TWI549417B

TWI549417B - Method of initial rotor position estimation for permanent magnet ac motors, permanent magnet ac motor system, and computer program product

Info

Publication number: TWI549417B
Application number: TW104143424A
Authority: TW
Inventors: 楊勝明; 胡敬暉
Original assignee: 國立臺北科技大學
Priority date: 2015-12-23
Filing date: 2015-12-23
Publication date: 2016-09-11
Also published as: TW201724726A

Description

永磁交流馬達的轉子位置估測方法、永磁伺服馬達系統，以及電腦程式產品 Rotor position estimation method of permanent magnet AC motor, permanent magnet servo motor System, and computer program products

本發明是有關於一種永磁交流馬達的轉子位置估測方法，特別是指一種可針對實際轉角位置落在0、90、180或270度的永磁交流馬達的轉子位置估測方法。 The invention relates to a rotor position estimation method for a permanent magnet AC motor, in particular to a rotor position estimation method for a permanent magnet AC motor that falls at 0, 90, 180 or 270 degrees for an actual corner position.

目前使用安裝編碼器的永磁交流馬達時，在啟動之前，現有技術會在馬達施加一預設的對正電流，將馬達轉子從任意位置旋轉至驅動器設定的初始位置完成對正動作。另一技術是利用一個微弱的d軸電流使馬達產生微小幅度的移動，透過檢測器讀取位置誤差及速度誤差。並且利用一比例與積分控制器，使驅動器設定的轉子初始位置值能夠逐漸收斂。上述兩種技術的缺點是轉子需轉動以利驅動器設定初始位置，在某些特殊應用上不可行。另有高頻注入法搭配極性偵測等已知技術可檢測0或180度位置情況。 When a permanent magnet AC motor with an encoder is currently used, prior to starting, the prior art applies a predetermined aligning current to the motor to rotate the motor rotor from any position to the initial position set by the driver to complete the alignment. Another technique is to use a weak d-axis current to cause the motor to move a small amplitude, reading the position error and speed error through the detector. And using a proportional and integral controller, the initial position value of the rotor set by the driver can be gradually converge. The disadvantage of the above two techniques is that the rotor needs to be rotated to facilitate the initial position of the drive, which is not feasible in some special applications. Another high-frequency injection method combined with polarity detection and other known techniques can detect 0 or 180 degrees position.

然而，「凸極效應」(saliency)是永磁交流馬達的一個電機週期裡具有兩個正弦波的變化，因此實際應用上額外多出90或270度需要檢測，目前並無準確估測當實際轉子位置落在0、90、180或270度四種狀況的技術。 However, the "saliency" is one of the permanent magnet AC motors. There are two sine wave changes in the motor cycle, so the actual application requires an additional 90 or 270 degrees to be detected. There is currently no accurate estimation of the actual rotor position at 0, 90, 180 or 270 degrees. .

因此，本發明之其中一目的，即在提供一種解決先前技術問題的永磁交流馬達的轉子位置估測方法。 Accordingly, it is an object of the present invention to provide a rotor position estimating method for a permanent magnet alternating current motor that solves the problems of the prior art.

於是，本發明的轉子位置估測方法在一些實施態樣中應用於一具有凸極效應的永磁伺服馬達並用以產生該永磁伺服馬達的一估測轉子位置。該永磁伺服馬達系統具有一控制模組，該控制模組用以估測該永磁伺服馬達的一估測轉子位置，該控制模組先對該永磁伺服馬達的轉子進行一初始位置判定以輸出一參考位置，若該參考位置是位於零之正負誤差角度範圍內則執行一區間偵測程序以判定該估測轉子位置是位於0、90、180或270度之正負誤差角度範圍內；若該參考位置超出零之正負誤差角度範圍則執行一極性偵測程序以判定該參考位置是否與馬達實際轉子位置有180度的誤判情況。 Thus, the rotor position estimation method of the present invention is applied in some embodiments to a permanent magnet servo motor having a salient pole effect and to generate an estimated rotor position of the permanent magnet servo motor. The permanent magnet servo motor system has a control module for estimating an estimated rotor position of the permanent magnet servo motor, and the control module first performs an initial position determination on the rotor of the permanent magnet servo motor To output a reference position, if the reference position is within a range of positive and negative error angles of zero, perform an interval detection procedure to determine that the estimated rotor position is within a positive or negative error angle range of 0, 90, 180 or 270 degrees; If the reference position exceeds the positive and negative error angle range of zero, a polarity detection procedure is performed to determine whether the reference position has a 180 degree misjudgment with the actual rotor position of the motor.

本發明永磁伺服馬達系統在一些實施態樣中，永磁伺服馬達系統執行所述方法。 Permanent Magnet Servo Motor System of the Invention In some embodiments, a permanent magnet servo motor system performs the method.

本發明電腦程式產品在一些實施態樣中，當電腦載入該電腦程式並執行後，可完成所述方法。 In some implementations of the computer program product of the present invention, the method can be completed when the computer loads the computer program and executes it.

本發明至少具有以下功效：基於永磁交流馬達的凸極特性，本發明提供一次性估測初始位置位在何種極性位置的技術，無需使用任何位置感測器而且可使轉子快速定位，不但可減低元件成本且可提升作業效能。 The present invention has at least the following effects: based on the salient pole characteristics of a permanent magnet AC motor, the present invention provides a technique for estimating the initial position of the initial position at a single position, without using any position sensor and allowing the rotor to be quickly positioned, not only It can reduce component costs and improve work efficiency.

1‧‧‧控制模組 1‧‧‧Control Module

101‧‧‧處理單元 101‧‧‧Processing unit

102‧‧‧區間偵測程序單元 102‧‧‧Interval detection program unit

103‧‧‧極性偵測程序單元 103‧‧‧Polarity detection program unit

11‧‧‧切換開關 11‧‧‧Toggle switch

111‧‧‧第一切換單元 111‧‧‧First switching unit

112‧‧‧第二切換單元 112‧‧‧Second switching unit

113‧‧‧第三切換單元 113‧‧‧The third switching unit

100‧‧‧馬達控制系統 100‧‧‧Motor control system

11‧‧‧帶通濾波器 11‧‧‧Bandpass filter

12‧‧‧低通濾波模組 12‧‧‧Low Pass Filter Module

13‧‧‧位置估測器 13‧‧‧Location Estimator

2‧‧‧速度控制器 2‧‧‧Speed controller

3‧‧‧電流控制器 3‧‧‧ Current controller

4‧‧‧高頻電壓注入器 4‧‧‧High frequency voltage injector

5‧‧‧同步軸/三相轉換器 5‧‧‧Synchronous axis/three-phase converter

6‧‧‧PWM變流器 6‧‧‧PWM converter

7‧‧‧永磁交流馬達 7‧‧‧Permanent AC motor

8‧‧‧電流偵測器 8‧‧‧ Current Detector

9‧‧‧三相/同步軸轉換器 9‧‧‧Three-phase/synchronous axis converter

S1~S5、S301~S314、401~S408‧‧‧步驟 S1~S5, S301~S314, 401~S408‧‧‧ steps

本發明之其他的特徵及功效，將於參照圖公式的實施方公式中清楚地呈現，其中：圖1是應用本發明永磁交流馬達初始極性估測方法的馬達控制系統之系統方塊圖；圖2是圖1的處理單元的電路方塊圖；圖3是圖2的兩種位置估測器之實施例的控制方塊圖；圖4是電流誤差信號i_err對角度變化特性圖；圖5是本發明永磁交流馬達初始極性估測方法之實施例的流程圖；圖6是如圖5的區間偵測程序之詳細流程圖；圖7是馬達靜止於實際轉子位置於一百八十度，轉子位置估測實驗過程的相關波形；圖8是馬達靜止於實際轉子位置於九十度，轉子位置估測實驗過程的相關波形；圖9是馬達定子繞組電感飽和特性圖；圖10是極性偵測程序之詳細流程圖；圖11是馬達實際轉子位置為七十度轉角靜止並完成估測，以閉迴路控制加速至200rpm的波形；圖12是馬達實際轉子位置為一百八十度轉角靜止並完成估測，以閉迴路控制加速至200rpm的波形；圖13是在d軸加入脈衝電壓，d軸電流的峰值與轉角之間的關係。 Other features and effects of the present invention will be clearly shown in the formula of the embodiment of the present invention, wherein: FIG. 1 is a system block diagram of a motor control system to which the permanent magnet AC motor initial polarity estimation method of the present invention is applied; 2 is a circuit block diagram of the processing unit of FIG. 1; FIG. 3 is a control block diagram of an embodiment of the two position estimators of FIG. 2; FIG. 4 is a graph of the current error signal i _err versus angle change characteristic; A flowchart of an embodiment of an initial polarity estimation method for a permanent magnet AC motor; FIG. 6 is a detailed flowchart of the interval detection procedure of FIG. 5; FIG. 7 is a rotor at a position of the rotor at a position of one hundred and eighty degrees. The relevant waveform of the position estimation experiment process; Figure 8 is the relevant waveform of the rotor position estimation experiment when the motor is at the actual rotor position at 90 degrees; Figure 9 is the motor stator winding inductance saturation characteristic diagram; Figure 10 is the polarity detection Detailed flow chart of the program; Figure 11 is the waveform of the actual rotor position of the motor at 70 degrees of rotation and complete estimation, with the closed loop control accelerated to 200 rpm; Figure 12 is the actual rotor position of the motor is one hundred and eight Degree angle estimation stationary and completed, closed loop control to the acceleration waveform to 200rpm; FIG. 13 is a pulse voltage is added to the d-axis, and the angle relationship between the peak d-axis current.

在本發明被詳細描述之前，應當注意在以下的說明內容中，類似的元件是以相同的編號來表示。需事先說明的是，本實施例內容有加「*」的符號為命令值，有加「^」符號為估測值，沒有加「*」或「^」的符號為實際值。 Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same reference numerals. It should be noted that the symbol with "*" is the command value in the content of this embodiment, and the "^" symbol is added as the estimated value, and the symbol without "*" or "^" is the actual value.

一、控制系統First, the control system

參閱圖1，本發明之實施例係應用於一具有凸極效應的馬達控制系統100。 Referring to Figure 1, an embodiment of the present invention is applied to a motor control system 100 having a salient pole effect.

馬達控制系統100具有一控制模組1、一速度控制器2、一電流控制器3、一高頻電壓注入器4、一同步軸/三相(dq-frame/three-phase)轉換器5、一PWM變流器6、一永磁交流馬達7、一電流偵測器8及一三相/同步軸轉換器9。 The motor control system 100 has a control module 1, a speed controller 2, a current controller 3, a high frequency voltage injector 4, and a dq-frame/three-phase converter. a PWM converter 6, a permanent magnet exchange The motor 7, a current detector 8 and a three-phase/synchronous axis converter 9.

本實施例中，控制模組1係採用型號TMS320F28335的DSP控制器，且控制模組1具有一處理單元101、一區間偵測程序單元102、一極性偵測程序單元103、一切換開關、一第一切換單元111、一第二切換單元112及一第三切換單元113。 In this embodiment, the control module 1 is a DSP controller of the model TMS320F28335, and the control module 1 has a processing unit 101, an interval detecting program unit 102, a polarity detecting program unit 103, a switch, and a The first switching unit 111, a second switching unit 112, and a third switching unit 113.

速度控制器2依據處理單元101輸出之速度命令，而產生電流命令及。電流控制器3是一個比例積分調節器，接收電流命令及並產生電壓命令及。 The speed controller 2 is responsive to the speed command output by the processing unit 101. Current command and . Current controller 3 is a proportional integral regulator that receives current commands and And generate a voltage command and .

同步軸/三相轉換器5及三相/同步軸轉換器9是向量控制的座標變換，主要是將轉子磁場導向同步軸座標系下的d軸和q軸電壓變換為定子三相的電壓。 The synchronous/three-phase converter 5 and the three-phase/synchronous-axis converter 9 are coordinate transformations of vector control, and mainly convert the d-axis and q-axis voltages of the rotor magnetic field to the synchronous shaft coordinate system into the three-phase voltage of the stator.

永磁交流馬達7之實施態樣可以為一種內藏式永磁(IPM)馬達，其他實施例也可以是一種表面式永磁(SPM)馬達。內藏式永磁馬達包括一轉子及一定子，轉子具有一導磁材料的結構、數個鑲嵌於導磁結構中的磁極，藉此形成數個N-S相間隔的磁極。定子具有一中空環狀的鐵芯、繞在鐵芯上的定子繞組，及自定子繞組延伸出的三相輸出線。轉子設置在定子中且與定子有很小間隙而可自由旋轉。 The embodiment of the permanent magnet AC motor 7 may be a built-in permanent magnet (IPM) motor, and other embodiments may also be a surface permanent magnet (SPM) motor. The built-in permanent magnet motor comprises a rotor and a stator. The rotor has a structure of a magnetically permeable material and a plurality of magnetic poles embedded in the magnetically permeable structure, thereby forming a plurality of N-S spaced magnetic poles. The stator has a hollow annular core, stator windings wound around the core, and a three-phase output line extending from the stator windings. The rotor is disposed in the stator and has a small gap with the stator to be freely rotatable.

同步軸/三相轉換器5接受一由電流控制器3產生的q軸電流控制電壓以及一經由高頻電壓注入器4注入的一高頻弦波電壓而產生的d軸電流控制電壓，然後，同步軸/三相轉換器5的座標轉換得到三相電壓、、，接著PWM變流器6根據三相電壓、、產生電流i_a、i_b、i_c以輸出到永磁交流馬達7的定子繞組以進行控制。 The synchronous shaft/three-phase converter 5 receives a q-axis current control voltage generated by the current controller 3. And a high frequency sinusoidal voltage injected through the high frequency voltage injector 4 D-axis current control voltage Then, the coordinate conversion of the synchronous shaft/three-phase converter 5 obtains a three-phase voltage , , Then the PWM converter 6 is based on the three-phase voltage , , Currents i _a , i _b , i _c are generated for output to the stator windings of the permanent magnet AC motor 7 for control.

電流偵測器8檢測PWM變流器6輸出至永磁交流馬達7的兩相定子電流i_a、i_b。三相/同步軸轉換器9是將電流偵測器8檢測到的兩相定子電流i_a、i_b變換到轉子磁場導向同步軸座標系下之d軸和q軸的電流及。 The current detector 8 detects the two-phase stator currents i _a , i _b output from the PWM converter 6 to the permanent magnet AC motor 7. The three-phase/synchronous-axis converter 9 converts the two-phase stator currents i _a , i _b detected by the current detector 8 to the d-axis and q-axis currents of the rotor magnetic field guiding synchronous coordinate coordinate system. and .

處理單元101用以接收三相/同步軸轉換器9輸出之電流，並計算一參考位置，以進行兩種控制模式，一種控制模式是當參考位置在零之正負誤差角度範圍內時，設定第一切換單元111、第二切換單元112及第三切換單元113為位置1，也就是經由區間偵測程序單元102處理；另一種控制模式是當參考位置在零之正負誤差角度範圍以外時，設定第一切換單元111、第二切換單元112及第三切換單元113為位置0，也就是經由極性偵測程序單元103處理。最後，兩種控制模式產生的一估測轉子位置提供同步軸/三相轉換器5及三相/同步軸轉換器9。 The processing unit 101 is configured to receive the current output by the three-phase/synchronous-axis converter 9 And calculate a reference position To perform two control modes, one control mode is when the reference position When the positive/negative error angle range is zero, the first switching unit 111, the second switching unit 112, and the third switching unit 113 are set to position 1, that is, processed by the interval detecting program unit 102; another control mode is when referring to position When the range of positive and negative error angles of zero is outside, the first switching unit 111, the second switching unit 112, and the third switching unit 113 are set to position 0, that is, processed by the polarity detecting program unit 103. Finally, an estimated rotor position resulting from the two control modes A synchronous/three-phase converter 5 and a three-phase/synchronous-axis converter 9 are provided.

二、參考位置 的計算方式 Second, the reference location Calculation method

馬達控制系統100於轉子軸的電壓方程公式可以表示如下。 The equation of the voltage equation of the motor control system 100 on the rotor shaft can be expressed as follows.

其中、及、分別為轉子軸q-d電壓及電流項，r _s為定子電阻，L _qs、L _ds分別為q軸及d軸定子繞組電感，ω _r為轉子轉速，p則為微分符號。利用公式(1)的數學模型可以推導出馬達的高頻數學模型，高頻的電壓方程公式可以改寫為公式(2)。 among them , and , They are the rotor shaft qd voltage and current terms, r _s is the stator resistance, L _qs , L _ds are the q-axis and d-axis stator winding inductances respectively, ω _r is the rotor speed, and p is the differential sign. The high-frequency mathematical model of the motor can be derived using the mathematical model of equation (1). The high-frequency voltage equation formula can be rewritten as equation (2).

其中ω _h為注入高頻訊號之頻率，下標有’i’者為高頻項。當高頻訊號的頻率遠大於轉子頻率時，公式(2)可改寫為 Where ω _h is the frequency at which the high frequency signal is injected, and the subscript with ' i ' is the high frequency term. When the frequency of the high frequency signal is much larger than the rotor frequency, the formula (2) can be rewritten as

公式(3)的定子軸電流可以表示為 The stator shaft current of equation (3) can be expressed as

接著將轉子軸電壓轉換到估測之轉子軸上，經整理後可得到 Then the rotor shaft voltage is converted to the estimated rotor shaft, which can be obtained after finishing.

公式(5)中△θ _r=θ _r-，其中△θ _r為誤差角度，θ _r為實際轉角，為估測轉角。再將公式(5)中的定子軸高頻電流項也轉至估測轉子軸上，可以得到 In the formula (5), Δθ _r = θ _r - Where Δθ _r is the error angle and θ _r is the actual angle, To estimate the corner. Then the stator shaft high-frequency current term in equation (5) is also transferred to the estimated rotor shaft, which can be obtained.

將公式(6)合併整理後，其估測轉子軸的高頻電流可以表示為 After combining equation (6), it estimates that the high-frequency current of the rotor shaft can be expressed as

公式(7)中，L ₁=(L _qs+L _ds)/2,L ₂=(L _qs-L _ds)/2。本發明使用脈動電壓注入法，注入的高頻電壓如公式(8)。 In the formula (7), L ₁ = ( L _qs + L _ds )/2, L ₂ = ( L _qs - L _ds )/2. The present invention uses a pulsating voltage injection method in which a high-frequency voltage is injected as in the formula (8).

將公式(8)代入公式(7)後整理可得公式(9)。 Substituting the formula (8) into the formula (7) and sorting out the formula (9).

由公式(9)可以發現，估測轉子q軸及d軸電流均隱含有轉角的資訊，但在解調過程中，選用估測轉子q軸電流進行解調。 It can be found from equation (9) that the q-axis and d-axis currents of the rotor are estimated to contain the information of the corner, but in the demodulation process, the estimated q-axis current of the rotor is used for demodulation.

參閱圖2，高頻脈動電壓注入電壓振幅為10V，注入頻率為600Hz。處理單元101具有一帶通濾波器11、一低通濾波模組12及一位置估測器13。電流偵測器8感測永磁交流馬達7的電流並提供給帶通濾波器11，此電流含有一低頻成分及一高頻成分，帶通濾波器11取出高頻成分經訊號處理過後，低通濾波器12取出低頻成分，透過位置估測器13收斂後可以得到估測速度及參考位置。估測速度命令會含有較大的雜訊，因此可利用低通濾波模組12將雜訊濾除。 Referring to Figure 2, the high frequency ripple voltage The injection voltage amplitude was 10 V and the injection frequency was 600 Hz. The processing unit 101 has a band pass filter 11, a low pass filter module 12 and a position estimator 13. The current detector 8 senses the current of the permanent magnet AC motor 7 and supplies it to the band pass filter 11, which contains a low frequency component and a high frequency component, and the bandpass filter 11 takes out the high frequency component after the signal processing, and is low. The pass filter 12 takes out the low frequency component, and the position estimator 13 converges to obtain the estimated speed. And reference location . Estimated speed command It will contain a large amount of noise, so the noise filtering module 12 can be used to filter out the noise.

利用帶通濾波器11將估測轉子q軸高頻電流取出，接著乘上sin(ω_it)信號作積化和差，結果如公式(10)。 The estimated q-axis high-frequency current of the rotor is taken out by the band pass filter 11, and then multiplied by the sin(ω _i t) signal for integration and difference, and the result is as shown in the formula (10).

利用低通濾波模組12可取出隱含有轉角資訊的誤差訊號i_err，誤差訊號i_err可以表示為公式(11)。 The low-pass filter module 12 can be used to extract the error signal i _err which contains the corner information, and the error signal i _err can be expressed as the formula (11).

假設△θ _r 0時，可以進一步化簡為公式(12)。 Assume △ θ _r When 0, it can be further reduced to formula (12).

公式(12)中的Kerr為誤差參數，當輸入電壓的大小與頻率固定時Kerr亦為定值。 Kerr in equation (12) is an error parameter, and Kerr is also a fixed value when the magnitude of the input voltage and the frequency are fixed.

經解調過後，公式(12)得到的i_err為一含有角度資訊的誤差訊號，接著利用位置估測器13可以將i_err收斂至零並估測轉角之參考位置。 After demodulation, i _err obtained by equation (12) is an error signal containing angle information, and then position estimator 13 can converge i _err to zero and estimate the reference position of the corner. .

參閱圖3A，本實施例之位置估測器13可以為PI形公式，參閱圖3B，位置估測器13’亦可以為加入轉矩前饋的PID形公式，兩者皆能有效的估出參考位置，但在馬達轉速的估測上卻會有雜訊問題，因此將估測速度帶回速度控制之前可以利用低通濾波單元將雜訊濾除。設計低通濾波單元時必須注意其截止頻率，若太高會使雜訊濾除的能力降低，若太低則速度控制器會因為低通濾波單元的關係造成過大的相位落後，最後導致整體系統不穩定。 Referring to FIG. 3A, the position estimator 13 of the present embodiment may be a PI-shaped formula. Referring to FIG. 3B, the position estimator 13' may also be a PID-shaped formula for adding a torque feedforward, both of which can be effectively estimated. Reference position However, there is a noise problem in the estimation of the motor speed, so the noise can be filtered out by the low-pass filter unit before the estimated speed is brought back to the speed control. When designing the low-pass filter unit, you must pay attention to the cut-off frequency. If it is too high, the noise filtering ability will be reduced. If it is too low, the speed controller will cause excessive phase lag due to the relationship of the low-pass filter unit, and finally lead to the overall system. Unstable.

本實施例採用簡單的PI形公式估測器做轉子之參考位置及參考速度的估測，其轉移函數如公式(13)。 This embodiment uses a simple PI-shaped formula estimator to make the reference position of the rotor. And reference speed The estimate is that its transfer function is as in equation (13).

三、估測轉子位置 之計算原理 Third, estimate the rotor position Principle of calculation

參閱圖4，永磁交流馬達7的「凸極效應」在一個電機週期裡具有兩個正弦波的變化，利用高頻注入法雖然可以估測出馬達的轉角資訊(參考位置)，但是由於解調後隱含有轉角資訊的位置誤差信號在一個轉角周期T內會出現兩個周期的弦波變化，因此在初始的參考位置可能會有一百八十度的誤差。另外一個問題是若實際轉子位置θ _r在零度、九十度、一百八十度、二百七十度附近時，由於此時i_err很小，可能使位置估測器13之計算結果無法收斂，顯示參考位置皆為零度。經由實驗，若實際轉子位置θ _r在這四個角度的大約正負五度範圍之外(如位置P1、P2)都沒有問題，但若實際轉子位置θ _r在零度、九十度、一百八十度、二百七十度大約正負五度範圍之內(如位置P3、P4)則無法收斂，顯示參考位置皆為零度。 Referring to Fig. 4, the "salient pole effect" of the permanent magnet AC motor 7 has two sinusoidal changes in one motor cycle, and the high-frequency injection method can estimate the motor corner information (reference position). ), but due to the position error signal implicitly containing the corner information after demodulation Two cycles of sine wave variation occur in one corner period T, so at the initial reference position There may be an error of one hundred and eighty degrees. Another problem is that if the actual rotor position θ _{r is} near zero, ninety degrees, one hundred and eighty degrees, and two hundred and seventy degrees, since the i _{err is} small at this time, the calculation result of the position estimator 13 may not be made possible. Convergence, display reference position All are zero degrees. Through experiments, if the actual rotor position θ _r is outside the range of approximately plus or minus five degrees of the four angles (such as positions P1, P2), if the actual rotor position θ _{r is} at zero, ninety degrees, one hundred eight Ten degrees, two hundred and seventy degrees, within about plus or minus five degrees (such as position P3, P4) can not converge, display the reference position All are zero degrees.

本發明提出的解決方法是，若顯示估測出來的參考位置為零度之正負五度區間之內時，使用區間偵測程序；若參考位置位於零度之正負五度區間之外時，則使用極性偵測程序，透過注入雙脈衝電壓來判別轉子的極性。 The solution proposed by the present invention is to display the estimated reference position. Use the interval detection procedure when the range is within plus or minus five degrees of zero; if the reference position When it is outside the plus or minus five degree range of zero, the polarity detection procedure is used to determine the polarity of the rotor by injecting a double pulse voltage.

參閱圖5，為永磁交流馬達初始極性估測方法之流程，控制模組1用以估測該永磁交流馬達7的轉子的一參考位置(步驟S1)，並判斷該參考位置是否在正負五度之範圍內(步驟S2)，若未超出正負五度之範圍則執行一區間偵測程序(步驟S3)，若超出正負五度之範圍則執行一極性偵測程序(步驟S4)，最後輸出估測轉子位置(步驟S5)。 Referring to FIG. 5, the flow of the initial polarity estimation method of the permanent magnet AC motor is used, and the control module 1 is used to estimate a reference position of the rotor of the permanent magnet AC motor 7. (Step S1), and determine the reference position Whether it is within plus or minus five degrees (step S2), if the range of plus or minus five degrees is not exceeded, an interval detecting process is executed (step S3), and if the range of plus or minus five degrees is exceeded, a polarity detecting process is executed (step S4). ), the final output estimates the rotor position (Step S5).

須注意的是，不論是區間偵測程序或極性偵測程序，都只需在馬達控制系統100通電之後執行一次即可。 It should be noted that both the interval detection procedure and the polarity detection procedure need only be performed once after the motor control system 100 is powered on.

四、區間偵測程序Fourth, the interval detection procedure

區間偵測程序的原理是先注入振幅為V₁的兩個電壓向量V_1c0及V_1c90來偵測轉子區間，接著再選擇性的注入振幅為V₂的某一組電壓向量，可能為V_2c0及V_2c180一組或者V_2c90及V_2c270一組來進行極性的修正。因為觀察到零度、一百八十度附近的定子繞組電感都會小於九十度、二百七十度附近的定子繞組電感，因此透過V_1c0及V_1c90，可以得知轉角是在零度、一百八十度區間或九十度、二百七十度區間。另外為了避免注入V_1c0及V_1c90時馬達轉矩過大導致轉動，電壓振幅V₁遠小於V₂，而V₂是為了使鐵心飽和，故需要注入較大的電壓振幅，且由於區間已修正，參考軸移至正確的q、d軸，所以產生的轉矩很小馬達不會轉動。 The principle of the interval detection program is to first inject two voltage vectors V _1c0 and V _1c90 with amplitude V ₁ to detect the rotor interval, and then selectively inject a certain voltage vector with amplitude V ₂ , which may be V _{2c0 .} and a group _V 2c180 or _V 2c90 and _V 2c270 set to a polarity correction. Because the stator winding inductance near zero degrees and one hundred and eighty degrees is less than the stator winding inductance near 90 degrees and 270 degrees, it can be known that the corners are at zero degrees and one hundred through V _1c0 and V _1c90 . Eighty degrees or ninety degrees, two hundred and seventy degrees. In addition, in order to avoid rotation caused by excessive motor torque when V _1c0 and V _1c90 are injected, the voltage amplitude V _{1 is} much smaller than V ₂ , and V ₂ is to saturate the core, so a large voltage amplitude needs to be injected, and since the interval has been corrected, The reference axis is moved to the correct q and d axes, so the resulting torque is small and the motor does not rotate.

參閱圖6，步驟S3之區間偵測程序包含以下子步驟。 Referring to Figure 6, the interval detection procedure of step S3 includes the following sub-steps.

設定一第一修正角度之變數及一第二修正角度之變數(步驟S301)，先對V_iddc注入一第一振幅的零度修正電壓V_1c0以產生一零度的第一電流I_1c0，接著對V_idqc注入一九十度修正電壓V_1c90以產生一九十度的電流I_1c90(步驟S302)。 Setting a first variable and a second modified angle of the variable angle correction (step S301), the first injection of a first amplitude zero of the correction voltage V _{_V} iddc 1c0 zero to generate a first current _I 1c0, Next, V _idqc injects a ninety degree correction voltage V _1c90 to generate a ninety degree current I _1c90 (step S302).

判斷該零度的第一電流I_1c0之絕對值是否大於該九十度的電流I_1c90之絕對值(步驟S303)，若是則執行步驟S304，若否則執行步驟S305。 It is determined whether the absolute value of the first current I _1c0 of the zero degree is greater than the absolute value of the current I _1c90 of the ninety degrees (step S303), if yes, step S304 is performed, otherwise step S305 is performed.

當零度的第一電流I_1c0之絕對值大於該九十度的電流I_1c90之絕對值時，將該第一修正角度設定為零度(步驟S304)，並注入一具有一大於該第一振幅的第二振幅的零度修正電壓V_2c0及一一百八十度修正電壓V_2c180以分別產生一第二零度電流I_2c0及一第二一百八十度電流I_2c180(步驟S306)，判斷第二零度電流I_2c0之絕對值大於該一百八十度電流I_2c180之絕對值(步驟S308)，若是，則將該第二修正角度設定為零度(步驟S310)，若否，則將該第二修正角度設定為一百八十度(步驟S312)。 When the absolute value of the first current I _1c0 of zero degrees is greater than the absolute value of the current I _1c90 of the ninety degrees, the first correction angle is set to zero degrees (step S304), and the injection has a greater than the first amplitude. a second amplitude zero correction voltage V _2c0 and a one hundred and eighty degree correction voltage V _2c180 to respectively generate a second zero degree current I _2c0 and a second one hundred and eighty degree current I _2c180 (step S306), determining The absolute value of the 20-degree current I _2c0 is greater than the absolute value of the one hundred and eighty-degree current I _2c180 (step S308), and if so, the second correction angle is set to zero degrees (step S310), and if not, the The second correction angle is set to one hundred and eighty degrees (step S312).

當零度的第一電流I_1c0之絕對值非大於九十度的電流 I_1c90之絕對值時，將該第一修正角度設定為九十度(步驟S305)，並注入一具有一大於該第一振幅的第二振幅的九十度修正電壓V_2c90及一兩百七十度修正電壓V_2c270以分別產生一九十度的第二電流I_2c90及一兩百七十度電流I_2c270(步驟S307)。接著，判斷該九十度的第二電流I_2c90之絕對值大於該兩百七十度電流I_2c270之絕對值(步驟S309)？若是，則將該第二修正角度設定為零度(步驟S311)，若否，則將該第二修正角度設定為一百八十度(步驟S313)。最後，加總參考位置、第一修正角度及第二修正角度以得到估測轉子位置(步驟S314)。 When the absolute value of the first current I _1c0 of zero degrees is not greater than the absolute value of the current I _1c90 of ninety degrees, the first correction angle is set to ninety degrees (step S305), and the injection one has a greater than the first a ninety degree correction voltage V _2c90 and a two hundred and seventy degree correction voltage V _2c270 of the second amplitude of the amplitude to respectively generate a second current I _{2c90 of} ninety degrees and a current of two hundred and seventy degrees I _2c270 (step S307) ). Next, it is determined that the absolute value of the ninety-second second current I _2c90 is greater than the absolute value of the two hundred and seventy-seventh current I _{2c 270} (step S309)? If so, the second correction angle is set to zero degrees (step S311), and if not, the second correction angle is set to one hundred and eighty degrees (step S313). Finally, add the reference position a first correction angle and a second correction angle to obtain an estimated rotor position (Step S314).

參閱圖7，一開始先以手動的方式將轉子轉動到實際轉子位置θ _r為180°的位置並靜止，於時間為t₀時加入高頻訊號，並開始輸出參考位置，至時間為t₁時結束。在這段期間可以發現，由於i_err訊號幅值不明顯而使參考位置不會收斂，因此參考位置一直在接近0°的地方振盪，導致有180°的誤差。在時間t₁~t₂之間加入電壓向量V_1c0及V_1c90，進行區間修正的動作；V_1c0電壓向量注入的位置正好在d軸，而V_1c90電壓向量注入的位置正好在q軸。經電流幅值的比較，知道實際轉子位置θ _r僅可能為0°或180°。因此於時間t₂~t₃再加入電壓向量V_2c0及V_2c180來修正極性，這些電壓向量都在d軸，且此時為了使鐵心飽和加入的電壓比區間修正的電壓大很多。於時間t₃經電流幅值比較之後，參考位置由原本的0°加上第一修正角度為0°及第二修正角度為180°得到估測轉子位置為180°，與實際轉子位置θ _r一致。 Referring to Figure 7, the rotor is first manually rotated to the position where the actual rotor position θ _r is 180° and is stationary. When the time is t ₀ , the high frequency signal is added and the reference position is output. , when the time is t ₁ ends. During this period, it can be found that the reference position is made because the amplitude of the _ierr signal is not obvious. Does not converge, so the reference position It has been oscillating near 0°, resulting in an error of 180°. The voltage vectors V _1c0 and V _1c90 are added between time t ₁ and t ₂ to perform the interval correction operation; the V _1c0 voltage vector is injected at the position of the d-axis, and the V _1c90 voltage vector is injected at the q-axis. By comparison of the current amplitudes, it is known that the actual rotor position θ _{r can} only be 0° or 180°. Therefore, voltages V _2c0 and V _2c180 are added at time t ₂ to t ₃ to correct the polarity. These voltage vectors are all on the d-axis, and the voltage added to saturation the core is much larger than the voltage of the interval correction. After the current amplitude comparison at time t ₃ , the reference position Estimated rotor position from the original 0° plus the first correction angle of 0° and the second correction angle of 180° It is 180°, which is consistent with the actual rotor position θ _r .

參閱圖8，開始先以手動的方式將轉子轉動到實際轉子位置θ _r為90°的位置並靜止，於時間為t₀時加入高頻訊號，並開始輸出參考位置，至時間為t₁時結束。由於i_err訊號幅值不明顯角度估測器不會收斂，因此估測的參考位置一直在接近0°的地方振盪，導致有90°的誤差。在時間t₁~t₂之間加入電壓向量V_1c0及V_1c90進行區間修正，經電流幅值的比較，知道估測轉子位置僅可能為90°或270°。因此於時間t₂~t₃再加入電壓向量V_2c90及V_2c270來修正極性，這些電壓向量都在q軸。於時間t3經電流幅值比較之後，參考位置 0°加上第一修正角度為90°及第二修正角度為0°得到估測轉子位置為90°，與實際轉子位置θ _r一致。 Referring to Figure 8, the rotor is first manually rotated to the position where the actual rotor position θ _r is 90° and is stationary. When the time is t ₀ , the high frequency signal is added and the reference position is output. , when the time is t ₁ ends. Since the amplitude of the _ierr signal is not obvious, the angle estimator does not converge, so the estimated reference position It has been oscillating near 0°, resulting in a 90° error. The voltage vectors V _1c0 and V _1c90 are added between time t ₁ ~ t ₂ for interval correction, and the rotor position is estimated by comparing the current amplitudes. It can only be 90° or 270°. Therefore, the voltage vectors V _2c90 and V _2c270 are added at time t ₂ to t ₃ to correct the polarity, and these voltage vectors are all on the q-axis. After the current amplitude comparison at time t3, the reference position 0° plus the first correction angle is 90° and the second correction angle is 0° to obtain the estimated rotor position It is 90°, which is consistent with the actual rotor position θ _r .

五、極性偵測程序Five, polarity detection procedures

參閱圖9，d軸定子繞組電感L_d與實際轉子位置θ _r的關係為一個電機週期會有兩個弦波週期的定子繞組電感變化。當馬達鐵心沒有飽和發生時，這兩個定子繞組電感週期並無差別，如位置P_a及P_b。但若在d軸加入夠大的電流使鐵心飽和，則在零度(N極)的定子繞組電感會比在一百八十度(S極)的定子繞組電感小，如位置P_S及P_N。本發明即利用此原理，在轉子d軸注入一正一負固定時間及振幅的脈衝電壓，若脈衝電壓引起的磁通方向剛好與磁鐵充磁的磁通方向(N極)一致時，會使磁鐵的磁通達到飽和，因此定子繞組電感會下降，產生的電流峰值亦會較高。而若脈衝電壓產生的磁通方向與磁鐵充磁的磁通方向(S極)相反時，磁通不會發生飽和，定子繞組電感值不會有變化。因此，比較正、負脈衝電壓產生的電流幅值即可判斷轉子的極性並決定是否需要做極性的修正。 Referring to Figure 9, the relationship between the d-axis inductance L _d and stator windings actual rotor position θ _r is a motor stator windings have a period of two sinusoidal inductance variation cycles. When there is no saturation of the motor core, there is no difference in the inductance periods of the two stator windings, such as the positions P _a and P _b . However, if a large enough current is added to the d-axis to saturate the core, the stator winding inductance at zero (N pole) will be smaller than the stator winding inductance at 180 degrees (S pole), such as positions P _S and P _{N .} . According to the present invention, a pulse voltage of a positive and negative fixed time and amplitude is injected into the d-axis of the rotor, and if the magnetic flux direction caused by the pulse voltage coincides with the magnetic flux direction (N pole) of magnet magnetization, The magnetic flux of the magnet is saturated, so the inductance of the stator winding will drop and the peak current will be higher. On the other hand, if the magnetic flux direction generated by the pulse voltage is opposite to the magnetic flux direction (S pole) of the magnet magnetization, the magnetic flux does not become saturated, and the stator winding inductance value does not change. Therefore, comparing the magnitude of the current generated by the positive and negative pulse voltages can determine the polarity of the rotor and determine if polarity correction is needed.

參閱圖10，步驟S4之極性偵測程序包含下述子步驟。 Referring to Figure 10, the polarity detection procedure of step S4 includes the following sub-steps.

設定一第三修正角度之變數(步驟S401)，並注入一第三零度修正電壓V_3c0及一第三一百八十度修正電壓V_3c0以分別產生一第三零度電流I_3c0及一第三一百八十度電流I_3c0(步驟S402)。 Setting a third correction angle variable (step S401), and injecting a third zero degree correction voltage V _3c0 and a third one hundred and eighty degree correction voltage V _3c0 to respectively generate a third zero degree current I _3c0 and one The third one hundred and eighty degrees current I _3c0 (step S402).

判斷若是該第三零度電流之絕對值大於該第三一百八十度電流之絕對值(步驟S403)，若是，則將該第三修正角度設定為零度(步驟S404)，以及若是該第三零度電流之絕對值非大於該第三一百八十度電流之絕對值則將該第三修正角度設定為一百八十度(步驟S405)。最後，加總該參考位置以及該第三修正角度以輸出該永磁伺服馬達的估測轉子位置(步驟S406)。 Determining that if the absolute value of the third zero-degree current is greater than the absolute value of the third one hundred and eighty-degree current (step S403), if yes, setting the third correction angle to zero degrees (step S404), and if the If the absolute value of the three-zero current is not greater than the absolute value of the third one hundred and eighty-degree current, the third correction angle is set to one hundred and eighty degrees (step S405). Finally, the reference position and the third correction angle are summed to output the estimated rotor position of the permanent magnet servo motor (Step S406).

參閱圖11，以閉迴路控制加速至200rpm的波形。首先以手動的方式將轉子轉動到實際轉子位置θ _r為70°的位置，馬達靜止於實際轉子位置θ _r為70°的位置，接著加入高頻訊號並開始產生參考位置。電流誤差i_err在一開始時有較大的震盪，但是當參考位置收斂到實際轉子位置θ _r為70°的位置，電流誤差i_err亦收斂至零。接著進行極性偵測程序，經極性偵測程序後的估測轉子位置依然為70°。接著閉迴路控制啟動，馬達隨著速度命令由靜止加速至200rpm，觀察波形可以發現估測轉子位置緊追著實際轉子位置θ _c。 Referring to Figure 11, the waveform accelerated to 200 rpm is controlled in a closed loop. First, the rotor is manually rotated to a position where the actual rotor position θ _r is 70°, the motor is stationary at a position where the actual rotor position θ _r is 70°, then a high frequency signal is added and a reference position is started. . The current error i _err has a large oscillation at the beginning, but when the reference position Converging to a position where the actual rotor position θ _r is 70°, the current error i _err also converges to zero. Then perform the polarity detection procedure and estimate the rotor position after the polarity detection procedure. Still 70°. Then the closed loop control is started, the motor accelerates from standstill to 200 rpm with the speed command, and the waveform can be observed to estimate the rotor position. Follow the actual rotor position θ _c .

參閱圖12，從圖中可看到先以手動的方式將轉子轉動到實際轉子位置θ _r為180°位置並靜止。馬達靜止於實際轉子位置θ _r為180°的位置。接著加入高頻訊號並開始輸出參考位置。在此期間可以發現參考位置未經區間偵測程序前約在0°附近震盪，說明一開始輸出的參考位置與實際轉子位置θ _r有180°的誤判，但在進行區間偵測程序後，參考位置可以被修正成估測轉子位置為180°。接著，施一速度命令將轉子做閉迴路啟動由靜止加速至200rpm，可以觀察到良好的追蹤效果。 Referring to Figure 12, it can be seen from the figure that the rotor is first manually rotated to a position where the actual rotor position θ _r is 180° and is stationary. The motor is stationary at a position where the actual rotor position θ _r is 180°. Then add a high frequency signal and start outputting the reference position . The reference location can be found during this time The reference position at the beginning of the output is oscillated around 0° before the interval detection procedure. There is a 180° misjudgment with the actual rotor position θ _r , but after the interval detection procedure, the reference position Can be corrected to estimate the rotor position to be 180°. Then, a speed command is applied to start the closed loop of the rotor from standstill to 200 rpm, and a good tracking effect can be observed.

參閱圖13，顯示在d軸加入脈衝電壓，d軸電流峰值與轉角之間的關係。實驗時將轉子依序由零度~36零度每5度一次試驗，並加入一振幅30V時間5ms的d軸脈衝電壓，然後量測並記錄d軸電流的峰值。觀察此結果可以發現轉子位置在零度與一百八十度時電流峰值最大，九十度與二百七十度時電流峰值最小，並且零度電流峰值稍大於一百八十度。此結果與圖12說明的定子繞組電感與轉角間的關係一致，證實馬達具有凸極效應，以及d軸電流夠大時，會使馬達有鐵心飽和的現象，因此可以利用此特性來達到偵測轉子極性。 Referring to Figure 13, the relationship between the peak value of the d-axis current and the corner of the d-axis is shown. During the experiment, the rotor was tested once every 5 degrees from zero degrees to 36 degrees, and a d-axis pulse voltage with an amplitude of 30 V for 5 ms was added, and then the peak value of the d-axis current was measured and recorded. Observing this result, it can be found that the current peak is the largest when the rotor position is at zero degree and one hundred and eighty degrees, the current peak is the smallest at ninety degrees and two hundred and seventy degrees, and the zero current peak is slightly larger than one hundred and eighty degrees. This result is consistent with the relationship between the stator winding inductance and the rotation angle illustrated in FIG. 12, and it is confirmed that the motor has a salient pole effect, and when the d-axis current is large enough, the motor has a core saturation phenomenon, so this characteristic can be utilized to achieve detection. Rotor polarity.

綜上所述，本發明基於永磁交流馬達7的一個控制週期具有兩個週期以及不同角度的極性位置而提供一次性估測初始位置位在何種極性位置的技術，無需使用任何位置感測器而且可使轉子快速定位，不但可減低元件成本且可提升作業效能，故確實能達成本發明之目的。 In summary, the present invention is based on a technique in which the control period of the permanent magnet AC motor 7 has two periods and different angular positions to provide a one-time estimation of the initial position of the initial position, without using any position sensing. Moreover, the rotor can be quickly positioned, which not only reduces the component cost but also improves the work efficiency, so that the object of the present invention can be achieved.

惟以上所述者，僅為本發明之實施例而已，當不能以此限定本發明實施之範圍，凡是依本發明申請專利範圍及專利說明書內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。 However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the equivalent equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still The scope of the invention is covered.

S1~S5‧‧‧步驟 S1~S5‧‧‧Steps

Claims

一種永磁伺服馬達的轉子位置估測方法，應用於一具有凸極效應的永磁伺服馬達並用以產生該永磁伺服馬達的一估測轉子位置，該永磁伺服馬達系統具有一控制模組，該控制模組先對該永磁伺服馬達的轉子進行一初始位置判定以輸出一參考位置，若該參考位置是位於零之正負誤差角度範圍內則執行一區間偵測程序以判定該估測轉子位置是位於0、90、180或270度之正負誤差角度範圍內；若該參考位置超出零之正負誤差角度範圍則執行一極性偵測程序以判定該參考位置是否於實際轉子位置有一180度的誤判情況，修正後輸出該估測轉子位置。 A rotor position estimation method for a permanent magnet servo motor is applied to a permanent magnet servo motor having a salient pole effect and used to generate an estimated rotor position of the permanent magnet servo motor, the permanent magnet servo motor system having a control module The control module first performs an initial position determination on the rotor of the permanent magnet servo motor to output a reference position, and if the reference position is within a range of positive and negative error angles of zero, performing an interval detection procedure to determine the estimation. The rotor position is within a positive or negative error angle range of 0, 90, 180 or 270 degrees; if the reference position exceeds the positive and negative error angle range of zero, a polarity detection procedure is performed to determine whether the reference position has a 180 degree at the actual rotor position The misjudgment condition is corrected and the estimated rotor position is output.

如請求項1所述的永磁伺服馬達的轉子位置估測方法，其中，該控制模組判斷若未超出正負誤差角度之範圍則執行一區間偵測程序，該區間偵測程序包含以下步驟：(A)注入一第一振幅的零度修正電壓及一九十度修正電壓以分別產生一零度的第一電流及一九十度的電流；(B)設定一第一修正角度之變數及一第二修正角度之變數，並判斷該零度的第一電流之絕對值是否大於該九十度的電流之絕對值，若是則執行步驟(C)，若否則執行步驟(D)；(C)將該第一修正角度設定為零度，並注入一具有一大於該第一振幅的第二振幅的零度修正電壓及一一百八十度修正電壓以分別產生一第二零度電流及一一百八十度電流，若是該第二零度電流之絕對值大於該一百八十度電流之絕對值則將該第二修正角度設定為零度，若是該第二零度電流之絕對值非大於該一百八十度電流之絕對值則將該第二修正角度設定為一百八十度，並加總該參考位置、該第一修正角度及該第二修正角度以得到該估測轉子位置；及(D)將該第一修正角度設定為九十度，並注入一具有一大於該第一振幅的第二振幅的九十度修正電壓及一兩百七十度修正電壓以分別產生一九十度的第二電流及一兩百七十度的第二電流，若是該九十度的第二電流之絕對值大於該兩百七十度第二電流之絕對值則將該第二修正角度設定為零度，若是該九十度的第二電流之絕對值非大於該兩百七十度的第二電流之絕對值則將該第二修正角度設定為一百八十度，並加總該參考位置、該第一修正角度及該第二修正角度以得到該估測轉子位置。 The method for estimating a rotor position of a permanent magnet servo motor according to claim 1, wherein the control module determines that a range detecting program is executed if the range of positive and negative error angles is not exceeded, and the interval detecting program comprises the following steps: (A) injecting a first amplitude zero correction voltage and a ninety degree correction voltage to respectively generate a zero current first current and a ninety degree current; (B) setting a first correction angle variable and one a second correction angle variable, and determining whether the absolute value of the first current of the zero degree is greater than the absolute value of the ninety degrees current, if yes, performing step (C), if otherwise performing step (D); (C) The first correction angle is set to zero degrees, and a zero correction voltage having a second amplitude greater than the first amplitude and a one hundred and eighty degree correction voltage are injected to respectively generate a second zero current and one hundred eight Ten degrees of current, if the absolute value of the second zero current is greater than the one hundred and eighty degrees The absolute value of the current sets the second correction angle to zero degrees. If the absolute value of the second zero-degree current is not greater than the absolute value of the one hundred and eighty-degree current, the second correction angle is set to one hundred and eighty. Degree, and summing the reference position, the first correction angle and the second correction angle to obtain the estimated rotor position; and (D) setting the first correction angle to ninety degrees, and injecting one having a greater than a ninety degree correction voltage of the second amplitude of the first amplitude and a two hundred and seventy degree correction voltage to respectively generate a second current of ninety degrees and a second current of one hundred and seventy degrees, if the ninety The absolute value of the second current is greater than the absolute value of the two hundred and seventy degrees second current, and the second correction angle is set to zero degrees, if the absolute value of the ninety-second second current is not greater than the two hundred seven The absolute value of the second current of ten degrees sets the second correction angle to one hundred and eighty degrees, and adds the reference position, the first correction angle, and the second correction angle to obtain the estimated rotor position.

如請求項1所述的永磁伺服馬達的轉子位置估測方法，其中，該極性偵測程序包含下述步驟：(E)設定一第三修正角度之變數，並注入一零度修正電壓及一一百八十度修正電壓以分別產生一第三零度電流及一第三一百八十度電流；(F)判斷若是該零度電流之絕對值大於該一百八十度電流之絕對值則將該第三修正角度設定為零度，以及若是該第二零度電流之絕對值非大於該一百八十度電流之絕對值則將該第三修正角度設定為一百八十度；及(G)加總該參考位置以及該第三修正角度以輸出該估測轉子位置。 The rotor position estimating method of the permanent magnet servo motor according to claim 1, wherein the polarity detecting program comprises the following steps: (E) setting a third correction angle variable, and injecting a zero degree correction voltage and One hundred and eighty degrees of correction voltage to generate a third zero current and a third one hundred and eighty degrees respectively; (F) determining that if the absolute value of the zero current is greater than the absolute value of the one hundred and eighty degrees current Setting the third correction angle to zero degrees, and setting the third correction angle to one hundred and eighty degrees if the absolute value of the second zero degree current is not greater than the absolute value of the one hundred and eighty degrees current; (G) summing the reference position and the third correction angle to output the estimate Measure the rotor position.

一種永磁伺服馬達系統，執行如請求項1至3中任一請求項所述方法。 A permanent magnet servo motor system that performs the method of any one of claims 1 to 3.

一種電腦程式產品，當電腦載入該電腦程式並執行後，可完成如請求項1至3中任一請求項所述方法。 A computer program product, when the computer is loaded into the computer program and executed, the method as claimed in any one of claims 1 to 3 can be completed.