CN115333428A - Motor rotor positioning method and device, motor, compressor and refrigeration equipment - Google Patents

Motor rotor positioning method and device, motor, compressor and refrigeration equipment Download PDF

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Publication number
CN115333428A
CN115333428A CN202211020201.9A CN202211020201A CN115333428A CN 115333428 A CN115333428 A CN 115333428A CN 202211020201 A CN202211020201 A CN 202211020201A CN 115333428 A CN115333428 A CN 115333428A
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CN
China
Prior art keywords
current
positioning
motor
angle
controlling
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Pending
Application number
CN202211020201.9A
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Chinese (zh)
Inventor
张南佑
韩鹏
胡浩然
刘向阳
刘环宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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Priority to CN202211020201.9A priority Critical patent/CN115333428A/en
Publication of CN115333428A publication Critical patent/CN115333428A/en
Pending legal-status Critical Current

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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
    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a motor rotor positioning method and device, a motor, a compressor and refrigeration equipment. Wherein, the method comprises the following steps: acquiring a preset positioning angle before the motor is started; and controlling the motor rotor to be switched to the positioning angle, and gradually increasing the current of the motor to the positioning current corresponding to the current positioning angle. According to the invention, the speed of the rotor in the pulling process can be reduced, the rotor is prevented from oscillating to cause vibration sound, and the user experience is improved.

Description

Motor rotor positioning method and device, motor, compressor and refrigeration equipment
Technical Field
The invention relates to the technical field of electronic power, in particular to a motor rotor positioning method and device, a motor, a compressor and refrigeration equipment.
Background
At present, some refrigeration equipment (such as a variable frequency refrigerator) occasionally generates vibration sound when being started, and the vibration sound has a large value and a small value, so that the user experience is influenced. The starting vibration sound is mainly the vibration sound caused by the fact that the motor direct current positioning logic of the compressor of the refrigeration equipment is unreasonable, the current changes too fast in the starting process, and the rotor is pulled too fast.
The problem that in the prior art, the rotor is pulled too fast and vibration sound occurs due to the fact that current changes too fast in the starting process of a motor of a compressor of refrigeration equipment is solved.
Disclosure of Invention
The embodiment of the invention provides a motor rotor positioning method and device, a motor, a compressor and refrigeration equipment, and aims to solve the problems that in the prior art, the rotor is pulled too fast and vibration sound is generated due to too fast current change in the starting process of the motor of the compressor of the refrigeration equipment.
In order to solve the technical problem, the invention provides a motor rotor positioning method, wherein the method comprises the following steps:
acquiring a preset positioning angle before the motor is started;
and controlling a motor rotor to be switched to the positioning angle, and gradually increasing the current of the motor to the positioning current corresponding to the current positioning angle.
Further, the method further comprises:
and controlling the current of the motor to return to zero before the motor rotor switches the positioning angle.
Further, the current of the control motor gradually rises to the positioning current corresponding to the current positioning angle, and the method includes:
judging whether the positioning current corresponding to the positioning angle is larger than a preset threshold value or not;
and if so, controlling the current of the motor to rise from the zero-division section to the positioning current corresponding to the current positioning angle.
Further, controlling the current of the motor to rise from the zero-segment section to the positioning current corresponding to the current positioning angle, further comprising:
dividing a current range from zero to the positioning current into a plurality of sections through different section thresholds according to the size of the positioning current corresponding to the current positioning angle; wherein the larger the positioning current is, the more divided sections are;
and controlling the current of the motor to gradually rise from zero to the positioning current corresponding to the current positioning angle according to the section.
Further, controlling the current of the motor to gradually increase from zero to the positioning current corresponding to the current positioning angle according to the section includes:
controlling the current of the motor to sequentially rise to different section thresholds;
and after the current of the motor rises to the threshold value of the section each time, controlling the current of the motor to keep unchanged within a preset time period, and then rising to the threshold value of the next section until rising to the positioning current corresponding to the current positioning angle.
Further, after determining whether the positioning current corresponding to the positioning angle is greater than a preset threshold, the method further includes:
and if not, controlling the current of the motor to rise from zero to the positioning current corresponding to the current positioning angle according to a preset speed.
Further, when the number of the positioning angles is at least two, a difference between adjacent two positioning angles is less than 90 °.
Further, the control motor rotor is switched to the positioning angle, and the current of the control motor gradually rises to the position current corresponding to the current positioning angle, and the method further includes:
and controlling the motor to enter an open-loop control program, and outputting a PWM (pulse-width modulation) wave according to the current positioning angle and the positioning current corresponding to the current positioning angle after the open-loop control program is finished so as to control the motor to start and operate.
The invention also provides a motor rotor positioning device for realizing the method, and the device comprises:
the acquisition module is used for acquiring a preset positioning angle before the motor is started;
and the control module is used for controlling the motor rotor to be switched to the positioning angle and controlling the current of the motor to gradually rise to the positioning current corresponding to the current positioning angle.
The invention also provides a motor which comprises the motor rotor positioning device.
The invention also provides a compressor which comprises the motor.
The invention also provides refrigeration equipment which is characterized by comprising the compressor.
Further, the refrigeration equipment comprises at least one of the following: refrigerator, air conditioner.
The invention also provides a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the above-mentioned method of positioning a rotor of an electric machine.
By applying the technical scheme of the invention, the preset positioning angle is obtained before the motor is started; and controlling the motor rotor to be switched to the positioning angle, and gradually increasing the current of the motor to the positioning current corresponding to the current positioning angle. Through slowing down electric current rising speed, can reduce the speed of rotor pulling in-process, prevent that the rotor from taking place the oscillation, arouse the vibration sound, promoted user experience.
Drawings
FIG. 1 is a flow chart of a method of positioning a rotor of an electric machine according to an embodiment of the invention;
FIG. 2 is a method of positioning a rotor of an electric machine according to another embodiment of the present invention;
FIG. 3 is a graph of three-phase current change during a positioning process according to an embodiment of the present invention;
FIG. 4 is a flow chart of a process for controlling the starting operation of the motor according to an embodiment of the present invention;
FIG. 5 is a control block diagram of a motor start operation according to an embodiment of the present invention;
fig. 6 is a block diagram of a motor rotor positioning device according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that although the terms first, second, third, etc. may be used to describe the positioning currents in embodiments of the present invention, these … … should not be limited to these terms. These terms are only used to distinguish between different positioning currents. For example, the first positioning current may also be referred to as a second positioning current, and similarly, the second positioning current may also be referred to as a first positioning current without departing from the scope of embodiments of the present invention.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another like element in a commodity or device comprising the element.
Alternative embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Example 1
The present embodiment provides a method for positioning a rotor of an electric motor, and fig. 1 is a flowchart of the method for positioning a rotor of an electric motor according to the embodiment of the present invention, as shown in fig. 1, the method includes:
s101, acquiring a preset positioning angle before the motor is started.
And S102, controlling the rotor of the motor to be switched to the positioning angle, and gradually increasing the current of the motor to the positioning current corresponding to the current positioning angle.
According to the motor rotor positioning method, a preset positioning angle is obtained before a motor is started; and controlling the motor rotor to be switched to the positioning angle, and gradually increasing the current of the motor to the positioning current corresponding to the current positioning angle. Through slowing down electric current rising speed, can reduce the speed of rotor pulling in-process, prevent that the rotor from taking place the oscillation, arouse the vibration sound, promoted user experience.
In order to avoid inaccurate positioning angle of the first positioning, the second, third and even Nth positioning is performed, namely the positioning angle is controlled to be switched to a second positioning angle A2, a third positioning angle A3 and AN Nth positioning angle AN, and in order to avoid the rotor from rotating too much and causing large oscillation, the difference value between adjacent positioning angles is less than 90 degrees.
And before the motor rotor switches the positioning angle, controlling the current of the motor to return to zero.
In order to further control the rising speed of the current, the current of the motor is controlled to gradually rise to the positioning current corresponding to the current positioning angle, and the method comprises the following steps: judging whether the positioning current corresponding to the positioning angle is larger than a preset threshold value or not; if the current rises too fast, the problem that the rotor of the motor oscillates exists, and in order to avoid the problem, the current of the motor is controlled to rise from a zero-division section to a positioning current corresponding to the current positioning angle; if not, the fact that the rising amplitude of the current is small is indicated, and the rotor of the motor cannot oscillate, but in order to ensure that the current of the motor rises stably at a constant speed, the current of the motor needs to be controlled to rise from zero to a positioning current corresponding to the current positioning angle according to a preset speed.
Specifically, controlling the current of the motor to rise from a zero-division section to a positioning current corresponding to the current positioning angle further includes: dividing a current range from zero to the positioning current into a plurality of sections through different section thresholds according to the size of the positioning current corresponding to the current positioning angle; wherein the larger the positioning current is, the more divided sections are; and controlling the current of the motor to gradually rise from zero to the positioning current corresponding to the current positioning angle according to the section.
In order to further slow down the rising speed of the current, the method for controlling the current of the motor to gradually rise from zero to the positioning current corresponding to the current positioning angle according to the section comprises the following steps: controlling the current of the motor to sequentially rise to different section thresholds; and after the current of the motor rises to the threshold value of the section each time, controlling the current of the motor to keep unchanged within a preset time period, and then rising to the threshold value of the next section until the current rises to the positioning current corresponding to the current positioning angle.
For example, if the positioning angle includes a first positioning angle and a second positioning angle, the positioning current corresponding to the first positioning angle is smaller than the preset threshold, and the positioning current corresponding to the second positioning angle is greater than or equal to the preset threshold, the method specifically includes:
controlling the rotor of the motor to rotate to the first positioning angle from any angle, and controlling the current of the motor to rise from zero to the first positioning current I1 at a first preset speed for a first preset time; controlling the angle of the motor rotor to be unchanged, controlling the current of the motor to be restored to zero, and continuing for a second preset time; controlling the rotor of the motor to rotate from a first positioning angle A1 to a second positioning angle A2, and controlling the current of the motor to rise from zero to the current threshold I2 at a second preset speed for a third preset time; and controlling the angle of the motor rotor to be unchanged, and controlling the current of the motor to rise to a second positioning current I3 from a current threshold I2 at a third preset speed for a fourth preset time.
The second positioning current I3 is a positioning current corresponding to the second positioning angle A2, the first positioning current I1 is a positioning current corresponding to the first positioning angle A1, and the current threshold I2 is a set threshold of one segment. In practical application, if a section threshold is set, in order to ensure that the current rises uniformly, the section threshold is 1/2 of the second positioning current I3; if a plurality of segment thresholds are set, in order to ensure that the current rises uniformly, the current interval from zero to the second positioning current I3 is divided into several sub-current intervals equally by the plurality of segment thresholds.
It can be seen from the above steps that, when the current rises to the positioning current corresponding to the current positioning angle, the current is maintained for a period of time, and then the positioning angle is switched.
Fig. 2 shows a method for positioning a rotor of an electric machine according to another embodiment of the present invention, as shown in fig. 2, the method includes the following preferred implementation steps:
s21, after the motor is electrified, the motor enters a first positioning stage, a first positioning angle A1 and a first positioning current I1 are set, the rotor of the motor is controlled to be switched to the first positioning angle A1 from any angle, the current of the motor is controlled to rise to the first positioning current I1 from zero according to a first preset speed, and the first preset time is kept.
In the present embodiment, the first positioning angle A1= -90 °, and the first positioning current I1=0.52A, the positioning current increases from 0 to the first positioning current I1 at a certain speed, in the present embodiment, the first preset time period is set to 0.25 seconds from 0A to 0.52A in 0.15 seconds.
And S22, entering a second positioning stage, controlling the motor rotor to keep the first positioning angle A1 unchanged, restoring the positioning current to 0, and keeping the second preset time.
In the present embodiment, the second preset time period is set to 0.1 second.
And S23, entering a third positioning stage, setting a second positioning angle A2, controlling the motor rotor to be switched from the first positioning angle A1 to the second positioning angle A2, increasing the positioning current from 0 to a current threshold I2 at a certain speed, and keeping a third preset time.
In this embodiment, the second positioning angle A2= -150 degrees, the current threshold I2=0.52A, the current rises from 0A to the current threshold I2 in 0.15 seconds, and the third preset time period is set to 0.45 seconds.
And S24, entering a fourth positioning stage, controlling the motor to keep the second positioning angle A2 unchanged, controlling the positioning current to rise from the current threshold I2 to the second positioning current I3 at a certain speed, and continuing for a fourth preset time.
In the present embodiment, the current of the motor is increased from the current threshold I2 to the second positioning current I3 within 0.15 seconds, the second positioning current I3=1.04A, and the fourth preset time period is set to 0.25 seconds.
Fig. 3 is a three-phase current variation graph in the positioning process according to the embodiment of the present invention, as shown in fig. 3, in the first positioning stage, the current of the motor is increased from zero to the first positioning current I1 at a first preset speed; in the second positioning stage, the positioning current is recovered to be 0, and the second preset time is kept; in the third positioning stage, the positioning current rises to a current threshold I2 from 0 at a second preset speed, and the third preset time is kept; and in the fourth positioning stage, the positioning current is increased to the second positioning current I3 from the current threshold I2 at a third preset speed, and the fourth preset time is kept.
After the positioning angle is switched and the current of the motor is controlled to gradually rise to the positioning current corresponding to the current positioning angle, the method further comprises the following steps: and controlling the motor to enter an open-loop control program, and outputting a PWM (pulse-width modulation) wave according to the current positioning angle and the positioning current corresponding to the current positioning angle after the open-loop control program is finished so as to control the motor to start and operate.
Fig. 4 is a flowchart of a process of controlling a start operation of the motor according to an embodiment of the present invention, and as shown in fig. 4, outputting a PWM pulse width modulation wave according to a current positioning angle and a positioning current corresponding to the current positioning angle to control the start operation of the motor includes:
and S41, calculating the three-phase current of the motor according to the current positioning angle and the positioning current corresponding to the current positioning angle.
Calculating three-phase current according to the positioning angle and the corresponding positioning current, taking the positioning angle as a first positioning angle of-90 degrees as an example, and calculating the included angle theta of an alpha axis and a d axis under a rotating coordinate system under a two-phase static coordinate system in the calculation process in the program to be = -90 degrees; calculating d and q axis currents: id =0a, iq = first positioning current I1; calculating alpha axis current i alpha and beta axis current i beta under a static coordinate system according to the Id and the Iq; and calculating three-phase currents ia, ib and ic according to i alpha and i beta.
S42, CLARKE conversion is carried out on the three-phase current of the motor, and a current component and a voltage component of the first static coordinate system are obtained.
Fig. 5 is a control block diagram of a motor start operation according to an embodiment of the present invention, as shown in fig. 5, two phases ia, ib of three-phase currents are converted into stationary coordinate α -axis currents i α, β -axis currents i β. The transformation will result in variables i α, i β, i α, i β being transformed from the values ia, ib mentioned above. From the stator perspective, i α and i β are mutually orthogonal time-varying current values.
And S43, carrying out PARK conversion on the current component of the first static coordinate system to obtain a quadrature-direct axis current component.
The stationary frame is rotated to align the rotor flux according to the transformation angle calculated for the last iteration of the control loop. And the i alpha and the i beta are subjected to PARK conversion to obtain direct-axis current Id and quadrature-axis current Iq. Id. Iq is the orthogonal current transformed into a rotating coordinate system.
And S44, estimating the position and the rotating speed of the motor rotor according to the current component and the voltage component of the first static coordinate system.
And estimating the position and the rotating speed of the motor rotor according to the new position angle by adopting a slip film controller or an ATPLL controller, wherein V alpha, V beta, i alpha and i beta are input parameters. The new rotor position may indicate where the next voltage vector is.
And S45, performing PI operation on the quadrature-direct axis current component and the rotating speed.
The error signals are obtained by comparing the actual values of Id, iq with respective reference values (target values) Id, iq. The reference value of Id controls the rotor flux, the reference value of Iq controls the torque of the motor, the error signal is the input of the PI controller, the outputs of the controller are Vd and Vq, i.e. the voltage vector to be applied to the motor.
And S46, carrying out PARK inverse transformation on the quadrature-direct axis voltage component obtained after PI operation to obtain a second static coordinate system voltage component.
By using the new angles, the Vd and Vq output values of the PI controller can be inverted to the stationary reference frame, resulting in the next quadrature voltage values V α and V β.
And S47, performing CLARKE inverse transformation on the voltage component of the second stationary coordinate system to obtain three-phase voltage.
And carrying out CLARKE inverse transformation on the V alpha and V beta values to obtain three-phase voltages VA, VB and VC. The three-phase voltages may be used to calculate the duty cycle values of the new PWM pulse width modulated wave to generate the desired voltage vector.
And S48, generating PWM (pulse-width modulation) waves according to the three-phase voltages VA, VB and VC so as to control the motor to start and operate.
Example 2
The present embodiment provides a motor rotor positioning apparatus, configured to implement the above-mentioned motor rotor positioning method, and fig. 6 is a block diagram of a structure of the motor rotor positioning apparatus according to the embodiment of the present invention, as shown in fig. 6, the apparatus includes:
and the acquisition module 10 is used for acquiring a preset positioning angle before the motor is started.
And the control module 20 is configured to control the motor rotor to switch to the positioning angle, and control the current of the motor to gradually increase to the positioning current corresponding to the current positioning angle.
The electric motor rotor positioner of this embodiment controls electric motor rotor through control module 20 and switches to location angle to the electric current of control motor rises gradually to the location electric current that current location angle corresponds, through slowing down electric current rising speed, can reduce the speed of rotor pulling in-process, prevents that the rotor from taking place the oscillation, arouses the vibration sound, has promoted user experience.
In order to avoid the inaccuracy of the positioning angle of the first positioning, the second, third and even nth positioning is performed, that is, the positioning angle is controlled to be switched to the second positioning angle A2, the third positioning angle A3 and the nth positioning angle AN, and when the number of the positioning angles is at least two, in order to avoid the rotor from rotating too much, the difference between the adjacent positioning angles is smaller than 90 °.
The control module 20 is further configured to: and before the motor rotor is switched to the positioning angle, the current of the motor is controlled to return to zero.
To further control the rate of current rise, the control module 20 is also configured to: judging whether the positioning current corresponding to the positioning angle is larger than a preset threshold value or not; if not, controlling the current of the motor to rise from zero to a positioning current corresponding to the current positioning angle according to a preset speed; and if so, controlling the current of the motor to rise from the zero-division section to the positioning current corresponding to the current positioning angle. Specifically, controlling the current of the motor to rise from a zero-division section to a positioning current corresponding to the current positioning angle includes: controlling the current of the motor to sequentially rise to different section thresholds; and after the current of the motor rises to the threshold value of the section each time, controlling the current of the motor to keep unchanged within a preset time period, and then rising to the threshold value of the next section until rising to the positioning current corresponding to the current positioning angle.
In this embodiment, the positioning angle includes a first positioning angle and a second positioning angle, and the first positioning angle is smaller than the second positioning angle. If the positioning current corresponding to the first positioning angle is smaller than the preset threshold, and the positioning current corresponding to the second positioning angle is greater than or equal to the preset threshold, the control module 20 is specifically configured to:
controlling the rotor of the motor to rotate to the first positioning angle from any angle, and controlling the current of the motor to rise from zero to the first positioning current at a first preset speed for a first preset time; controlling the angle of the motor rotor to be unchanged, controlling the current of the motor to be recovered to zero, and continuing for a second preset time; controlling the rotor of the motor to rotate from a first positioning angle to a second positioning angle, and controlling the current of the motor to rise from zero to the second positioning current at a second preset speed for a third preset time; and controlling the angle of the motor rotor to be unchanged, controlling the current of the motor to rise from the second positioning current to the third positioning current at a third preset speed, and keeping for a fourth preset time.
The second positioning current I3 is a positioning current corresponding to the second positioning angle A2, the first positioning current I1 is a positioning current corresponding to the first positioning angle A1, and the current threshold I2 is a set threshold of one segment. In practical application, if a section threshold is set, in order to ensure that the current rises uniformly, the section threshold is 1/2 of the second positioning current I3; if a plurality of segment thresholds are set, in order to ensure that the current rises uniformly, the current interval from zero to the second positioning current I3 is divided into several sub-current intervals equally by the plurality of segment thresholds.
The control module 20 is further configured to: after the positioning angle is switched and the current of the motor is controlled to gradually rise to the positioning current corresponding to the current positioning angle, the motor is controlled to enter an open-loop control program, and after the open-loop control program is finished, a PWM (pulse width modulation) wave is output according to the current positioning angle and the positioning current corresponding to the current positioning angle so as to control the motor to start and operate.
Example 3
This embodiment provides a motor, including the electric motor rotor positioner in the above-mentioned embodiment for control switches the location angle and slows down the electric current upgoing speed, reaches the purpose of accurate positioning angle, reduces the speed of rotor pulling in-process, prevents that the rotor from taking place the oscillation, arouses the vibration sound, has promoted user experience.
Example 4
The present embodiment provides a compressor including the motor in the above embodiments.
Example 5
The present embodiment provides a refrigeration apparatus including the compressor in the above embodiments. In some embodiments of the invention, the refrigeration appliance comprises a refrigerator or an air conditioner.
Example 6
The present embodiment provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the motor rotor positioning method in the above-described embodiments.
The above-described embodiments of the apparatus are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (14)

1. A method of positioning a rotor of an electric machine, the method comprising:
before the motor is started, acquiring a preset positioning angle;
and controlling the motor rotor to be switched to the positioning angle, and gradually increasing the current of the motor to the positioning current corresponding to the current positioning angle.
2. The method of claim 1, further comprising:
and controlling the current of the motor to return to zero before the motor rotor switches the positioning angle.
3. The method of claim 1, wherein gradually increasing the current of the control motor to a positioning current corresponding to a current positioning angle comprises:
judging whether the positioning current corresponding to the positioning angle is larger than a preset threshold value or not;
and if so, controlling the current of the motor to rise from the zero-division section to the positioning current corresponding to the current positioning angle.
4. The method of claim 3, wherein controlling the current of the motor to rise from a zero-segment to a positioning current corresponding to a current positioning angle further comprises:
dividing a current range from zero to the positioning current into a plurality of sections through different section thresholds according to the size of the positioning current corresponding to the current positioning angle; wherein the larger the positioning current is, the more divided sections are;
and controlling the current of the motor to gradually rise from zero to the positioning current corresponding to the current positioning angle according to the section.
5. The method of claim 4, wherein controlling the motor to gradually increase the current from zero to a positioning current corresponding to a current positioning angle according to the section comprises:
controlling the current of the motor to sequentially rise to different section thresholds;
and after the current of the motor rises to the threshold value of the section each time, controlling the current of the motor to keep unchanged within a preset time period, and then rising to the threshold value of the next section until the current rises to the positioning current corresponding to the current positioning angle.
6. The method according to claim 3, wherein after determining whether the positioning current corresponding to the positioning angle is greater than a preset threshold, the method further comprises:
and if not, controlling the current of the motor to rise from zero to the positioning current corresponding to the current positioning angle according to a preset speed.
7. The method according to claim 1, wherein when the number of the positioning angles is at least two, a difference between adjacent two positioning angles is less than 90 °.
8. The method of claim 1, wherein the control motor rotor is switched from any angle to the positioning angle, and the current of the control motor gradually rises until after the positioning current corresponding to the current positioning angle, and the method further comprises:
and controlling the motor to enter an open-loop control program, and outputting a PWM (pulse-width modulation) wave according to the current positioning angle and the positioning current corresponding to the current positioning angle after the open-loop control program is finished so as to control the motor to start and operate.
9. An electric machine rotor positioning device for implementing the method of any one of claims 1 to 8, characterized in that it comprises:
the acquisition module is used for acquiring a preset positioning angle before the motor is started;
and the control module is used for controlling the motor rotor to be switched to the positioning angle from any angle and controlling the current of the motor to gradually rise to the positioning current corresponding to the current positioning angle.
10. An electric machine comprising the electric machine rotor positioning device of claim 9.
11. A compressor comprising the motor of claim 10.
12. A refrigeration apparatus comprising the compressor of claim 11.
13. The refrigeration appliance according to claim 12, wherein the refrigeration appliance comprises at least one of: refrigerator, air conditioner.
14. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 1 to 8.
CN202211020201.9A 2022-08-24 2022-08-24 Motor rotor positioning method and device, motor, compressor and refrigeration equipment Pending CN115333428A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211020201.9A CN115333428A (en) 2022-08-24 2022-08-24 Motor rotor positioning method and device, motor, compressor and refrigeration equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211020201.9A CN115333428A (en) 2022-08-24 2022-08-24 Motor rotor positioning method and device, motor, compressor and refrigeration equipment

Publications (1)

Publication Number Publication Date
CN115333428A true CN115333428A (en) 2022-11-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
CN (1) CN115333428A (en)

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