CN109831137A - Permanent-magnet synchronous motor rotor position detection and initial position scaling method - Google Patents
Permanent-magnet synchronous motor rotor position detection and initial position scaling method Download PDFInfo
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Abstract
A kind of detection of permanent-magnet synchronous motor rotor position and initial position scaling method, when being rotated using permanent magnet synchronous motor encoder induction gear with rotor, the inductive head for being provided with magnetic induction chip detects the turned angle of rotor axis of electric, and export three road A, B, Z signals, based on the processing to above-mentioned signal, motor rotor position angle θ is decomposed into initial position angle of rotor θ0With incremental counter angle θΔTwo parts.Spatial position corresponding between pulse is counted to two using high speed AD sampling circuit finely to be divided, and is reduced the quantization error for calculating integer pulse brought position angle, is realized to rotor incremental counter angle θΔHigh precision computation；By motor rotor position initial angle θ0Estimated value be set as zero, pass through oscillograph read motor rotor position angle θ and uBCMotor rotor position initial angle θ can be completed by calculating in the phase difference of two-way analog signal0Calibration.
Description
Technical field
The present invention relates to a kind of methods of permanent magnet synchronous motor motor driven systems rotor-position detection.
Background technique
High-performance permanent magnet Synchromous machine drive system generallys use vector controlled, for the independence for realizing motor magnetic flux and torque
Closed-loop control needs to decouple excitation component and torque component in motor stator electric current, and permanent-magnetic synchronous motor rotor is exhausted
Detection to position is to realize the necessary condition of stator current decoupling control.The prior art is generally used and is mounted on motor
Encoder obtains motor position information.For the absolute position for obtaining rotor, the most commonly used scheme is using absolute type
The mode of encoder, but due to having the characteristics that internal structure is complicated, at high cost, greatly limit absolute type encoder
Application.As an alternative, incremental encoder only exports and motor rotates corresponding number of pulses, has inside
Structure is simple, small volume, advantage low in cost.Photoelectric encoder and magnetic inductive gear encoder are increment type codings
Two kinds of principal modes of device, wherein the simplification of gear encoder mechanical structure is firm, measures between gear and magnetic induction read head
Using it is non-contact, design without abrasion, the characteristic with anti-vibration, anticorrosive, antipollution and wide operating temperature, fast response time,
High speed rotary motion is adapted to, can be applied to the immalleable field of photoelectric encoder.But incremental encoder output signal is only
It can reflect the increment information of change in location, for the detection for realizing absolute location information, the prior art is mainly encoded by increment type
The Z pulse zero signal of device output realizes the acquisition of initial position, in conjunction with above-mentioned incremental counter information and then obtains rotor
Absolute position.
Initial position acquisition methods based on Z pulse zero signal mainly include two classes: a kind of method requires installation increment
Zeroing work is carried out when formula encoder, i.e., the Z pulse position of encoder is aligned or at the inclined of fixed angle with rotor magnetic pole
Then difference locks encoder fastening screw, above-mentioned requirements result in incremental encoder, and difficulty is larger during installation, and takes
When it is laborious.Another kind of method then measures initial makeup location angle after encoder is installed by way of actual measurement, by soft
The mode of part calibration is configured in a control program.Existing initial position scaling method needs special calibrating procedure, mark
It needs special clamping device during fixed or needs to lead to high pressure forceful electric power to electric machine controller, complicated operation.
Application No. is a kind of 201510328995.9 patent " dresses that absolute position detection is carried out using incremental encoder
Set and its method ", disclose it is a kind of using incremental encoder carry out absolute position detection device, pass through motor both ends electricity
The retarder of connection and power-off keep brake, realize the detection of absolute position.But the device needs mating power-off
Brake is kept, to realize motor locking after system cut-off, so that position when motor is maintained at system cut-off is not
Dynamic, it is not the general and required component of motor that power-off, which keeps brake, to realize the The effect of invention, it is necessary to increased
Power-off holding brake greatly limits the application field of the invention.
Application No. is the 201210248414.7 patent " sides of permanent-magnet alternating current servo motor incremental encoder check and correction zero-bit
Method " a kind of method that zero-bit directly is corrected to motor incremental encoder using servo-driver is disclosed, utilize servo
Incremental encoder P-pulse is counted when capturing the Z pulse signal of incremental encoder sending and is reset by driver, simultaneously
ABZ counting mode is changed to be counted again, the shaft relative position of incremental encoder and rotor is adjusted, makes electricity
Both the phase current waveform of machine and phase back-emf waveforms waveform phase is consistent, just completes incremental encoder to zero-bit
Operation.Application No. is the patents of 201610738059.X " to be based on incremental optical-electricity encoder multipolar dynamo position of magnetic pole detection side
Method " initial alignment of rotor is carried out also with the UVW signal that photoelectric encoder carries, to eliminate accumulated error in each week
At the end of be zeroed out with Z signal or UVW signal.But the method that above-mentioned two invention is proposed is required to encoder simultaneously
Have UVW coarse localization and ABZ accurate positioning function, the encoder being actually directed to belongs to a kind of hybrid encoder, not
It is incremental encoder truly；In addition, needing servo-driver control motor with certain to realize Zero positioning
Speed open loop operation, it is therefore desirable to prepare special open-loop control process, and needs to provide forceful electric power for drive control device, it is above-mentioned
Particular/special requirement limits the scene of such method application.
Summary of the invention
The purpose of the present invention is overcome existing permanent-magnetic synchronous motor rotor initial position calibration technique to need special calibrating
Program, motor need to be powered open loop operation the drawbacks of, propose that a kind of permanent magnet synchronous motor based on increment type gear encoder turns
Sub- position detection and initial position scaling method, the present invention is on the basis of realizing permanent magnet machine rotor absolute position detection, no
Additional software and hardware detecting circuit, which must be increased, can be realized the calibration of magneto initial position, be not required in calibration process
High pressure forceful electric power to be provided for electric machine controller, is carrying out initial position angle θ0Calibration process in synchronously completed to calibration tie
The check of fruit.
Increment type gear encoder is made of encoder induction gear and inductive head.Encoder induction gear and rotor
Concentric rotation axis installation, encoder inductive head are mounted on motor rear end and cover and keep relative position constant with motor stator, compile
Be provided on the induction gear of code device with reference to zero-bit Z signal teeth layer and A, B string wave signal teeth layer, encoder induction gear with
When rotor rotates, the inductive head for being provided with magnetic induction chip can be detected out the turned angle of rotor axis of electric, and defeated
Three road A, B, Z signal out.
When the present invention is rotated using permanent magnet synchronous motor encoder induction gear with rotor, it is provided with magnetic induction core
The inductive head of piece detects the turned angle of rotor axis of electric, and exports three road A, B, Z signals, based on to above-mentioned signal
Processing calculates rotor-position incremental angle θΔ, calibration rotor position initial angle θ0, rotor position angle θ is calculated, rotor is carried out
The verification of position detection and initial position calibration result, and it is used for the high performance control of motor.
It is a kind of common method of motor control, rotor field-oriented body based on rotor field-oriented vector control method
It is the lower rotor axis of motor and the d overlapping of axles of d-q rotating coordinate system, rotor field-oriented system lower rotor part angular position theta definition
Line voltage for the angle between rotor axis and stator A phase axis, motor stator can indicate are as follows: uBC=kλ×cos
θ, kλFor coefficient related with rotor magnetic field strength and revolving speed.Therefore, when rotor-position calculates correct, motor stator line
Voltage uBCThe cycle variation law of cosine function is presented about rotor position, the present invention utilizes line voltage and rotor position angle
Above-mentioned relation realize original position of electric motor's rotator calibration and motor rotor position testing result verification.
Since increment type gear encoder output is only capable of the increment information θ of reflection change in locationΔ, turn for accurate obtain
Sub- angular position theta needs to realize rotor initial bit by the reference zero pulse Z signal of increment type gear encoder output
Set θ0Detection, on this basis rotor position angle calculation formula indicate are as follows: θ=θ0+θΔ。
The motor rotor position increment θΔ=θΔI+θΔF, wherein θΔIFor the whole amount information of position, increment type gear is compiled
The number of teeth of the string wave signal teeth layer of code device is N, and two adjacent teeth generate a complete cycle after inductive head on gear
String wave signal, then gear generates the string wave signal of N number of complete cycle for each revolution, through oversampling circuit Shape correction and inputs DSP
QEP circuit carry out 4 frequencys multiplication after, corresponding 4N counting pulse signal.It can be calculated according to above-mentioned counting pulse and integer
The corresponding whole measuring angle θ of a counting pulseΔI；The whole measuring angle θ of positionΔIAnd it is inaccurate, for realize two counting pulses it
Between position fine division, the present invention proposes a kind of to count two in space corresponding between pulses using high speed AD sampling
The method that position carries out Exact calculation, may be implemented based on this method to component angle information θΔFAcquisition.
The original position of electric motor's rotator θ0By encoder induction gear, inductive head and motor stator, rotor it is opposite
Installation site is determined, mainly includes following two part: the 1) folder of motor stator A phase axis and encoder inductive head axis
Angle θ01；2) rotor axis and encoder induction gear refer to the angle theta of zero-bit tooth shaft line02.Gear encoder installs
At rear θ0I.e. it has been determined that and meeting θ0=θ01+θ02, by measuring θ respectively01And θ02Calculate θ0Method it is relatively difficult to achieve, this hair
Bright method is directly realized by θ01And θ02The measurement of two parts angle sum.
Steps are as follows for permanent magnet machine rotor absolute position detection of the present invention and initial position scaling method:
(1) rotor-position incremental angle θ is calculatedΔ
Calculate rotor-position incremental angle θΔIt is realized using the main interrupt routine of electric machine controller.Every fixed cycle Ts
Obtain the primary rotor-position incremental angle θΔ, rotor-position incremental angle θ is obtained every timeΔProcess undergoes coarse positioning
With two stages of finely positioning, whole angulation angle value θ is respectively completed two stagesΔIWith component angle value θΔFCalculating；It is above-mentioned
Rotor-position incremental angle θΔAt the time of the starting point of acquisition process is the zero-bit Z signal for detecting encoder output, Z is detected
Operation is zeroed out firstly the need of pulse count value M after signal；
Calculate the whole angulation angle value θ of coarse positioning stage completionΔI, detailed process are as follows: increment type gear encoder induction gear
After tooth on string wave signal teeth layer turns over inductive head, the orthogonal string wave signal of A, B two-way phase mutual deviation pi/2 is generated.Assuming that gear
The string wave signal teeth layer number of teeth of encoder induction gear be N, then induction gear it is every rotation 1 circle 2 tunnel of encoder output it is orthogonal,
String wave signal comprising N number of complete cycle, the signal become orthogonal digital square-wave A, B of two-way after oversampling circuit shaping,
The QEP circuit of digital square-wave input DSP corresponds to 4N counting pulse signal after carrying out 4 frequencys multiplication, it is assumed that main interrupt cycle is
Ts, by reading the QEP counter register of DSP in main interrupt routine, obtained counted number of pulses is M, then whole angulation angle value
θΔICalculation formula are as follows:
Calculate finely positioning stage completion component angle value θΔF, detailed process are as follows: component angle value θΔFIt is defined as being turned
Actual bit locating for rotor-position corresponding to the counting pulse that last time generates before sub- position calculates the moment and current rotor
Differential seat angle between setting, the insufficient integer arteries and veins that physical significance turns over again for rotor after the last one counting pulse of encoder output
Rush the minute angle value of corresponding angle.Whole angulation angle value θ is completed in main interrupt routineΔICalculating after, at once start electricity
The high speed AD sampling program of machine controller DSP, string wave signal A, B orthogonal to the two-way of gear encoder output is in same a period of time
Quarter is sampled, and the result that sampling obtains is obtained as quotientIt is orthogonal to the above formula available two-way of tangent of negating
The phase Θ of string wave signal；Θ and required obtained θΔFWith corresponding relationship, orthogonal string wave signal A, B is through circuit shaping
Orthogonal digital square-wave is obtained afterwardsAccording to sampling instantThe coding situation of digital signal tables look-up to obtain θΔF
=Θ or θΔF=Θ+pi/2.
According to the whole angulation angle value θ of aforementioned acquisitionΔIWith component angle value θΔF, complete rotor-position incremental angle θΔMeter
It calculates, calculation formula are as follows: θΔ=θΔI+θΔF。
(2) calibration rotor position initial angle θ0
The rotor-position initial angle θ0Detection carried out after encoder is installed on motor, except non-replaceable or
Gear encoder is reinstalled, otherwise the above process need to only carry out once, rotor-position initial angle θ0Testing principle analysis
It is as follows:
The line voltage of motor stator can indicate are as follows: uBC=kλ× cos θ, line voltage uBCVaries with cosine rule is presented.If
Motor rotor position angle θ calculates correct, then above formula establishment, θ and uBCWaveform have following rules: u when θ=0BCTake forward direction most
Big value, u when θ=πBCTake maximum negative value.
Known by the analysis of front, the calculation formula of motor rotor position angle θ is θ=θ0+θΔ, wherein θΔIn step
(1) it is obtained in, due to true rotor-position initial angle θ0It is unknown, θ can be set0Estimated valueAnd it willDeviate
θ0Error be denoted asThen withInstead of θ0The generated error that calculates of calculating for carrying out motor rotor position angle θ will
Completely byIt determines.It willSubstitute into θ=θ0+θΔIt obtains:By adjustingNumber
Value, so that θ and uBCWaveform meet rule: u when θ=0BCTake positive maximum value, u when θ=πBCTake maximum negative value.On record
It states when rule is set upNumerical value, can be obtained initial position angle
The rotor-position initial angle θ0Acquisition process it is as follows:
1) θ is set0Estimated valueWithInstead of θ0And combine θ obtained in step (1)Δ, complete rotor position
The calculating of angle setting θ, i.e. θ=θ0+θΔ=θΔ；
2) digital quantity that rotor position angle θ is calculated is converted to analog quantity by D/A and is output to the first of oscillograph
In channel；
3) second channel that motor stator B, C two-phase are accessed to oscillograph by differential probe passes through oscilloscope measurement electricity
The line voltage waveform u of machineBC；
4) manual rotary electric machine rotor, so that rotor at the uniform velocity rotates 2 circles or more, simultaneously by oscillograph screen observation
Record θ and uBCThe phase difference of two-way analog signal
5) formula is utilizedTrue motor initial position angle can be obtained, complete rotor initial bit
The calibration set, and obtain any time motor rotor position, calculation formula are as follows: θ=θ0+θΔ；
(3) rotor position angle θ is calculated
The calculation formula of motor rotor position angle θ proposed by the invention are as follows: θ=θ0+θΔ, obtaining respectively, rotor is initial
Angular position theta0With rotor-position incremental angular θΔOn the basis of, rotor position angle θ can be calculated using above-mentioned formula.
(4) rotor-position detection and the verification of initial position calibration result are carried out
For to rotor-position detection and initial position calibration result verify, repeat 2 in step (2)), 3), 4)
The operation of step observes θ and u by oscillographBCThe phase difference of two-way analog signalIfThen show that verification passes through.
The present invention realizes the simplification to permanent-magnetic synchronous motor rotor initial position scaling method, to rotor increment
On the basis of position angle high-precision detects, first by motor rotor position initial angle θ0It is set as zero, motor is read by oscillograph
Rotor position angle θ and uBCThe phase difference of two-way analog signalThenMotor rotor position initial angle θ can be completed0's
Calibration.The calibration of motor rotor position initial angle is carried out using rotor-position calculation procedure proposed by the invention, without additional
Increase dedicated calibration software and hardware detecting circuit, and do not need to provide high pressure forceful electric power for electric machine controller in calibration process,
The check to calibration result obtained has been synchronously completed during obtaining original position of electric motor's rotator angle, checks process
Motor rotor position initial angle θ obtained can sufficiently be verified0And the correctness of motor rotor position θ calculation procedure.
Detailed description of the invention
Fig. 1 is increment type gear encoder and its scheme of installation on permanent magnet synchronous motor；
Fig. 2 is the permanent magnet machine rotor absolute position detection schematic illustration based on increment type gear encoder；
Fig. 3 is increment type gear encoder output processing circuit schematic diagram；
Fig. 4 is increment type gear encoder output timing and rotor incremental counter θΔAcquisition principle；
Fig. 5 is rotor incremental counter angle θΔComponent angle value θΔFWithSignal coding mapping table；
Fig. 6 is that θ phase is ahead of stator line voltage uBCPhase schematic diagram, advanced phase angle
Fig. 7 is that θ phase is ahead of stator line voltage uBCPhase schematic diagram, advanced phase angle
Fig. 8 is θ0Rotor position and stator line voltage u after the completion of calibrationBCSame-phase schematic diagram；
Fig. 9 is θ0The rotor position and stator line voltage u that oscillograph is surveyed after the completion of calibrationBCWaveform.
Specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
Fig. 1 be increment type gear coder structure and with permanent magnet synchronous motor installation graph.The increment type tooth
Turns encoder is made of inductive head 2 and encoder induction gear 3, and encoder induction gear 3 is mounted on permanent magnet synchronous motor shaft
On 4 and with 5 synchronous rotary of magneto shaft 4 and rotor, the inductive head 2 of encoder is mounted on back end cover for motor 1 simultaneously
The relative position being spatially kept fixed with the stator 6 of motor.
Fig. 2 is permanent magnet machine rotor absolute position detection schematic illustration of the present invention.By the rotor 5 of magneto and determine
Son 6 projects in the plane 7 where gear encoder gear, and A, B string wave signal teeth layer are provided on the induction gear of encoder
8 and zero-bit Z signal teeth layer 9 is referred to, the tooth that sum is N has been evenly distributed on string wave signal teeth layer 8, with reference on zero-bit Z signal teeth layer 9
Zero-bit tooth 10 is referred to equipped with one.When encoder induction gear 3 is with rotor synchronous rotary, it is provided with magnetic induction chip
Encoder inductive head 2 can be detected out the angle that machine shaft 4 turns over, and export string wave signal A, B and zero signal Z.
As shown in Fig. 2, after gear encoder completes installation on motor, the inductive head 2 of encoder, induction gear 3 with
Rotor 5, motor stator winding A phase axis 11 relative position be fixed up, angle master related with above-mentioned installation results
It to include following two parts: the 1) angle theta of motor stator A phase axis 11 and 2 axis of encoder inductive head01；2) rotor 5
Axis and encoder induction gear refer to the angle theta of 10 axis of zero-bit tooth02.The initial position angle θ of rotor0Comprising above-mentioned
Two parts, its calculation formula is θ0=θ01+θ02。
As shown in Fig. 2, motor rotor position incremental angular angle value θΔBe defined as the axis of the reference zero-bit tooth 10 of encoder with
Angle between the axis of inductive head 2 can be with by signal A, B, Z of encoder output by the calculating of processing of circuit and DSP
Obtain θΔ。
Rotor-position initial angle θ is being obtained respectively0With rotor-position incremental angle θΔOn the basis of, needs can be obtained
Motor rotor position angle θ, its calculation formula is: θ=θ0+θΔ。
Fig. 3 is increment type gear encoder output processing circuit schematic diagram.The orthogonal string wave of the two-way of encoder output
Signal A, B obtain orthogonal digital square-wave after circuit shapingThe zero signal Z of encoder output is through oversampling circuit
Digital square-wave zero signal is obtained after shapingSignal accesses in the QEP module of DSP, specifically,Signal
It is connected simultaneously with the QEPA pin of DSP and digital I/O interface, QEPB pin and digital I/O interface phase of the B signal with DSP
Even, Z signal is connected with the QEPI pin of DSP；Meanwhile orthogonal string wave signal A, B of encoder output accesses high speed AD sampling
Circuit, the result of high-speed sampling is sent into DSP by data/address bus completes subsequent calculating.
Fig. 4 be increment type gear encoder output and the corresponding signal that is generated after Fig. 3 processing circuit when
Sequence figure.The QEP module of DSP may be implemented to square-wave signalUp and down edge identification, square-wave signal
Each rising edge and failing edge it is corresponding in QEP module generate a countings pulse, counting pulse such as Fig. 4 (e) institute
Show.
Based on Such analysis, steps are as follows by the present invention:
(1) step 1 calculates rotor-position incremental angle θΔ, calculation formula θΔ=θΔI+θΔF.Wherein θΔIFor whole angulation
Angle value, θΔFFor component angle value.
The rotor-position incremental angle θΔAcquisition every fixed cycle TsCarry out primary, θΔCalculation procedure position
In the main interrupt routine of motor control, TsIt is the execution period of main interrupt routine, can guarantees θ in this wayΔCalculating and electricity
Machine controls the synchronization that main interrupt routine executes.
As shown in Fig. 4 (d), with digital zero signalAs rotor-position incremental angle θ at the time of appearance square-wave waveformΔ
The initial time t of calculating0, the QEPI pin of DSP detectsAfter signal first to the QEP counted number of pulses M in Fig. 4 (e) into
Row clear operation calculates rotor-position incremental angle θ in i-thΔAt the time of tiFor when arrival, tiThe QEP of moment reading DSP
Counter register obtains counted number of pulses and is recorded as Mi, then from initial time t0To moment ti, whole amount that rotor turns over
Angle value θΔICalculation formula beCalculating error isWhen gear encoder incudes tooth
When the number N of teeth of the string wave signal teeth layer of wheel is smaller, error is calculatedIt can be very big.Error is calculated to reduce, the invention proposes realities
Existing θΔThe method of finely positioning.As shown in Fig. 4 (a), tiMoment completes whole angulation angle value θ in main interrupt routineΔICalculating
Afterwards, start high speed AD sampling program at once, string wave signal A, the B orthogonal to the two-way of gear encoder output are in synchronization
It is sampled, sampling obtains sin Θ and cos Θ, and the above results are obtained as quotientNegating tangent to above formula can be with
Obtain the phase Θ of the orthogonal string wave signal of two-way, solve shown in process such as Fig. 4 (f) of Θ, tiThe value of moment Θ is Θi；
Orthogonal digital square-wave signal in Fig. 4 (b), Fig. 4 (c)It is connected with the digital I/O interface of DSP, in tiMoment passes through reading
I/O port obtainsLevel state, inquire the available θ of coding schedule shown in fig. 5ΔF.Specifically, for the t in Fig. 4i
Moment, due toKnown by Fig. 5, θΔF=Θi+π/2.Assuming that the frequency of AD sampling is fs, the gear as shown in Fig. 4 (a)
The frequency of the string wave signal of encoder output is fAB, then θΔFCalculating error can be expressed as,fABHighest frequency be usually no more than 200kHz, if in Fig. 3 AD sample circuit sampling
Frequency is fs=20MHz, then θΔFCalculating error can be expressed as,As can be seen that mentioning
High fsIt can reduceAnd then improve the precision of positioning.
(2) step 2, calibration rotor initial position angle θ0。
1) due to θ0It is unknown, set θ0Estimated valueWithInstead of θ0And the θ being calculated in conjunction with the first stepΔ, complete
At the calculating of motor rotor position angle θ, i.e. θ=θ0+θΔ=θΔ；
2) rotor position angle θ is calculated to be converted to analog quantity by the D/A module of DSP and be output to the channel of oscillograph
In 1；
3) channel 2 that motor stator B, C two-phase are accessed to oscillograph by differential probe, passes through oscilloscope measurement motor
Line voltage waveform uBC；
4) manual rotary electric machine rotor is seen so that rotor at the uniform velocity rotates 2 circles or 2 circles or more by oscillograph screen
It surveys and records θ and uBCThe phase difference of equal two-way analog signalIt willIt is defined as θ and takes 0 value and uBCIt takes corresponding to positive maximum value
Phase difference: Fig. 6, which is shown, to be worked asWhen θ phase be ahead of stator line voltage uBCThe case where phase；Fig. 7 is to work as
When θ phase be ahead of stator line voltage uBCThe case where phase；
5) formula is utilizedTrue original position of electric motor's rotator angle can be obtained, then complete θ0By estimating
EvaluationTo the calibration of true value.
(3) step 3 calculates motor rotor position angle θ.
The calculation formula of motor rotor position angle θ proposed by the invention are as follows: θ=θ0+θΔ, Step 1: step 2 point
It Huo Qu not rotor-position incremental angular θΔWith rotor-position initial angle θ0On the basis of, it can be calculated and be turned using above-mentioned formula
Sub- angular position theta.
(4) step 4 verifies the calculated result and initial position calibration result of motor rotor position θ.
In order to which the calculated result to rotor position in step 3 verifies, repeat 2 in step 2), 3), 4)
The operation of step observes θ and u by oscillographBCThe phase difference of two-way analog signalIfThen show that verification passes through,
As shown in figure 8, the standard that verification passes through is θ and uBCSame-phase.Due to θ=θ0+θΔ, complete the same of the calculated result verification of θ
When, show also to have synchronously completed to θ0The verifying work of calibration result.
Fig. 9 show the motor rotor position θ and stator line voltage u measured by oscillographBCWaveform, show motor turn
The calculated result and initial position calibration result of sub- position θ passed verification.
Claims (5)
1. a kind of permanent-magnet synchronous motor rotor position detection and initial position scaling method, it is characterised in that: the method benefit
When being rotated with permanent magnet synchronous motor encoder induction gear with rotor, the inductive head for being provided with magnetic induction chip is detected
The turned angle of rotor axis of electric, and three road A, B, Z signals are exported, based on the processing to above-mentioned signal, calculate rotor-position
Incremental angle θΔ, calibration rotor position initial angle θ0, rotor position angle θ is calculated, rotor-position detection and initial position are carried out
The verification of calibration result.
2. permanent-magnet synchronous motor rotor position detection described in accordance with the claim 1 and initial position scaling method, feature exist
In: the calculating rotor-position incremental angle θΔMethod are as follows:
Every fixed cycle TsObtain the primary rotor-position incremental angle θΔ, rotor-position incremental angle is obtained every time
θΔProcess undergoes two stages of coarse positioning and finely positioning, is respectively completed whole angulation angle value θ two stagesΔIWith component angle
Angle value θΔFCalculating；Above-mentioned rotor-position incremental angle θΔThe starting point of acquisition process is the zero-bit Z letter for detecting encoder output
Number at the time of, detect and be zeroed out operation firstly the need of pulse count value M after Z signal；
Calculate the whole angulation angle value θ of coarse positioning stage completionΔIMethod particularly includes: the string wave of increment type gear encoder induction gear
After tooth on signal teeth layer turns over inductive head, the orthogonal string wave signal of A, B two-way phase mutual deviation pi/2 is generated；Assuming that gear encodes
The string wave signal teeth layer number of teeth of device induction gear is N, then every 1 circle 2 tunnel of encoder output of rotation of induction gear is orthogonal, includes N
The string wave signal of a complete cycle, the signal become the orthogonal digital square-wave of two-way after oversampling circuit shapingNumber
The QEP circuit of square-wave signal input DSP corresponds to 4N counting pulse signal after carrying out 4 frequencys multiplication, it is assumed that main interrupt cycle is Ts,
By reading the QEP counter register of DSP in main interrupt routine, obtained counted number of pulses is M, then whole angulation angle value θΔI's
Calculation formula are as follows:
Calculate finely positioning stage completion component angle value θΔFMethod particularly includes: component angle value θΔFIt is defined as carrying out rotor
Physical location locating for rotor-position corresponding to the counting pulse that last time generates before position calculates the moment and current rotor
Between differential seat angle, for encoder output, the last one counts the insufficient integer pulse institute that turns over again of rotor after pulse to physical significance
The minute angle value of corresponding angle；Whole angulation angle value θ is completed in main interrupt routineΔICalculating after, at once start motor control
The high speed AD sampling program of device DSP, string wave signal A, B orthogonal to the two-way of gear encoder output are adopted in synchronization
Sample obtains the result that sampling obtains as quotientThe phase of the orthogonal string wave signal of two-way is obtained to above formula tangent of negating
Θ；Θ and required obtained θΔFWith corresponding relationship, orthogonal string wave signal A, B obtains orthogonal number after circuit shaping
Word square-wave signalAccording to sampling instantThe coding situation of digital signal tables look-up to obtain θΔF=Θ or θΔF=Θ
+π/2；
According to the whole angulation angle value θ of aforementioned acquisitionΔIWith component angle value θΔF, complete rotor-position incremental angle θΔCalculating, meter
Calculate formula are as follows: θΔ=θΔI+θΔF。
3. permanent-magnet synchronous motor rotor position detection described in accordance with the claim 1 and initial position scaling method, feature exist
In: the calibration rotor position initial angle θ0Method it is as follows:
The rotor-position initial angle θ0Detection carried out after encoder is installed on motor, except non-replaceable or again
Gear encoder is installed, otherwise the above process need to only carry out once, rotor-position initial angle θ0Testing principle be analyzed as follows:
The line voltage of motor stator can indicate are as follows: uBC=kλ× cos θ, line voltage uBCVaries with cosine rule is presented；If motor
Rotor position angle θ calculates correct, then above formula establishment, θ and uBCWaveform have following rules: u when θ=0BCPositive maximum value is taken,
U when θ=πBCTake maximum negative value；
Set θ0Estimated valueAnd it willDeviate θ0Error be denoted asThen withInstead of θ0Motor is carried out to turn
Calculated caused by the calculating of sub- angular position theta error will completely byIt determines；It willSubstitute into θ=θ0
+θΔ, it obtains:By adjustingNumerical value so that θ and uBCWaveform meet rule: u when θ=0BCTake forward direction most
Big value, u when θ=πBCTake maximum negative value；It records when above-mentioned rule is set upNumerical value, can be obtained initial position angle
The rotor-position initial angle θ0Acquisition process it is as follows:
1) θ is set0Estimated valueWithInstead of θ0And combine rotor-position incremental angle θΔ, complete motor rotor position
The calculating of angle θ, i.e. θ=θ0+θΔ=θΔ；
2) digital quantity that rotor position angle θ is calculated is converted to analog quantity by D/A, and is output to the first passage of oscillograph
In；
3) second channel that motor stator B, C two-phase are accessed to oscillograph by differential probe, passes through oscilloscope measurement motor
Line voltage waveform uBC；
4) manual rotary electric machine rotor is observed and is recorded by oscillograph screen so that rotor at the uniform velocity rotates 2 circles or more
θ and uBCThe phase difference of two-way analog signal
5) formula is utilizedTrue motor initial position angle is obtained, the mark of initial position of rotor is completed
It is fixed, and any time motor rotor position is obtained, its calculation formula is: θ=θ0+θΔ。
4. permanent-magnet synchronous motor rotor position detection described in accordance with the claim 1 and initial position scaling method, feature exist
In: the calculation formula for calculating motor rotor position angle θ are as follows: θ=θ0+θΔ, in formula, θ0For initial position angle of rotor, θΔTo turn
Sub- positional increment angle.
5. permanent-magnet synchronous motor rotor position detection described in accordance with the claim 3 and initial position scaling method, feature exist
In: the method for calibration for carrying out rotor-position detection and initial position calibration result is as follows:
Repeat described 2), 3), 4) operation of step, first by motor rotor position initial angle θ0It is set as zero, passes through oscillograph
Read motor rotor position angle θ and uBCThe phase difference of two-way analog signalThenMotor rotor position can be completed
Initial angle θ0Calibration.
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