tubes are turned off; when the timer count value is equal to the comparison value Act31 _New , the control in Figure 1 The upper arm switch tube VT5 is turned on, the upper arm switch tubes VT1 and VT3 remain on, and the other switch tubes are turned off; when the timer count value is equal to the comparison value Act32 _New , the lower arm switch tube in Figure 1 is controlled. VT2 is turned on, the upper arm switching tubes VT1 and VT3 remain on, and the other switching tubes are turned off; when the timer count value is equal to the first current sampling trigger value Trig1, current sampling is performed through the sampling resistor R in Figure 1. The first sampling current; when the timer count value is equal to the comparison value Act22 _New , the lower arm switch VT6 in Figure 1 is controlled to be turned on, the upper arm switch VT1 and the lower arm switch VT2 remain turned on, and the other switches The tubes are all turned off; when the timer count value is equal to the second current sampling trigger value Trig2, the current is sampled through the sampling resistor R in Figure 1 to obtain the second sampling current; when the timer count value is equal to the comparison value Act12 _New , the control In Figure 1, the lower arm switch tube VT4 is turned on, the lower arm switch tubes VT2 and VT6 remain on, and the other switch tubes are turned off.

Therefore, based on the comparison value and the sampling trigger value, the motor can be controlled, and current sampling can be performed during the control process. It should be noted that the process of performing single-resistance sampling during the rising stage of the triangular wave carrier is the same as the process of performing single-resistance sampling during the falling stage of the triangular wave carrier, and will not be described in detail here.

Step S105: Estimate the rotor position of the motor based on the first sampling current and the second sampling current.

For example, position observation can be performed based on the first sampling current and the second sampling current to obtain the rotor position of the motor. This can be specifically implemented using existing technology, which will not be described here.

According to the motor rotor position observation method according to the embodiment of the present disclosure, the six comparison values of the three-way modulation corresponding to the output required voltage vector under single resistor sampling are adjusted according to the difference between the reference value and the comparison value, and according to The adjusted comparison value determines the first current sampling trigger value and the second current sampling trigger value, and controls the motor according to the six adjusted comparison values, and controls the motor according to the first current sampling trigger value and the second current sampling trigger value. The motor performs current sampling, obtains the first sampling current and the second sampling current, and estimates the rotor position of the motor based on the first sampling current and the second sampling current, which can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the observation of the motor rotor position. The accuracy is high, the algorithm is simple, and it is easy to apply in engineering, thus maintaining excellent control performance at a low cost.

In an embodiment of the present disclosure, a computer-readable storage medium is also provided, on which the motor rotor position observations are stored. Program, when the motor rotor position observation program is executed by the processor, the aforementioned motor rotor position observation method is implemented.

In an embodiment of the present disclosure, a rotor position observer is also provided, which includes a memory, a processor, and a motor rotor position observation program stored in the memory and executable on the processor. When the processor executes the motor rotor position observation program , realize the aforementioned motor rotor position observation method.

Figure 7 is a schematic diagram of a motor rotor position observation device according to an embodiment of the present disclosure. Referring to Figure 7, the motor rotor position observation device may include: a first determination module 10, a second determination module 20, an adjustment module 30, a third Three determination module 40 and control module 50.

Among them, the first determination module 10 is used to determine the reference value; the second determination module 20 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. , Act12; the adjustment module 30 is used to determine the difference between the reference value and the comparison value Act21 or Act22 when injecting high-frequency pulses into the d-axis of the motor, and compare the six comparison values Act11, Act21, Act31, and Act32 based on the difference. , Act22 and Act12 are adjusted; the third determination module 40 is used to determine the first current sampling trigger value and the second current sampling trigger value according to the adjusted comparison value Act21 _New or Act22 _New ; the control module 50 is used to determine the first current sampling trigger value and the second current sampling trigger value according to the adjusted six comparison values Act21 New or Act22 New. The comparison values Act11 _New , Act21 _New , Act31 _New , Act32 _New , Act22 _New , and Act12 _New control the motor, 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 sample current and the second sampled current, and estimating the rotor position of the motor based on the first sampled current and the second sampled current.

According to an embodiment of the present disclosure, the first determination module 10 is specifically configured to: obtain a triangular wave carrier vertex count value; and determine a reference value according to the triangular wave carrier vertex count value.

According to an embodiment of the present disclosure, the adjustment module 30 is specifically configured to adjust the six comparison values Act11, Act21, Act31, Act32, Act22, and Act12 according to the following formula:

Act11 _New = Act11+DetaN;

Act21 _New =Nref;

Act31 _New = Act31+DetaN;

Act32 _New = Act32-DetaN;

Act22 _New =Nref;

Act12 _New = Act12-DetaN;

Among them, DetaN is the difference value and Nref is the reference value.

According to an embodiment of the present disclosure, the third determination module 40 is specifically configured to determine the first current sampling trigger value and the second current sampling trigger value according to the following formula when performing single-resistance sampling during the rising stage of the triangular wave carrier:

Trig1 _New = Act21 _New -Tsample;

Trig2 _New ＝Act21 _New +Tdead+Tup;

According to an embodiment of the present disclosure, the third determination module 40 is specifically configured to determine the first current sampling trigger value and the second current sampling trigger value according to the following formula when performing single-resistance sampling during the falling stage of the triangular wave carrier:

Trig1 _New = Act22 _New +Tsample;

Trig2 _New = Act22 _New -Tdead-Tup;

It should be noted that for the description of the motor rotor position observation device in this disclosure, please refer to the description of the motor rotor position observation method in this disclosure, which will not be described again here.

It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered to be a sequenced list of executable instructions for implementing logical functions, which may be embodied in any computer. in a readable medium for instruction execution in a system, device or device (such as a computer-based system, a system including a processor or other A system that fetches instructions and executes instructions from, or in conjunction with, an instruction execution system, device, or device. For the purposes of this specification, 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. More specific examples (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). Additionally, 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.

It should be understood that various parts of the present disclosure may be implemented in hardware, software, firmware, or combinations thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if it is implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following technologies known in the art: 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.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "an example," "specific examples," or "some examples" or the like means that specific features are described in connection with the embodiment or example. , structures, materials, or features are included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In addition, the terms “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. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

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.

Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above-mentioned embodiments are illustrative and should not be construed as limitations to the present disclosure. Those of ordinary skill in the art can make modifications to the above-mentioned embodiments within the scope of the present disclosure. The embodiments are subject to changes, modifications, substitutions and variations.

Claims

Motor rotor position observation methods include:

When injecting high-frequency pulses into the d-axis of the motor, determine the reference value and 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;

Determine the difference between the reference value and the comparison value Act21 or Act22;

The six comparison values Act11, Act21, Act31, Act32, Act22, and Act12 are adjusted according to the difference, and the first current sampling trigger value and the second current sampling trigger value are determined according to the adjusted comparison value Act21 New or Act22 New . ;

The motor is controlled according to the six adjusted comparison values Act11 New , Act21 New , Act31 New , Act32 New , Act22 New , and Act12 New , and the motor is controlled according to the first current sampling trigger value and the second current sampling trigger value. The motor performs current sampling to obtain the first sampling current and the second sampling current;

The rotor position of the motor is estimated based on the first sampling current and the second sampling current.
The method of claim 1, wherein determining the reference value includes:

Get the triangular wave carrier vertex count value;

The reference value is determined based on the triangular wave carrier vertex count value.
The method according to claim 2, wherein the reference value is greater than or equal to the difference between the comparison value Act22 and the comparison value Act11.
The method according to claim 2, wherein the reference value is 0.5 times the vertex count value of the triangular wave carrier.
The method according to any one of claims 1-4, wherein the six comparison values Act11, Act21, Act31, Act32, Act22, Act12 are adjusted according to the following formula:
Act11 New = Act11+DetaN;
Act21 New =Nref;
Act31 New = Act31+DetaN;
Act32 New = Act32-DetaN;
Act22 New =Nref;
Act12 New = Act12-DetaN;

Wherein, DetaN is the difference value, and Nref is the reference value.
The method according to any one of claims 1 to 5, wherein when single resistance sampling is performed during the rising stage of the triangular wave carrier, the first current sampling trigger value and the second current sampling trigger value are determined according to the following formula:
Trig1 New = Act21 New -Tsample;
Trig2 New ＝Act21 New +Tdead+Tup;

Wherein, Trig1 New is the first current sampling trigger value, Trig2 New is the second current sampling trigger value, Tsample is the time required for hardware sampling, Tdead is the dead time, and Tup is the time for the current to rise to stability.
The method according to any one of claims 1 to 5, wherein when single-resistance sampling is performed during the falling stage of the triangular wave carrier, the first current sampling trigger value and the second current sampling trigger value are determined according to the following formula:
Trig1 New = Act22 New +Tsample;
Trig2 New = Act22 New -Tdead-Tup;

Wherein, Trig1 New is the first current sampling trigger value, Trig2 New is the second current sampling trigger value, Tsample is the time required for hardware sampling, Tdead is the dead time, and Tup is the time for the current to rise to stability.
A computer-readable storage medium on which a motor rotor position observation program is stored. When the motor rotor position observation program is executed by a processor, the motor rotor position observation method according to any one of claims 1-7 is implemented.
The rotor position observer includes a memory, a processor, and a motor rotor position observation program stored in the memory and executable on the processor. When the processor executes the motor rotor position observation program, the method according to claims 1-7 is implemented. The motor rotor position observation method described in any one of the above.
Motor rotor position observation device, including:

The first determination module is used to determine the reference value;

The second determination module is used to 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;

The adjustment module is used to determine the difference between the reference value and the comparison value Act21 or Act22 when injecting high-frequency pulses into the d-axis of the motor, and adjust the six comparison values Act11, Act21, Act31, Act32, Act22, Act12 are adjusted;

The third determination module is used to determine the first current sampling trigger value and the second current sampling trigger value according to the adjusted comparison value Act21 New or Act22 New ;

The control module is used to adjust the six comparison values Act11 New , Act21 New , Act31 New , Act32 New , Act22 New and Act12 New control the motor, conduct 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 according to The first sampled current and the second sampled current estimate the rotor position of the electric machine.