WO2022242708A1

WO2022242708A1 - Motor starting method and readable storage medium

Info

Publication number: WO2022242708A1
Application number: PCT/CN2022/093772
Authority: WO
Inventors: 张毅鸣; 张榜; 孙责
Original assignee: 联合汽车电子有限公司
Priority date: 2021-05-21
Filing date: 2022-05-19
Publication date: 2022-11-24
Also published as: CN113364368A

Abstract

Provided are a motor starting method and a readable storage medium. A three-phase starting method comprising a rotor pre-positioning phase, an external synchronous open-loop acceleration phase, and an operation state switching phase is used. The method comprises: in the external synchronous open-loop acceleration phase, measuring a phase difference between a rotor and a stator, determining, according to the measurement result, whether a switching condition from the external synchronous open-loop acceleration phase to the operation state switching phase is satisfied, and if the switching condition is not satisfied, returning to the rotor pre-positioning phase to restart a motor and adjusting a motor startup parameter when the motor is restarted; and in the operation state switching phase, measuring a phase difference between the rotor and the stator, dynamically adjusting the phase difference between the rotor and the stator according to the measurement result, and determining, according to whether the number of adjustments exceeds a threshold, whether to return to the rotor pre-positioning phase to restart the motor. Compared with the prior art, the accuracy of determining the successful motor startup is improved, the restart time interval is also reduced, and the two startup time intervals can be shortened from 1 s to 50 ms.

Description

电机启动方法及可读存储介质Motor starting method and readable storage medium

技术领域technical field

本发明涉及汽车技术领域，特别涉及一种电机启动方法及可读存储介质。The invention relates to the technical field of automobiles, in particular to a method for starting a motor and a readable storage medium.

背景技术Background technique

图1为无位置传感器电机三段式启动控制原理图。无位置传感器电机，其换相时刻基于电机三相端电压采样判断反电动势过零点法。反电动势过零点检测的方法要求电机已达到一定的转速，因此零速到一定转速需要一个电机的启动阶段。通常采用“三段式”启动方案，即转子定位、外同步加速和运行状态切换至自同步运行。各阶段的转速变化趋势可参见图2。Figure 1 is a schematic diagram of the three-stage start-up control of a position sensorless motor. For position sensorless motors, the commutation time is based on the voltage sampling of the three-phase terminals of the motor to judge the zero-crossing method of the counter electromotive force. The method of detecting the zero-crossing point of the counter electromotive force requires that the motor has reached a certain speed, so a motor start-up phase is required to reach a certain speed from zero speed. A "three-stage" start-up scheme is usually adopted, that is, rotor positioning, external synchronous acceleration and switching of the operating state to self-synchronous operation. See Figure 2 for the variation trend of the rotational speed in each stage.

·转子预定位阶段(图2中①)：确定电机转子的初始位置，目的是静止时转子每次可以从一个固定的位置启动。Rotor pre-positioning stage (① in Figure 2): Determine the initial position of the motor rotor, the purpose is that the rotor can start from a fixed position each time when it is stationary.

小功率无刷直流电机在轻载条件下，一般采用磁制动转子定位方式。通过导通电机任意二相，其在电机内部形成的磁通就能在一定时间内将电机转子强行吸引到其磁通方向上。任意二组绕组上的通电时间和PWM(脉冲宽度调制)占空比可标定。Low-power brushless DC motors generally use magnetic brake rotor positioning under light load conditions. By conducting any two phases of the motor, the magnetic flux formed inside the motor can forcibly attract the motor rotor to the direction of its magnetic flux within a certain period of time. The conduction time and PWM (pulse width modulation) duty cycle on any two sets of windings can be calibrated.

·外同步开环加速阶段(图2中②)：人为的改变电机的外施电压或换相信号，使电机由静止逐步增加转速。·External synchronous open-loop acceleration stage (② in Figure 2): artificially change the applied voltage or commutation signal of the motor, so that the motor gradually increases its speed from standstill.

转子定位成功后，必须人为的改变电机的外施电压和换相信号来驱动电机做加速运动，目的是加速到反电动势强度能够被用来检测过零点要求的速度。通常在实际应用中，需要依据具体电机特性和负载设定加速曲线来控制换相信号的切换频率和PWM占空比大小。After the rotor is positioned successfully, the applied voltage and commutation signal of the motor must be artificially changed to drive the motor to accelerate. The purpose is to accelerate to the speed required by the strength of the back electromotive force to detect the zero crossing point. Usually in practical applications, it is necessary to set the acceleration curve according to the specific motor characteristics and load to control the switching frequency of the commutation signal and the PWM duty cycle.

·运行状态切换(图2中③)：达到要求的转速后，由外同步加速阶段切换到自同步电机闭环控制运行阶段。当电机通过外同步加速阶段达到一定的转速后，反电动势信号可以准确检测，通过判断其特征信号点(称为过零点)来触发电机换相的驱动方式来替代人为设定的换相频率，同时通过闭环对电流、转速、扭矩或位置等目标进行调节。这一步是关键也是比较难实现的一步，过早或过晚的切换易导致控制失步和启动失败，从而发生堵转或过流事件。·Operating state switching (③ in Figure 2): After reaching the required speed, switch from the external synchronous acceleration stage to the self-synchronous motor closed-loop control operation stage. When the motor reaches a certain speed through the external synchronous acceleration stage, the back electromotive force signal can be accurately detected, and the driving mode of commutation of the motor is triggered by judging its characteristic signal point (called zero-crossing point) to replace the artificially set commutation frequency. At the same time, targets such as current, speed, torque or position are regulated through a closed loop. This step is the key and difficult to achieve. Too early or too late switching will easily lead to out-of-step control and failure to start, resulting in stalled or over-current events.

现有技术方案多采用如下两种切换方法。一是通过离线标定确定可切换的电机转速，当达到这一转速时即可进行切换。另一种，通过试验检测出达到预定切换转速的时间，通过软件定时器计数到切换时间时即可进行切换。The existing technical solution mostly adopts the following two switching methods. One is to determine the switchable motor speed through offline calibration, and switch when it reaches this speed. The other is to detect the time to reach the predetermined switching speed through experiments, and switch when the software timer counts to the switching time.

可见，切换的成功率严重依赖离线标定和试验的精确性，考虑到电机和负载特性会受环境(供电电压和温度)影响，电机本体也有其差异性且只对特定负载特定工况较为适用。若切换不成功，则电机刚进入转速闭环后会发生过流或电机堵转。通常的策略是检测到异常后重新启动电机，通过多次尝试启动的方法来克服启动的不确定性。It can be seen that the success rate of switching depends heavily on the accuracy of offline calibration and testing. Considering that the characteristics of the motor and load will be affected by the environment (supply voltage and temperature), the motor body also has its own differences and is only suitable for specific loads and specific working conditions. If the switching is unsuccessful, overcurrent or motor stall will occur just after the motor enters the speed closed loop. The usual strategy is to restart the motor after detecting an abnormality, and overcome the uncertainty of starting by trying to start several times.

然而上述重启方法会存在四个不足之处：However, the above restart method has four disadvantages:

1、硬件损伤：因为是通过在闭环工作阶段检测发生过流或电机堵转故障来判定启动失败，每次因启动造成的过流和堵转都会给控制器硬件、电机和线束带来超设计工况的热和机械磨损，随着尝试启动次数的增加会加剧该损伤，影响寿命；1. Hardware damage: Because the startup failure is judged by detecting overcurrent or motor stall faults in the closed-loop working stage, each overcurrent and stall caused by startup will bring over-design to the controller hardware, motor and wiring harness The thermal and mechanical wear of the working condition will aggravate the damage with the increase of the number of attempts to start, and affect the life;

2、启动时间慢：因为过流或电机堵转会影响控制器硬件、电机和线束，所以每次重启的时间间隔不能太短，要给硬件预留时间散热。且每次尝试启动循环中都必须完整经历一次启动过程加上过流/堵转的诊断周期，造成每次尝试启动变得更慢；2. Slow start-up time: Because overcurrent or motor stalling will affect the controller hardware, motor and wiring harness, the time interval between each restart should not be too short, and time should be reserved for the hardware to dissipate heat. And every time you try to start the cycle, you must go through a complete start process plus the overcurrent/stall diagnosis cycle, which makes each attempt to start slower;

3、误诊断：因为是通过在闭环工作阶段检测发生过流或电机堵转故障来判定启动失败，该过流或电机堵转是由于电机控制失步造成，容易和真实发生过流或堵转事件混淆，给故障排查造成困扰；3. Misdiagnosis: because the startup failure is judged by detecting the occurrence of overcurrent or motor stall fault in the closed-loop working stage, the overcurrent or motor stall is caused by the out-of-step control of the motor, and it is easy and true to occur overcurrent or stall Events are confused, causing trouble for troubleshooting;

4、特定负载：因为启动参数是在特定负载和工况下标定产生且生命周期不变，只能支持有限的负载容差和负载变化。4. Specific load: Because the start-up parameters are calibrated under specific loads and working conditions and the life cycle remains unchanged, only limited load tolerances and load changes can be supported.

发明内容Contents of the invention

本发明的目的在于提供一种电机启动方法及可读存储介质，以解决现有技术中的一个或多个问题。The purpose of the present invention is to provide a method for starting a motor and a readable storage medium to solve one or more problems in the prior art.

基于上述思想，本发明提供一种电机启动方法，所述电机启动方法采用包括转子预定位阶段、外同步开环加速阶段以及运行状态切换阶段的三段式启动方法，包括：Based on the above idea, the present invention provides a motor starting method, which adopts a three-stage starting method including a rotor pre-positioning stage, an external synchronous open-loop acceleration stage, and an operating state switching stage, including:

在所述外同步开环加速阶段，检测转子与定子的相位差，并根据检测结果判断是否达到满足从所述外同步开环加速阶段至所述运行状态切换阶段的切换条件，若不满足，则返回至所述转子预定位阶段重启电机且重新启动时调整电机启动参数；In the external synchronous open-loop acceleration phase, detect the phase difference between the rotor and the stator, and judge whether to meet the switching conditions from the external synchronous open-loop acceleration phase to the operation state switching phase according to the detection results, if not satisfied, Then return to the rotor pre-positioning stage to restart the motor and adjust the motor startup parameters when restarting;

在所述运行状态切换阶段，检测转子与定子的相位差，并根据检测结果动态调整转子与定子的相位差，以及根据调整次数是否超过阈值来判定是否返回所述转子预定位阶段重启电机。In the operation state switching stage, the phase difference between the rotor and the stator is detected, and the phase difference between the rotor and the stator is dynamically adjusted according to the detection result, and whether to return to the rotor pre-positioning stage to restart the motor is determined according to whether the number of adjustments exceeds a threshold.

可选的，在所述的电机启动方法中，所述检测转子与定子的相位差的方法包括:Optionally, in the method for starting a motor, the method for detecting the phase difference between the rotor and the stator includes:

采集第一目标时间点t ₁和所述第二目标时间点t ₂的悬空相相电压及参考电压，所述参考电压为除所述悬空相以外的两相的相电压之和； Collecting the suspended phase-to-phase voltage and the reference voltage at the first target time point _t1 and the second target time point _t2 , the reference voltage being the sum of the phase voltages of the two phases except the suspended phase;

比较所述悬空相相电压和所述参考电压的大小，并根据比较结果判断转子位置与当前定子导通模式下指定的预期转子位置的相对位置，进而以完成对转子与定子的相位差的检测。Comparing the suspended phase-to-phase voltage with the reference voltage, and judging the relative position of the rotor position and the expected rotor position specified in the current stator conduction mode according to the comparison result, so as to complete the detection of the phase difference between the rotor and the stator .

可选的，在所述的电机启动方法中，所述根据比较结果判断转子位置与当前定子导通模式下指定的预期转子位置的相对位置的方法包括：Optionally, in the motor starting method, the method for judging the relative position of the rotor position and the expected rotor position specified in the current stator conduction mode according to the comparison result includes:

若所述悬空相相电压和所述参考电压满足第一关系式，则判断为转子位置达到当前定子导通模式下指定的预期转子位置；If the suspended phase-to-phase voltage and the reference voltage satisfy the first relational expression, it is determined that the rotor position has reached the expected rotor position specified in the current stator conduction mode;

若所述悬空相相电压和所述参考电压满足第二关系式，则判断为转子未达到当前定子导通模式下指定的预期转子位置；If the suspended phase-to-phase voltage and the reference voltage satisfy the second relational expression, it is judged that the rotor has not reached the expected rotor position specified in the current stator conduction mode;

若所述悬空相相电压和所述参考电压满足第三关系式，则判断为转子位置超过当前定子导通模式下指定的预期转子位置；If the suspended phase-to-phase voltage and the reference voltage satisfy the third relational expression, it is determined that the rotor position exceeds the expected rotor position specified in the current stator conduction mode;

所述第一关系式为：The first relational expression is:

或

or

所述第二关系式为：The second relational expression is:

所述第三关系式为：The third relational expression is:

其中，e _A表示悬空相相电压，U _DC表示所述参考电压。 Among them, e _A represents the floating phase-to-phase voltage, and U _DC represents the reference voltage.

可选的，在所述的电机启动方法中，所述根据检测结果判断是否达到满足从所述外同步开环加速阶段切换至所述运行状态切换阶段的条件的方法包括：Optionally, in the motor starting method, the method of judging whether the condition for switching from the external synchronous open-loop acceleration phase to the running state switching phase is met according to the detection result includes:

若所述悬空相相电压和所述参考电压满足所述第一关系式，则判断为满足所述切换条件；If the suspended phase-to-phase voltage and the reference voltage satisfy the first relational expression, it is determined that the switching condition is satisfied;

若所述悬空相相电压和所述参考电压满足所述第二关系式，则判断为不满足所述切换条件。If the floating phase-to-phase voltage and the reference voltage satisfy the second relational expression, it is determined that the switching condition is not satisfied.

可选的，在所述的电机启动方法中，所述电机启动方法还包括：Optionally, in the motor starting method, the motor starting method further includes:

在所述外同步开环加速阶段，若所述悬空相相电压和所述参考电压满足第三关系式，则减小绕组当前占空比输出和/或增大当前定子换相频率，以调整转子与定子的相位差，并切换至所述运行状态切换阶段。In the external synchronous open-loop acceleration phase, if the suspended phase-to-phase voltage and the reference voltage satisfy the third relational expression, then reduce the current duty cycle output of the winding and/or increase the current stator commutation frequency to adjust The phase difference between the rotor and the stator is switched to the switching stage of the operating state.

可选的，在所述的电机启动方法中，所述根据检测结果动态调整转子与定子的相位差的方法包括：Optionally, in the motor starting method, the method for dynamically adjusting the phase difference between the rotor and the stator according to the detection result includes:

若所述悬空相相电压和所述参考电压满足所述第二关系式，则增加绕组占空比和/或按减小当前定子换相频率；If the suspended phase-to-phase voltage and the reference voltage satisfy the second relational expression, then increase the winding duty cycle and/or decrease the current stator commutation frequency;

若所述悬空相相电压和所述参考电压满足所述第三关系式，则减小绕组当前占空比输出和/或增大当前定子换相频率。If the floating phase-to-phase voltage and the reference voltage satisfy the third relational expression, reduce the current duty cycle output of the winding and/or increase the current stator commutation frequency.

若所述悬空相相电压和所述参考电压满足所述第一关系式，则根据当前换相周期期间利用比较所述悬空相相电压和所述参考电压的大小所检测到的悬空相的反电动势过零点来计算换相时刻并触发换相，而后利用过零点检测方法来驱动电机运行。If the floating phase-to-phase voltage and the reference voltage satisfy the first relational expression, then according to the inversion of the floating phase detected by comparing the floating phase-to-phase voltage and the reference voltage during the current commutation period The electromotive force zero-crossing point is used to calculate the commutation time and trigger the commutation, and then the zero-crossing point detection method is used to drive the motor to run.

可选的，在所述的电机启动方法中，所述当前定子导通模式下指定的预期定子位置为所述转子位置与所述定子的磁场方向的夹角在60度～120度范围内的位置。Optionally, in the motor starting method, the expected stator position specified in the current stator conduction mode is an angle between the rotor position and the magnetic field direction of the stator within the range of 60 degrees to 120 degrees. Location.

可选的，在所述的电机启动方法中，所述调整电机启动参数包括：增大上个启动周期转子预定位阶段的占空比作为当前启动周期所述转子预定位阶段的占空比；以及，Optionally, in the motor starting method, the adjusting the motor starting parameters includes: increasing the duty cycle of the rotor pre-positioning stage in the last start-up cycle as the duty cycle of the rotor pre-positioning stage in the current start-up cycle; as well as,

增大上个启动周期所述外同步加速阶段的占空比作为当前启动周期所述外同步加速阶段的占空比，或者减少上个启动周期所述外同步加速阶段的定子换相频率作为当前启动周期所述外同步加速阶段的定子换相频率。Increase the duty ratio of the external synchronic acceleration phase in the last startup cycle as the duty ratio of the external synchronic acceleration phase in the current startup cycle, or reduce the stator commutation frequency in the external synchronic acceleration phase in the last startup cycle as the current Stator commutation frequency for the outer synchrotron phase of the start-up cycle.

可选的，在所述的电机启动方法中，按第一计算值增大上个启动周期转子预定位阶段的占空比作为当前启动周期所述转子预定位阶段的占空比，所述第一计算值的计算公式如下：Optionally, in the motor startup method, the duty ratio of the rotor pre-positioning stage in the last startup cycle is increased according to the first calculated value as the duty ratio of the rotor pre-positioning stage in the current startup cycle, and the first The calculation formula of a calculated value is as follows:

其中，n表示所述外同步加速阶段可允许重启的上限次数，

表示n次重启后允许增加到的最大占空比，

表示转子预定位阶段初始占空比，U _bat表示供电电压，R _m表示电机回路阻抗。 Wherein, n represents the upper limit number of restarts allowed in the outer synchrotron phase,

Indicates the maximum duty cycle allowed to increase after n restarts,

Indicates the initial duty cycle of the rotor pre-positioning phase, U _bat indicates the supply voltage, and R _m indicates the motor loop impedance.

可选的，在所述的电机启动方法中，Optionally, in the described motor starting method,

按第二计算值增大上个启动周期所述外同步加速阶段的占空比作为当前启动周期所述外同步加速阶段的占空比，所述第二计算值Δr _ramp采用以下函数计算得到： Increase the duty cycle of the external synchrotron phase in the last startup cycle according to the second calculation value as the duty cycle of the external synchrony phase in the current startup cycle, and the second calculation value Δr _ramp is calculated by the following function:

Δr _ramp＝r(U _bat，t _m，ΔT _L，D _e)； Δr _ramp = r(U _bat , t _m , ΔT _L , D _e );

按第三计算值减少上个启动周期所述外同步加速阶段的定子换相频率作为当前启动周期所述外同步加速阶段的定子换相频率，所述第三计算值采用以下函数计算得到：Decrease the stator commutation frequency in the external synchronous acceleration phase of the last startup cycle by the third calculated value as the stator commutation frequency in the external synchronous acceleration phase of the current startup cycle, and the third calculated value is calculated by the following function:

Δf _ramp＝f(U _bat，t _m，ΔT _L，D _e)； _Δframp = f(U _bat , t _m , ΔT _L , D _e );

其中，U _bat表示电机供电电压，ΔT _L表示负载变化率，D _e表示转子实际位置落后预期位置的偏差，t _m表示电机温度。 Among them, U _bat represents the power supply voltage of the motor, ΔT _L represents the load change rate, D _e represents the deviation of the actual position of the rotor behind the expected position, and t _m represents the temperature of the motor.

可选的，在所述的电机启动方法中，选取的第一目标时间点t ₁和所述第二目标时间点t ₂与预期反电动势过零点出现的时间点t _z满足： Optionally, in the motor starting method, the selected first target time point _t1 and the second target time point _t2 and the time point _tz at which the zero-crossing point of the expected counter electromotive force occurs satisfy:

|t ₁-t _z|＝|t ₂-t _z|。 |t ₁ -t _z |=|t ₂ -t _z |.

可选的，在所述的电机启动方法中，在所述外同步加速阶段的最后一个定子换相周期内，检测转子与定子的相位差，并判断满足所述切换条件；在所述运行状态切换阶段的每个定子换相周期内，均检测转子与定子的相位差，并判断是否返回所述转子定子阶段重启电机。Optionally, in the motor starting method, during the last stator commutation cycle of the external synchronous acceleration phase, the phase difference between the rotor and the stator is detected, and it is judged that the switching condition is satisfied; During each stator commutation cycle in the switching stage, the phase difference between the rotor and the stator is detected, and it is judged whether to return to the rotor-stator stage to restart the motor.

本发明还提供一种可读存储介质，所述可读存储介质存储有计算机程序，所述计算机程序被执行时，实现如上所述的电机启动方法。The present invention also provides a readable storage medium, the computer program is stored in the readable storage medium, and when the computer program is executed, the above motor starting method is realized.

综上所述，本发明提供的所述电机启动方法及可读存储介质，包括：在所述外同步开环加速阶段的预设节点时，检测转子位置是否处于当前定子导通模式下指定的预期转子位置，若否，则返回所述转子预定位阶段重新启动且重新启动时调整电机启动参数；在所述运行状态切换阶段中，检测转子位置是否处于当前定子导通模式下指定的预期转子位置，若否，则返回所述转子预定位阶段重新启动。与现有技术相比具有如下优势：To sum up, the motor startup method and readable storage medium provided by the present invention include: at the preset node of the external synchronous open-loop acceleration phase, detecting whether the rotor position is within the current stator conduction mode specified Expected rotor position, if not, then return to the rotor pre-positioning stage to restart and adjust the motor startup parameters when restarting; in the operation state switching stage, detect whether the rotor position is in the expected rotor position specified in the current stator conduction mode position, if not, return to the rotor pre-positioning phase to restart. Compared with the prior art, it has the following advantages:

(1)现有技术通过电机闭环运行时的过流或堵转诊断来触发重启且启动参数恒定，而本发明在开环加速阶段即进行启动质量的判断和调节，在能够避免闭环工作阶段发生过流或电机堵转故障启动而造成硬件损失的同时，也能保证成功切换进入闭环工作阶段且自适应负载变化和超差；(1) In the prior art, restart is triggered by over-current or stall diagnosis during closed-loop operation of the motor, and the start-up parameters are constant, while the present invention judges and adjusts the start-up quality in the open-loop acceleration stage, and can avoid the occurrence of While hardware loss is caused by overcurrent or motor stall fault startup, it can also ensure the successful switching into the closed-loop working stage and adaptive load changes and tolerances;

(2)本发明在开环加速阶段及运行状态切换阶段，均可进行启动质量的判断，相对于现有技术，每次启动无须完整经历一次启动过程，而且也不必对过流/堵转进行诊断，因此可大大缩短启动时间；(2) The present invention can judge the start-up quality in the open-loop acceleration stage and the operation state switching stage. Compared with the prior art, each start-up does not need to go through a complete start-up process, and it is not necessary to conduct over-current/stall diagnostics, thus significantly reducing startup time;

(3)本发明对于启动质量的判断，依据于转子位置是否处于当前定子导通模式下指定的预期转子位置，而并非通过检测发生过流或电机堵转故障，因此不会与真实发生过流或堵转事件混淆，给故障排查造成困扰；(3) The present invention judges the start-up quality based on whether the rotor position is in the expected rotor position specified in the current stator conduction mode, rather than through detection of over-current or motor stall failure, so it will not be different from the real over-current Or the jam event is confused, causing troubles to troubleshoot;

(4)现有技术启动参数是在特定负载和工况下标定产生且生命周期不变，只能支持有限的负载容差和负载变化，而本发明在每次启动时，均可对启动参数进行调整，因此适用范围更广。(4) The start-up parameters of the prior art are calibrated and generated under specific loads and working conditions and have a constant life cycle, and can only support limited load tolerances and load changes. However, the present invention can adjust the start-up parameters every time it is started. Adjusted so it works more broadly.

附图说明Description of drawings

图1为无位置传感器电机控制原理图；Figure 1 is a schematic diagram of position sensorless motor control;

图2为电机三段式启动时转速变化趋势图；Figure 2 is a trend diagram of the speed change when the motor is started in three stages;

图3为电机结构示意图；Figure 3 is a schematic diagram of the structure of the motor;

图4为本发明实施例提供的电机启动方法的步骤示意图；FIG. 4 is a schematic diagram of steps of a method for starting a motor provided by an embodiment of the present invention;

图5a～5f分别为电机导通模式示意图；Figures 5a to 5f are schematic diagrams of motor conduction modes;

图6为电机任一相悬空时相电压波形示意图；Figure 6 is a schematic diagram of the phase voltage waveform when any phase of the motor is suspended;

图7为一个60度的换相周期示意图；FIG. 7 is a schematic diagram of a 60-degree commutation cycle;

图8为相电压采样时序图；Fig. 8 is a timing diagram of phase voltage sampling;

图9为本发明实施例中电机启动流程图。Fig. 9 is a flow chart of motor startup in the embodiment of the present invention.

具体实施方式Detailed ways

为使本发明的目的、优点和特征更加清楚，以下结合附图和具体实施例对本发明作详细说明。需说明的是，附图均采用非常简化的形式且未按比例绘制，仅用以方便、明晰地辅助说明本发明实施例的目的。此外，附图所展示的结构往往是实际结构的一部分。特别的，各附图需要展示的侧重点不同，有时会采用不同的比例。还应当理解的是，除非特别说明或者指出，否则说明书中的术语“第一”、“第二”、“第三”等描述仅仅用于区分说明书中的各个组件、元素、步骤等，而不是用于表示各个组件、元素、步骤之间的逻辑关系或者顺序关系等。In order to make the purpose, advantages and features of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in very simplified form and not drawn to scale, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention. In addition, the structures shown in the drawings are often a part of the actual structures. In particular, each drawing needs to display different emphases, and sometimes uses different scales. It should also be understood that, unless otherwise specified or pointed out, the terms “first”, “second”, “third” and other descriptions in the specification are only used to distinguish each component, element, step, etc. in the specification, rather than It is used to express the logical relationship or sequence relationship between various components, elements, and steps.

图3为一种电机结构示意图，其可分为定子侧和转子侧，定子侧由线圈绕组缠绕在铁心上构成，因三相绕组引出线接线方式的不同可分为星型接法和三角形接法，转子侧由永磁体构成并安装在中心转轴上。当电机任意两相间通直流电时，定子绕组产生固定方向的磁场力，并吸引转子磁场对齐，达到牵引转子旋转的目的。其牵引力和牵引时间主要取决于PWM信号调制产生的定子侧电磁力大小和定转子磁场夹角。从外同步切换到自同步时，需要同时满足足够的电磁力、适合的定转子磁场夹角和足够的转子速度这三个条件，才能保证切换到自同步后继续稳定运行。Figure 3 is a schematic diagram of a motor structure, which can be divided into a stator side and a rotor side. The stator side is composed of coil windings wound on the iron core. Due to the different wiring methods of the three-phase winding lead wires, it can be divided into star connection and delta connection. In this method, the rotor side consists of permanent magnets mounted on the central shaft. When any two phases of the motor are connected with direct current, the stator winding generates a magnetic field force in a fixed direction, and attracts the rotor magnetic field to align, so as to achieve the purpose of pulling the rotor to rotate. The traction force and traction time mainly depend on the electromagnetic force on the stator side generated by PWM signal modulation and the angle between the stator and rotor magnetic fields. When switching from external synchronization to self-synchronization, the three conditions of sufficient electromagnetic force, suitable stator-rotor magnetic field angle and sufficient rotor speed must be met at the same time to ensure continuous stable operation after switching to self-synchronization.

基于此，本发明的核心思想在于针对电机的启动过程提出一种通过判断启动质量触发重启的方法，其启动质量的判断主要是基于定子与转子之间的相对位置(相位差/定转子磁场夹角)。Based on this, the core idea of the present invention is to propose a method for triggering the restart by judging the starting quality for the starting process of the motor. The judgment of the starting quality is mainly based on the relative position between the stator and the rotor (phase difference/stator-rotor magnetic field clamp horn).

基于上述思想，本发明实施例提供一种电机启动方法，采用包括转子预定位阶段、外同步开环加速阶段以及运行状态切换阶段的三段式启动方法，如图4所示，所述电机启动方法包括如下步骤：Based on the above ideas, an embodiment of the present invention provides a motor starting method, which adopts a three-stage starting method including a rotor pre-positioning stage, an external synchronous open-loop acceleration stage, and an operating state switching stage. As shown in Figure 4, the motor starts The method includes the following steps:

S11，在所述外同步开环加速阶段，检测转子与定子的相位差，并根据检测结果判断是否达到满足从所述外同步开环加速阶段至所述运行状态切换阶段的切换条件，若不满足，则返回至所述转子预定位阶段重启电机且重新启动时调整电机启动参数；S11, in the external synchronous open-loop acceleration phase, detect the phase difference between the rotor and the stator, and judge whether the switching condition from the external synchronous open-loop acceleration phase to the operation state switching phase is satisfied according to the detection result, if not Satisfied, then return to the rotor pre-positioning stage to restart the motor and adjust the motor startup parameters when restarting;

S12，在所述运行状态切换阶段，检测转子与定子的相位差，并根据检测结果动态调整转子与定子的相位差，以及根据调整次数是否超过阈值来判定是否返回所述转子预定位阶段重启电机。S12. In the operation state switching stage, detect the phase difference between the rotor and the stator, dynamically adjust the phase difference between the rotor and the stator according to the detection result, and determine whether to return to the rotor pre-positioning stage to restart the motor according to whether the number of adjustments exceeds a threshold .

本发明实施例提供的所述电机启动方法，在开环加速阶段即进行启动质量的判断和调节，在能够避免闭环工作阶段发生过流或电机堵转故障启动而造成硬件损失的同时，也能保证成功切换进入闭环工作阶段且自适应负载变化和超差；另外，本发明实施例提供的所述电机启动方法，对于启动质量的判断，依据于转子位置是否处于当前定子导通模式下指定的预期转子位置，而并非通过检测发生过流或电机堵转故障，因此不会与真实发生过流或堵转事件混淆，给故障排查造成困扰，且在开环加速阶段及运行状态切换阶段，均可进行启动质量的判断，相对于现有技术，每次启动无须完整经历一次启动过程，而且也不必对过流/堵转进行诊断，因此可大大缩短启动时间；此外，现有技术启动参数是在特定负载和工况下标定产生且生命周期不变，只能支持有限的负载容差和负载变化，而本发明在每次启动时，均可对启动参数进行调整，因此适用范围更广。The motor starting method provided by the embodiment of the present invention judges and adjusts the starting quality in the open-loop acceleration stage, and can avoid hardware loss caused by overcurrent or motor stall failure in the closed-loop working stage, and can also Ensure successful switching into the closed-loop working stage and adaptive load changes and out-of-tolerance; in addition, the motor starting method provided by the embodiment of the present invention, for the judgment of the starting quality, is based on whether the rotor position is in the specified state under the current stator conduction mode The expected rotor position, rather than through the detection of over-current or motor stall faults, so it will not be confused with the actual occurrence of over-current or stall events, which will cause trouble for troubleshooting, and in the open-loop acceleration stage and the operating state switching stage, both The starting quality can be judged. Compared with the existing technology, each start does not need to go through a complete starting process, and there is no need to diagnose the overcurrent/stall, so the starting time can be greatly shortened; in addition, the starting parameters of the existing technology are Calibration is generated under specific loads and working conditions and has a constant life cycle, which can only support limited load tolerances and load changes. However, the present invention can adjust the startup parameters every time it is started, so the application range is wider.

以下对本发明实施例提供的所述电机启动方法做进一步详细描述。The motor starting method provided by the embodiment of the present invention will be further described in detail below.

对于电机而言，较佳的导通模式包括如下6种：For motors, the preferred conduction modes include the following six types:

B相导通电源C相导通地(参见图5a，定子磁场力方向为0度，最佳的转子运动轨迹为240→300度)；B相导通电源A相导通地(参见图5b，定子磁场力方向为60度，最佳的转子运动轨迹为300→360度)；C相导通电源A相导通地(参见图5c，定子磁场力方向为120度，最佳的转子运动轨迹为0→60度)；C相导通电源B相导通地(参见图5d，定子磁场力方向为300度，最佳的转子运动轨迹为180→240度)；A相导通电源B相导通地(参见图5e，定子磁场力方向为240度，最佳的转子运动轨迹为120→180度)；A相导通电源C相导通地(参见图5f，定子磁场力方向为180度，最佳的转子运动轨迹为60→120度)。Phase B conducts power and phase C conducts ground (see Figure 5a, the direction of the stator magnetic field force is 0 degrees, and the best rotor trajectory is 240→300 degrees); phase B conducts power and phase A conducts ground (see Figure 5b , the direction of the stator magnetic field force is 60 degrees, and the best rotor movement trajectory is 300→360 degrees); the phase C conducts the power supply and the phase A conducts the ground (see Figure 5c, the direction of the stator magnetic field force is 120 degrees, the best rotor motion The trajectory is 0→60 degrees); phase C conducts the power supply and phase B conducts the ground (see Figure 5d, the direction of the stator magnetic field force is 300 degrees, and the best rotor motion trajectory is 180→240 degrees); phase A conducts the power supply B Phase conduction ground (see Figure 5e, the direction of the stator magnetic field force is 240 degrees, and the best rotor motion track is 120→180 degrees); A phase conduction power supply C phase conduction ground (see Figure 5f, the direction of the stator magnetic field force is 180 degrees, the best rotor trajectory is 60→120 degrees).

当转子扫过图5a～图5f中60度阴影扇区后即触发定子换相，定子磁场力切换到下一个60度方向，定子依次接力从而驱动转子完成360度的旋转运动。When the rotor sweeps across the 60-degree shaded sector in Figure 5a-5f, the stator commutation is triggered, the stator magnetic field force switches to the next 60-degree direction, and the stator relays the force in turn to drive the rotor to complete the 360-degree rotation.

因此，本实施例中，所述当前定子导通模式下指定的预期定子位置可以理解为所述转子位置与所述定子的磁场方向的夹角在60度～120度范围内的位置，即图5a～5f中所示扇形区域。优选的，所述当前定子导通模式下指定的预期定子位置为所述转子位置与所述定子的磁场方向的夹角为90度。Therefore, in this embodiment, the expected stator position specified in the current stator conduction mode can be understood as the position where the included angle between the rotor position and the magnetic field direction of the stator is within the range of 60 degrees to 120 degrees, that is, Fan-shaped areas shown in 5a-5f. Preferably, the specified expected stator position in the current stator conduction mode is that the included angle between the rotor position and the magnetic field direction of the stator is 90 degrees.

基于当前阶段期望的定子导通模式，按图5a～5f可得对应的转子期望位置，故而本实施例中，可通过至少两个时间点(t ₁,t ₂)定时采样悬空相相电压e _A和参考电压U _DC来判断转子是否正好运动到期望位置附近，判断的原则是悬空相的反电动势过零点是否出现在t ₁和t ₂之间。 Based on the expected stator conduction mode at the current stage, the corresponding expected position of the rotor can be obtained according to Figures 5a to 5f, so in this embodiment, the suspended phase-to-phase voltage e can be sampled regularly through at least two time points (t ₁ , t ₂ ). _A and the reference voltage U _DC to judge whether the rotor just moves to the expected position, the principle of judgment is whether the zero-crossing point of the counter electromotive force of the suspended phase appears between _t1 and _t2 .

故而，步骤S11及步骤S12中，请参考图6，所述检测转子与定子的相位差的方法可包括:Therefore, in step S11 and step S12, please refer to FIG. 6, the method for detecting the phase difference between the rotor and the stator may include:

采集第一目标时间点t ₁和所述第二目标时间点t ₂的悬空相相电压e _A及参考电压U _DC，所述参考电压U _DC为除所述悬空相以外的两相的相电压之和； Collect the suspended phase-to-phase voltage e _A and the reference voltage U _DC at the first target time point _t1 and the second target time point _t2 , and the reference voltage U _DC is the phase voltage of two phases other than the suspended phase Sum;

比较所述悬空相相电压e _A和所述参考电压U _DC的大小，并根据比较结果判断转子位置与当前定子导通模式下指定的预期转子位置的相对位置，进而完成对转子与定子的相位差的检测。 Compare the suspended phase-to-phase voltage e _A with the reference voltage U _DC , and judge the relative position of the rotor position and the expected rotor position specified in the current stator conduction mode according to the comparison result, and then complete the phase adjustment between the rotor and the stator Poor detection.

现有技术采用悬空相电压和母线电压比较检测出过零点(转子与定子的相对位置)，而本发明采用悬空相电压和另两相电压差比较检测出过零点(转子与定子的相对位置)，由于电机三相上可能存在相当的干扰和噪声，因此通过另两相电压计算得出的参考电压相较于现有技术而言更准确。In the prior art, the zero-crossing point (the relative position of the rotor and the stator) is detected by comparing the suspended phase voltage with the bus voltage, while the present invention detects the zero-crossing point (the relative position of the rotor and the stator) by comparing the suspended phase voltage with the voltage difference of the other two phases. , because there may be considerable interference and noise on the three phases of the motor, the reference voltage calculated from the voltages of the other two phases is more accurate than the prior art.

进一步的，所述根据比较结果判断转子位置与当前定子导通模式下指定的预期转子位置的相对位置的方法可包括：Further, the method for judging the relative position of the rotor position and the specified expected rotor position in the current stator conduction mode according to the comparison result may include:

若所述悬空相相电压和所述参考电压满足第一关系式，则判断为转子位置达到当前定子导通模式下指定的预期转子位置(亦即悬空相的反电动势过零点出现在所述第一目标时间点t ₁和所述第二目标时间点t ₂之间)； If the suspended phase-to-phase voltage and the reference voltage satisfy the first relational expression, it is judged that the rotor position has reached the expected rotor position specified in the current stator conduction mode (that is, the counter electromotive force zero-crossing point of the suspended phase occurs at the first Between a target time point _t1 and the second target time point _t2 );

其中，所述第一关系式为：Wherein, the first relational expression is:

或

or

所述第二关系式为：The second relational expression is:

所述第三关系为：The third relationship is:

进一步的，步骤S11中，所述根据检测结果判断是否达到满足从所述外同步开环加速阶段切换至所述运行状态切换阶段的条件的方法可包括：Further, in step S11, the method of judging whether the condition for switching from the external synchronous open-loop acceleration phase to the running state switching phase is met according to the detection result may include:

若所述悬空相相电压和所述参考电压满足所述第一关系式，则判断为满足所述切换条件；若所述悬空相相电压和所述参考电压满足所述第二关系式，则判断为不满足所述切换条件。If the suspended phase-to-phase voltage and the reference voltage satisfy the first relational expression, it is determined that the switching condition is satisfied; if the suspended phase-to-phase voltage and the reference voltage satisfy the second relational expression, then It is judged that the switching condition is not satisfied.

即，在所述外同步开环加速阶段，若

或

表示转子处于当前定子导通模式下指定的预期转子位置，故而切换至所述运行状态切换阶段，若

表示转子位置未达到当前定子导通模式下指定的预期转子位置，故而返回至所述转子预定位阶段重启电机。 That is, in the external synchronous open-loop acceleration phase, if

or

Indicates that the rotor is in the expected rotor position specified in the current stator conduction mode, so it switches to the operating state switching phase, if

Indicates that the rotor position has not reached the expected rotor position specified in the current stator conduction mode, so return to the rotor pre-positioning stage to restart the motor.

步骤S11中，所述调整电机启动参数包括：增大上个启动周期转子预定位阶段的占空比作为当前启动周期所述转子预定位阶段的占空比；以及，增大上个启动周期所述外同步加速阶段的占空比作为当前启动周期所述外同步加速阶段的占空比，或者减少上个启动周期所述外同步加速阶段的定子换相频率作为当前启动周期所述外同步加速阶段的定子换相频率。In step S11, the adjustment of the motor startup parameters includes: increasing the duty ratio of the rotor pre-positioning stage in the last startup cycle as the duty ratio of the rotor pre-positioning stage in the current startup cycle; The duty ratio of the external synchronous acceleration phase is used as the duty cycle of the external synchronous acceleration phase of the current startup cycle, or the stator commutation frequency of the external synchronous acceleration phase of the previous startup cycle is reduced as the external synchronous acceleration of the current startup cycle Phase stator commutation frequency.

具体的，可按第一计算值Δr _post增大上个启动周期转子预定位阶段的占空比作为当前启动周期所述转子预定位阶段的占空比；按第二计算值Δr _ramp增大上个启动周期所述外同步加速阶段的占空比作为当前启动周期所述外同步加速阶段的占空比，或者按按第三计算值减少上个启动周期所述外同步加速阶段的定子换相频率作为当前启动周期所述外同步加速阶段的定子换相频率。随连续重启次数的增加可以累计增加量(不超过上限阈值)直到启动成功则完成自适应启动过程，保存累计的增量作为自适应后的启动参数修正量。 Specifically, the duty cycle of the rotor pre-positioning stage in the last start-up cycle can be increased according to the first calculation value _Δr _post as the duty cycle of the rotor pre-positioning stage in the current start-up cycle; The duty ratio of the external synchronic acceleration phase described in the first starting cycle is taken as the duty cycle of the external synchronous acceleration phase described in the current starting cycle, or the stator commutation of the external synchronous acceleration phase described in the last starting cycle is reduced by the third calculated value. The frequency is used as the stator commutation frequency in the external synchronic acceleration phase of the current start cycle. With the increase of the number of consecutive restarts, the incremental amount can be accumulated (not exceeding the upper threshold) until the startup is successful, then the adaptive startup process is completed, and the accumulated increment is saved as the startup parameter correction amount after the adaptation.

另外，本实施例提供的所述电机启动方法还包括：在所述外同步开环加速阶段，若所述悬空相相电压和所述参考电压满足第三关系式，则减小绕组当前占空比输出和/或增大当前定子换相频率，以调整转子与定子的相位差，并切换至所述运行状态切换阶段。In addition, the motor starting method provided in this embodiment further includes: in the external synchronous open-loop acceleration phase, if the suspended phase-to-phase voltage and the reference voltage satisfy the third relational expression, then reduce the current duty of the winding Ratio output and/or increase the current stator commutation frequency to adjust the phase difference between the rotor and the stator, and switch to the operation state switching stage.

即，在所述外同步开环加速阶段，若

表示转子位置超过当前定子导通模式下指定的预期转子位置，则减小绕组当前占空比输出和/或增大当前定子换相频率，来触发定子导通模式变换(或称换相)并进入运行状态切换阶段。 That is, in the external synchronous open-loop acceleration phase, if

Indicates that the rotor position exceeds the expected rotor position specified in the current stator conduction mode, then reduce the current duty cycle output of the winding and/or increase the current stator commutation frequency to trigger the stator conduction mode change (or commutation) and Enter the running state switching stage.

实际应用时，为降低计算难度，仅对占空比和定子换相频率中的一个进行调整，来调整转子与定子的相对位置，当转子运动落后预期位置，可以Δr ⁺增量来增加当前占空比输出或以Δf ^-减量来减小当前定子换相频率，当转子运动超过预期位置，可Δr ^-减量来减少当前占空比输出或以Δf ⁺增量来增大当前定子换相频率。其中，Δr ⁺、Δf ^-、Δr ^-以及Δf ⁺均可根据实际工况事先标定。 In practical applications, in order to reduce the difficulty of calculation, only one of the duty cycle and stator commutation frequency is adjusted to adjust the relative position of the rotor and the stator. When the rotor moves behind the expected position, the current duty cycle can be increased by Δr ⁺ increment. Duty ratio output or Δf ^- decrement to reduce the current stator commutation frequency, when the rotor moves beyond the expected position, the current duty ratio output can be reduced by Δr ^- decrement or the current stator commutation frequency can be increased by Δf ⁺ increment frequency. Among them, Δr ⁺ , Δf ^- , Δr ^- and Δf ⁺ can be calibrated in advance according to actual working conditions.

进一步的，步骤S12中，所述根据检测结果动态调整转子与定子的相位差的方法可包括：若所述悬空相相电压和所述参考电压满足所述第二关系式，则增加绕组占空比和/或按减小当前定子换相频率；若所述悬空相相电压和所述参考电压满足所述第三关系式，则减小绕组当前占空比输出和/或增大当前定子换相频率。Further, in step S12, the method for dynamically adjusting the phase difference between the rotor and the stator according to the detection result may include: if the suspended phase-to-phase voltage and the reference voltage satisfy the second relational expression, increasing the winding duty ratio and/or reduce the current stator commutation frequency; if the suspended phase-to-phase voltage and the reference voltage satisfy the third relational expression, then reduce the current duty cycle output of the winding and/or increase the current stator commutation frequency phase frequency.

即，在电机启动的运行状态切换阶段，若

则表示转子处于当前定子导通模式下指定的预期转子位置，故而增加绕组占空比和/或按减小当前定子换相频率，若

则表示转子位置超过当前定子导通模式下指定的预期转子位置，故而减小绕组当前占空比输出和/或增大当前定子换相频率。 That is, during the switching phase of the running state of the motor starting, if

then the rotor is at the expected rotor position specified in the current stator conduction mode, so increase the winding duty cycle and/or decrease the current stator commutation frequency, if

then indicates that the rotor position exceeds the expected rotor position specified in the current stator conduction mode, so reduce the current duty cycle output of the windings and/or increase the current stator commutation frequency.

另外，本实施例提供的所述电机启动方法还包括：若所述悬空相相电压和所述参考电压满足所述第一关系式，则根据当前换相周期期间利用比较所述悬空相相电压和所述参考电压的大小所检测到的悬空相的反电动势过零点来计算换相时刻并触发换相，而后利用过零点检测方法来驱动电机运行。In addition, the motor startup method provided by this embodiment further includes: if the suspended phase-to-phase voltage and the reference voltage satisfy the first relational expression, then according to the current phase-to-phase voltage comparison during the current commutation cycle Calculate the commutation time and trigger the phase commutation by calculating the commutation time and triggering the commutation by using the zero-crossing point of the counter electromotive force of the suspended phase detected by the magnitude of the reference voltage, and then use the zero-crossing detection method to drive the motor to run.

即，电机启动的运行状态切换阶段，若

或

则表示电机可稳步运行，故而可不再进行电子与转子相对位置的调整，进入电机正常运行阶段。 That is to say, in the running state switching phase of motor startup, if

or

It means that the motor can run stably, so the adjustment of the relative position between the electronics and the rotor can no longer be carried out, and the motor can enter the normal operation stage.

步骤S11中，较佳的，所述预设节点设于所述外同步加速阶段的最后一个定子换相周期内，即在所述外同步加速阶段的最后一个定子换相周期内，检测转子位置是否处于当前定子导通模式下指定的预期转子位置，例如，若当前定子导通模式为B相导通电源C相导通地，则检测转子位置是否处于图5中所示的扇形区域。若转子位置未到达预期转子位置，即认为转子运动落后于定子换相不满足切换条件，需要回到转子预定位阶段重新启动。若转子位置超出预期转子位置，即认为定子换相落后于转子运动，或若转子位置在预期转子位置，定子换相和转子运动同步，则满足切换条件可以进入运行状态切换阶段。In step S11, preferably, the preset node is set in the last stator commutation cycle of the external synchronic acceleration phase, that is, the rotor position is detected during the last stator commutation cycle of the external synchronic acceleration phase Whether it is in the expected rotor position specified in the current stator conduction mode, for example, if the current stator conduction mode is B-phase conduction power supply C-phase conduction ground, then detect whether the rotor position is in the fan-shaped area shown in Fig. 5 . If the rotor position does not reach the expected rotor position, it is considered that the rotor movement lags behind the stator commutation and does not meet the switching conditions, and it needs to return to the rotor pre-positioning stage to restart. If the rotor position exceeds the expected rotor position, it is considered that the stator commutation lags behind the rotor movement, or if the rotor position is at the expected rotor position, the stator commutation and rotor movement are synchronized, and the switching conditions are met to enter the operating state switching stage.

步骤S12中，在所述运行状态切换阶段的每个定子换相周期期间，均检测转子位置是否处于当前定子导通模式下指定的预期转子位置，若转子位置处于预期转子位置，则采用当前换相周期期间检测到的过零点来计算换相时刻并触发换相，然后就可以开始使用过零点检测方法来驱动电机运行，若转子位置不处于预期转子位置，则返回所述转子预定位阶段重新启动。In step S12, during each stator commutation period in the operation state switching phase, it is detected whether the rotor position is at the expected rotor position specified in the current stator conduction mode, and if the rotor position is at the expected rotor position, the current commutation mode is adopted. The zero-crossing point detected during the phase cycle is used to calculate the commutation time and trigger the commutation, and then the zero-crossing detection method can be used to drive the motor to run. If the rotor position is not at the expected rotor position, return to the rotor pre-positioning stage to restart start up.

以下对本发明实施例所涉及之参数的确定进行详细介绍。The determination of the parameters involved in the embodiment of the present invention will be described in detail below.

(1)Δr _post的确定 (1) Determination of Δr _post

该自适应值Δr _post的确定是根据转子预定位时允许输出的最大占空比

和硬件允许的最大电机电流

自适应期间实时监控电机电流通过调整占空比将转子预定位阶段的输出电流限制在

阈值内。 The determination of the adaptive value Δr _post is based on the maximum duty cycle allowed for the output when the rotor is pre-positioned

and the maximum motor current allowed by the hardware

Monitor the motor current in real time during self-adaptation and limit the output current in the rotor pre-positioning stage by adjusting the duty cycle

within the threshold.

可将外同步加速阶段可允许重启次数上限n作为自适应步数，即在n次后占空比增加到允许的最大占空比

已知转子预定位阶段初始占空比是

供电电压是U _bat和电机回路阻抗是R _m，通过如下函数可得Δr _post： The upper limit n of allowable restart times in the external synchronic acceleration phase can be used as the number of adaptive steps, that is, the duty cycle increases to the maximum allowable duty cycle after n times

It is known that the initial duty cycle of the rotor pre-positioning stage is

The supply voltage is U _bat and the motor loop impedance is R _m , Δr _post can be obtained by the following function:

对于诸如油泵电机控制项目而言，初始占空比

是根据油泵台架(启动负载确定)试验确定。 For projects such as oil pump motor control, the initial duty cycle

It is determined according to the test of the oil pump bench (starting load determination).

(2)Δr _post和Δf _ramp的确定 (2) Determination of Δr _post and _Δframp

Δr _post和Δf _ramp与负载变化率ΔT _L相关，与定转子位置偏差D _e相关(D _e为转子实际位置落后预期位置的偏差)，且由于电机供电电压U _bat直接影响到电机定子侧的电磁力，电机温度t _m又直接影响到电机电磁特性，因此Δr _ramp和Δf _ramp是如下参数的函数，即： Δr _post and Δfr _ramp are related to the load change rate ΔT _L and to the stator-rotor position deviation D _e (D _e is the deviation between the actual position of the rotor and the expected position), and because the motor supply voltage U _bat directly affects the electromagnetic force on the stator side of the motor The force and the motor temperature t _m directly affect the electromagnetic characteristics of the motor, so Δr _ramp and Δfr _ramp are functions of the following parameters, namely:

通常，U _DC越小或ΔT _L越大或t _m越大或D _e越大，则|Δr _ramp|越大和|Δf _ramp|越大。针对实际负载往往单调递增，实际启动时发生转子实际位置落后预期位置的情况优先调节占空比。 Generally, the smaller U _DC or the larger ΔT _L or the larger t _m or the larger _De , the larger |Δr _ramp | and the larger | _Δframp |. In view of the fact that the actual load often increases monotonically, and the actual position of the rotor lags behind the expected position during actual startup, the duty cycle is first adjusted.

(3)外同步加速阶段和运行状态切换阶段转子预期位置检查点的确定(3) Determination of the rotor expected position check point in the external synchronous acceleration phase and the operating state switching phase

请参见图7，一个60度的换相周期T _c，理想的反电动势过零点应该出现在30度的中心点时刻t _z，中心点之前的相电压应该低于参考电压的一半和中心点之后的相电压应该高于参考电压的一半，或中心点之前的相电压应该高于参考电压的一半和中心点之后的相电压应该低于参考电压的一半。可以在离中心点等距的前后设置一对或多对的采样时刻(t ₁,t ₂)，通过两组或多组电压差判断实际过零点偏移预期过零点(30度中心点)的误差D _e。采样时刻需满足如下函数，即： Please refer to Figure 7, a commutation period T _c of 60 degrees, the ideal counter EMF zero-crossing point should appear at the center point time t _z of 30 degrees, the phase voltage before the center point should be lower than half of the reference voltage and after the center point The phase voltage should be higher than half of the reference voltage, or the phase voltage before the center point should be higher than half of the reference voltage and the phase voltage after the center point should be lower than half of the reference voltage. One or more pairs of sampling moments (t ₁ , t ₂ ) can be set equidistant from the center point before and after, and two or more sets of voltage differences can be used to judge the actual zero-crossing point offset from the expected zero-crossing point (30 degree center point) Error D _e . The sampling time needs to satisfy the following function, namely:

|t ₁-t _z|＝|t ₂-t _z| |t ₁ -t _z |＝|t ₂ -t _z |

通常，依据***允许的偏差容限，可选的检查点有(15°,45°)或(20°,40°)。检查点越靠近中心点，切换条件越严苛。Usually, according to the deviation tolerance allowed by the system, the optional check points are (15°, 45°) or (20°, 40°). The closer the checkpoint is to the central point, the stricter the switching conditions.

(4)e _A和U _DC的确定 (4) Determination of e _A and U _DC

图8所示为相电压采样时序图，采样时间点基于电机控制载波频率(PWM out)信号的上升沿偏移一个延时时间D，该时间的确定基于避开开关噪声和硬件延时。偏移产生的采样触发信号(Trigger to ADC sample)的频率和电机控制载波频率相同，其上升沿触发硬件模拟信号采样模块同时采样电机三相相电压e _u、e _v和e _w。根据采样时刻三相导通模式可知哪相为悬空相，如某一采样时刻未导通相(又称悬空相)为V相，可得悬空相相电压为e _A＝e _v，参考电压为U _DC＝|e _u+e _w|。在一个电机控制载波周期高占空比期间，可以完成一次或多次的电压采样，并对采样数据可以均值处理以获取更高精度的采样值。 Figure 8 shows the phase voltage sampling timing diagram. The sampling time point is offset by a delay time D based on the rising edge of the motor control carrier frequency (PWM out) signal. The determination of this time is based on avoiding switching noise and hardware delay. The frequency of the sampling trigger signal (Trigger to ADC sample) generated by the offset is the same as the motor control carrier frequency, and its rising edge triggers the hardware analog signal sampling module to simultaneously sample the motor three-phase voltage e _u , e _v and e _w . According to the three-phase conduction mode at the sampling time, it can be known which phase is the floating phase. If the non-conducting phase (also known as the floating phase) is the V phase at a certain sampling time, the phase voltage of the floating phase can be obtained as e _A = _ev , and the reference voltage is U _DC = |e _u +e _w |. During a high duty cycle period of a motor control carrier cycle, one or more voltage samples can be completed, and the sampled data can be averaged to obtain a sampled value with higher precision.

(5)外同步加速阶段可允许重启次数上限n和运行状态切换阶段可允许调节次数上限m(5) The upper limit n of the allowable number of restarts in the external synchronous acceleration phase and the upper limit m of the allowable number of adjustments in the operating state switching phase

上限的标定需根据具体电机应用场景的***需求。例如变速箱阀体油泵***应用需保证T ₀时间内从0bar建立油压到目标油压，电机在额定转速工作下在T ₁时间可以满足将油压从0bar冲到目标油压，则(T ₀-T ₁)的时间为允许电机尝试启动的时间。设转子一次预定位时间为t _p，一次外同步加速时间为t _r，已知一次运行状态切换位置调节时间约为1/f _ini，则应满足： The calibration of the upper limit needs to be based on the system requirements of specific motor application scenarios. For example, the application of the transmission valve body oil pump system needs to ensure that the oil pressure is established from 0 bar to the target oil pressure within T ₀ time, and the motor can satisfy the oil pressure rushing from 0 bar to the target oil pressure at T ₁ time under the rated speed, then (T ₀ -T ₁ ) is the time allowed for the motor to try to start. Assuming that the rotor pre-positioning time is t _p , the external synchronous acceleration time is t _r , and it is known that the position adjustment time of a running state switch is about 1/f _ini , then it should satisfy:

[(t _p+t _r)*n+(m/f _ini)]＜＝(T ₀-T ₁)。 [(t _p +t _r )*n+(m/ _fini )]<=(T ₀ −T ₁ ).

请参见图9，本发明实施例提供的所述电机启动方法，其具体实施过程除了前文所述转子预定位阶段、外同步加速阶段、运行状态切换阶段，还包括电机停止阶段和内同步运行阶段。Please refer to Fig. 9, the motor starting method provided by the embodiment of the present invention, its specific implementation process includes the motor stop phase and the internal synchronous operation phase in addition to the rotor pre-positioning phase, the external synchronous acceleration phase, and the operating state switching phase described above. .

(1)电机停止阶段(1) Motor stop phase

判断是否接收到电机开始工作命令，若接收到，则进入转子预定位阶段，若未接收到，则关闭电机三相输出。Judging whether the motor start working command is received, if received, enter the rotor pre-positioning stage, if not received, then turn off the three-phase output of the motor.

(2)转子预定位阶段(2) Rotor pre-positioning stage

执行转子预定位阶段的自适应调整，通过对转子预定位阶段的自适应值(Δr _post)进行计算以适应负载变化和负载超差，在转子完成预定位之后进入外同步加速阶段。 Carry out the self-adaptive adjustment of the rotor pre-positioning stage, by calculating the self-adaptive value (Δr _post ) of the rotor pre-positioning stage to adapt to the load change and load tolerance, and enter the external synchronous acceleration stage after the rotor pre-positioning is completed.

(3)外同步加速阶段(3) External synchronous acceleration stage

对电机进行加速控制，在外同步加速阶段的最后一个定子换相周期期间，执行外同步加速阶段的自适应调整，对t ₁和t ₂时刻的电压进行采样，根据采样结果判断实际过零点和预期过零点的偏差，进而以判断转子与定子转向扇区的相对位置，以及根据判断结果，执行外同步加速阶段的自适应算法，若转子匹配定子换向扇区，则进入运行状态切换阶段，若转子落后于定子转向扇区，则返回转子预定位阶段对电机重启电机，若转子超前定子换向扇区，则根据当前供电电压和电机温度从参数矩阵中选择单位调节量更新占空比和换相频率，以触发进入运行状态切换阶段。 Acceleration control is performed on the motor, during the last stator commutation cycle of the external synchronic acceleration phase, the adaptive adjustment of the external synchronous acceleration phase is performed, the voltage at time t ₁ and t ₂ is sampled, and the actual zero-crossing point and the expected point are judged according to the sampling results The deviation of the zero-crossing point is used to judge the relative position of the rotor and the stator turning sector, and according to the judgment result, the adaptive algorithm of the external synchronous acceleration stage is executed. If the rotor matches the stator turning sector, it enters the operation state switching stage. If If the rotor lags behind the stator turning sector, return to the rotor pre-positioning stage and restart the motor. If the rotor is ahead of the stator turning sector, select the unit adjustment value from the parameter matrix to update the duty cycle and commutation according to the current supply voltage and motor temperature. The phase frequency is used to trigger the switching phase of the running state.

(4)运行状态切换阶段(4) Running state switching stage

对t ₁和t ₂时刻的电压进行采样，根据采样结果判断判断转子位置与当前定子导通模式下指定的预期转子位置的相对位置，以及根据判断结果，执行运行状态切换阶段的自适应调整，若转子匹配定子换向扇区，则用当前换相周期期间检测到的过零点来计算换相时刻并触发换相，然后就可以开始使用过零点检测方法来驱动电机运行进入内同步运行阶段，若转子落后或超前于定子转向扇区，则根据当前供电电压和电机温度从参数矩阵中选择单位调节量更新占空比和换相频率，触发进入下一换相周期，并重复相同的判断步骤，直至调节次数达到预设上限次数或者转子匹配定子换向扇区。 Sampling the voltage at time _t1 and _t2 , judging the relative position of the rotor position and the expected rotor position specified in the current stator conduction mode according to the sampling result, and performing adaptive adjustment in the switching stage of the operating state according to the judgment result, If the rotor matches the stator commutation sector, use the zero-crossing detected during the current commutation period to calculate the commutation time and trigger the commutation, and then start using the zero-crossing detection method to drive the motor to enter the internal synchronous operation stage. If the rotor is behind or ahead of the stator steering sector, select the unit adjustment value from the parameter matrix to update the duty cycle and commutation frequency according to the current supply voltage and motor temperature, trigger to enter the next commutation cycle, and repeat the same judgment steps , until the number of adjustments reaches the preset upper limit or the rotor matches the stator commutation sector.

(5)内同步运行阶段(5) Internal synchronous operation stage

通过外同步加速阶段和运行状态切换阶段的自适应调节，使得在内同步运行阶段，电机能够正常工作。Through the self-adaptive adjustment in the external synchronous acceleration phase and the running state switching phase, the motor can work normally in the internal synchronous running phase.

本实施例还提供一种可读存储介质，所述可读存储介质存储有计算机程序，所述计算机程序被执行时，实现如本实施例提供的所述电机启动方法。This embodiment also provides a readable storage medium, the readable storage medium stores a computer program, and when the computer program is executed, the motor starting method provided by this embodiment is realized.

所述可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备，例如可以是但不限于电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备以及上述的任意合适的组合。这里所描述的计算机程序可以从可读存储介质下载到各个计算/处理设备，或者通过网格、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。所述计算机程序可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在一些实施例中，通过利用计算机程序的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA)，该电子电路可以执行计算机可读程序指令，从而实现本发明的各个方面。The readable storage medium may be a tangible device capable of holding and storing instructions for use by an instruction execution device, such as but not limited to an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or the above-mentioned any suitable combination. More specific examples (a non-exhaustive list) of readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanically encoded device, and any suitable combination of the above. The computer programs described herein may be downloaded from a readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and/or a wireless network. The computer program can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server . In some embodiments, electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs) or programmable logic arrays (PLAs), can be customized by utilizing state information from a computer program that can execute computer-programmable The program instructions are read to implement various aspects of the invention.

综上所述，本发明实施例提供的所述电机启动方法及可读存储介质，采用包括转子预定位阶段、外同步开环加速阶段以及运行状态切换阶段的三段式启动方法，在所述外同步开环加速阶段，检测转子与定子的相位差，并根据检测结果判断是否达到满足从所述外同步开环加速阶段至所述运行状态切换阶段的切换条件，若不满足，则返回至所述转子预定位阶段重启电机且重新启动时调整电机启动参数；在所述运行状态切换阶段，检测转子与定子的相位差，并根据检测结果动态调整转子与定子的相位差，以及根据调整次数是否超过阈值来判定是否返回所述转子预定位阶段重启电机。相较于现有技术，提高了判断电机成功启动准确性，也减少了重启时间间隔，两次启动时间间隔可以从1s缩短为50ms。In summary, the motor starting method and the readable storage medium provided by the embodiments of the present invention adopt a three-stage starting method including a rotor pre-positioning stage, an external synchronous open-loop acceleration stage, and an operating state switching stage. In the external synchronous open-loop acceleration stage, detect the phase difference between the rotor and the stator, and judge whether to meet the switching conditions from the external synchronous open-loop acceleration stage to the operation state switching stage according to the detection results, if not satisfied, then return to The motor is restarted in the rotor pre-positioning stage and the motor startup parameters are adjusted when restarting; in the operating state switching stage, the phase difference between the rotor and the stator is detected, and the phase difference between the rotor and the stator is dynamically adjusted according to the detection result, and according to the number of adjustments Whether the threshold is exceeded is used to determine whether to return to the rotor pre-positioning stage to restart the motor. Compared with the existing technology, the accuracy of judging the successful start of the motor is improved, and the restart time interval is also reduced. The time interval between two starts can be shortened from 1s to 50ms.

此外还应该认识到，虽然本发明已以较佳实施例披露如上，然而上述实施例并非用以限定本发明。对于任何熟悉本领域的技术人员而言，在不脱离本发明技术方案范围情况下，都可利用上述揭示的技术内容对本发明技术方案做出许多可能的变动和修饰，或修改为等同变化的等效实施例。因此，凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所做的任何简单修改、等同变化及修饰，均仍属于本发明技术方案保护的范围。In addition, it should be understood that although the present invention has been disclosed above with preferred embodiments, the above embodiments are not intended to limit the present invention. For any person skilled in the art, without departing from the scope of the technical solution of the present invention, the technical content disclosed above can be used to make many possible changes and modifications to the technical solution of the present invention, or to be modified into equivalent changes, etc. effective example. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention, which do not deviate from the content of the technical solution of the present invention, still belong to the scope of protection of the technical solution of the present invention.

Claims

一种电机启动方法，所述电机启动方法采用包括转子预定位阶段、外同步开环加速阶段以及运行状态切换阶段的三段式启动方法，其特征在于，A motor starting method, the motor starting method adopts a three-stage starting method including a rotor pre-positioning stage, an external synchronous open-loop acceleration stage, and an operating state switching stage, characterized in that,

在所述外同步开环加速阶段，检测转子与定子的相位差，并根据检测结果判断是否达到满足从所述外同步开环加速阶段至所述运行状态切换阶段的切换条件，若不满足，则返回至所述转子预定位阶段重启电机且重新启动时调整电机启动参数；In the external synchronous open-loop acceleration phase, detect the phase difference between the rotor and the stator, and judge whether to meet the switching conditions from the external synchronous open-loop acceleration phase to the operation state switching phase according to the detection results, if not satisfied, Then return to the rotor pre-positioning stage to restart the motor and adjust the motor startup parameters when restarting;

在所述运行状态切换阶段，检测转子与定子的相位差，并根据检测结果动态调整转子与定子的相位差，以及根据调整次数是否超过阈值来判定是否返回所述转子预定位阶段重启电机。In the operation state switching stage, the phase difference between the rotor and the stator is detected, and the phase difference between the rotor and the stator is dynamically adjusted according to the detection result, and whether to return to the rotor pre-positioning stage to restart the motor is determined according to whether the number of adjustments exceeds a threshold.
如权利要求1所述的电机启动方法，其特征在于，所述检测转子与定子的相位差的方法包括:The method for starting a motor according to claim 1, wherein the method for detecting the phase difference between the rotor and the stator comprises:

采集第一目标时间点t ₁和所述第二目标时间点t ₂的悬空相相电压及参考电压，所述参考电压为除所述悬空相以外的两相的相电压之和； Collecting the suspended phase-to-phase voltage and the reference voltage at the first target time point _t1 and the second target time point _t2 , the reference voltage being the sum of the phase voltages of the two phases except the suspended phase;

比较所述悬空相相电压和所述参考电压的大小，并根据比较结果判断转子位置与当前定子导通模式下指定的预期转子位置的相对位置，进而以完成对转子与定子的相位差的检测。Comparing the suspended phase-to-phase voltage with the reference voltage, and judging the relative position of the rotor position and the expected rotor position specified in the current stator conduction mode according to the comparison result, so as to complete the detection of the phase difference between the rotor and the stator .
如权利要求2所述的电机启动方法，其特征在于，所述根据比较结果判断转子位置与当前定子导通模式下指定的预期转子位置的相对位置的方法包括：The motor starting method according to claim 2, wherein the method for judging the relative position of the rotor position and the expected rotor position specified in the current stator conduction mode according to the comparison result comprises:

若所述悬空相相电压和所述参考电压满足第一关系式，则判断为转子位置达到当前定子导通模式下指定的预期转子位置；If the suspended phase-to-phase voltage and the reference voltage satisfy the first relational expression, it is determined that the rotor position has reached the expected rotor position specified in the current stator conduction mode;

若所述悬空相相电压和所述参考电压满足第二关系式，则判断为转子未达到当前定子导通模式下指定的预期转子位置；If the suspended phase-to-phase voltage and the reference voltage satisfy the second relational expression, it is judged that the rotor has not reached the expected rotor position specified in the current stator conduction mode;

若所述悬空相相电压和所述参考电压满足第三关系式，则判断为转子位置超过当前定子导通模式下指定的预期转子位置；If the suspended phase-to-phase voltage and the reference voltage satisfy the third relational expression, it is determined that the rotor position exceeds the expected rotor position specified in the current stator conduction mode;

所述第一关系式为：The first relational expression is:

或

or

所述第二关系式为：The second relational expression is:

所述第三关系式为：The third relational expression is:

其中，e _A表示悬空相相电压，U _DC表示所述参考电压。 Among them, e _A represents the floating phase-to-phase voltage, and U _DC represents the reference voltage.
如权利要求3所述的电机启动方法，其特征在于，所述根据检测结果判断是否达到满足从所述外同步开环加速阶段切换至所述运行状态切换阶段的条件的方法包括：The motor starting method according to claim 3, wherein the method for judging whether the condition for switching from the external synchronous open-loop acceleration phase to the operating state switching phase is met according to the detection result comprises:

若所述悬空相相电压和所述参考电压满足所述第一关系式，则判断为满足所述切换条件；If the suspended phase-to-phase voltage and the reference voltage satisfy the first relational expression, it is determined that the switching condition is satisfied;

若所述悬空相相电压和所述参考电压满足所述第二关系式，则判断为不满足所述切换条件。If the floating phase-to-phase voltage and the reference voltage satisfy the second relational expression, it is determined that the switching condition is not satisfied.
如权利要求4所述的电机启动方法，其特征在于，所述电机启动方法还包括：The method for starting a motor according to claim 4, wherein the method for starting a motor further comprises:

在所述外同步开环加速阶段，若所述悬空相相电压和所述参考电压满足第三关系式，则减小绕组当前占空比输出和/或增大当前定子换相频率，以调整转子与定子的相位差，并切换至所述运行状态切换阶段。In the external synchronous open-loop acceleration phase, if the suspended phase-to-phase voltage and the reference voltage satisfy the third relational expression, then reduce the current duty cycle output of the winding and/or increase the current stator commutation frequency to adjust The phase difference between the rotor and the stator is switched to the switching stage of the operating state.
如权利要求3所述的电机启动方法，其特征在于，所述根据检测结果动态调整转子与定子的相位差的方法包括：The motor starting method according to claim 3, wherein the method for dynamically adjusting the phase difference between the rotor and the stator according to the detection result comprises:

若所述悬空相相电压和所述参考电压满足所述第二关系式，则增加绕组占空比和/或按减小当前定子换相频率；If the suspended phase-to-phase voltage and the reference voltage satisfy the second relational expression, then increase the winding duty cycle and/or decrease the current stator commutation frequency;

若所述悬空相相电压和所述参考电压满足所述第三关系式，则减小绕组当前占空比输出和/或增大当前定子换相频率。If the floating phase-to-phase voltage and the reference voltage satisfy the third relational expression, reduce the current duty cycle output of the winding and/or increase the current stator commutation frequency.
如权利要求6所述的电机启动方法，其特征在于，所述电机启动方法还包括：The method for starting a motor according to claim 6, wherein the method for starting a motor further comprises:

若所述悬空相相电压和所述参考电压满足所述第一关系式，则根据当前换相周期期间利用比较所述悬空相相电压和所述参考电压的大小所检测到的悬空相的反电动势过零点来计算换相时刻并触发换相，而后利用过零点检测方法来驱动电机运行。If the floating phase-to-phase voltage and the reference voltage satisfy the first relational expression, then according to the inversion of the floating phase detected by comparing the floating phase-to-phase voltage and the reference voltage during the current commutation period The electromotive force zero crossing is used to calculate the commutation time and trigger the commutation, and then the zero crossing detection method is used to drive the motor to run.
如权利要求2所述的电机启动方法，其特征在于，所述当前定子导通模式下指定的预期定子位置为所述转子位置与所述定子的磁场方向的夹角在60度～120度范围内的位置。The motor starting method according to claim 2, wherein the expected stator position specified in the current stator conduction mode is that the included angle between the rotor position and the magnetic field direction of the stator is in the range of 60 degrees to 120 degrees location within.
如权利要求1所述的电机启动方法，其特征在于，所述调整电机启动参数包括：增大上个启动周期转子预定位阶段的占空比作为当前启动周期所述转子预定位阶段的占空比；以及，The motor starting method according to claim 1, wherein the adjusting the motor starting parameters comprises: increasing the duty cycle of the rotor pre-positioning stage in the last start-up cycle as the duty cycle of the rotor pre-positioning stage in the current start-up cycle than; and,

增大上个启动周期所述外同步加速阶段的占空比作为当前启动周期所述外同步加速阶段的占空比，或者减少上个启动周期所述外同步加速阶段的定子换相频率作为当前启动周期所述外同步加速阶段的定子换相频率。Increase the duty ratio of the external synchronic acceleration phase in the last startup cycle as the duty ratio of the external synchronic acceleration phase in the current startup cycle, or reduce the stator commutation frequency in the external synchronic acceleration phase in the last startup cycle as the current Stator commutation frequency for the outer synchrotron phase of the start-up cycle.
如权利要求9所述的电机启动方法，其特征在于，按第一计算值增大上个启动周期转子预定位阶段的占空比作为当前启动周期所述转子预定位阶段的占空比，所述第一计算值的计算公式如下：The motor starting method according to claim 9, wherein the duty ratio of the rotor pre-positioning stage in the last startup cycle is increased according to the first calculation value as the duty cycle of the rotor pre-positioning stage in the current startup cycle, so The calculation formula of the first calculated value is as follows:

其中，n表示所述外同步加速阶段可允许重启的上限次数，
表示n次重启后允许增加到的最大占空比，
表示转子预定位阶段初始占空比，U _bat表示供电电压，R _m表示电机回路阻抗。 Wherein, n represents the upper limit number of restarts allowed in the outer synchrotron phase,
Indicates the maximum duty cycle allowed to increase after n restarts,
Indicates the initial duty cycle of the rotor pre-positioning phase, U _bat indicates the supply voltage, and R _m indicates the motor loop impedance.
如权利要求9所述的电机启动方法，其特征在于，The motor starting method according to claim 9, wherein,

按第二计算值增大上个启动周期所述外同步加速阶段的占空比作为当前启动周期所述外同步加速阶段的占空比，所述第二计算值Δr _ramp采用以下函数计算得到： Increase the duty cycle of the external synchrotron phase in the last startup cycle according to the second calculation value as the duty cycle of the external synchrony phase in the current startup cycle, and the second calculation value Δr _ramp is calculated by the following function:

Δr _ramp＝r(U _bat，t _m，ΔT _L，D _e)； Δr _ramp = r(U _bat , t _m , ΔT _L , D _e );

按第三计算值减少上个启动周期所述外同步加速阶段的定子换相频率作为当前启动周期所述外同步加速阶段的定子换相频率，所述第三计算值采用以下函数计算得到：Decrease the stator commutation frequency in the external synchronous acceleration phase of the last startup cycle by the third calculated value as the stator commutation frequency in the external synchronous acceleration phase of the current startup cycle, and the third calculated value is calculated by the following function:

Δf _ramp＝f(U _bat，t _m，ΔT _L，D _e)； _Δframp = f(U _bat , t _m , ΔT _L , D _e );

其中，U _bat表示电机供电电压，ΔT _L表示负载变化率，D _e表示转子实际位置落后预期位置的偏差，t _m表示电机温度。 Among them, U _bat represents the power supply voltage of the motor, ΔT _L represents the load change rate, D _e represents the deviation of the actual position of the rotor behind the expected position, and t _m represents the temperature of the motor.
如权利要求1所述的电机启动方法，其特征在于，选取的第一目标时间点t ₁和所述第二目标时间点t ₂与预期反电动势过零点出现的时间点t _z满足： The motor starting method according to claim 1, wherein the selected first target time point _t1 and the second target time point _t2 and the time point _tz at which the expected counter electromotive force zero-crossing point occurs satisfy:

|t ₁-t _z|＝|t ₂-t _z|。 |t ₁ -t _z |=|t ₂ -t _z |.
如权利要求1所述的电机启动方法，其特征在于，在所述外同步加速阶段的最后一个定子换相周期内，检测转子与定子的相位差，并判断满足所述切换条件；在所述运行状态切换阶段的每个定子换相周期内，均检测转子与定子的相位差，并判断是否返回所述转子定子阶段重启电机。The motor starting method according to claim 1, characterized in that, in the last stator commutation cycle of the external synchronous acceleration phase, the phase difference between the rotor and the stator is detected, and the switching condition is judged to be satisfied; During each stator commutation period in the operation state switching stage, the phase difference between the rotor and the stator is detected, and it is judged whether to return to the rotor-stator stage to restart the motor.
一种可读存储介质，其特征在于，所述可读存储介质存储有计算机程序，所述计算机程序被执行时，实现如权利要求1～13任一项所述的电机启动方法。A readable storage medium, characterized in that the readable storage medium stores a computer program, and when the computer program is executed, the motor starting method according to any one of claims 1-13 is realized.