CN106992731A - A kind of method and device for the position for determining rotor - Google Patents
A kind of method and device for the position for determining rotor Download PDFInfo
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- CN106992731A CN106992731A CN201710379696.7A CN201710379696A CN106992731A CN 106992731 A CN106992731 A CN 106992731A CN 201710379696 A CN201710379696 A CN 201710379696A CN 106992731 A CN106992731 A CN 106992731A
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Abstract
The invention provides it is a kind of determine rotor position method and device, this method, including：Determine the current axis error of rotor；Low-pass filtering treatment is carried out to the current axis error, current low-pass filter value is generated；Phaselocked loop processing is carried out to the current low-pass filter value, the current operation frequency of the rotor is generated；According to the current operation frequency, the current location of the rotor is determined.The invention provides a kind of method and device for the position for determining rotor, it is possible to increase the success rate of electric motor starting.
Description
Technical field
The present invention relates to field of mechanical technique, more particularly to a kind of method and device for the position for determining rotor.
Background technology
In order to ensure the normal operation of motor, it is thus necessary to determine that go out the position of rotor.
In the scheme of the position of the determination rotor of prior art, in electric motor starting, arrived in the open loop dragging stage
During closed-loop control step transition, with the change of motor load, the Controlling model moment of motor is unsatisfactory for motor model
The magnetic circuit of the condition assumed, such as motor is linear, and three-phase windings are influences that is full symmetric and ignoring higher hamonic wave
Deng, and then cause the position of obtained rotor easily to occur electric motor starting failure.
Visible by foregoing description, the position for the rotor that prior art is determined is easily caused electric motor starting failure.
The content of the invention
The embodiments of the invention provide a kind of method and device for the position for determining rotor, it is possible to increase electric motor starting
Success rate.
On the one hand, the embodiments of the invention provide a kind of method for the position for determining rotor, including：
Determine the current axis error of rotor；
Low-pass filtering treatment is carried out to the current axis error, current low-pass filter value is generated；
Phaselocked loop processing is carried out to the current low-pass filter value, the current operation frequency of the rotor is generated；
According to the current operation frequency, the current location of the rotor is determined.
Further, this method further comprises：Initialize Δ θ '0；
It is described that low-pass filtering treatment is carried out to the current axis error, current low-pass filter value is generated, including：
According to formula one, the current low-pass filter value is calculated, wherein, the formula one is：
Wherein, Δ θPLLnFor the current low-pass filter value, Δ θnFor the current axis error, Δ θ 'n- 1 be described n-th-
The intermediate parameters of 1 time, Δ θ 'nFor the intermediate parameters of n-th, TsFor the use cycle computation time pre-set, TLPFTo be advance
The low pass filter filtering time of setting, m is that default positive integer, n are positive integer；
Described according to the current operation frequency, after the current location for determining the rotor, further comprise：
Return to the current axis error for determining rotor.
Further, this method further comprises：
The d axles rotated with the rotor, q axle rectangular coordinate systems are pre-established, wherein, d axles and the rotor
Current location overlap, q axles are vertical with d axles；
The current axis error for determining rotor, including：
Determine current voltage, the current inductance value of d axles, the current inductance value of q axles, the current flow of d axles, the q axles on d axles
Current flow and current tachometer value；
According to formula two, the current axis error is calculated, wherein, formula two is：
Wherein, Δ θ is the current axis error, Vd* it is the current voltage on the d axles, R* is the rotor pair
The resistance for the motor answered, KE* it is induced voltage constant, Ld* it is the current inductance value of the d axles, Lq* it is the current electricity of the q axles
Inductance value, IdFor the current flow of the d axles, IqFor the current flow of the q axles, ω * are the current tachometer value.
Further, the initialization Δ θ '0, including：
By Δ θ '0It is initialized as α 2m, wherein, α is more than 0.
Further, it is described that phaselocked loop processing is carried out to the current low-pass filter value, generate working as the rotor
Preceding rotational frequency, including：
By the current low-pass filter value it is anti-phase after be input in phaselocked loop, obtain the described current of phaselocked loop output
Rotational frequency.
Further, it is described according to the current operation frequency, the current location of the rotor is determined, including：
According to formula four, the current location is calculated, wherein, the formula four is：
θnThe π f of=∫ 2n·dt；
Wherein, θnFor the current location, fnFor the current operation frequency, t is the time.
On the other hand, ∫ of the present invention applies example and provides a kind of device for the position for determining rotor, including：
Axis error determining unit, the current axis error for determining rotor；
Filter unit, for carrying out low-pass filtering treatment to the current axis error, generates current low-pass filter value；
Phase locked-loop unit, for carrying out phaselocked loop processing to the current low-pass filter value, generates the rotor
Current operation frequency；
Position determination unit, for according to the current operation frequency, determining the current location of the rotor.
Further, the device further comprises：Initialization unit, for initializing Δ θ '0；
The filter unit, is used for：
According to formula one, the current low-pass filter value is calculated, wherein, the formula one is：
Wherein, Δ θPLLnFor the current low-pass filter value, Δ θnFor the current axis error, Δ θ 'n-1For described (n-1)th
Secondary intermediate parameters, Δ θ 'nFor the intermediate parameters of n-th, TsFor the use cycle computation time pre-set, TLPFTo set in advance
The low pass filter filtering time put, m is that default positive integer, n are positive integer；
The position determination unit, is further used for described according to the current operation frequency, determines that the motor turns
After the current location of son, the axis error determining unit is triggered.
Further, the device further comprises：Unit is set up, for setting up the d axles rotated with the rotor, q
Axle rectangular coordinate system, wherein, d axles are overlapped with the current location of the rotor, and q axles are vertical with d axles；
The axis error determining unit, is used for：
Determine current voltage, the current inductance value of d axles, the current inductance value of q axles, the current flow of d axles, the q axles on d axles
Current flow and current tachometer value；
According to formula two, the current axis error is calculated, wherein, formula two is：
Wherein, Δ θ is the current axis error, Vd* it is the current voltage on the d axles, R* is the rotor pair
The resistance for the motor answered, KE* it is induced voltage constant, Ld* it is the current inductance value of the d axles, Lq* it is the current electricity of the q axles
Inductance value, IdFor the current flow of the d axles, IqFor the current flow of the q axles, ω * are the current tachometer value.
Further, the initialization unit, for by Δ θ '0It is initialized as α 2m, wherein, α is more than 0.
Further, the phase locked-loop unit, for by the current low-pass filter value it is anti-phase after be input in phaselocked loop,
Obtain the current operation frequency of the phaselocked loop output.
Further, the position determination unit, for according to formula four, calculating the current location, wherein, the public affairs
Formula four is：
θnThe π f of=∫ 2n·dt；
Wherein, θnFor the current location, fnFor the current operation frequency, t is the time.
In embodiments of the present invention, after current axis error is determined, low-pass filtering treatment, obtained current low pass are carried out
The fluctuation of filter value is smaller, and the current operation frequency of rotor is determined using current low-pass filter value, and then determines motor
The current location of rotor, the rotational frequency of the rotor obtained using scheme provided in an embodiment of the present invention is not easy to bear
Value, improves the success rate of electric motor starting.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is a kind of flow chart of the method for the position for determination rotor that one embodiment of the invention is provided；
Fig. 2 is that a kind of physical location of rotor and the estimated position of rotor that one embodiment of the invention is provided exist
Schematic diagram under d axles, q axle rectangular coordinate systems；
Fig. 3 is a kind of flow chart of the method for the position for determination rotor that one embodiment of the invention is provided；
Fig. 4 is a kind of schematic diagram of the device of the position for determination rotor that one embodiment of the invention is provided.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments, based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained on the premise of creative work is not made, belongs to the scope of protection of the invention.
As shown in figure 1, the embodiments of the invention provide a kind of method for the position for determining rotor, this method can be wrapped
Include following steps：
Step 101：Determine the current axis error of rotor；
Step 102：Low-pass filtering treatment is carried out to the current axis error, current low-pass filter value is generated；
Step 103：Phaselocked loop processing is carried out to the current low-pass filter value, the current operation of the rotor is generated
Frequency；
Step 104：According to the current operation frequency, the current location of the rotor is determined.
In embodiments of the present invention, after current axis error is determined, low-pass filtering treatment, obtained current low pass are carried out
The fluctuation of filter value is smaller, and the current operation frequency of rotor is determined using current low-pass filter value, and then determines motor
The current location of rotor, the rotational frequency of the rotor obtained using scheme provided in an embodiment of the present invention is not easy to bear
Value, improves the success rate of electric motor starting.
In an embodiment of the present invention, this method further comprises：Initialize Δ θ '0；
It is described that low-pass filtering treatment is carried out to the current axis error, current low-pass filter value is generated, including：
According to formula one, the current low-pass filter value is calculated, wherein, the formula one is：
Wherein, Δ θPLLnFor the current low-pass filter value, Δ θnFor the current axis error, Δ θ 'n-1For described (n-1)th
Secondary intermediate parameters, Δ θ 'nFor the intermediate parameters of n-th, TsFor the use cycle computation time pre-set, TLPFTo set in advance
The low pass filter filtering time put, m is that default positive integer, n are positive integer；
Described according to the current operation frequency, after the current location for determining the rotor, further comprise：
Return to the current axis error for determining rotor.
In embodiments of the present invention, using the continuous iteration of formula one, the LPF to each axis error is realized, to determine
Low-pass filter value, the low-pass filter value fluctuation so obtained is smaller.Here n is the number of times of iteration.When filtering first time, profit
With the Δ θ ' of initialization0, calculated.In filtering after, the last Δ θ ' generated can be usedn-1Counted
Calculate.
In an embodiment of the present invention, this method further comprises：
The d axles rotated with the rotor, q axle rectangular coordinate systems are pre-established, wherein, d axles and the rotor
Current location overlap, q axles are vertical with d axles；
The current axis error for determining rotor, including：
Determine current voltage, the current inductance value of d axles, the current inductance value of q axles, the current flow of d axles, the q axles on d axles
Current flow and current tachometer value；
According to formula two, the current axis error is calculated, wherein, formula two is：
Wherein, Δ θ is the current axis error, Vd* it is the current voltage on the d axles, R* is the rotor pair
The resistance for the motor answered, KE* it is induced voltage constant, Ld* it is the current inductance value of the d axles, Lq* it is the current electricity of the q axles
Inductance value, IdFor the current flow of the d axles, IqFor the current flow of the q axles, ω * are the current tachometer value.
In embodiments of the present invention, current axis error is calculated every time, is calculated by formula two.As shown in Fig. 2 this hair
A kind of physical location of rotor and the estimated position of rotor that bright embodiment is provided are under d axles, q axle rectangular coordinate systems
Schematic diagram.Wherein, U axles are U phase winding fixing axles, dcFor the estimated position of rotor, qcWith dcVertically.IdAnd IqIt can lead to
Cross in the following manner determination：Detect the phase current I of motoru、Iv、Iw, according to the phase current I of motoru、Iv、Iw, coordinate transform is carried out,
Draw IdAnd Iq。
In an embodiment of the present invention, the initialization Δ θ '0, including：
By Δ θ '0It is initialized as α 2m, wherein, α is more than 0.
Δ θ ' is initialized by this way0It is to switch on the occasion of, it is to avoid rotational frequency in state that rotational frequency, which can just be caused,
When there is the situation of negative value, and then improve electric motor starting success rate.
In an embodiment of the present invention, on the determination d axles current voltage, the current inductance value of d axles, q axles it is current
Inductance value, the current flow of d axles, the current flow of q axles and current tachometer value, including：
According to formula three, the current tachometer value is calculated, wherein, the formula three is：
The π f of ω *=2n-1；
Wherein, fnFor the current operation frequency, fn-1For the rotational frequency of (n-1)th time.
In embodiments of the present invention, when calculating for the first time, ω * can be by the f of initialization0Obtain, f0More than 0.Count afterwards
Calculate ω *, the rotational frequency f determined according to upper onen-1Obtain.
In an embodiment of the present invention, it is described that phaselocked loop processing is carried out to the current low-pass filter value, generate the electricity
The current operation frequency of machine rotor, including：
By the current low-pass filter value it is anti-phase after be input in phaselocked loop, obtain the described current of phaselocked loop output
Rotational frequency.
In embodiments of the present invention, using the phase lock control technology that current low-pass filter value is locked to 0 after anti-phase, really
Make current operation frequency.
In an embodiment of the present invention, it is described according to the current operation frequency, determine the present bit of the rotor
Put, including：
According to formula four, the current location is calculated, wherein, the formula four is：
θnThe π f of=∫ 2n·dt；
Wherein, θnFor the current location, fnFor the current operation frequency, t is the time.
After the current location of rotor is determined, it can also be run by the current location controlled motor.
As shown in figure 3, the embodiments of the invention provide a kind of method for the position for determining rotor, this method can be wrapped
Include following steps：
Step 301：The d axles rotated with rotor, q axle rectangular coordinate systems are pre-established, wherein, d axles and rotor
Current location overlap, q axles are vertical with d axles.
Step 302：Initialize Δ θ '0And f0。
Specifically, in initialization, by Δ θ '0It is initialized as Δ θ '0=α 2m, α is more than 0.Initialize by this way
Δθ'0It is to occur the situation of negative value, and then raising when state switch on the occasion of, it is to avoid rotational frequency that rotational frequency, which can just be caused,
Electric motor starting success rate.
The step can be realized in the open loop dragging stage of electric motor starting.
Step 303：Determine current voltage on d axles, the current inductance value of d axles, the current inductance value of q axles, d axles it is current
The current flow of electric current and q axles, and according to formula three, current tachometer value is calculated, wherein, formula three is：
The π f of ω *=2n-1；
Wherein, fnFor current operation frequency, fn-1For the rotational frequency of (n-1)th time.
Step 304：According to formula two, the current axis error of rotor is calculated, wherein, formula two is：
Wherein, Δ θ is current axis error, Vd* it is the current voltage on d axles, R* is the electricity of the corresponding motor of rotor
Resistance, KE* it is induced voltage constant, Ld* it is the current inductance value of d axles, Lq* it is the current inductance value of q axles, IdFor the current electricity of d axles
Stream, IqFor the current flow of q axles, ω * are current tachometer value.Here Δ θ is Δ θn。
Step 305：According to formula one, current low-pass filter value is calculated, wherein, formula one is：
Wherein, Δ θPLLnFor current low-pass filter value, Δ θnFor current axis error, Δ θ 'n-1To join in the middle of (n-1)th time
Number, Δ θ 'nFor the intermediate parameters of n-th, TsFor the use cycle computation time pre-set, TLPFFor the low pass filtered pre-set
Ripple device filtering time, m is that default positive integer, n are positive integer.
Specifically, TsIt can be 1 millisecond, TLPFIt can be 100 milliseconds.Work as Ts, can be by changing T when fixedLPFTo obtain
Different low-pass filter effects.User flexibly can set T according to the demand to low-pass filter effectsAnd TLPF。
When scheme provided in an embodiment of the present invention using chip microcontroller, because single-chip microcomputer does not typically support decimal at present
Processing, the embodiment of the present invention passes through 2mThe integer that can obtain, it is to avoid single-chip microcomputer processing decimal.M can be with value 16.
The step can be realized in the closed-loop control stage of electric motor starting.
Step 306：By current low-pass filter value it is anti-phase after be input in phaselocked loop, obtain phaselocked loop output current operation
Frequency.
Specifically, by (0- Δs θPLLn) be input in phaselocked loop.
Step 307：According to formula four, the current location of rotor is calculated, return to step 303, wherein, the formula four
For：
θnThe π f of=∫ 2n·dt；
Wherein, θnFor the current location, fnFor the current operation frequency, t is the time.
Motor start-up procedure, generally comprises positioning stage, open loop dragging stage, closed-loop control stage etc..From open loop dragging
During the State Transferring in stage to closed-loop control stage, the fluctuation of axis error is larger, the electricity calculated using the axis error
Easily there is negative value in the rotational frequency of machine rotor, and then is easily caused electric motor starting failure.In embodiments of the present invention, axle is missed
Difference carries out low-pass filtering treatment, the rotational frequency of the rotor calculated using filtered low-pass filter value, rotation frequency
Rate is not easy negative value occur, and then improves the success rate of electric motor starting.
In embodiments of the present invention, when can avoid motor from the open loop dragging stage to closed-loop control phase transition, motor
The situation for starting failure occurs, and the ability that motor back pressure starts when greatly improving electric motor starting improves the reliable of control
Property, the purpose of 180 ° of variable frequency regulating speed controls can be realized.
The embodiment of the present invention is applied to brushless, permanently position-sensor-free direct current generator, and the motor can be the electricity on refrigerator
Machine.
In embodiments of the present invention, the axis error between the actual position of rotor and estimated position is determined, and is passed through
Low-pass filtering treatment is carried out to axis error, relatively stable low-pass filter value is obtained, and the stage is dragged to LPF in open loop
The intermediate parameters assignment of device, further negates rear to the low-pass filter value after low-pass filtering treatment and adjusts to 0 by phaselocked loop
Control method obtain rotor rotational frequency, eventually through integration control obtain rotor estimated location, improve
Motor back pressure starts ability.
In embodiments of the present invention, the stage is dragged in motor open loop, to the intermediate parameters assignment of low pass filter, reduction is cut
When changing to the closed-loop control stage, the probability of the rotational frequency of phaselocked loop output negative value improves motor and drags to closed loop control from open loop
The success rate of stage switching processed, improves motor and the success rate for starting and switching with state is run in bringing onto load.
As shown in figure 4, the embodiments of the invention provide a kind of device for the position for determining rotor, including：
Axis error determining unit 401, the current axis error for determining rotor；
Filter unit 402, for carrying out low-pass filtering treatment to the current axis error, generates current low-pass filter value；
Phase locked-loop unit 403, for carrying out phaselocked loop processing to the current low-pass filter value, generates the rotor
Current operation frequency；
Position determination unit 404, for according to the current operation frequency, determining the current location of the rotor.
In an embodiment of the present invention, the device further comprises：Initialization unit, for initializing Δ θ '0；
The filter unit, is used for：
According to formula one, the current low-pass filter value is calculated, wherein, the formula one is：
Wherein, Δ θPLLnFor the current low-pass filter value, Δ θnFor the current axis error, Δ θ 'n-1For described (n-1)th
Secondary intermediate parameters, Δ θ 'nFor the intermediate parameters of n-th, TsFor the use cycle computation time pre-set, TLPFTo set in advance
The low pass filter filtering time put, m is that default positive integer, n are positive integer；
The position determination unit, is further used for described according to the current operation frequency, determines that the motor turns
After the current location of son, the axis error determining unit is triggered.
In an embodiment of the present invention, the device further comprises：Unit is set up, is revolved for setting up with the rotor
Turn d axles, q axle rectangular coordinate systems, wherein, d axles are overlapped with the current location of the rotor, and q axles are vertical with d axles；
The axis error determining unit, is used for：
Determine current voltage, the current inductance value of d axles, the current inductance value of q axles, the current flow of d axles, the q axles on d axles
Current flow and current tachometer value；
According to formula two, the current axis error is calculated, wherein, formula two is：
Wherein, Δ θ is the current axis error, Vd* it is the current voltage on the d axles, R* is the rotor pair
The resistance for the motor answered, KE* it is induced voltage constant, Ld* it is the current inductance value of the d axles, Lq* it is the current electricity of the q axles
Inductance value, IdFor the current flow of the d axles, IqFor the current flow of the q axles, ω * are the current tachometer value.
In an embodiment of the present invention, the initialization unit, for by Δ θ '0It is initialized as α 2m, wherein, α is more than
0。
In an embodiment of the present invention, the axis error determining unit, described works as forward for according to formula three, calculating
Speed value, wherein, the formula three is：
The π f of ω *=2n-1；
Wherein, fnFor the current operation frequency, fn-1For the rotational frequency of (n-1)th time.
In an embodiment of the present invention, the phase locked-loop unit, for by the current low-pass filter value it is anti-phase after input
Into phaselocked loop, the current operation frequency of the phaselocked loop output is obtained.
In an embodiment of the present invention, the position determination unit, for according to formula four, calculating the current location,
Wherein, the formula four is：
θnThe π f of=∫ 2n·dt；
Wherein, θnFor the current location, fnFor the current operation frequency, t is the time.
The contents such as the information exchange between each unit, implementation procedure in said apparatus, due to implementing with the inventive method
Example is based on same design, and particular content can be found in the narration in the inventive method embodiment, and here is omitted.
The embodiments of the invention provide a kind of computer-readable recording medium, including execute instruction, when the computing device of storage control
During the execute instruction, the storage control performs the position of any one determination rotor provided in an embodiment of the present invention
Method.
The embodiments of the invention provide a kind of storage control, including：Processor, memory and bus；
The memory is used to store execute instruction, and the processor is connected with the memory by the bus, when
During the storage control operation, the execute instruction of memory storage described in the computing device, so that the storage control
The method that device performs the position of any one determination rotor provided in an embodiment of the present invention.
Each embodiment of the invention at least has the advantages that：
1st, in embodiments of the present invention, after current axis error is determined, low-pass filtering treatment is carried out, what is obtained is current low
The fluctuation of pass filtered value is smaller, and the current operation frequency of rotor is determined using current low-pass filter value, and then determines electricity
The current location of machine rotor, the rotational frequency of the rotor obtained using scheme provided in an embodiment of the present invention is not easy to occur
Negative value, improves the success rate of electric motor starting.
2nd, in embodiments of the present invention, when can avoid motor from the open loop dragging stage to closed-loop control phase transition, electricity
The situation that machine starts failure occurs, and the ability that motor back pressure starts when greatly improving electric motor starting, improve control can
By property, the purpose of 180 ° of variable frequency regulating speed controls can be realized.
3rd, in embodiments of the present invention, the axis error between the actual position of rotor and estimated position is determined, and is led to
Cross and low-pass filtering treatment is carried out to axis error, obtain relatively stable low-pass filter value, and the stage is dragged to low pass filtered in open loop
The intermediate parameters assignment of ripple device, further negates rear and regulation to the low-pass filter value after low-pass filtering treatment by phaselocked loop and arrives
0 control method obtains the rotational frequency of rotor, and the estimated location of rotor is obtained eventually through integration control, improves
Motor back pressure starts ability.
4th, in embodiments of the present invention, the stage is dragged in motor open loop, to the intermediate parameters assignment of low pass filter, reduction
When being switched to the closed-loop control stage, the probability of the rotational frequency of phaselocked loop output negative value improves motor and drags to closed loop from open loop
The success rate of control stage switching, improves motor and the success rate for starting and switching with state is run in bringing onto load.
It should be noted that herein, such as first and second etc relational terms are used merely to an entity
Or operation makes a distinction with another entity or operation, and not necessarily require or imply exist between these entities or operation
Any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant be intended to it is non-
It is exclusive to include, so that process, method, article or equipment including a series of key elements not only include those key elements,
But also other key elements including being not expressly set out, or also include solid by this process, method, article or equipment
Some key elements.In the absence of more restrictions, the key element limited by sentence " including one ", is not arranged
Except also there is other identical factor in the process including the key element, method, article or equipment.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through
Programmed instruction related hardware is completed, and foregoing program can be stored in the storage medium of embodied on computer readable, the program
Upon execution, the step of including above method embodiment is performed；And foregoing storage medium includes：ROM, RAM, magnetic disc or light
Disk etc. is various can be with the medium of store program codes.
It is last it should be noted that：Presently preferred embodiments of the present invention is the foregoing is only, the skill of the present invention is merely to illustrate
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made within the spirit and principles of the invention,
Equivalent substitution, improvement etc., are all contained in protection scope of the present invention.
Claims (10)
1. a kind of method for the position for determining rotor, it is characterised in that including：
Determine the current axis error of rotor；
Low-pass filtering treatment is carried out to the current axis error, current low-pass filter value is generated；
Phaselocked loop processing is carried out to the current low-pass filter value, the current operation frequency of the rotor is generated；
According to the current operation frequency, the current location of the rotor is determined.
2. according to the method described in claim 1, it is characterised in that
Further comprise：Initialize Δ θ '0；
It is described that low-pass filtering treatment is carried out to the current axis error, current low-pass filter value is generated, including：
According to formula one, the current low-pass filter value is calculated, wherein, the formula one is：
Wherein, Δ θPLLnFor the current low-pass filter value, Δ θnFor the current axis error, Δ θ 'n-1For described (n-1)th time
Intermediate parameters, Δ θ 'nFor the intermediate parameters of n-th, TsFor the use cycle computation time pre-set, TLPFPre-set
Low pass filter filtering time, m is that default positive integer, n are positive integer；
Described according to the current operation frequency, after the current location for determining the rotor, further comprise：
Return to the current axis error for determining rotor.
3. according to the method described in claim 1, it is characterised in that
Further comprise：
The d axles rotated with the rotor, q axle rectangular coordinate systems are pre-established, wherein, d axles are worked as with the rotor
Front position is overlapped, and q axles are vertical with d axles；
The current axis error for determining rotor, including：
Determine that current voltage on d axles, the current inductance value of d axles, the current inductance value of q axles, the current flow of d axles, q axles are worked as
Preceding electric current and current tachometer value；
According to formula two, the current axis error is calculated, wherein, formula two is：
Wherein, Δ θ is the current axis error, Vd* it is the current voltage on the d axles, R* is the corresponding electricity of the rotor
The resistance of machine, KE* it is induced voltage constant, Ld* it is the current inductance value of the d axles, Lq* it is the current inductance value of the q axles,
IdFor the current flow of the d axles, IqFor the current flow of the q axles, ω * are the current tachometer value.
4. method according to claim 2, it is characterised in that
The initialization Δ θ '0, including：
By Δ θ '0It is initialized as α 2m, wherein, α is more than 0.
5. according to any described method in claim 1-4, it is characterised in that
It is described that phaselocked loop processing is carried out to the current low-pass filter value, generate the current operation frequency of the rotor, bag
Include：
By the current low-pass filter value it is anti-phase after be input in phaselocked loop, obtain the current operation of phaselocked loop output
Frequency；
And/or,
It is described that the current location of the rotor is determined according to the current operation frequency, including：
According to formula four, the current location is calculated, wherein, the formula four is：
Wherein, θnFor the current location, fnFor the current operation frequency, t is the time.
6. a kind of device for the position for determining rotor, it is characterised in that including：
Axis error determining unit, the current axis error for determining rotor；
Filter unit, for carrying out low-pass filtering treatment to the current axis error, generates current low-pass filter value；
Phase locked-loop unit, for carrying out phaselocked loop processing to the current low-pass filter value, generates the current of the rotor
Rotational frequency；
Position determination unit, for according to the current operation frequency, determining the current location of the rotor.
7. device according to claim 6, it is characterised in that
Further comprise：Initialization unit, for initializing Δ θ '0；
The filter unit, is used for：
According to formula one, the current low-pass filter value is calculated, wherein, the formula one is：
Wherein, Δ θPLLnFor the current low-pass filter value, Δ θnFor the current axis error, Δ θ 'n-1For described (n-1)th time
Intermediate parameters, Δ θ 'nFor the intermediate parameters of n-th, TsFor the use cycle computation time pre-set, TLPFPre-set
Low pass filter filtering time, m is that default positive integer, n are positive integer；
The position determination unit, is further used for described according to the current operation frequency, determines the rotor
After current location, the axis error determining unit is triggered.
8. device according to claim 6, it is characterised in that
Further comprise：Unit is set up, for setting up the d axles rotated with the rotor, q axle rectangular coordinate systems, wherein, d
Axle is overlapped with the current location of the rotor, and q axles are vertical with d axles；
The axis error determining unit, is used for：
Determine that current voltage on d axles, the current inductance value of d axles, the current inductance value of q axles, the current flow of d axles, q axles are worked as
Preceding electric current and current tachometer value；
According to formula two, the current axis error is calculated, wherein, formula two is：
Wherein, Δ θ is the current axis error, Vd* it is the current voltage on the d axles, R* is the corresponding electricity of the rotor
The resistance of machine, KE* it is induced voltage constant, Ld* it is the current inductance value of the d axles, Lq* it is the current inductance value of the q axles,
IdFor the current flow of the d axles, IqFor the current flow of the q axles, ω * are the current tachometer value.
9. device according to claim 7, it is characterised in that
The initialization unit, for by Δ θ '0It is initialized as α 2m, wherein, α is more than 0.
10. according to any described device in claim 6-9, it is characterised in that
The phase locked-loop unit, for by the current low-pass filter value it is anti-phase after be input in phaselocked loop, obtain the lock phase
The current operation frequency of ring output；
And/or,
The position determination unit, for according to formula four, calculating the current location, wherein, the formula four is：
Wherein, θnFor the current location, fnFor the current operation frequency, t is the time.
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