CN114578125A - System and method for detecting rotary transformer zero crossing point and vehicle - Google Patents
System and method for detecting rotary transformer zero crossing point and vehicle Download PDFInfo
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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- G01R19/175—Indicating the instants of passage of current or voltage through a given value, e.g. passage through zero
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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
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The application provides a system and a method for detecting a zero crossing point of a rotary transformer and a vehicle, wherein a first voltage division circuit of the system for detecting the zero crossing point of the rotary transformer is electrically connected with a V phase of a motor and is used for receiving a first high-voltage signal output by the V phase of the motor; the second voltage division circuit is electrically connected with the W phase of the motor; the positive phase input end of the comparison circuit is electrically connected with the output end of the first voltage division circuit, the negative phase input end of the comparison circuit is electrically connected with the output end of the second voltage division circuit, and the comparison circuit is used for outputting square wave signals; the acquisition processing circuit is used for receiving the square wave signal and reading the angle output by the rotary transformer of the motor based on the square wave signal. This application detects through resolver's zero point position to compensate correction according to resolver's current angle and the difference between the calibration value zero point, reduced the position error that leads to because of machinery or electrical reason, make the system can be more accurate carry out vector control, in order to realize the moment of torsion maximize.
Description
Technical Field
The application relates to the field of new energy automobiles, in particular to a system and a method for detecting a rotational zero crossing point and a vehicle.
Background
The rotary transformer is widely used in various occasions such as electric vehicles, servo control and the like, wherein the rotary transformer is a device for measuring angles, specifically, a primary winding and a secondary winding of the rotary transformer can change relative positions along with the angular displacement of a rotor, so that the output voltage of the rotary transformer can also change along with the angular displacement of the rotor, the voltage amplitude of the output winding and the rotor rotation angle form a sine function relation and a cosine function relation, and then a hardware circuit collects the sine circuit and the cosine circuit and performs certain processing to finally obtain the position of the rotor of the rotary transformer.
For electric driving, generally, the motor controller is offline, and after the assembly is installed, the zero offset angle of the rotary transformer is calibrated and written into a flash to be used as a compensation parameter for subsequent vector control. However, when the rotation position is wrong due to various influence factor changes, the correction cannot be performed in time, the vector control of the motor is influenced, and the maximum torque which can be output by the electric drive system is also influenced to a certain extent.
Therefore, there is a need to reduce rotational position errors, i.e., to improve the accuracy of the null angle of the resolver.
Disclosure of Invention
The embodiment of the application aims to provide a system and a method for detecting a zero crossing point of a rotary transformer and a vehicle, which are used for detecting the zero position of the rotary transformer.
To this end, the first aspect of the present application discloses a system for detecting a zero crossing point of a resolver, comprising: the device comprises a first voltage division circuit, a second voltage division circuit, a comparison circuit and an acquisition processing circuit;
the input end of the first voltage division circuit is electrically connected with a V phase of the motor and is used for receiving a first high-voltage signal output by the V phase of the motor and converting the first high-voltage signal into a first low-voltage signal;
the input end of the second voltage division circuit is electrically connected with the W phase of the motor and is used for receiving a second high-voltage signal output by the W phase of the motor and converting the second high-voltage signal into a second low-voltage signal;
a positive phase input end of the comparison circuit is electrically connected with an output end of the first voltage division circuit, a negative phase input end of the comparison circuit is electrically connected with an output end of the second voltage division circuit, and the comparison circuit is used for receiving the first low-voltage signal and the second low-voltage signal and outputting a square wave signal;
the acquisition processing circuit is electrically connected with the output end of the comparison circuit and used for receiving the square wave signal and reading the angle output by the rotary transformer of the motor based on the square wave signal.
The rotary transformer zero crossing point detection system utilizes the V-phase and W-phase voltage states of the motor, real-time monitoring can be carried out on the zero crossing point of the rotary transformer, further, the angle of the zero crossing point of the rotary transformer can be obtained, namely, the angle output by the rotary transformer of the motor can be read through a square wave signal, therefore, the zero point of the rotary transformer is compensated and corrected according to the difference between the current angle of the rotary transformer and the calibration value, the position error caused by mechanical or electrical reasons is reduced, the system can carry out vector control more accurately, and torque maximization is realized.
In the first aspect of the present application, as an optional implementation manner, the system for detecting a zero crossing point in a rotating transformer further includes a first filter circuit, an input end of the first filter circuit is electrically connected to the first voltage divider circuit, and an output end of the first filter circuit is electrically connected to a non-inverting input end of the comparison circuit, and is configured to filter the first low-voltage signal.
In this alternative embodiment, the first filter circuit can filter the V-phase voltage output from the first voltage divider circuit.
In the first aspect of the present application, as an optional implementation manner, the system for detecting a zero-crossing point in a rotational mode further includes a second filter circuit, an input end of the second filter circuit is electrically connected to the second voltage divider circuit, and an output end of the second filter circuit is electrically connected to a non-inverting input end of the comparator circuit, and is configured to filter the second low-voltage signal.
In this alternative embodiment, the W-phase voltage output from the second voltage divider circuit can be filtered by the second filter circuit.
In the first aspect of the present application, as an optional implementation manner, the system for detecting a zero-crossing point in a rotational mode further includes an isolation circuit, an input end of the isolation circuit is electrically connected to an output end of the comparison circuit, and an output end of the isolation circuit is electrically connected to the acquisition processing circuit, and is configured to isolate high-voltage side interference.
In this alternative embodiment, the isolation circuit can prevent high side interference from entering the low side, causing damage to the low side devices.
The second aspect of the present application discloses a method for detecting a zero crossing point of a resolver, which is applied to a system for detecting a zero crossing point of a resolver in the first aspect of the present application, and the method includes:
the acquisition processing circuit receives the square wave signal output by the comparison circuit;
the acquisition processing circuit reads the angle output by the rotary transformer of the motor when the square wave signal rises, and reads the angle output by the rotary transformer of the motor when the square wave signal falls.
The method for detecting the zero crossing point of the rotary transformer utilizes the V-phase and W-phase voltage states of the motor, can monitor the zero crossing point of the rotary transformer in real time, and further can obtain the angle of the zero crossing point of the rotary transformer, namely the angle output by the rotary transformer of the motor is read through a square wave signal, so that the zero point of the rotary transformer is compensated and corrected according to the difference between the current angle of the rotary transformer and a calibration value, the position error caused by mechanical or electrical reasons is reduced, the system can perform vector control more accurately, and torque maximization is realized.
In the second aspect of the present application, as an optional implementation manner, after the acquiring and processing circuit reads an angle of a resolver output of the motor at a falling edge of the square wave signal, the method further includes:
the acquisition processing circuit calculates a zero offset angle of the rotary transformer based on the angle of the rotary transformer output taken at the rising edge of the square wave signal and the angle of the rotary transformer output taken at the falling edge of the square wave signal.
In this alternative embodiment, the acquisition processing circuit may be configured to calculate the null skew angle of the resolver based on the angle of the resolver output at the rising edge of the square wave signal and the angle of the resolver output at the falling edge of the square wave signal.
In the second aspect of the present application, as an optional implementation manner, after the acquisition processing circuit calculates the zero offset angle of the resolver, the method further includes:
and the acquisition processing circuit corrects the rotor angle position of the rotary transformer based on the zero offset angle of the rotary transformer.
In this optional embodiment, the acquisition processing circuit can correct the angular position of the rotor of the resolver based on the zero offset angle of the resolver.
In the second aspect of the present application, as an optional implementation manner, before the correcting the rotor angular position of the resolver based on the null-offset angle of the resolver, the method further includes:
the acquisition processing circuit compares the zero offset angle of the rotary transformer with the calibration offset angle of the rotary transformer to obtain a comparison result;
and the acquisition processing circuit judges whether the comparison result meets a preset condition, and if the comparison result meets the preset condition, the angular position of the rotor of the rotary transformer is corrected based on the zero deflection angle of the rotary transformer.
In this optional embodiment, by comparing the zero offset angle of the resolver with the calibration offset angle of the resolver and obtaining a comparison result, the acquisition and processing circuit can correct the angular position of the rotor of the resolver based on the comparison result.
In the second aspect of the present application, as an optional implementation manner, the determining, by the acquisition processing circuit, whether the comparison result meets a preset condition includes:
the acquisition processing circuit judges whether the offset between the zero offset angle of the rotary transformer and the calibration offset angle of the rotary transformer is greater than or equal to a preset threshold value or not, and if the offset is greater than or equal to the preset threshold value, the comparison result is determined to meet the preset condition.
In this optional embodiment, by determining whether an offset between the zero offset angle of the resolver and the calibration offset angle of the resolver is greater than or equal to a preset threshold, the rotor angular position of the resolver may be corrected only when the offset is greater than or equal to the preset threshold, so that the calculation amount of the program in the correction process is reduced under the condition that the precision of the rotor angular position of the resolver meets the condition.
In a third aspect of the present application, a vehicle is disclosed, where the vehicle includes the system for detecting a zero crossing point in a rotational mode according to the first aspect of the present application, and an acquisition processing circuit in the system for detecting a zero crossing point in a rotational mode is used to execute the method for detecting a zero crossing point in a rotational mode according to the second aspect of the present application.
The vehicle of this application utilizes the V looks and the W looks voltage state of motor, can carry out real time monitoring to the resolver zero crossing, and then can obtain the angle when the resolver zero crossing, the angle of resolver output of reading the motor through square wave signal promptly, thereby carry out the offset correction to the zero point of resolver according to the difference between the current angle of resolver and the calibration value, the position error that has reduced because of machinery or electrical reason leads to, make the system can be more accurate carry out vector control, in order to realize the moment of torsion maximize.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic circuit structure diagram of a rotation zero-crossing point detection system disclosed in an embodiment of the present application;
fig. 2 is a schematic flow chart of a method for detecting a zero crossing point in a rotating mode, disclosed in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Examples
Referring to fig. 1, fig. 1 is a schematic circuit structure diagram of a system for detecting a zero crossing point of a resolver according to an embodiment of the present disclosure. As shown in fig. 1, the system for detecting a revolutionary zero-crossing point according to the embodiment of the present application includes: the input end of the first voltage division circuit is electrically connected with a V phase of the motor and used for receiving a first high-voltage signal output by the V phase of the motor and converting the first high-voltage signal into a first low-voltage signal, and the input end of the second voltage division circuit is electrically connected with a W phase of the motor and used for receiving a second high-voltage signal output by the W phase of the motor and converting the second high-voltage signal into a second low-voltage signal.
Further, in the embodiment of the present application, a positive phase input terminal of the comparison circuit is electrically connected to an output terminal of the first voltage divider circuit, a negative phase input terminal of the comparison circuit is electrically connected to an output terminal of the second voltage divider circuit, and the comparison circuit is configured to receive the first low voltage signal and the second low voltage signal and output a square wave signal;
the acquisition processing circuit is electrically connected with the output end of the comparison circuit and used for receiving the square wave signal and reading the angle output by the rotary transformer of the motor based on the square wave signal.
The rotary transformer zero crossing point detection system utilizes the V-phase and W-phase voltage states of the motor, real-time monitoring can be carried out on the zero crossing point of the rotary transformer, further, the angle of the zero crossing point of the rotary transformer can be obtained, namely, the angle of the output of the rotary transformer of the motor is read through a square wave signal, therefore, the zero point of the rotary transformer is compensated and corrected according to the difference between the current angle of the rotary transformer and the calibration value, the position error caused by mechanical or electrical reasons is reduced, the system can carry out vector control more accurately, and torque maximization is realized.
In this embodiment of the present application, the acquisition processing circuit is an MCU (micro controller Unit, MCU), and the type of the MCU is not limited in this embodiment of the present application.
In this embodiment, as an optional implementation manner, the system for detecting a zero-crossing point of a rotating transformer further includes a first filter circuit, an input terminal of the first filter circuit is electrically connected to the first voltage divider circuit, and an output terminal of the first filter circuit is electrically connected to a non-inverting input terminal of the comparator circuit, and is configured to filter the first low-voltage signal. In this alternative embodiment, the first filter circuit can filter the V-phase voltage output from the first voltage divider circuit.
In this embodiment, as an optional implementation manner, the system for detecting a zero-crossing point of a rotating transformer further includes a second filter circuit, an input terminal of the second filter circuit is electrically connected to the second voltage divider circuit, and an output terminal of the second filter circuit is electrically connected to a non-inverting input terminal of the comparator circuit, and is configured to filter the second low-voltage signal. In this alternative embodiment, the W-phase voltage output from the second voltage divider circuit can be filtered by the second filter circuit.
In this embodiment, as an optional implementation manner, the system for detecting a zero crossing point in a rotational mode further includes an isolation circuit, an input end of the isolation circuit is electrically connected to an output end of the comparison circuit, and an output end of the isolation circuit is electrically connected to the acquisition processing circuit, and is used for isolating high-voltage side interference. In this alternative embodiment, the isolation circuit can prevent high side interference from entering the low side, causing damage to the low side devices. It should be noted that, in this alternative embodiment, the high-voltage side refers to a side of the comparison circuit, which is a high-voltage side with respect to the acquisition processing circuit.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a method for detecting a zero crossing point in a rotating mode according to an embodiment of the present application. The method of the embodiment of the application is applied to the system for detecting the rotational zero-crossing point of the first embodiment of the application. As shown in fig. 2, the method of the embodiment of the present application includes the steps of:
101. the acquisition processing circuit receives the square wave signal output by the comparison circuit;
102. the acquisition processing circuit reads the angle output by the rotary transformer of the motor when the square wave signal rises and reads the angle output by the rotary transformer of the motor when the square wave signal falls.
The method for detecting the zero crossing point of the rotary transformer utilizes the V-phase and W-phase voltage states of the motor, can monitor the zero crossing point of the rotary transformer in real time, and further can obtain the angle of the zero crossing point of the rotary transformer, namely the angle output by the rotary transformer of the motor is read through a square wave signal, so that the zero point of the rotary transformer is compensated and corrected according to the difference between the current angle of the rotary transformer and a calibration value, the position error caused by mechanical or electrical reasons is reduced, the system can perform vector control more accurately, and torque maximization is realized.
In this embodiment, as an optional implementation manner, after the acquisition processing circuit reads an angle output by a resolver of the motor at a falling edge of the square wave signal, the method of this embodiment further includes the following steps:
the acquisition processing circuit calculates a zero offset angle of the rotary transformer based on the angle of the rotary transformer output taken at the rising edge of the square wave signal and the angle of the rotary transformer output taken at the falling edge of the square wave signal. In this alternative embodiment, the acquisition processing circuit may be configured to calculate the null-offset angle of the resolver based on an angle of the resolver output at a rising edge of the square wave signal and an angle of the resolver output at a falling edge of the square wave signal.
In this embodiment, as an optional implementation manner, after the acquisition processing circuit calculates the zero offset angle of the resolver, the method in this embodiment further includes the following steps:
the acquisition processing circuit corrects the rotor angle position of the rotary transformer based on the zero offset angle of the rotary transformer. In this optional embodiment, the acquisition processing circuit can correct the rotor angular position of the resolver based on the zero offset angle of the resolver.
In this embodiment, as an optional implementation manner, before correcting the angular position of the rotor of the resolver based on the null-offset angle of the resolver, the method of this embodiment further includes the following steps:
the acquisition processing circuit compares the zero offset angle of the rotary transformer with the calibration offset angle of the rotary transformer to obtain a comparison result;
and the acquisition processing circuit judges whether the comparison result meets a preset condition or not, and if so, corrects the rotor angle position of the rotary transformer based on the zero offset angle of the rotary transformer. In this optional embodiment, by comparing the zero offset angle of the resolver with the calibration offset angle of the resolver and obtaining a comparison result, the acquisition and processing circuit can correct the angular position of the rotor of the resolver based on the comparison result.
In the second aspect of the present application, as an optional implementation, the steps of: the acquisition processing circuit judges whether the comparison result meets a preset condition or not, and comprises the following steps:
the acquisition processing circuit judges whether the offset between the zero offset angle of the rotary transformer and the calibration offset angle of the rotary transformer is larger than or equal to a preset threshold value or not, and if the offset is larger than or equal to the preset threshold value, the comparison result is determined to meet the preset condition. In this optional embodiment, by determining whether an offset between the zero offset angle of the resolver and the calibration offset angle of the resolver is greater than or equal to a preset threshold, the angular position of the rotor of the resolver may be corrected only when the offset is greater than or equal to the preset threshold, so that the amount of calculation of the program in the correction process is reduced when the accuracy of the angular position of the rotor of the resolver meets the condition.
In this alternative embodiment, the preset threshold may be 0.01, or may be another value, which is not limited in this application example.
EXAMPLE III
The embodiment of the application discloses a vehicle, wherein the vehicle comprises a rotational zero-crossing point detection system in the first embodiment of the application, and an acquisition processing circuit in the rotational zero-crossing point detection system is used for executing a rotational zero-crossing point detection method in the third embodiment of the application.
The vehicle of this application utilizes the V looks and the W looks voltage state of motor, can carry out real time monitoring to the resolver zero crossing, and then can obtain the angle when the resolver zero crossing, the angle of resolver output of reading the motor through square wave signal promptly, thereby carry out the offset correction to the zero point of resolver according to the difference between the current angle of resolver and the calibration value, the position error that has reduced because of machinery or electrical reason leads to, make the system can be more accurate carry out vector control, in order to realize the moment of torsion maximize.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a division of one logic function, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
It should be noted that the functions, if implemented in the form of software functional modules and sold or used as independent products, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several 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 methods described in the embodiments of the present application. 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.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A system for detecting a zero-crossing point of a resolver, comprising: the device comprises a first voltage division circuit, a second voltage division circuit, a comparison circuit and an acquisition processing circuit;
the input end of the first voltage division circuit is electrically connected with a V phase of the motor and is used for receiving a first high-voltage signal output by the V phase of the motor and converting the first high-voltage signal into a first low-voltage signal;
the input end of the second voltage division circuit is electrically connected with the W phase of the motor and is used for receiving a second high-voltage signal output by the W phase of the motor and converting the second high-voltage signal into a second low-voltage signal;
a positive phase input end of the comparison circuit is electrically connected with an output end of the first voltage division circuit, a negative phase input end of the comparison circuit is electrically connected with an output end of the second voltage division circuit, and the comparison circuit is used for receiving the first low-voltage signal and the second low-voltage signal and outputting a square wave signal;
the acquisition processing circuit is electrically connected with the output end of the comparison circuit and used for receiving the square wave signal and reading the angle output by the rotary transformer of the motor based on the square wave signal.
2. The system according to claim 1, further comprising a first filter circuit, wherein an input of the first filter circuit is electrically connected to the first voltage divider circuit, and an output of the first filter circuit is electrically connected to a non-inverting input of the comparator circuit, for filtering the first low voltage signal.
3. The system according to claim 2, further comprising a second filter circuit, wherein an input of the second filter circuit is electrically connected to the second voltage divider circuit, and an output of the second filter circuit is electrically connected to the non-inverting input of the comparator circuit, for filtering the second low voltage signal.
4. The system according to claim 1, further comprising an isolation circuit, wherein an input terminal of the isolation circuit is electrically connected to an output terminal of the comparison circuit, and an output terminal of the isolation circuit is electrically connected to the acquisition processing circuit for isolating high-side interference.
5. A method for detecting a zero-crossing, which is applied to the system for detecting a zero-crossing according to any one of claims 1 to 4, the method comprising:
the acquisition processing circuit receives the square wave signal output by the comparison circuit;
the acquisition processing circuit reads the angle output by the rotary transformer of the motor when the square wave signal rises, and reads the angle output by the rotary transformer of the motor when the square wave signal falls.
6. The method of claim 5, wherein after the acquisition processing circuit reads an angle of a resolver output of the motor at a falling edge of the square wave signal, the method further comprises:
the acquisition processing circuit calculates a zero offset angle of the rotary transformer based on the angle of the rotary transformer output taken at the rising edge of the square wave signal and the angle of the rotary transformer output taken at the falling edge of the square wave signal.
7. The resolver zero-crossing detection method according to claim 6, wherein after the acquisition processing circuit calculates a zero-offset angle of the resolver, the method further comprises:
and the acquisition processing circuit corrects the rotor angle position of the rotary transformer based on the zero offset angle of the rotary transformer.
8. The resolver zero-crossing detection method according to claim 7, wherein before the correcting the rotor angular position of the resolver based on the null-offset angle of the resolver, the method further comprises:
the acquisition processing circuit compares the zero offset angle of the rotary transformer with the calibration offset angle of the rotary transformer to obtain a comparison result;
and the acquisition processing circuit judges whether the comparison result meets a preset condition, and if the comparison result meets the preset condition, the angular position of the rotor of the rotary transformer is corrected based on the zero deflection angle of the rotary transformer.
9. The method according to claim 8, wherein the determining, by the acquisition processing circuit, whether the comparison result satisfies a preset condition includes:
the acquisition processing circuit judges whether the offset between the zero offset angle of the rotary transformer and the calibration offset angle of the rotary transformer is greater than or equal to a preset threshold value or not, and if the offset is greater than or equal to the preset threshold value, the comparison result is determined to meet the preset condition.
10. A vehicle, characterized in that the vehicle comprises the system for detecting the zero-crossing points in the claims 1 to 4, wherein the acquisition processing circuit in the system for detecting the zero-crossing points is used for executing the method for detecting the zero-crossing points in the claims 5 to 9.
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