CN109936315A - A kind of motor rotor position detection method and device - Google Patents
A kind of motor rotor position detection method and device Download PDFInfo
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- CN109936315A CN109936315A CN201910247737.6A CN201910247737A CN109936315A CN 109936315 A CN109936315 A CN 109936315A CN 201910247737 A CN201910247737 A CN 201910247737A CN 109936315 A CN109936315 A CN 109936315A
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Abstract
The present invention provides a kind of motor rotor position detection method and devices, this method comprises: acquiring the three-phase current of the motor when the brake electric current of motor is decreased to preset current threshold；Target tangent value corresponding with the rotor present position when acquisition three-phase current is determined according to the three-phase current；The first angle value to match with the target tangent value is searched from preset look-up table, wherein, the corresponding relationship being stored in the look-up table between at least two angle values and corresponding tangent value, and each angle value stored in the look-up table is respectively positioned within the scope of 0 °~45 °；According to the value of the three-phase current and the first angle value, the second angle value of rotor present position when acquiring the three-phase current for characterizing is determined；The rotor-position of the motor after stopping operating is determined according to the second angle value.This programme can be improved the precision of determined rotor-position.
Description
Technical field
The present invention relates to electromechanical engineering technical field, in particular to a kind of motor rotor position detection method and device.
Background technique
Washing machine motor in washing clothes needs frequent progress positive and negative rotation to switch, and carries out positive and negative rotation switching every time
When require determine motor rotor-position, and then according to rotor-position control motor normally start turning.Specifically, Ke Yigen
Determine the rotor-position of motor according to the brake electric current at the end of a cycle of operation on washing machine, and using the rotor-position as
The initial position of rotor when motor next time starts.
Currently, calculating tangent value according to collected brake electric current, and then by searching for table after collecting brake electric current
Angle value corresponding with tangent value is searched, determines the rotor-position of motor according to the angle system found later.
For the method for current detection motor rotor position, the range of angle value corresponding to look-up table isIf wanted
Guarantee the accuracy of determined rotor-position, then look-up table needs to include greater number of index point, such as in order to guarantee to look into
It looks for the difference of angle value corresponding to two neighboring tangent value in table less than 0.5 °, at least needs to include 13219 indexes in look-up table
Point, but being limited index point quantity in look-up table by electric machine controller processing capacity cannot be excessive, can only reduce look-up table thus
The number of middle index point, this causes the precision of determined rotor-position lower.
Summary of the invention
The embodiment of the invention provides a kind of motor rotor position detection method and devices, can be improved determined rotor
The precision of position.
In a first aspect, the embodiment of the invention provides a kind of motor rotor position detection methods, comprising:
When the brake electric current of motor is decreased to preset current threshold, the three-phase current of the motor is acquired；
It is determined according to the three-phase current corresponding with rotor present position when acquiring the three-phase current
Target tangent value；
The first angle value to match with the target tangent value is searched from preset look-up table, wherein described
The corresponding relationship being stored in look-up table between at least two angle values and corresponding tangent value, and stored in the look-up table
Each angle value is respectively positioned within the scope of 0 °~45 °；
According to the value of the three-phase current and the first angle value, when determining for characterizing the acquisition three-phase current
The second angle value of the rotor present position；
The rotor-position of the motor after stopping operating is determined according to the second angle value.
Optionally, the position according to locating for rotor described when the three-phase current determines and acquires the three-phase current
Set corresponding target tangent value, comprising:
The three-phase current is converted to the first phase current and second under two-phase stationary coordinate system by following formula group
Phase current；
Wherein, the iUCharacterize the U phase current in the three-phase current, the iVCharacterize the V phase electricity in the three-phase current
Stream, the iWCharacterize the W phase current in the three-phase current, the iαCharacterize first phase current, the iβGuarantee described
Two-phase current；
The ratio of second phase current and first phase current is determined as the target tangent value.
Optionally, described that the first angle to match with the target tangent value is searched from preset look-up table
Value, comprising:
If the target tangent value be greater than zero, from the look-up table search withBetween difference the smallest first just
Value is cut, and obtains the third angle angle value corresponding to first tangent value from the look-up table, ifIt is canonical by institute
It states the third angle angle value and is determined as the first angle value, ifIt is negative, the negative the third angle angle value is determined described the
One angle value, wherein the K characterizes the target tangent value；
If the target tangent value less than zero, from the look-up table search withBetween difference it is the smallest by second
Tangent value, and fourth angle angle value corresponding to second tangent value is obtained from the look-up table, ifIt will for canonical
The fourth angle angle value is determined as the first angle value, ifIt is negative, the negative fourth angle angle value is determined as institute
State first angle value.
Optionally, it is determined according to the value of the three-phase current and the first angle value and acquires the three-phase for characterizing
The second angle value of rotor present position when electric current, comprising:
If first phase current is equal to zero and second phase current is less than zero, determine that the second angle value is equal to
270°；
If first phase current is equal to zero and second phase current is greater than zero, determine that the second angle value is equal to
90°；
If first phase current is less than zero and the target tangent value is greater than zero, determine that the second angle value is equal toWherein the φ characterizes the first angle value；
If first phase current is greater than zero and the target tangent value is greater than zero, determine that the second angle value is equal to
If first phase current is less than zero and the target tangent value is less than zero, determine that the second angle value is equal to
If first phase current is greater than zero and the target tangent value is less than zero, determine that the second angle value is equal to
Optionally, it is described according to the second angle value determine stop operating after the motor rotor-position, comprising:
According to the second angle value, the 5th angle value is calculated by following formula；
θreal=θ+Δ θ
Wherein, the θrealThe 5th angle value is characterized, the θ characterizes the second angle value, and the Δ θ characterizes root
According to angle compensation value determined by the parameter of the motor and the current threshold；
5th angle value is determined as characterizing the rotor angle of the rotor-position after the motor stalls.
Second aspect, the embodiment of the invention also provides a kind of motor rotor position detection devices, comprising: acquisition unit,
Converting unit, searching unit, arithmetic element and amending unit；
The acquisition unit, for acquiring the motor when the brake electric current of motor is decreased to preset current threshold
Three-phase current；
The converting unit, for determining single with the acquisition according to the collected three-phase current of the acquisition unit
The corresponding target tangent value in rotor present position when member acquires the three-phase current；
The searching unit, for searching the mesh determined with the converting unit from preset look-up table
The first angle value that mark tangent value matches, wherein at least two angle values and corresponding tangent are stored in the look-up table
Corresponding relationship between value, and each angle value stored in the look-up table is respectively positioned within the scope of 0 °~45 °；
The arithmetic element, for the value and the lookup according to the collected three-phase current of the acquisition unit
The first angle value that unit is found, motor when determining for characterizing the acquisition unit acquisition three-phase current
The second angle value of rotor present position；
The amending unit, after the second angle value determination for being determined according to the arithmetic element stops operating
The rotor-position of the motor.
Optionally,
The converting unit, for being converted to the three-phase current under two-phase stationary coordinate system by following formula group
First phase current and the second phase current, and the ratio of second phase current and first phase current is determined as the target
Tangent value；
Wherein, the iUCharacterize the U phase current in the three-phase current, the iVCharacterize the V phase electricity in the three-phase current
Stream, the iWCharacterize the W phase current in the three-phase current, the iαCharacterize first phase current, the iβGuarantee described
Two-phase current.
Optionally,
The searching unit, for executing following processing according to the positive and negative of the target tangent value:
If the target tangent value be greater than zero, from the look-up table search withBetween difference it is the smallest by first
Tangent value, and the third angle angle value corresponding to first tangent value is obtained from the look-up table, ifIt will for canonical
The third angle angle value is determined as the first angle value, ifBeing negative then will be described in negative the third angle angle value determination
First angle value, wherein the K characterizes the target tangent value；
If the target tangent value less than zero, from the look-up table search withBetween difference it is the smallest by second
Tangent value, and fourth angle angle value corresponding to second tangent value is obtained from the look-up table, ifIt will for canonical
The fourth angle angle value is determined as the first angle value, ifIt is negative, the negative fourth angle angle value is determined as institute
State first angle value.
Optionally,
The arithmetic element, for according to first phase current, second phase current and the target tangent value
Symbol, execute following processing:
If first phase current is equal to zero and second phase current is less than zero, determine that the second angle value is equal to
270°；
If first phase current is equal to zero and second phase current is greater than zero, determine that the second angle value is equal to
90°；
If first phase current is less than zero and the target tangent value is greater than zero, determine that the second angle value is equal toWherein the φ characterizes the first angle value；
If first phase current is greater than zero and the target tangent value is greater than zero, determine that the second angle value is equal to
If first phase current is less than zero and the target tangent value is less than zero, determine that the second angle value is equal to
If first phase current is greater than zero and the target tangent value is less than zero, determine that the second angle value is equal to
Optionally,
The amending unit calculates the 5th angle value by following formula for according to the second angle value, and by institute
State the rotor angle that the third angle angle value is determined as characterizing the rotor-position after the motor stalls；
θreal=θ+Δ θ
Wherein, the θrealThe 5th angle value is characterized, the θ characterizes the second angle value, and the Δ θ characterizes root
According to angle compensation value determined by the parameter of the motor and the current threshold.
Motor rotor position detection method provided in an embodiment of the present invention and device, in the process that motor speed gradually decreases
The brake electric current of middle monitoring motor, the three-phase electricity of electric current is acquired when the brake electric current of motor is decreased to preset current threshold
Stream is determining target corresponding with rotor present position when acquisition three-phase current just according to collected three-phase current later
Cut value, search the first angle value to match with target tangent value from look-up table later, later according to first angle value and
The second angle value of the value of three-phase current determines when acquiring three-phase current for characterize rotor present position, and then according to the
Two angle values determine the position of rotor after motor stalls.Since institute's stored angles value is respectively positioned on 0 °~45 ° models in look-up table
In enclosing, higher matching precision can be reached by the index point of less number, and then passing through triangulate decomposition method for position
When the first angle value within the scope of 0 °~45 ° is converted to the second angle value of characterization rotor actual angle, it can be improved to electricity
The precision that machine rotor position is detected.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of flow chart of motor rotor position detection method provided by one embodiment of the present invention；
Fig. 2 is the flow chart of another motor rotor position detection method provided by one embodiment of the present invention；
Fig. 3 is the schematic diagram of equipment where a kind of motor rotor position detection device provided by one embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of motor rotor position detection device provided by one embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, the embodiment of the invention provides a kind of motor rotor position detection method, this method may include with
Lower step:
Step 101: when the brake electric current of motor is decreased to preset current threshold, acquiring the three-phase current of motor；
Step 102: target corresponding with rotor present position when acquisition three-phase current is determined according to three-phase current
Tangent value；
Step 103: the first angle value to match with target tangent value is searched from preset look-up table, wherein
The corresponding relationship being stored in look-up table between at least two angle values and corresponding tangent value, and stored in look-up table each
Angle value is respectively positioned within the scope of 0 °~45 °；
Step 104: according to the value of three-phase current and first angle value, determining motor when for characterizing acquisition three-phase current
The second angle value of rotor present position；
Step 105: the rotor-position of motor after stopping operating is determined according to second angle value.
Motor rotor position detection method provided in an embodiment of the present invention, monitors during motor speed gradually decreases
The brake electric current of motor acquires the three-phase current of electric current when the brake electric current of motor is decreased to preset current threshold, later
Target tangent value corresponding with rotor present position when acquisition three-phase current is determined according to collected three-phase current, it
The first angle value to match with target tangent value is searched from look-up table afterwards, later according to first angle value and three-phase current
Value determine the second angle value of rotor present position when acquiring three-phase current for characterize, and then according to second angle value
Determine the position of rotor after motor stalls.Since institute's stored angles value is respectively positioned within the scope of 0 °~45 ° in look-up table, pass through
The index point of less number can reach higher matching precision, and then will be located at 0 °~45 ° by triangulate decomposition method
When first angle value in range is converted to the second angle value of characterization rotor actual angle, it can be improved to motor rotor position
The precision detected.
In embodiments of the present invention, it controls for angular range in 0 °~45 ° of look-up table, due to tan45 °=1, in order to
Required precision of the difference less than 0.5 ° for guaranteeing angle value corresponding to two neighboring tangent value in look-up table, then need to guarantee arctan
0.5 ° of (1/N) <, the minimum value of N is 114 at this time, i.e., only needs to include that (each tangent value is corresponding for 114 index points in look-up table
One index point) above-mentioned required precision can be met.During practical business is realized, permit in electric machine controller processing capacity
Perhaps it can increase the number of included index point in look-up table in range, further to promote the essence of determined rotor-position
Degree, for example the number of index point in look-up table can be increased to 256.
Optionally, on the basis of motor rotor position detection method shown in Fig. 1, step 102 is according to collected three-phase
When electric current determines target tangent value, the biphase current that can be first converted into three-phase current under two-phase stationary coordinate system, and then will
The ratio of biphase current is converted out as target tangent value.Specifically it can determine in the following way target tangent value:
By the collected three-phase current U phase current i that includesU, V phase current iVWith W phase current iWSubstitute into following formula
Group obtains the first phase current i under two-phase stationary coordinate systemαWith the second phase current iβ；
By the second phase current iβWith the first phase current iαRatio be determined as target tangent value K.
During motor speed is gradually reduced, it will appear brake electric current in the coil of motor, the amplitude for the electric current that brakes is first
Slowly reduce after increase with the reduction of motor speed, when the motor rear braking electric current that stops operating completely is zero.Pass through default electricity
Threshold value is flowed, when the brake electric current of motor is decreased to current threshold, motor will stop operating but not stop operating also at this time, root
Collected three-phase current can determine rotor location at this time when accordingly, and then location can at this time according to rotor
To predict the location of rotor after motor stalls.
It, can be with according to the transformation rule of three-phase static coordinate system and two-phase stationary coordinate system after collecting three-phase current
Three-phase current is converted to the first phase current i of two-phase stationary coordinate systemαWith the second phase current iβ, and then by the second phase current iβ
With the first phase current iβRatio be determined as target tangent value K, and when acquiring three-phase current rotor second angle valueTo which target tangent value K can be calculated by collected three-phase current, later
Second angle value θ locating for rotor when can determine acquisition three-phase current by arctan function, and then according to second jiao
The angle that can continue to rotate of rotor determines the position of rotor after motor stalls after angle value θ and acquisition three-phase current.
The three-phase current that motor is acquired when motor will stop operating, later converts collected three-phase current
For the second phase current and the second phase current in two-phase stationary coordinate system, later by the ratio of the second phase current and the first phase current
As target tangent value, and it is the corresponding tangent value of rotor angle that target tangent value, which is acquisition three-phase current, thus according to mesh
The location of rotor when mark tangent value can accurately determine acquisition three-phase current, and then when according to acquisition three-phase current
Rotor present position can determine the position of rotor after motor stalling, and it is accurate that guarantee detects motor rotor position
Property.
Optionally, on the basis of motor rotor position detection method shown in Fig. 1, step 103 searched from look-up table with
When the first angle value that target tangent value matches, can according to target tangent value it is positive and negative search in different ways with
The first angle value that target tangent value matches.Specifically:
If target tangent value be greater than zero, from look-up table search withBetween the smallest first tangent value of difference,
The third angle angle value corresponding to the first tangent value in look-up table is obtained in turn, later basisSymbol, ifFor canonical
The third angle angle value directly will be determined as first angle value, ifIt is negative, negative the third angle angle value is determined as first jiao
Angle value, wherein K characterizes target tangent value；
If target tangent value less than zero, from look-up table search withBetween the smallest second tangent value of difference,
Fourth angle angle value corresponding to the second tangent value in look-up table is obtained in turn, later basisSymbol, ifFor canonical
Fourth angle angle value is directly determined as first angle value, ifTo be responsible for negative fourth angle angle value being determined as first angle
Value.
In embodiments of the present invention, characterization acquisition three-phase current when rotor present position second angle value θ=
ArctanK, and the range of second angle value θ is 0 °~360 °.It can be with if second angle value θ is located within the scope of 0 °~45 °
Pass through inquiry table direct index to second angle value θ corresponding with target tangent value K.If second angle value θ is greater than 45 °,
It can be obtained according to the trigonometric function of two corners sum, specifically:
If target tangent value K is greater than zero, ifAndThenInto
One step is available
If target tangent value K less than zero, ifAndThenIt may further obtain
According to it is above-mentioned it is availableAngle value φ in range, then it is availableIn range
Angle valueAccording further to the first phase current iα, the second phase current iβSymbol with target tangent value K can
Obtain angle value of the motor in [0,2 π] range.
In embodiments of the present invention, since the range of institute's stored angles value in look-up table is 0 °~45 °, i.e., institute in look-up table
The range of stored angles value isIt is selected according to the symbol of target tangent valueOr In φ value rangeWhen it is availableAngle value in rangeTo be determined by searching for tableModel
Interior rotor angle is enclosed, and then can be according to iαAnd iβSymbol be extended and determine the rotor angle in [0,2 π] range.
In this way, rotor angle can be converted toAngle in range in order to determine specific angle value by searching for table, thus
It can determine rotor angle corresponding when rotor is in any position.
Optionally, on the basis of angle of rotor of motor detection method shown in Fig. 1, step 104 is according to the value of three-phase current
And first angle value specifically can determine as follows second angle value when determining second angle value:
If the first phase current iαEqual to zero and the second phase current iβLess than zero, determine that second angle value θ is equal to 270 °；
If the first phase current iαEqual to zero and the second phase current iβGreater than zero, determine that second angle value θ is equal to 90 °；
If the first phase current iαLess than zero and target tangent value K is greater than zero, determines that second angle value θ is equal to
Wherein φ characterizes first angle value；
If the first phase current iαGreater than zero and target tangent value K is greater than zero, determines that second angle value θ is equal to
If the first phase current iαLess than zero and target tangent value K is less than zero, determines that second angle value θ is equal to
If the first phase current iαGreater than zero and target tangent value K is less than zero, determines that second angle value θ is equal to
In embodiments of the present invention, after determining first angle value, since the value range of first angle value isBy being added and subtracted to first angle valueAngular range can be extended toAnd then it can be according to the first phase
Electric current iα, the second phase current iβAnd the symbol of target tangent value K determines the quadrant where rotor angle, and then according to rotor
Quadrant where angle adds deduct on the basis of first angle valueIntegral multiple can obtain rotor angle (second angle
Value), guarantee the accuracy of determined second angle value.
Optionally, on the basis of motor rotor position detection method shown in Fig. 1, step 105 is true according to second angle value
When determining the position of rotor after motor stalls, it can specifically carry out in the following way:
Second angle value is substituted into following formula and calculates the 5th angle value, the 5th angle value is determined as characterization electricity later
Machine stops operating the rotor angle of later period rotor present position；
θreal=θ+Δ θ
Wherein, θrealThe 5th angle value is characterized, θ characterizes second angle value, and Δ θ characterizes the parameter and current threshold according to motor
Angle compensation value determined by being worth.
Since the second angle value that motor stops completely not yet, and determined when acquiring three-phase current is acquisition
The rotor angle of motor when three-phase current, rotor will continue to rotate certain angle after acquiring three-phase current, therefore institute is really
Rotor angle is there are a deviation after second angle value and the motor stalling made, and the deviation and the parameter of electric machine and presets
Current threshold it is related.Determine angle compensation value according to the parameter of electric machine and selected electric current, by second angle value with
The sum of angle compensation value can further promote the accurate of determined rotor-position as the rotor angle after motor stalling
Property.
Below by taking washing machine carries out positive and negative rotation switching as an example, to motor rotor position detection side provided in an embodiment of the present invention
Method is described in further detail, as shown in Fig. 2, this method may include steps of:
Step 201: controlling the motor rotated forward and reduce speed now.
In embodiments of the present invention, motor is controlled first by positive direction since revolving speed is zero, by setting acceleration acceleration
Make inverter lower bridge arm standard-sized sheet after maximum speed runs a period of time to setting speed, control motor speed is slowly fallen
Come.
Step 202: when motor brake electric current is less than current threshold, acquiring the three-phase brake electric current of motor.
In embodiments of the present invention, the current threshold for corresponding to motor brake electric current is preset, decelerating through motor is worked as
When brake electric current is gradually decrease to current threshold in the process, sample motor U, V, W three-phase brake electric current records brake electricity at this time
Stream is iU、iVAnd iW.It should be noted that the brake electric current of three-phase described in the present embodiment is institute in above-mentioned each embodiment
The three-phase current stated, while above-mentioned each three-phase current as described in the examples is the three-phase electricity referred to during motor brake
Stream.
Step 203: three-phase brake electric current is converted into the electric current i under two-phase stationary coordinate systemαAnd iβ。
In embodiments of the present invention, the i that will be sampledU、iVAnd iWCALARK transformation is carried out, two-phase stationary coordinate system is obtained
Under electric current iαAnd iβ。
Step 204: according to electric current iαAnd iβDetermine target tangent value K.
In embodiments of the present invention, according to electric current iαAnd iβ, the angle of rotor is when obtaining sample rate current If target tangent value
Step 205: searching the first angle value to match from look-up table according to target tangent value K.
In embodiments of the present invention, it has been pre-createdArc tangent table (look-up table), include in the arc tangent table
256 index points, wherein corresponding 0 °~45 ° of index value index of tangent value, and the corresponding angle value of Angle [index].
As K > 0, from the arc tangent table search withCorresponding angle, ifDirectly should for canonical
Angle is determined as first angle value, ifIt is negative then using the negative of the angle as first angle value.
As K < 0, from the arc tangent table search withCorresponding angle, ifDirectly should for canonical
Angle is determined as first angle value, ifIt is negative then using the negative of the angle as first angle value.
Specifically, if K > 0, using formulaIt calculatesAngle φ, then byIt obtainsAngle value；If K < 0, using formulaIt calculatesAngle
φ, then byIt obtainsAngle value.
Step 206: second angle value is calculated according to first angle value.
In embodiments of the present invention, after getting first angle value, according to electric current iαAnd iβAnd target tangent value K
Symbol, as follows determine second angle value:
If electric current iαEqual to zero and electric current iβLess than zero, determine that second angle value θ is equal to 270 °；
If electric current iαEqual to zero and electric current iβGreater than zero, determine that second angle value θ is equal to 90 °；
If electric current iαLess than zero and target tangent value K is greater than zero, determines that second angle value θ is equal toWherein φ
Characterize first angle value；
If electric current iαGreater than zero and target tangent value K is greater than zero, determines that second angle value θ is equal to
If electric current iαLess than zero and target tangent value K is less than zero, determines that second angle value θ is equal to
If electric current iαGreater than zero and target tangent value K is less than zero, determines that second angle value θ is equal to
Step 207: acquisition motor angle is compensated to second angle value.
In embodiments of the present invention, it after butterfly second angle value, calculates second angle value and joins with previously according to motor
Calculated result is the rotor angle after motor stalls by the sum of angle compensation value determined by several and current threshold.
Step 208: using the motor angle of acquisition as initial position when washing machine reverse direction operation next time, motor is straight
It taps into closed-loop control.
In embodiments of the present invention, after determining the rotor angle after motor stalls, which is determined
Initial position when rotating backward for motor next time is directly entered closed-loop control washing machine rotates backward next time when, accelerate
It is washed to setting speed.
As shown in Figure 3, Figure 4, the embodiment of the invention provides a kind of motor rotor position detection devices.Installation practice can
Can also be realized by way of hardware or software and hardware combining by software realization.For hardware view, such as Fig. 3 institute
Show, is a kind of hardware structure diagram of equipment where motor rotor position detection device provided in an embodiment of the present invention, in addition to Fig. 3 institute
Except the processor, memory, network interface and the nonvolatile memory that show, the equipment in embodiment where device is usually also
It may include other hardware, such as be responsible for the forwarding chip of processing message.Taking software implementation as an example, as shown in figure 4, as one
Device on a logical meaning is to be referred to computer program corresponding in nonvolatile memory by the CPU of equipment where it
It enables and is read into memory what operation was formed.Motor rotor position detection device provided in this embodiment, comprising: acquisition unit 401,
Converting unit 402, searching unit 403, arithmetic element 404 and amending unit 405；
Acquisition unit 401, for acquiring the three-phase of motor when the brake electric current of motor is decreased to preset current threshold
Electric current；
Converting unit 402, for being acquired according to the collected three-phase current of acquisition unit 401 is determining with acquisition unit 401
The corresponding target tangent value in rotor present position when three-phase current；
Searching unit 403, for searching the target tangent determined with converting unit 402 from preset look-up table
The first angle value that value matches, wherein pair being stored in look-up table between at least two angle values and corresponding tangent value
The all angles value that should be related to, and store in look-up table is respectively positioned within the scope of 0 °~45 °；
Arithmetic element 404, for being looked into according to the value and searching unit 403 of the collected three-phase current of acquisition unit 401
The first angle value found determines second for characterizing rotor present position when acquisition unit 401 acquires three-phase current
Angle value；
Amending unit 405, motor after the second angle value determination for being determined according to arithmetic element 404 stops operating
Rotor-position.
Optionally, on the basis of motor rotor position detection device shown in Fig. 4,
Converting unit 402, for three-phase current to be converted to first under two-phase stationary coordinate system by following formula group
Phase current and the second phase current, and the ratio of the second phase current and the first phase current is determined as target tangent value；
Wherein, iUCharacterize the U phase current in three-phase current, iVCharacterize the V phase current in three-phase current, iWCharacterize three-phase electricity
W phase current in stream, iαCharacterize the first phase current, iβGuarantee the second phase current.
Optionally, on the basis of motor rotor position detection device shown in Fig. 4,
Searching unit 403, for executing following processing according to the positive and negative of target tangent value:
If target tangent value be greater than zero, from look-up table search withBetween the smallest first tangent value of difference, and
The third angle angle value corresponding to the first tangent value is obtained from look-up table, ifThe third angle angle value is determined as canonical
One angle value, ifIt is negative, negative the third angle angle value is determined into first angle value, wherein K characterizes target tangent value；
If target tangent value less than zero, from look-up table search withBetween the smallest second tangent value of difference, and
Fourth angle angle value corresponding to the second tangent value is obtained from look-up table, ifFourth angle angle value is determined as canonical
One angle value, ifIt is negative, negative fourth angle angle value is determined as first angle value.
Optionally, on the basis of motor rotor position detection device shown in Fig. 4,
Arithmetic element 404 executes such as the symbol according to the first phase current, the second phase current and target tangent value
Lower processing:
If the first phase current be equal to zero and second phase current less than zero, determine second angle value be equal to 270 °；
If the first phase current be equal to zero and second phase current be greater than zero, determine second angle value be equal to 90 °；
If the first phase current is less than zero and target tangent value is greater than zero, determine that second angle value is equal to Wherein
φ characterizes first angle value；
If the first phase current is greater than zero and target tangent value is greater than zero, determine that second angle value is equal to
If the first phase current is less than zero and target tangent value is less than zero, determine that second angle value is equal to
If the first phase current is greater than zero and target tangent value is less than zero, determine that second angle value is equal to
Optionally, on the basis of motor rotor position detection device shown in Fig. 4,
Amending unit 405 calculates the 5th angle value by following formula for according to second angle value, and by the third angle
Angle value is determined as the rotor angle of rotor-position after characterization motor stalls；
θreal=θ+Δ θ
Wherein, θrealThe 5th angle value is characterized, θ characterizes second angle value, and Δ θ characterizes the parameter and current threshold according to motor
Angle compensation value determined by being worth.
It should be noted that the contents such as information exchange, implementation procedure between each unit in above-mentioned apparatus, due to this
Inventive method embodiment is based on same design, and for details, please refer to the description in the embodiment of the method for the present invention, no longer superfluous herein
It states.
The embodiment of the invention also provides a kind of readable mediums, including execute instruction, when the processor of storage control is held
When executing instruction described in row, the storage control executes the motor rotor position detection method that above-mentioned each embodiment provides.
The embodiment of the invention also provides a kind of storage controls, comprising: processor, memory and bus；
The memory is executed instruction for storing, and the processor is connect with the memory by the bus, when
When the storage control is run, the processor executes the described of memory storage and executes instruction, so that the storage
Controller executes the motor rotor position detection method that above-mentioned each embodiment provides.
In conclusion motor rotor position detection method and device that each embodiment of the present invention provides, at least have such as
It is lower the utility model has the advantages that
1, the brake electric current that motor in embodiments of the present invention, is monitored during motor speed gradually decreases, works as electricity
The brake electric current of machine is decreased to acquire the three-phase current of electric current when preset current threshold, later according to collected three-phase current
Determine target tangent value corresponding with rotor present position when acquisition three-phase current, later lookup and mesh from look-up table
The first angle value that mark tangent value matches, determines according to first angle value and the value of three-phase current for characterizing acquisition later
The second angle value of rotor present position when three-phase current, and then turn after determining motor stalls according to second angle value
The position of son.Since institute's stored angles value is respectively positioned within the scope of 0 °~45 ° in look-up table, pass through the index point of less number
To reach higher matching precision, and then turned by triangulate decomposition method by the first angle value within the scope of 0 °~45 ° is located at
When being changed to the second angle value of characterization rotor actual angle, the precision detected to motor rotor position can be improved.
2, the three-phase current of motor in embodiments of the present invention, is acquired when motor will stop operating, and later will
Collected three-phase current is converted to the second phase current and the second phase current in two-phase stationary coordinate system, later by two phase electricity
The ratio of stream and the first phase current is as target tangent value, and it is that rotor angle is corresponding that target tangent value, which is acquisition three-phase current,
Tangent value, thus the location of rotor when can accurately determine acquisition three-phase current according to target tangent value, into
And the position of rotor after motor stalling can be determined according to rotor present position when acquisition three-phase current, guarantee to turn motor
The accuracy that sub- position is detected.
3, in embodiments of the present invention, after determining first angle value, since the value range of first angle value isBy being added and subtracted to first angle valueAngular range can be extended toAnd then it can be according to the first phase
Electric current iα, the second phase current iβAnd the symbol of target tangent value K determines the quadrant where rotor angle, and then according to rotor
Quadrant where angle adds deduct on the basis of first angle valueIntegral multiple can obtain rotor angle (second angle
Value), guarantee the accuracy of determined second angle value.
4, in embodiments of the present invention, due to when acquiring three-phase current motor completely stop not yet, and determine
Second angle value out is the rotor angle of motor when acquiring three-phase current, and rotor will continue to turn after acquiring three-phase current
Dynamic certain angle, thus after second angle value and the motor stalling determined rotor angle there are a deviation, the deviation and
The parameter of electric machine and preset current threshold are related.Determine that angle is mended according to the parameter of electric machine and selected electric current
Repay value, by the sum of second angle value and angle compensation value as motor stalling after rotor angle, can further be promoted really
Make the accuracy of rotor-position.
It should be noted that, in this document, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment for including a series of elements not only includes those elements,
It but also including other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged
Except there is also other identical factors in the process, method, article or apparatus that includes the element.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
In the various media that can store program code such as disk.
Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. a kind of motor rotor position detection method characterized by comprising
When the brake electric current of motor is decreased to preset current threshold, the three-phase current of the motor is acquired；
Target corresponding with the rotor present position when acquisition three-phase current is determined according to the three-phase current
Tangent value；
The first angle value to match with the target tangent value is searched from preset look-up table, wherein the lookup
The corresponding relationship being stored in table between at least two angle values and corresponding tangent value, and stored in the look-up table each
The angle value is respectively positioned within the scope of 0 °~45 °；
According to the value of the three-phase current and the first angle value, determine described in being used to characterize when acquiring the three-phase current
The second angle value of rotor present position；
The rotor-position of the motor after stopping operating is determined according to the second angle value.
2. the method according to claim 1, wherein described determine according to the three-phase current and acquire described three
The corresponding target tangent value in rotor present position when phase current, comprising:
The three-phase current is converted to the first phase current and the two phase electricity under two-phase stationary coordinate system by following formula group
Stream；
Wherein, the iUCharacterize the U phase current in the three-phase current, the iVThe V phase current in the three-phase current is characterized,
The iWCharacterize the W phase current in the three-phase current, the iαCharacterize first phase current, the iβGuarantee described second
Phase current；
The ratio of second phase current and first phase current is determined as the target tangent value.
3. according to the method described in claim 2, it is characterized in that, described search and the mesh from preset look-up table
The first angle value that mark tangent value matches, comprising:
If the target tangent value be greater than zero, from the look-up table search withBetween the smallest first tangent of difference
Value, and the third angle angle value corresponding to first tangent value is obtained from the look-up table, ifIt will be described for canonical
The third angle angle value is determined as the first angle value, ifIt is negative, the negative the third angle angle value is determined described first
Angle value, wherein the K characterizes the target tangent value；
If the target tangent value less than zero, from the look-up table search withBetween the smallest second tangent of difference
Value, and fourth angle angle value corresponding to second tangent value is obtained from the look-up table, ifIt will be described for canonical
Fourth angle angle value is determined as the first angle value, ifIt is negative, the negative fourth angle angle value is determined as described the
One angle value.
4. according to the method described in claim 2, it is characterized in that, according to the value of the three-phase current and the first angle
The second angle value of value rotor present position when determining for characterizing the acquisition three-phase current, comprising:
If first phase current is equal to zero and second phase current is less than zero, determine that the second angle value is equal to
270°；
If first phase current is equal to zero and second phase current is greater than zero, determine that the second angle value is equal to 90 °；
If first phase current is less than zero and the target tangent value is greater than zero, determine that the second angle value is equal toWherein the φ characterizes the first angle value；
If first phase current is greater than zero and the target tangent value is greater than zero, determine that the second angle value is equal to
If first phase current is less than zero and the target tangent value is less than zero, determine that the second angle value is equal to
If first phase current is greater than zero and the target tangent value is less than zero, determine that the second angle value is equal to
5. according to claim 1 to any method in 4, which is characterized in that described to be determined according to the second angle value
The rotor-position of the motor after stopping operating, comprising:
According to the second angle value, the 5th angle value is calculated by following formula；
θreal=θ+Δ θ
Wherein, the θrealThe 5th angle value is characterized, the θ characterizes the second angle value, and the Δ θ characterization is according to institute
State motor parameter and the current threshold determined by angle compensation value；
5th angle value is determined as characterizing the rotor angle of the rotor-position after the motor stalls.
6. a kind of motor rotor position detection device characterized by comprising acquisition unit, converting unit, searching unit, fortune
Calculate unit and amending unit；
The acquisition unit, for acquiring the three of the motor when the brake electric current of motor is decreased to preset current threshold
Phase current；
The converting unit is adopted for being determined according to the collected three-phase current of the acquisition unit with the acquisition unit
Collect the corresponding target tangent value in the rotor present position when three-phase current；
The searching unit, for searching the target determined with the converting unit from preset look-up table just
Cut the first angle value that value matches, wherein be stored in the look-up table at least two angle values and corresponding tangent value it
Between corresponding relationship, and each angle value stored in the look-up table is respectively positioned within the scope of 0 °~45 °；
The arithmetic element, for the value and the searching unit according to the collected three-phase current of the acquisition unit
The first angle value found, rotor when determining for characterizing the acquisition unit acquisition three-phase current
The second angle value of present position；
The amending unit, the second angle value determination for being determined according to the arithmetic element are described after stopping operating
The rotor-position of motor.
7. device according to claim 6, which is characterized in that
The converting unit, for the three-phase current to be converted to first under two-phase stationary coordinate system by following formula group
Phase current and the second phase current, and the ratio of second phase current and first phase current is determined as the target tangent
Value；
Wherein, the iUCharacterize the U phase current in the three-phase current, the iVThe V phase current in the three-phase current is characterized,
The iWCharacterize the W phase current in the three-phase current, the iαCharacterize first phase current, the iβGuarantee described second
Phase current.
8. device according to claim 7, which is characterized in that
The searching unit, for executing following processing according to the positive and negative of the target tangent value:
If the target tangent value be greater than zero, from the look-up table search withBetween the smallest first tangent of difference
Value, and the third angle angle value corresponding to first tangent value is obtained from the look-up table, ifIt will be described for canonical
The third angle angle value is determined as the first angle value, ifIt is negative, the negative the third angle angle value is determined described first
Angle value, wherein the K characterizes the target tangent value；
If the target tangent value less than zero, from the look-up table search withBetween the smallest second tangent of difference
Value, and fourth angle angle value corresponding to second tangent value is obtained from the look-up table, ifIt will be described for canonical
Fourth angle angle value is determined as the first angle value, ifIt is negative, the negative fourth angle angle value is determined as described the
One angle value.
9. device according to claim 7, which is characterized in that
The arithmetic element, for the symbol according to first phase current, second phase current and the target tangent value
Number, execute following processing:
If first phase current is equal to zero and second phase current is less than zero, determine that the second angle value is equal to
270°；
If first phase current is equal to zero and second phase current is greater than zero, determine that the second angle value is equal to 90 °；
If first phase current is less than zero and the target tangent value is greater than zero, determine that the second angle value is equal toWherein the φ characterizes the first angle value；
If first phase current is greater than zero and the target tangent value is greater than zero, determine that the second angle value is equal to
If first phase current is less than zero and the target tangent value is less than zero, determine that the second angle value is equal to
If first phase current is greater than zero and the target tangent value is less than zero, determine that the second angle value is equal to
10. according to the device any in claim 6 to 9, which is characterized in that
The amending unit calculates the 5th angle value by following formula for according to the second angle value, and by described the
Three angle values are determined as characterizing the rotor angle of the rotor-position after the motor stalls；
θreal=θ+Δ θ
Wherein, the θrealThe 5th angle value is characterized, the θ characterizes the second angle value, and the Δ θ characterization is according to institute
State motor parameter and the current threshold determined by angle compensation value.
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