CN106130415A

CN106130415A - For demarcating the method for motor and controlling device

Info

Publication number: CN106130415A
Application number: CN201610195477.9A
Authority: CN
Inventors: 倪攀; 傅振兴
Original assignee: Faraday Beijing Network Technology Co Ltd
Current assignee: Fafa Automobile China Co ltd
Priority date: 2016-03-31
Filing date: 2016-03-31
Publication date: 2016-11-16
Anticipated expiration: 2036-03-31
Also published as: CN106130415B

Abstract

It relates to a kind of method demarcating motor and control device.Motor includes rotor and stator winding, and stator winding includes the first stator winding, the second stator winding and the 3rd stator winding.According to an aspect, described method includes: apply voltage to stator winding in the first pattern so that rotor turns to the first orientation；Voltage is applied being different from the second pattern of described first mode so that described rotor rotates from described first orientation to stator winding；And determine the phase sequence between stator winding according to rotor rotation direction during the second pattern.

Description

For demarcating the method for motor and controlling device

Technical field

It relates to vehicle, the particularly motor in vehicle, relate more particularly to for Demarcate the method for the motor in vehicle and control device.

Background technology

In the world today, vehicle has become as people's work and requisite traffic work of living Tool, and along with the in short supply of petroleum resources and the development of technology, by making whole or in part The vehicle driving traveling with electric energy is more and more universal.

For the motor in such vehicle, need when Motor Production Test motor Stator winding and its output controlling parts are demarcated.In reality, if as multiple former Because the corresponding relation between the output and the phase sequence of stator winding that control parts cannot be determined, then may be used Can cause the motor cannot normal starting, in some instances it may even be possible to the problem occurring damaging motor and controlling parts. Therefore, before motor runs well, need to make the phase sequence of control parts and motor phase sequence one a pair Should.

Additionally, in motor runs, need positional information based on rotor to control stator The commutation of winding, the positional information of rotor directly affects and is controlled motor torque, speed etc. Precision, thus affect the performance of motor.Normally, motor is provided with position sensor For the positional information of acquisition rotor, and the making of motor and the installation of position sensor Typically result in and between the electrical null position of position sensor and the electrical null position of motor, there is the angle of deviation Degree.For different motors, this misalignment angle is had nothing in common with each other.Therefore motor properly functioning it Before, need measure and demarcate this misalignment angle.

Summary of the invention

The disclosure aims to solve the problem that at least one problem present in prior art.

According to an aspect of this disclosure, it is provided that a kind of method for demarcating motor, this electricity Machine includes rotor and stator winding, this stator winding include the first stator winding, the second stator around Group and the 3rd stator winding, the method includes: apply voltage to stator winding in the first pattern, Rotor is made to turn to the first orientation；To be different from the second pattern of described first mode to stator Winding applies voltage so that described rotor rotates from described first orientation；And exist according to rotor Rotation direction during second pattern determines that the first stator winding, the second stator winding and the 3rd are fixed The phase sequence of sub-winding.

According to another aspect of the present disclosure, it is provided that a kind of control device for controlling motor, This motor includes rotor and stator winding, and stator winding includes the first stator winding, the second stator Winding and the 3rd stator winding, this control device includes: inverter, operably with motor Connect；And control unit, it being connected with this inverter operably, this control unit is joined It is set to: apply voltage to stator winding in the first pattern by inverter so that rotor turns to First orientation；By inverter to be different from the second pattern of described first mode to stator winding Apply voltage so that described rotor rotates from described first orientation；And according to rotor second Rotation direction during pattern determine the first stator winding, the second stator winding and the 3rd stator around The phase sequence of group.

Another aspect according to the disclosure, it is provided that a kind of vehicle, this vehicle includes: motor, It includes that rotor and stator winding, described stator winding include the first stator winding, the second stator Winding and the 3rd stator winding；And above-mentioned control device.

Another aspect according to the disclosure, it is provided that a kind of method for demarcating motor, described Motor includes rotor and stator winding, stator winding include the first stator winding, the second stator around Group and the 3rd stator winding, be provided with position sensor in motor, be used for determining that rotor is relative In the relative position of stator winding, the method includes: apply electricity to stator winding in the first pattern Pressure so that rotor turns to the first orientation；Be different from the second pattern of described first mode to Stator winding applies voltage so that described rotor rotates from described first orientation；And according to turning The angle that son rotation direction during the second pattern and position sensor record is to determine position Misalignment angle between electrical null position and the electrical null position of motor of sensor.

Another aspect according to the disclosure, it is provided that a kind of control device for controlling motor, Motor includes rotor and stator winding, stator winding include the first stator winding, the second stator around Group and the 3rd stator winding, this control device includes: inverter, operably with motor even Connect；And control unit, it being connected with inverter operably, this control unit is configured to: Voltage is applied to stator winding in the first pattern so that rotor turns to first and takes by inverter To；Electricity is applied with the second pattern being different from described first mode to stator winding by inverter Pressure so that described rotor rotates from described first orientation；And according to rotor in the second pattern phase Between rotation direction and the angle that records of position sensor to determine electric the zero of position sensor Misalignment angle between position and the electrical null position of motor.

Another aspect according to the disclosure, it is provided that a kind of vehicle, including: motor, it includes Rotor and stator winding, described stator winding include the first stator winding, the second stator winding and 3rd stator winding；And above-mentioned control device.

Accompanying drawing explanation

Referring now to accompanying drawing described in detail below described in the disclosure, wherein run through accompanying drawing phase Same reference represents same or analogous assembly.It being understood that accompanying drawing not necessarily by than Example is drawn, and accompanying drawing is served only for illustrating the exemplary embodiment of the disclosure, it should not be assumed that be Restriction to disclosure scope.Wherein:

Fig. 1 shows the schematic side elevation according to the vehicle that embodiment of the disclosure；

Fig. 2 A shows according to the motor that embodiment of the disclosure and includes control unit and inversion The schematic diagram controlling device of device；

Fig. 2 B shows according to the motor that embodiment of the disclosure and includes control unit and inversion The schematic diagram controlling device of device；

Fig. 3 shows and rotates along different rotation directions at rotor according to embodiment of the disclosure In the case of position sensor, the schematic diagram of electrical null position of rotor and motor；

Fig. 4 shows according to the stator winding phase sequence for demarcating motor that embodiment of the disclosure The flow chart of method；

Fig. 5 shows according to the stator winding phase sequence for demarcating motor that embodiment of the disclosure The flow chart of method；

Fig. 6 shows according to the stator winding phase sequence for demarcating motor that embodiment of the disclosure The flow chart of another kind of method；

Fig. 7 show according to embodiment of the disclosure for electric the zero of calibration position sensor The flow chart of the method for the misalignment angle between position and the electrical null position of motor；

Fig. 8 show according to embodiment of the disclosure for electric the zero of calibration position sensor The flow chart of the another kind of method of the misalignment angle between position and the electrical null position of motor；And

Fig. 9 show according to embodiment of the disclosure for electric the zero of calibration position sensor The flow chart of the method for the misalignment angle between position and the electrical null position of motor.

Detailed description of the invention

Describe the various exemplary embodiments of the disclosure below with reference to the accompanying drawings in detail.It will be appreciated that , the description to various embodiments is merely illustrative, not as technology of this disclosure Any restriction.Unless specifically stated otherwise, assembly in the exemplary embodiment and step Positioned opposite, expression formula and numerical value are not intended to the scope of the present disclosure.

Term used herein, it is only for describe specific embodiment, and be not intended to limit The disclosure processed.Unless context is clearly it is further noted that " one " of singulative used herein " it is somebody's turn to do " be intended to include plural form equally.It will further be understood that " comprising " word is at this In literary composition use time, illustrate existence pointed by feature, entirety, step, operation, unit and/ Or assembly, but it is not excluded that existence or increase one or more further feature, entirety, step, Operation, unit and/or assembly and/or combinations thereof.

With reference now to Fig. 1, Fig. 1 show according to the vehicle that embodiment of the disclosure schematic Side view.Normally, vehicle 10 can include that vehicle body 12, multiple support by vehicle body 12 are expert at Sail the wheel 14 on face and automotive power 16 etc..This automotive power 16 is permissible Including at least one motor.

It is to be understood that automotive power used herein can include using widely In any automotive power with one or more motor promoting vehicle.This vehicle power System may be used for such as pure electric vehicle and motor vehicle driven by mixed power.At motor vehicle driven by mixed power In dynamical system, at least one motor and electromotor can serially or parallelly promote the row of vehicle Enter.The example of motor vehicle driven by mixed power can include but not limited to plug-in hybrid vehicle, double Mode mixture power car, full motor vehicle driven by mixed power, extended-range motor vehicle driven by mixed power, power are auxiliary Help motor vehicle driven by mixed power, light hybrid vehicle, serial mixed power vehicle, parallel Motor vehicle driven by mixed power, series-parallel motor vehicle driven by mixed power, fluid power motor vehicle driven by mixed power, power The mixing of shunting motor vehicle driven by mixed power, BAS hybrid vehicle and any other type is moved Power vehicle.Vehicle in the disclosure can be configured to car, motor type car, truck, public Automobile, commercial car, transboundary car, recreation vehicle etc..Should be understood that the technology of the disclosure is permissible For any of the above described automotive power, and it is not limited to a certain particular type.

As it is shown in figure 1, in certain embodiments, automotive power 16 generally can include Power supply 24, inverter 20, control unit 18, motor 22 and input equipment 26.As above institute State, automotive power 16 can use other arrange and/or configuration, but normally include to A few motor.In certain embodiments, motor 22 is operatively connected at least one car Wheel 14, applies torque to wheel 14 thus promotes vehicle 10.Motor 22 generally can include forever Magnetic-synchro motor, brshless DC motor, but it is not limited to this.

Power supply 24 can provide power to motor 22 directly or indirectly.Power supply 24, such as Battery, can include one or more battery unit, and can use lithium ion, nickel metal Hydride, sodium Nickel dichloride., NI-G and any other applicable battery technologies.

Power supply 24 and motor 22 are interconnected by inverter 20 operably.Inverter 20 is permissible Receive unidirectional current from power supply 24, be converted into alternating current, and alternating current is passed to motor 22。

Control unit 18 is operatively connected to inverter 20, thus controls inverter 20. Control unit 18 can be one or more general digital computer or data handling equipment, logical Often can include but not limited to that processor or microprocessor or CPU, memorizer are (all Such as, but not limited to, read only memory, random access memory, the read-only storage of electrically erasable Device), input/output device or device, analog-digital converter or change-over circuit, digital simulation Transducer or change-over circuit, clock etc..Control unit 18 can be configured to perform programmed instruction, This programmed instruction can be stored in the memorizer in control unit 18 or other are with control unit 18 In other the suitable storage devices being associated.Control unit 18 can be right via inverter 20 Motor is controlled realizing the various operations according to the disclosure.

In certain embodiments, vehicle 10 can also include input equipment 26, input equipment 26 It is operatively connected to control unit 18.The driver of vehicle operates input equipment 26, in order to The torque output of motor 22 is controlled via control unit 18.In certain embodiments, input Device 26 selectively includes pedal, control unit 18 in response to pedal location status via Inverter regulation is delivered to the size of the electric power of motor 22, thus the torque regulating motor 22 is defeated Go out.

Fig. 2 A and Fig. 2 B respectively illustrates according to the motor that embodiment of the disclosure and includes control Unit processed and the schematic diagram controlling device of inverter.In embodiment of the disclosure, inverter 20 are operatively connected to power supply 24 and motor 22, bus capacitor 28 alternatively with power supply 24 are connected in parallel.Motor 22 can include stator winding and rotor, and stator winding can be with example As included the first stator winding, the second stator winding and the 3rd stator winding.In showing of Fig. 2 A In example, the stator of motor 22 can be disposed with the stator winding UX of three star connections, VY, WZ, the X end of three stator winding, Y end and Z end are connected on a point, and motor Magnetic pole N and magnetic pole S can be disposed with on the rotor of 22.

Additionally, in Fig. 2 A and Fig. 2 B with the coordinate axes of dotted lines show stator winding UX, The axial direction of VY, WZ, represents with U axle, V axle and W axle respectively, wherein U axle, The direction of V axle and W axle is respectively defined as the electrical null position of stator winding UX, VY, WZ. Normally, any one in three stator winding can be selected as A phase stator winding, electricity The electrical null position of machine is generally defined as the electrical null position of A phase stator winding.Following to enforcement In the description of example, purpose for convenience of explanation, select stator winding UX as A phase stator The electrical null position of winding, i.e. motor is the electrical null position of stator winding UX.

Inverter 20 can include multiple power electronic devices, and this power electronic devices can be The such as combination etc. of IGBT, MOSFET, IGCT, transistor, switch and transistor, But it is not limited to this.In certain embodiments, inverter 20 such as by three to series connection power electronics Device (represent with audion symbol in Fig. 2 A and Fig. 2 B, but be not limited to audion) 202, 204,206,208,210,212 composition, the power electronic devices of every pair of series includes the In one power electronic devices 202,206,210 one and the second power electronic devices 208, 212, in 204.This first power electronic devices has the anelectrode being connected to power supply The first terminal, this second power electronic devices has the second terminal of the negative electrode being connected to power supply, Second terminal of the first power electronic devices and the first terminal of the second power electronic devices are connected to Together and then be connected respectively to one end of UX, VY and WZ winding of motor.Specifically, example As in the embodiment shown in Fig. 2 A, the second terminal of audion 202 and audion 208 The first terminal is connected to same point and is connected with the U end of UX winding, the of audion 206 The first terminal of two-terminal and audion 212 is connected to same point and the V end with VY winding Connecting, the second terminal of audion 210 and the first terminal of audion 204 are connected to same point And it is connected with the W end of WZ winding.

Alternatively and/or additionally, motor 22 can be provided with position sensor 30, its For detecting the relative position between rotor NS and stator winding UX, VY and WZ, and The angle signal Theta output of the instruction rotor-position that measurement can be obtained by position sensor 30 To control unit 18.Position sensor in the disclosure is that the position that can measure absolute position passes Sensor, such as, can include, rotary transformer (such as sine and cosine resolver, linearly revolves Change depressor, proportional resolver, special rotary transformer, the rotation of band coupling transformer Change depressor, variable reluctance rotary transformer etc.), absolute position encoder, photoelectric type position Sensor, reluctance type position sensor and eddy current position sensor, but it is not limited to this.

Alternatively and/or additionally, inverter 20 or electrode 22 can be provided with electric current Sensor 32, for measuring the electric current I of flowing in stator winding UX, VY and WZ_U、I_V And I_W, and electric current in the instruction stator winding that measurement can be obtained of current sensor 32 Current signal exports control unit 18, as shown in Figure 2 A and 2 B.

Normally, control unit 18 can to control the torque of motor defeated by controlling inverter Go out.Specifically, according to angle signal and the electricity in instruction winding of the instruction rotor-position received The current signal of stream, control unit 18 can generate impulse modulation (PWM) signal (PWM_A、 PWM_B、PWM_C) and this pwm signal can be exported inverter 20, to be used for Control the on or off of multiple power electronic devices in inverter 20, and then straight by power supply Circulation is changed to exchange, drives motor properly functioning, thus promotes the traveling of vehicle.

For purposes of clarity, below with reference to the Fig. 3 work to the position sensor in the disclosure Principle is further described in detail.Fig. 3 shows according to turning of embodiment of the disclosure Son rotate along different rotation direction in the case of position sensor, rotor and motor electric The schematic diagram of zero-bit.The making of motor and the installation of position sensor would generally cause position sensing There is certain misalignment angle between electrical null position and the electrical null position of motor of device, implement at some In example, PS direction represents the position of position sensor, the axial direction U of stator winding UX Direction represents the electrical null position of motor, and NS schematically shows rotor.Shown in situation 301 In layout, rotor NS turns to the electrical null position along motor, i.e. U direction, PS now Direction is the electrical null position of position sensor, and the most described misalignment angle is in situation 301 Angle Theta-a illustrated.

Owing to position sensor and rotor are fixed on the same axle of motor, position sensor with The rotation of rotor and correspondingly change position, therefore position sensor can be by measuring self Position determine the position of rotor.Angle measured by position sensor corresponds to position sensing Angle between position and the electrical null position (being here U direction) of motor at device place, as Shown in angle Theta-a in Fig. 3, Theta-b, Theta-c.Specifically, such as in situation In 302, when rotor position from 301 starts to counterclockwise (in this article, in the face of electricity Discuss in the case of the axle head direction of machine) rotate 90 degree time, the angle that position sensor records Degree is angle Theta-b marked in figure.As shown in situation 303, when rotor is from 301 Position starts in time rotating clockwise 90 degree, and the angle that position sensor records is to be marked in figure Angle Theta-c.

Fig. 4 shows according to the stator winding phase sequence for demarcating motor that embodiment of the disclosure The flow chart of method.With reference to Fig. 4, in step 402, apply to stator winding in the first pattern Voltage so that rotor turns to the first orientation.Then go to step 404, described to be different from Second pattern of first mode applies voltage to stator winding so that described rotor is from described first Orientation rotates.Turn next to step 406, according to rotor rotation direction during the second pattern Determine the first stator winding, the second stator winding and the phase sequence of the 3rd stator winding.Thus, energy Enough demarcation realizing the stator winding phase sequence to motor.

The method step shown in Fig. 4 can be realized in several ways.Fig. 5 is according to this The flow chart of the method for the stator winding phase sequence demarcating motor of disclosed embodiment.Following In description, for clarity rather than limit purpose, it is assumed that the first stator winding is UX Winding, the second stator winding is VY winding, and the 3rd stator winding is WZ winding.

With reference to Fig. 5, the most in certain embodiments, in step 502, can be in the first pattern Voltage is applied so that the electric current in the first stator winding flows in the first direction to stator winding, Electric current in second stator winding and the electric current in the 3rd stator winding are along contrary with first direction Second direction flows, so that rotor turns to the first orientation, first to be oriented to first fixed for this The axial direction of sub-winding.

Specifically, in certain embodiments, with reference to Fig. 2 A, in the first mode, list is controlled Unit 18 controls power electronic devices to inverter 20 output pwm signal, this pwm signal 202,212 and 204 conducting, 206,210 and 208 turn off, the electricity of now power supply 24 output Pressure is applied on stator winding, and electric current flows into from the U end of UX winding, by X end, Y end Z end and the Y end of VY winding of WZ winding is traveled further into, electricity with the junction point of Z end Stream flows out, via conducting from the W end of WZ winding and the V end of VY winding the most respectively Power electronic devices 212 and 204 flow back to power supply 24, the dotted line in current path such as Fig. 2 A Shown in, the such as "×" of the sense of current in winding (represent and flow into paper) and "●" (represent and flow out paper Face) shown in, flow into the direction of paper and flow out the in opposite direction of paper.It is to say, at this In described first direction be electric current flow into stator winding direction, i.e. flow into UX winding direction, Described second direction is the direction of electric current outflow stator winding, i.e. flow out WZ winding and VY around The direction of group.

The magnetic field produced according to the electric current in stator winding and rotor, produces electromagnetic torque, this electricity Magnetic torque makes rotor rotate, and (that is, first takes to turn to the axial direction of UX winding To) reach stable.In certain embodiments, in the first mode, current sensor 32 is permissible Measuring the electric current in stator winding, then control unit 18 can receive current sensor and records Current signal, and then control inverter make to flow through the first stator winding, the i.e. electricity of winding UX Stream is gradually increased, and determines whether the electric current in winding UX reaches the first predetermined value.If Determining that this electric current reaches the first predetermined value, now rotor generally turns to the first orientation, i.e. UX The axial direction of winding, the electromagnetic torque that now rotor is subject to is zero, and therefore rotor can be stablized At this axial direction, then control unit 18 can control power electronics device with output pwm signal Part 202,212 and 204 so that it is stop increasing this electric current, and control unit 18 can be remembered Angle Theta1 that record position sensor now records.If it is determined that this electric current be not reaching to this One predetermined value, then control unit 18 can control 202,212 by output pwm signal With 204, electric current is made to continue to increase.

Wherein, the electric current applying to reach the first predetermined value is only used to enable rotor to turn to The suffered settling position that electromagnetic torque is zero, and the electromagnetic torque making rotor be subject to is unlikely Yu Tai great and damage rotor and motor, therefore the first predetermined value in the disclosure can be can be real The now any applicable current value of this purpose.In certain embodiments, this first predetermined value is permissible It is preferably the load current value of motor.

Referring back to Fig. 5, in step 504, can apply to stator winding in a second mode Voltage, making the electric current in the first stator winding is zero, and the electric current in the second stator winding is along first Flowing in direction, the electric current in the 3rd stator winding flows in a second direction.

Specifically, in certain embodiments, as shown in Figure 2 B, in a second mode, PWM Signal controls power electronic devices 206 and 204 conducting, and 202,210,208 and 212 turn off, The voltage of now power supply 24 output is applied on stator winding, and electric current is from the V end of VY winding Flow into, traveled further into the Z end of WZ winding by the junction point of X end, Y end and Z end, Flow out from the W end of WZ winding, flow back to power supply 24 via the power electronic devices 204 of conducting, Current path is as shown in the dotted line in Fig. 2 B.Here first direction can be that electric current inflow is fixed The direction of sub-winding, i.e. flows into the direction of VY winding, and second direction can be that electric current outflow is fixed The direction of sub-winding, i.e. flows out the direction of WZ winding.

In certain embodiments, in a second mode, control unit 18 is so that flow through Two stator winding, the i.e. electric current of winding VY are gradually increased, and determine the electricity in winding VY Whether stream reaches the second predetermined value.If it is determined that this electric current reaches this second predetermined value, i.e. rotor Start to be rotated further from the axial direction along UX winding, then control unit 18 can export PWM Signal controls power electronic devices 206 and 204 so that it is stops increasing this electric current, and controls Unit 18 processed can now measure, with record position sensor, angle Theta2 obtained.If really This electric current fixed is not reaching to this second predetermined value, then can be controlled by output pwm signal 206 and 204, make electric current continue to increase.

Wherein, the electric current applying to reach the second predetermined value is only used to enable rotor to rotate, It is easy to position sensor and carries out angular surveying, and the electromagnetic torque making rotor be subject to is unlikely to too Damaging rotor and motor greatly, therefore the second predetermined value in the disclosure can be that by this Any applicable current value of purpose.In certain embodiments, this second predetermined value can be preferred Load current value for motor.

Forward step 506 to, determine the rotation direction of rotor in a second mode.In step 508, If rotor rotates along the first rotation direction during the second pattern, then by true for the first stator winding It is set to A phase stator winding, the second stator winding is defined as B phase stator winding, fixed by the 3rd Sub-winding is defined as C phase stator winding.

Specifically, in certain embodiments, if in a second mode, rotor from along UX around The axial direction of group starts to rotate counterclockwise, it is determined that UX winding is A phase winding, VY winding is B phase winding, and WZ winding is C phase winding.Here, first direction is permissible Being the direction of electric current inflow winding, second direction can be the direction that electric current flows out winding, and Correspondingly the first rotation direction can be counterclockwise.

In particular embodiments, Theta2 Yu Theta1 the two angle can be determined by Whether the difference of degree is predetermined angular.In certain embodiments, described predetermined angular is 90 degree. I.e. may determine that whether " Theta2-Theta1=90 degree " becomes Rob Roy to determine the rotation direction of rotor. If " Theta2-Theta1=90 degree " is set up, it is determined that rotor have rotated counterclockwise 90 degree, may thereby determine that UX winding is A phase winding, VY winding is B phase winding, WZ winding is C phase winding, and makes: Tcmd=Tcmd ', Spdcmd=Spdcmd ', PWM_v=PWM_v', PWM_w=PWM_w', I_v=I_v', I_w=I_w', do not update Current command parameter。

Wherein Tcmd ' refers to the torque command obtained from input equipment；Tcmd refers to control list The internal torque command used of unit；Rotating speed command that Spdcmd ' refers to obtain from input equipment (as Fruit is if necessary)；Spdcmd refers to the internal rotating speed command used of control unit；PWM_v’ And PWM_w' refer to the pwm signal before performing the step of this scaling method, PWM_vWith PWM_wRefer to the pwm signal after performing the step of this scaling method.I_v' and I_w' refer to Perform the current sampling data before the step of this scaling method, I_vAnd I_wRefer to perform this demarcation side Current sampling data after the step of method；Current command parameter refers to control Torque command is converted into the relevant parameter involved by current order by unit.

It will be understood by those skilled in the art that described predetermined angular can include but not limited to 90 Degree, as long as the angle for carrying out judging can help to judge the rotation direction of rotor.Example As, in certain embodiments, described predetermined angular can be in the range of 90 degree ± 10 degree.

In step 510, if rotor is along contrary with the first rotation direction during the second pattern Second rotation direction rotates, then the first stator winding is defined as A phase stator winding, by second Stator winding is defined as C phase stator winding, and the 3rd stator winding is defined as B phase stator winding.

Specifically, in certain embodiments, if rotor is opened from the axial direction along UX winding Begin to rotate clockwise, it is determined that UX winding is A phase winding, and VY winding is C phase Winding, WZ winding is B phase winding.Here, first direction can be that electric current flows into winding Direction, second direction can be electric current flow out winding direction, and correspondingly first rotate Direction can be counterclockwise, and the second rotation direction can be clockwise.

In particular embodiments, can be determined by " Theta2-Theta1=270 degree or -90 degree " whether become Rob Roy to determine the rotation direction of rotor.If " Theta2-Theta1=270 Degree or-90 degree " set up, then may determine that rotor have rotated 90 degree clockwise, thus May determine that UX winding is A phase winding, VY winding is C phase winding, and WZ winding is B Phase winding, then so that: Tcmd=-Tcmd ', Spdcmd=-Spdcmd ', PWM_v= PWM_v', PWM_w=PWM_w', I_v=I_v', I_w=I_w', update Current command parameter.It is to say, the torque command in control unit and rotating speed command are taken as on the contrary Value.

In certain embodiments, if it is determined that " Theta2-Theta1=270 degree or-90 degree " become Vertical, then can alternatively or additionally perform: Tcmd=Tcmd ', Spdcmd=Spdcmd ', PWM_v=PWM_w', PWM_w=PWM_v', I_v=I_w', I_w=I_v', do not update Current command parameter.It is to say, by PWM letter corresponding with winding W for winding V Number and current sampling data exchange, other parameters arrange holding constant.

If it is determined that " Theta2-Theta1=270 degree or-90 degree " are false, it is determined that occur Mistake, stops performing.So far the demarcation to stator winding phase sequence is completed.

It will be understood by those skilled in the art that the above-mentioned angle for judging can include but do not limits Spend or 270 degree in-90, as long as the angle for carrying out judging can help to judge turning of rotor Dynamic direction.Such as, in certain embodiments, above-mentioned angle can spend ± 10 degree-90 Or in the range of 270 degree ± 10 degree.

Alternatively and/or additionally, in certain embodiments, in a second mode, can make Electric current in stator winding incrementally increases, after rotor is rotated by the effect of electromagnetic torque, Angle Theta2 that can record with record position sensor, is then determined Theta2 by control unit And whether the difference of Theta1 is more than zero (between 0 to 90 degree), if this difference is more than Zero, it is determined that rotor rotates counterclockwise, so that it is determined that UX winding is A phase winding, VY winding is B phase winding, and WZ winding is C phase winding；If this difference less than zero ( Between between-90 to 0 degree or referred to as 270 to 360 spending), it is determined that rotor is to clockwise Direction rotates, so that it is determined that UX winding is A phase winding, VY winding is C phase winding, WZ Winding is B phase winding.It is to say, in these embodiments, rotor is turned by control unit When dynamic direction is determined, the difference of Theta2 Yu Theta1 can also be 0 to 90 degree or-90 Any value between 0 degree (270 to 360 degree), is not limited to 90 degree or 270 degree (-90 Degree).

As selection, in certain embodiments, in the first mode, it is possible to so that electric current from The U end of UX winding flows out, respectively from W end and the V end stream of VY winding of WZ winding Enter, i.e. contrary with the flow direction of the electric current shown in Fig. 2 A；Further, in a second mode may be used So that electric current flows out from the V end of VY winding, flow into from the W end of WZ winding, i.e. with figure The flow direction of the electric current shown in 2B is contrary, in the case of this configuration, in the second pattern phase Between, if rotor rotates clockwise, it is determined that UX winding is A phase winding, VY Winding is B phase winding, and WZ winding is C phase winding；If rotor rotates counterclockwise, Then determining that UX winding is A phase winding, VY winding is C phase winding, and WZ winding is B phase Winding.It is to say, in this configuration, described first direction can be electric current outflow stator The direction of winding, described second direction can be the direction that electric current flows into stator winding, and phase Answering described first rotation direction can be that described second rotation direction can be clockwise Counterclockwise.

Describe a kind of embodiment of the method step realized in Fig. 4 above in association with Fig. 5, and scheme Method step in 4 can also realize by other means.Such as, Fig. 6 shows basis The flow chart of the another kind of method of the stator winding phase sequence demarcating motor that embodiment of the disclosure. In the following description, for clarity rather than limit purpose, it is assumed that the first stator around Group is UX winding, and the second stator winding is VY winding, and the 3rd stator winding is WZ winding.

With reference to Fig. 6, in certain embodiments, in step 602, can be in the first pattern to fixed Sub-winding applies voltage so that the electric current in the first stator winding is zero, in the second stator winding Electric current flow in the first direction, electric current in the 3rd stator winding is along contrary with first direction Second direction flows, so that rotor turns to the first orientation, first to be oriented to first fixed for this The radial direction of sub-winding.

Specifically, in certain embodiments, as shown in Figure 2 B, in the first mode, PWM Signal controls power electronic devices 206 and 204 conducting, and 202,210,208 and 212 turn off, The voltage of now power supply 24 output is applied on stator winding, and electric current is from the V end of VY winding Flow into, traveled further into the Z end of WZ winding by the junction point of X end, Y end and Z end, Flow out from the W end of WZ winding, flow back to power supply 24 via the power electronic devices 204 of conducting, Current path is as shown in the dotted line in Fig. 2 B.Here first direction can be that electric current inflow is fixed The direction of sub-winding, i.e. flows into the direction of VY winding, and second direction can be that electric current outflow is fixed The direction of sub-winding, i.e. flows out the direction of WZ winding.

The magnetic field produced according to the electric current in stator winding and rotor, produces electromagnetic torque, this electricity Magnetic torque makes rotor rotate, and (that is, first takes to turn to the radial direction of UX winding To) reach stable.

In certain embodiments, in the first mode, control unit 18 can control inverter Make to flow through the second stator winding, the i.e. electric current of winding VY to be gradually increased, and determine winding VY In electric current whether reach the first predetermined value.If it is determined that this electric current reaches the first predetermined value, this Time rotor generally turn to the first orientation, i.e. the radial direction of UX winding is (shown in Fig. 2 B The direction of rotor NS), the electromagnetic torque that now rotor is subject to is zero, and therefore rotor can be steady Be scheduled on this radial direction, then control unit 18 can control power electronics with output pwm signal Device 206 and 204 so that it is stop increasing this electric current, and control unit 18 can record position Put angle Theta1 that sensor now records.If it is determined that this electric current to be not reaching to this first pre- Definite value, then control unit 18 can control 206 and 204 by output pwm signal, makes Electric current continues to increase.

Similarly, the electric current applying to reach the first predetermined value here is only used to enable rotor Turn to the settling position that suffered electromagnetic torque is zero, and the electromagnetism making rotor be subject to turns Square is unlikely to too big and damages rotor and motor, and therefore this first predetermined value can be that by Any applicable current value of this purpose.In certain embodiments, this first predetermined value can be excellent Elect the load current value of motor as.

Then forward step 604 to from step 602, can apply to stator winding in a second mode Voltage, makes the electric current in the first stator winding flow in the first direction, in the second stator winding Electric current in electric current and the 3rd stator winding is along the second direction flowing contrary with first direction.

Specifically, in certain embodiments, as shown in Figure 2 A, in a second mode, PWM Signal controls power electronic devices 202,212 and 204 conducting, and electric current is from the U of UX winding End flows into, and is traveled further into the Z of WZ winding by the junction point of X end, Y end and Z end End and the Y end of VY winding, electric current the most respectively from the W end of WZ winding and VY around The V end of group flows out, and flows back to power supply 24 via the power electronic devices 212 and 204 of conducting, electricity Flow path is as shown by the dotted lines in fig. 2.

In certain embodiments, in a second mode, control unit 18 is so that flow through One stator winding, the i.e. electric current of winding UX are gradually increased, and determine the electricity in winding UX Whether stream reaches the second predetermined value.If it is determined that this electric current reaches this second predetermined value, i.e. rotor Start to be rotated further from the radial direction along UX winding, then control unit 18 can export PWM Signal controls power electronic devices 202,212 and 204 so that it is stop increasing this electric current, and And control unit 18 can now measure, with record position sensor, angle Theta2 obtained.As Fruit determines that this electric current is not reaching to this second predetermined value, then can be come by output pwm signal Control 202,212 and 204, make electric current continue to increase.

Turn next to step 606, determine the rotation direction of rotor in a second mode.In step 608, if rotor rotates along the first rotation direction during the second pattern, then by the first stator around Group is defined as A phase stator winding, and the second stator winding is defined as B phase stator winding, by Three stator winding are defined as C phase stator winding.

Specifically, in certain embodiments, VY winding is flowed into when electric current in the first mode V end, flows out the W end of WZ winding, and electric current flows into UX winding in a second mode U end, when flowing out the V end of the W end of WZ winding and VY winding, during the second pattern, If control unit 18 determines the Theta2 (angle that position sensor records during the second pattern Degree) (rotor turns to the first orientation, the i.e. footpath of UX winding in the first mode with Theta1 The angle that position sensor records when direction) difference less than zero (-90 degree to 0 degree it Between), i.e. determine that rotor rotates clockwise, the most thus may determine that UX winding is A Phase stator winding, VY winding is defined as B phase stator winding, and it is fixed that WZ winding is defined as C phase Sub-winding, first direction the most described here can be the direction that electric current flows into stator winding, described Second direction can be the direction of electric current outflow stator winding, and the first rotation direction is correspondingly Can be clockwise.

In step 610, if rotor is along contrary with the first rotation direction during the second pattern Second rotation direction rotates, then the first stator winding is defined as A phase stator winding, by second Stator winding is defined as C phase stator winding, and the 3rd stator winding is defined as B phase stator winding.

Specifically, in this configuration, the V of VY winding is flowed into when electric current in the first mode End, flows out the W end of WZ winding, and electric current flows into the U of UX winding in a second mode End, when flowing out the V end of the W end of WZ winding and VY winding, during the second pattern, If control unit 18 determines the Theta2 (angle that position sensor records during the second pattern Degree) (rotor turns to the first orientation, the i.e. footpath of UX winding in the first mode with Theta1 The angle that position sensor records when direction) difference more than zero (between 0 degree to 90 degree), I.e. determine that rotor rotates counterclockwise, the most thus may determine that UX winding is A phase stator Winding, VY winding is defined as C phase stator winding, and WZ winding is defined as B phase stator winding, First direction the most described here can be the direction that electric current flows into stator winding, described second direction Can be the direction of electric current outflow stator winding, and correspondingly the first rotation direction can be suitable Clockwise, the second rotation direction can be counterclockwise.Other are with details similar to the above Here repeat no more.

In other embodiment, in the step of frame 608 and 610, described first direction Can also is that the direction of electric current outflow stator winding, described second direction can be that electric current inflow is fixed The direction of sub-winding, and correspondingly the first rotation direction can be counterclockwise, second turn Dynamic direction can be clockwise.

By according to the method demarcating motor that embodiment of the disclosure, it is possible to without additional Hardware in the case of, it is achieved motor with control device phase sequence corresponding, provide cost savings and examine The survey time.

Inclined between electrical null position and the electrical null position of motor of calibration position sensor below The method of declinate degree is described in detail.Fig. 7 show according to the disclosure for calibration position The flow process of the method for the misalignment angle between electrical null position and the electrical null position of motor of sensor Figure.

With reference to Fig. 7, in step 702, apply voltage to stator winding in the first pattern so that Rotor turns to the first orientation.Turn next to step 704, to be different from described first mode Second pattern applies voltage to stator winding so that described rotor rotates from described first orientation. Forward step 706 to, according to rotor rotation direction during the second pattern and position sensor The angle recorded is inclined to determine between the electrical null position of position sensor and the electrical null position of motor Declinate degree.Thus, it is possible to between electrical null position and the electrical null position of motor of position sensor Misalignment angle demarcate.

A kind of embodiment of the method step that can realize in Fig. 7, figure are described below with reference to Fig. 8 8 show according to the electrical null position for calibration position sensor that embodiment of the disclosure and electricity The flow chart of the method for the misalignment angle between the electrical null position of machine.In the following description, for Explanation is clear rather than the purpose that limits, it is assumed that the first stator winding is UX winding, and second Stator winding is VY winding, and the 3rd stator winding is WZ winding.

In certain embodiments, in step 802, can apply to stator winding in the first pattern Voltage so that the electric current in the first stator winding is zero, the electric current first in the second stator winding Flowing in direction, the electric current in the 3rd stator winding flows along the second direction contrary with first direction, Rotor is made to turn to the first orientation, this first axial direction being oriented to the first stator winding.

Concrete operations in the step 802 of Fig. 8 are similar with the operation of the step 502 in Fig. 5, Do not repeat them here.Turn next to step 804, in step 804, can be in a second mode To stator winding apply voltage so that the electric current in the first stator winding is zero, the second stator around Electric current first direction flowing in group, the electric current in the 3rd stator winding is along contrary with first direction Second direction flowing.

Concrete operations in the step 804 of Fig. 8 are similar with the operation of the step 504 in Fig. 5, Do not repeat them here.

Turn next to step 806, determine the rotation direction of rotor in a second mode.In step 808, if rotor rotates along the first rotation direction during the second pattern, then will be at first mode The angle-determining that when period rotor turns to the first orientation, position sensor records is position sensor Electrical null position and the electrical null position of motor between misalignment angle.

Specifically, in certain embodiments, if in a second mode, rotor from along UX around The axial direction of group starts to rotate counterclockwise, then can be by rotor during first mode Turn to the first orientation, the angle that during axial direction of namely UX winding, position sensor records The misalignment angle that degree is defined as between the electrical null position of position sensor and the electrical null position of motor. Here, first direction can be the direction flowing into stator winding, and second direction can be to flow out The direction of stator winding, and correspondingly the first rotation direction can be counterclockwise.

In particular embodiments, Theta2 Yu Theta1 the two angle can be determined by Whether the difference of degree is predetermined angular.In certain embodiments, described predetermined angular is 90 degree. I.e. may determine that whether " Theta2-Theta1=90 degree " becomes Rob Roy to judge the rotation direction of rotor. If " Theta2-Theta1=90 degree " is set up, then may determine that rotor turns counterclockwise 90 degree are moved, so that it is determined that rotor turns to the axial direction of UX winding during first mode Time the electrical null position that angle-determining is position sensor that records of position sensor and motor electric Misalignment angle between zero-bit, and perform: Theta=Theta ', Offset=Theta1, Do not update Current command parameter.

Wherein Theta ' refers to the angle that position sensor records；Theta refers at Theta ' base The angle obtained after performing the step of this scaling method on plinth；Offset refers to position sensor Misalignment angle between electrical null position and the electrical null position of motor；Current command Parameter refers to torque command is converted in control unit being correlated with involved by current order Parameter.This angle Theta1 can also be stored in the memorizer in control unit 18 or and its In the storage device being associated.

In step 810, if during the second pattern, rotor rotates along the second rotation direction, then When turning to the first orientation by 360 degree with rotor during first mode, position sensor records It is inclined that the difference of angle is defined as between the electrical null position of position sensor and the electrical null position of motor Declinate degree.

Specifically, in certain embodiments, if rotor is opened from the axial direction along UX winding Begin to rotate clockwise, then 360 degree can be turned to rotor during first mode During the axial direction of UX winding, the difference of the angle that position sensor records is defined as position sensing Misalignment angle between electrical null position and the electrical null position of motor of device.In certain embodiments, First direction can be the direction flowing into stator winding, and second direction can be outflow stator winding Direction, and correspondingly the first rotation direction can be counterclockwise, the second rotation direction Can be clockwise.

In certain embodiments, Theta2-Theta1=270 degree or-90 degree can be determined by Rob Roy whether is become to judge the rotation direction of rotor.If " Theta2-Theta1=270 degree or-90 Degree " set up, it is determined that rotor have rotated 90 degree clockwise, can by 360 degree and The angle that when rotor turns to the axial direction of UX winding during first mode, position sensor records The deviation that the difference of degree is defined as between the electrical null position of position sensor and the electrical null position of motor Angle, then performs: Theta=360-Theta ', Offset=360-Theta1, updates Current command parameter.It is to say, the difference of 360 degree with Theta1 can be determined For the misalignment angle between electrical null position and the electrical null position of motor of position sensor, and can With by 360 degree with memorizer in control unit 18 of the Difference Storage of Theta1 or with its phase In the storage device of association, and update current order parameter.

If it is determined that Theta2-Theta1=270 degree or-90 degree are set up, then can be optional or replace Generation ground execution: Theta=Theta ', Offset=Theta1, Tcmd=Tcmd ', Spdcmd= Spdcmd ', PWM_v=PWM_w', PWM_w=PWM_v', I_v=I_w', I_w=I_v', the most more New Current command parameter.Wherein Tcmd ' refers to obtain from input equipment Torque command；Tcmd refers to the internal torque command used of control unit；Spdcmd ' refer to from The rotating speed command (if necessary) that input equipment obtains；Spdcmd refers to control unit The internal rotating speed command used；PWM_v' and PWM_w' refer to perform the step of this scaling method Pwm signal before, PWM_vAnd PWM_wAfter referring to perform the step of this scaling method Pwm signal.I_v' and I_w' refer to the current sample before performing the step of this scaling method Value, I_vAnd I_wRefer to the current sampling data after performing the step of this scaling method.It is to say, The pwm signal corresponding with winding W by winding V and current sampling data exchange, other parameters It is constant that holding is set.

Alternatively and/or additionally, in other embodiment, in a second mode, exist After rotor is rotated by the effect of electromagnetic torque, the angle that can record with record position sensor By control unit, degree Theta2, then determines that whether the difference of Theta2 Yu Theta1 is more than zero (between spending 0 to 90), if this difference is more than zero, it is determined that rotor is counterclockwise Rotate, so that it is determined that the electrical null position of the electrical null position that Theta1 is position sensor and motor it Between misalignment angle；If this difference is less than zero (at-90 to 0 degree or referred to as 270 to 360 Between degree), it is determined that rotor rotates clockwise, so that it is determined that 360 degree of-Theta1 For this misalignment angle.It is to say, in certain embodiments, the control unit rotation to rotor When direction is determined, the difference of Theta2 and Theta1 can also be 0 to 90 degree between or Any value between-90 to 0 degree (270 to 360 degree), is not limited to 90 degree or 270 degree (-90 degree).

Additionally, in certain embodiments, described first direction can be electric current outflow stator winding Direction, described second direction can be the direction that electric current flows into stator winding, and described the One rotation direction can be clockwise, and described second rotation direction can be counterclockwise.

Alternatively and/or additionally, in certain embodiments, in described first mode, can So that the electric current in described first stator winding is gradually increased, until in described first stator winding Electric current reach the first predetermined value.

Alternatively and/or additionally, in certain embodiments, in described second pattern, can So that the electric current in described second stator winding is gradually increased, until in described second stator winding Electric current reach the second predetermined value.

Alternatively and/or additionally, in certain embodiments, described first predetermined value can be The load current value of motor.

Alternatively and/or additionally, in certain embodiments, described second predetermined value can be The load current value of motor.

The foregoing describe a kind of embodiment of the method step that can realize in Fig. 7, but can lead to Cross other mode to the method step realizing in Fig. 7, such as, show with reference to Fig. 9, Fig. 9 The electrical null position for calibration position sensor of the other embodiment according to the disclosure and electricity The flow chart of the method for the misalignment angle between the electrical null position of machine.In the following description, for Explanation is clear rather than the purpose that limits, it is assumed that the first stator winding is UX winding, and second Stator winding is VY winding, and the 3rd stator winding is WZ winding.

With reference to Fig. 9, in other embodiment, in step 902, can be in the first pattern To stator winding apply voltage so that the electric current in the first stator winding is zero, the second stator around Electric current first direction flowing in group, the electric current in the 3rd stator winding flows in a second direction, Rotor is made to turn to the first orientation, this first radial direction being oriented to the first stator winding.

Concrete operations in the step 902 of Fig. 9 are similar with the operation of the step 602 in Fig. 6, Do not repeat them here.

Turn next to step 904, in step 904, can be in a second mode to stator winding Apply voltage so that the electric current in the first stator winding flows in the first direction, the second stator around Electric current in group and the electric current in the 3rd stator winding are along the second direction stream contrary with first direction Dynamic.

Concrete operations in the step 904 of Fig. 9 are similar with the operation of the step 604 in Fig. 6, Do not repeat them here.

Turn next to step 906, determine the rotation direction of rotor in a second mode.In step 908, if rotor rotates along the first rotation direction during the second pattern, then will be at first mode The angle that when period rotor turns to the first orientation, position sensor records is true with the difference of 90 degree The misalignment angle being set between the electrical null position of position sensor and the electrical null position of motor.

Specifically, in this configuration, the V of VY winding is flowed into when electric current in the first mode End, flow out WZ winding W end and in a second mode electric current flow into UX winding U End, when flowing out the V end of the W end of WZ winding and VY winding, during the second pattern, If control unit 18 determines the Theta2 (angle that position sensor records during the second pattern Degree) (rotor turns to the first orientation, the i.e. footpath of UX winding in the first mode with Theta1 The angle that position sensor records when direction) difference less than zero (-90 degree to 0 degree it Between), i.e. determine that rotor rotates clockwise, then may determine that Theta1 and 90 degree Difference is the misalignment angle between electrical null position and the electrical null position of motor of position sensor, First direction described here can be the direction that electric current flows into stator winding, and described second direction can To be the direction of electric current outflow stator winding, the first rotation direction can be clockwise.

In step 910, if rotor rotates along the second rotation direction during the second pattern, will The angle that 270 degree of position sensors when turning to the first orientation with rotor during first mode record The deviation that the difference of degree is defined as between the electrical null position of position sensor and the electrical null position of motor Angle.

Specifically, in this configuration, the V of VY winding is flowed into when electric current in the first mode End, flow out WZ winding W end and in a second mode electric current flow into UX winding U End, when flowing out the V end of the W end of WZ winding and VY winding, during the second pattern, If control unit 18 determines that the difference of Theta2 Yu Theta1 is more than zero (at 0 degree to 90 Between degree), i.e. determine that rotor rotates counterclockwise, then may determine that 270 degree and Theta1 The electrical null position that difference is position sensor and the electrical null position of motor between misalignment angle, First direction described herein can be the direction that electric current flows into stator winding, described second direction Can be the direction of electric current outflow stator winding, the first rotation direction can be clockwise, Second rotation direction can be counterclockwise.

Alternatively, in certain embodiments, described first direction can be electric current outflow stator around The direction of group, described second direction can be the direction that electric current flows into stator winding, and described First rotation direction can be that counterclockwise described second rotation direction can be side clockwise To.

Alternatively and/or additionally, in certain embodiments, in described first mode, can So that the electric current in described second stator winding is gradually increased, until in described second stator winding Electric current reach the first predetermined value.

Alternatively and/or additionally, in certain embodiments, in described second pattern, can So that the electric current in described first stator winding is gradually increased, until in described first stator winding Electric current reach the second predetermined value.

By according to the method demarcating motor that embodiment of the disclosure, without additional hard In the case of part, it is possible to record between the electrical null position of position sensor and the electrical null position of motor Misalignment angle, provide cost savings and the detection time.

After having performed the method for above-mentioned demarcation stator winding phase sequence and calibration offset angle, Later to can be from the memorizer in described control unit or be associated when vehicle and electrical power Storage device in read stored misalignment angle Offset, motor properly functioning in, will The difference of Theta (angle that time properly functioning, position sensor records) and Offset is defined as The rotor angle information that control unit uses.

Motor properly functioning in, control unit receives from the torque command of input equipment (Tcmd) or rotating speed command (Spdcmd), and according to rotor angle information (Theta-Offset), Current information (the I of stator winding_U、I_V、I_W), generate pwm signal (PWM_U、PWM_V And PWM_W), and pwm signal is exported inverter to control each power electronics device Switching off and on of part, thus the direct current that power supply exports is converted to exchange, just driving motor Often run.

According to another aspect of the present disclosure, it is provided that a kind of control device for controlling motor, institute State motor can include rotor and stator winding, described stator winding can include the first stator around Group, the second stator winding and the 3rd stator winding, described control device may include that inverter, It is connected with described motor operably；And control unit, operably with described inversion Device connect, described control unit can be configured to: by described inverter in the first pattern to Stator winding applies voltage so that described rotor turns to the first orientation；By described inverter Voltage is applied being different from the second pattern of described first mode so that described turn to stator winding Son rotates from described first orientation；And according to described rotor turning during described second pattern Dynamic direction determine described first stator winding, described second stator winding and described 3rd stator around The phase sequence of group.

Alternatively and/or additionally, in described first mode, in described first stator winding Electric current can flow in the first direction, the electric current in described second stator winding and the described 3rd Electric current in stator winding can be described along second direction flowing opposite to the first direction First orientation can be the axial direction of described first stator winding；In described second pattern, Electric current in described first stator winding can be zero, and the electric current in described second stator winding can To flow along described first direction, the electric current in described 3rd stator winding can be along described second Flow in direction；If described rotor rotates along the first rotation direction during described second pattern, Then described first stator winding can be defined as A phase stator winding, by described second stator around Group is defined as B phase stator winding, and described 3rd stator winding is defined as C phase stator winding； And if described rotor edge is contrary with described first rotation direction during described second pattern Second rotation direction rotates, then described first stator winding can be defined as A phase stator winding, Described second stator winding is defined as C phase stator winding, described 3rd stator winding is determined For B phase stator winding.

Alternatively and/or additionally, described first direction can be that electric current flows into stator winding Direction, described second direction can be the direction of electric current outflow stator winding, and described first Rotation direction can be counterclockwise, and described second rotation direction can be clockwise.

Alternatively and/or additionally, described first direction can be electric current outflow stator winding Direction, described second direction can be the direction that electric current flows into stator winding, and described first Rotation direction can be clockwise, and described second rotation direction can be counterclockwise.

Alternatively and/or additionally, described control unit can be further configured to: in institute State in first mode, make the electric current in described first stator winding be gradually increased, until described the Electric current in one stator winding reaches the first predetermined value.

Alternatively and/or additionally, described control unit can be further configured to: in institute State in the second pattern, make the electric current in described second stator winding be gradually increased, until described the Electric current in two stator winding reaches the second predetermined value.

Alternatively and/or additionally, described first predetermined value can be the load current value of motor.

Alternatively and/or additionally, described second predetermined value can be the load current value of motor.

Alternatively and/or additionally, in described first mode, in described first stator winding Electric current can be zero, the electric current in described second stator winding can flow in the first direction, Electric current in described 3rd stator winding can be along second direction stream opposite to the first direction Dynamic, described first orientation can be the radial direction of described first stator winding；Described second In pattern, the electric current in described first stator winding can flow along described first direction, described Electric current in second stator winding and the electric current in described 3rd stator winding can be along described second Flow in direction；If described rotor rotates along the first rotation direction during described second pattern, Then described first stator winding can be defined as A phase stator winding, by described second stator around Group is defined as B phase stator winding, and described 3rd stator winding is defined as C phase stator winding； And if described rotor edge is contrary with described first rotation direction during described second pattern Second rotation direction rotates, then described first stator winding can be defined as A phase stator winding, Described second stator winding is defined as C phase stator winding, described 3rd stator winding is determined For B phase stator winding.

Alternatively and/or additionally, described first direction can be that electric current flows into stator winding Direction, described second direction can be the direction of electric current outflow stator winding, and described first Rotation direction can be clockwise, and described second rotation direction can be counterclockwise.

Alternatively and/or additionally, described first direction can be electric current outflow stator winding Direction, described second direction can be the direction that electric current flows into stator winding, and described first Rotation direction can be counterclockwise, and described second rotation direction can be clockwise.

Alternatively and/or additionally, described control unit can be further configured to: in institute State in first mode, make the electric current in described second stator winding be gradually increased, until described the Electric current in two stator winding reaches the first predetermined value.

Alternatively and/or additionally, described control unit can be further configured to: in institute State in the second pattern, make the electric current in described first stator winding be gradually increased, until described the Electric current in one stator winding reaches the second predetermined value.

According to another aspect of the present disclosure, it is provided that a kind of vehicle, it may include that motor, its Including rotor and stator winding, described stator winding include the first stator winding, the second stator around Group and the 3rd stator winding；And above-mentioned control device.

According to another aspect of the present disclosure, it is provided that a kind of control device for controlling motor, institute State motor can include rotor and stator winding, described stator winding can include the first stator around Group, the second stator winding and the 3rd stator winding, be provided with position sensor in described motor, For determining the described rotor relative position relative to described stator winding, described control device can To include: inverter, it is connected with described motor operably；And control unit, can grasp Operatively being connected with described inverter, described control unit can be configured to: passes through inverter Voltage is applied in the first pattern so that described rotor turns to the first orientation to stator winding；Logical Cross inverter and apply voltage with the second pattern being different from described first mode to stator winding, make Obtain described rotor to rotate from described first orientation；And according to described rotor in described second pattern The angle that the rotation direction of period and described position sensor record is to determine described position sensing Misalignment angle between electrical null position and the electrical null position of described motor of device.

Alternatively and/or additionally, in described first mode, in described first stator winding Electric current can flow in the first direction, the electric current in described second stator winding and the described 3rd Electric current in stator winding can be described along second direction flowing opposite to the first direction First orientation can be the axial direction of described first stator winding；In described second pattern, Electric current in described first stator winding can be zero, and the electric current in described second stator winding can To flow along described first direction, the electric current in described 3rd stator winding can be along described second Flow in direction；If described rotor turns along described first rotation direction during described second pattern Dynamic, then rotor described during described first mode can be turned to the first orientation time institute rheme Put the electrical null position that angle-determining is described position sensor and described motor that sensor records Misalignment angle between electrical null position；And if during described second pattern described rotor edge Described second rotation direction rotates, then can be described with during described first mode by 360 degree Rotor when turning to the first orientation the difference of the angle that described position sensor records be defined as described Misalignment angle between electrical null position and the electrical null position of described motor of position sensor.

Alternatively and/or additionally, in described first mode, in described first stator winding Electric current can be zero, the electric current in described second stator winding can flow in the first direction, Electric current in described 3rd stator winding can be along second direction stream opposite to the first direction Dynamic, described first orientation can be the radial direction of described first stator winding；Described second In pattern, the electric current in described first stator winding can flow along described first direction, described Electric current in second stator winding and the electric current in described 3rd stator winding can be along described second Flow in direction；If described rotor turns along described first rotation direction during described second pattern Dynamic, then rotor described during described first mode can be turned to the first orientation time institute rheme Put angle that sensor the records difference with 90 degree and be defined as electric the zero of described position sensor Misalignment angle between position and the electrical null position of described motor；And if in described second pattern Rotor described in period rotates along described second rotation direction, then can be by 270 degree and described the The described rotor angle that when turning to the first orientation, described position sensor records during one pattern Difference is defined as between the electrical null position of described position sensor and the electrical null position of described motor Misalignment angle.

According to another aspect of the present disclosure, it is provided that a kind of vehicle, it may include that motor, its Can include rotor and stator winding, described stator winding can include the first stator winding, Two stator winding and the 3rd stator winding；And above-mentioned control device.

According to another aspect of the present disclosure, it is provided that a kind of processing means for demarcating motor, institute State motor include rotor and stator winding, described stator winding include the first stator winding, second Stator winding and the 3rd stator winding, described processing means includes: memorizer, in described storage On device, storage has instruction；Control unit, couples with described memorizer operably, is configured For performing the instruction on described memorizer, to perform following operation: by inverter with the first mould Formula applies voltage to stator winding so that described rotor turns to the first orientation；Pass through inverter Voltage is applied being different from the second pattern of described first mode so that described turn to stator winding Son rotates from described first orientation；And according to described rotor turning during described second pattern Dynamic direction determine described first stator winding, described second stator winding and described 3rd stator around The phase sequence of group.

According to another aspect of the present disclosure, it is provided that a kind of processing means for demarcating motor, institute State motor include rotor and stator winding, described stator winding include the first stator winding, second Stator winding and the 3rd stator winding, be provided with position sensor in described motor, for really Fixed described rotor is relative to the relative position of described stator winding, and described processing means includes: deposit Reservoir, on described memorizer, storage has instruction；Control unit, deposits with described operably Reservoir couples, and is configured to perform the instruction on described memorizer, to perform following operation: logical Cross inverter and apply voltage to stator winding in the first pattern so that described rotor turns to first Orientation；Applied to stator winding with the second pattern being different from described first mode by inverter Voltage so that described rotor rotates from described first orientation；And according to described rotor described The angle that rotation direction during second pattern and described position sensor record determines described Misalignment angle between electrical null position and the electrical null position of described motor of position sensor.

The disclosure can be system, method and/or computer program.Computer program product Product can include computer-readable recording medium, containing being used for making processor realize the disclosure The computer-readable program instructions of various aspects.

Computer-readable recording medium can be can to keep and store being made by instruction execution equipment The tangible device of instruction.Computer-readable recording medium can be such as-but it is not limited to-electricity Storage device, magnetic storage apparatus, light storage device, electromagnetism storage device, semiconductor storage set The combination of standby or above-mentioned any appropriate.The more specifically example of computer-readable recording medium (non exhaustive list) including: portable computer diskette, hard disk, random access memory (RAM), read only memory (ROM), erasable type programmable read only memory (EPROM Or flash memory), static RAM (SRAM), the read-only storage of Portable compressed dish Device (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding Equipment, such as storage has the punch card of instruction or groove internal projection structure and above-mentioned on it The combination of any appropriate.Computer-readable recording medium used herein above is not construed as instantaneous Signal itself, the electromagnetic wave of such as radio wave or other Free propagations, by waveguide or its Electromagnetic wave (such as, by the light pulse of fiber optic cables) that his transmission medium is propagated or logical Cross the signal of telecommunication of wire transfer.

Computer-readable program instructions as described herein can be from computer-readable recording medium Download to each calculating/processing equipment, or by network, such as the Internet, LAN, wide Territory net and/or wireless network download to outer computer or External memory equipment.Network can include copper Transmission cable, fiber-optic transfer, be wirelessly transferred, router, fire wall, switch, gateway meter Calculation machine and/or Edge Server.Adapter in each calculating/processing equipment or network Interface receives computer-readable program instructions from network, and forwards this computer-readable program instructions, For in the computer-readable recording medium being stored in each calculating/processing equipment.

Can be assembly instruction, instruction set for performing the computer program instructions of disclosure operation Framework (ISA) instruction, machine instruction, machine-dependent instructions, microcode, firmware instructions, Condition setup data or the source code write with the combination in any of one or more programming languages Or object code, described programming language includes OO programming language such as Smalltalk, C++ etc., and the procedural programming languages of routine such as " C " language or Similar programming language.Computer-readable program instructions can be held the most on the user computer Go, perform the most on the user computer, as the execution of independent software kit, a part On the user computer part perform the most on the remote computer or completely at remote computer or Perform on server.In the situation relating to remote computer, remote computer can be by appointing The network of meaning kind includes that LAN (LAN) or wide area network (WAN) are connected to user and calculate Machine, or, it may be connected to outer computer (such as utilizes ISP to lead to Cross Internet connection).In certain embodiments, by utilizing computer-readable program instructions Status information comes personalized customization electronic circuit, such as Programmable Logic Device, field-programmable Gate array (FPGA) or programmable logic array (PLA), this electronic circuit can perform Computer-readable program instructions, thus realize various aspects of the disclosure.

Stream referring herein to the method according to disclosure embodiment, device and computer program Journey figure and/or block diagram describe various aspects of the disclosure.Should be appreciated that flow chart and/or frame The combination of each square frame in each square frame of figure and flow chart and/or block diagram, can be by computer Readable program instructions realizes.

These computer-readable program instructions can be supplied to general purpose computer, special-purpose computer or The processor of other programmable data processing means, thus produce a kind of machine so that these Instruct when being performed by the processor of computer or other programmable data processing means, produce The dress of the function/action of regulation in one or more square frames in flowchart and/or block diagram Put.These computer-readable program instructions can also be stored in a computer-readable storage medium, These instructions make computer, programmable data processing means and/or other equipment in a specific way Work, thus, storage has the computer-readable medium of instruction then to include a manufacture, its bag Include in the one or more square frames in flowchart and/or block diagram function/action each of regulation The instruction of individual aspect.

Computer-readable program instructions can also be loaded at computer, other programmable data Reason device or miscellaneous equipment on so that computer, other programmable data processing means or Sequence of operations step is performed on miscellaneous equipment, to produce computer implemented process, so that The instruction that must perform on computer, other programmable data processing means or miscellaneous equipment is real Function/the action of regulation in one or more square frames in existing flow chart and/or block diagram.

Flow chart in accompanying drawing and block diagram show the multiple embodiments according to the disclosure system, Architectural framework in the cards, function and the operation of method and computer program product.This point On, each square frame in flow chart or block diagram can represent a module, program segment or instruction A part, a part for described module, program segment or instruction comprises one or more for realizing The executable instruction of the logic function of regulation.Some as replace realization in, institute in square frame The function of mark can also occur to be different from the order marked in accompanying drawing.Such as, two companies Continuous square frame can essentially perform substantially in parallel, and they sometimes can also be in the opposite order Performing, this is depending on involved function.It is also noted that in block diagram and/or flow chart The combination of the square frame in each square frame and block diagram and/or flow chart, can be with performing regulation The special hardware based system of function or action realizes, or can with specialized hardware with The combination of computer instruction realizes.

Being described above the presently disclosed embodiments, described above is exemplary, not Exhaustive, and it is also not necessarily limited to disclosed each embodiment.Without departing from illustrated each reality In the case of executing the scope and spirit of example, permitted for those skilled in the art Many modifications and changes will be apparent from.The selection of term used herein, it is intended to best Explain the principle of each embodiment, actual application or the technological improvement to Market and Technology, or make this Other those of ordinary skill of technical field is understood that each embodiment disclosed herein.

Claims

1., for the method demarcating motor, described motor includes rotor and stator winding, Described stator winding includes the first stator winding, the second stator winding and the 3rd stator winding, institute The method of stating includes:

Voltage is applied in the first pattern so that described rotor turns to first and takes to stator winding To；

Voltage is applied being different from the second pattern of described first mode so that institute to stator winding State rotor to rotate from described first orientation；And

Determine that described first is fixed according to described rotor rotation direction during described second pattern Sub-winding, described second stator winding and the phase sequence of described 3rd stator winding.

Method the most according to claim 1, wherein:

In described first mode, the electric current in described first stator winding flows in the first direction Dynamic, the electric current in described second stator winding and the edge of the electric current in described 3rd stator winding and institute Stating the second direction flowing that first direction is contrary, described first is oriented to described first stator winding Axial direction；

In described second pattern, the electric current in described first stator winding is zero, described second Electric current in stator winding flows along described first direction, the electric current in described 3rd stator winding Flow along described second direction；

If during described second pattern, described rotor rotates along the first rotation direction, then by institute State the first stator winding and be defined as A phase stator winding, described second stator winding is defined as B Phase stator winding, is defined as C phase stator winding by described 3rd stator winding；And

If described rotor is along contrary with described first rotation direction during described second pattern Second rotation direction rotate, then described first stator winding is defined as A phase stator winding, Described second stator winding is defined as C phase stator winding, described 3rd stator winding is determined For B phase stator winding.

Method the most according to claim 2, wherein said first direction is that electric current flows into The direction of stator winding, described second direction is the direction of electric current outflow stator winding, and institute Stating the first rotation direction is counterclockwise, and described second rotation direction is clockwise.

Method the most according to claim 2, wherein said first direction is that electric current flows out The direction of stator winding, described second direction is the direction that electric current flows into stator winding, and institute Stating the first rotation direction is clockwise, and described second rotation direction is counterclockwise.

Method the most according to claim 2, also includes at least one in following operation:

In described first mode, the electric current in described first stator winding is made to be gradually increased, directly Electric current in described first stator winding reaches the first predetermined value；And

In described second pattern, the electric current in described second stator winding is made to be gradually increased, directly Electric current in described second stator winding reaches the second predetermined value.

Method the most according to claim 1, wherein:

In described first mode, the electric current in described first stator winding is zero, described second Electric current in stator winding flows in the first direction, electric current in described 3rd stator winding along with Described first direction contrary second direction flowing, described first be oriented to described first stator around The radial direction of group；

In described second pattern, the electric current in described first stator winding is along described first direction Flowing, the electric current in described second stator winding and the electric current in described 3rd stator winding are along institute State second direction flowing；

Method the most according to claim 6, wherein said first direction is that electric current flows into The direction of stator winding, described second direction is the direction of electric current outflow stator winding, and institute Stating the first rotation direction is clockwise, and described second rotation direction is counterclockwise.

Method the most according to claim 6, wherein said first direction is that electric current flows out The direction of stator winding, described second direction is the direction that electric current flows into stator winding, and institute Stating the first rotation direction is counterclockwise, and described second rotation direction is clockwise.

Method the most according to claim 6, also includes at least one in following operation:

In described first mode, the electric current in described second stator winding is made to be gradually increased, directly Electric current in described second stator winding reaches the first predetermined value；And

In described second pattern, the electric current in described first stator winding is made to be gradually increased, directly Electric current in described first stator winding reaches the second predetermined value.

10. for controlling the control device of motor, described motor include rotor and stator around Group, described stator winding includes the first stator winding, the second stator winding and the 3rd stator winding, Described control device includes:

Inverter, is connected with described motor operably；And

Control unit, is connected with described inverter operably, and described control unit is configured For:

Voltage is applied to stator winding in the first pattern so that described rotor by described inverter Turn to the first orientation；

By described inverter to be different from the second pattern of described first mode to stator winding Apply voltage so that described rotor rotates from described first orientation；And

11. control devices according to claim 10, wherein:

12. control devices according to claim 11, wherein said first direction is electricity Stream flows into the direction of stator winding, and described second direction is the direction of electric current outflow stator winding, And described first rotation direction is that counterclockwise described second rotation direction is side clockwise To.

13. control devices according to claim 11, wherein said first direction is electricity The direction of stream outflow stator winding, described second direction is the direction that electric current flows into stator winding, And described first rotation direction is that described second rotation direction is side counterclockwise clockwise To.

14. control devices according to claim 11, wherein said control unit is entered One step is configured to perform at least one in following operation:

15. control devices according to claim 10, wherein

16. control devices according to claim 15, wherein said first direction is electricity Stream flows into the direction of stator winding, and described second direction is the direction of electric current outflow stator winding, And described first rotation direction is that described second rotation direction is side counterclockwise clockwise To.

17. control devices according to claim 15, wherein said first direction is electricity The direction of stream outflow stator winding, described second direction is the direction that electric current flows into stator winding, And described first rotation direction is that counterclockwise described second rotation direction is side clockwise To.

18. control devices according to claim 15, wherein said control unit is entered One step is configured to perform at least one in following operation:

19. 1 kinds of vehicles, including:

Motor, it include rotor and stator winding, described stator winding include the first stator winding, Second stator winding and the 3rd stator winding；And

According to the control device according to any one of claim 10-18.

20. 1 kinds for demarcating the processing meanss of motor, described motor include rotor and stator around Group, described stator winding includes the first stator winding, the second stator winding and the 3rd stator winding, Described processing means includes:

Memorizer, on described memorizer, storage has instruction；

Control unit, couples with described memorizer operably, is configured to described in execution deposit Instruction on reservoir, to perform following operation:

Voltage is applied to stator winding in the first pattern so that described rotor rotates by inverter To the first orientation；

Applied to stator winding with the second pattern being different from described first mode by inverter Voltage so that described rotor rotates from described first orientation；And