CN106100468A - A kind of rotor null adjustment method, device, circuit and rotary transformer - Google Patents

Abstract

The embodiment of the invention discloses a motor rotor zero position adjustment method, device, circuit and resolver. The method includes: controlling the flow direction of the current in the three-phase synchronous motor connected to the DC power supply, so that a constant first magnetic field is generated inside the three-phase synchronous motor, and the direction of the first magnetic field is the direction of the zero position of the rotor. direction, the first magnetic field pushes the rotor to rotate to zero. The embodiment of the present invention controls the magnetic field direction of the motor rotor by controlling the synthesized current of the three-phase synchronous motor, and drags the motor to the zero position of the motor rotor, thereby calibrating the zero position of the resolver to be consistent with the zero position of the permanent magnet synchronous motor, and improving the efficiency of the motor. Torque, speed accuracy and dynamic performance.

Description

Method, device, circuit and rotary transformer for adjusting zero position of motor rotor

technical field

The embodiments of the present invention relate to the technical field of motor control, in particular to a method, device, circuit and resolver for adjusting the zero position of a motor rotor.

Background technique

A resolver is an electromagnetic sensor, also known as a synchronous resolver. It is a small AC motor for measuring angles, used to measure the angular displacement and angular velocity of the rotating object, and consists of a stator and a rotor. Among them, the stator winding is used as the primary side of the transformer to receive the excitation voltage, and the excitation frequency is usually 400, 3000 and 5000Hz. The rotor winding is used as the secondary side of the transformer, and the induced voltage is obtained through electromagnetic coupling.

The permanent magnet synchronous motor resolver is a device used to detect the magnetic field position of the permanent magnet synchronous motor rotor, and its essence is also a small AC motor. In the process of realizing the present invention, the inventor found that the prior art has at least the following problems: Due to the limitation of production and installation, there is a deviation between the zero position of the resolver and the zero position of the permanent magnet synchronous motor, resulting in very low motor torque and speed accuracy. Low, the dynamic performance is not good, and the controller is easy to be damaged. How to calibrate the zero position of the resolver so that the zero position of the resolver is consistent with the zero position of the permanent magnet synchronous motor is a problem to be solved in the prior art.

Contents of the invention

The technical problem mainly solved by the embodiments of the present invention is that the existing permanent magnet synchronous motor rotary transformer has a deviation between the zero position of the rotary transformer and the permanent magnet synchronous motor due to the limitation of production and installation, resulting in very low motor torque and rotational speed accuracy , the dynamic performance is not good, and it is easy to damage the controller.

In order to solve the above technical problems, a technical solution adopted in the embodiment of the present invention is to provide a method for adjusting the zero position of the motor rotor, the method comprising:

Control the flow direction of the current in the three-phase synchronous motor connected to the DC power supply, so that a constant first magnetic field is generated inside the three-phase synchronous motor, the direction of the first magnetic field is the direction of the zero position of the rotor, and the first A magnetic field pushes the rotor to zero position.

Wherein, the method also includes:

Controlling the flow direction of the current in the three-phase synchronous motor connected to the DC power supply, so that a constant second magnetic field is generated inside the three-phase synchronous motor, and the direction of the second magnetic field is the direction that deviates from the zero position of the rotor.

Wherein, the direction pointed by the second magnetic field forms an included angle of 120° or 240° with the direction of the zero position of the rotor.

Wherein, the current flowing through the three-phase synchronous motor is less than or equal to half of the rated current of the three-phase synchronous motor.

Wherein, the current flowing through the three-phase synchronous motor gradually increases, and the maximum value of the current flowing through the three-phase synchronous motor is less than or equal to half of the rated current of the three-phase synchronous motor.

Wherein, the first magnetic field and the second magnetic field are set with a duration, and the duration is greater than or equal to 200ms.

In order to solve the above technical problems, another technical solution adopted in the embodiment of the present invention is to provide a synchronous motor rotor zero position adjustment device, including:

A power supply unit, the power supply unit is a DC power supply, and the power supply unit is connected to a three-phase synchronous motor;

A control unit, the control unit is connected between the power supply unit and the three-phase synchronous motor, and the control unit is used to control the flow direction of the current in the three-phase synchronous motor, so that the inside of the three-phase synchronous motor A constant first magnetic field is generated, and the direction of the first magnetic field is the direction of the zero position of the rotor.

In order to solve the above technical problems, a technical solution adopted in the embodiment of the present invention is to provide a motor rotor zero position adjustment circuit, including: a motor controller and a three-phase synchronous motor;

The motor controller includes: a DC power supply, a first switch tube, a second switch tube, a third switch tube, a fourth switch tube, a fifth switch tube and a sixth switch tube;

Both ends of the DC power supply are provided with a first parallel connection point, a second parallel connection point, a third parallel connection point, a fourth parallel connection point, a fifth parallel connection point and a sixth parallel connection point;

A first switch tube and a second switch tube are connected in series between the first parallel connection point and the second parallel connection point, and a third switch tube is connected in series between the third parallel connection point and the fourth parallel connection point and the fourth switch tube, a fifth switch tube and a sixth switch tube are connected in series between the fifth parallel connection point and the sixth parallel connection point;

A first connection point is set between the first switch tube and the second switch tube, a second connection point is set between the third switch tube and the fourth switch tube, and the fifth switch tube and the sixth switch tube A third connection point is provided between the tubes;

The three-phase synchronous motor is respectively connected to the first connection point, the second connection point and the third connection point.

Wherein, the first switch tube, the second switch tube, the third switch tube, the fourth switch tube, the fifth switch tube and the sixth switch tube are field effect tubes.

In order to solve the above-mentioned technical problems, a technical solution adopted in the embodiment of the present invention is to provide a motor resolver, the resolver includes the motor rotor zero position adjustment circuit described in the present invention.

The beneficial effect of the embodiment of the present invention is: different from the situation of the prior art, the embodiment of the present invention controls the magnetic field direction of the motor rotor by controlling the synthetic current of the three-phase synchronous motor, and drags the motor to the zero position of the motor rotor, thereby calibrating The zero position of the resolver is consistent with that of the permanent magnet synchronous motor, which improves the motor torque, speed accuracy and dynamic performance.

Description of drawings

Fig. 1 is the flow chart of a kind of motor rotor zero adjustment method of the present invention;

Fig. 2 is a structural schematic diagram of a motor rotor zero position adjustment device of the present invention;

Fig. 3 is a structural schematic diagram of a motor rotor zero position adjustment circuit of the present invention;

Fig. 4 is a working principle diagram of a motor rotor zero position adjustment circuit of the present invention;

Fig. 5 is a flowchart of the operation of a motor rotor zero position adjustment circuit of the present invention.

detailed description

Example 1

Referring to Fig. 1, the embodiment of the present invention includes: a method for adjusting the zero position of a motor rotor, the method including:

S1: Control the flow direction of the current in the three-phase synchronous motor connected to the DC power supply, so that a constant second magnetic field is generated inside the three-phase synchronous motor, and the direction of the second magnetic field is away from the zero position of the rotor direction.

S2: Control the flow direction of the current in the three-phase synchronous motor connected to the DC power supply, so that a constant first magnetic field is generated inside the three-phase synchronous motor, and the direction of the first magnetic field is the direction of the zero position of the rotor, so The first magnetic field pushes the rotor to rotate to zero.

The principle of this method is to apply a three-phase direct current through a three-phase synchronous motor, so that the spatial synthesis current direction of the three-phase direct current is the zero position direction of the motor rotor, and the synthesis current will generate a constant first magnetic field, and the first magnetic field will be The motor rotor turns to zero position. Since the specific position of the motor rotor is not known at the beginning, the first magnetic field cannot be synthesized by directly applying three-phase DC current, otherwise the motor rotor may not rotate to zero position. Therefore, it is also necessary to control the three-phase synchronous magnetic field connected to the DC power supply. The flow direction of the current in the motor causes a constant second magnetic field to be generated inside the three-phase synchronous motor, and the direction pointed by the second magnetic field is a direction deviating from the zero position of the rotor, and the direction pointed by the second magnetic field is consistent with the The direction of the zero position of the rotor is at an included angle of 120° or 240°, the motor rotor is first rotated to a direction of 120° or 240° with the direction of the zero position of the rotor, and then the first magnetic field is generated by a synthetic current Turn the motor rotor to zero position. In order to prevent excessive current from burning out the controller and motor, and to have enough torque to overcome resistance such as rotor friction to make the rotor rotate, the current flowing through the three-phase synchronous motor is less than or equal to the rated current of the three-phase synchronous motor One-half, the current flowing through the three-phase synchronous motor gradually increases, and the maximum value of the current flowing through the three-phase synchronous motor is less than or equal to half of the rated current of the three-phase synchronous motor One, at the same time, the first magnetic field and the second magnetic field are set with a duration, and the duration is greater than or equal to 200ms.

The embodiment of the present invention provides a method for adjusting the zero position of the motor rotor. By controlling the synthetic current of the three-phase synchronous motor to control the magnetic field direction of the motor rotor, the motor is dragged to the zero position of the motor rotor, thereby calibrating the zero position and the zero position of the resolver. The zero position of the permanent magnet synchronous motor is consistent, which improves the motor torque, speed accuracy and dynamic performance.

Example 2

As shown in Figure 2, the embodiment of the present invention also provides a motor rotor zero position adjustment device, including:

A power supply unit 1, the power supply unit is a DC power supply, and the power supply unit is connected to a three-phase synchronous motor;

A control unit 2, the control unit is connected between the power supply unit and the three-phase synchronous motor, the control unit is used to control the flow of current in the three-phase synchronous motor, so that the three-phase synchronous motor A constant first magnetic field is generated inside, and the direction of the first magnetic field is the direction of the zero position of the rotor.

The embodiment of the present invention provides an adjusting device for the zero position of the motor rotor. Through the cooperation of the power supply unit and the control unit, the synthesized current of the three-phase synchronous motor controls the magnetic field direction of the motor rotor, and the motor is dragged to the zero position of the motor rotor, thereby The zero position of the calibration resolver is consistent with the zero position of the permanent magnet synchronous motor, and the torque, speed accuracy and dynamic performance of the motor are improved.

Example 3

As shown in Figure 3, an embodiment of the present invention provides a motor rotor zero position adjustment circuit, including: a motor controller and a three-phase synchronous motor;

The motor controller includes a DC power supply W, a first switching tube Q1, a second switching tube Q2, a third switching tube Q3, a fourth switching tube Q4, a fifth switching tube Q5 and a sixth switching tube Q6;

The two ends W of the DC power supply are provided with a first parallel connection point a1, a second parallel connection point a2, a third parallel connection point a3, a fourth parallel connection point a4, a fifth parallel connection point a5 and a sixth parallel connection point a6 ;

A first switch tube Q1 and a second switch tube Q2 are connected in series between the first parallel connection point a1 and the second parallel connection point a2, and a series connection between the third parallel connection point a3 and the fourth parallel connection point a4 A third switch tube Q3 and a fourth switch tube Q4 are connected, and a fifth switch tube Q5 and a sixth switch tube Q6 are connected in series between the fifth parallel connection point a5 and the sixth parallel connection point a6;

A first connection point b1 is provided between the first switch tube Q1 and the second switch tube Q2, a second connection point b2 is provided between the third switch tube Q3 and the fourth switch tube Q4, and the fifth switch tube Q3 and the fourth switch tube Q4 are provided with a second connection point b2. A third connection point b3 is provided between the switch tube Q5 and the sixth switch tube Q6;

The three-phase synchronous motor is respectively connected to the first connection point b1, the second connection point b2 and the third connection point b3.

Preferably, the first switch tube Q1 , the second switch tube Q2 , the third switch tube Q3 , the fourth switch tube Q4 , the fifth switch tube Q5 and the sixth switch tube Q6 are field effect tubes.

The three-phase synchronous motor is a three-phase input, by controlling the first switching tube Q1, the second switching tube Q2, the third switching tube Q3, the fourth switching tube Q4, the fifth switching tube Q5 and the sixth switching tube on the motor controller Tube Q6 outputs three-phase currents I _A , I _B and I _C , defining the current flowing from the motor controller to the three-phase synchronous motor as positive current, the current flowing from the three-phase synchronous motor to the motor controller as negative current, and the three-phase current The spatial phase relationship is shown in Figure 4. The three-phase currents I _A , I _B and I _C form an angle of 120° with each other in the point space. The direction of the arrow indicates the positive direction, and the positive direction of the current I _A is the zero position direction of the motor rotor. .

For the principle of the motor rotor zero position adjustment circuit, please refer to the principle of the motor rotor zero position adjustment method in Embodiment 1, which will not be repeated here.

Please refer to Figure 5. First, Q2 and Q6 are turned on. In order to ensure sufficient torque to overcome resistance such as rotor friction, gradually increase the conduction duty cycle of Q3, that is, gradually increase the three-phase currents I _A , I _B and I _C , At this time, I _B is a positive current, I _A and I _C are negative currents, and the three-phase composite current is 120°. At this time, the magnetic field generated will rotate the motor rotor to a position of 120°. In order to prevent the motor controller from being burned out due to excessive current and three-phase synchronous motors, when the three-phase currents I _A , I _B and I _C increase to 1/2 of the rated current of the three-phase synchronous motors, stop increasing the current, in order to ensure that the rotor has enough time to turn to 120° position, so that the current has a certain duration, keep the current in this direction for 200ms, then turn off Q2, Q3 and Q6; then turn on Q4 and Q6, and gradually increase the on-duty ratio of Q1, at this time I _A is positive Current, I _B and I _C are negative currents, and the three-phase composite current is 0°, the magnetic field generated at this time will rotate the motor rotor to the position of 0°, when the three-phase currents I _A , I _B and I _C increase to three When the rated current of the three-phase synchronous motor is half of the rated current, stop increasing the current, keep the current in this direction for 200ms, and then turn off Q1, Q4 and Q6. At this time, the rotor of the three-phase synchronous motor stops at zero position, read this value, That is, the zero value of the resolver.

The embodiment of the present invention provides a motor rotor zero position adjustment circuit. The three-phase current on the three-phase synchronous motor is controlled by the motor controller, so that the synthesized current of the three-phase synchronous motor controls the magnetic field direction of the motor rotor, and the motor is dragged to the motor The zero position of the rotor is calibrated so that the zero position of the resolver is consistent with the zero position of the permanent magnet synchronous motor, and the torque, speed accuracy and dynamic performance of the motor are improved.

Example 4

The embodiment of the present invention also provides a rotary transformer (not shown), the rotary transformer includes the motor rotor zero adjustment circuit described in Embodiment 3 of the present invention, and the zero position of the rotary transformer with the motor rotor zero adjustment circuit The adjustment principle is the same as that of the motor rotor zero position adjustment circuit described in Embodiment 3, and will not be repeated here.

An embodiment of the present invention provides a resolver, including a motor rotor zero position adjustment circuit, which controls the magnetic field direction of the motor rotor by controlling the synthesized current of the three-phase synchronous motor, and drags the motor to the zero position of the motor rotor, thereby calibrating the rotation The zero position of the transformer is consistent with that of the permanent magnet synchronous motor, which improves the motor torque, speed accuracy and dynamic performance.

The above is only the embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technologies fields, all of which are equally included in the scope of patent protection of the present invention.

Claims (10)

1. a rotor null adjustment method, it is characterised in that described method includes:

Control the flow direction of electric current in the three-phase synchronous motor being connected on DC source, make the internal generation of described three-phase synchronous motor One the first constant magnetic field, the direction that direction is rotor zero-bit that described first magnetic field is pointed to, described first magnetic field promotes institute State rotor and turn to zero-bit.

Rotor null adjustment method the most according to claim 1, it is characterised in that described method also includes:

Control the flow direction of electric current in the three-phase synchronous motor being connected on DC source, make the internal generation of described three-phase synchronous motor One the second constant magnetic field, the direction that described second magnetic field is pointed to is the direction deviateing described rotor zero-bit.

Rotor null adjustment method the most according to claim 2, it is characterised in that the side that described second magnetic field is pointed to It is 120 ° or the angle of 240 ° to the direction with described rotor zero-bit.

4. according to the rotor null adjustment method described in claims 1 to 3 any one, it is characterised in that flow through described Electric current in three-phase synchronous motor is less than or equal to 1/2nd of described three-phase synchronous motor rated current.

Rotor null adjustment method the most according to claim 4, it is characterised in that flow through described three-phase synchronous motor In electric current incrementally increase, described in flow through the maximum of electric current in described three-phase synchronous motor less than or equal to described three-phase synchronous / 2nd of Rated motor electric current.

6. according to the rotor null adjustment method described in claim 2～3 any one, it is characterised in that described first Magnetic field and the second magnetic field set have the survival time, and the described survival time is more than or equal to 200ms.

7. a rotor null adjustment device, it is characterised in that including:

Power supply unit, said supply unit is DC source, and said supply unit is connected with three-phase synchronous motor；

Control unit, described control unit is connected between said supply unit and described three-phase synchronous motor, and described control is single Unit for controlling the flow direction of electric current in described three-phase synchronous motor so that described three-phase synchronous motor internal produce one constant First magnetic field, the direction that direction is rotor zero-bit that described first magnetic field is pointed to.

8. a rotor null adjustment circuit, it is characterised in that including: electric machine controller and three-phase synchronous motor；

Described electric machine controller includes: DC source, the first switching tube, second switch pipe, the 3rd switching tube, the 4th switching tube, 5th switching tube and the 6th switching tube；

Described DC source two ends are provided with and first are connected in parallel point, second are connected in parallel point, the 3rd are connected in parallel point, the 4th in parallel Junction point, the 5th it is connected in parallel a little and the 6th is connected in parallel a little；

Described first be connected in parallel a little and second be connected in parallel a little between be connected in series with the first switching tube and second switch pipe, institute State the 3rd be connected in parallel a little and the 4th be connected in parallel a little between be connected in series with the 3rd switching tube and the 4th switching tube, the described 5th Be connected in parallel a little and the 6th be connected in parallel a little between be connected in series with the 5th switching tube and the 6th switching tube；

Be provided with between described first switching tube and second switch pipe the first junction point, described 3rd switching tube and the 4th switching tube it Between be provided with the second junction point, be provided with the 3rd junction point between described 5th switching tube and the 6th switching tube；

Described three-phase synchronous motor is connected with described first junction point, the second junction point and the 3rd junction point respectively.

Rotor null adjustment circuit the most according to claim 8, it is characterised in that described first switching tube, second Switching tube, the 3rd switching tube, the 4th switching tube, the 5th switching tube and the 6th switching tube are field effect transistor.

10. a rotary transformer, it is characterised in that described rotary transformer includes described in claim 8～9 any one Rotor null adjustment circuit.