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CN108512477B - Diagnosis method, device and equipment for motor rotor position sampling - Google Patents

Diagnosis method, device and equipment for motor rotor position sampling Download PDF

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Publication number
CN108512477B
CN108512477B CN201810516885.9A CN201810516885A CN108512477B CN 108512477 B CN108512477 B CN 108512477B CN 201810516885 A CN201810516885 A CN 201810516885A CN 108512477 B CN108512477 B CN 108512477B
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rotor
sampling
phase current
calculating
rotor position
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CN108512477A (en
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黄鹏程
余军
代康伟
李博
王亮
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/05—Determination of the rotor position by using two different methods and/or motor models

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a method, a device and equipment for diagnosing motor rotor position sampling, wherein the method for diagnosing the motor rotor position sampling comprises the following steps: collecting three-phase current signals of a motor and position signals of a motor rotor in two adjacent periods; calculating the electrical angular velocity of the rotor according to the three-phase current signals, and calculating the mechanical angular velocity of the rotor according to the rotor position signals; and diagnosing whether the rotor position sampling is normal or not according to the ratio between the electrical angular speed and the mechanical angular speed and the absolute value of the difference of the number of pole pairs of the motor through at least two sampling periods. According to the motor rotor position sampling diagnosis method, the phase current sensor is used for providing verification for acquisition of the position of the rotary transformer decoding chip, an additional sensor is not needed, the result can be obtained only in two sampling periods, the real-time performance is good, the situation that the rotary transformer decoding chip is mistakenly diagnosed or not diagnosed when the rotary transformer decoding chip is interfered is avoided, and the stability of a motor control system is improved.

Description

Diagnosis method, device and equipment for motor rotor position sampling
Technical Field
The invention relates to the field of motor drive control, in particular to a method, a device and equipment for diagnosing motor rotor position sampling.
Background
The vehicle-mounted permanent magnet synchronous motor drive control system mainly comprises a motor, a motor controller and a related circuit. The vehicle-mounted permanent magnet synchronous motor generally adopts magnetic field orientation control, and converts command torque into a rotating space voltage vector signal to drive the motor to rotate, wherein phase current and a rotor position signal need to be acquired in real time in the process.
The vehicle-mounted motor control system has high cost ratio on the accuracy requirements of phase current and rotor position, a current sensor is generally used for collecting the phase current, and a rotary transformer decoding chip are used for collecting the rotor position. In order to meet the requirement of high-level torque safety of an electric automobile, the conventional electric automobile motor driving system mostly adopts three current sensors (two of the three current sensors realize a torque control function and the third redundancy) and utilizes kirchhoff current law (namely the principle that the sum of three-phase currents of a motor is 0) to solve the fault diagnosis of a single current sensor. The rotor position sampling can only depend on the diagnostic mechanism of the rotary edge decoding chip to ensure the reliability of the sampling signal, and once the chip is interfered, the condition of misdiagnosis or no diagnosis is easy to occur.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method, a device and equipment for diagnosing motor rotor position sampling, and solves the problem that the motor rotor position sampling in the prior art is easy to be subjected to misdiagnosis or not diagnosed.
According to an aspect of the present invention, there is provided a method of diagnosing rotor position sampling of an electric machine, comprising:
collecting three-phase current signals of a motor and position signals of a motor rotor in two adjacent periods;
calculating the electrical angular velocity of the rotor according to the three-phase current signals, and calculating the mechanical angular velocity of the rotor according to the rotor position signals;
and diagnosing whether the rotor position sampling is normal or not according to the ratio between the electrical angular speed and the mechanical angular speed and the absolute value of the difference of the number of pole pairs of the motor through at least two sampling periods.
Optionally, the step of calculating the electrical angular velocity of the rotor from the three-phase current signals, and the step of calculating the mechanical angular velocity of the rotor from the rotor position signals comprises:
calculating the space angle of two adjacent periods according to the three-phase current signals of the two adjacent periods;
calculating the electrical angular velocity according to the space angles of two adjacent periods;
and calculating the mechanical angular speed according to the rotor position signals of two adjacent periods.
Optionally, the step of calculating the spatial angle of two adjacent periods according to the three-phase current signals of two adjacent periods includes:
by the formula:
Figure BDA0001673576340000021
respectively, calculating components of a composite vector of three-phase current signals of two adjacent periods on an α axis an β axis;
by the formula:
Figure BDA0001673576340000022
respectively, calculating the space angles of two adjacent periods;
wherein iαcomponent of a resultant vector of three-phase current signals on the alpha axis, iβcomponent of the resultant vector of the three-phase current signals on the beta axis, Ia、Ib、IcRespectively three-phase current signals, theta, of the motorIIs the spatial angle of the three-phase current signal.
Optionally, the step of calculating an electrical angular velocity according to the spatial angle of two adjacent cycles comprises:
according to the formula: omegae＝(θI2-θI1) Calculating the electrical angular velocity of the rotor;
wherein, ω iseIs the electrical angular velocity, theta, of the rotorI1Spatial angle of three-phase current signal of first period, thetaI2And delta t is the space angle of the three-phase current signals in the second period, and is the sampling period.
Optionally, the step of calculating the mechanical angular velocity according to the rotor position signals of two adjacent cycles comprises:
according to the formula: ω ═ θ2-θ1) The mechanical angular speed of the rotor is obtained through calculation;
where ω is the mechanical angular velocity of the rotor, θ1Rotor position signal, theta, representing a first period2A rotor position signal representing a second period, Δ t being the sampling period.
Optionally, the step of diagnosing whether the sampling of the rotor position is normal according to the ratio between the electrical angular velocity and the mechanical angular velocity and the absolute value of the difference between the number of pole pairs of the motor through at least two sampling periods comprises:
judgment of
Figure BDA0001673576340000031
Whether the current value is greater than a preset value;
if it is
Figure BDA0001673576340000032
If the sampling rate is greater than the preset value, determining that the sampling of the rotor position is abnormal, otherwise, determining that the sampling of the rotor position is normal;
wherein, ω iseIs the electrical angular velocity of the rotor, omega is the mechanical angular velocity of the rotor, and lambda is the motor pole pair number.
According to another aspect of the present invention, there is provided a diagnostic apparatus for sampling a rotor position of an electric machine, comprising:
the acquisition module is used for acquiring three-phase current signals of the motor and position signals of a motor rotor in two adjacent periods;
the calculation module is used for calculating the electrical angular speed of the rotor according to the three-phase current signals and calculating the mechanical angular speed of the rotor according to the rotor position signals;
and the diagnosis module is used for diagnosing whether the rotor position sampling is normal or not according to the ratio of the electrical angular speed to the mechanical angular speed and the absolute value of the difference of the number of pole pairs of the motor through at least two sampling periods.
Optionally, the calculation module comprises:
the first calculation unit is used for calculating the space angle of two adjacent periods according to the three-phase current signals of the two adjacent periods;
the second calculation unit is used for calculating the electrical angular velocity according to the space angles of two adjacent periods;
and the third calculating unit is used for calculating the mechanical angular speed according to the rotor position signals of two adjacent periods.
Optionally, the first computing unit includes:
a first calculating subunit for calculating：
Figure BDA0001673576340000033
respectively, calculating components of a composite vector of three-phase current signals of two adjacent periods on an α axis an β axis;
a second calculation subunit configured to calculate, by the formula:
Figure BDA0001673576340000034
respectively, calculating the space angles of two adjacent periods;
wherein iαcomponent of a resultant vector of three-phase current signals on the alpha axis, iβcomponent of the resultant vector of the three-phase current signals on the beta axis, Ia、Ib、IcRespectively three-phase current signals, theta, of the motorIIs the spatial angle of the three-phase current signal.
Optionally, the second computing unit is specifically configured to:
according to the formula: omegae＝(θI2-θI1) Calculating the electrical angular velocity of the rotor;
wherein, ω iseIs the electrical angular velocity, theta, of the rotorI1Spatial angle of three-phase current signal of first period, thetaI2And delta t is the space angle of the three-phase current signals in the second period, and is the sampling period.
Optionally, the third computing unit is specifically configured to:
according to the formula: ω ═ θ2-θ1) The mechanical angular speed of the rotor is obtained through calculation;
where ω is the mechanical angular velocity of the rotor, θ1Rotor position signal, theta, representing a first period2A rotor position signal representing a second period, Δ t being the sampling period.
Optionally, the diagnostic module is specifically configured to:
judgment of
Figure BDA0001673576340000041
Whether the current value is greater than a preset value;
if it is
Figure BDA0001673576340000042
If the sampling rate is greater than the preset value, determining that the sampling of the rotor position is abnormal, otherwise, determining that the sampling of the rotor position is normal;
wherein, ω iseIs the electrical angular velocity of the rotor, omega is the mechanical angular velocity of the rotor, and lambda is the motor pole pair number.
According to a further aspect of the present invention, there is provided a diagnostic apparatus for motor rotor position sampling, comprising a processor, a memory and a computer program stored on the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the diagnostic method for motor rotor position sampling described above.
The embodiment of the invention has the beneficial effects that:
according to the diagnosis method for motor rotor position sampling in the scheme, the phase current sampling value originally used for torque control is used for estimating the electric angular speed of the motor rotor, the calculated electric angular speed of the rotor is compared with the actual mechanical angular speed obtained through rotor position sampling calculation, whether the rotor position sampling is abnormal or not is judged, an extra sensor is not needed, the result can be obtained only through two sampling periods, the method is good in real-time performance and used for rotor position sampling online diagnosis, the condition that a rotary transformer decoding chip is subjected to misdiagnosis or not diagnosed when being interfered is avoided, and the stability of a motor control system is improved.
Drawings
FIG. 1 illustrates a flow chart of a method for diagnosing sampling of a rotor position of an electric machine in accordance with an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a detailed process of step 12 of FIG. 1 according to an embodiment of the present invention;
FIG. 3 is a block diagram of a motor rotor position sampling diagnostic apparatus according to an embodiment of the present invention;
fig. 4 is a block diagram showing a specific structure of the computing module in fig. 3 according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a method for diagnosing sampling of a rotor position of a motor, including:
step 11, collecting three-phase current signals and motor rotor position signals of a motor in two adjacent periods;
in the embodiment, the current sensor is used for acquiring three-phase current signals of the motor in two adjacent periods, wherein the three-phase current signals are respectively (I)a1、Ib1、Ic1) And (I)a2、Ib2、Ic2) (ii) a The method comprises the following steps of collecting rotor position signals of two adjacent periods by using a rotary transformer decoding chip, wherein the rotor position signals are respectively as follows: theta1And theta2(ii) a Wherein, Ia1、Ib1、Ic1Three-phase current signals, I, representing a first cycle, respectivelya2、Ib2、Ic2Three-phase current signals, theta, respectively representing a second period1Rotor position signal, theta, representing a first period2A rotor position signal representing a second period.
Step 12, calculating the electrical angular velocity of the rotor according to the three-phase current signals, and calculating the mechanical angular velocity of the rotor according to the rotor position signals;
in this embodiment, the electrical angular velocity of the rotor is calculated according to the three-phase current signals, and the mechanical angular velocity of the rotor is calculated according to the rotor position signal, and ideally, the number of pole pairs of the motor satisfies: λ ═ ωeω, where ω is the mechanical angular velocity of the rotor, ωeIs the electrical angular velocity of the rotor, λ is the motor pole pair number, λ is a constant.
And step 13, through at least two sampling periods, diagnosing whether the rotor position sampling is normal or not according to the ratio between the electrical angular speed and the mechanical angular speed and the absolute value of the difference of the number of pole pairs of the motor.
In this embodiment, in the case where any two currents are normal values, the calculated electrical angular velocity may be regarded as correct. If the ratio omega of the electrical angular velocity and the mechanical angular velocity is obtained by actual calculationeω, absolute value of difference from motor pole pair number: i omegaeIf the value/omega-lambda is larger than a certain threshold value, the omega is considered to be abnormal, namely the sampling of the rotor position is wrong. The threshold is a calibrated value, and preferably, the threshold is a numerical value close to zero.
In the driving and control process of the vehicle-mounted permanent magnet synchronous motor, the main control unit needs to acquire three-phase current and rotor position information of the motor and convert command torque into the switching state of six insulated gate bipolar transistors to control the rotation of the motor. According to the scheme, phase current sampling values originally used for torque control are used for estimating the electrical angular velocity of the motor rotor, under the condition that an additional sensor is not added, the calculation method of the electrical angular velocity of the motor rotor is obtained, the calculated electrical angular velocity of the rotor is compared with the actual mechanical angular velocity obtained through rotor position sampling calculation, whether rotor position sampling is abnormal or not is judged, a result can be obtained only through two sampling periods, the real-time performance is good, the method is used for rotor position sampling online diagnosis, the condition that a rotary transformer decoding chip is subjected to misdiagnosis or not diagnosed when being interfered is avoided, and the stability of a motor control system is improved.
As shown in fig. 2, step 12 includes:
step 121, calculating the space angle of two adjacent periods according to the three-phase current signals of the two adjacent periods;
specifically, the step of calculating the space angle of two adjacent periods according to the three-phase current signals of the two adjacent periods comprises:
by the formula:
Figure BDA0001673576340000061
respectively, calculating components of a composite vector of three-phase current signals of two adjacent periods on an α axis an β axis;
in the embodiment, the position of the three-phase current of the permanent magnet synchronous motor in the space is120 deg. distribution with a resultant current vector of IsThe resultant vector of the three-phase current signals of the first period is Is1projecting it on the alpha and beta axes of the stationary coordinate system, Is1the components on the α and β axes are iα1And iβ1I.e. by
Figure BDA0001673576340000062
The resultant vector of the three-phase current signals of the second period is Is2projecting it on the alpha and beta axes of the stationary coordinate system, Is2the components on the α and β axes are iα2And iβ2I.e. by
Figure BDA0001673576340000071
By the formula:
Figure BDA0001673576340000072
respectively, calculating the space angles of two adjacent periods;
wherein iαcomponent of a resultant vector of three-phase current signals on the alpha axis, iβcomponent of the resultant vector of the three-phase current signals on the beta axis, Ia、Ib、IcRespectively three-phase current signals, theta, of the motorIIs the spatial angle of the three-phase current signal.
In this embodiment, I is calculated separately using inverse chord functionss1And Is2The spatial angle of (a), i.e. the spatial angle of the first period, is thetaI1，
Figure BDA0001673576340000073
Wherein iα1Is Is1component on the alpha axis, iβ1Is Is1a component on the β axis;
the spatial angle of the second period is thetaI2，
Figure BDA0001673576340000074
Wherein iα2Is Is2component on the alpha axis，iβ2Is Is2the component on the β axis.
Step 122, calculating an electrical angular velocity according to the space angles of two adjacent periods;
specifically, step 122 includes:
according to the formula: omegae＝(θI2-θI1) Calculating the electrical angular velocity of the rotor;
wherein, ω iseIs the electrical angular velocity, theta, of the rotorI1Spatial angle of three-phase current signal of first period, thetaI2And delta t is the space angle of the three-phase current signals in the second period, and is the sampling period.
And step 123, calculating the mechanical angular speed according to the rotor position signals of two adjacent periods.
Specifically, the step of calculating the mechanical angular velocity includes:
according to the formula: ω ═ θ2-θ1) The mechanical angular speed of the rotor is obtained through calculation;
where ω is the mechanical angular velocity of the rotor, θ1Rotor position signal, theta, representing a first period2A rotor position signal representing a second period, Δ t being the sampling period.
In the above embodiment of the present invention, step 13 includes:
judgment of
Figure BDA0001673576340000081
Whether the current value is greater than a preset value;
if it is
Figure BDA0001673576340000082
If the sampling rate is greater than the preset value, determining that the sampling of the rotor position is abnormal, otherwise, determining that the sampling of the rotor position is normal;
wherein, ω iseIs the electrical angular velocity of the rotor, omega is the mechanical angular velocity of the rotor, and lambda is the motor pole pair number.
In this embodiment, the preset value is a calibrated threshold, and preferably, the preset value is a value close to zero. The current is normal value in any two termsIn the case of (2), the calculated electrical angular velocity ωeMay be considered correct. If the ratio omega of the electrical angular velocity and the mechanical angular velocity is obtained by actual calculationeω, absolute value of difference from motor pole pair number:
Figure BDA0001673576340000083
if the sampling rate is greater than the preset value, the omega is considered to be abnormal, namely the sampling of the rotor position is wrong; if it is
Figure BDA0001673576340000084
And if the error is smaller than or equal to the preset value, the error of the rotor position sampling is considered to be small, and omega is normal, namely the rotor position sampling is normal.
According to the embodiment, the phase current sensor is used for providing verification for acquisition of the position of the rotary transformer decoding chip, an additional diagnosis method is provided for sampling of the rotary transformer position under the condition that hardware is not added, misdiagnosis or non-diagnosis when the rotary transformer decoding chip is interfered is avoided, and the safety of the system is improved.
As shown in fig. 3, an embodiment of the present invention further provides a diagnostic apparatus for sampling a rotor position of an electric machine, including:
the acquisition module 31 is used for acquiring three-phase current signals of the motor and position signals of the motor rotor in two adjacent periods;
in the embodiment, the current sensor is used for acquiring three-phase current signals of the motor in two adjacent periods, wherein the three-phase current signals are respectively (I)a1、Ib1、Ic1) And (I)a2、Ib2、Ic2) (ii) a The method comprises the following steps of collecting rotor position signals of two adjacent periods by using a rotary transformer decoding chip, wherein the rotor position signals are respectively as follows: theta1And theta2(ii) a Wherein, Ia1、Ib1、Ic1Three-phase current signals, I, representing a first cycle, respectivelya2、Ib2、Ic2Three-phase current signals, theta, respectively representing a second period1Rotor position signal, theta, representing a first period2A rotor position signal representing a second period.
A calculation module 32, configured to calculate an electrical angular velocity of the motor according to the three-phase current signals, and calculate a mechanical angular velocity of the motor according to the rotor position signal;
in this embodiment, the electrical angular velocity of the rotor is calculated according to the three-phase current signals, and the mechanical angular velocity of the rotor is calculated according to the rotor position signal, and ideally, the number of pole pairs of the motor satisfies: λ ═ ωeω, where ω is the mechanical angular velocity of the rotor, ωeIs the electrical angular velocity of the rotor, λ is the motor pole pair number, λ is a constant.
And the diagnosis module 33 is used for diagnosing whether the rotor position sampling is normal or not according to the ratio between the electrical angular speed and the mechanical angular speed and the absolute value of the difference of the number of pole pairs of the motor through at least two sampling periods.
In this embodiment, in the case where any two currents are normal values, the calculated electrical angular velocity may be regarded as correct. If the ratio omega of the electrical angular velocity and the mechanical angular velocity is obtained by actual calculationeω, absolute value of difference from motor pole pair number: i omegaeIf the value/omega-lambda is larger than a certain threshold value, the omega is considered to be abnormal, namely the sampling of the rotor position is wrong. The threshold is a calibrated value, and preferably, the threshold is a numerical value close to zero.
In the driving and control process of the vehicle-mounted permanent magnet synchronous motor, the main control unit needs to acquire three-phase current and rotor position information of the motor and convert command torque into the switching state of six insulated gate bipolar transistors to control the rotation of the motor. According to the scheme, phase current sampling values originally used for torque control are used for estimating the electrical angular speed of the motor, under the condition that an additional sensor is not added, the electrical angle calculation method of the motor rotor is obtained, the calculated electrical angle of the rotor is compared with the actual mechanical angular speed obtained through rotor position sampling calculation, whether rotor position sampling is abnormal or not is judged, a result can be obtained only through two sampling periods, the method is good in real-time performance and used for rotor position sampling online diagnosis, the condition that a rotary transformer decoding chip is subjected to misdiagnosis or not diagnosed when being interfered is avoided, and the stability of a motor control system is improved.
As shown in fig. 4, the calculation module 32 includes:
the first calculating unit 321 is configured to calculate a spatial angle of two adjacent periods according to the three-phase current signals of the two adjacent periods;
specifically, the first calculation unit 321 includes:
a first calculation subunit configured to calculate, by the formula:
Figure BDA0001673576340000091
respectively, calculating components of a composite vector of three-phase current signals of two adjacent periods on an α axis an β axis;
in the embodiment, the three-phase current of the permanent magnet synchronous motor is distributed at 120 degrees in space, and the resultant current vector is IsThe resultant vector of the three-phase current signals of the first period is Is1projecting it on the alpha and beta axes of the stationary coordinate system, Is1the components on the α and β axes are iα1And iβ1I.e. by
Figure BDA0001673576340000101
The resultant vector of the three-phase current signals of the second period is Is2projecting it on the alpha and beta axes of the stationary coordinate system, Is2the components on the α and β axes are iα2And iβ2I.e. by
Figure BDA0001673576340000102
A second calculation subunit configured to calculate, by the formula:
Figure BDA0001673576340000103
respectively, calculating the space angles of two adjacent periods;
wherein iαcomponent of a resultant vector of three-phase current signals on the alpha axis, iβcomponent of the resultant vector of the three-phase current signals on the beta axis, Ia、Ib、IcRespectively three-phase current signals, theta, of the motorIIs the spatial angle of the three-phase current signal.
In this embodiment, I is calculated separately using inverse chord functionss1And Is2The spatial angle of (a), i.e. the spatial angle of the first period, is thetaI1，
Figure BDA0001673576340000104
Wherein iα1Is Is1component on the alpha axis, iβ1Is Is1a component on the β axis;
the spatial angle of the second period is thetaI2，
Figure BDA0001673576340000105
Wherein iα2Is Is2component on the alpha axis, iβ2Is Is2the component on the β axis.
A second calculating unit 322, configured to calculate an electrical angular velocity according to the spatial angle of two adjacent periods;
specifically, the second calculating unit 322 is specifically configured to:
according to the formula: omegae＝(θI2-θI1) Calculating the electrical angular velocity of the rotor;
wherein, ω iseIs the electrical angular velocity, theta, of the rotorI1Spatial angle of three-phase current signal of first period, thetaI2And delta t is the space angle of the three-phase current signals in the second period, and is the sampling period.
A third calculating unit 323 for calculating the mechanical angular velocity from the rotor position signals of two adjacent cycles.
Specifically, the third computing unit 323 is specifically configured to:
according to the formula: ω ═ θ2-θ1) The mechanical angular speed of the rotor is obtained through calculation;
where ω is the mechanical angular velocity of the rotor, θ1Rotor position signal, theta, representing a first period2A rotor position signal representing a second period, Δ t being the sampling period.
In the above embodiment of the present invention, the diagnosis module 33 is specifically configured to:
judgment of
Figure BDA0001673576340000111
Whether the current value is greater than a preset value;
if it is
Figure BDA0001673576340000112
If the sampling rate is greater than the preset value, determining that the sampling of the rotor position is abnormal, otherwise, determining that the sampling of the rotor position is normal;
wherein, ω iseIs the electrical angular velocity of the rotor, omega is the mechanical angular velocity of the rotor, and lambda is the motor pole pair number.
In this embodiment, the preset value is a calibrated threshold, and preferably, the preset value is a value close to zero. Under the condition that any two currents are normal values, the calculated electrical angular velocity omegaeMay be considered correct. If the ratio omega of the electrical angular velocity and the mechanical angular velocity is obtained by actual calculationeω, absolute value of difference from motor pole pair number:
Figure BDA0001673576340000113
if the sampling rate is greater than the preset value, the omega is considered to be abnormal, namely the sampling of the rotor position is wrong; if it is
Figure BDA0001673576340000114
And if the error is smaller than or equal to the preset value, the error of the rotor position sampling is considered to be small, and omega is normal, namely the rotor position sampling is normal.
According to the embodiment, the phase current sensor is used for providing verification for acquisition of the position of the rotary transformer decoding chip, an additional diagnosis method is provided for sampling of the rotary transformer position under the condition that hardware is not added, misdiagnosis or non-diagnosis when the rotary transformer decoding chip is interfered is avoided, and the safety of the system is improved.
It should be noted that the apparatus is an apparatus corresponding to the individual recommendation method, and all implementation manners in the method embodiments are applicable to the embodiment of the apparatus, and the same technical effect can be achieved.
The embodiment of the present invention further provides a diagnosis device for motor rotor position sampling, which includes a processor, a memory, and a computer program stored on the memory and operable on the processor, and when the computer program is executed by the processor, the steps of the diagnosis method for motor rotor position sampling described above are implemented. It should be noted that the device is a device corresponding to the individual recommendation method, and all implementation manners in the method embodiments are applicable to the embodiment of the device, and the same technical effect can be achieved.
According to the embodiment of the invention, the phase current sampling value originally used for torque control is used for estimating the electrical angular velocity of the motor, and under the condition of not adding an additional sensor, the calculation method of the electrical angular velocity of the motor rotor is obtained.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.

Claims (11)

1. A method of diagnosing sampling of a rotor position of an electric machine, comprising:
collecting three-phase current signals of a motor and position signals of a motor rotor in two adjacent periods;
calculating the electrical angular velocity of the rotor according to the three-phase current signals, and calculating the mechanical angular velocity of the rotor according to the rotor position signals;
diagnosing whether the rotor position sampling is normal or not according to the ratio between the electrical angular speed and the mechanical angular speed and the absolute value of the difference of the number of pole pairs of the motor through at least two sampling periods;
wherein the step of diagnosing whether the rotor position sampling is normal or not according to the ratio between the electrical angular velocity and the mechanical angular velocity and the absolute value of the difference between the number of pole pairs of the motor through at least two sampling periods comprises:
judgment of
Figure FDA0002460649220000011
Whether the current value is greater than a preset value;
if it is
Figure FDA0002460649220000012
If the sampling rate is greater than the preset value, determining that the sampling of the rotor position is abnormal, otherwise, determining that the sampling of the rotor position is normal;
wherein, ω iseIs the electrical angular velocity of the rotor, omega is the mechanical angular velocity of the rotor, and lambda is the motor pole pair number.
2. The method of diagnosing sampling of a rotor position of an electric motor of claim 1, wherein the step of calculating an electrical angular velocity of the rotor based on the three-phase current signals and calculating a mechanical angular velocity of the rotor based on the rotor position signals includes:
calculating the space angle of two adjacent periods according to the three-phase current signals of the two adjacent periods;
calculating the electrical angular velocity according to the space angles of two adjacent periods;
calculating mechanical angular speed according to the rotor position signals of two adjacent periods;
and the space angles of the two adjacent periods are components of the composite vectors of the three-phase current signals of the two adjacent periods on an alpha axis an β axis respectively calculated by utilizing an inverse chord function.
3. The method for diagnosing sampling of a rotor position of an electric motor according to claim 2, wherein the step of calculating a spatial angle of two adjacent periods based on the three-phase current signals of the two adjacent periods comprises:
by the formula:
Figure FDA0002460649220000013
respectively, calculating components of a composite vector of three-phase current signals of two adjacent periods on an α axis an β axis;
by the formula:
Figure FDA0002460649220000021
respectively, calculating the space angles of two adjacent periods;
wherein iαcomponent of a resultant vector of three-phase current signals on the alpha axis, iβcomponent of the resultant vector of the three-phase current signals on the beta axis, Ia、Ib、IcRespectively three-phase current signals, theta, of the motorIIs the spatial angle of the three-phase current signal.
4. The method of claim 2, wherein the step of calculating an electrical angular velocity from the spatial angle of two adjacent cycles comprises:
according to the formula: omegae＝(θI2-θI1) Calculating the electrical angular velocity of the rotor;
wherein, ω iseIs the electrical angular velocity, theta, of the rotorI1Spatial angle of three-phase current signal of first period, thetaI2And delta t is the space angle of the three-phase current signals in the second period, and is the sampling period.
5. The method of claim 2, wherein the step of calculating the mechanical angular velocity from the two adjacent cycles of the rotor position signal comprises:
according to the formula: ω ═ θ2-θ1) The mechanical angular speed of the rotor is obtained through calculation;
where ω is the mechanical angular velocity of the rotor, θ1Rotor position signal, theta, representing a first period2A rotor position signal representing a second period, Δ t being the sampling period.
6. A diagnostic device for sampling the position of a rotor of an electric machine, comprising:
the acquisition module is used for acquiring three-phase current signals of the motor and position signals of a motor rotor in two adjacent periods;
the calculation module is used for calculating the electrical angular speed of the rotor according to the three-phase current signals and calculating the mechanical angular speed of the rotor according to the rotor position signals;
the diagnosis module is used for diagnosing whether the rotor position sampling is normal or not according to the ratio between the electrical angular speed and the mechanical angular speed and the absolute value of the difference of the number of pole pairs of the motor through at least two sampling periods;
wherein the diagnostic module is specifically configured to:
judgment of
Figure FDA0002460649220000022
Whether the current value is greater than a preset value;
if it is
Figure FDA0002460649220000031
If the sampling rate is greater than the preset value, determining that the sampling of the rotor position is abnormal, otherwise, determining that the sampling of the rotor position is normal;
wherein, ω iseIs the electrical angular velocity of the rotor, omega is the mechanical angular velocity of the rotor, and lambda is the motor pole pair number.
7. The motor rotor position sampling diagnostic device of claim 6, wherein the calculation module comprises:
the first calculation unit is used for calculating the space angle of two adjacent periods according to the three-phase current signals of the two adjacent periods;
the second calculation unit is used for calculating the electrical angular velocity according to the space angles of two adjacent periods;
the third calculating unit is used for calculating the mechanical angular speed according to the rotor position signals of two adjacent periods;
and the space angles of the two adjacent periods are components of the composite vectors of the three-phase current signals of the two adjacent periods on an alpha axis an β axis respectively calculated by utilizing an inverse chord function.
8. The motor rotor position sampling diagnostic device of claim 7, wherein the first computing unit comprises:
a first calculation subunit configured to calculate, by the formula:
Figure FDA0002460649220000032
respectively, calculating components of a composite vector of three-phase current signals of two adjacent periods on an α axis an β axis;
a second calculation subunit configured to calculate, by the formula:
Figure FDA0002460649220000033
respectively, calculating the space angles of two adjacent periods;
wherein iαcomponent of a resultant vector of three-phase current signals on the alpha axis, iβcomponent of the resultant vector of the three-phase current signals on the beta axis, Ia、Ib、IcRespectively three-phase current signals, theta, of the motorIIs the spatial angle of the three-phase current signal.
9. The motor rotor position sampling diagnostic device of claim 7, wherein the second computing unit is specifically configured to:
according to the formula: omegae＝(θI2-θI1) Calculating the electrical angular velocity of the rotor;
wherein, ω iseIs the electrical angular velocity, theta, of the rotorI1Spatial angle of three-phase current signal of first period, thetaI2And delta t is the space angle of the three-phase current signals in the second period, and is the sampling period.
10. The motor rotor position sampling diagnostic device of claim 7, wherein the third computing unit is specifically configured to:
according to the formula: ω ═ θ2-θ1) The mechanical angular speed of the rotor is obtained through calculation;
where ω is the mechanical angular velocity of the rotor, θ1Rotor position signal, theta, representing a first period2A rotor position signal representing a second period, Δ t being the sampling period.
11. A diagnosis device for sampling the position of a rotor of an electric machine, comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the diagnosis method for sampling the position of a rotor of an electric machine according to any one of claims 1 to 5.
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