CN108111080B - Automatic rotor angle aligning device and method for permanent magnet synchronous motor - Google Patents

Abstract

The invention discloses a device and a method for automatically aligning the rotor angle of a permanent magnet synchronous motor, wherein the output of an angle detection device is input into a real-time electric angle to a phase-locked loop speed measurement device, the phase-locked loop speed measurement device obtains the real-time angular speed of the motor through a double-integral phase-locked loop speed measurement module, the angular speed is multiplied by the output of a d-axis voltage filter, then the angular speed is input into an angle compensation PI module to obtain an angle compensation quantity, the output of the d-axis voltage filter is adjusted to be 0, and the angle compensation quantity and the angular speed at the moment are stored in an angle compensation register. After the compensation of different speed sections is finished, fitting the angle compensation quantity and the angular speed in the angle compensation register to obtain a linear function of the angle compensation quantity and the angular speed, and finally writing the linear function into the angle compensator. The invention has the following beneficial effects: the invention realizes the automatic position alignment of the rotor angle of the permanent magnet synchronous motor and simultaneously improves the reading precision of the angular position of the motor rotor.

Description

Rotor angle automatic positioning device and method for permanent magnet synchronous motor

technical field

The invention relates to the technical field of permanent magnet synchronous motors, in particular to a rotor angle automatic position correction device and an automatic position correction method for permanent magnet synchronous motors that can realize automatic position correction and improve the reading accuracy of the motor rotor angle position.

Background technique

With the development of the national economy and science and technology, motors play an increasingly important role in all walks of life. Due to its many advantages in design, manufacture and control, permanent magnet synchronous motors are widely used in various industrial production and life occasions. In addition, my country is rich in rare earth resources, and the application market of permanent magnet synchronous motors is particularly large in my country. Permanent magnet synchronous motors can be divided into surface mount type and built-in type according to the similarities and differences of AC and D-axis inductance. Since the built-in permanent magnet synchronous motor (IPMSM) can have a wide speed range under the condition of field weakening, it is widely used.

In the control of permanent magnet synchronous motor, the sampling parameters required by the control loop include the three-phase current and the actual position of the motor rotor. The latter generally converts the position value into two complementary sine and cosine voltages through a rotary transformer coaxial with the motor rotor; the decoding chip installed on the controller converts the two complementary voltages into angle values, and the two channels are serially or parallelly The method is sent to the main control chip, which is used for the space vector control of the permanent magnet synchronous motor.

The method of characterizing the actual position of the motor rotor through the output angle of the resolver is very mature in the industry. The prerequisite for this technology to perform well is the "coaxial" mentioned above. "Coaxial" means that there is no angular difference between the resolver itself and the rotor. It is not easy to achieve "coaxial" in the assembly process, because there are many reasons for the deflection angle, and if one of them is not satisfied, the deflection angle will appear.

In the existing solutions, the way to solve the deflection angle is to observe the deflection angle compensation by the host computer, which is also called the manual position correction method. This method is applicable to the powertrain whose resolver assembly deflection angle is controlled within plus or minus 0.5 degrees. In this method, direct current is applied to the assembled motor first, and the corresponding deflection angle is read through the host computer, and then the deflection angle is compensated in the program. There are two defects in the method of manual position alignment: one is that a separate process is required for position alignment, and workers are required to have good proficiency to control the deflection angle within 0.5 degrees; Manual reading will inevitably have large errors.

Contents of the invention

In order to overcome the above-mentioned deficiencies in the prior art, the present invention provides a rotor angle automatic position alignment device and an automatic position alignment method for permanent magnet synchronous motors that can realize automatic position alignment and improve the reading accuracy of the motor rotor angle position .

In order to achieve the above object, the present invention adopts the following technical solutions:

A rotor angle automatic positioning device for a permanent magnet synchronous motor, including an MCU, an angle detection device, a phase-locked loop speed measurement device, a motor vector closed-loop control device, a d-axis voltage filter, an angle compensation PI module, an angle compensation register and an angle compensation device; the angle detection device includes a rotary transformer, a decoding circuit and a unit converter; the MCU is respectively connected with the rotary transformer, a decoding circuit, a unit converter, a phase-locked loop speed measuring device, a motor vector closed-loop control device, and a d-axis voltage filter , the angle compensation PI module, the angle compensation register and the angle compensator are connected, the decoding circuit is respectively connected with the resolver, the unit converter, the phase-locked loop speed measuring device and the angle compensation PI module, the resolver is connected with the motor vector closed-loop control device, and the d-axis The voltage filter is respectively connected with the motor vector closed-loop control device, the angle compensation PI module and the angle compensation register.

In the present invention, the output of the angle detection device is input into the real-time electrical angle into the phase-locked loop speed measurement device, and the phase-locked loop speed measurement device obtains the real-time angular velocity of the motor through the double-integral phase-locked loop speed measurement module, and multiplies the angular velocity by the d-axis voltage filter Output, and then input to the angle compensation PI module to obtain the angle compensation amount, adjust the output of the d-axis voltage filter to 0, and store the angle compensation amount and angular velocity at this time into the angle compensation register. After the compensation of different speed segments is completed, the angle compensation amount and the angular velocity in the angle compensation register are fitted to obtain a linear function of the angle compensation amount and the angular velocity, and finally this function is written into the angle compensator.

Preferably, the angle compensation PI module includes two parameter variables Kp1 and Ki1, a multiplier M, an integrator S and an adder, wherein Kp1 is a proportional gain and Ki1 is an integral gain.

As preferably, the phase-locked loop speed measuring device includes an angle filter and a double-integral phase-locked loop speed-measuring module; both the angle filter and the double-integral phase-locked loop speed-measuring module are connected to the MCU, and the angle filter is connected to the unit converter and the double integral The phase-locked loop speed measurement module is connected, and the double integral phase-locked loop speed measurement module is connected to the angle compensation PI module.

Preferably, the motor vector closed-loop control device includes a motor body, a motor controller circuit, a speed reducer and a current and voltage sensor; The voltage sensor is electrically connected, and the motor body, the motor controller circuit, the reducer and the current and voltage sensors are all electrically connected to the MCU.

A method for automatically adjusting the position of a rotor angle of a permanent magnet synchronous motor, comprising the steps of:

(5-1) The minimum angular velocity of setting motor operation is _Wmin and the maximum angular velocity of motor operation is _Wmax ;

(5-2) Set the initial value of the angle compensation delta to 0, the MCU controls the resolver to collect the real-time electrical angle signal of the permanent magnet synchronous motor, and obtains the real-time electrical angle of the permanent magnet synchronous motor through the processing of the decoding circuit and the unit converter theta_origin;

(5-3) Input the obtained real-time electrical angle theta_origin to the phase-locked loop speed measuring device, the MCU controls the angle filter to perform filtering processing, and then obtains the real-time angular velocity W of the motor through the double-integral phase-locked loop speed measuring module;

(5-4) The MCU compares the motor real-time angular velocity W obtained by the double-integral phase-locked loop speed measurement module with the set minimum angular velocity of the motor operation as W _min and the maximum angular velocity of the motor operation as W _max ,

If W _min ≤ W ≤ W _max , calculate the angle compensation delta, and store the angle compensation delta and the real-time angular velocity W in the angle compensation register, and turn to step (5-2),

If _W≤Wmin or _W≥Wmax , go to step (5-5);

(5-5) The MCU fits the angle compensation delta stored in the angle compensation register and the real-time angular velocity W to obtain a linear function delta=kw+d _s of the angle compensation delta and the real-time angular velocity W, where k is a primary The slope of the function, d _s is the offset of the primary function;

(5-6) MCU stores k and d _s in the primary function into the angle compensator.

As preferably, the angle compensation delta is calculated, and the concrete steps of storing the angle compensation delta and the real-time angular velocity W in the angle compensation register are as follows:

(6-1) Add the real-time electrical angle theta_origin and the angle compensation delta to obtain theta, and then input theta into the motor vector closed-loop control device;

(6-2) The MCU controls the work of the motor vector closed-loop control device, processes theta, outputs the d-axis component Ud of the voltage of the permanent magnet synchronous motor, and inputs the d-axis component Ud of the voltage into the d-axis voltage filter;

(6-3) The MCU controls the d-axis voltage filter to filter the d-axis component Ud of the voltage to obtain the filtered voltage Ud_f,

If Ud_f≠0, input the real-time angular velocity W and voltage Ud_f into the angle compensation PI module for calculation, obtain the angle compensation delta, and turn to step (6-1),

If Ud_f=0, store the angle compensation delta and the real-time angular velocity W into the angle compensation register.

As a preference, the real-time angular velocity W and the voltage Ud_f are input into the angle compensation PI module for calculation, and the specific process of obtaining the angle compensation delta is as follows:

(7-1) The real-time angular velocity W and the voltage Ud_f are multiplied by the multiplier M to obtain the first product, and the parameter variable Kp1 is directly multiplied with the first product to obtain the second product;

(7-2) the first product obtains the integral by the integrator S, and the parameter variable Ki1 is multiplied with the integral to obtain the third product;

(7-3) The second product and the third product are added by an adder to obtain the angle compensation delta.

Therefore, the present invention has the following beneficial effects: the present invention does not require manual operation, realizes the automatic position alignment of the permanent magnet synchronous motor rotor angle, simplifies the production process, and improves the reading accuracy of the motor rotor angular position; the present invention relaxes the design Constraints and assembly precision requirements improve production efficiency.

Description of drawings

Fig. 1 is a kind of system block diagram of the present invention;

Fig. 2 is a kind of functional block diagram of angle compensation PI module of the present invention;

Fig. 3 is a flow chart of the present invention.

In the figure: MCU1, angle detection device 2, phase-locked loop speed measurement device 3, motor vector closed-loop control device 4, d-axis voltage filter 5, angle compensation PI module 6, angle compensation register 7, angle compensator 8, resolver 21 , decoding circuit 22, unit converter 23, motor body 41, motor controller circuit 42, reducer 43, current and voltage sensor 44.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

The embodiment shown in Figure 1 is a rotor angle automatic positioning device for a permanent magnet synchronous motor, including an MCU1, an angle detection device 2, a phase-locked loop speed measuring device 3, a motor vector closed-loop control device 4, and a d-axis voltage filter 5, angle compensation PI module 6, angle compensation register 7 and angle compensator 8; Described angle detection device comprises rotary transformer 21, decoding circuit 22 and unit converter 23; Described MCU is connected with rotary transformer, decoding circuit, unit conversion respectively device, phase-locked loop speed measuring device, motor vector closed-loop control device, d-axis voltage filter, angle compensation PI module, angle compensation register and angle compensator are connected, and the decoding circuit is connected with the resolver, unit converter, and phase-locked loop speed measuring device respectively It is connected with the angle compensation PI module, the resolver is connected with the motor vector closed-loop control device, and the d-axis voltage filter is respectively connected with the motor vector closed-loop control device, the angle compensation PI module and the angle compensation register.

Wherein, the phase-locked loop speed measuring device includes an angle filter and a double-integral phase-locked loop speed-measuring module; the angle filter and the double-integral phase-locked loop speed-measuring module are all connected to the MCU, and the angle filter is connected to the unit converter and the double-integral lock respectively. The phase loop speed measurement module is connected, and the double-integral phase-locked loop speed measurement module is connected with the angle compensation PI module; the motor vector closed-loop control device includes a motor body 41, a motor controller circuit 42, a speed reducer 43 and a current and voltage sensor 44; the motor The body is electrically connected to the resolver, the d-axis voltage filter, the motor controller circuit, the reducer and the current and voltage sensor, and the motor body, the motor controller circuit, the reducer and the current and voltage sensor are all electrically connected to the MCU; as shown in Figure 2 As shown, the angle compensation PI module includes two parameter variables Kp1 and Ki1, a multiplier M, an integrator S and an adder, wherein Kp1 is a proportional gain, and Ki1 is an integral gain.

As shown in Figure 3, a method for automatically adjusting the position of the rotor angle of a permanent magnet synchronous motor comprises the following steps:

Step 100, initialize the parameters, and obtain the real-time angular velocity W of the motor

Step 101, setting the minimum angular velocity of the motor to run as _Wmin and the maximum angular velocity of the motor to run as _Wmax ;

Step 102, the initial value of the angle compensation delta is set to 0, the MCU controls the resolver to collect the real-time electrical angle signal of the permanent magnet synchronous motor, and obtains the real-time electrical angle theta_origin of the permanent magnet synchronous motor through the processing of the decoding circuit and the unit converter;

Step 103, the obtained real-time electrical angle theta_origin is input to the phase-locked loop speed measuring device, the MCU controls the angle filter to perform filtering processing, and then the real-time angular velocity W of the motor is obtained through the double-integral phase-locked loop speed measuring module;

Step 200, calculate angle compensation amount delta and real-time angular velocity W, and store angle compensation amount delta and real-time angular velocity W in the angle compensation register

Step 201, the MCU compares the motor real-time angular velocity W obtained by the dual-integral phase-locked loop speed measurement module with the set minimum angular velocity of the motor operation as _Wmin and the maximum angular velocity of the motor operation as _Wmax ;

Step 202, if W _min ≤ W ≤ W _max , add the real-time electrical angle theta_origin and the angle compensation delta to obtain theta, and then input theta into the motor vector closed-loop control device;

Step 203, the MCU controls the motor vector closed-loop control device to work, processes theta, outputs the d-axis component Ud of the voltage of the permanent magnet synchronous motor, and inputs the d-axis component Ud of the voltage into the d-axis voltage filter;

Step 204, the MCU controls the d-axis voltage filter to filter the d-axis component Ud of the voltage to obtain the filtered voltage Ud_f;

If Ud_f≠0, as shown in Figure 2, the real-time angular velocity W and the voltage Ud_f are multiplied by the multiplier M to obtain the first product, and the parameter variable Kp1 is directly multiplied by the first product to obtain the second product; the first product is passed through the integrator S obtains the integral quantity, and the parameter variable Ki1 is multiplied by the integral quantity to obtain the third product; the second product and the third product are added through the adder to obtain the angle compensation delta, and then go to step 202;

If Ud_f=0, the angle compensation delta and the real-time angular velocity W are stored in the angle compensation register, and proceed to step 102;

If _W≤Wmin or _W≥Wmax , go to step (5-5);

Step 300, obtain the linear function of angle compensation delta and real-time angular velocity W, and store k and d _s in the linear function in the angle compensator

Step 301, the MCU fits the angle compensation delta stored in the angle compensation register and the real-time angular velocity W to obtain the linear function delta=kw+d _s of the angle compensation delta and the real-time angular velocity W, and the angle compensation delta in the angle compensation register The quantity delta and the real-time angular velocity W are in the form of a two-dimensional array, expressed as [(W ₁ ,delta ₁ ),(W ₂ ,delta ₂ )...(W _n ,delta _n )], where k is the slope of the linear function , d _s is the offset of the primary function, W _n is the maximum electrical angular velocity of the motor;

In step 302, the MCU stores k and d _s in the primary function into the angle compensator.

During the actual operation of the motor, the actual angular compensation delta can be obtained by bringing the real-time angular velocity W into the linear function delta=kw+d _s .

It should be understood that this embodiment is only used to illustrate the present invention but not to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

Claims (6)

1. a kind of method that the rotor angle automatic aligning based on permanent magnet synchronous motor sets device, which is characterized in that including MCU (1), angle detection device (2), phaselocked loop speed measuring device (3), motor vector closed-loop control device (4), d shaft voltage filter (5), angle compensation PI module (6), angle compensation register (7) and angular compensator (8)；The angle detection device includes rotation Change depressor (21), decoding circuit (22) and unit converter (23)；The MCU respectively with rotary transformer, decoding circuit, list Bit pad, phaselocked loop speed measuring device, motor vector closed-loop control device, d shaft voltage filter, angle compensation PI module, angle Degree offset registers are connected with angular compensator, and decoding circuit tests the speed with rotary transformer, unit converter, phaselocked loop dress respectively It sets and is connected with angle compensation PI module, rotary transformer is connect with motor vector closed-loop control device, d shaft voltage filter difference It is connect with motor vector closed-loop control device, angle compensation PI module and angle compensation register；Include the following steps:

(1-1) sets the minimum angular speed of motor operation as W_minMaximum angular rate with motor operation is W_max；

The initial value of (1-2) set angle compensation rate delta is the reality that 0, MCU controls that rotary transformer acquires permanent magnet synchronous motor When electrical angle signal, the real-time electrical angle theta_ of permanent magnet synchronous motor is obtained by the processing of decoding circuit and unit converter origin；

The real-time electrical angle theta_origin of acquisition is input to phaselocked loop speed measuring device by (1-3), and MCU controls angular filter It is filtered, the real-time angular speed W of motor is then obtained by double integrator phaselocked loop speed measuring module；

(1-4) MCU transports the real-time angular speed W of motor obtained by double integrator phaselocked loop speed measuring module with the motor of setting respectively Capable minimum angular speed is W_minMaximum angular rate with motor operation is W_maxIt is compared,

If W_min≤W≤W_max, angle compensation amount delta is calculated, and angle compensation amount delta and real-time angular speed W is stored in In angle compensation register, it is transferred to step (1-2),

If W≤W_minOr W >=W_max, it is transferred to step (1-5)；

(1-5) MCU is fitted the angle compensation amount delta and real-time angular speed W that are stored in angle compensation register, obtains To the linear function delta=kw+d of angle compensation amount delta and real-time angular speed W_s, wherein k is the slope of linear function, d_s For the offset of linear function；

(1-6) MCU is by the k and d in linear function_sIt is stored in angular compensator.

2. the method that the rotor angle automatic aligning according to claim 1 based on permanent magnet synchronous motor sets device, special Sign is, calculates angle compensation amount delta, and angle compensation amount delta and real-time angular speed W is stored in angle compensation register In specific step is as follows:

Real-time electrical angle theta_origin is added to obtain theta by (2-1) with angle compensation amount delta, then that theta is defeated Enter into motor vector closed-loop control device；

(2-2) MCU controls the work of motor vector closed-loop control device, handles theta, exports the electricity of permanent magnet synchronous motor The d axis component Ud of voltage is input in d shaft voltage filter by the d axis component Ud of pressure；

(2-3) MCU control d shaft voltage filter is filtered the d axis component Ud of voltage, obtains filtered voltage Ud_f,

If Ud_f ≠ 0, real-time angular speed W and voltage Ud_f input angle compensation PI module are calculated, obtain angle benefit The amount of repaying delta is transferred to step (2-1),

It, will be in angle compensation amount delta and real-time angular speed W deposit angle compensation register if Ud_f=0.

3. the method that the rotor angle automatic aligning according to claim 2 based on permanent magnet synchronous motor sets device, special Sign is, the angle compensation PI module includes two parametric variables of Kp1, Ki1, multiplier M, integrator S and adder, wherein Kp1 is proportional gain, and Ki1 is integral gain.

4. the method that the rotor angle automatic aligning according to claim 3 based on permanent magnet synchronous motor sets device, special Sign is, real-time angular speed W and voltage Ud_f input angle compensation PI module are calculated, angle compensation amount delta is obtained Detailed process is as follows:

(4-1) angular speed W is multiplied to obtain the first product by multiplier M with voltage Ud_f in real time, and parametric variable Kp1 is direct It is multiplied to obtain the second product with the first product；

(4-2) first product obtains integration amount by integrator S, and parametric variable Ki1 is multiplied to obtain third product with integration amount；

(4-3), by the second sum of products third product addition, obtains angle compensation amount delta by adder.

5. the method that the rotor angle automatic aligning according to claim 1 based on permanent magnet synchronous motor sets device, special Sign is that the phaselocked loop speed measuring device includes angular filter (31) and double integrator phaselocked loop speed measuring module；Angular filter It is connect with MCU with double integrator phaselocked loop speed measuring module, angular filter is surveyed with unit converter and double integrator phaselocked loop respectively Fast module connection, double integrator phaselocked loop speed measuring module are connected with angle compensation PI module.

6. the method that the rotor angle automatic aligning according to claim 1 based on permanent magnet synchronous motor sets device, special Sign is that the motor vector closed-loop control device includes motor body (41), electric machine controller circuit (42), retarder (43) With Current Voltage sensor (44)；The motor body is electric with rotary transformer, d shaft voltage filter, electric machine controller respectively Road, retarder and the electrical connection of Current Voltage sensor, motor body, electric machine controller circuit, retarder and Current Voltage sensing Device is electrically connected with MCU.