CN112491309B - Rotor position obtaining method of motor based on rotary transformer - Google Patents

Rotor position obtaining method of motor based on rotary transformer Download PDF

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CN112491309B
CN112491309B CN202011336672.1A CN202011336672A CN112491309B CN 112491309 B CN112491309 B CN 112491309B CN 202011336672 A CN202011336672 A CN 202011336672A CN 112491309 B CN112491309 B CN 112491309B
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motor
rotor
pin
chip
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CN112491309A (en
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徐晖
周建刚
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Dongfeng Commercial Vehicle Co Ltd
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Dongfeng Commercial Vehicle Co Ltd
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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
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation

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Abstract

The invention relates to a method for acquiring the position of a rotor of a motor based on a rotary transformer, which comprises the following steps: under the state that a rotor of the motor is static, from the power-on moment of the rotary transformer, collecting A pulses or B pulses until the stop; calculating to obtain initial position information; continuously collecting A pulses and B pulses from the moment when the rotor of the motor starts to rotate under the state that the rotor of the motor rotates; calculating to obtain the current position offset of the rotor of the motor; and adding the initial position information and the current position offset to obtain current absolute position information. The invention can avoid angle delay and greatly improve the accuracy of the acquired position information of the rotor of the motor; communication time is omitted; information interaction between the DSP and the AD2S1205 can be completed only through 4 IO ports, chip hardware resources are saved, and hardware circuits are simplified.

Description

Rotor position obtaining method of motor based on rotary transformer
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to a method for acquiring the position of a rotor of a motor based on a rotary transformer.
Background
The existing information interaction mode between the resolver decoding chip and the DSP has two types: SPI mode and parallel port mode. The defects of the prior art are as follows:
obtaining angle information once in an SPI mode, wherein the time is more than ten microseconds; this is equivalent to delaying the true angle information by a position angle, thereby making the measurement result inaccurate;
2. because the rotor of the motor runs continuously and the position information of the rotor is calculated and output continuously, the dozens of microseconds required for obtaining the angle information once in the SPI mode are consumed in the interrupt service program, so that the program execution time is greatly consumed;
3. the parallel port mode consumes a large number of hardware pins, wastes main chip resources and increases the PCB layout difficulty.
Disclosure of Invention
In view of the above problems, the present invention provides a method for acquiring a rotor position of a resolver-based motor, the method comprising: the accuracy of the acquired position information of the rotor of the motor is greatly improved; communication time is omitted; and chip hardware resources are saved.
In order to solve the problems, the technical scheme provided by the invention is as follows:
a rotor position obtaining method of a motor based on a rotary transformer comprises the following steps:
s100, collecting an A pulse or a B pulse from the power-on moment of the rotary transformer in the state that a rotor of the motor is static until the A pulse or the B pulse stops;
s200, calculating to obtain initial position information of a rotor of the motor through the pulse A or the pulse B collected in a time period from the power-on time of the rotary transformer to the stop of the pulse A or the pulse B;
s300, continuously collecting the pulse A and the pulse B from the moment when the rotor of the motor starts to rotate in the state that the rotor of the motor rotates;
s400, calculating to obtain the current position offset of the rotor of the motor through the A pulse or the B pulse collected in the time period from the moment when the rotor of the motor starts to rotate to the current moment;
s500, adding the initial position information and the current position offset to obtain current absolute position information.
Preferably, the S200 specifically includes the following steps:
s210, counting the number of the collected pulses in the pulse A or the number of the collected pulses in the pulse B;
and S220, calculating to obtain the initial position information according to the number of the pulses in the pulse A or the number of the pulses in the pulse B.
Preferably, the S400 specifically includes the following steps:
s410, counting the number of the collected pulses in the pulse A or the number of the collected pulses in the pulse B;
s420, calculating the current position offset, and expressing the current position offset according to the following formula:
THTA＝2π*(count*Np)/(f s *N)
wherein: THTA is the current position offset; count is the number of the pulses; np is the number of pole pairs of the motor, and is obtained by searching a technical manual of the motor; f. of s The excitation frequency is preset manually; and N is the number of pole pairs of the rotary transformer and is obtained by searching a technical manual of the rotary transformer.
Preferably, the a pulse or the B pulse is output by an AD2S1205 chip coupled to the resolver.
Preferably, the resolver is a reluctance resolver.
Preferably, the rotor 1 of the resolver is mounted coaxially on the rotor of the electric machine;
s of the output winding of the rotary transformer 1 Terminal is coupled with COSLO pin of AD2S1205 chip, S 3 The terminal is coupled with the COS pin;
s of the output winding of the rotary transformer 2 Terminal coupled to SINLO pin of AD2S1205 chip, S 4 The terminal is coupled to the SIN pin.
Preferably, the pin a of the AD2S1205 chip is coupled to the EQEP1A pin of the QEP module of the DSP;
the pin B of the AD2S1205 chip is coupled with the EQEP1B pin of the QEP module of the DSP;
the NM pin of the AD2S1205 chip is coupled with the EQEP1I pin of the QEP module of the DSP;
the RESET pin of the AD2S1205 chip is coupled with the GPIO24 pin of the QEP module of the DSP.
Preferably, the excitation frequency is 1024 Hz.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the current absolute position information of the rotor of the motor can be calculated only by starting the QEP function, so that the angle delay can be avoided, and the accuracy of the acquired position information of the rotor of the motor is greatly improved;
2. the invention does not need to acquire the dozens of microseconds required by the angle information once, thereby saving the communication time, which is equivalent to saving the software execution time;
3. the invention can complete the information interaction between the DSP and the AD2S1205 only by 4 IO ports, thereby saving the chip hardware resources and simplifying the hardware circuit.
Drawings
FIG. 1 is a schematic diagram of the operation of a rotary transformer in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a connection mode between an AD2S1205 chip and a QEP module of a DSP according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a comparison of waveforms of initial position information output in the form of A pulses according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of an observed electrical angle output waveform of an embodiment of the present invention.
Wherein: 1. the rotor of the rotary transformer, 2, excitation winding, 3, two-phase output winding.
Detailed Description
The present invention is further illustrated by the following examples, which are intended to be purely exemplary and are not intended to limit the scope of the invention, as various equivalent modifications of the invention will occur to those skilled in the art upon reading the present disclosure and fall within the scope of the appended claims.
As shown in fig. 1, the resolver is a signal element whose output voltage varies with the rotation angle, and an absolute position encoder can obtain an absolute position signal, and is suitable for the application field of electric vehicles; the working principle of the rotary transformer is as follows:
the exciting coil is energized with a sinusoidal voltage of a fixed frequency, the amplitude of the winding voltage outputted from the two phases varies with the position of the rotor due to the saliency of the rotor of the resolver, and the phase of the voltage differs
Figure BDA0002797348680000041
The input voltage of the excitation winding 2 and the voltage of the two-phase output winding 3 have the following mathematical relationship. The input voltage of the excitation winding 2 is expressed by equation (1):
Figure BDA0002797348680000042
wherein: e is the voltage amplitude of the excitation winding 2; f is the input voltage frequency of the field winding 2.
The voltages of the two-phase output winding 3 are expressed by the following expressions (2) and (3), respectively:
Figure BDA0002797348680000043
Figure BDA0002797348680000044
wherein: k is the gain coefficient of the output voltage; theta is the electrical angle the rotor rotates through.
The voltages of the two-phase output windings 3 are respectively a sine function and a cosine function related to the position of the rotor, the decoding system collects the voltages of the output windings, and the position information of the motor rotation angle can be obtained through decoding calculation.
The specific embodiment is realized based on equipment and a connection mode:
in this embodiment, the resolver is a reluctance resolver; the rotor 1 of the resolver is mounted coaxially on the rotor of the motor; s of output winding of rotary transformer 1 Terminal is coupled with COSLO pin of AD2S1205 chip, S 3 The terminal is coupled with the COS pin; s of output winding of rotary transformer 2 End coupled to SINLO pin of AD2S1205 chip, S 4 The terminal is coupled to the SIN pin.
The AD2S1205 is a common resolver decoding chip, and provides an excitation signal to the resolver, and decodes the voltage of the two-phase output winding 3 to obtain the position information of the motor rotor at this time. The rotor position information is then transmitted to the main chip DSP. Specifically, the decoding principle of the AD2S1205 is:
the voltage of the two-phase output winding 3 is sent to a decoding chip AD2S1205, the voltage is sent to a multiplier after AD sampling, the voltage is respectively multiplied, and the converter generates a converter feedback angle
Figure BDA0002797348680000051
And converter input angle θ; converter feedback angle
Figure BDA0002797348680000052
Angle theta phase with converter inputIn comparison, when the converter correctly tracks the input angle, the error between the two should be 0; to measure the error, E S1-S3 Multiplication by
Figure BDA0002797348680000053
Will E S2-S4 Multiplication by
Figure BDA0002797348680000054
Formula (4) and formula (5) are obtained:
Figure BDA0002797348680000055
Figure BDA0002797348680000056
wherein:
Figure BDA0002797348680000057
is the converter feedback angle; theta is the converter input angle.
Let K · E sin2 pi ft ═ E 0 And the difference between the two is expressed by the following formula (6):
Figure BDA0002797348680000058
when the angle error
Figure BDA0002797348680000059
At very small values, formula (7) is obtained:
Figure BDA00027973486800000510
when this goal is achieved, within the nominal accuracy of the converter,
Figure BDA00027973486800000511
on the other hand, the AD2S1205 not only provides an interactive interface of a parallel port and a Serial Port (SPI) to the outside. An ABZ signal is also transmitted outward, which can characterize the current position information so that the onboard DSP can be used to read the incremental amount of position information.
In this particular embodiment, the A or B pulses are output by an AD2S1205 chip coupled to a resolver.
In the embodiment, the QEP module of the DSP is used to count the AB pulses, and the QEP count value, i.e., the number of pulses, is read every period, and the current absolute position information of the rotor of the motor is calculated according to the value.
As shown in fig. 2, in this embodiment, 4 ports are required to be connected to the AD2S1205 chip, which is as follows:
the A pin of the AD2S1205 chip is coupled with the EQEP1A pin of the QEP module of the DSP; the pin B of the AD2S1205 chip is coupled with the EQEP1B pin of the QEP module of the DSP; the NM pin of the AD2S1205 chip is coupled with the EQEP1I pin of the QEP module of the DSP; a RESET pin of the AD2S1205 chip is coupled with a GPIO24 pin of a QEP module of the DSP; wherein:
the pulse A output by the pin A, the pulse B output by the pin B and the pulse NM output by the pin NM are pulse signals output by an AD2S1205 chip and are signals output by an AD2S1205 chip simulation incremental encoder. When the rotating speed is increased, the frequency of the A pulse and the B pulse is increased.
The GPIO24 pin is used to provide a software reset signal to the AD2S1205 chip.
In addition, before the steps of this embodiment are executed, the QEP module of the DSP chip needs to be initialized, and the specific setting parameters are as follows:
the mode is set to the quadrature encoder mode; the counting mode is set as up-down counting; the clock is set to 4M; opening a QEP module; and opening the QEP count.
Based on the above description, the method of the present embodiment is:
as shown in fig. 3, a method for obtaining a rotor position of a resolver-based motor includes the following steps:
s100, collecting an A pulse or a B pulse from the power-on moment of a rotary transformer in the state that a rotor of the motor is static until the A pulse or the B pulse stops;
s200, calculating to obtain initial position information of a rotor of the motor through an A pulse or a B pulse collected in a time period from the power-on time of the rotary transformer to the stop of the A pulse or the B pulse; s200 specifically includes the following steps:
s210, counting the number of the collected pulses in the pulse A or the number of the collected pulses in the pulse B;
and S220, calculating to obtain initial position information according to the number of the pulses in the pulse A or the number of the pulses in the pulse B.
When the power is turned on, the motor does not rotate at this time, and a low level needs to be provided for the GPIO24, which specifically comprises the following operations:
GpioDataRegs.GPADAT.bit.GPIO24＝0；//high
DELAY_US(5000)；//delay 5ms
GpioDataRegs.GPADAT.bit.GPIO24＝1；//high
at this time, the DSP first sends a reset signal to the AD2S1205 chip, and the AD2S1205 chip sends the current angle information to the QEP pin of the DSP in a pulse manner. Since the QEP module is already configured, as shown in fig. 4, it automatically accumulates the number of received pulses after it receives a pulse signal. According to the formula (10) given in the present embodiment, the current actual electrical angle, i.e. the actual electrical angle of the rotor of the motor at rest, i.e. the initial position information, can be calculated.
The principle of doing so is:
by using the characteristics of the AD2S1205 chip, a low level is given to a reset signal of the AD2S1205 chip by software from the power-on time of the rotary transformer, and at the moment, the AD2S1205 chip returns a series of pulse signals to A, B pins; and only the number of pulses needs to be counted, and the initial position information can be calculated.
After the steps are completed, the AD2S1205 chip does not send pulse signals again before the motor rotates, and the AD2S1205 chip is electrified to wait for the motor to rotate.
S300, continuously collecting A pulses, B pulses and NM pulses from the moment when the rotor of the motor starts to rotate in the state that the rotor of the motor rotates;
this is due to: when the motor starts to rotate, the resolver mounted on the rotor starts to continuously feed the voltage through the two-phase output winding 3 to the decoding chip AD2S1205, and the AD2S1205 chip again and continuously sends out the a pulse, the B pulse, and the NM pulse.
S400, calculating to obtain the current position offset of the rotor of the motor through an A pulse or a B pulse collected in a time period from the moment when the rotor of the motor starts to rotate to the current moment; s400 specifically includes the following steps:
s410, counting the number of the collected pulses in the A pulse or the number of the collected pulses in the B pulse;
s420, calculating the offset of the current position, and expressing the offset according to the formula (8):
THTA＝2π*(count*Np)/(f s *N) (8)
wherein: THTA is the offset of the current position; count is the number of pulses; n is a radical of hydrogen p Obtaining the number of pole pairs of the motor by searching a technical manual of the motor; f. of s The excitation frequency is preset manually; and N is the number of pole pairs of the rotary transformer and is obtained by searching a technical manual of the rotary transformer.
In this particular embodiment, the excitation frequency is 1024 Hz.
The principle of doing so is as follows:
the rotary transformer is arranged on a rotor of the motor, the number of pole pairs of the rotary transformer is N, and the number of pole pairs of the motor is N p Thus, each revolution of the rotor of the electric machine corresponds to a revolution of N revolutions in the electrical angle period, i.e. to a revolution of N revolutions in the electrical angle of the rotor of the electric machine p And (4) week. Under the excitation frequency of 1024Hz, the rotary transformer outputs 1024 pulses every revolution of the electrical angle, so the rotor of the motor outputs 1024N pulses every revolution, which is equivalent to the rotor of the motor rotating 2 pi N pulses on the electrical angle p . Thus, if the current resolver outputs count pulse signals, the rotor of the motor rotates by the electrical angle of THTA, and the relationship between them is expressed by equation (9):
Figure BDA0002797348680000091
by converting the formula (9), the formula (8) can be obtained.
Also, in this embodiment, f s 1024, formula (10) is obtained:
THTA＝2π*(count*Np)/(1024*N) (10)
the rotary transformer is connected with an AD2S1205 chip, and the AD2S1205 chip also outputs pulse signals, namely an A pulse and a B pulse to the QEP module through A, B pins in real time. The QEP module may accumulate the pulse signals, increment a count value when the a pulse leads the B pulse, and decrement the count value when the a pulse lags the B pulse. In addition, the NM signal is a correction signal, and the QEP module clears the count value each time the NM signal is acquired. The interrupt routine obtains angle information by reading the count value every cycle.
S500, adding the initial position information and the current position offset to obtain current absolute position information.
The principle of this method lies in:
the DSP can obtain the current position offset through the accumulation of the pulse A and the pulse B; however, if the current absolute position information is desired, the initial position information is also required to be obtained at the time of power-on. Therefore, the initial position information can be obtained by utilizing the chip characteristics of the AD2S1205 and only performing corresponding processing on the chip. Then, after the QEP module of the DSP receives the a pulse, the B pulse, and the NM pulse again, the number of each pulse continues to be accumulated under the previous count, that is, the value of count is continuously updated and stored in the register eqep1regs. Finally, in each interruption, the actual electrical angle, that is, the current position offset can be calculated according to the count value and the formula (10) and used for carrying out vector control on the motor.
As shown in fig. 4, the AD2S1205 chip requires an external RESET signal to hold the/RESET input low until VDD reaches within a specified operating voltage range of 4.5V to 5.5V. the/RESET pin must remain low for at least 10us after VDD is within the specified range. a/RESET signal is applied to AD2S1205 and the chip will output the position initial value (in degrees output through the parallel, serial and encoder interfaces). When we use the AB signal, the position initial value is output in the form of a pulse signal
The actual operation verification of this embodiment is as follows:
the motor is controlled to operate at the collected angle, the motor operates at a fixed frequency, and the output waveform of the electrical angle is observed by the upper computer, as shown in fig. 5. The electric angle changes smoothly in the range of 0-6.28, which proves that the angle acquisition is accurate and stable, and the motor control is stable.
The above experimental phenomena fully illustrate the effectiveness of the process of the present invention.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (1)

1. A rotor position obtaining method of a motor based on a rotary transformer is characterized in that: comprises the following steps:
s50, initializing a QEP module of the DSP chip, wherein the specific setting parameters are as follows:
the mode is set to the quadrature encoder mode; the counting mode is set as up-down counting; the clock is set to 4M; opening a QEP module; opening a QEP count;
s100, collecting an A pulse or a B pulse from the power-on moment of the rotary transformer in the state that a rotor of the motor is static until the A pulse or the B pulse stops;
s200, calculating to obtain initial position information of a rotor of the motor through the pulse A or the pulse B collected in a time period from the power-on time of the rotary transformer to the stop of the pulse A or the pulse B;
s300, continuously collecting the pulse A and the pulse B from the moment when the rotor of the motor starts to rotate in the state that the rotor of the motor rotates;
s400, calculating to obtain the current position offset of the rotor of the motor through the A pulse or the B pulse acquired in a time period from the moment when the rotor of the motor starts to rotate to the current moment;
s500, adding the initial position information and the current position offset to obtain current absolute position information;
the S200 specifically includes the following steps:
s210, counting the number of the collected pulses in the pulse A or the number of the collected pulses in the pulse B;
s220, calculating to obtain the initial position information according to the number of the pulses in the pulse A or the number of the pulses in the pulse B; specifically, the method comprises the following steps: when the power is just powered on, the motor does not rotate at the moment, the DSP sends a reset signal to the AD2S1205 chip, the AD2S1205 chip sends the current angle information to a QEP pin of the DSP in a pulse mode, and after the QEP module receives the pulse signal, the number of the received pulses is automatically accumulated, and the current actual electrical angle, namely the initial position information is calculated;
after S220 is finished, the AD2S1205 chip only waits for the motor to rotate in a charged mode before the motor rotates and does not send out pulse signals any more;
the S400 specifically includes the following steps:
s410, counting the number of the collected pulses in the pulse A or the number of the collected pulses in the pulse B;
s420, calculating the current position offset, and expressing the current position offset according to the following formula:
THTA＝2π*(count*Np)/(f s *N)
wherein: THTA is the current position offset; count is the number of the pulses; np is the number of pole pairs of the motor, and is obtained by searching a technical manual of the motor; f. of s The excitation frequency is preset manually; n is the number of pole pairs of the rotary transformer and is obtained by searching a technical manual of the rotary transformer;
the A pulse or the B pulse is output by an AD2S1205 chip coupled with the rotary transformer;
the rotary transformer is a reluctance type rotary transformer;
the rotor (1) of the resolver is mounted coaxially on the rotor of the electric machine;
s of the output winding of the rotary transformer 1 Terminal is coupled with COSLO pin of AD2S1205 chip, S 3 The terminal is coupled with the COS pin;
s of the output winding of the rotary transformer 2 Terminal coupled to SINLO pin of AD2S1205 chip, S 4 The terminal is coupled with the SIN pin;
the A pin of the AD2S1205 chip is coupled with an EQEP1A pin of a QEP module of the DSP;
the pin B of the AD2S1205 chip is coupled with the EQEP1B pin of the QEP module of the DSP;
the NM pin of the AD2S1205 chip is coupled with the EQEP1I pin of the QEP module of the DSP;
the RESET pin of the AD2S1205 chip is coupled with the GPIO24 pin of the QEP module of the DSP;
the excitation frequency is 1024 Hz.
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