CN104579084B - Method for identifying rotary transformer initial angle - Google Patents
Method for identifying rotary transformer initial angle Download PDFInfo
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- CN104579084B CN104579084B CN201410784766.3A CN201410784766A CN104579084B CN 104579084 B CN104579084 B CN 104579084B CN 201410784766 A CN201410784766 A CN 201410784766A CN 104579084 B CN104579084 B CN 104579084B
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Abstract
The invention provides a method for identifying a rotary transformer initial angle. The method comprises the following steps: stopping a motor rotor at a position coincident with an A-phase axis according to a DC braking method to obtain a roughly-adjusted initial angle; acquiring a Q-axis current I when a frequency converter utilizing a close-loop vector control mode drives a motor to run at a low speed, and conducting low-pass filtering on the Q-axis current I to obtain a Q-axis current average value; charging the motor with a higher flux-weakening current, and reading the Q-axis current II of the motor; calculating the difference between the Q-axis current average value and the Q-axis current II, taking the difference as an input signal of a PI adjuster, taking an output signal of the PI adjuster as compensation for the initial angle, and correcting the roughly-adjusted initial angle with the compensation to obtain a compensated initial angle; when the difference is within a preset error range and lasts for N2 s, outputting the compensated initial angle to be a final initial angle.
Description
Technical field
The present invention relates to frequency conversion speed-adjusting system is and in particular to a kind of rotation becomes the discrimination method of initial angle.
Background technology
When carrying out SERVO CONTROL to permagnetic synchronous motor, controller controls the vector side of stator three-phase current resultant magnetic field
To.For effective control stator flux vector, need to carry out accurate measurement to rotor-position.Generally cost-effective method is：
Incremental encoder is installed on rotor, characterizes rotor-position change with encoder output number of pulses.In the method,
Controller needs first to learn the initial position of rotor, just can determine that the direction of rotor rotation further according to the AB pulse that encoder is sent
With the angle having turned through.When system goes up electricity first, the absolute position of rotor is uncertain.Motor therefore can only be allowed first
Turn over, when Z signal is detected, could be accurately positioned to motor rotor position, carry out vector controlled.The drawbacks of this method
It is：Will original position of electric motor's rotator be carried out debating knowledge when controller re-powers every time.And when debating knowledge initial angle every time, electricity
Machine may turn over 360 and just can search out zero point, and motor is accurately positioned.In some occasions, it is such as not allow on electric automobile
Do so.
Then typically can be become using the rotation that can measure rotor absolute position on electric automobile and carry out measurement motor rotor-position
Angle.Rotation becomes measurement rotor position angle and first has to recognize rotor initial angle, at present generally by the method that rotor is drawn in 0 position
To recognize.Due to the slot effect of motor, rotor typically can not be pulled to absolute 0 °, then with the identification of this method
Will there is an error in initial angle.What this error, typically about 10 ° of electrical angles, in low speed, typically will not bring
Impact.But arrive at a high speed, due to the increase of weak magnetoelectricity stream, this angular deviation can bring serious dq shaft current to couple, sternly
Heavy have impact on Control platform and torque precision.
Content of the invention
The technical problem to be solved in the present invention is：There is provided a kind of rotation to become the discrimination method of initial angle, be obtained in that and be more defined
The initial angle of true rotor.
The present invention by solving the technical scheme taken of above-mentioned technical problem is：A kind of rotation becomes the discrimination method of initial angle,
It is characterized in that：It comprises the following steps：
S1, so that rotor is stopped to the position overlapping with A phase axis, obtain what coarse adjustment obtained
Initial angle θ0_init；
S2, frequency converter are with closed-loop vector control model drive motor low cruise N1Second, in this time period collection Q axle electricity
Stream, carries out LPF to this electric current, obtains Q shaft current mean value I_ref；Described low speed turns for 1/5-1/2 Rated motor
Speed；
S3, past motor pour into larger weak magnetoelectricity stream, read Q shaft current Iq_fed of motor；Described weak magnetoelectricity stream takes
1/2-1 times of Rated motor electric current；
S4, difference I_err of calculating I_ref and I_fed, as the input signal of pi regulator, the output of pi regulator
Signal is initial angle compensation rate Δ θ0, simultaneously Δ θ0Amplitude limit within positive and negative 10 °, with initial angle compensation rate Δ θ0Thick to revise
Adjust initial angle θ obtaining0_ init, obtain compensated after initial angle θ0；
S5, it is located at a default error range continue N as I_err2Second, initial angle θ after output is compensated0, make
For the initial angle finally giving.
As stated above, the method for described S1 DC injection braking is specially：Motor leads to iq=0, id=IN, the vector of θ=0
Voltage, three-phase current state is iA=(2/3) IN, iB=iC=-(1/3) IN, motor permanent magnet goes under armature field effect
With A axle, α axle, d axle three overlapping of axles position, wherein iqFor q shaft current, idFor d shaft current, INFor rated current, iA、iB、iCFor
A phase, B phase, C phase electric current.
Beneficial effects of the present invention are：By way of using first coarse adjustment, compensating again, more more accurate than conventional method obtains
Initial angle, it is to avoid because the inaccurate problem brought of initial angle.
Brief description
Fig. 1 is the graph of a relation at motor rotor position angle and absolute angle.
Fig. 2 is DC injection braking framework map.
Fig. 3 is the current diagram after coordinate system skew.
Fig. 4 is the identification principle figure that rotation becomes initial angle.
Q shaft current oscillogram when Fig. 5 accurately recognizes for initial angle.
Phase current waveform figure when Fig. 6 recognizes for initial angle.
Specific embodiment
With reference to instantiation and accompanying drawing, the invention will be further described.
First, obtain the principle of initial angle
Permagnetic synchronous motor vector controlled, rotor position angle is to be obtained by encoder.Rotation becomes and starts convenient, material due to it
The sturdy feature of matter, is widely used in electric automobile field.
The main purpose that rotation becomes initial alignment be obtain when motor position angle is into 0 corresponding encoder absolute angle (
Initial angle), according to this information so that motor position angle is corresponded with the absolute angle of encoder.
In Fig. 1, α1Become the angle of cut of stator side winding axis and motor stator A phase axis for rotation, rotation becomes stator and is installed to electricity
After on generator terminal lid, α1Fixed；α2Become the angle of cut of rotor-side winding axis and rotor d axle for rotation, install when rotation becomes rotor
After on rotor axis of electric, α2Fixed；θ is the angle of cut of motor stator A phase axis and rotor d axle, i.e. motor position
Angle；AxBecome axis stator for rotation and rotation becomes the angle of cut of rotor axis, i.e. absolute angle, can be exported by its SSI interface, and by
The SPI of DSP reads.
Can see, motor position angle can be expressed as：
θ=Ax-(α1+α2) (1),
Due to AxCan read from AD2S1200, in order to be able to obtain motor position angle θ in addition it is also necessary to measure (α1+α2) value.
For this reason, when motor position angle θ=0, from AD2S1200 reading absolute angle now, being set to A0, obtained according to formula (1)：
α1+α2=A0(2),
According to formula (1), formula (2), motor position angle can be expressed as：
θ=Ax-A0(3),
Can see from process above, necessary step is intended to when motor position angle θ=0, from
AD2S1200 reads A0, A0It is initial angle.
2nd, rotor is drawn in 0 ° of position by direct current
Rotor is made to stop to the position overlapping with A phase axis using the method for DC injection braking, that is, zero degree Angle Position.
Under dq axis coordinate system, based on coordinate transform and SVPWM principle, the high score of 0-360 can be generated by Software for Design
Resolution voltage vector.By the positioning of SVPWM Leading rotor, motor is placed in open loop situations so that UdFor fixed value, UqFor 0,
It is θ that park inverse transformation angle gives fixed value, and now rotor magnetic direction is consistent with the given voltage vector direction of stator, forever
Magnet goes to θ position.DC injection braking framework map such as Fig. 2.
3rd, accurately recognize the principle of initial angle
DQ axle is actual torque current and exciting current place reference axis as shown in Figure 3, Id、IqFor actual excitation electricity
Stream and torque current,
When the delayed actual angle of angle of sampling, that is, DQ axle is gone to D ' Q ' axle, at this time coordinate transform solution
The I obtainingd′、Iq' as shown in the figure.Iq' become a negative value, Id' become bigger.
During accurate adjustment initial angle, the principle of foundation is：When empty load of motor runs, if rotor position angle is impartially, then no matter electric
Machine rotating speed is how high or weak magnetoelectricity stream has much, and the torque current of motor remains constant, close to zero.If rotor position
Angle setting is inclined, and if now having very big weak magnetoelectricity stream, then torque current can be subject to the coupling influence of weak magnetoelectricity stream,
Become very big.
Fig. 4 is the identification principle figure that rotation becomes initial angle, for newly-increased part wherein in dashed box, wherein：θ0_ init obtains for coarse adjustment
The initial angle arriving；I_ref is the Q shaft current mean value adopted during motor low speed no-load running；Δθ0Initial angle for PI output
Compensation rate；θ0For the initial angle after compensated；The absolute location information that θ adopts for encoder；θ ' is rotor position angle.
Using principles above and derivation, the present invention provides a kind of rotation to become the discrimination method of initial angle, comprises the following steps：
S1, rotor is made to stop to the position overlapping with A phase axis using the method for DC injection braking；Record backspin becomes now
The absolute location information read, initial angle θ obtaining as coarse adjustment0_init；The method of DC injection braking is specially：Motor leads to iq=
0、id=IN, the vector voltage of θ=0, three-phase current state be iA=(2/3) IN, iB=iC=-(1/3) IN, motor permanent magnet exists
Go under armature field effect with A axle, α axle, d axle three overlapping of axles position.During DC injection braking, the electric current of motor is characterized as electric current
Go out motor from A phase stepper motor and from BC phase.
S2, with θ0_ init is initial angle, then motor rotor position angle becomes, equal to rotation, the absolute location information read and deducts
θ0_ init, frequency converter runs N with closed-loop vector control model drive motor low speed (1/5-1/2 Rated motor rotating speed)1Second (this reality
Apply example and take 10s), gather Q shaft current in this time period, LPF is carried out to this electric current, obtains Q shaft current mean value I_
ref.Now, motor speed is low, torque little (being only used for overcoming frictional force).So weak magnetoelectricity stream is 0, due to not having weak magnetoelectricity stream
Impact, no matter rotor position angle is either with or without inclined, and torque current is all just and close to 0.
S3, past motor pour into larger weak magnetoelectricity stream, read Q shaft current Iq_fed of motor；Described weak magnetoelectricity stream takes
1/2-1 times of Rated motor electric current.
S4, now if motor initial angle is inclined, due to the impact of weak magnetoelectricity stream, torque current will necessarily cause change
Change, then between I_ref and I_fed, necessarily have deviation I_err.Calculate difference I_err of I_ref and I_fed, as
The input signal of pi regulator, the output signal of pi regulator is initial angle compensation rate Δ θ0, simultaneously Δ θ0Amplitude limit is positive and negative
Within 10 °, with initial angle compensation rate Δ θ0To revise initial angle θ that coarse adjustment obtains0_ init, obtain compensated after initial angle
θ0.Revise initial angle by initial angle compensation, enough become a closed loop, initial angle is adjusted with this.
S5, it is located at a default error range continue N as I_err2Second (the present embodiment takes 4s), output compensated it
Initial angle θ afterwards0, as the initial angle finally giving.
Execute accurate discrimination method, and torque current is observed by oscillograph, as shown in figure 5, A section motor accelerates, torque
Electric current slightly rises；B section motor is at the uniform velocity unloaded, now records I_ref；C section pours into weak magnetoelectricity stream to motor, now weak magnetoelectricity stream
It is biased to q axle, electric current substantially becomes greatly and partially into negative value；After C section, start PI it is seen that electric current rebound significantly；After having arrived D section, continue
Adjust, although now electric current very hair, can see that its median is consistent with B section median.In 4s, error is all in error band
Interior, terminate whole flow process.
The phase current waveform of whole flow process is as shown in fig. 6, pass through waveform it is known that whole flow process is all to hold according to design
OK.
DC injection braking->Accelerate->No-load running and record q shaft current mean value->Add weak magnetoelectricity stream and adjusted by PI
Initial angle->Remove weak magnetoelectricity stream speed reducing stopping.
5. checking principle and verification method
Steady state voltage equation according to permagnetic synchronous motor：
Um=Rs*im-ωr*Ld*it(4),
In formula：UmFor m shaft voltage, RsFor stator resistance, imFor m shaft current, ωrFor motor angular velocity, LdFor d axle inductance,
itFor t shaft current.It can be seen that during stable state, itFor 0, and stator resistance RsIt is milliohm level, even if weak magnetoelectricity stream is 100A, m axle
Voltage UmAlso just only several volts.If that when angle does not have inclined, no matter forward or reverse, UmValue should be equally.
According to principles above, the accuracy of motor initial angle can be verified it is simply that during rotating, exporting m shaft voltage size
Equal, direction is identical.
Checking：Pick out motor initial angle using the accurate identification method of angle and be 32.5 °.
Motor is gone to+3000 turns, Um=64%；Motor is gone to -3000 turns, Um=60%；
Manually adjust initial angle, 31.5 °
Motor is gone to+3000 turns, Um=70%；Motor is gone to -3000 turns, Um=55%；
Manually adjust initial angle, 33.5 °
Motor is gone to+3000 turns, Um=60%；Motor is gone to -3000 turns, Um=65%；
Export close m shaft voltage it can be seen that be can ensure that with the initial angle that accurate adjustment goes out in rotating.And at this
The angle of no matter 1 ° of left and right adjustment in the initial angle that accurate adjustment goes out, all can lead to m shaft voltage gap during rotating to be amplified.Then permissible
The initial angle error drawing accurate adjustment is within 1 ° of electrical angle.
Above example is merely to illustrate design philosophy and the feature of the present invention, its object is to make technology in the art
Personnel will appreciate that present disclosure and implement according to this, protection scope of the present invention is not limited to above-described embodiment.So, all according to
The equivalent variations made according to disclosed principle, mentality of designing or modification, all within protection scope of the present invention.
Claims (2)
1. a kind of rotation become initial angle discrimination method it is characterised in that：It comprises the following steps：
S1, rotor is made to stop to the position overlapping with A phase axis using the method for DC injection braking, obtain that coarse adjustment obtains is initial
Angle θ0_init；
S2, frequency converter are with closed-loop vector control model drive motor low cruise N1Second, gather Q shaft current in this time period, right
This electric current carries out LPF, obtains Q shaft current mean value I_ref；Described low speed is 1/5-1/2 Rated motor rotating speed；
S3, past motor pour into larger weak magnetoelectricity stream, read Q shaft current Iq_fed of motor；Described weak magnetoelectricity stream takes 1/2-1
Rated motor electric current again；
S4, difference I_err of calculating I_ref and Iq_fed, as the input signal of pi regulator, the output signal of pi regulator
For initial angle compensation rate Δ θ0, simultaneously Δ θ0Amplitude limit within positive and negative 10 °, with initial angle compensation rate Δ θ0Obtain to revise coarse adjustment
Initial angle θ arriving0_ init, obtain compensated after initial angle θ0；
S5, it is located at a default error range continue N as I_err2Second, initial angle θ after output is compensated0, as
The initial angle obtaining eventually.
2. according to claim 1 a kind of rotation become initial angle discrimination method it is characterised in that：Direct current in described S1
The method of braking is specially：Motor leads to iq=0, id=IN, the vector voltage of θ=0, three-phase current state be iA=(2/3) IN, iB
=iC=-(1/3) IN, motor permanent magnet go under armature field effect with A axle, α axle, d axle three overlapping of axles position, wherein
iqFor q shaft current, idFor d shaft current, INFor rated current, iA、iB、iCFor A phase, B phase, C phase electric current.
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| CN106787995B (en) * | 2017-01-22 | 2020-02-28 | 精进电动科技股份有限公司 | Method for testing initial position angle of motor rotor |
| CN109639209A (en) * | 2017-10-09 | 2019-04-16 | 郑州宇通客车股份有限公司 | A kind of motor in electric automobile electrical angle adjusting method and its device |
| CN109347394A (en) * | 2018-11-19 | 2019-02-15 | 中冶南方（武汉）自动化有限公司 | Method for extracting high-frequency current signal by permanent magnet motor pulse vibration injection method |
| CN109586250B (en) * | 2018-12-03 | 2020-05-08 | 中冶南方（武汉）自动化有限公司 | Detection and protection method for initial angle deviation of rotary transformer |
| CN111490710B (en) * | 2020-05-06 | 2022-06-21 | 郑州智驱科技有限公司 | Method and system for identifying zero offset of permanent magnet synchronous motor for vehicle |
| CN112803857B (en) * | 2021-01-06 | 2023-02-14 | 杭州湘滨电子科技有限公司 | Motor initial angle calibration system and method for EPS |
| CN114665781B (en) * | 2022-04-26 | 2023-11-10 | 英孚康(苏州)工业控制有限公司 | Linear motor initial position identification method and control system |
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