CN107482984A - Motor initial position angle automatic Calibration angle compensation process and system - Google Patents
Motor initial position angle automatic Calibration angle compensation process and system Download PDFInfo
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- CN107482984A CN107482984A CN201610891993.5A CN201610891993A CN107482984A CN 107482984 A CN107482984 A CN 107482984A CN 201610891993 A CN201610891993 A CN 201610891993A CN 107482984 A CN107482984 A CN 107482984A
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- 230000005611 electricity Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 3
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- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention proposes that a kind of motor initial position angle automatic Calibration angle compensation process and system, method comprise the following steps：Obtain motor initial position angle；The power-factor angle of A phases is obtained according to power input to a machine, AB line voltages and A phase currents；Electric angle frequency is obtained according to the rotating speed of motor, and the internal power factor angle of A phases is obtained according to electric angle frequency and power-factor angle；And motor initial position angle is compensated according to internal power factor angle, to obtain final motor initial position angle.The method of the present invention can improve motor initial position angle measurement accuracy and moment of torsion control precision, while improve the operating efficiency of motor.
Description
Technical field
The present invention relates to technical field of motors, more particularly to a kind of motor initial position angle automatic Calibration angle compensation process
And system.
Background technology
Permagnetic synchronous motor is influenceed when producing assembling by motor assembly technology, the setting angle that motor rotation becomes and electricity
Angular deviation be present between machine rotor electrical angle, this angular deviation is referred to as the initial angle of motor.The initial angle of motor can be with
Obtained before electric machine controller matches motor by test calibration.
Current motor initial position angle automatic calibration method is become between zero degree using A phase currents zero crossing and rotation
Deviation, calculate motor initial position angle.But because the influence of motor internal parameter, is deposited between electric machine phase current and phase voltage
In power-factor angle, therefore, there is angular deviation in the motor initial position angle calculated using A phase currents zero crossing, can reduce electricity
Machine initial position angle measurement accuracy, moment of torsion control precision and operating efficiency.
The content of the invention
It is contemplated that at least solves one of above-mentioned technical problem.
Therefore, it is an object of the present invention to propose a kind of motor initial position angle automatic Calibration angle compensation process,
This method can improve motor initial position angle measurement accuracy and moment of torsion control precision, while improve the operating efficiency of motor.
It is another object of the present invention to propose a kind of motor initial position angle automatic Calibration angle compensation system.
To achieve these goals, the embodiment of first aspect present invention discloses a kind of motor initial position angle and marked automatically
Determine angle compensation process, comprise the following steps：Obtain motor initial position angle；According to power input to a machine, AB line voltages and A
Phase current obtains the power-factor angle of A phases；Electric angle frequency is obtained according to the rotating speed of motor, and according to the electric angle frequency and described
Power-factor angle obtains the internal power factor angle of A phases；And according to the internal power factor angle to the motor initial position angle
Compensate, to obtain final motor initial position angle.
Motor initial position angle automatic Calibration angle compensation process according to embodiments of the present invention, it is initial that motor is obtained first
Position angle, the power-factor angle of A phases is then obtained according to power input to a machine, AB line voltages and A phase currents, according to motor
Rotating speed obtains electric angle frequency, and obtains the internal power factor angle of A phases according to electric angle frequency and power-factor angle, finally according to internal strength
Rate factor angle compensates to motor initial position angle, to obtain final motor initial position angle, at the beginning of improving motor
Beginning position angle measurement accuracy and moment of torsion control precision, while improve the operating efficiency of motor.
In addition, motor initial position angle automatic Calibration angle compensation process according to the above embodiment of the present invention can also have
There is technical characteristic additional as follows：
In some instances, the power-factor angle is obtained by equation below：
Wherein, P is the power input to a machine, UABFor the AB line voltages, I is the A phase currents,For the work(
Rate factor angle.
In some instances, the internal power factor angle is obtained by equation below：
Wherein, ψ is the internal power factor angle, and U is A phase voltage virtual values, and φ is the power-factor angle, and I is the A
Phase current, XqFor quadrature axis reactance.
In some instances, the motor initial position angle is compensated by equation below：
θ=θ1+ ψ,
Wherein, θ1For the motor initial position angle, θ is final motor initial position angle.
In some instances, the motor initial position angle is obtained by equation below：
θ1=360- θrdc,
Wherein, the θrdcBecome the electrical angle sent for motor rotation.
To achieve these goals, the embodiment of second aspect of the present invention discloses a kind of motor initial position angle and marked automatically
Determine angle compensation system, including：Acquisition module, the acquisition module are used to obtain motor initial position angle；Computing module, it is described
Computing module is used to obtain the power-factor angle of A phases according to power input to a machine, AB line voltages and A phase currents, and according to electricity
The rotating speed of machine obtains electric angle frequency, and obtains the internal power factor angle of A phases according to the electric angle frequency and the power-factor angle；
And compensating module, the compensating module are used to mend the motor initial position angle according to the internal power factor angle
Repay, to obtain final motor initial position angle.
Motor initial position angle automatic Calibration angle compensation system according to embodiments of the present invention, it is initial that motor is obtained first
Position angle, the power-factor angle of A phases is then obtained according to power input to a machine, AB line voltages and A phase currents, according to motor
Rotating speed obtains electric angle frequency, and obtains the internal power factor angle of A phases according to electric angle frequency and power-factor angle, finally according to internal strength
Rate factor angle compensates to motor initial position angle, to obtain final motor initial position angle, at the beginning of improving motor
Beginning position angle measurement accuracy and moment of torsion control precision, while improve the operating efficiency of motor.
In addition, motor initial position angle automatic Calibration angle compensation system according to the above embodiment of the present invention can also have
There is technical characteristic additional as follows：
In some instances, the computing module obtains the power-factor angle by equation below：
Wherein, P is the power input to a machine, UABFor the AB line voltages, I is the A phase currents,For the work(
Rate factor angle.
In some instances, the computing module obtains the internal power factor angle by equation below：
Wherein, ψ is the internal power factor angle, and U is A phase voltage virtual values, and φ is the power-factor angle, and I is the A
Phase current, XqFor quadrature axis reactance.
In some instances, the compensating module is compensated by equation below to the motor initial position angle：
θ=θ1+ ψ,
Wherein, θ1For the motor initial position angle, θ is final motor initial position angle.
In some instances, the acquisition module obtains the motor initial position angle by equation below：
θ1=360- θrdc,
Wherein, the θrdcBecome the electrical angle sent for motor rotation.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the flow chart of motor initial position angle automatic Calibration angle compensation process according to embodiments of the present invention；
Fig. 2 is the phase deviation schematic diagram of motor phase back-emf and A phase currents according to an embodiment of the invention；
Fig. 3 is electrical angle of motor rotor and emf phase oscillogram according to an embodiment of the invention；
Fig. 4 is motor initial position angle Computing Principle schematic diagram according to an embodiment of the invention；And
Fig. 5 is the structured flowchart of motor initial position angle automatic Calibration angle compensation system according to embodiments of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the present invention.In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint are relative
Importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Motor initial position angle automatic Calibration angle compensation process according to embodiments of the present invention is described below in conjunction with accompanying drawing
And system.
Fig. 1 is the flow of motor initial position angle automatic Calibration angle compensation process according to an embodiment of the invention
Figure.As shown in figure 1, this method comprises the following steps：
Step S1：Obtain motor initial position angle.
First, A phase currents I is gathered and by revolving the electrical angle for becoming sensor motor rotation change and sending by current sensor
θrdc, as I=0, read rotation and become the electrical angle sent, as initial position angle θ1.In the case of theory, phase back-emf
Zero crossing and rotation, which become the electrical angle of motor rotor zero degree that sends, to be overlapped, such as shown in Fig. 3, and abscissa x is time transverse axis, A
Point is A phase back-emf zero crossings position, and B points become zero point (i.e. zero degree) position for reading electrical angle for rotation.And then utilize A phases electricity
The deviation between zero point and rotation change zero degree is flowed through, calculates motor initial position angle θ1, schematic diagram calculation is as shown in Figure 4.
More specifically, in one embodiment of the invention, the motor initial position angle is obtained by equation below：
θ1=360- θrdc,
Wherein, θrdcBecome the electrical angle sent for motor rotation.
Step S2：The power-factor angle of A phases is obtained according to power input to a machine, AB line voltages and A phase currents.Wherein,
For example, pass through the input power of power analyzer motor in real time, AB line voltages and A phase currents.
Specifically, power-factor angle is obtained by equation below：
Wherein, P is power input to a machine, UABFor AB line voltages, I is A phase currents,For power-factor angle.
Step S3：Electric angle frequency is obtained according to the rotating speed of motor, and A phases are obtained according to electric angle frequency and power-factor angle
Internal power factor angle.
Specifically, existing motor initial position angle automatic calibration method is to become zero using A phase currents zero crossing and rotation
Deviation between angle, calculate motor initial position angle.However, if going calculating using phase back-emf zero crossing, can more
Accurately.Because the influence of motor internal parameter, phase difference between motor phase back-emf and phase current be present, thus it is, it is necessary to real
When calculate internal power factor angle, with compensate with phase current carry out initial position angle automatic Calibration when angular error.At some
In example, internal power factor angle ψ is motor phase back-emf E0With phase current IAPhase deviation, such as shown in Fig. 2.
More specifically, internal power factor angle is obtained by equation below：
Wherein, ψ is internal power factor angle, and U is A phase voltage virtual values, and U=UAB/ sqrt (3), φ are power-factor angle,
I is A phase currents, XqFor quadrature axis reactance, and quadrature axis reactance X is calculated by electric angle frequencyq。
Step S4：Motor initial position angle is compensated according to internal power factor angle, it is initial with the motor for obtaining final
Position angle.
Specifically, motor initial position angle is compensated by equation below：
θ=θ1+ ψ, (3)
Wherein, θ1For motor initial position angle, θ is final motor initial position angle.
Generally speaking, the main calculating stream of the motor initial position angle automatic Calibration angle compensation process of the embodiment of the present invention
Journey can be summarized as：The deviation become first using A phase currents zero crossing and rotation between zero degree, calculates motor initial position angle
θ1.Again in motor bench, under permanent moment of torsion perseverance rotating speed, input power P, the AB line electricity of power analyzer motor in real time is utilized
Press UABWith A phase current I, by above-mentioned formula (1), power-factor angle can be calculatedThen the motor speed meter of collection is passed through
Electric angle frequency is calculated, quadrature axis reactance X is calculatedqWith d-axis reactance Xd, then by above-mentioned formula (2), be calculated internal power because
Number angle ψ.Finally, by above-mentioned formula (3), it is compensated rear final initial position angle θ.So as to both improve initial position angle
Measurement accuracy and moment of torsion control precision, also improve the operating efficiency of motor.Further, above-mentioned algorithm flow can be weighed repeatedly
It is multiple to calculate, final motor initial position angle θ average value can be drawn, final electricity can be improved by being averaged after repeatedly calculating
Machine initial position angle θ precision.
To sum up, motor initial position angle automatic Calibration angle compensation process according to embodiments of the present invention, electricity is obtained first
Machine initial position angle, the power-factor angle of A phases is then obtained according to power input to a machine, AB line voltages and A phase currents, according to
The rotating speed of motor obtains electric angle frequency, and obtains the internal power factor angle of A phases, last root according to electric angle frequency and power-factor angle
Motor initial position angle is compensated according to internal power factor angle, to obtain final motor initial position angle, so as to improve
Motor initial position angle measurement accuracy and moment of torsion control precision, while improve the operating efficiency of motor.
Further embodiment of the present invention additionally provides a kind of motor initial position angle automatic Calibration angle compensation system.
Fig. 5 is the structural frames of motor initial position angle automatic Calibration angle compensation system according to an embodiment of the invention
Figure.As shown in figure 5, motor initial position angle automatic Calibration angle compensation system 100 according to an embodiment of the invention, bag
Include：Acquisition module 110, computing module 120 and compensating module 130.
Wherein, acquisition module 110 is used to obtain motor initial position angle.
Specifically, acquisition module 110 obtains motor initial position angle by equation below：
θ1=360- θrdc,
Wherein, θrdcBecome the electrical angle sent for motor rotation.
Computing module 120 is used to obtain the power factor of A phases according to power input to a machine, AB line voltages and A phase currents
Angle, and electric angle frequency is obtained according to the rotating speed of motor, and the internal power factor of A phases is obtained according to electric angle frequency and power-factor angle
Angle.
Specifically, computing module 120 obtains power-factor angle by equation below：
Wherein, P is power input to a machine, UABFor AB line voltages, I is A phase currents,For power-factor angle.
Specifically, computing module 120 obtains internal power factor angle by equation below：
Wherein, ψ is internal power factor angle, and U is A phase voltage virtual values, and U=UAB/ sqrt (3), φ are power-factor angle,
I is A phase currents, XqFor quadrature axis reactance, and quadrature axis reactance X is calculated by electric angle frequencyq。
Compensating module 130 is used to compensate motor initial position angle according to internal power factor angle, final to obtain
Motor initial position angle.
Specifically, compensating module 130 is compensated by equation below to motor initial position angle：
θ=θ1+ ψ,
Wherein, θ1For motor initial position angle, θ is final motor initial position angle.
It should be noted that the specific reality of the motor initial position angle automatic Calibration angle compensation system of the embodiment of the present invention
Existing mode is similar with the specific implementation of the motor initial position angle automatic Calibration angle compensation process of the embodiment of the present invention, tool
Body refers to the description of method part, and in order to reduce redundancy, here is omitted.
Motor initial position angle automatic Calibration angle compensation system according to embodiments of the present invention, it is initial that motor is obtained first
Position angle, the power-factor angle of A phases is then obtained according to power input to a machine, AB line voltages and A phase currents, according to motor
Rotating speed obtains electric angle frequency, and obtains the internal power factor angle of A phases according to electric angle frequency and power-factor angle, finally according to internal strength
Rate factor angle compensates to motor initial position angle, to obtain final motor initial position angle, at the beginning of improving motor
Beginning position angle measurement accuracy and moment of torsion control precision, while improve the operating efficiency of motor.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is by claim and its equivalent limits.
Claims (10)
1. a kind of motor initial position angle automatic Calibration angle compensation process, it is characterised in that comprise the following steps：
Obtain motor initial position angle；
The power-factor angle of A phases is obtained according to power input to a machine, AB line voltages and A phase currents；
Electric angle frequency is obtained according to the rotating speed of motor, and obtained according to the electric angle frequency and the power-factor angle in A phases
Power-factor angle；And
The motor initial position angle is compensated according to the internal power factor angle, to obtain final motor initial position
Angle.
2. motor initial position angle automatic Calibration angle compensation process according to claim 1, it is characterised in that by such as
Lower formula obtains the power-factor angle：
Wherein, P is the power input to a machine, UABFor the AB line voltages, I is the A phase currents,For the power because
Number angle.
3. motor initial position angle automatic Calibration angle compensation process according to claim 2, it is characterised in that by such as
Lower formula obtains the internal power factor angle：
<mrow>
<mi>&Psi;</mi>
<mo>=</mo>
<mi>arctan</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>U</mi>
<mi> </mi>
<mi>sin</mi>
<mi>&phi;</mi>
<mo>+</mo>
<msub>
<mi>IX</mi>
<mi>q</mi>
</msub>
</mrow>
<mrow>
<mi>U</mi>
<mi>cos</mi>
<mi>&phi;</mi>
</mrow>
</mfrac>
<mo>,</mo>
</mrow>
Wherein, ψ is the internal power factor angle, and U is A phase voltage virtual values, and φ is the power-factor angle, and I is A phases electricity
Stream, XqFor quadrature axis reactance.
4. motor initial position angle automatic Calibration angle compensation process according to claim 3, it is characterised in that by such as
Lower formula compensates to the motor initial position angle：
θ=θ1+ ψ,
Wherein, θ1For the motor initial position angle, θ is final motor initial position angle.
5. motor initial position angle automatic Calibration angle compensation process according to claim 4, it is characterised in that by such as
Lower formula obtains the motor initial position angle：
θ1=360- θrdc,
Wherein, the θrdcBecome the electrical angle sent for motor rotation.
A kind of 6. motor initial position angle automatic Calibration angle compensation system, it is characterised in that including：
Acquisition module, the acquisition module are used to obtain motor initial position angle；
Computing module, the computing module are used to obtain the work(of A phases according to power input to a machine, AB line voltages and A phase currents
Rate factor angle, and electric angle frequency is obtained according to the rotating speed of motor, and A is obtained according to the electric angle frequency and the power-factor angle
The internal power factor angle of phase；And
Compensating module, the compensating module are used to mend the motor initial position angle according to the internal power factor angle
Repay, to obtain final motor initial position angle.
7. motor initial position angle automatic Calibration angle compensation system according to claim 6, it is characterised in that the meter
Calculate module and the power-factor angle is obtained by equation below：
Wherein, P is the power input to a machine, UABFor the AB line voltages, I is the A phase currents,For the power because
Number angle.
8. motor initial position angle automatic Calibration angle compensation system according to claim 7, it is characterised in that the meter
Calculate module and the internal power factor angle is obtained by equation below：
<mrow>
<mi>&Psi;</mi>
<mo>=</mo>
<mi>arctan</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>U</mi>
<mi> </mi>
<mi>sin</mi>
<mi>&phi;</mi>
<mo>+</mo>
<msub>
<mi>IX</mi>
<mi>q</mi>
</msub>
</mrow>
<mrow>
<mi>U</mi>
<mi> </mi>
<mi>cos</mi>
<mi>&phi;</mi>
</mrow>
</mfrac>
<mo>,</mo>
</mrow>
Wherein, ψ is the internal power factor angle, and U is A phase voltage virtual values, and φ is the power-factor angle, and I is A phases electricity
Stream, XqFor quadrature axis reactance.
9. motor initial position angle automatic Calibration angle compensation system according to claim 8, it is characterised in that the benefit
Module is repaid to compensate the motor initial position angle by equation below：
θ=θ1+ ψ,
Wherein, θ1For the motor initial position angle, θ is final motor initial position angle.
10. motor initial position angle automatic Calibration angle compensation system according to claim 9, it is characterised in that described
Acquisition module obtains the motor initial position angle by equation below：
θ1=360- θrdc,
Wherein, the θrdcBecome the electrical angle sent for motor rotation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610891993.5A CN107482984B (en) | 2016-10-12 | 2016-10-12 | Motor initial position angle automatic Calibration angle compensation process and system |
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|---|---|---|---|
| CN201610891993.5A CN107482984B (en) | 2016-10-12 | 2016-10-12 | Motor initial position angle automatic Calibration angle compensation process and system |
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| CN107482984B CN107482984B (en) | 2019-09-20 |
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| CN109347393A (en) * | 2018-10-22 | 2019-02-15 | 北京新能源汽车股份有限公司 | Method, device and equipment for testing initial position angle of motor |
| CN109586250A (en) * | 2018-12-03 | 2019-04-05 | 中冶南方（武汉）自动化有限公司 | Detection and protection method for initial angle deviation of rotary transformer |
| CN110932637A (en) * | 2019-12-27 | 2020-03-27 | 浙江大学台州研究院 | Rotor position identification method in stationary state of permanent magnet synchronous motor |
| CN112803857A (en) * | 2021-01-06 | 2021-05-14 | 杭州湘滨电子科技有限公司 | Motor initial angle calibration system and method for EPS |
| CN113037158A (en) * | 2021-03-01 | 2021-06-25 | 潍柴动力股份有限公司 | AC-DC axis decoupling control method and device for permanent magnet synchronous motor electric driving system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109347393A (en) * | 2018-10-22 | 2019-02-15 | 北京新能源汽车股份有限公司 | Method, device and equipment for testing initial position angle of motor |
| CN109347393B (en) * | 2018-10-22 | 2020-06-30 | 北京新能源汽车股份有限公司 | Method, device and equipment for testing initial position angle of motor |
| CN109586250A (en) * | 2018-12-03 | 2019-04-05 | 中冶南方（武汉）自动化有限公司 | Detection and protection method for initial angle deviation of rotary transformer |
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| CN112803857A (en) * | 2021-01-06 | 2021-05-14 | 杭州湘滨电子科技有限公司 | Motor initial angle calibration system and method for EPS |
| CN112803857B (en) * | 2021-01-06 | 2023-02-14 | 杭州湘滨电子科技有限公司 | Motor initial angle calibration system and method for EPS |
| CN113037158A (en) * | 2021-03-01 | 2021-06-25 | 潍柴动力股份有限公司 | AC-DC axis decoupling control method and device for permanent magnet synchronous motor electric driving system |
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