CN114465541A

CN114465541A - Zero setting method and device of motor and electronic equipment

Info

Publication number: CN114465541A
Application number: CN202210131996.4A
Authority: CN
Inventors: 徐亚平; 陈锋
Original assignee: Suzhou Blue Stone Tech Co ltd
Current assignee: Suzhou Blue Stone Tech Co ltd
Priority date: 2022-02-14
Filing date: 2022-02-14
Publication date: 2022-05-10
Anticipated expiration: 2042-02-14
Also published as: CN114465541B

Abstract

The invention provides a zero setting method and device of a motor and electronic equipment, relates to the technical field of motors, and solves the technical problem that the precision of a zero setting result of the motor in the prior art is low. The method comprises the following steps: obtaining a test instruction, and adjusting the vector angle of the stator current through the test instruction to obtain the corresponding deviation angle of the rotor; analyzing the vector angle and the corresponding deviation angle to obtain a zero setting angle; and zeroing the motor to be tested based on the zeroing angle to obtain a first zeroing result.

Description

Zero setting method and device of motor and electronic equipment

Technical Field

The present disclosure relates to the field of motors, and in particular, to a zero-setting method and apparatus for a motor, and an electronic device.

Background

The magnetic field orientation vector control of the motor needs accurate rotor position detection, at present, a permanent magnet synchronous motor for a vehicle mostly adopts a position sensor arranged on a rotor, and zero calibration is needed after the position sensor is arranged, so that the zero adjustment is frequently called. Zeroing first measures the null angle, followed by zeroing calibration. For example, the zero measurement is performed after the rotor is locked by static direct current directional current, so that the measurement for the zero angle is realized.

However, the existing motor zero setting method has the technical problem of low accuracy of zero setting results.

Disclosure of Invention

The application aims to provide a zero setting method and device of a motor and electronic equipment so as to relieve the technical problem that the accuracy of a zero setting result of the motor in the prior art is low.

In a first aspect, an embodiment of the present application provides a zero setting method for a motor, where the motor to be tested includes a stator and a rotor, and the stator is supplied with a stator current; the method comprises the following steps:

obtaining a test instruction, and adjusting the vector angle of the stator current through the test instruction to obtain a corresponding deviation angle of the rotor;

analyzing the vector angle and the corresponding deviation angle to obtain a zero setting angle;

and zeroing the motor to be tested based on the zeroing angle to obtain a first zeroing result.

In one possible implementation, the step of adjusting the vector angle of the stator current by the test command to obtain the corresponding deviation angle of the rotor includes:

and generating a corresponding test data curve based on the vector angle and the corresponding deviation angle.

In one possible implementation, the horizontal axis of the test data curve is used to represent the vector angle; the vertical axis of the test data curve is used to represent the deviation angle.

In a possible implementation, the step of analyzing the vector angle and the corresponding deviation angle to obtain a null angle includes:

preprocessing the test data curve to obtain a plurality of preselected points with zero deviation angles;

and obtaining a plurality of corresponding preselected zero-setting angles based on the preselected points with the deviation angles being zero.

In one possible implementation, after the step of obtaining a plurality of pre-selected zeroing angles based on the plurality of pre-selected points at which the deviation angles are zero, the method further includes:

respectively deriving the test data curve at a plurality of preselected points with zero deviation angles to obtain a plurality of corresponding derivative values;

and comparing the absolute values of the plurality of derivative values to obtain a target zeroing angle corresponding to the derivative value with the minimum absolute value.

In one possible implementation, the stator of the motor to be tested is supplied with a zero-setting current; based on the zero setting angle, it is right the step of zero setting is carried out to the motor that awaits measuring, obtains first zero setting result, includes:

and adjusting the vector angle of the zero setting current to the target zero setting angle to obtain a first zero setting result.

In one possible implementation, the method further comprises:

and zeroing the motor with the same model as the motor to be tested based on the zeroing angle to obtain a second zeroing result.

In a second aspect, a zero setting device of a motor is provided, the motor to be tested comprises a stator and a rotor, and the stator is communicated with a stator current; the device comprises:

the test module is used for obtaining a test instruction and adjusting the vector angle of the stator current through the test instruction to obtain a corresponding deviation angle of the rotor;

the analysis module is used for analyzing the vector angle and the corresponding deviation angle to obtain a zero setting angle;

and the zero setting module is used for carrying out zero setting on the motor to be tested based on the zero setting angle to obtain a first zero setting result.

In a third aspect, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program that is executable on the processor, and the processor implements the steps of the method according to the first aspect when executing the computer program.

In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing computer-executable instructions that, when invoked and executed by a processor, cause the processor to perform the method of the first aspect.

The embodiment of the application brings the following beneficial effects:

the embodiment of the application provides a zero setting method and device of a motor and electronic equipment. In the scheme, the motor to be tested is periodically tested, and the rotor deviation angle data corresponding to the motor to be tested under the action of stator currents with different vector angles is measured, so that the optimal zero setting angle is obtained, the zero position measurement precision is improved, the vector direction of the locking current is adjusted through the motor controller, the influence of tooth socket torque can be avoided, the zero position measurement precision is obviously improved, the zero setting precision of the motor is improved, and the technical problem that the precision of a zero setting result of the motor is low in the prior art is solved.

Drawings

In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic flow chart of a zero setting method for a motor according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram illustrating a relationship between a current vector direction and a rotor deviation angle according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a zero adjustment device of a motor according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application clearer and more complete, the technical solutions of the present application will be described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The terms "comprising" and "having," and any variations thereof, as referred to in the embodiments of the present application, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

At present, when a directional current is adopted to lock a rotor to measure a zero position, static direct current with a stator angle of 0 degrees is mostly adopted to lead the rotor to be locked at a standard position of 0 degrees of the stator by leading the stator to be provided with the static direct current (the static direct current can be realized by adopting a vector type motor controller and setting a current value and a vector angle). Then, the adjustment is performed by measuring the angle currently provided by the sensor. When the actual permanent magnet synchronous motor is adjusted to zero by using the method, after the stator is electrified with static direct current with the stator angle of 0 degree, the actual rotor locking position is not the 0 degree position of the stator, and a deviation exists. Although the accuracy of the position can be improved by adjusting the current, the improvement in accuracy is limited.

The main reasons found by some experiments and analyses are: the permanent magnet synchronous motor has cogging torque, and the torque has the characteristic of positioning the position of a rotor in a static state. So that a manual turning to the rotor of the permanent magnet motor will find the discrete resistance magnitude and the static automatic stopping at a specific position. With the increasing performance requirements of modern electric machines. The cogging torque of some motors is also quite large. When a motor with a large cogging torque is energized with a directional current to lock the zero, it is actually a result of the resultant action of the electronic current torque and the cogging torque, and thus there is a deviation.

Based on this, the embodiment of the application provides a zero setting method and device for a motor and an electronic device, and the method can alleviate the technical problem of low accuracy of a zero setting result for the motor in the prior art.

Embodiments of the present application are further described below with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of a zero setting method for a motor according to an embodiment of the present disclosure. The method can be applied to a motor to be tested, wherein the motor to be tested comprises a stator and a rotor, and the stator is electrified with stator current. As shown in fig. 1, the method includes:

step S110, a test instruction is obtained, and the vector angle of the stator current is adjusted through the test instruction to obtain the corresponding deviation angle of the rotor.

When the permanent magnet motor works, the voltage, the current, the flux linkage and other physical quantities of the stator winding change along with time, and the time phasor is usually used for representing when the electrical quantities are analyzed. The spatial position of each winding is such that their ratio of variation is not only time dependent but also spatial. The vector refers to a space vector such as stator voltage, current, flux linkage and the like. The vector is obtained by three-phase stator variable synthesis. Vector control is a high-performance alternating current motor control mode, which is based on a dynamic mathematical model of an alternating current motor, converts three-phase orthogonal alternating current quantity into two-phase orthogonal alternating current quantity by performing three-phase coordinate transformation on motor stator variables (voltage, current and flux linkage), converts the two-phase orthogonal alternating current quantity into two-phase orthogonal direct current quantity by rotation transformation, and controls the torque current and the exciting current of the motor respectively to control the torque and the flux linkage of the motor.

In practical application, the vector angle of the motor stator current is continuously changed through the controller, and the corresponding deviation angle of the rotor can be obtained through the sensor. And each magnetic pole of the motor can be detected, multiple measurements are carried out, and then the average value is obtained, so that higher deviation angle measurement precision is obtained, and further the measurement precision of the zero position is improved.

And step S120, analyzing the vector angle and the corresponding deviation angle to obtain a zero setting angle.

For example, by analyzing the vector angle and the corresponding deviation angle, it can be confirmed that the influence of the cogging torque is small at which angles and large at which angles, that is, it can be confirmed that the rotor deviation angle corresponding to which stator current vector angle is small and the rotor deviation angle corresponding to which stator current vector angle is large, and according to the result of the comparison data, it can be determined that the rotor deviation angle is zero when the vector current angle is a certain value (for example, 33 °), and further, 33 ° can be determined as the zero adjustment angle corresponding to the motor to be measured.

And S130, zeroing the motor to be tested based on the zeroing angle to obtain a first zeroing result.

Exemplarily, the stator current with the vector angle of 33 degrees is conducted to the stator winding of the motor to be measured based on 33 degrees (the zero setting angle), the zero setting is conducted on the motor to be measured, the influence of the cogging torque can be avoided, and a more accurate zero setting result is obtained.

In the embodiment of the application, through treating the motor of awaiting measuring and carrying out periodic test, record the rotor deviation angle data that the motor of awaiting measuring corresponds under the effect of the stator current of different vector angles to obtain the best angle of zeroing, improve zero-bit measurement accuracy, through the vector direction of motor controller adjustment locking current, can avoid the influence of cogging torque, obviously improve the measurement accuracy of zero-bit, and then the zeroing precision of heightening the motor, the lower technical problem of zeroing result accuracy to the motor among the prior art has been alleviated.

The above steps are described in detail below.

In some embodiments, a test curve can be generated according to test data, so that the corresponding relation between a vector angle and a deviation angle can be observed visually, a worker can analyze the vector angle and the deviation angle conveniently, the optimal zero setting angle can be obtained, and the motor can be precisely set to zero. As an example, the step S110 may specifically include the following steps:

and a) generating a corresponding test data curve based on the vector angle and the corresponding deviation angle.

For example, fig. 2 is a schematic view of a current vector direction versus rotor deviation angle showing test data curves for four different motors. The method can be used for testing the motor to be tested, adjusting the vector angle of the stator current of the motor to be tested to obtain the corresponding deviation angle of the rotor, and then drawing a test data curve. Fig. 2 shows test data curves for four different motors.

Through based on vector angle and the deviation angle that corresponds, generate corresponding test data curve, can comparatively audio-visual observation vector angle and deviation angle's corresponding relation, the staff of being convenient for carries out the analysis, and then helps obtaining the best angle of zeroing, carries out accurate zeroing to the motor.

Based on the step a), the coordinate axes of the test data curves can respectively correspond to different parameters, the vector angles can be used as a transverse axis, and the deviation angles can be used as a longitudinal axis, so that the corresponding relation between the vector angles and the deviation angles can be observed visually, a worker can analyze the vector angles and the deviation angles conveniently, the optimal zero setting angle can be obtained, and the motor can be precisely set to zero. As an example, the horizontal axis of the test data curve is used to represent vector angle; the vertical axis of the test data plot is used to represent the deviation angle.

For example, as shown in fig. 2, the horizontal axis of the test data curve is the vector angle of the stator current of the motor to be tested, and the vertical axis of the test data curve is the deviation angle of the rotor of the motor to be tested.

Through drawing the test data curve in the coordinate system of maring, can be comparatively audio-visual observation vector angle and deviation angle's corresponding relation, the staff of being convenient for carries out the analysis, and then helps obtaining best zero setting angle, carries out accurate zero setting to the motor.

In some embodiments, the test data curve may have a plurality of intersection points with the horizontal axis of the coordinate, so that the curve may be preprocessed to screen out the plurality of intersection points, which are used as the preselected points to obtain a plurality of corresponding preselected angles, thereby facilitating further screening to obtain the optimal zeroing angle. As an example, the step S120 may specifically include the following steps:

and b), preprocessing the test data curve to obtain a plurality of preselected points with zero deviation angles.

And c), obtaining a plurality of corresponding preselected zero-setting angles based on the preselected points with the deviation angles being zero.

Illustratively, as shown in fig. 2, taking a test data curve 201 as an example, the test data curve 201 has a plurality of intersection points with a horizontal coordinate axis, and the test data curve 201 intersects the horizontal coordinate axis at vector angles of 20 ° and 33 °, respectively, that is, represents that a deviation angle of a rotor of a motor under test is 0 ° when a stator current vector angle of the motor under test is 20 ° and 33 °. Points with vector angles of 20 ° and 33 ° may be used as preselected points, and vector angles of 20 ° and 33 ° may be used as preselected null angles.

Through carrying out the preliminary treatment to the test data curve, obtain a plurality of deviation angles and be zero the preselection point to based on a plurality of deviation angles are zero the preselection point, obtain a plurality of preselection zero-setting angles that correspond, can be abundant carry out the analysis to the zero-setting angle of motor, be convenient for carry out further screening, obtain the best zero-setting angle.

Based on the steps b) and c), the optimal zeroing angle can be screened out in a more scientific and rigorous manner, for example, derivatives are respectively obtained at a plurality of intersection points of the test data curve and a coordinate cross shaft, and the derivative results are compared, so that the corresponding optimal zeroing angle is obtained, and the zeroing precision of the motor is improved. As an example, after the step c) above, the method may further include the steps of:

and d), respectively carrying out derivation on the test data curve at a plurality of preselected points with zero deviation angles to obtain a plurality of corresponding derivative values.

And e), comparing the absolute values of the plurality of derivative values to obtain a target zero setting angle corresponding to the derivative value with the minimum absolute value.

For example, as shown in fig. 2, for a plurality of pre-selected points, the pre-selected point where the curve segment is more gradual is preferably selected, i.e. the more gradual the curve near the pre-selected point, the higher the priority of the pre-selected point. In practical application, the smoothness of the curve can be accurately compared by derivation. For example, in fig. 2, two points of the vector angles 20 ° and 33 ° are calculated, derivative values of the test data curve at the two points are calculated, and then absolute values of the derivative values are compared, so that the test data curve is more gentle around the vector angle 33 °, and therefore the vector angle 33 ° can be used as the target zeroing angle.

The corresponding multiple derivative values are obtained by respectively deriving the test data curve at the multiple preselected points with zero deviation angles, and then the absolute values of the multiple derivative values are compared to obtain the target zero setting angle corresponding to the derivative value with the minimum absolute value, so that the corresponding optimal zero setting angle can be obtained, and the zero setting precision of the motor is improved.

Based on the step d) and the step e), after the target zero setting angle is obtained, the vector angle of the current can be adjusted conveniently and quickly through the motor controller, so that the zero setting of the motor is completed, and the zero setting precision of the motor is effectively improved. As an example, a stator of the motor to be tested is supplied with a zero-setting current; the step S130 may specifically include the following steps:

and f), adjusting the vector angle of the zero setting current to a target zero setting angle to obtain a first zero setting result.

For example, as shown in fig. 2, the vector direction of the stator current can be adjusted by the motor controller, and the zero adjustment is performed on the motor to be measured by adopting 33 degrees instead of 0 degrees, so that the influence of the cogging torque can be avoided, and the measurement accuracy of the zero position can be obviously improved.

In some embodiments, after the optimal zeroing angle is obtained for the motor to be tested, the same zeroing angle can be widely applied to other motors of the same model, independent measurement for other motors is not needed, and production testing efficiency can be effectively improved. As an example, the method may further comprise the steps of:

and g), zeroing the motor with the same model as the motor to be tested based on the zeroing angle to obtain a second zeroing result.

Exemplarily, based on the zero setting angle of the motor to be measured, the zero setting can be performed on the same type of motors produced in the same batch, so that the influence of the cogging torque is avoided, and an accurate zero setting result is obtained. For example, precise zero setting is carried out on occasions requiring precise torque control such as a new energy main motor, a servo motor and the like, so that the rotating magnetic field of the motor is consistent with the magnetic field phase of a motor stator, the control unit carries out vector control on the electrode, and the phenomena of control stall, galloping and inconsistency of actual rotating speed and set rotating speed are avoided.

Fig. 3 is a schematic structural diagram of a zero adjustment device of a motor according to an embodiment of the present application. The device can be applied to the motor to be tested, the motor to be tested comprises a stator and a rotor, and the stator is electrified with stator current. As shown in fig. 3, the apparatus includes:

the test module 301 is configured to obtain a test instruction, and adjust a vector angle of a stator current according to the test instruction to obtain a corresponding deviation angle of the rotor;

the analysis module 302 is configured to analyze the vector angle and the corresponding deviation angle to obtain a zeroing angle;

and the zero setting module 303 is configured to perform zero setting on the motor to be tested based on the zero setting angle to obtain a first zero setting result.

In some embodiments, the test module 301 is specifically configured to:

In some embodiments, the horizontal axis of the test data curve is used to represent vector angle; the vertical axis of the test data plot is used to represent the deviation angle.

In some embodiments, the analysis module 302 is specifically configured to:

In some embodiments, the apparatus further comprises:

the derivative module is used for respectively deriving the test data curve at a plurality of preselected points with zero deviation angles to obtain a plurality of corresponding derivative values after obtaining a plurality of corresponding preselected zero-adjusting angles based on the preselected points with zero deviation angles;

In some embodiments, the stator of the motor to be tested is energized with a zero-setting current; the zeroing module 303 is specifically configured to:

and adjusting the vector angle of the zero setting current to a target zero setting angle to obtain a first zero setting result.

In some embodiments, the apparatus further comprises:

and the second zero setting module is used for carrying out zero setting on the motor with the same model as the motor to be detected based on the zero setting angle to obtain a second zero setting result.

The zero-setting device of the motor provided by the embodiment of the application has the same technical characteristics as the zero-setting method of the motor provided by the embodiment, so that the same technical problems can be solved, and the same technical effects are achieved.

Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device includes: a processor 401, a memory 402, a bus 403 and a communication interface 404, wherein the processor 401, the communication interface 404 and the memory 402 are connected through the bus 403; the processor 401 is adapted to execute executable modules, such as computer programs, stored in the memory 402.

The Memory 402 may include a Random Access Memory (RAM) and a Non-volatile Memory (Non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 404 (which may be wired or wireless), and CAN use CAN, RS-485, internet, wide area network, local area network, metropolitan area network, etc.

Bus 403 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but this does not indicate only one bus or one type of bus.

The memory 402 is used for storing a program, the processor 401 executes the program after receiving an execution instruction, and a method executed by the apparatus defined by the flow process disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 401, or implemented by the processor 401.

The processor 401 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 401. The Processor 401 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 402, and the processor 401 reads the information in the memory 402 and completes the steps of the method in combination with the hardware.

The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the foregoing method embodiment, which is not described herein again.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The zero setting method of the motor is characterized in that the motor to be tested comprises a stator and a rotor, and the stator is communicated with a stator current; the method comprises the following steps:

2. The method of claim 1, wherein the step of adjusting the vector angle of the stator current by the test command to obtain the corresponding deflection angle of the rotor comprises:

3. The method of claim 2, wherein the horizontal axis of the test data curve is used to represent the vector angle; the vertical axis of the test data curve is used to represent the deviation angle.

4. The method of claim 3, wherein said step of analyzing said vector angle and said corresponding deviation angle to obtain a null angle comprises:

and obtaining a plurality of corresponding preselected zero-setting angles based on the preselected points with the deviation angles of zero.

5. The method of claim 4, wherein after said step of deriving a corresponding plurality of preselected zeroing angles based on said plurality of preselected points at which said deviation angles are zero, further comprising:

6. The method according to claim 5, characterized in that the stator of the electric machine to be tested is supplied with a zero-setting current; based on the zero setting angle, the step of zero setting is carried out to the motor to be measured to obtain a first zero setting result, and the step comprises the following steps:

7. The method of claim 1, further comprising:

8. The zero setting device of the motor is characterized in that the motor to be tested comprises a stator and a rotor, and the stator is communicated with a stator current; the device comprises:

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and wherein the processor implements the steps of the method of any of claims 1 to 7 when executing the computer program.

10. A computer readable storage medium having stored thereon computer executable instructions which, when invoked and executed by a processor, cause the processor to execute the method of any of claims 1 to 7.