CN110429876A - A kind of motor rotor position detection method, device, system and electric car - Google Patents
A kind of motor rotor position detection method, device, system and electric car Download PDFInfo
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- CN110429876A CN110429876A CN201910805272.1A CN201910805272A CN110429876A CN 110429876 A CN110429876 A CN 110429876A CN 201910805272 A CN201910805272 A CN 201910805272A CN 110429876 A CN110429876 A CN 110429876A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention relates to a kind of motor rotor position detection method, device, system and electric cars, to realize the accurate detection of motor rotor position and reduce the effect of hardware cost.This method comprises: receiving first output signal of the rotary transformer under current sample period；Obtain the second output signal handled according to the calculated result in a upper sampling period；According to the first output signal and the second output signal, motor rotor position error is obtained；Motor rotor position error is multiplied with pumping signal, obtains intermediate variable；Low-pass filtering and PI adjusting processing are carried out, successively to intermediate variable to obtain motor speed；Integral Processing is carried out to motor speed, to obtain the motor rotor position under current sample period；When carrying out low-pass filtering to motor rotor position error, the filter factor used was determined by calculated motor speed of the upper sampling period, and different motor speed sections correspond to different filter factors.
Description
Technical field
The present invention relates to permanent-magnet synchronous motor rotor position detection field, specifically a kind of motor rotor position detection side
Method, device, system and electric car.
Background technique
The advantages that permanent magnet synchronous motor is small in size with its, light-weight, power factor is high, speed-regulating range width, fast response time,
It is widely applied on electric car.In permanent magnet synchronous motor control algolithm, the accurate rotor-position that obtains is with non-
Often important meaning is mainly reflected in three aspects: first, rotor-position participates in coordinate transform, vector controlled and feedback current meter
, very likely there is motor output torque pulsation, seriously if it accurately can not obtain rotor-position in the motor controls links such as calculation
Shi Fasheng over current fault, causes electric powered motor to interrupt.Second, rotor-position for the calculating of motor feedback revolving speed provide according to
According to if the rotor-position inaccuracy obtained, relatively large deviation will occur in motor actual speed and motor feedback revolving speed.And because
Revolving speed need to be fed back with reference to current motor for the output torque value of motor, if feedback revolving speed inaccuracy, output torque can also be not allowed
Really, and then electric car drive propulsion, ride comfort are influenced.Third, by the torque management of entire car controller progress, energy management
It is also required to the participation of motor feedback revolving speed.If motor feedback offspeed actual value, this will affect energy regenerating effect, and then drop
Low electric car continual mileage.Therefore it needs that adaptive rotor-position computing unit is added in motor control strategy, prevents
Rotor-position sampling inaccuracy caused by because of the problems such as noise jamming, direct current biasing, harmonic error, and guarantee that electric system has
Good torque control precision.
The acquisition methods of motor rotor position are mainly first with rotary transformer acquisition motor rotor position letter at present
Number, rotor-position is then calculated according to the rotating signal detected using position decoder chip, finally delivers this to DSP number
Word control platform.On the basis of being interpreted to existing patent document, improves the method that rotor-position obtains accuracy and mainly collect
In two aspect: first, increase inhibit High-frequency Interference hardware cell, thus promoted rotor-position acquisition accuracy.In
In the Chinese patent literature of publication number CN207766174U, a kind of cross detection system of motor rotor position is disclosed, is proposed
High-frequency signal is injected in inverter input terminal, then detects high frequency feedback signal from output end, and combine the letter of rotary transformer
Number, the mutual inspection mechanism of cross detection is formed, the accuracy obtained so as to improve rotor-position.But inject the number hair of high-frequency signal
Raw device need to occupy the digital control resource of DSP, and high frequency feedback signal supervisory instrument increases hardware cost again, so not very practical.
In the Chinese patent literature of publication number CN103199779A, the internal permanent magnet synchronous motor based on adaptive-filtering is disclosed
Rotor-position observation device and observation method, propose to obtain equivalent counter electromotive force information by modelling, then carry out adaptive
Notch filter is adjusted, and carries out counter electromotive force information normalized later, finally obtains rotor-position observation.This method is not
Additional to increase hardware cost, key link is accurately to estimate counter electromotive force performance to motor modeling, and this highly dependent upon
In the accuracy of the parameter of electric machine, once modeling will inaccurately directly affect dynamic response performance, therefore electronic vapour can not be suitable for
Vehicle operating condition complicated and changeable.
Summary of the invention
The object of the present invention is to provide a kind of motor rotor position detection method, device, system and electric car, with
It realizes the accurate detection of motor rotor position and reduces the effect of hardware cost.
The technical solution of the present invention is as follows:
The present invention provides a kind of motor rotor position detection methods, are applied to DSP and control chip, comprising:
First output signal of the rotary transformer under current sample period is received, and first output signal is by DSP
Control chip output Ext pumping signal motivate generate, first output signal include: include rotor real time position
The first sinusoidal signal sin θ of θ and the first cosine signal cos θ；
Obtain the second output signal handled according to the calculated result in a upper sampling period, second output signal
It include: the second sinusoidal signal sin θ ' and the second cosine signal cos θ ' for including rotor calculating position θ ', the motor
Rotor calculating position θ ' was calculated by the sampled data in a upper sampling period；
According to first output signal and second output signal, motor rotor position error delta e is obtained；
The motor rotor position error delta e is multiplied with the Ext pumping signal, obtains intermediate variable；
Low-pass filtering and PI adjusting processing are carried out, successively to the intermediate variable to obtain motor speed ω；
Integral Processing is carried out to the motor speed ω, to obtain the motor rotor position under current sample period；
Wherein, in the step of carrying out low-pass filtering to the motor rotor position error delta e, the filtering system that uses
Number K was determined by calculated motor speed ω of the upper sampling period, and different motor speed sections correspond to different filtering systems
Number K.
Preferably, according to first output signal and second output signal, motor rotor position error delta e is obtained
The step of include:
Pass through formula:
Δ e=θ-θ '
Calculate the motor rotor position error delta e；
The motor rotor position error delta e level off to 0 ° when, meet:
θ-θ ' ≈ sin θ cos θ '-cos θ sin θ '=sin (θ-θ ')
The θ is rotor real time position, and the θ ' was calculated rotor calculating position of the upper sampling period.
Preferably, it is directed to the rotary transformer of different model, same motor speed section corresponds to identical or different filtering
COEFFICIENT K.
Preferably, the after the first output signal corresponding sampling period of rotary transformer is vehicle power-up initializing
When one sampling period, the numerical value of the parameters arrived recorded in second output signal is default value.
Preferably, the calculated result in a upper sampling period includes rotor calculating position θ ', in the second output signal:
Second sinusoidal signal sin θ ' it is to be generated by the way that rotor calculating position θ ' is input to forcing function generator, the
Two cosine signal cos θ ' are generated by the way that rotor calculating position θ ' is input to cosine generator.
Preferably, the step of low-pass filtering being carried out to the intermediate variable specifically: single order is carried out to the intermediate variable
Low-pass filtering.
According to another aspect of the present invention, the present invention also provides a kind of motor rotor position detection devices, are applied to DSP
Control chip, comprising:
Receiving module, for receiving first output signal of the rotary transformer under current sample period, and described first
Output signal is motivated by the Ext pumping signal of DSP control chip output and is generated；
First obtains module, for obtaining the second output letter handled according to the calculated result in a upper sampling period
Number；
Second obtains module, for obtaining rotor according to first output signal and second output signal
Location error Δ e；
Third obtains module, for the motor rotor position error delta e to be multiplied with the Ext pumping signal, obtains
Intermediate variable；
4th obtains module, for successively carrying out low-pass filtering and PI adjusting processing to the intermediate variable, to obtain electricity
Machine rotational speed omega；
5th obtains module, for carrying out Integral Processing to the motor speed ω, to obtain under current sample period
Motor rotor position；
Wherein, in the step of carrying out low-pass filtering to the motor rotor position error delta e, the filtering system that uses
Number K was determined by calculated motor speed ω of the upper sampling period, and different motor speed sections correspond to different filtering systems
Number K.
According to another aspect of the present invention, the present invention also provides a kind of motor rotor position detecting systems, comprising:
It is mounted on the rotary transformer of the rotor tip position of permanent magnet synchronous motor；
The first difference channel and the second difference channel being connect with the rotary transformer；
It the first filtering and amplifying circuit for being connect with first difference channel and is connect with second difference channel
Second filtering and amplifying circuit；
It is separately connected with first filtering and amplifying circuit, second filtering and amplifying circuit and the rotary transformer
DSP controls chip；The DSP controls chip and exports Ext pumping signal to the rotary transformer, and the rotary transformer is based on
The Ext pumping signal generates the first output signal, first output signal include: include rotor real time position θ
The first sinusoidal signal sin θ and the first cosine signal cos θ；
After the first sinusoidal signal sin θ carries out difference processing via first difference channel, then via described first
Filtering and amplifying circuit exports after amplifying filtering processing to DSP control chip；
After the first cosine signal cos θ carries out difference processing via second difference channel, then via described second
Filtering and amplifying circuit exports after amplifying filtering processing to DSP control chip；
The DSP controls chip according to the output knot of first filtering and amplifying circuit and second filtering and amplifying circuit
Fruit and the second output signal handled according to the calculated result in a upper sampling period calculate motor rotor position error delta
e；The motor rotor position error delta e is multiplied with the Ext pumping signal, obtains intermediate variable；To the intermediate variable
Low-pass filtering and PI adjusting processing are carried out, successively to obtain motor speed ω；Integral Processing is carried out to the motor speed ω, with
Obtain the motor rotor position under current sample period；
In the step of carrying out low-pass filtering to the motor rotor position error delta e, the filter factor K used is logical
It crosses a sampling period calculated motor speed ω to determine, and different motor speed sections correspond to different filter factor K.
According to another aspect of the present invention, the present invention also provides a kind of electric cars, including above-mentioned rotor position
Set detection system.
The invention has the benefit that
(1), different filtering parameters can be matched under different motor speeds, promote the adaptive ability of demodulator filter；
(2), it using the closed loop control algorithm based on demodulator filter, pi regulator, integrator, can effectively inhibit in signal
High-frequency noise, have good transient state, dynamic response performance；(3), motor speed and rotor position can be directly obtained
It sets, convenient for calling directly for other control algolithms；(4), become position decoder chip by DSP control chip substitution rotation, reduce hard
Part cost.
Detailed description of the invention
Fig. 1 is the flow diagram of method of the invention；
Fig. 2 is motor control schematic diagram of the invention；
Fig. 3 is the functional block diagram that motor rotor position of the invention detects；
Fig. 4 is that DSP controls chip internal software processing block diagram；
Fig. 5 is the motor speed and filter factor corresponding relationship for the rotary transformer of different model；
Fig. 6 be the rotor calculating position that is obtained under each sampling period when motor speed is 2000r/min and
Comparison diagram between rotor physical location；
Fig. 7 be the rotor calculating position that is obtained under each sampling period when motor speed is 4000r/min and
Comparison diagram between rotor physical location；
Description of symbols: 1, DSP controls chip；11, the first multiplier；12, the second multiplier；13, subtracter；14,
Third multiplier；15, low-pass first order filter；16, pi regulator；17, integrator；18, sine and cosine generator；181, sinusoidal to produce
Raw device；182, cosine generator；2, rotary transformer；3, permanent magnet synchronous motor；4, three-phase conditioning circuit；5, vehicle torque is ordered
It enables；6, difference channel；61, the first difference channel；62, the second difference channel；7, discharge filter circuit；71, the first electric discharge filtering
Circuit；72, the second electric discharge filter circuit；8, drive module；9, three-phase inversion power module.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
Referring to Figure 1 to Figure 7, this application provides a kind of motor rotor position detection method, this method is specifically to be applied to
Permanent magnet synchronous motor, this method is by constructing a kind of digital visualizer (demodulation filtering i.e. hereinafter with adaptive structure
Device), it is real-time using the rotor directly measured in original motor rotor position detecting system in a upper sampling period
Position passes through and is handled so that digital visualizer is in present sample as the input signal in the digital visualizer of neotectonics
Period, calculated rotor calculating position was equivalent to the rotor real time position of current sample period, and principle of equal value is just
Refer to the energy in dynamic change of the error between the rotor real time position of current sample period and electronics rotor calculating position
Enough Asymptotic Stabilities and level off to zero.This method is a kind of closed loop states estimation of reaction type, can be complicated more in electric car
Under the movement operating conditions of change, accurate detection to motor rotor position, and transient state, steady-state performance are good, save hardware device,
Facilitate transplanting, high reliablity.It, can be in lifting system adaptive performance by the Technology application in control system for permanent-magnet synchronous motor
And while robustness, hardware cost is saved.
Specifically, this method is applied to DSP control chip, and it is, for example, TI company which, which controls chip,
The chips such as TMS320C2XX family chip, wherein referring to Fig.1, this method specifically includes:
Step 101, first output signal of the rotary transformer 2 under current sample period, and first output are received
Signal by DSP control chip 1 export Ext pumping signal excitation generate, first output signal include: include motor turn
The first sinusoidal signal sin θ of sub- real time position θ and the first cosine signal cos θ.
Rotary transformer 2 (referred to as rotation become) is a kind of rotor tip for being mounted on permanent magnet synchronous motor 3 to provide motor
The angular signal of rotor and the sensor of speed signal.The need of work of rotary transformer 2 provides excitation letter by peripheral chip
Number, therefore, in order to drive rotary transformer 2 to work, DSP controls chip 1 and generates sinusoidal input signal, so that rotary transformer
2 generate corresponding sinusoidal, cosine output signal using the signal.
Specifically, the Ext pumping signal of rotary transformer 2 is input to as sinusoidal excitation signal, and core is controlled based on DSP
Software Create in piece 1 can be configured flexibly the frequency and amplitude of excitation signal by software approach.DSP controls chip 1
The excitation signal source of offer accesses to the input terminal of rotary transformer 2, and the Ext pumping signal that DSP control chip 1 provides
For digital signal, needing to carry out digital-to-analogue conversion could be exported with converting the signal into analog signal to rotary transformer 2.Example
Such as, the generation amplitude of sine and cosine generator 18 in DSP control chip 1 is 1 and frequency is 10KHZ sinusoidal signal, by DAC and width
After value conditioning, rotary transformer 2 is supplied to amplitude as 6, frequency is the sinusoidal excitation voltage of 10KHZ.
Rotary transformer 2 is started to work after receiving Ext pumping signal, the sine windings and cosine of rotary transformer 2 around
First sinusoidal signal and first cosine signal of the output comprising rotor real time position, the signal are not required to group respectively
Rotor absolute position, thus the vector controlled of permanent magnet synchronous motor 3 can't be directly used in.And it needs to carry out a series of
Could be used after processing, for example, by difference channel 6 carry out difference processing and amplify by filtering and amplifying circuit 7 and
The treatment processes such as filtering, and via just can apply to calculate after obtaining digital signal after analog-to-digital conversion.
Step 102, the second output signal that acquisition was handled according to the calculated result in a upper sampling period, described second
Output signal includes: the second sinusoidal signal sin θ ' and the second cosine signal cos θ ' for including rotor calculating position θ ',
The rotor calculating position θ ' was calculated by the sampled data in a upper sampling period.
It wherein, is second sampling period after vehicle power-up initializing or sampling week later in current sample period
The calculated result of phase, a upper sampling period are specially a upper sampling period calculated rotor calculating position θ ', are passed through
It is calculated, second sampling period after current sample period is vehicle power-up initializing, the rotor calculating position
θ ' be first sampling period sampled result it is calculated as a result, and so on, can get after each sampling period
Rotor calculating position θ '；When current sample period is first sampling period after vehicle power-up initializing, at this point,
There is no the related datas in a upper sampling period, thus are set as carrying out in advance to the numerical value of each parameter used at this time
Test obtained parameters value.
In the electronics rotor calculating position θ ' that upper sampling period final calculation result was a upper sampling period, in order to obtain
Second output signal: the sine and cosine generator 18 for controlling chip 1 by DSP is needed to generate rotor calculating position θ ' just
String signal and cosine signal, wherein in the second output signal: the second sinusoidal signal sin θ ' it is by calculating rotor
Position θ ' is input to the generation of forcing function generator 181, and the second cosine signal cos θ ' is by the way that rotor calculating position θ ' is defeated
Enter to the generation of cosine generator 182.Then, generated second output signal is exported into the first multiplier 11.
Step 103, according to first output signal and second output signal, motor rotor position error delta is obtained
e；
Specifically, pass through formula:
Δ e=θ-θ '
Calculate the motor rotor position error delta e；
According to trigonometric function theorem, the motor rotor position error delta e level off to 0 ° when, meet:
θ-θ ' ≈ sin θ cos θ '-cos θ sin θ '=sin (θ-θ ')
The θ is rotor real time position, and the θ ' was calculated rotor calculating position of the upper sampling period.
In the present embodiment, it since the interval time in two sampling periods is as short as microsecond rank, is powered on and initialized in vehicle
Afterwards, in addition to the motor speed change in first sampling period is big, after the second sampling period, motor speed is sampled at one
Variable quantity will not be very big under period, and therefore, caused motor rotor position variable quantity also can very little, that is to say, that upper one
Sampling period the rotor real time position θ of calculated rotor calculating position θ ' and current sample period difference meeting
Very little, almost levels off to zero, with the calculating adjustment in each sampling period, calculated rotor calculating position θ ' and electricity
The difference of machine rotor real time position θ can be smaller and smaller.
Step 104, the motor rotor position error delta e is multiplied with the Ext pumping signal, obtains intermediate variable
(i.e. the product of motor rotor position error delta e and Ext pumping signal).
Step 105, low-pass filtering and PI adjusting processing are carried out, successively to the intermediate variable to obtain motor speed ω.
Specifically, low-pass filtering, which refers to, carries out first-order low-pass wave to intermediate variable, specifically, by the intermediate variable
It is input in single order demodulator filter 15, in the first-order low-pass wave algorithm of the single order demodulator filter 15 storage, filter factor K
Related to motor speed ω, filter factor K was determined by calculated motor speed ω of the upper sampling period.Specifically, right
In a kind of rotary transformer 2 of model, a motor speed section corresponds to a filter factor K, that is to say, that in a upper sampling
The motor speed ω that the motor speed ω and upper last sampling period that period obtains are obtained is not at a motor speed section
When interior, then used in the low-pass filtering process of current sample period to filter factor K be it is low with a upper sampling period
The filter factor K arrived used in pass filter process is different, in this way, can be improved first-order low-pass wave algorithm adaptivity and
Robustness.As shown in figure 4, the function of state of low-pass filtering algorithm isSimilarly, it is directed to the rotation transformation of different model
For device 2, due to the self-characteristic of the rotary transformer 2 of different model, in the corresponding filter factor K of the same motor speed section
It may be identical, it is also possible to it is different, depending on the characteristic of the rotary transformer 2 of practical model, for example, as shown in figure 5, mentioning
The motor under motor speed and filter factor K mapping table and Type B rotary transformer under A model rotary transformer is supplied
The mapping table of revolving speed and filter factor K, wherein when motor speed is ω 4, the rotary transformer of two kinds of models is corresponding
Filter factor K is identical.That is, a kind of rotary transformer 2 of model, can be corresponding with a motor speed section and filter factor
Mapping table.Due to for the rotor real time position calculating in current sample period being realized by software algorithm
, it is directed to for the electric car using the rotary transformer 2 of different model, software algorithm can be general, does not need to hard
Part structure improves, unique to need to change only by pair of motor speed and filter factor required in low pass demodulating algorithm
Relation table is answered to be updated or replace with mapping table corresponding to specific model rotary transformer 2.Due to hardware configuration
It haves no need to change, hardware cost can be reduced.
Wherein, as shown in figure 4, function of state when PI is adjusted is
Step 106, Integral Processing is carried out to the motor speed ω, to obtain the rotor position under current sample period
It sets.Wherein, as shown in figure 4, the function of state during Integral Processing is
As shown in figure 3, DSP control chip 1 includes: the first multiplier 11, the second multiplier 12, subtracter 13, third
Multiplier 14, low-pass first order filter 15, pi regulator 16 and integrator 17 and sine and cosine generator 18 (including sinusoidal occur
Device 181 and cosine generator 182), wherein the first multiplier 11 is for realizing the first sinusoidal signal sin θ and the second cosine signal
Cos θ ' multiplication, the second multiplier 12 is for realizing the first cosine signal cos θ and the second sinusoidal signal sin θ ' multiplication, subtracter
13 turn location error for subtracting each other the calculated result of the calculated result of the first multiplier 11 and the second multiplier 12 to obtain motor
Δ e, then intermediate variable is calculated by third multiplier 14.It is carried out finally by low-pass first order filter 15 and pi regulator 16
Processing obtains motor speed ω, then is handled by integrator 17, and the motor rotor position obtained under current sample period is (suitable
The calculated rotor calculating position under current sample period).DSP is controlled in 1 treatment process of chip, by software algorithm
Execute aforesaid operations.
The rotor calculating position θ ' for calculating current sample period later, DSP control chip 1 combine Fig. 2 in
Three-phase conditioning circuit 4 handles obtained three-phase current signal and the vehicle torque command 5 transmitted by CAN bus signal, benefit
Signal is controlled to 8 output duty cycle of drive module with field orientation algorithm and SVPWM modulation algorithm.Duty cycle control signal is through driving
The processing of dynamic model block 8 forms six road pwm signals and is sent into three-phase inversion power module 9, under the control of pwm signal, three-phase inversion
Power module 9 completes the transformation of DC voltage to three-phase alternating voltage, and the torque output of permanent magnet synchronous motor 1 is controlled with this.
Referring to attached drawing 6, Fig. 7, the brief filter factor K being illustrated in single order demodulator filter is for rotor meter
Calculate the influence of position θ ' and motor speed ω estimation result.Now respectively with motor actual speed 2000r/min, 4000r/min
For, filter coefficient K is disposed as 0.0045 under the two revolving speeds.When actual speed is 2000r/min, motor turns
Sub- calculating position θ ' and motor speed ω are roughly the same with actual conditions, and dynamic error is smaller, and rotor calculates position
θ ' is set after the adaptive adjustment in 2 periods, the non-error tracking of rotor-position is gradually realized, illustrates that K value is suitable for working as
Preceding revolving speed, as shown in Figure 6；When actual speed is 4000r/min, rotor calculating position θ ' need to undergo 3-4 period
Adjustment is just able to achieve non-error tracking, and the motor speed estimated also generates larger oscillation during startup, illustrates that K value is uncomfortable
For current rotating speed, as shown in Figure 7.
To sum up, the application above method, which has a characteristic that, eliminates the setting that original rotation becomes position decoder chip, drop
Low hardware cost；This method is for the purpose of eliminating dynamic error, it is intended to construct a kind of adjustable, adaptive reaction type number
Observer can go out rotor calculating position according to collected Cos θ ' the signal of rotary transformer, Sin θ ' signal directly calculation.
Specifically, the advantages of above method of the application, withdraws deposit following aspects: (1), can be in different motors
Different filtering parameters are matched under revolving speed, promote the adaptive ability of demodulator filter；(2), demodulator filter is used, PI is adjusted
Closed loop control algorithm based on device, integrator can effectively inhibit the high-frequency noise in signal, have good transient state,
Dynamic response performance；(3), motor speed and motor rotor position can be directly obtained, convenient for the direct tune of other control algolithms
With；(4), become position decoder chip by DSP control chip substitution rotation, reduce hardware cost.
According to another aspect of the present invention, the present invention also provides a kind of motor rotor position detection devices, are applied to DSP
Control chip 1, comprising:
Receiving module, for receiving first output signal of the rotary transformer 2 under current sample period, and described first
Output signal is generated by the Ext pumping signal excitation that DSP control chip 1 exports；
First obtains module, for obtaining the second output letter handled according to the calculated result in a upper sampling period
Number；
Second obtains module, for obtaining rotor according to first output signal and second output signal
Location error Δ e；
Third obtains module, for the motor rotor position error delta e to be multiplied with the Ext pumping signal, obtains
Intermediate variable；
4th obtains module, for successively carrying out low-pass filtering and PI adjusting processing to the intermediate variable, to obtain electricity
Machine rotational speed omega；
5th obtains module, for carrying out Integral Processing to the motor speed ω, to obtain under current sample period
Motor rotor position；
Wherein, in the step of carrying out low-pass filtering to the motor rotor position error delta e, the filtering system that uses
Number K was determined by calculated motor speed ω of the upper sampling period, and different motor speed sections correspond to different filtering systems
Number K.
According to another aspect of the present invention, referring to Fig. 2 and Fig. 3, the present invention also provides a kind of detections of motor rotor position
System, comprising:
It is mounted on the rotary transformer 2 of the rotor tip position of permanent magnet synchronous motor 3；
The first difference channel 61 and the second difference channel 62 being connect with the rotary transformer 2；
The first filtering and amplifying circuit 71 for being connect with first difference channel 61 and with second difference channel 62
Second filtering and amplifying circuit 72 of connection；
Distinguish with first filtering and amplifying circuit 62, second filtering and amplifying circuit 72 and the rotary transformer 2
The DSP of connection controls chip 1；The DSP controls chip 1 and exports Ext pumping signal, the rotation to the rotary transformer 2
Transformer 2 be based on the Ext pumping signal generate the first output signal, first output signal include: include motor turn
The first sinusoidal signal sin θ of sub- real time position θ and the first cosine signal cos θ；
After the first sinusoidal signal sin θ carries out difference processing via first difference channel 61, then via described the
One filtering and amplifying circuit 71 exports after amplifying filtering processing to DSP control chip 1；
After the first cosine signal cos θ carries out difference processing via second difference channel 62, then via described the
Two filtering and amplifying circuits 72 export after amplifying filtering processing to DSP control chip 1；
DSP control chip 1 is according to first filtering and amplifying circuit 71 and second filtering and amplifying circuit 72
Output result and the second output signal handled according to the calculated result in a upper sampling period, calculate motor rotor position
Error delta e；The motor rotor position error delta e is multiplied with the Ext pumping signal, obtains intermediate variable；In described
Between variable successively carry out low-pass filtering and PI adjusting processing, to obtain motor speed ω；The motor speed ω is integrated
Processing, to obtain the motor rotor position under current sample period；
In the step of carrying out low-pass filtering to the motor rotor position error delta e, the filter factor K used is logical
It crosses a sampling period calculated motor speed ω to determine, and different motor speed sections correspond to different filter factor K.
According to another aspect of the present invention, the present invention also provides a kind of electric cars, including above-mentioned rotor position
Set detection system.
The above embodiments of the present application, although only some of one or more embodiments of the invention are described,
But those of ordinary skill in the art it is to be appreciated that the present invention can without departing from its spirit with range in many other shapes
Formula is implemented.Therefore, the example shown is considered as illustrative and not restrictive with embodiment, is not departing from as appended each
In the case where spirit and scope of the present invention defined in claim, the present invention may cover various modification and replacement.
Claims (9)
1. a kind of motor rotor position detection method is applied to DSP and controls chip characterized by comprising
First output signal of the rotary transformer under current sample period is received, and first output signal is controlled by DSP
Chip output Ext pumping signal motivate generate, first output signal include: include rotor real time position θ
First sinusoidal signal sin θ and the first cosine signal cos θ；
Obtain the second output signal handled according to the calculated result in a upper sampling period, the second output signal packet
It includes: including the second sinusoidal signal sin θ ' and the second cosine signal cos θ ' of rotor calculating position θ ', the motor turns
Sub- calculating position θ ' was calculated by the sampled data in a upper sampling period；
According to first output signal and second output signal, motor rotor position error delta e is obtained；
The motor rotor position error delta e is multiplied with the Ext pumping signal, obtains intermediate variable；
Low-pass filtering and PI adjusting processing are carried out, successively to the intermediate variable to obtain motor speed ω；
Integral Processing is carried out to the motor speed ω, to obtain the motor rotor position under current sample period；
Wherein, in the step of carrying out low-pass filtering to the motor rotor position error delta e, the filter factor K that uses
It was determined by calculated motor speed ω of the upper sampling period, and different motor speed sections correspond to different filter factor K.
2. motor rotor position detection method according to claim 1, which is characterized in that according to first output signal
With second output signal, obtain motor rotor position error delta e the step of include:
Pass through formula:
Δ e=θ-θ '
Calculate the motor rotor position error delta e；
The motor rotor position error delta e level off to 0 ° when, meet:
θ-θ ' ≈ sin θ cos θ '-cos θ sin θ '=sin (θ-θ ')
The θ is rotor real time position, and the θ ' was calculated rotor calculating position of the upper sampling period.
3. motor rotor position detection method according to claim 1, which is characterized in that be directed to the rotation of different model
Transformer, same motor speed section correspond to identical or different filter factor K.
4. motor rotor position detection method according to claim 1, which is characterized in that first in rotary transformer is defeated
When the signal corresponding sampling period is first sampling period after vehicle power-up initializing out, institute in second output signal
The numerical value for the parameters being recorded is default value.
5. motor rotor position detection method according to claim 1, which is characterized in that the calculating knot in a upper sampling period
Fruit includes rotor calculating position θ ', in the second output signal:
Second sinusoidal signal sin θ ' and it is to be generated by the way that rotor calculating position θ ' is input to forcing function generator, more than second
String signal cos θ ' is generated by the way that rotor calculating position θ ' is input to cosine generator.
6. the method according to claim 1, wherein the step of carrying out low-pass filtering to the intermediate variable is specific
Are as follows: first-order low-pass wave is carried out to the intermediate variable.
7. a kind of motor rotor position detection device is applied to DSP and controls chip characterized by comprising
Receiving module, for receiving first output signal of the rotary transformer under current sample period, and first output
Signal is motivated by the Ext pumping signal of DSP control chip output and is generated；
First obtains module, for obtaining the second output signal handled according to the calculated result in a upper sampling period；
Second obtains module, for obtaining motor rotor position according to first output signal and second output signal
Error delta e；
Third obtains module, for the motor rotor position error delta e to be multiplied with the Ext pumping signal, obtains centre
Variable；
4th obtains module, for successively carrying out low-pass filtering and PI adjusting processing to the intermediate variable, is turned with obtaining motor
Fast ω；
5th obtains module, for carrying out Integral Processing to the motor speed ω, to obtain the motor under current sample period
Rotor-position；
Wherein, in the step of carrying out low-pass filtering to the motor rotor position error delta e, the filter factor K that uses
It was determined by calculated motor speed ω of the upper sampling period, and different motor speed sections correspond to different filter factor K.
8. a kind of motor rotor position detecting system characterized by comprising
It is mounted on the rotary transformer of the rotor tip position of permanent magnet synchronous motor；
The first difference channel and the second difference channel being connect with the rotary transformer；
The first filtering and amplifying circuit being connect with first difference channel and connect with second difference channel second
Filtering and amplifying circuit；
The DSP being separately connected with first filtering and amplifying circuit, second filtering and amplifying circuit and the rotary transformer
Control chip；The DSP controls chip and exports Ext pumping signal to the rotary transformer, and the rotary transformer is based on institute
State Ext pumping signal generate the first output signal, first output signal include: include rotor real time position θ
First sinusoidal signal sin θ and the first cosine signal cos θ；
After the first sinusoidal signal sin θ carries out difference processing via first difference channel, then via first amplification
Filter circuit exports after amplifying filtering processing to DSP control chip；
After the first cosine signal cos θ carries out difference processing via second difference channel, then via second amplification
Filter circuit exports after amplifying filtering processing to DSP control chip；
DSP control chip according to the output result of first filtering and amplifying circuit and second filtering and amplifying circuit with
And the second output signal handled according to the calculated result in a upper sampling period, calculate motor rotor position error delta e；It will
The motor rotor position error delta e is multiplied with the Ext pumping signal, obtains intermediate variable；Successively to the intermediate variable
Low-pass filtering and PI adjusting processing are carried out, to obtain motor speed ω；Integral Processing is carried out to the motor speed ω, to obtain
Motor rotor position under current sample period；
In the step of carrying out low-pass filtering to the motor rotor position error delta e, the filter factor K used passes through upper
One sampling period, calculated motor speed ω was determined, and different motor speed sections correspond to different filter factor K.
9. a kind of electric car, which is characterized in that including motor rotor position detecting system according to any one of claims 8.
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| CN114465544A (en) * | 2022-03-30 | 2022-05-10 | 重庆长安新能源汽车科技有限公司 | Rotary transformer decoding device and automobile |
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