CN108199637A - Rotary transformer position decoding error compensating method and system - Google Patents
Rotary transformer position decoding error compensating method and system Download PDFInfo
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- CN108199637A CN108199637A CN201711478718.1A CN201711478718A CN108199637A CN 108199637 A CN108199637 A CN 108199637A CN 201711478718 A CN201711478718 A CN 201711478718A CN 108199637 A CN108199637 A CN 108199637A
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- rotary transformer
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- motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- Control Of Electric Motors In General (AREA)
Abstract
The present invention provides a kind of rotary transformer position decoding error compensating method and systems, the described method comprises the following steps：Motor is made to travel at the uniform speed with setting speed under position Sensorless Control mode；Multiple decoded positions are obtained according to the output of the rotary transformer and obtain multiple corresponding rotor position angle estimated values using location-estimation algorithm；Calibration table is established, the calibration table includes multiple calibration records, and each calibration record includes decoded positions and corresponding calibration value, and the calibration value is the rotor position angle estimated value obtained using the location-estimation algorithm.The present invention passes through the decoding static error of calibration table calibration rotary transformer by establishing calibration table under position Sensorless Control mode, so as to improve the stability of motor speed measuring.
Description
Technical field
The present invention relates to permanent magnet synchronous motor control field, more specifically to a kind of rotary transformer position decoding
Error compensating method and system.
Background technology
In the industries such as injection molding machine, automotive electronics, generally use permanent magnet synchronous motor (permanent magnet
Synchronous motor, PMSM) as power execution unit.The control mode of permanent magnet synchronous motor is usually closed-loop vector
Control, and the core of vector controlled is exactly rotor-position.In permanent magnet synchronous motor, rotor-position is usually obtained by encoder.
There are many type of encoder, and wherein rotary transformer has many advantages, such as that stability is high, shock resistance is strong, high temperature resistant,
It has been widely used at present.The output signal of rotary transformer is orthogonal sine (SIN) and cosine (COS) voltage signal, is somebody's turn to do
Two-way output signal is decoded by decoding chip, is converted into absolute location information.Currently used decoding chip has Ya De promise half
PGA411 chips that the ADS1205 chips of conductor company (ADI companies) offer, Texas Instruments provide etc., these decoding cores
The decoding precision of piece is generally 4096/ circle.
Since the decoding precision of the decoding chip of above-mentioned rotary transformer is relatively low, calculated according to decoded positions change rate
The motor speed fluctuation gone out is larger, especially in low-speed region, is affected to system control.In addition, since rotary transformer is defeated
The sine and cosinusoidal voltage signal amplitude deviation (gain error) that go out, sinusoidal and cosinusoidal voltage signal direct current biasing deviation etc. because
Element presence, cause decoding obtain location information also there are static errors, this exacerbates fluctuation of testing the speed, and is needing fair speed
The occasion of ring response, it is easy to cause speed ring oscillation.
To solve the static error of location information, it is necessary to which decoded positions are calibrated.The optimal method of position correction
Be using be mounted with high-precision encoder to platform is dragged to carry out, i.e., using hardware decoded positions calibrate.But in practical applications,
Driver and motor do not match one by one, such as driver may drive different brands or the motor of model, due to different
Encoder, the corresponding calibration information of different decoding chips are all different, therefore relatively low to the practicability for dragging calibration program.
Invention content
The technical problem to be solved in the present invention is, the problem of precision is relatively low is decoded for above-mentioned rotary transformer,
A kind of rotary transformer position decoding error compensating method and system are provided.
The technical solution that the present invention solves above-mentioned technical problem is to provide a kind of rotary transformer position decoding error compensation
Method includes the following steps：
Motor is made to travel at the uniform speed with setting speed under position Sensorless Control mode；
It is multiple right to be obtained according to the multiple decoded positions of the output of rotary transformer acquisition and using location-estimation algorithm
The rotor position angle estimated value answered；
Calibration table is established, the calibration table includes multiple calibration records, and each calibration record includes decoded positions
And corresponding calibration value, the calibration value are the rotor position angle estimated value obtained using the location-estimation algorithm.
In rotary transformer position decoding error compensating method of the present invention, the location-estimation algorithm is model
Reference adaptive method, sliding mode observer method, extended Kalman filter method or effective flux linkage estimation method.
In rotary transformer position decoding error compensating method of the present invention, the location-estimation algorithm is sliding formwork
Observer method, and the rotor position angle estimated value meets following calculating formula：
Wherein N is the count value of the electric current loop of motor stator output current, and n is motor speed, and M is the rotary transformer
The decoding precision of decoding chip, Tcur are the dispatching cycle of electric current loop, and a is time coefficient.
In rotary transformer position decoding error compensating method of the present invention, in the calibration tails, the school
Average value of the quasi- value for multiple rotor position angle estimated values at same decoded positions.
In rotary transformer position decoding error compensating method of the present invention, the setting speed is Rated motor
The 30%~50% of rotating speed.
The present invention also provides a kind of rotary transformer position decoding error compensation system, including sensorless strategy unit,
Reading unit, position estimation unit and calibration table creating unit are decoded, wherein：
The sensorless strategy unit, for controlled in a manner of position Sensorless Control motor with setting speed at the uniform velocity
Operation；
The decoding reading unit, for obtaining multiple decoded positions according to the output of the rotary transformer；
The position estimation unit, for obtaining multiple rotor position angle estimated values using location-estimation algorithm；
The calibration table creating unit calibrates table for establishing, and the calibration table includes multiple calibration records, and each institute
It states calibration record and includes decoded positions and corresponding calibration value, the calibration value is the rotor position that the position estimation unit obtains
Angle setting estimated value.
In rotary transformer position decoding error compensation system of the present invention, the position estimation model of element ginseng
It examines adaptive method, sliding mode observer method, extended Kalman filter method or effective flux linkage estimation method and carries out location estimation.
In rotary transformer position decoding error compensation system of the present invention, the position estimation unit is using cunning
Mould observer method, and rotor position angle estimated value is obtained according to following calculating formula：
Wherein N is the count value of the electric current loop of motor stator output current, and n is motor speed, and M is the rotary transformer
The decoding precision of decoding chip, Tcur are the dispatching cycle of electric current loop, and a is time coefficient.
In rotary transformer position decoding error compensation system of the present invention, in the calibration tails, the school
Average value of the quasi- value for multiple rotor position angle estimated values at same decoded positions.
In rotary transformer position decoding error compensation system of the present invention, the sensorless strategy unit control
The setting speed of motor rotation processed is the 30%~50% of Rated motor rotating speed.
The rotary transformer position decoding error compensating method and system of the present invention, by position Sensorless Control side
Calibration table is established under formula, and passes through the decoding static error of calibration table calibration rotary transformer, so as to improve motor speed measuring
Stability.Present invention can apply to need the rigid occasion of fair speed ring, and greatly promote speed loop bandwidth.
Description of the drawings
Fig. 1 is the schematic diagram of rotary transformer position decoding error compensating method embodiment of the present invention；
Fig. 2 is to carry out rotor-position using sliding mode observer in rotary transformer position decoding error compensating method of the present invention
The schematic diagram that angular estimation value obtains；
Fig. 3 is the schematic diagram of the deviation of rotor position angle estimated value obtained based on sliding mode observer；
Fig. 4 is the signal by the front and rear decoded positions of rotary transformer position decoding error compensating method of the present invention compensation
Figure；
Fig. 5 is the schematic diagram of rotary transformer position decoding error compensation system embodiment of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
For the decoded positions of rotary transformer, because decoding chip decoding precision the reason of, in the range of 0~360 degree,
The static error of different location is not of uniform size, maximum up to more than 0.5 degree (electric angle).The present invention uses position-sensor-free
Location-estimation algorithm, first by motor drag to appropriate rotating speed (under this rotating speed, the location-estimation algorithm of position-sensor-free
With higher position estimation accuracy, motor speed is also relatively stable), rotor position estimate is calculated by counter electromotive force of motor
Value, and using the rotor position estimate value as check value, to compensate decoded positions.
As shown in Figure 1, be the schematic diagram of rotary transformer position decoding error compensating method embodiment of the present invention, this method
The offset of the decoded positions of rotary transformer output is obtained, so as to improve the outgoing position of rotary transformer by offset
Precision.The rotary transformer position decoding error compensating method of the present embodiment is integrated into electric machine controller, and include the following steps：
Step S1：Motor is made to travel at the uniform speed with setting speed under position Sensorless Control mode.Above-mentioned setting speed
The requirement of location-estimation algorithm need to be met, to ensure the essence of the rotor position angle estimated value of subsequent location-estimation algorithm acquisition
Degree.
Specifically, which can be the 30%~50% of Rated motor rotating speed, such as can be 600 revs/min.
Step S2：Multiple decoded positions are obtained according to the output of rotary transformer and are obtained using location-estimation algorithm multiple
Corresponding rotor position angle estimated value (motor is traveled at the uniform speed with setting speed at this time).
Specifically, decoded positions can according to the output signal of rotary transformer, (i.e. orthogonal be sinusoidal and remaining by decoding chip
String voltage signal) generation.And rotor position angle estimated value then can be by model reference adaptive method, sliding mode observer method, expansion card
The location-estimation algorithms such as Thalmann filter method, effective flux linkage estimation method generate.Above-mentioned location-estimation algorithm transports motor high speed
Capable control is more stable, especially empty load of motor high-speed cruising state, and the precision of rotor position angle estimated value is non-
Chang Gao.
For example, when location-estimation algorithm uses sliding mode observer method, as shown in Fig. 2, it mainly passes through sliding mode observer
21st, low-pass filter 22, phaselocked loop 23 obtain rotor position angle estimated value.Specifically, sliding mode observer method is by constructing stator
Electric current sliding mode observer 21 makes the estimated value of stator current be overlapped with actual value, by counter electromotive force estimated value to observation model
It being adjusted in real time, makes it consistent with real electrical machinery model, then counter electromotive force estimated value will also converge to actual value, so as to
Rotor position angle and angular speed are calculated to control motor operation.
Sliding mode observer method is operated in electric current loop, in the case that electric current loop constant period, motor speed are constant, each
Formula is calculated as below in the rotor position angle estimated value satisfaction obtained in the electric current loop period：
Wherein N is the count value (i.e. which counting period) of the electric current loop of motor stator output current, and n is that motor turns
Speed, M be rotary transformer decoding chip decoding precision (i.e. motor rotation 1 week, the position number that decoding chip can parse,
Such as the 4096 of ADS1205 chips, PGA411 chips), Tcur is the dispatching cycle of electric current loop, and a is time coefficient.
By above-mentioned calculating formula (1) it is found that when the electric current loop period is longer or motor speed is higher, each electric current loop period
Interior, the position of acquisition is certain relatively-stationary several value, can not accomplish 0~4096 position all standing, it is therefore desirable to which setting is suitable
The electric current loop period and motor speed, it is ensured that all location informations can be captured.
For example, can be using the setting electric current ring period as 25 microseconds (μ s), motor speed is 600 revs/min, it is assumed that first electricity
The position for flowing the capture of ring period is 0 (decoded positions), then the position in second electric current loop period is 1, the third electric current loop period
It is 2, and so on.In the case where motor meets certain rotating speed and idle condition, the rotor position angle based on the acquisition of sliding mode observer method
The steady-sxtate wave motion of estimated value is specific as shown in Figure 3 within 0.2 degree.Due to influencing to test the speed, the principal element of fluctuation is Steady Wave
Dynamic amplitude, therefore, the position estimation accuracy of sliding mode observer method is already higher than the precision of decoding chip, meets and joins as calibration
According to condition.
Step S3：Calibration table, the calibration are established according to multiple decoded positions and multiple corresponding rotor position angle estimated values
Each calibration record in table includes decoded positions and corresponding calibration value, and above-mentioned calibration value is rotor corresponding with decoded positions
Position angle estimated value (is obtained) by location-estimation algorithm.In above-mentioned calibration table, for each decoded positions, all there are one right for tool
The calibration value answered.
Particularly, in order to further improve calibration accuracy, the run time of above-mentioned steps S2 can be made, so as to each solve code bit
Multiple corresponding rotor position angle estimated values can be obtained by putting, and when step S3 creates calibration table, can will correspond to same solution code bit
The multiple rotor position angle estimated values put carry out average value filtering processing, that is, being averaged multiple rotor position angle estimated values
Value is as calibration value.
It, can be in position sensor control according to the calibration table that above-mentioned rotary transformer position decoding error compensating method obtains
Under mode processed, motor operation is controlled, i.e., when carrying out closed-loop vector control to motor operation, first obtains decoded positions,
Then calibration table is searched according to decoded positions, obtains corresponding calibration value, and motor speed is calculated according to above-mentioned calibration value, at this time
The stability of motor speed of the motor speed calculated than being obtained in the case of not calibrating greatly promotes, as shown in Figure 4.
As shown in figure 5, the present invention also provides a kind of rotary transformer position decoding error compensation system, which can integrate
To electric machine controller 5.Rotary transformer position decoding error compensation system in the present embodiment includes sensorless strategy unit
51st, reading unit 52, position estimation unit 53 are decoded and calibrates table creating unit 54, above-mentioned sensorless strategy unit 51,
Decoding reading unit 52, position estimation unit 53 and calibration table creating unit 54 can combine and run on the soft of electric machine controller 5
Part is formed.
Sensorless strategy unit 51 is used to motor be controlled at the uniform velocity to transport with setting speed in a manner of position Sensorless Control
Row.Above-mentioned setting speed need to meet the requirement of location-estimation algorithm, to ensure that subsequent rotor position angle estimation value-based algorithm obtains
Rotor position angle estimated value precision.Specifically, which can be the 30%~50% of Rated motor rotating speed, such as can
Think 600 revs/min.
Reading unit 52 is decoded to be used to obtain multiple decoded positions according to the output of rotary transformer.Specifically, code bit is solved
It puts and can be generated by decoding chip according to output signal (i.e. orthogonal sine and cosinusoidal voltage signal) decoding of rotary transformer.
Position estimation unit 53 is used to use the multiple rotor position angle estimated values of location-estimation algorithm.The position estimation unit
53 can specifically pass through model reference adaptive method, sliding mode observer method, extended Kalman filter method, effective flux linkage estimation method etc.
Generate rotor position angle estimated value.The control that above-mentioned location-estimation algorithm runs motor high speed is more stable, especially
It is empty load of motor high-speed cruising state, position estimation accuracy is very high.
For example, when position estimation unit 53 obtains rotor position angle estimated value using sliding mode observer method, can according to
Lower calculating formula generates rotor position angle estimated value：
Wherein N is the count value of the electric current loop of motor stator output current, and n is motor speed, and M is decoded for rotary transformer
The decoding precision of chip, Tcur are the dispatching cycle of electric current loop, and a is time coefficient.
It calibrates table creating unit 54 and is used for the multiple decoded positions obtained according to decoding reading unit 52 and position estimation list
Multiple rotor position angle estimated values that member 53 obtains, which are established, calibrates table, and each calibration record in the calibration table includes decoded positions
And corresponding calibration value, calibration value are and decoded positions respective rotor position angle estimated value.
Particularly, the calibration value in above-mentioned calibration tails can be multiple rotor-position angular estimations corresponding with decoded positions
The average value of value.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
Subject to.
Claims (10)
1. a kind of rotary transformer position decoding error compensating method, which is characterized in that include the following steps：
Motor is made to travel at the uniform speed with setting speed under position Sensorless Control mode；
Multiple decoded positions are obtained according to the output of the rotary transformer and are obtained using location-estimation algorithm multiple corresponding
Rotor position angle estimated value；
Calibration table is established, the calibration table includes multiple calibration records, and each calibration record includes decoded positions and right
The calibration value answered, the calibration value are the rotor position angle estimated value obtained using the location-estimation algorithm.
2. rotary transformer position decoding error compensating method according to claim 1, which is characterized in that estimate the position
Calculating method is model reference adaptive method, sliding mode observer method, extended Kalman filter method or effective flux linkage estimation method.
3. rotary transformer position decoding error compensating method according to claim 1, which is characterized in that estimate the position
Calculating method is sliding mode observer method, and the rotor position angle estimated value meets following calculating formula：
Wherein N is the count value of the electric current loop of motor stator output current, and n is motor speed, and M is decoded for the rotary transformer
The decoding precision of chip, Tcur are the dispatching cycle of electric current loop, and a is time coefficient.
4. rotary transformer position decoding error compensating method according to claim 1, which is characterized in that the verification note
In record, average value of the calibration value for multiple rotor position angle estimated values at same decoded positions.
5. rotary transformer position decoding error compensating method according to claim 1, which is characterized in that the setting speed
Spend 30%~50% for Rated motor rotating speed.
6. a kind of rotary transformer position decoding error compensation system, which is characterized in that including sensorless strategy unit, decoding
Reading unit, position estimation unit and calibration table creating unit, wherein：
The sensorless strategy unit, for motor being controlled at the uniform velocity to be transported with setting speed in a manner of position Sensorless Control
Row；
The decoding reading unit, for obtaining multiple decoded positions according to the output of the rotary transformer；
The position estimation unit, for obtaining multiple rotor position angle estimated values using location-estimation algorithm；
The calibration table creating unit calibrates table for establishing, and the calibration table includes multiple calibration records, and each school
Quasi- record includes decoded positions and corresponding calibration value, and the calibration value is the rotor position angle that the position estimation unit obtains
Estimated value.
7. rotary transformer position decoding error compensation system according to claim 6, which is characterized in that estimate the position
Model of element reference adaptive method, sliding mode observer method, extended Kalman filter method or effective flux linkage estimation method are calculated into line position
Put estimation.
8. rotary transformer position decoding error compensation system according to claim 6, which is characterized in that estimate the position
Unit is calculated using sliding mode observer method, and rotor position angle estimated value is obtained according to following calculating formula：
Wherein N is the count value of the electric current loop of motor stator output current, and n is motor speed, and M is decoded for the rotary transformer
The decoding precision of chip, Tcur are the dispatching cycle of electric current loop, and a is time coefficient.
9. rotary transformer position decoding error compensation system according to claim 6, which is characterized in that the verification note
In record, average value of the calibration value for multiple rotor position angle estimated values at same decoded positions.
10. rotary transformer position decoding error compensation system according to claim 6, which is characterized in that the no biography
The setting speed of sensor control unit control motor rotation is the 30%~50% of Rated motor rotating speed.
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| CN201711478718.1A CN108199637A (en) | 2017-12-29 | 2017-12-29 | Rotary transformer position decoding error compensating method and system |
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| CN201711478718.1A CN108199637A (en) | 2017-12-29 | 2017-12-29 | Rotary transformer position decoding error compensating method and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109245648A (en) * | 2018-09-07 | 2019-01-18 | 华中科技大学 | A kind of online compensation method of periodic error in output signal of rotary transformer |
| CN111600519A (en) * | 2020-05-26 | 2020-08-28 | 佛山金华信智能科技有限公司 | Servo motor control method, servo motor control device, electronic equipment and storage medium |
| CN112671279A (en) * | 2019-10-16 | 2021-04-16 | 美的威灵电机技术（上海）有限公司 | Position correction device, method, compressor, air conditioner and storage medium |
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| US6724168B2 (en) * | 2001-07-10 | 2004-04-20 | Lg Electronics, Inc. | Apparatus and method for controlling rotation speed of synchronous reluctance motor |
| CN105547335A (en) * | 2016-01-15 | 2016-05-04 | 中工科安科技有限公司 | Signal processing system for reluctance-type rotary transformer |
| CN106033945A (en) * | 2014-11-12 | 2016-10-19 | 现代摩比斯株式会社 | Estimation system for rotor information |
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2017
- 2017-12-29 CN CN201711478718.1A patent/CN108199637A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6724168B2 (en) * | 2001-07-10 | 2004-04-20 | Lg Electronics, Inc. | Apparatus and method for controlling rotation speed of synchronous reluctance motor |
| CN106033945A (en) * | 2014-11-12 | 2016-10-19 | 现代摩比斯株式会社 | Estimation system for rotor information |
| CN105547335A (en) * | 2016-01-15 | 2016-05-04 | 中工科安科技有限公司 | Signal processing system for reluctance-type rotary transformer |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109245648A (en) * | 2018-09-07 | 2019-01-18 | 华中科技大学 | A kind of online compensation method of periodic error in output signal of rotary transformer |
| CN109245648B (en) * | 2018-09-07 | 2020-02-14 | 华中科技大学 | Online compensation method for periodic error in output signal of rotary transformer |
| CN112671279A (en) * | 2019-10-16 | 2021-04-16 | 美的威灵电机技术（上海）有限公司 | Position correction device, method, compressor, air conditioner and storage medium |
| CN112671279B (en) * | 2019-10-16 | 2022-07-12 | 美的威灵电机技术（上海）有限公司 | Position correction device, method and storage medium |
| CN111600519A (en) * | 2020-05-26 | 2020-08-28 | 佛山金华信智能科技有限公司 | Servo motor control method, servo motor control device, electronic equipment and storage medium |
| CN111600519B (en) * | 2020-05-26 | 2024-02-23 | 佛山金华信智能科技有限公司 | Servo motor control method and device, electronic equipment and storage medium |
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Application publication date: 20180622 |