CN109245655A - The mover initial position detection method of the planar motor of position-sensor-free - Google Patents
The mover initial position detection method of the planar motor of position-sensor-free Download PDFInfo
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- CN109245655A CN109245655A CN201811260970.XA CN201811260970A CN109245655A CN 109245655 A CN109245655 A CN 109245655A CN 201811260970 A CN201811260970 A CN 201811260970A CN 109245655 A CN109245655 A CN 109245655A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
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Abstract
The invention discloses a kind of mover initial position detection methods of the planar motor of position-sensor-free, this method comprises: when under planar motor remains static, while to three phase promoter windings of planar motor injection detection electric current and keeping injection preset time；Then it is repeated as many times the real-time maximum of the detection response voltage of three phase promoter windings of planar motor within a preset time, and the theoretical maximum of the average value voltage in response of the real-time maximum of voltage will be responded；Compare the theoretical maximum of the response voltage of three phase promoter windings again and determines the band of position of planar motor；Last voltage and position data relation table according to response calculate the rotor position of planar motor.The present invention can be in the case where electric mover platform be without movement, estimate the initial position of electric mover, it realizes the initial position detection of position-sensor-free planar motor, is provided safeguard for the precise and stable operation of motor, and the initial position detection error of motor is less than 0.3 mm.
Description
Technical field
The present invention relates to Motor Control Field, in particular to a kind of mover initial bit of the planar motor of position-sensor-free
Set detection method.
Background technique
The reliability service and high performance control of planar motor must accurately obtain motor position information, motor position information
The conventional method of acquisition is using precise position sensor.However there are systems in the use of planar motor system for position sensor
Complexity and mechanical erection required precision is high, system electrical connecting line excessively caused by system rejection to disturbance ability is poor, position sensing
Device adaptive capacity to environment is weak, high-precision sensor high price leads to the problems such as electric system increased costs.Position passes
The use of sensor hinders the development of planar motor, limits the application range of planar motor.Therefore, position-sensor-free position
The research of detection method becomes one of the main direction of studying of Motor Control Field.
So far, the position-sensor-free method for detecting position of motor mainly includes following several: current waveform detection
A variety of positions such as method, magnetic linkage method, mutual inductance detection method, observer method, impulses injection method, modulation method, add ons method, intelligent measurement method
Set algorithm for estimating.All there are respective service condition and advantage and disadvantage in position-sensor-free method for detecting position set forth above.Electricity
Stream wave detection ignores machine winding pressure drop and the influence of counter electromotive force, may be only available for low speed operation.Magnetic linkage method utilizes electricity
Corresponding relationship between stream-magnetic linkage-position establishes magnetic linkage-electric current-position three-dimensional data table, detects the phase current of machine winding
And phase voltage, it calculates and inquires established three-dimensional data table together with phase current after winding magnetic linkage and can be obtained rotor-position.
This method is because three-dimensional data table committed memory is big, and flexibility is poor, and algorithm time-consuming seriously affects motor performance.Mutual inductance detection method
The mapping relations of the mutual voltage size and rotor-position that generate in non-conduction phase realize position detection.Believe without additional detection
Number, it is easy to accomplish, but lead to varying less for real-time mutual voltage since motor flux leakage is smaller, so that position detection error
It is larger.Observer method is computationally intensive, and Data Convergence speed influences motor position detection accuracy.Impulses injection method is by high frequency
Voltage pulse inject motor non-conduction phase, by detect machine winding response current calculate winding inductance, using inductance with
The relation indirect of position detects rotor-position.On the basis of impulses injection method, cubic spline modelling, electricity are proposed in succession
Feel a variety of improved methods such as vector method, current threshold method, phase inductance zone method.Although these methods are simple, detection accuracy with
Motor speed and pulse frequency are related, excessive velocities or pulse frequency is too low all detection error can be caused larger.Add ons method:
Add ons are installed on the body construction of motor, the certain electromagnetic parameters and rotor-position of these elements constitute variation relation,
Rotor-position can be obtained indirectly by detecting these electromagnetic parameters.This method principle is simple, but needs to add additional hardware
Resource increases system installation difficulty.With the fast development of intellectual technology, the intelligent measurements side such as fuzzy control, neural network
Method starts to be applied in electric machines control technology.This method does not need to establish accurate system mathematic model, passes through electric current, magnetic linkage etc.
Data, which carry out off-line training, can fit the relationship between motor magnetic linkage, electric current and position to obtain the position of motor letter
Breath, but there are fuzzy rule difficulty adjust, need a large amount of off-line training times, be high to processor requirement the problems such as.
Thus the prior art could be improved and improve.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of planes of position-sensor-free
The mover initial position detection method of motor can estimate electric mover in the case where electric mover platform is without movement
Initial position realizes the initial position detection of position-sensor-free planar motor.
In order to achieve the above object, this invention takes following technical schemes:
A kind of mover initial position detection method of the planar motor of position-sensor-free, includes the following steps:
When under planar motor remains static, while simultaneously to three phase promoter windings of planar motor injection detection electric current
Keep injection preset time；
The real-time maximum of the response voltage of three phase promoter windings of planar motor within a preset time is repeatedly detected, and will
The theoretical maximum of the average value voltage in response of the real-time maximum of the response voltage of each phase promoter winding repeated detection；
Compare the theoretical maximum of the response voltage of three phase promoter windings and determines the band of position of planar motor；
Voltage and position data relation table calculate the rotor position of planar motor according to response.
It is described at planar motor in the mover initial position detection method of the planar motor of the position-sensor-free
When under stationary state, while to three phase promoter windings of planar motor injection detection electric current and keeping injection preset time
The step of before further include:
It is calculated according to the maximum static friction force of motor, inductance change rate and maximum noise electric current and chooses suitable detection electricity
Stream.
In the mover initial position detection method of the planar motor of the position-sensor-free, the width of the detection electric current
Value is not less than 10 times of maximum noise electric current.
In the mover initial position detection method of the planar motor of the position-sensor-free, three phase promoter of comparison
The theoretical maximum of the response voltage of winding and the step of determining the band of position of planar motor includes:
One pole span of motor is divided into 6 positions area according to three phase promoter winding inductances of motor and rotor position relational graph
Domain；
Compare the theoretical maximum of the response voltage of three phase promoter windings, and obtains the theory of the response voltage of three phase promoter windings
The size relation of maximum；
The location of mover region is judged according to the size relation of the theoretical maximum of the response voltage of three phase promoter windings.
It is described according to three phase promoters in the mover initial position detection method of the planar motor of the position-sensor-free
The step of size relation of the theoretical maximum of the response voltage of winding judges the location of mover region specifically includes:
If uA> uB≥uC, then determine that mover is in 0 ~ 1/6 region P；
If uB≥uA> uC, then determine that mover is in the region the P of 1/6 P ~ 1/3；
If uB> uC≥uA, then determine that mover is in the region the P of 1/3 P ~ 1/2；
If uC≥uB> uA, then determine that mover is in the region the P of 1/2 P ~ 2/3；
If uC> uA≥uB, then determine that mover is in the region the P of 2/3 P ~ 5/6；
If uA≥uC> uB, then determine that mover is in 5/6 P ~ region P；
Wherein, uAFor the theoretical maximum of the response voltage of the A phase promoter of motor, uBFor the response voltage of the B phase promoter of motor
Theoretical maximum, uCFor the theoretical maximum of the response voltage of the C phase promoter of motor, P is a pole span distance of motor.
The mover initial position detection method of the planar motor of the position-sensor-free further include:
It is equal in a pole span of motor to choose multiple test points, obtain the maximum of the response voltage of multiple test points, and root
Response voltage and position data relation table are obtained according to the response voltage of multiple test points and the position of test point.
In the mover initial position detection method of the planar motor of the position-sensor-free, one in motor
It is equal in pole span to choose multiple test points, obtain the response voltage of multiple test points, and according to the response voltage of multiple test points and
The position of test point obtains response voltage with the step of position data relation table
Several test points are equidistantly selected in a pole span, give three phase promoter winding injected frequencies and width in each test point
It is worth determining sinusoidal current；
Maximum and the repetition of the real response voltage in each test point of three phase promoter windings are detected by voltage sensor
Detection is several times；
Calculate separately out being averaged for the maximum of the real response voltage of each test point repeated detection of each phase promoter winding
Value, and the maximum of the theoretical response voltage as each phase promoter winding of each test point；
Cubic spline interpolation method is respectively adopted in the maximum of the theoretical response voltage of each test point of each phase promoter winding
Fitting obtains response voltage and position data relation curve and is fabricated to table.
Compared to the prior art, the mover initial position detection side of the planar motor of position-sensor-free provided by the invention
Method includes: to detect electricity when under planar motor remains static, while to the injection of three phase promoter windings of the planar motor
It flows and keeps injection preset time；Then it is repeated as many times the response for detecting three phase promoter windings of planar motor within a preset time
The real-time maximum of voltage, and using the average value of the real-time maximum of the response voltage of each phase promoter winding repeated detection as sound
Answer the theoretical maximum of voltage；Compare the theoretical maximum of the response voltage of three phase promoter windings again and determines the position of planar motor
Set region；Last voltage and position data relation table according to response calculate the rotor position of planar motor.The present invention can be in electricity
In the case that motor-driven sub-platform is without movement, the initial position of electric mover is estimated, realizes position-sensor-free planar motor
Initial position detection, provided safeguard for the precise and stable operation of motor, and the initial position detection error of motor is less than 0.3
mm。
Detailed description of the invention
Fig. 1 is the process of the mover initial position detection method of the planar motor of position-sensor-free provided by the invention
Figure.
It is described in mover initial position detection method of the Fig. 2 for the planar motor of position-sensor-free provided by the invention
The flow chart of step S300.
Fig. 3 is three phase promoter winding inductances of motor and the response voltage of three phase promoter windings and rotor position relationship
Figure.
It is described in mover initial position detection method of the Fig. 4 for the planar motor of position-sensor-free provided by the invention
The flow chart of step S500.
Specific embodiment
The present invention provides a kind of mover initial position detection method of the planar motor of position-sensor-free, to make the present invention
Purpose, technical solution and effect it is clearer, clear, as follows in conjunction with drawings and embodiments further specifically to the present invention
It is bright.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not intended to limit the present invention.
Referring to Fig. 1, a kind of mover initial position detection side of the planar motor of position-sensor-free provided by the invention
Method includes the following steps:
S100, detection is injected when under planar motor remains static, while to three phase promoter windings of the planar motor
Electric current simultaneously keeps injection preset time.
In the present embodiment, the present invention injects sinusoidal detection electric current by each phase promoter winding to motor to detect motor
The maximum of the response voltage of each phase promoter winding, electric mover platform are not necessarily to movement, and in order to guarantee electric mover platform
It will not move, when carrying out the selection of detection electric current, need to select the sinusoidal current of suitable amplitude and frequency as detection
Electric current, generated thrust is not more than the maximum static friction force of motor, to not influence the mover initial position detection of motor.
So before step S100, method provided by the invention further include:
It is calculated according to the maximum static friction force of motor, inductance change rate and maximum noise electric current and chooses suitable detection electricity
Stream.
Specifically, the theory of detection current amplitude can be obtained according to the maximum static friction force of motor and inductance change rate
Value interval, but noise current can be generated in motor actual moving process.The practical value of detection current amplitude is considered as making an uproar
Acoustoelectric current bring influences, and the selected value of current amplitude is not less than 10 times of maximum noise electric current.According to planar motor rotor line
It encloses the maximum current that can bear, maximum voltage, minimum inductance value and detects minimum value these data of current amplitude and obtain
Detect the theoretical maximum of power frequency.Detection accuracy is directly proportional to power frequency, therefore goes for degree of precision, detection electricity
The selection for flowing frequency should be the bigger the better.But there are the limitations of current driver bandwidth, driver noise electricity in practical application
The problems such as input detection current waveform deformation is serious when larger, frequency is excessively high is flowed, therefore in the specific implementation, also using dynamic point
Analyzer carries out the bandwidth frequency that spectrum analysis determines driver to driver, avoids the biggish section of noise current, and it is suitable to select
Detection power frequency section.
S200, it is repeated as many times the real-time pole for detecting the response voltage of three phase promoter windings of planar motor within a preset time
Big value, and by the theory of the average value of the real-time maximum of the response voltage of each phase promoter winding repeated detection voltage in response
Maximum.
Specifically, the three phase promoter windings to motor be filled with detection electric current after, can by voltage sensor come
Detect each phase promoter winding response voltage maximum value, due to motor a certain phase promoter winding response voltage it is very big
Value upk = AkwkLk(s0), wherein upk、Ak、wkAnd Lk(s0) response voltage maxima, detection current amplitude, detection are respectively indicated
Inductance value when power frequency and initial position are s0, since response voltage is directly proportional to inductance, can be according to mover winding
The variation relation of inductance and position obtains the variation relation of three-phase response voltage and position, further responds voltage according to three-phase
Judge Position Approximate region locating for electric mover；In addition, the present invention, which is repeated as many times, to be detected in order to increase the accuracy of detection
The real-time maximum of the response voltage of three phase promoter windings of planar motor within a preset time, and each phase promoter winding is multiple
The theoretical maximum of the average value voltage in response of the real-time maximum of the response voltage of detection, so as to reduce detection
Accidental error guarantees the accuracy of detection, and more preferably, the present invention is when carrying out repeated detection, also to the response electricity of multiple detections
The real-time maximum of pressure is analyzed, in the real-time maximum and other response electricity for judging wherein one or more response voltages
When the real-time maximum deviation of pressure is more than preset range, the real-time maximum that deviation is more than the response voltage of preset range is picked
It removes, onlys demand the average value that remainder data normally responds the real-time maximum of voltage.
S300, the band of position compared the theoretical maximum for responding voltage of three phase promoter windings and determine planar motor.
Specifically, the present invention determines plane electricity by comparing the theoretical maximum of the response voltage of each phase promoter winding
The band of position of machine, since the inductance size relation of each phase promoter winding and the initial position of mover have regular sexual intercourse, and
Inductance is again proportional with the maximum of response voltage, so the size of the theoretical maximum of the response voltage of each phase promoter winding is closed
The initial position of system and mover also has regular sexual intercourse, therefore the present invention can be closed by responding the size of the theoretical maximum of voltage
System judges the location of mover region, and then the theoretical maximum of voltage estimates the mover position of plan-position according to response
It sets.The specific flow chart of the step S300 is as shown in Figure 2.
Referring to Fig. 2, it is the flow chart of the step S300, include the following steps:
S301, one pole span of motor is divided into 6 according to the three phase promoter winding inductances and rotor position relational graph of motor
The band of position；
S302, the theoretical maximum for responding voltage for comparing three phase promoter windings, and obtain the response voltage of three phase promoter windings
Maximum size relation；
S303, the location of mover area is judged according to the size relation of the theoretical maximum of the response voltage of three phase promoter windings
Domain.
Specifically, referring to Fig. 3, it illustrates for the inductance, response voltage and rotor position relationship of three phase promoter windings
Figure, from the figure 3, it may be seen that the inductance value of each phase promoter winding of motor is symmetrical in a pole span, therefore each response electricity
Pressure value corresponds to two positional values, can not determine mover initial bit if individually detecting the response voltage value of a certain phase promoter winding
It sets.But the size relation of the inductance of three-phase windings in a motor pole span in regularity variation, therefore the present invention is by motor
One pole span is divided into six bands of position, and the inductance of the three-phase windings in any one region known to Fig. 3 or the size for responding voltage are closed
System all determines, so the present invention is after detecting the theoretical maximum of response voltage of three phase promoter windings, it can be by comparing three
The theoretical maximum of the response voltage of phase promoter winding obtains the size of the theoretical maximum of the response voltage of three phase promoter windings
Relationship, then according to size relation judge electric mover locating for region, then further according to response voltage theoretical maximum
The initial position of mover is estimated, to realize the mover initial position detection of the planar motor of position-sensor-free.
Furthermore, it is understood that the step S303 is specifically included:
If uA> uB≥uC, then determine that mover is in 0 ~ 1/6 region P；
If uB≥uA> uC, then determine that mover is in the region the P of 1/6 P ~ 1/3；
If uB> uC≥uA, then determine that mover is in the region the P of 1/3 P ~ 1/2；
If uC≥uB> uA, then determine that mover is in the region the P of 1/2 P ~ 2/3；
If uC> uA≥uB, then determine that mover is in the region the P of 2/3 P ~ 5/6；
If uA≥uC> uB, then determine that mover is in 5/6 P ~ region P；
Wherein, uAFor the theoretical maximum of the response voltage of the A phase promoter of motor, uBFor the response voltage of the B phase promoter of motor
Theoretical maximum, uCFor the theoretical maximum of the response voltage of the C phase promoter of motor, P is a pole span distance of motor.
Specifically, from the figure 3, it may be seen that the size relation of the theoretical maximum of the response voltage of three phase promoter windings is at one
It is determining in the band of position, and can clearly knows the response voltage of three phase promoter windings in each position region in Fig. 3
Maximum size relation, so in turn can pass through three phase promoter windings response voltage theoretical maximum size close
System judges the band of position described in mover, to realize primarily determining for rotor position.
S400, according to response voltage and position data relation table calculate the rotor position of planar motor.
Specifically, after judging the band of position described in mover, response voltage and position data relationship can be passed through
Table responds the maximum of voltage with regard to different, so originally due to detecting the difference of electric current to calculate the rotor position of planar motor
Invention also needs to obtain response voltage and position data relation table.
When it is implemented, referring to Fig. 4, the mover initial position of the planar motor of position-sensor-free provided by the invention
Detection method further include:
S500, multiple test points are chosen in a pole span of motor etc., obtain the maximum of the response voltage of multiple test points,
And response voltage and position data relation table are obtained according to the response voltage of multiple test points and the position of test point.
Specifically, the present invention obtains being enlarged to for response voltage by carrying out response voltage tester and closes with position data
It is table, response voltage detecting is carried out to three phase promoter windings of known rotor position, then according to the response of multiple test points electricity
Pressure and position data are judged to respond voltage and position data relation table.The flow chart of the step S500 is as shown in Figure 4.
S501, several test points are equidistantly selected in a pole span, is infused in each test point to three phase promoter windings
Enter the sinusoidal current that frequency and amplitude determine；
S502, the maximum of the real response voltage in each test point of three phase promoter windings is detected simultaneously by voltage sensor
Repeat detection several times；
S503, calculate separately out each phase promoter winding each test point repeated detection real response voltage maximum
Average value, and the maximum of the theoretical response voltage as each phase promoter winding of each test point；
S504, cubic spline interpolation is respectively adopted in the maximum of the theoretical response voltage of each test point of each phase promoter winding
Method fitting obtains response voltage and position data relation curve and is fabricated to table.
Specifically, the present invention equidistantly chooses test point in a pole span first, the position of each test point it is known that
Then to each phase promoter winding inject determine frequency, amplitude sinusoidal current, using voltage sensor detect three phase promoters around
Group repeats to enhance the accuracy of detection in each test point in the maximum of the real response voltage of each test point
Repeated detection is carried out, then calculates the average value of the maximum of the real response voltage of repeated detection, this average value is i.e. as every
The maximum of the theoretical response voltage of each phase promoter winding of one test point, to obtain multiple discrete response voltages
Maximum；It is fitted finally by cubic spline interpolation method, cubic spline interpolation method is one kind by a series of shape value point systems
The method for making a smooth curve, so that response voltage and position data relation curve have been obtained, after being then fabricated to table,
It, can be directly by tabling look-up after the maximum of response voltage for obtaining each phase promoter winding when carrying out mover initial position detection
Method estimate the initial position of mover, it is simple and convenient, and initial position totality detection error be in -0.23 mm ~
Between 0.15mm.
In conclusion the mover initial position detection method packet of the planar motor of position-sensor-free provided by the invention
It includes: when under planar motor remains static, while simultaneously to three phase promoter windings of planar motor injection detection electric current
Keep injection preset time；Then it is repeated as many times the response voltage for detecting three phase promoter windings of planar motor within a preset time
Maximum, and by the average value of the real-time maximum of the response voltage of each phase promoter winding repeated detection voltage in response
Theoretical maximum；Compare the theoretical maximum of the response voltage of three phase promoter windings again and determines the band of position of planar motor；
Last voltage and position data relation table according to response calculate the rotor position of planar motor.The present invention can be flat in electric mover
In the case that platform is without movement, the initial position of electric mover is estimated, realizes the initial bit of position-sensor-free planar motor
Detection is set, is provided safeguard for the precise and stable operation of motor, and the initial position detection error of motor is less than 0.3 mm.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention
Protect range.
Claims (7)
1. a kind of mover initial position detection method of the planar motor of position-sensor-free, which is characterized in that including walking as follows
It is rapid:
When under planar motor remains static, while simultaneously to three phase promoter windings of planar motor injection detection electric current
Keep injection preset time；
The real-time maximum of the response voltage of three phase promoter windings of planar motor within a preset time is repeatedly detected, and will
The theoretical maximum of the average value voltage in response of the real-time maximum of the response voltage of each phase promoter winding repeated detection；
Compare the theoretical maximum of the response voltage of three phase promoter windings and determines the band of position of planar motor；
Voltage and position data relation table calculate the rotor position of planar motor according to response.
2. the mover initial position detection method of the planar motor of position-sensor-free according to claim 1, feature
It is, it is described when under planar motor remains static, while detection is injected to three phase promoter windings of the planar motor
Electric current and keep injection preset time the step of before further include:
It is calculated according to the maximum static friction force of motor, inductance change rate and maximum noise electric current and chooses suitable detection electricity
Stream.
3. the mover initial position detection method of the planar motor of position-sensor-free according to claim 2, feature
It is, the amplitude of the detection electric current is not less than 10 times of maximum noise electric current.
4. the mover initial position detection method of the planar motor of position-sensor-free according to claim 2, feature
Be, the three phase promoter winding of comparison response voltage theoretical maximum and determine planar motor the band of position the step of
Include:
One pole span of motor is divided into 6 positions area according to three phase promoter winding inductances of motor and rotor position relational graph
Domain；
Compare the theoretical maximum of the response voltage of three phase promoter windings, and obtains the theory of the response voltage of three phase promoter windings
The size relation of maximum；
The location of mover region is judged according to the size relation of the theoretical maximum of the response voltage of three phase promoter windings.
5. the mover initial position detection method of the planar motor of position-sensor-free according to claim 3, feature
It is, the size relation of the theoretical maximum of the response voltage according to three phase promoter windings judges the location of mover area
The step of domain, specifically includes:
If uA> uB≥uC, then determine that mover is in 0 ~ 1/6 region P；
If uB≥uA> uC, then determine that mover is in the region the P of 1/6 P ~ 1/3；
If uB> uC≥uA, then determine that mover is in the region the P of 1/3 P ~ 1/2；
If uC≥uB> uA, then determine that mover is in the region the P of 1/2 P ~ 2/3；
If uC> uA≥uB, then determine that mover is in the region the P of 2/3 P ~ 5/6；
If uA≥uC> uB, then determine that mover is in 5/6 P ~ region P；
Wherein, uAFor the theoretical maximum of the response voltage of the A phase promoter of motor, uBFor the response voltage of the B phase promoter of motor
Theoretical maximum, uCFor the theoretical maximum of the response voltage of the C phase promoter of motor, P is a pole span distance of motor.
6. the mover initial position detection method of the planar motor of position-sensor-free according to claim 2, feature
It is, further includes:
It is equal in a pole span of motor to choose multiple test points, obtain the maximum of the response voltage of multiple test points, and root
Response voltage and position data relation table are obtained according to the response voltage of multiple test points and the position of test point.
7. the mover initial position detection method of the planar motor of position-sensor-free according to claim 6, feature
It is, the multiple test points of selection equal in a pole span of motor obtain the response voltage of multiple test points, and according to more
The response voltage of a test point and the position of test point obtain response voltage with the step of position data relation table
Several test points are equidistantly selected in a pole span, give three phase promoter winding injected frequencies and width in each test point
It is worth determining sinusoidal current；
Maximum and the repetition of the real response voltage in each test point of three phase promoter windings are detected by voltage sensor
Detection is several times；
Calculate separately out being averaged for the maximum of the real response voltage of each test point repeated detection of each phase promoter winding
Value, and the maximum of the theoretical response voltage as each phase promoter winding of each test point；
Cubic spline interpolation method is respectively adopted in the maximum of the theoretical response voltage of each test point of each phase promoter winding
Fitting obtains response voltage and position data relation curve and is fabricated to table.
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Cited By (3)
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| CN110334386A (en) * | 2019-05-09 | 2019-10-15 | 深圳大学 | A kind of planar motor control method and terminal device based on parametric regression |
| CN111665723A (en) * | 2020-06-19 | 2020-09-15 | 深圳大学 | Control method of planar motor based on track gradient soft constraint |
| CN113078866A (en) * | 2021-03-17 | 2021-07-06 | 天津工业大学 | High-frequency injection IPMSM (intelligent power management System) strip-speed re-throwing control method based on control power supply |
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| CN111665723A (en) * | 2020-06-19 | 2020-09-15 | 深圳大学 | Control method of planar motor based on track gradient soft constraint |
| CN111665723B (en) * | 2020-06-19 | 2022-09-20 | 深圳大学 | Control method of planar motor based on track gradient soft constraint |
| CN113078866A (en) * | 2021-03-17 | 2021-07-06 | 天津工业大学 | High-frequency injection IPMSM (intelligent power management System) strip-speed re-throwing control method based on control power supply |
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