CN111049451A - Method for on-line checking initial position angle of permanent magnet motor rotor position sensor - Google Patents
Method for on-line checking initial position angle of permanent magnet motor rotor position sensor Download PDFInfo
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- CN111049451A CN111049451A CN201811182416.4A CN201811182416A CN111049451A CN 111049451 A CN111049451 A CN 111049451A CN 201811182416 A CN201811182416 A CN 201811182416A CN 111049451 A CN111049451 A CN 111049451A
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- motor
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- position sensor
- motor controller
- rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
An on-line calibration method for the initial position angle of a rotor position sensor of a permanent magnet motor comprises the steps of applying d-axis weak magnetic current or series of pulses to the permanent magnet motor to be tested when the permanent magnet motor to be tested runs at a test rotating speed, calculating a power value input by a motor controller, adjusting the initial position angle of the rotor position sensor through the motor controller, and judging that the initial position angle of the rotor position sensor at the moment is the initial position angle of an actual rotor position sensor when the power value is within a power calibration range. The method can verify the initial position angle of the rotor position sensor of the permanent magnet motor on line, and conveniently verify the initial position angle of the rotor position sensor of the permanent magnet motor by using a software algorithm in various occasions under the condition of not increasing the cost of a hardware circuit.
Description
Technical Field
The invention relates to a technology in the field of motor control, in particular to an on-line calibration method for an initial position angle of a rotor position sensor of a permanent magnet motor.
Background
The permanent magnet motor is used as a motor with high efficiency, high torque and high power density, has increasingly wide application range, and is particularly commonly applied to new energy automobiles. In order to accurately control the torque output of the permanent magnet motor, the accurate position of the rotor must be obtained, so that a rotary transformer is generally adopted to obtain the position of the rotor in occasions with higher requirements on the control performance of the motor, such as new energy vehicles. However, the rotary transformer and the rotor are mechanically connected, and the mounting precision between the stator and the rotor and the rotary transformer is difficult to guarantee, so that a certain error exists between the read position of the rotary transformer and the actual position of the rotor.
In order to detect the error in the prior art, an additional hardware circuit is usually adopted to introduce the design of a motor controller, and the initial position angle of a rotor position sensor is calculated by a method of detecting the back electromotive force phase of the motor when the motor runs, or the position of the rotor after the rotor is kept static is read by applying direct current when the motor is kept static.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the method for online checking the initial position angle of the rotor position sensor of the permanent magnet motor, which can be used for online checking the initial position angle of the rotor position sensor of the permanent magnet motor and conveniently checking the initial position angle of the rotor position sensor of the permanent magnet motor by using a software algorithm in various occasions under the condition of not increasing the cost of a hardware circuit.
The invention is realized by the following technical scheme:
the invention applies d-axis weak magnetic current or series of pulses to the permanent magnet motor to be tested when the permanent magnet motor to be tested operates at the test rotating speed, simultaneously calculates the power value input by the motor controller and adjusts the initial position angle of the rotor position sensor through the motor controller, and judges that the initial position angle of the rotor position sensor at the moment is the initial position angle of the actual rotor position sensor when the power value is within the power calibration range.
The d-axis weak magnetic current refers to that: according to the current vector control principle, applying a current Id in the d-axis direction of the motor, wherein the value of the current Id is smaller than zero; the control and calculation of this current during the test is based on assuming the initial position angle θ of the rotor position sensor in the controller to be the actual true initial position angle of the rotor position sensor.
In the series of pulses: and completing the calculation of the output power of the motor controller once in each pulse.
The motor controller includes: current sensor, absorption capacitor and the inverter circuit who comprises Insulated Gate Bipolar Transistor (IGBT), wherein: the three-phase output end of the inverter circuit is respectively connected with the motor to be detected, and the rotor and the stator of the motor to be detected are respectively connected with the rotor and the stator of the position sensor.
The power value input by the motor controller is obtained by calculating the product of the bus current and the bus voltage, or is obtained by calculating the PWM duty ratio of the bus voltage and the voltage applied to the three phase lines of the motor and the current flowing through the three phase lines.
In the power calibration range, when the allowed error of the initial position angle of the rotor position sensor is theta err, the motor controller consumes the range of power by presetting that the motor runs at the same test rotating speed, the motor controller applies the same d-axis weak magnetic current Id and the q-axis current is zero on a motor test bench.
The regulation refers to that: and determining to further increase or decrease the initial position angle of the rotor position sensor according to the calculated relation between the power value input by the motor controller and the power calibration range while increasing or decreasing the initial position angle of the rotor position sensor.
A plurality of test rotating speed points are preferably predefined in the power calibration range, and the power calibration values corresponding to the test rotating speed points are provided at different rotating speeds.
The power calibration range is preferably obtained by predefining a test rotating speed range, testing any rotating speed in the test rotating speed range, and performing interpolation operation on the corresponding power calibration range according to the corresponding rotating speed point.
The power calibration range is preferably obtained by setting the motor on the motor test bench to operate at the same test rotating speed, applying the same d-axis weak magnetic current Id to the motor controller and enabling the q-axis current to be zero in advance, measuring the real-time power consumed by the motor controller when the initial position angle of the rotor position sensor is accurate, and increasing or decreasing delta P or multiplying the delta P by a proportionality coefficient Kp on the basis of the real-time power.
Technical effects
The prior technical scheme for detecting the initial position angle of the permanent magnet motor rotor position sensor is generally two, one is a hardware acquisition circuit for increasing the voltage of the output end of the motor, when the motor runs at high speed, counter potentials of all phases are compared, and the initial angle of the position sensor is calculated; the invention relates to a method for calculating the initial angle of a position sensor by applying larger direct current under the condition that a motor is static and has no load, which has lower precision and lower torque control precision, and simultaneously the motor needs not to be connected with the load.
Drawings
FIG. 1 is a schematic diagram of current components;
FIG. 2 is a schematic diagram of an embodiment motor controller;
in the figure: the device comprises a direct-current power supply 1, a permanent magnet motor 2, a direct-current bus current sensor 3, a capacitor 4, a motor three-phase line 5, an IGBT6, a position sensor signal line 7, a three-phase current sensor 8, a direct-current bus voltage sensor 9 and a motor M to be detected.
Detailed Description
As shown in fig. 2, the online calibration apparatus for the initial position angle of the rotor position sensor of the permanent magnet motor according to the present embodiment includes: motor controller, motor controller control panel, direct current bus current sensor, direct current bus voltage sensor, rotor position sensor, three phase current sensor, wherein: the motor to be measured is characterized in that a rotor and a stator of a motor to be measured are respectively connected with a rotor and a stator of a rotor position sensor, a direct current bus voltage sensor used for collecting direct current bus voltage outputs a voltage signal to a motor controller control panel, the rotor position sensor arranged on the motor outputs a rotor position signal to the motor controller control panel, the motor controller control panel obtains input power of a motor controller by multiplying a collected direct current bus current value and a collected direct current bus voltage value, the motor controller control panel collects phase current of the motor to be measured through a three-phase current sensor, converts the phase current into d-axis current Id and q-axis current Iq through Clark conversion and outputs the d-axis current Id and the q-axis current Iq to an IGBT in the motor controller in a PWM mode to control on-off, and vector control.
The motor controller includes: electric capacity, IGBT and set up the direct current sensor who is used for measuring direct current bus current on direct current bus, direct current bus voltage sensor, the control panel, wherein: the current input end of the direct current bus is respectively connected with the anode and the cathode of a direct current power supply, the current signal is output to the control panel of the motor controller, and the output end of the IGBT is connected with the three-phase input end of the motor to be tested.
A filter circuit is arranged in a motor controller control panel of the sensor, and the received direct current bus current value and the received direct current bus voltage value are subjected to low-pass filtering to reduce interference.
The embodiment relates to a detection process of the device, which specifically comprises the following steps:
a calibration stage:
A. testing a motor prototype in advance on a test bed, accurately calibrating the initial angle of a position sensor of the motor, then enabling the motor to operate at a higher rotating speed n (such as 8000rpm), enabling d-axis current Id to be larger weak magnetic current I (such as 400A), and enabling q-axis current Iq to be 0; recording the input power P0 of the motor controller at the rotating speed;
B. increasing the initial angle calibration value of a motor position sensor in the motor controller by 0.1 degree, repeating the test, and recording the input power of the motor controller at the moment; reducing the initial angle calibration value of a motor position sensor in the motor controller by 0.1 degree, repeating the test, and recording the input power of the motor controller at the moment; taking the minimum value of the two input powers as Pa and the maximum value as Pb; wherein 0.1 degree is the allowable error of the initial position angle of the rotor position sensor;
C. and taking the motor speed n, the weak magnetic current Id, the input power Pa and the input power Pb as power calibration values as judgment bases for calibrating the initial position angle of the motor position sensor of the model by the motor controller.
Initial position angle checking stage:
1. when the initial angle of the motor position sensor of the model needs to be calibrated, firstly enabling the motor to operate at the same rotating speed n, injecting pulse weak magnetic current Id (I) with the same amplitude into a motor controller, keeping Iq (0), and simultaneously calculating the input power P of the motor controller at the moment; the input power P of the motor controller can be calculated by multiplying the direct current bus current value and the direct current bus voltage value;
2. comparing the input power P of the motor controller with the calibrated power values Pa and Pb, and adjusting the initial angle theta of the motor position sensor until the actual input power P is within the range of the calibrated power values Pa and Pb, and the method specifically comprises the following steps:
2.1 record input power P0 in initial state;
2.2 increasing the initial angle θ, recording the input power P1 at this time, if P1 is greater than P0, the initial angle adjustment direction K is 1, otherwise K is-1;
2.3 calculating the input power Pn at this time, if Pn < Pa, increasing the initial angle K × Δ θ, if Pn > Pb, decreasing the initial angle K × Δ θ; the range of delta theta is set to be 0-10deg, when the difference between Pn and Pa is larger, the delta theta is also larger so as to reduce the search times, and when the difference between Pn and Pa is smaller, the delta theta is also smaller so as to increase the precision;
2.4 repeat step 2.3 until Pa < Pn < Pb.
3. When the input power value is in the range of the calibrated power values Pa and Pb, the initial angle of the motor position sensor is considered to be successfully calibrated, and the initial angle value of the motor position sensor at the moment is taken as the initial angle of the position sensor of the motor and is stored in a memory of a control board of a motor controller;
the method has the advantages of obtaining the initial angle of the rotor position sensor, obtaining satisfactory torque control precision, reducing hardware cost and system complexity, having important significance for motor controllers produced in large scale and creating huge economic value.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (8)
1. An on-line calibration method for the initial position angle of a rotor position sensor of a permanent magnet motor is characterized in that d-axis weak magnetic current or a series of pulses are applied to the permanent magnet motor to be tested when the permanent magnet motor to be tested runs at a test rotating speed, meanwhile, a power value input by a motor controller is calculated, the initial position angle of the rotor position sensor is adjusted by the motor controller, and when the power value is within a power calibration range, the initial position angle of the rotor position sensor at the moment is determined to be the initial position angle of the actual rotor position sensor;
the motor controller includes: current sensor, absorption capacitor and the inverter circuit who comprises Insulated Gate Bipolar Transistor (IGBT), wherein: the three-phase output end of the inverter circuit is respectively connected with the motor to be detected, and the rotor and the stator of the motor to be detected are respectively connected with the rotor and the stator of the position sensor.
2. The method as claimed in claim 1, wherein the d-axis field weakening current is: applying a current Id in the d-axis direction of the motor according to a current vector control principle, wherein the value of the current Id is smaller than zero;
in the series of pulses: and completing the calculation of the output power of the motor controller once in each pulse.
3. The method of claim 1, wherein the input power value from the motor controller is calculated by multiplying the bus current by the bus voltage, or calculated based on the bus voltage, the PWM duty cycle of the voltage applied to the three phases of the motor, and the current flowing through the three phases.
4. The method as claimed in claim 1, wherein the power calibration range is determined by presetting a range in which the motor runs at the same test rotation speed on the motor test bench, the motor controller applies the same d-axis field weakening current Id and the q-axis current is zero, the motor controller consumes power when the error allowed by the initial position angle of the rotor position sensor is θ err, or by:
a section of test rotating speed range is predefined, any rotating speed can be tested in the test rotating speed range, and the corresponding power calibration range is obtained by interpolation operation according to the corresponding rotating speed point, or the power calibration range is obtained by:
the method comprises the steps that a motor is arranged on a motor test bench in advance and runs at the same test rotating speed, the same d-axis weak magnetic current Id is applied to a motor controller, and the q-axis current is zero, the real-time power consumed by the motor controller is measured when the initial position angle of a rotor position sensor is accurate, and the power calibration range is obtained by increasing or decreasing delta P or multiplying the delta P by a proportionality coefficient Kp on the basis of the real-time power.
5. The method of claim 1, wherein said adjusting is: and determining to further increase or decrease the initial position angle of the rotor position sensor according to the calculated relation between the power value input by the motor controller and the power calibration range while increasing or decreasing the initial position angle of the rotor position sensor.
6. The method of claim 1, wherein the power calibration range defines a plurality of test speed points, each having a corresponding power calibration value for different speeds.
7. An on-line calibration device for the initial position angle of the rotor position sensor of the permanent magnet motor for realizing the method of any one of the preceding claims, which is characterized by comprising: motor controller, motor controller control panel, direct current bus current sensor, direct current bus voltage sensor, rotor position sensor, three phase current sensor, wherein: the motor to be measured is characterized in that a rotor and a stator of a motor to be measured are respectively connected with a rotor and a stator of a rotor position sensor, a direct current bus voltage sensor used for collecting direct current bus voltage outputs a voltage signal to a motor controller control panel, the rotor position sensor arranged on the motor outputs a rotor position signal to the motor controller control panel, the motor controller control panel obtains input power of a motor controller by multiplying a collected direct current bus current value and a collected direct current bus voltage value, the motor controller control panel collects phase current of the motor to be measured through a three-phase current sensor, converts the phase current into d-axis current Id and q-axis current Iq through Clark conversion and outputs the d-axis current Id and the q-axis current Iq to an IGBT in the motor controller in a PWM mode to control on-off, and vector control.
8. The apparatus of claim 7, wherein the motor controller control board is provided with a filter circuit for low-pass filtering the received dc bus current value and dc bus voltage value to reduce interference.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811182416.4A CN111049451A (en) | 2018-10-11 | 2018-10-11 | Method for on-line checking initial position angle of permanent magnet motor rotor position sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811182416.4A CN111049451A (en) | 2018-10-11 | 2018-10-11 | Method for on-line checking initial position angle of permanent magnet motor rotor position sensor |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5025395B2 (en) * | 2007-09-18 | 2012-09-12 | 東芝三菱電機産業システム株式会社 | Method for adjusting initial position of position detector and motor drive device using this method |
| CN102780441A (en) * | 2011-05-10 | 2012-11-14 | 北京超力锐丰科技有限公司 | Scheme and method for determining zero position of permanent magnet synchronous motor for automobile EPS (Electric Power Steering) system |
| CN103151982A (en) * | 2011-12-07 | 2013-06-12 | 上海大郡动力控制技术有限公司 | Self-adaption method of zero compensation detection of rotary transformer of permanent magnet motor |
| CN103546084A (en) * | 2012-07-12 | 2014-01-29 | 现代自动车株式会社 | System and method for calibrating offset of motor resolver |
| CN104716884A (en) * | 2013-12-12 | 2015-06-17 | 西门子公司 | Device and method for correcting position of rotor of motor |
-
2018
- 2018-10-11 CN CN201811182416.4A patent/CN111049451A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5025395B2 (en) * | 2007-09-18 | 2012-09-12 | 東芝三菱電機産業システム株式会社 | Method for adjusting initial position of position detector and motor drive device using this method |
| CN102780441A (en) * | 2011-05-10 | 2012-11-14 | 北京超力锐丰科技有限公司 | Scheme and method for determining zero position of permanent magnet synchronous motor for automobile EPS (Electric Power Steering) system |
| CN103151982A (en) * | 2011-12-07 | 2013-06-12 | 上海大郡动力控制技术有限公司 | Self-adaption method of zero compensation detection of rotary transformer of permanent magnet motor |
| CN103546084A (en) * | 2012-07-12 | 2014-01-29 | 现代自动车株式会社 | System and method for calibrating offset of motor resolver |
| CN104716884A (en) * | 2013-12-12 | 2015-06-17 | 西门子公司 | Device and method for correcting position of rotor of motor |
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Application publication date: 20200421 |
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