TWM601933U

TWM601933U - Motor rotor position detecting device

Info

Publication number: TWM601933U
Application number: TW109207839U
Authority: TW
Inventors: 何祖盛; 楊凱; 劉佳恩
Original assignee: 盛群半導體股份有限公司
Priority date: 2020-06-19
Filing date: 2020-06-19
Publication date: 2020-09-21

Abstract

本案提出一種馬達轉子位置偵測裝置包含磁場導向控制電路及初始位置檢測電路。磁場導向控制電路接收測試電流指令與預設角度，並根據測試電流指令與預設角度產生回授電流。初始位置檢測電路發送測試電流指令與預設角度給磁場導向控制電路。初始位置檢測電路包含電流產生器、角度產生器及處理電路。電流產生器輸出測試電流指令，角度產生器輸出預設角度，處理電路擷取回授電流的峰值，以形成一峰值陣列，並運算出峰值陣列中元素的最大值，以對應出其中之一為馬達轉子之初始角位置，且於馬達轉動前，發送初始角位置給磁場導向控制電路。This case proposes a motor rotor position detection device including a magnetic field guiding control circuit and an initial position detection circuit. The magnetic field guiding control circuit receives the test current command and the preset angle, and generates a feedback current according to the test current command and the preset angle. The initial position detection circuit sends a test current command and a preset angle to the magnetic field guide control circuit. The initial position detection circuit includes a current generator, an angle generator and a processing circuit. The current generator outputs the test current command, the angle generator outputs the preset angle, the processing circuit captures the peak value of the feedback current to form a peak value array, and calculates the maximum value of the elements in the peak value array to correspond to one of them The initial angular position of the motor rotor, and before the motor rotates, the initial angular position is sent to the magnetic field guide control circuit.

Description

馬達轉子位置偵測裝置Motor rotor position detection device

本案是關於一種馬達轉子位置偵測裝置，特別是適於磁場導向控制架構下之馬達轉子初始角位置偵測裝置。This case is about a motor rotor position detection device, especially a motor rotor initial angular position detection device suitable for a magnetic field-oriented control architecture.

馬達已廣泛地應用於電子產品中，例如機器手臂、半導體製程及封裝相關設備、電梯、冷氣機、電動汽車、掃描器、印表機、光碟機等。為了控制馬達正常轉動，習知的馬達轉子位置偵測裝置中通常包含為硬體元件之轉子位置感測器，以在馬達轉動前偵測出馬達轉子的初始位置，以避免馬達在啟動上發生非預期的運轉狀況。Motors have been widely used in electronic products, such as robotic arms, semiconductor manufacturing and packaging related equipment, elevators, air conditioners, electric vehicles, scanners, printers, optical disc drives, etc. In order to control the normal rotation of the motor, the conventional motor rotor position detection device usually includes a rotor position sensor which is a hardware component to detect the initial position of the motor rotor before the motor rotates, so as to prevent the motor from being started. Unexpected operating conditions.

然而，額外使用前述之轉子位置感測器將使生產成本上升。若未使用轉子位置感測器又將造成前述馬達在啟動上發生非預期的運轉狀況。因此，為取代轉子位置感測器，現今發展出一些不同的馬達控制技術，然而大部分的馬達控制技術還是需要額外設置硬體電路，造成無法有效地降低生產成本，且其設計通常無法根據不同馬達或不同的馬達應用產品進行彈性的調整。However, the additional use of the aforementioned rotor position sensor will increase the production cost. If the rotor position sensor is not used, it will cause unexpected operating conditions of the aforementioned motor at startup. Therefore, in order to replace the rotor position sensor, some different motor control technologies have been developed today. However, most of the motor control technologies still require additional hardware circuits, which makes it impossible to effectively reduce the production cost, and the design usually cannot be based on different Motor or different motor application products can be adjusted flexibly.

在一實施例中，一種馬達轉子位置偵測裝置包含磁場導向控制電路及初始位置檢測電路。磁場導向控制電路於一預設時間區間內接收測試電流指令與預設角度，並根據測試電流指令與預設角度產生回授電流。初始位置檢測電路發送測試電流指令與預設角度給磁場導向控制電路。初始位置檢測電路包含電流產生器、角度產生器及處理電路。電流產生器輸出測試電流指令，角度產生器輸出預設角度，處理電路擷取回授電流的峰值，以形成一峰值陣列，並運算出峰值陣列中元素的一最大值，處理電路並根據前述最大值從預設角度中對應出其中之一形成馬達轉子之初始角位置，且於馬達轉動前，發送初始角位置給磁場導向控制電路，藉以控制馬達轉動。In one embodiment, a motor rotor position detection device includes a magnetic field guidance control circuit and an initial position detection circuit. The magnetic field guiding control circuit receives the test current command and the preset angle in a preset time interval, and generates a feedback current according to the test current command and the preset angle. The initial position detection circuit sends a test current command and a preset angle to the magnetic field guide control circuit. The initial position detection circuit includes a current generator, an angle generator and a processing circuit. The current generator outputs the test current command, the angle generator outputs the preset angle, the processing circuit captures the peak value of the feedback current to form a peak value array, and calculates a maximum value of the elements in the peak value array. The value corresponds to one of the preset angles to form the initial angular position of the motor rotor, and before the motor rotates, the initial angular position is sent to the magnetic field guide control circuit to control the motor to rotate.

圖1為根據本案之馬達轉子位置偵測裝置1以及其所控制之馬達2之一實施例之功能方塊圖。請參照圖1，馬達轉子位置偵測裝置1包含初始位置檢測電路11及磁場導向控制電路12。馬達轉子位置偵測裝置1可通過驅動電路3以控制馬達2轉動。馬達2係適於磁場導向控制(Field Oriented Control, FOC)，馬達轉子位置偵測裝置1具有前述之磁場導向控制功能。在一實施例中，馬達2可為直流無刷馬達(Brushless DC Motor, BLDC)或永磁同步馬達(permanent-magnet synchronous motor, PMSM)。驅動電路3是馬達2的製造商所設計，其功能是將馬達轉子位置偵測裝置1傳送的驅動訊號轉成馬達2可讀的訊號，藉以驅動馬達3轉動。FIG. 1 is a functional block diagram of an embodiment of the motor rotor position detection device 1 and the motor 2 controlled by the motor rotor position detection device 1 according to the present invention. Please refer to FIG. 1, the motor rotor position detecting device 1 includes an initial position detecting circuit 11 and a magnetic field guiding control circuit 12. The motor rotor position detection device 1 can control the rotation of the motor 2 through the driving circuit 3. The motor 2 is suitable for Field Oriented Control (FOC), and the motor rotor position detection device 1 has the aforementioned magnetic field-oriented control function. In an embodiment, the motor 2 may be a brushless DC motor (BLDC) or a permanent-magnet synchronous motor (PMSM). The driving circuit 3 is designed by the manufacturer of the motor 2 and its function is to convert the driving signal transmitted by the motor rotor position detection device 1 into a signal readable by the motor 2 to drive the motor 3 to rotate.

請繼續參考圖1。初始位置檢測電路11耦接磁場導向控制電路12，磁場導向控制電路12耦接馬達2。磁場導向控制電路12可決定前述控制馬達2之轉子（圖1未示）轉矩方向或是定子（圖1未示）產生之磁場方向。在馬達2之轉子轉動之前，初始位置檢測電路11可在一個使用者所設定的預設時間區間內將所有測試指令產生完成，預設時間區間一般是5~15毫秒(ms)。測試指令包含電流指令（具有複數直軸測試電流指令S1與複數個交軸測試電流指令S3），以及複數個預設角度θ2。直軸測試電流指令S1從輸出端P2發出，交軸測試電流指令S3從輸出端P1發出，預設角度θ2從輸出端P3發出，且此三個訊號（直軸測試電流指令S1、交軸測試電流指令S3與預設角度θ2）都具有相同的週期。Please continue to refer to Figure 1. The initial position detection circuit 11 is coupled to the magnetic field guiding control circuit 12, and the magnetic field guiding control circuit 12 is coupled to the motor 2. The magnetic field guiding control circuit 12 can determine the torque direction of the rotor (not shown in FIG. 1) of the aforementioned control motor 2 or the direction of the magnetic field generated by the stator (not shown in FIG. 1). Before the rotor of the motor 2 rotates, the initial position detection circuit 11 can generate all test commands within a preset time interval set by the user, which is generally 5-15 milliseconds (ms). The test commands include current commands (with a plurality of direct-axis test current commands S1 and a plurality of quadrature-axis test current commands S3), and a plurality of preset angles θ2. The direct axis test current command S1 is sent from the output terminal P2, the quadrature axis test current command S3 is sent from the output terminal P1, the preset angle θ2 is sent from the output terminal P3, and the three signals (direct axis test current command S1, quadrature axis test The current command S3 and the preset angle θ2) have the same cycle.

請先參考圖3A-3D。其中，初始位置檢測電路11可產生六個直軸測試電流指令S1及六個不相同之預設角度θ2，另外，交軸測試電流指令S3在本實施例中都是0A（安培）。初始位置檢測電路11可在8毫秒（預設的時間區間）內發送完成所有測試指令。六個直軸測試電流指令S1分別占有六個週期時間（週期1至週期6），且週期1至週期6可都是1.3毫秒。Please refer to Figure 3A-3D first. Among them, the initial position detection circuit 11 can generate six direct-axis test current commands S1 and six different preset angles θ2. In addition, the quadrature-axis test current commands S3 are all 0A (amperes) in this embodiment. The initial position detection circuit 11 can send and complete all test commands within 8 milliseconds (a preset time interval). The six direct-axis test current commands S1 respectively occupy six cycle times (cycle 1 to cycle 6), and cycle 1 to cycle 6 can all be 1.3 milliseconds.

另外，處在同一週期時間內的訊號是命名同一個序數，例如在週期1中的直軸測試電流指令S1係命名為「第一直軸測試電流指令」，而對應同在週期1中的之預設角度θ2係命名為「第二預設角度」；而在週期2中的直軸測試電流指令S1與預設角度θ2係分別命名為「第二直軸測試電流指令」與「第二預設角度」，依此類推。所謂對應指的是在同一週期中產生的，或是處理與生成的訊號都在同一週期。In addition, the signals in the same cycle time are named the same ordinal. For example, the direct axis test current command S1 in cycle 1 is named "the first direct axis test current command", and corresponds to the same number in cycle 1. The preset angle θ2 is named "the second preset angle"; and the direct axis test current command S1 and the preset angle θ2 in cycle 2 are named "the second direct axis test current command" and the "second preset angle" respectively. Set the angle", and so on. The so-called correspondence refers to the signals generated in the same cycle, or the signals processed and generated are in the same cycle.

後續請參考圖2，圖2為根據本案之適於馬達2之馬達轉子位置偵測方法之一實施例之流程圖。請一併參考圖1與圖3A-3D，初始位置檢測電路11係在馬達2轉動前之預設時間區間內，發送測試指令（步驟S01）至磁場導向控制電路12，磁場導向控制電路12在預設時間區間內接收測試指令，並根據測試指令產生可控制馬達2轉動之回授電流S2（步驟S02），並且，磁場導向控制電路12係根據測試指令中的每一直軸測試電流指令S1產生對應的一回授電流S2。於是，根據直軸測試電流指令S1、交軸測試電流指令S3及對應的不同預設角度θ2，磁場導向控制電路12產生具有不同電流峰值之複數回授電流S2。並且，因為磁場導向控制電路12產生每一個回授電流S2的響應時間(Response time)為100微秒(us)等級，其為可忽略之數量等級。也就是說，回授電流S2與直軸測試電流指令S1可幾乎稱為「同時產生」。Please refer to FIG. 2, which is a flowchart of an embodiment of the motor rotor position detection method suitable for the motor 2 according to the present application. Please refer to Figure 1 and Figures 3A-3D together. The initial position detection circuit 11 sends a test command (step S01) to the magnetic field guiding control circuit 12 during the preset time interval before the motor 2 rotates. The test command is received within the preset time interval, and the feedback current S2 that can control the rotation of the motor 2 is generated according to the test command (step S02), and the magnetic field guiding control circuit 12 generates the test current command S1 for each axis in the test command Corresponding to a feedback current S2. Therefore, according to the direct-axis test current command S1, the quadrature-axis test current command S3 and the corresponding different preset angles θ2, the magnetic field guiding control circuit 12 generates a plurality of feedback currents S2 with different current peaks. Moreover, because the response time of each feedback current S2 generated by the magnetic field guiding control circuit 12 is 100 microseconds (us), which is a negligible magnitude. In other words, the feedback current S2 and the direct-axis test current command S1 can be almost called "simultaneous generation".

接著，初始位置檢測電路11自磁場導向控制電路12接收複數回授電流S2（步驟S03），初始位置檢測電路11擷取每一回授電流S2的峰值，以形成一峰值陣列，並且比較複數回授電流S2之間的峰值，以算出峰值陣列中的最大值元素（步驟S04），當初始位置檢測電路11算出峰值陣列中的最大值元素（即判斷出其中一電流峰值為最大）時，初始位置檢測電路11就會根據回授電流S2中的最大值，在馬達2轉動之前，從多個預設角度θ2對應出其中之一，並且作為初始角位置θ1後輸出（步驟S05），以驅使磁場導向控制電路12據以控制馬達2之轉動。並且，因為初始位置檢測電路11運算生成初始角位置θ1所需要的執行時間(turnaround time)可為2~8微秒等級，其為可忽略之數量等級，換言之，初始位置檢測電路11可快速地計算出初始角位置θ1。Next, the initial position detection circuit 11 receives a plurality of feedback currents S2 from the magnetic field guiding control circuit 12 (step S03). The initial position detection circuit 11 captures the peak value of each feedback current S2 to form a peak value array, and compares the plurality of returns The peak value between the current S2 is calculated to calculate the maximum element in the peak array (step S04). When the initial position detection circuit 11 calculates the maximum element in the peak array (that is, it is determined that one of the current peaks is the largest), the initial According to the maximum value of the feedback current S2, the position detection circuit 11 corresponds to one of the preset angles θ2 before the motor 2 rotates, and outputs it as the initial angular position θ1 (step S05) to drive The magnetic field guiding control circuit 12 controls the rotation of the motor 2 accordingly. Moreover, because the turnaround time required for the initial position detection circuit 11 to generate the initial angular position θ1 can be in the order of 2 to 8 microseconds, which is a negligible order of magnitude. In other words, the initial position detection circuit 11 can quickly The initial angular position θ1 is calculated.

請參考圖1與圖3A-3D，磁場導向控制電路12根據六個直軸測試電流指令S1及六個預設角度θ2產生六個具有不同電流峰值之回授電流S2，後續初始位置檢測電路11中的處理電路113擷取六個回授電流S2（單位可為安培），而形成峰值陣列X={3,2,4,6,5,2}，並算出峰值陣列X中的最大值元素(element)為6，接著，因為此最大值6是第四回授電流，屬於週期4，因此初始位置檢測電路11中的處理電路113就會「對應」出同在週期4的第四預設角度（即300度），並將此第四預設角度當成初始角位置θ1後輸出，以讓馬達2運轉後，磁場導向控制電路12係根據轉子初始角位置θ1為300度之馬達2進行後續轉動控制。1 and 3A-3D, the magnetic field guiding control circuit 12 generates six feedback currents S2 with different current peaks according to the six direct-axis test current commands S1 and six preset angles θ2, and the subsequent initial position detection circuit 11 The processing circuit 113 in S2 extracts six feedback currents S2 (units can be amperes) to form a peak array X={3,2,4,6,5,2}, and calculates the maximum element in the peak array X (element) is 6. Next, because the maximum value of 6 is the fourth feedback current, it belongs to cycle 4. Therefore, the processing circuit 113 in the initial position detection circuit 11 will "correspond" to the fourth preset in cycle 4. Angle (that is, 300 degrees), and output the fourth preset angle as the initial angular position θ1, so that the motor 2 runs, and the magnetic field guiding control circuit 12 performs follow-up according to the motor 2 whose rotor initial angular position θ1 is 300 degrees Rotation control.

因此，基於前述FOC控制架構在馬達2之轉子開始轉動之前先偵測轉子的初始角位置θ1，本案不需要為了偵測轉子初始角位置θ1，而在連接馬達2的驅動電流輸入線路上增加額外電流取樣電阻以及對應的放大器與數位類比轉換電路，因此可節省額外的硬體成本，且設計者可彈性地調整直軸測試電流指令S1與交軸測試電流指令S3的數量以及各預設角度θ2的角度值，以提升馬達轉子位置偵測裝置1判斷出轉子的初始角位置θ1的精確度，降低轉子的初始角位置θ1誤判之情形發生，進而避免馬達2在啟動上發生非預期的運轉狀況。Therefore, based on the aforementioned FOC control architecture, the initial angular position θ1 of the rotor is detected before the rotor of the motor 2 starts to rotate. In this case, there is no need to add an additional drive current input line to the motor 2 to detect the initial angular position θ1 of the rotor. The current sampling resistor and the corresponding amplifier and digital-to-analog conversion circuit can save additional hardware costs, and the designer can flexibly adjust the number of direct-axis test current commands S1 and quadrature-axis test current commands S3 and each preset angle θ2 In order to improve the accuracy of the motor rotor position detection device 1 to determine the initial angular position θ1 of the rotor, reduce the occurrence of misjudgment of the initial angular position θ1 of the rotor, thereby avoiding unexpected operating conditions of the motor 2 at startup .

在一實施例中，直軸測試電流指令S1係為電流脈衝訊號，初始位置檢測電路11可根據馬達2的規格決定直軸測試電流指令S1與交軸測試電流指令S3的電流值，且初始位置檢測電路11可接收輸入之高位準時間T1與低位準時間T2，以調整直軸測試電流指令S1的週期與占空比(Duty Cycle)。舉例來說，以圖3A為例，初始位置檢測電路11可產生電流值皆為5安培的六個直軸測試電流指令S1，且如圖3A所示，六個直軸測試電流指令S1都具有相同的高位準時間T1與低位準時間T2，以讓六個直軸測試電流指令S1具有相同的週期與占空比。In one embodiment, the direct-axis test current command S1 is a current pulse signal, and the initial position detection circuit 11 can determine the current values of the direct-axis test current command S1 and quadrature-axis test current command S3 according to the specifications of the motor 2, and the initial position The detection circuit 11 can receive the input high level time T1 and low level time T2 to adjust the cycle and the duty cycle of the direct-axis test current command S1. For example, taking FIG. 3A as an example, the initial position detection circuit 11 can generate six direct-axis test current commands S1 with current values of 5 amperes, and as shown in FIG. 3A, all six direct-axis test current commands S1 have The high level time T1 and the low level time T2 are the same, so that the six direct-axis test current commands S1 have the same cycle and duty cycle.

基於上述，請參考圖2，在步驟S01中，初始位置檢測電路11可在每一週期中產生一個直軸測試電流指令S1，初始位置檢測電路11可在六個週期時間內產生六個直軸測試電流指令S1及六個預設角度θ2，即前述之預設時間區間係為六個週期時間的總和，使磁場導向控制電路12在六個週期中之各週期中根據各直軸測試電流指令S1輸出對應的回授電流S2。初始位置檢測電路11經過六個週期之後即判斷出轉子的初始角位置θ1。Based on the above, please refer to Fig. 2. In step S01, the initial position detection circuit 11 can generate a direct-axis test current command S1 in each cycle, and the initial position detection circuit 11 can generate six direct-axis test currents within six cycles. The test current command S1 and the six preset angles θ2, that is, the aforementioned preset time interval is the sum of the six cycle times, so that the magnetic field guide control circuit 12 will test the current according to the direct-axis test current commands in each of the six cycles. S1 outputs the corresponding feedback current S2. The initial position detection circuit 11 determines the initial angular position θ1 of the rotor after six cycles.

在一實施例中，為提升初始位置檢測電路11算出之轉子的初始角位置θ1之精確度，初始位置檢測電路11於相鄰兩個週期所發送的兩個預設角度θ2之間的角度差值，至少大於或等於一使用者設定之預設值，預設值可為大於或等於1度，且較佳地，此預設值為180度，如此可避免因測試指令中的兩個預設角度θ2之角度差值過小，而造成因磁滯而產生之不精確之回授電流S2，讓初始位置檢測電路11誤判回授電流S2的電流峰值而誤判轉子的初始角位置θ1。In one embodiment, in order to improve the accuracy of the initial angular position θ1 of the rotor calculated by the initial position detection circuit 11, the angle difference between the two preset angles θ2 sent by the initial position detection circuit 11 in two adjacent periods The value is at least greater than or equal to a preset value set by the user. The preset value can be greater than or equal to 1 degree, and preferably, the preset value is 180 degrees, which can avoid the two preset values in the test command. Assuming that the angle difference of the angle θ2 is too small, resulting in an inaccurate feedback current S2 due to hysteresis, the initial position detection circuit 11 misjudges the current peak value of the feedback current S2 and misjudges the initial angular position θ1 of the rotor.

詳細來看，請參考圖3B，以六個直軸測試電流指令S1所對應之第一預設角度至第六預設角度等六個預設角度θ2，依序為0度、180度、120度、300度、240度、60度，可知在相鄰兩個週期所發送的兩個預設角度θ2之間的差至少大於或等於為60度之預設值。較佳地，此預設值係為一個角度組合，即180度與60度，例如第一預設角度與第二預設角度之間的角度差值為180度，第二預設角度與第三預設角度之間的角度差值為60度，第三預設角度與第四預設角度之間的角度差值為180度，第四預設角度與第五預設角度之間的角度差值為60度，第五預設角度與第六預設角度之間的角度差值為180度。據此，可依不同時間產生的兩兩預設角度θ2之間盡可能地有較大的差值，以避免初始位置檢測電路11誤判轉子的初始角位置θ1。For details, please refer to Figure 3B. Six preset angles θ2 corresponding to the first preset angle to the sixth preset angle corresponding to the six direct-axis test current commands S1 are 0 degrees, 180 degrees, and 120 degrees. Degrees, 300 degrees, 240 degrees, 60 degrees, it can be seen that the difference between the two preset angles θ2 sent in two adjacent periods is at least greater than or equal to the preset value of 60 degrees. Preferably, the preset value is a combination of angles, namely 180 degrees and 60 degrees, for example, the angle difference between the first preset angle and the second preset angle is 180 degrees, and the second preset angle and the first The angle difference between the three preset angles is 60 degrees, the angle difference between the third preset angle and the fourth preset angle is 180 degrees, and the angle between the fourth preset angle and the fifth preset angle The difference is 60 degrees, and the angle difference between the fifth preset angle and the sixth preset angle is 180 degrees. Accordingly, there can be as large a difference as possible between the two preset angles θ2 generated at different times, so as to prevent the initial position detection circuit 11 from misjudgeting the initial angular position θ1 of the rotor.

如圖1所示，因控制馬達2轉動仍需要驅動電路3，驅動電路3耦接磁場導向控制電路12與馬達2。磁場導向控制電路12包含交軸電流合併電路121、直軸電流合併電路122、控制電路123、逆派克轉換(Inverse Park Transform)計算電路124、向量產生器125、克拉克轉換(Clarke Transform)計算電路126以及派克轉換(Park Transform)計算電路127。其中，交軸電流合併電路121、直軸電流合併電路122、逆派克轉換計算電路124及派克轉換計算電路127耦接初始位置檢測電路11。控制電路123、逆派克轉換計算電路124、向量產生器125依序耦接在交軸電流合併電路121與驅動電路3之間，且控制電路123、逆派克轉換計算電路124、向量產生器125耦接在直軸電流合併電路122與驅動電路3之間。克拉克轉換計算電路126耦接驅動電路3與馬達2。派克轉換計算電路127耦接在克拉克轉換計算電路126與交軸電流合併電路121之間，且耦接在克拉克轉換計算電路126與直軸電流合併電路122之間。初始位置檢測電路11包含輸出端P1、P2、P3、P4，輸出端P1耦接交軸電流合併電路121，輸出端P2耦接直軸電流合併電路122，輸出端P3耦接派克轉換計算電路127及逆派克轉換計算電路124。As shown in FIG. 1, a driving circuit 3 is still needed to control the rotation of the motor 2, and the driving circuit 3 is coupled to the magnetic field guiding control circuit 12 and the motor 2. The magnetic field guiding control circuit 12 includes a quadrature axis current combining circuit 121, a direct axis current combining circuit 122, a control circuit 123, an Inverse Park Transform calculation circuit 124, a vector generator 125, and a Clarke Transform calculation circuit 126 And Park Transform calculation circuit 127. Among them, the quadrature axis current combining circuit 121, the direct axis current combining circuit 122, the inverse Parker transformation calculation circuit 124 and the Parker transformation calculation circuit 127 are coupled to the initial position detection circuit 11. The control circuit 123, the inverse Parker conversion calculation circuit 124, and the vector generator 125 are sequentially coupled between the quadrature axis current combining circuit 121 and the driving circuit 3, and the control circuit 123, the inverse Parker conversion calculation circuit 124, and the vector generator 125 are coupled It is connected between the direct-axis current combining circuit 122 and the driving circuit 3. The Clark conversion calculation circuit 126 is coupled to the driving circuit 3 and the motor 2. The Parker conversion calculation circuit 127 is coupled between the Clark conversion calculation circuit 126 and the quadrature axis current combining circuit 121, and is coupled between the Clark conversion calculation circuit 126 and the direct axis current combining circuit 122. The initial position detection circuit 11 includes output terminals P1, P2, P3, and P4. The output terminal P1 is coupled to the quadrature axis current combining circuit 121, the output terminal P2 is coupled to the direct axis current combining circuit 122, and the output terminal P3 is coupled to the Parker conversion calculation circuit 127. And the reverse Parker conversion calculation circuit 124.

後續請一併參考圖1至圖4。其中，在一個實施例中，於步驟S01中，初始位置檢測電路11的輸出端P1所輸出的交軸測試電流指令S3的電流值為0安培，並由初始位置檢測電路11的輸出端P2輸出直軸測試電流指令S1至磁場導向控制電路12，且初始位置檢測電路11的輸出端P3輸出複數預設角度θ2至逆派克轉換計算電路124及派克轉換計算電路127。接著，在步驟S02中，磁場導向控制電路12之交軸電流合併電路121自初始位置檢測電路11的輸出端P1接收交軸測試電流指令S3，且自派克轉換計算電路127接收交軸回授電流S4（在馬達2之轉子轉動之前，交軸回授電流S4之電流值可具有一個初始值，且前述之初始值可為零）（步驟S021），交軸電流合併電路121將交軸測試電流指令S3及交軸回授電流S4合併後輸出。並且，以圖3A-3D為例，直軸電流合併電路122在開發者指定的六個週期中，自初始位置檢測電路11的輸出端P2接收六個直軸測試電流指令S1，且自派克轉換計算電路127接收為直軸回授電流之回授電流S2（在馬達2之轉子轉動之前，回授電流S2之電流值可具有一初始值，且前述之初始值可為零）（步驟S021），直軸電流合併電路122將直軸測試電流指令S1及回授電流S2合併後輸出。Please refer to Figure 1 to Figure 4 in the follow-up. Wherein, in one embodiment, in step S01, the current value of the quadrature axis test current command S3 output by the output terminal P1 of the initial position detection circuit 11 is 0 ampere, and is output by the output terminal P2 of the initial position detection circuit 11 The direct-axis test current command S1 is sent to the magnetic field guiding control circuit 12, and the output terminal P3 of the initial position detection circuit 11 outputs a plurality of preset angles θ2 to the inverse Parker conversion calculation circuit 124 and the Parker conversion calculation circuit 127. Next, in step S02, the quadrature axis current combining circuit 121 of the magnetic field guiding control circuit 12 receives the quadrature axis test current command S3 from the output terminal P1 of the initial position detection circuit 11, and receives the quadrature axis feedback current from the Parker conversion calculation circuit 127 S4 (Before the rotor of the motor 2 rotates, the current value of the quadrature axis feedback current S4 can have an initial value, and the aforementioned initial value can be zero) (step S021), the quadrature axis current combining circuit 121 will test the quadrature axis current Command S3 and quadrature axis feedback current S4 are combined and output. And, taking FIGS. 3A-3D as an example, the direct-axis current combining circuit 122 receives six direct-axis test current commands S1 from the output terminal P2 of the initial position detection circuit 11 during the six cycles specified by the developer, and converts them from Parker. The calculation circuit 127 receives the feedback current S2 as the direct-axis feedback current (before the rotor of the motor 2 rotates, the current value of the feedback current S2 may have an initial value, and the aforementioned initial value may be zero) (step S021) , The direct-axis current combining circuit 122 combines the direct-axis test current command S1 and the feedback current S2 to output.

控制電路123在六個週期中的每一個週期，基於交軸電流合併電路121之輸出訊號及直軸電流合併電路122之輸出訊號產生對應為直流信號的直軸電壓訊號Vd及交軸電壓訊號Vq（步驟S022）。逆派克轉換計算電路124再於六個週期中的每一個週期根據直軸電壓訊號Vd、交軸電壓訊號Vq及初始位置檢測電路11於六個週期中發送的六個預設角度θ2基於式1.1執行逆派克轉換（步驟S023），以計算出各週期中對應於兩相靜止座標軸的兩交流電壓訊號Vα、Vβ。接著，向量產生器125於六個週期中的每一週期將交流電壓訊號Vα、Vβ進行空間向量脈波寬度調變，以控制三相所需之工作週期而輸出開關切換訊號Ta、Tb、Tc至包含反相器之驅動電路3（步驟S024），使驅動電路3於六個週期中的每一週期基於開關切換訊號Ta、Tb、Tc產生對應於三相靜止座標軸之三相交流電流Ia、Ib、Ic，即馬達驅動電流（步驟S025）以驅動馬達2之轉子轉動。

……(1.1) In each of the six cycles, the control circuit 123 generates a direct-axis voltage signal Vd and a quadrature-axis voltage signal Vq corresponding to the direct current signal based on the output signal of the quadrature-axis current combining circuit 121 and the output signal of the direct-axis current combining circuit 122 (Step S022). The reverse Parker conversion calculation circuit 124 then uses the direct-axis voltage signal Vd, the quadrature-axis voltage signal Vq, and the six preset angles θ2 sent by the initial position detection circuit 11 in six cycles in each of the six cycles, based on Equation 1.1 Perform reverse Parker transformation (step S023) to calculate the two AC voltage signals Vα and Vβ corresponding to the two-phase stationary coordinate axis in each cycle. Then, the vector generator 125 performs space vector pulse width modulation on the AC voltage signals Vα and Vβ in each of the six cycles to control the required duty cycle of the three phases and output switching signals Ta, Tb, Tc To the drive circuit 3 including the inverter (step S024), the drive circuit 3 generates three-phase AC currents Ia, Ib and Ic are the motor drive currents (step S025) to drive the rotor of the motor 2 to rotate.

……(1.1)

在馬達2之轉子轉動的同時，磁場導向控制電路12會擷取三相交流電流Ia、Ib、Ic，並透過其中的克拉克轉換計算電路126在六個週期中的每一個週期基於式1.2執行克拉克轉換（步驟S026），以將三相交流電流Ia、Ib、Ic轉換為對應兩相靜止座標軸之兩交流電流Iα、Iβ。派克轉換計算電路127在六個週期中的每一週期再執行派克轉換（步驟S027），以將交流電流Iα、Iβ及預設角度θ2基於式1.3將交流電流Iα、Iβ轉換為對應同步旋轉座標軸且為直流電流之交軸回授電流S4及回授電流S2，初始位置檢測電路11在步驟S03中即自派克轉換計算電路127接收對應於同步旋轉座標軸之d軸之六個回授電流S2，以判斷派克轉換計算電路127於預設時間區間內產生的六個回授電流S2中的哪一者具有最大的電流峰值，以由輸出端P4輸出轉子的初始角位置θ1。

……(1.2)

……(1.3) While the rotor of the motor 2 is rotating, the magnetic field guiding control circuit 12 will capture the three-phase AC currents Ia, Ib, Ic, and through the Clark conversion calculation circuit 126 in each of the six cycles to execute Clark based on formula 1.2 Conversion (step S026) to convert the three-phase AC currents Ia, Ib, and Ic into two AC currents Iα, Iβ corresponding to the two-phase stationary coordinate axis. The Parker conversion calculation circuit 127 performs Parker conversion in each of the six cycles (step S027) to convert the AC currents Iα, Iβ and the preset angle θ2 into corresponding synchronous rotation coordinate axes based on formula 1.3 It is the quadrature axis feedback current S4 and the feedback current S2 of the direct current. In step S03, the initial position detection circuit 11 receives the six feedback currents S2 corresponding to the d-axis of the synchronous rotation coordinate axis from the Parker conversion calculation circuit 127, To determine which of the six feedback currents S2 generated by the Parker conversion calculation circuit 127 within the preset time interval has the largest current peak value, the output terminal P4 outputs the initial angular position θ1 of the rotor.

……(1.2)

……(1.3)

最後，初始位置檢測電路11算出初始角位置θ1後，可再傳送至其他元件，而其他元件可再發送初始角位置θ1、及運轉時所需的直軸輸入電流命令與交軸輸入電流命令至磁場導向控制電路12，使磁場導向控制電路12據以控制馬達2轉動，進而避免馬達2在開始轉動時發生非預期的運轉狀況。Finally, after the initial position detection circuit 11 calculates the initial angular position θ1, it can be transmitted to other components, and other components can send the initial angular position θ1 and the direct axis input current command and quadrature axis input current command required during operation to The magnetic field guiding control circuit 12 enables the magnetic field guiding control circuit 12 to control the rotation of the motor 2 accordingly, thereby avoiding unexpected operating conditions when the motor 2 starts to rotate.

直軸測試電流指令S1的數量與精確度有很大的關係。如圖3A所示，直軸測試電流指令S1的數量設定為六個時，代表將一個圓周（轉子軌跡）分成六定位點，定位點的精度是60度。在其他實施例中，直軸測試電流指令S1的數量範圍為二至三百六十個，較佳為二個至十二個，最佳為六個。舉例而言，直軸測試電流指令S1的數量設定為十個時，代表將一個圓周（轉子軌跡）分成十定位點，定位點的精度是36度，更為精確。馬達轉子位置偵測裝置1之設計者可依據欲得到的初始角位置θ1之精度，自行設計直軸測試電流指令S1與對應之預設角度θ2的數量。The number of direct-axis test current commands S1 has a great relationship with accuracy. As shown in Figure 3A, when the number of direct-axis test current commands S1 is set to six, it means that a circle (rotor track) is divided into six positioning points, and the accuracy of the positioning points is 60 degrees. In other embodiments, the number of the direct-axis test current commands S1 ranges from two to three hundred and sixty, preferably two to twelve, and most preferably six. For example, when the number of direct-axis test current commands S1 is set to ten, it means that a circle (rotor track) is divided into ten positioning points. The positioning point accuracy is 36 degrees, which is more accurate. The designer of the motor rotor position detection device 1 can design the number of the direct-axis test current command S1 and the corresponding preset angle θ2 according to the desired accuracy of the initial angular position θ1.

在一實施例中，驅動電路3包含之反相器之電路結構可參照圖5，由圖5可知，在驅動電路3中並不需要設置任何的電阻以取樣三相交流電流Ia、Ib、Ic，且不需要為了取樣三相交流電流Ia、Ib、Ic而額外設置連接於取樣電流用電阻之放大器或是數位類比轉換器(DAC)，因此進一步節省設置額外的硬體成本與電路空間。In one embodiment, the circuit structure of the inverter included in the driving circuit 3 can be referred to FIG. 5. As can be seen from FIG. 5, there is no need to set any resistors in the driving circuit 3 to sample the three-phase AC currents Ia, Ib, Ic. , And there is no need to additionally provide amplifiers or digital-to-analog converters (DACs) connected to the sampling current resistors for sampling the three-phase alternating currents Ia, Ib, and Ic, thus further saving additional hardware costs and circuit space.

在一實施例中，請合併參照圖1及圖6，初始位置檢測電路11更包含電流產生器111、角度產生器112及處理電路113，處理電路113耦接電流產生器111及角度產生器112。處理電路113可基於高位準時間T1及低位準時間T2控制電流產生器111在預設時間區間內之各週期輸出複數直軸測試電流指令S1，且處理電路113可控制角度產生器112在預設時間區間內之各週期輸出對應每一直軸測試電流指令S1之預設角度θ2。另外，處理電路113可自派克轉換計算電路127接收回授電流S2，並且判斷各週期中所接收之回授電流S2的電流峰值，以判斷預設時間區間內中哪一回授電流S2的電流峰值為最大，並輸出對應之初始角位置θ1。處理電路113可基於有限狀態機(FSM)實現控制電流產生器111、角度產生器112及執行初始角位置θ1之輸出。在一實施例中，控制電路123可為適用於直軸電流以及交軸電流的閉迴路控制器，例如PID控制器。In one embodiment, please refer to FIGS. 1 and 6 together. The initial position detection circuit 11 further includes a current generator 111, an angle generator 112, and a processing circuit 113. The processing circuit 113 is coupled to the current generator 111 and the angle generator 112. . The processing circuit 113 can control the current generator 111 to output a plurality of direct-axis test current commands S1 in each cycle within the preset time interval based on the high level time T1 and the low level time T2, and the processing circuit 113 can control the angle generator 112 to preset Each cycle output in the time interval corresponds to the preset angle θ2 of each linear axis test current command S1. In addition, the processing circuit 113 may receive the feedback current S2 from the Parker conversion calculation circuit 127, and determine the current peak value of the feedback current S2 received in each cycle to determine which current of the feedback current S2 in the preset time interval The peak value is the maximum, and the corresponding initial angular position θ1 is output. The processing circuit 113 can control the current generator 111, the angle generator 112 and perform the output of the initial angular position θ1 based on a finite state machine (FSM). In one embodiment, the control circuit 123 may be a closed loop controller suitable for direct-axis current and quadrature-axis current, such as a PID controller.

另外，初始角位置θ1與預設角度θ2所在的值域都是處在由初始位置電路11、逆派克轉換計算電路124與派克轉換計算電路127三者所共同定義出的之運算用的虛擬向量空間(virtual vector space)（此向量空間係稱為定義域）。因此，在實施例中，初始位置檢測電路11所輸出之初始角位置θ1可以輸出給逆派克轉換計算電路124進行馬達2正式運轉時的計算。在另一實施例中，使用者可將輸出端P4外接一個轉換電路（圖1未顯示），以將此虛擬向量空間轉換成實體位置空間(real space)，讓初始角位置θ1轉換成實體空間中的三維座標後，再進行後續處理。In addition, the value range of the initial angular position θ1 and the preset angle θ2 are all virtual vectors for calculations defined by the initial position circuit 11, the inverse Parker conversion calculation circuit 124, and the Parker conversion calculation circuit 127. Space (virtual vector space) (this vector space system is called domain). Therefore, in the embodiment, the initial angular position θ1 output by the initial position detection circuit 11 can be output to the inverse Parker conversion calculation circuit 124 for calculation during the actual operation of the motor 2. In another embodiment, the user can connect an external conversion circuit (not shown in Figure 1) to the output P4 to convert the virtual vector space into a real space, so that the initial angular position θ1 can be converted into a real space After the three-dimensional coordinates in, follow-up processing.

另外，初始位置檢測電路11及磁場導向控制電路12可以微控制器(MCU)或其他具有控制及資料運算能力之控制器來實現。設計者可使用圖1、圖5與圖6所揭露之架構製成晶片，或是利用圖2至圖4所揭露之控制方法，將之寫成程式碼後燒入廠商所提供的平台，以構成平台上的應用程式(Application)，此應用程式即可即時獲得馬達（轉子）初始位置。因為一般既有平台僅能用於控制馬達轉速，若有得知馬達初始位置需求，則須在額外設置硬體電路。若在使用一般既有平台且不想額外設置裝置的狀況下想得知初始位置，只需使用或是利用圖2至圖4所揭露之控制方法所形成的應用程式再結合馬達轉子位置偵測裝置1即可得知馬達轉子初始位置，非常方便。In addition, the initial position detection circuit 11 and the magnetic field guidance control circuit 12 can be implemented by a microcontroller (MCU) or other controllers with control and data computing capabilities. The designer can use the architecture disclosed in Figure 1, Figure 5 and Figure 6 to make a chip, or use the control method disclosed in Figure 2 to Figure 4 to write the program code and burn it into the platform provided by the manufacturer to form Application on the platform, this application can obtain the initial position of the motor (rotor) in real time. Because generally the existing platform can only be used to control the motor speed, if the initial position of the motor is required, additional hardware circuits must be installed. If you want to know the initial position when using a general existing platform and do not want to install additional devices, you only need to use or use the application program formed by the control method disclosed in Figures 2 to 4 combined with the motor rotor position detection device 1. You can know the initial position of the motor rotor, which is very convenient.

綜上所述，根據本案之馬達轉子位置偵測裝置之一實施例，初始位置檢測電路可取代一般市售之轉子位置感測器，且初始位置檢測電路可良好地結合於磁場導向控制電路而偵測出馬達轉子的初始角位置，馬達轉子位置偵測裝置之設計者不需額外調整磁場導向控制電路，當以微控制器實現馬達轉子位置偵測裝置時，設計者不需修改磁場導向控制電路所執行之磁場導向控制之程式碼。To sum up, according to an embodiment of the motor rotor position detection device of the present invention, the initial position detection circuit can replace the general commercially available rotor position sensor, and the initial position detection circuit can be well combined with the magnetic field guidance control circuit. The initial angular position of the motor rotor is detected. The designer of the motor rotor position detection device does not need to adjust the magnetic field guidance control circuit. When the motor rotor position detection device is implemented by a microcontroller, the designer does not need to modify the magnetic field guidance control. The code of the magnetic field-oriented control executed by the circuit.

並且，設計者可彈性地調整測試電流指令的數量以及各預設角度的角度值，以降低轉子的初始角位置誤判之情形發生，且在馬達的總線電流輸入線路上不需額外增加電流取樣電阻以及對應的放大器與數位類比轉換電路，可進一步節省額外的硬體成本。In addition, the designer can flexibly adjust the number of test current commands and the angle value of each preset angle to reduce the misjudgment of the initial angular position of the rotor, and there is no need to add additional current sampling resistors on the motor bus current input line And the corresponding amplifier and digital-to-analog conversion circuit can further save additional hardware costs.

雖然本案已以實施例揭露如上然其並非用以限定本案，任何所屬技術領域中具有通常知識者，在不脫離本案之精神和範圍內，當可作些許之更動與潤飾，故本案之保護範圍當視後附之專利申請範圍所界定者為準。Although this case has been disclosed by the examples above, it is not intended to limit the case. Anyone with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the case. Therefore, the scope of protection of this case The scope of the patent application attached hereafter shall prevail.

1:馬達轉子位置偵測裝置 11:初始位置檢測電路 111:電流產生器 112:角度產生器 113:處理電路 12:磁場導向控制電路 121:交軸電流合併電路 122:直軸電流合併電路 123:控制電路 124:逆派克轉換計算電路 125:向量產生器 126:克拉克轉換計算電路 127:派克轉換計算電路 2:馬達 3:驅動電路 S1:直軸測試電流指令 S2:回授電流 S3:交軸測試電流指令 S4:交軸回授電流 Vd:直軸電壓訊號 Vq:交軸電壓訊號 Vα:交流電壓訊號 Vβ:交流電壓訊號 Ia:三相交流電流 Ib:三相交流電流 Ic:三相交流電流 Iα:交流電流 Iβ:交流電流 T1:高位準時間 T2:低位準時間 Ta:開關切換訊號 Tb:開關切換訊號 Tc:開關切換訊號 θ1:初始角位置 θ2:預設角度 P1~P4:輸出端 S01~S05:步驟 S021~S027:步驟 1: Motor rotor position detection device 11: Initial position detection circuit 111: current generator 112: Angle generator 113: Processing circuit 12: Magnetic field guide control circuit 121: Quadrature axis current combining circuit 122: Direct axis current combining circuit 123: control circuit 124: Reverse Parker conversion calculation circuit 125: Vector generator 126: Clark conversion calculation circuit 127: Parker conversion calculation circuit 2: motor 3: drive circuit S1: Direct axis test current command S2: Feedback current S3: Quadrature axis test current command S4: Quadrature axis feedback current Vd: Direct axis voltage signal Vq: Quadrature axis voltage signal Vα: AC voltage signal Vβ: AC voltage signal Ia: Three-phase AC current Ib: Three-phase AC current Ic: Three-phase AC current Iα: AC current Iβ: AC current T1: High level time T2: Low level time Ta: switch signal Tb: switch signal Tc: switch signal θ1: Initial angular position θ2: preset angle P1~P4: output terminal S01~S05: Step S021~S027: steps

[圖1] 為根據本案之馬達轉子位置偵測裝置以及馬達轉子位置偵測裝置所控制之馬達之一實施例之功能方塊圖。 [圖2] 為根據本案之適於馬達之馬達轉子位置偵測方法之一實施例之流程圖。 [圖3A-3D] 為圖1中之測試電流指令、預設角度、回授電流及初始角位置之一實施例之波形圖。 [圖4] 為圖2中之一步驟之一實施例之流程圖。 [圖5] 為圖1中之驅動電路之一實施例之電路圖。 [圖6] 為圖1中之初始位置檢測電路之一實施例之功能方塊圖。 [Figure 1] is a functional block diagram of an embodiment of the motor rotor position detection device and the motor controlled by the motor rotor position detection device according to the present invention. [Figure 2] is a flow chart of an embodiment of a motor rotor position detection method suitable for a motor according to the present application. [FIGS. 3A-3D] are waveform diagrams of one embodiment of test current command, preset angle, feedback current and initial angular position in FIG. 1. [Figure 4] is a flowchart of an embodiment of one of the steps in Figure 2. [Fig. 5] is a circuit diagram of an embodiment of the driving circuit in Fig. 1. [Fig. [Fig. 6] is a functional block diagram of an embodiment of the initial position detection circuit in Fig. 1.

1:馬達轉子位置偵測裝置 1: Motor rotor position detection device

11:初始位置檢測電路 11: Initial position detection circuit

12:磁場導向控制電路 12: Magnetic field guide control circuit

121:交軸電流合併電路 121: Quadrature axis current combining circuit

122:直軸電流合併電路 122: Direct axis current combining circuit

123:控制電路 123: control circuit

124:逆派克轉換計算電路 124: Reverse Parker conversion calculation circuit

125:向量產生器 125: Vector generator

126:克拉克轉換計算電路 126: Clark conversion calculation circuit

127:派克轉換計算電路 127: Parker conversion calculation circuit

2:馬達 2: motor

3:驅動電路 3: drive circuit

S1:直軸測試電流指令 S1: Direct axis test current command

S2:回授電流 S2: Feedback current

S3:交軸測試電流指令 S3: Quadrature axis test current command

S4:交軸回授電流 S4: Quadrature axis feedback current

Vd:直軸電壓訊號 Vd: Direct axis voltage signal

Vq:交軸電壓訊號 Vq: Quadrature axis voltage signal

Vα:交流電壓訊號 Vα: AC voltage signal

Vβ:交流電壓訊號 Vβ: AC voltage signal

Ia:三相交流電流 Ia: Three-phase AC current

Ib:三相交流電流 Ib: Three-phase AC current

Ic:三相交流電流 Ic: Three-phase AC current

Iα:交流電流 Iα: AC current

Iβ:交流電流 Iβ: AC current

T1:高位準時間 T1: High level time

T2:低位準時間 T2: Low level time

Ta:開關切換訊號 Ta: switch signal

Tb:開關切換訊號 Tb: switch signal

Tc:開關切換訊號 Tc: switch signal

θ1:初始角位置 θ1: Initial angular position

θ2:預設角度 θ2: preset angle

P1~P4:輸出端 P1~P4: output terminal

Claims

一種馬達轉子位置偵測裝置，包含：一磁場導向控制電路，係用於一預設時間區間內接收一測試指令，並根據該測試指令產生一回授電流，其中，該測試指令包含一測試電流指令與一預設角度；以及一初始位置檢測電路，係用於發送該測試指令給該磁場導向控制電路，及發出該馬達轉子之一初始角位置，該初始位置檢測電路耦接該磁場導向控制電路並包含：一電流產生器，用於輸出該測試電流指令；一角度產生器，用於輸出該預設角度；以及一處理電路，耦接該電流產生器與該角度產生器，用於擷取該回授電流的峰值，以形成一峰值陣列，並運算出該峰值陣列中元素的一最大值，並根據該最大值從該預設角度中對應出其中之一，形成該初始角位置，且於一馬達轉動前，發送該初始角位置至該磁場導向控制電路，藉以控制該馬達轉動。 A motor rotor position detection device, including: A magnetic field-oriented control circuit is used to receive a test command within a preset time interval and generate a feedback current according to the test command, wherein the test command includes a test current command and a preset angle; and An initial position detection circuit is used to send the test command to the magnetic field guidance control circuit and an initial angular position of the motor rotor. The initial position detection circuit is coupled to the magnetic field guidance control circuit and includes: A current generator for outputting the test current command; An angle generator for outputting the preset angle; and A processing circuit, coupled to the current generator and the angle generator, is used to capture the peak value of the feedback current to form a peak value array, and calculate a maximum value of the elements in the peak value array, and according to the maximum value The value corresponds to one of the preset angles to form the initial angular position, and before a motor rotates, the initial angular position is sent to the magnetic field guiding control circuit to control the motor to rotate.

如請求項1所述之馬達轉子位置偵測裝置，其中，該初始位置檢測電路係於複數週期中發送該測試指令，並且，於相鄰兩個週期發出之兩個該預設角度之間的差值係大於或等於一預設值。The motor rotor position detection device according to claim 1, wherein the initial position detection circuit sends the test command in a plurality of cycles, and the difference between the two preset angles issued in two adjacent cycles The difference is greater than or equal to a preset value.

如請求項2所述之馬達轉子位置偵測裝置，其中，該預設值為大於或等於1度。The motor rotor position detection device according to claim 2, wherein the preset value is greater than or equal to 1 degree.

如請求項1所述之馬達轉子位置偵測裝置，其中，該磁場導向控制電路包含：一直軸電流合併電路，耦接該初始位置檢測電路，該直軸電流合併電路用以接收該測試電流指令；及一交軸電流合併電路，耦接該初始位置檢測電路；其中，該測試電流指令係包含一高位準時間及一低位準時間之一電流脈衝訊號。 The motor rotor position detection device according to claim 1, wherein the magnetic field guiding control circuit includes: A straight-axis current combining circuit coupled to the initial position detection circuit, the straight-axis current combining circuit for receiving the test current command; and A quadrature axis current combining circuit coupled to the initial position detection circuit; The test current command includes a current pulse signal of a high level time and a low level time.

如請求項4所述之馬達轉子位置偵測裝置，其中該處理電路更接收該高位準時間及該低位準時間，以控制該電流產生器產生對應之該測試電流指令。The motor rotor position detecting device according to claim 4, wherein the processing circuit further receives the high level time and the low level time to control the current generator to generate the corresponding test current command.

如請求項4所述之馬達轉子位置偵測裝置，其中，該磁場導向控制電路更包含一派克轉換計算電路，耦接該直軸電流合併電路、該交軸電流合併電路及該初始位置檢測電路，該派克轉換計算電路用於傳送該回授電流至該直軸電流合併電路與該初始位置檢測電路。The motor rotor position detection device according to claim 4, wherein the magnetic field guiding control circuit further includes a Parker conversion calculation circuit coupled to the direct-axis current combining circuit, the quadrature-axis current combining circuit and the initial position detection circuit , The Parker conversion calculation circuit is used to transmit the feedback current to the direct-axis current combining circuit and the initial position detection circuit.

如請求項4所述之馬達轉子位置偵測裝置，該磁場導向控制電路更包含：一派克轉換計算電路，耦接該初始位置檢測電路、該直軸電流合併電路及該交軸電流合併電路；及一逆派克轉換計算電路，耦接該初始位置檢測電路、該直軸電流合併電路及該交軸電流合併電路；其中，該角度產生器係輸出該預設角度至該派克轉換計算電路及該逆派克轉換計算電路，使該派克轉換計算電路據以產生該回授電流。 According to the motor rotor position detection device of claim 4, the magnetic field guiding control circuit further includes: A Parker conversion calculation circuit coupled to the initial position detection circuit, the direct-axis current combining circuit and the quadrature-axis current combining circuit; and An inverse Parker conversion calculation circuit, coupled to the initial position detection circuit, the direct-axis current combining circuit, and the quadrature-axis current combining circuit; Wherein, the angle generator outputs the predetermined angle to the Parker conversion calculation circuit and the reverse Parker conversion calculation circuit, so that the Parker conversion calculation circuit generates the feedback current accordingly.

如請求項1所述之馬達轉子位置偵測裝置，其中，該磁場導向控制電路包含一逆派克轉換計算電路，該處理電路係發送該初始角位置至該逆派克轉換計算電路，以計算該馬達之轉動控制。The motor rotor position detection device according to claim 1, wherein the magnetic field-oriented control circuit includes an inverse Parker conversion calculation circuit, and the processing circuit sends the initial angular position to the inverse Parker conversion calculation circuit to calculate the motor The rotation control.

如請求項1所述之馬達轉子位置偵測裝置，其中該磁場導向控制電路包含：一直軸電流合併電路，耦接該初始位置檢測電路，接收該測試電流指令；一交軸電流合併電路，耦接該初始位置檢測電路，接收為零之電流值；一逆派克轉換計算電路，耦接該初始位置檢測電路、該直軸電流合併電路及該交軸電流合併電路，接收來自該角度產生器之該預設角度；及一派克轉換計算電路，耦接該初始位置檢測電路、該直軸電流合併電路及該交軸電流合併電路，接收來自該角度產生器之該預設角度以產生該回授電流，並傳送該回授電流至該直軸電流合併電路與該處理電路。 The motor rotor position detection device according to claim 1, wherein the magnetic field guiding control circuit includes: A straight axis current combining circuit, coupled to the initial position detection circuit, and receiving the test current command; A quadrature axis current combining circuit, coupled to the initial position detection circuit, and receiving a zero current value; An inverse Parker conversion calculation circuit, coupled to the initial position detection circuit, the direct-axis current combining circuit, and the quadrature-axis current combining circuit, to receive the predetermined angle from the angle generator; and A Parker conversion calculation circuit, coupled to the initial position detection circuit, the direct-axis current combining circuit, and the quadrature-axis current combining circuit, receives the predetermined angle from the angle generator to generate the feedback current, and transmits the feedback Current is supplied to the direct-axis current combining circuit and the processing circuit.