CN112532139B - Self-calibration method for initial angle of rotary transformer zero position of permanent magnet synchronous motor - Google Patents
Self-calibration method for initial angle of rotary transformer zero position of permanent magnet synchronous motor Download PDFInfo
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- CN112532139B CN112532139B CN202011485686.XA CN202011485686A CN112532139B CN 112532139 B CN112532139 B CN 112532139B CN 202011485686 A CN202011485686 A CN 202011485686A CN 112532139 B CN112532139 B CN 112532139B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
- G01R35/005—Calibrating; Standards or reference devices, e.g. voltage or resistance standards, "golden" references
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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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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Abstract
The invention relates to a method for self-calibrating initial angle of rotary transformer zero position of a permanent magnet synchronous motor, which comprises the following steps: the motor rotor is pulled to an approximate zero position by using a current setting command and an angle setting command, and the degree of rotation change theta at the moment is recorded 1 Using pre-calibrated derived compensation angle theta for the rotary-varying null 1 (ii) a Then obtaining a dynamically calibrated rotation zero compensation angle theta 2 Compensating the angle theta using the acquired resolver zero 1 And the obtained dynamically calibrated rotation zero compensation angle theta 2 The sum of which is used as the final rotation compensation angle theta 3 I.e. theta 3 ＝θ 1 +θ 2 And verifying the calibration result, and if the calibration result passes the verification, compensating the rotational variation by the angle theta 3 And writing into a chip nonvolatile storage area of the motor controller. The method is innovative in that only a single motor is used and a single motor controller realizes the automatic calibration of the rotary zero position of the motor on the premise of not using an external dragging device (a motor rack).
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a method for self-calibrating a zero initial angle of a rotary transformer of a permanent magnet synchronous motor.
Background
The motor and the motor controller are core parts of the hybrid electric vehicle, and the performance of the motor and the motor controller directly determine the performance of the whole vehicle. For the current motor structure, the motor stator and the rotor are positioned in the shell, and the rotary transformer (referred to as rotary transformer) is positioned on the same side of the motor stator and the rotor. The rotary transformer mainly has the function of monitoring the position of the motor rotor relative to the stator in real time, so that the motor controller calculates the rotating speed of the motor at the moment through the position signal, and the rotary transformer is a very important signal. If the position signal detected by the rotary transformer is inaccurate, the calculated rotating speed of the motor is not prepared enough, the motor cannot be well controlled, and three-phase overcurrent of the motor is easy to occur.
The existing calibration scheme for the rotational-transformation zero position of the permanent magnet synchronous motor basically executes calibration on a rack and depends on an external prime motor driving device, such as an engine or a dragging motor; moreover, the calibration process is complex, the automatic calibration is difficult to realize depending on the familiarity of operators, and the calibration efficiency is low.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a method for self-calibrating the initial zero-position angle of the rotary transformer of the permanent magnet synchronous motor, which does not need external power drive, has low requirement on personnel and has high efficiency.
In order to achieve the first object, the invention adopts the following technical scheme:
a method for self-calibrating initial zero-position angle of rotary transformer of a permanent magnet synchronous motor is characterized in that after a motor production line is offline, a motor is connected with a motor controller, a high-voltage power supply and an upper computer are also connected with the motor controller, and after the power supply is switched on, an automatic calibration process is started, and the method specifically comprises the following steps:
step S1, an upper computer sends a rotation transformation automatic calibration request instruction to a motor controller through CAN communication, and after the motor controller receives the self calibration request instruction, the step S2 is automatically executed, and the pre-calibration step is carried out;
s2, utilizing a current given instruction and an angle given instruction to pull the motor rotor to an approximate zero position, and recording the number of the rotational degrees at the moment
Obtaining approximate rotation zero compensation angle
Then, automatically executing the step S3, and entering a dynamic calibration step;
step S3, pre-calibrating the acquired rotation zero compensation angle by using the step S2
(ii) a Firstly, a rotating speed ring is utilized, the given rotating speed is n r/min, the rotating speed of a motor is enabled to reach n r/min, when the program detects that the rotating speed of the motor is close to n r/min, the motor automatically enters a current ring, the given current is Id = Iq =0, the torque output of the motor is 0 at the moment, the motor naturally decelerates due to friction resistance, and in the motor deceleration stage, a dynamically calibrated rotation zero compensation angle is calculated according to the average value of the ratio of d-axis voltage to rotating speed and the average value of the ratio of q-axis voltage to rotating speed
After the dynamic calibration step S3 is finished, automatically executing a step S4, and entering a dynamic verification step;
s4, using the rotary zero compensation angle obtained in the S2
And the dynamically calibrated rotation zero compensation angle obtained in the step S3
The sum of the two is used as the final rotation compensation angle
I.e. by
=
+
Verifying the result of calibration, e.g. verifyingIf the verification fails, the step S6 is carried out;
step S5, compensating the rotation angle
Writing the calibration information into a chip nonvolatile storage area of the motor controller, and feeding back the calibration success information to an upper computer; when the motor is electrified every time later, the rotation change compensation angle is automatically read from the nonvolatile storage area of the motor controller
Compensating the rotation angle;
step S6: feeding back calibration failure information to the upper computer; and (5) the operator performs a recalibration process after checking according to the failure information, and repeats the steps S1-S6.
As a preferable scheme: the dynamically calibrated rotation zero compensation angle in the step S3
The calculation process of (2) is as follows: in the motor deceleration stage, each time step is taken as a unit, the ratios Ud1/n1, ud2/n2, … and Udx/nx of the d-axis voltage and the rotating speed are obtained, the ratios Uq1/n1, uq2/n2, … and Uqx/nx of the q-axis voltage and the rotating speed are obtained at the same time, and finally the average value Udnavg of the ratios of the d-axis voltage and the rotating speed and the average value Uqnavg of the ratios of the q-axis voltage and the rotating speed are obtained; using formulas
= atan2 (Uqnavg, udnavg) -pi/2, and a compensation angle of dynamic calibration is obtained
。
As a preferable scheme: the specific verification step in step S4 is as follows: firstly, a rotating speed ring is utilized, the given rotating speed is m r/min, m is larger than n, the rotating speed of a motor reaches m r/min, when the rotating speed of the motor is detected to be close to m r/min, the motor automatically enters a current ring, the given current is Id = Iq =0, the torque output of the motor is 0 at the moment, the motor naturally decelerates due to friction resistance, and d-axis voltages Ud1, ud2, … and Udy are obtained by taking each time step as a unit in the motor deceleration stage; and finally, obtaining the average value Udavg of the d-axis voltage, if the average value Udavg of the d-axis voltage is smaller than a set value, considering that the automatic calibration is successful, and if the average value Udavg of the d-axis voltage is larger than the set value, considering that the automatic calibration is failed.
As a preferable scheme: the pre-calibration comprises the following specific steps: and giving x amperes of d-axis current Id, 0 amperes of q-axis current Iq and 0 radian of a rotor angle, so that electromagnetic force is generated in the zero position direction of the rotor, and the rotor is pulled to a position approximate to the zero position.
As a preferable scheme: the time step is 100us.
The method is innovative in that only a single motor is used on the premise of not using an external dragging device (a motor rack), and the single motor controller realizes the automatic calibration of the rotary zero position of the motor; particularly, by adopting a mode of combining pre-calibration and dynamic calibration, an external dragging device is not needed in the calibration process, so that the automation of the calibration process can be realized, and the calibration efficiency is improved; and the method of the invention has low requirements on operators.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic overall flow diagram of the process of the present invention;
FIG. 2 is a schematic diagram of a hardware connection structure for motor calibration according to the present invention;
FIG. 3 is a schematic diagram of the pre-calibration step of the present invention;
fig. 4 is a schematic diagram of the dynamic calibration and dynamic verification of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1 to 4, in this embodiment, a method for self-calibrating a zero initial angle of a rotational transformer of a permanent magnet synchronous motor is provided, where after a motor production line is offline, a motor is connected to a motor controller, and a high-voltage power supply and an upper computer are also connected to the motor controller, and after the power supply is turned on, an automatic calibration process is performed, and the method specifically includes the following steps:
step S1, an upper computer sends a rotation transformation automatic calibration request instruction to a motor controller through CAN communication, and after the motor controller receives the self calibration request instruction, the step S2 is automatically executed, and the pre-calibration step is carried out;
s2, utilizing a current given instruction and an angle given instruction to pull the motor rotor to an approximate zero position, and recording the number of the rotational degrees at the moment
Obtaining approximate rotation zero compensation angle
Then, automatically executing the step S3, and entering a dynamic calibration step;
the principle of the pre-calibration step S2 is as follows: given that the d-axis current Id is x amperes, the q-axis current Iq is 0 amperes, and the rotor angle is 0 radians, the given effect is to generate electromagnetic force in the direction of the zero position of the rotor, and pull the rotor to a position close to the zero position, as shown in fig. 3.
It should be noted that the S2 pre-calibration is the basis and the premise of the S3 dynamic calibration, and if the S2 pre-calibration is not executed, the S3 dynamic calibration is directly executed, which may not control the motor to normally operate, and even may cause a runaway accident.
Step S3, pre-calibrating the acquired rotation zero compensation angle in the step S2
(ii) a Firstly, a rotating speed ring is utilized, the given rotating speed is n r/min, the rotating speed of a motor is enabled to reach n r/min, when the program detects that the rotating speed of the motor is close to n r/min, the motor automatically enters a current ring, the given current is Id = Iq =0, the torque output of the motor is 0 at the moment, the motor naturally decelerates due to friction resistance, and in the decelerating stage of the motor, the dynamically calibrated rotation zero compensation angle begins to be calculated
The calculation process is as follows: in the motor deceleration stage, the ratio Ud1/n1, ud2/n2, …, udx/nx of the d-axis voltage to the rotating speed is obtained by taking each time step as a unit, such as 100us, the ratio Uq1/n1, uq2/n2, …, uqx/nx of the q-axis voltage to the rotating speed is obtained at the same time, and finally the average value Udnavg of the ratio of the d-axis voltage to the rotating speed and the average value Uqnavg of the ratio of the q-axis voltage to the rotating speed are obtained; using formulas
= atan2 (Uqnavg, udnavg) -pi/2, obtain dynamic calibration's compensation angle
. After the step S3 of dynamic calibration is finished, the step S4 is automatically executed, and the step of dynamic verification is started;
s4, using the rotary zero compensation angle obtained in the S2
And the dynamically calibrated rotation zero compensation angle obtained in the step S3
The sum of which is used as the final rotational transformation compensation angle
I.e. by
=
+
The method comprises the steps of utilizing a rotating speed ring, setting the rotating speed to be m r/min, enabling m to be larger than n, enabling the rotating speed of a motor to reach m r/min, automatically entering a current ring when the rotating speed of the motor is detected to be close to m r/min, and setting the current to be Id = Iq =0The motor torque output is 0, the motor can naturally decelerate due to frictional resistance, and d-axis voltages Ud1, ud2, … and Udy are obtained by taking each time step as a unit in the motor deceleration stage; finally, obtaining an average value Udavg of the d-axis voltage, if the average value Udavg of the d-axis voltage is smaller than a set value, considering that automatic calibration is successful, and entering a step S5, and if the average value Udavg of the d-axis voltage is larger than the set value, considering that automatic calibration is failed, and entering a step S6;
step S5, compensating the rotation angle
Writing the information into a chip nonvolatile storage area of the motor controller, and feeding back successful calibration information to the upper computer; when the motor is electrified every time later, the rotation change compensation angle is automatically read from the nonvolatile storage area of the motor controller
Compensating the rotation angle;
step S6: feeding back calibration failure information to the upper computer; and (5) the operator performs a recalibration process after checking according to the failure information, and repeats the steps S1-S6.
Claims (4)
1. A method for self-calibrating initial zero-position angle of rotary transformer of a permanent magnet synchronous motor is characterized in that after a motor production line is offline, a motor is connected with a motor controller, a high-voltage power supply and an upper computer are also connected with the motor controller, and after the power supply is switched on, an automatic calibration process is started, and the method specifically comprises the following steps:
step S1, an upper computer sends a rotating transformer automatic calibration request instruction to a motor controller through CAN communication, and the motor controller automatically executes step S2 after receiving the self-calibration request instruction and enters a pre-calibration step;
s2, utilizing a current given instruction and an angle given instruction to pull the motor rotor to an approximate zero position, and recording the number of the rotational degrees at the moment
Obtaining the approximate rotation zero compensation angle
Then, automatically executing the step S3, and entering a dynamic calibration step;
step S3, pre-calibrating the acquired rotation zero compensation angle by using the step S2
(ii) a Firstly, a rotating speed ring is utilized, the given rotating speed is n r/min, the rotating speed of a motor is enabled to reach n r/min, when the program detects that the rotating speed of the motor is close to n r/min, the motor automatically enters a current ring, the given current is Id = Iq =0, the torque output of the motor is 0 at the moment, the motor naturally decelerates due to friction resistance, and in the motor deceleration stage, a dynamically calibrated rotation zero compensation angle is calculated according to the average value of the ratio of d-axis voltage to rotating speed and the average value of the ratio of q-axis voltage to rotating speed
After the dynamic calibration step S3 is finished, automatically executing a step S4, and entering a dynamic verification step;
s4, using the rotational zero compensation angle obtained in the S2
And the dynamically calibrated rotation zero compensation angle obtained in the step S3
The sum of which is used as the final rotational transformation compensation angle
I.e. by
=
+
Verifying the calibration result, if the verification is passed, entering step S5, and if the verification is failed, entering step S6;
step S5, compensating the rotation angle
Writing the calibration information into a chip nonvolatile storage area of the motor controller, and feeding back the calibration success information to an upper computer; when the motor is electrified every time later, the rotation change compensation angle is automatically read from the nonvolatile storage area of the motor controller
Compensating the rotation angle;
step S6: feeding back calibration failure information to the upper computer; the operator checks according to the failure information and then executes the recalibration process, and repeats the steps S1-S6;
the dynamically calibrated rotation zero compensation angle in the step S3
The calculation process of (2) is as follows: in the motor deceleration stage, each time step is taken as a unit, the ratios Ud1/n1, ud2/n2, … and Udx/nx of d-axis voltage and rotating speed are obtained, the ratios Uq1/n1, uq2/n2, … and Uqx/nx of q-axis voltage and rotating speed are obtained at the same time, and finally the average value Udnavg of the ratio of the d-axis voltage and the rotating speed and the average value Uqnavg of the ratio of the q-axis voltage and the rotating speed are obtained; using a formula
= atan2 (Uqnavg, udnavg) -pi/2, obtain dynamic calibration's compensation angle
。
2. The method for self-calibrating the initial angle of the rotary zero position of the permanent magnet synchronous motor as claimed in claim 1, wherein: the specific verification step in step S4 is as follows: firstly, a rotating speed ring is utilized, the given rotating speed is m r/min, m is larger than n, the rotating speed of a motor reaches m r/min, when the rotating speed of the motor is detected to be close to m r/min, the motor automatically enters a current ring, the given current is Id = Iq =0, the torque output of the motor is 0 at the moment, the motor naturally decelerates due to friction resistance, and d-axis voltages Ud1, ud2, … and Udy are obtained by taking each time step as a unit in the motor deceleration stage; and finally, obtaining the average value Udavg of the d-axis voltage, if the average value Udavg of the d-axis voltage is smaller than a set value, considering that the automatic calibration is successful, and if the average value Udavg of the d-axis voltage is larger than the set value, considering that the automatic calibration is failed.
3. The method for self-calibration of the initial angle of the rotating zero position of the permanent magnet synchronous motor as claimed in claim 1, wherein: the pre-calibration comprises the following specific steps: and giving x amperes of d-axis current Id, 0 amperes of q-axis current Iq and 0 radian of a rotor angle, so that electromagnetic force is generated in the zero position direction of the rotor, and the rotor is pulled to a position approximate to the zero position.
4. The method for self-calibration of the initial angle of the rotary zero position of the permanent magnet synchronous motor according to claim 1 or 2, wherein: the time step is 100us.
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| CN113708700B (en) * | 2021-08-26 | 2023-08-01 | 深蓝汽车科技有限公司 | Self-learning method and calibration method for motor rotation initial angle of pure electric vehicle |
| CN115441806A (en) * | 2022-09-20 | 2022-12-06 | 浙江吉利控股集团有限公司 | Motor calibration method and device for vehicle, vehicle controller and storage medium |
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| JP3529752B2 (en) * | 2001-02-16 | 2004-05-24 | 本田技研工業株式会社 | DC brushless motor rotor angle detector |
| CN104836506B (en) * | 2015-05-29 | 2019-09-27 | 许继集团有限公司 | A kind of permanent-magnetic synchronous motor rotor zero correction system and method |
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Denomination of invention: A Self-calibration Method for the Initial Angle of the Rotational Zero Position of a Permanent Magnet Synchronous Motor Effective date of registration: 20230721 Granted publication date: 20221021 Pledgee: Lishui branch of Bank of Hangzhou Co.,Ltd. Pledgor: ZHEJIANG FOUNDER MOTOR Co.,Ltd. Registration number: Y2023980049249 |
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