CN112689953A - Angle acquisition method and related device - Google Patents
Angle acquisition method and related device Download PDFInfo
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- CN112689953A CN112689953A CN202080004993.3A CN202080004993A CN112689953A CN 112689953 A CN112689953 A CN 112689953A CN 202080004993 A CN202080004993 A CN 202080004993A CN 112689953 A CN112689953 A CN 112689953A
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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
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Control Of Electric Motors In General (AREA)
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Abstract
The application discloses an angle acquisition method and a related device. The angle acquisition method is used for a motor control system, and is characterized in that the motor control system comprises a motor and an angle sensor; the motor comprises a first winding, a second winding and a rotor; the method comprises the following steps: acquiring a first estimation angle corresponding to the first winding and a second estimation angle corresponding to the second winding, wherein the first estimation angle is obtained according to the current of the first winding, and the second estimation angle is obtained according to the current of the second winding; acquiring a measurement angle through an angle sensor, wherein the measurement angle is the angle of the rotor acquired by the angle sensor; and determining the angle of the rotor according to the first estimated angle, the second estimated angle and the measured angle. The reliability of the acquired angle of the rotor can be guaranteed, the motor can be operated safely and controllably, excessive angle sensors can be avoided, the simplification of a hardware structure of a motor control system is facilitated, and the cost is reduced.
Description
Technical Field
The present disclosure relates to the field of electronic control, and in particular, to an angle obtaining method and a related device.
Background
In the related art, in a motor control system, it is often necessary to realize its function by a motor. The motor has two indexes of high reliability control and high performance control. High reliability control is achieved, and motor body phase redundancy or a phase-lack control algorithm is needed. Achieving high performance control requires precise angles of the rotor of the motor. Typically, the angle of the rotor is obtained by an angle sensor. In order to ensure the use safety of the motor, the angle output by the motor angle sensor needs to be diagnosed and verified so as to output a credible rotor angle for controlling the motor. When the angle sensor fails, the fault sensor can be quickly positioned, corresponding fault-tolerant control is carried out, and safe and controllable operation of the motor is guaranteed.
However, in the prior art, redundant diagnosis and verification of angles are often performed by adopting a plurality of angle sensors to obtain a credible rotor angle and ensure safe and controllable operation of a motor, and such a scheme can cause hardware redundancy of a motor control system and higher cost.
Disclosure of Invention
The application provides a degree obtaining method and a related device, which can ensure the reliability of the obtained angle of a rotor, ensure the safe and controllable operation of a motor, avoid the excessive increase of angle sensors, contribute to simplifying the hardware structure of a motor control system and reduce the cost.
In a first aspect, the present application provides an angle acquisition method for a motor control system, wherein the motor control system includes a motor and an angle sensor; the motor comprises a first winding, a second winding and a rotor; the method comprises the following steps:
acquiring a first estimation angle corresponding to the first winding and a second estimation angle corresponding to the second winding, wherein the first estimation angle is obtained according to the current of the first winding, and the second estimation angle is obtained according to the current of the second winding;
acquiring a measurement angle through the angle sensor, wherein the measurement angle is the angle of the rotor acquired by the angle sensor;
determining an angle of the rotor according to the first estimated angle, the second estimated angle, and the measured angle.
According to the technical scheme, the motor control system can obtain a first estimation angle according to the current of the first winding, and obtain a second estimation angle according to the current of the second winding, so that the first estimation angle and the second estimation angle can be combined, and the measurement angle obtained by the angle sensor can be obtained, the angle of the rotor with higher reliability can be obtained, the angle of the rotor can be obtained without increasing the number of the angle sensors, so that the reliability of the obtained angle of the rotor can be ensured, the motor can be ensured to run safely and controllably, the excessive increase of the angle sensors can be avoided, the hardware structure of the motor control system can be simplified, and the cost is reduced.
In some embodiments, the angle sensor comprises a first angle sensor and a second angle sensor;
said determining an angle of the rotor from the first estimated angle, the second estimated angle, and the measured angle comprises:
determining an angle of the rotor according to the first estimated angle, the second estimated angle, a first measured angle and a second measured angle, wherein the first measured angle is the angle of the rotor acquired by the first angle sensor, and the second measured angle is the angle of the rotor acquired by the second angle sensor.
Therefore, mutual verification can be performed according to the first estimation angle, the second estimation angle, the first measurement angle and the second measurement angle, a more credible angle is obtained, and the reliability of the angle of the rotor is improved.
In some embodiments, said determining an angle of said rotor from said first estimated angle, said second estimated angle, a first measured angle, and a second measured angle comprises:
if the first measurement angle is credible, the angle of the rotor is the first measurement angle;
if the first measurement angle is not credible and the second measurement angle is credible, the angle of the rotor is the second measurement angle;
if both the first measured angle and the second measured angle are not authentic, the angle of the rotor is the first estimated angle or the second estimated angle.
In this way, a highly reliable angle of the rotor can be obtained.
In some embodiments, said determining an angle of said rotor based on said first estimated angle, said second estimated angle, a first measured angle, and a second measured angle further comprises:
if the difference value between the first measured angle and the first estimated angle is within a set range, or the difference value between the first measured angle and the second estimated angle is within a set range, determining that the first measured angle is credible; and/or
And if the difference value between the second measured angle and the first estimated angle is within a set range, or the difference value between the second measured angle and the second estimated angle is within a set range, determining that the second measured angle is credible.
Therefore, mutual verification can be carried out according to the first estimation angle, the second estimation angle, the first measurement angle and the second measurement angle, and a more credible angle can be obtained.
In some embodiments, the number of angle sensors is 1; said determining an angle of the rotor from the first estimated angle, the second estimated angle, and the measured angle comprises:
if the measured angle is credible, the angle of the rotor is the first measured angle;
if the measured angle is not authentic, the angle of the rotor is the first estimated angle or the second estimated angle.
Therefore, the angle of the rotor with higher reliability can be obtained by only arranging one angle sensor, the hardware structure of the motor control system is simplified, and the cost is reduced.
In a second aspect, the present application provides an angle acquisition apparatus for a motor control system, the motor control system including a motor and an angle sensor; the motor comprises a first winding, a second winding and a rotor; the method comprises the following steps:
an estimated angle obtaining unit, configured to obtain a first estimated angle corresponding to the first winding and obtain a second estimated angle corresponding to the second winding, where the first estimated angle is obtained according to a current of the first winding, and the second estimated angle is obtained according to a current of the second winding;
a measurement angle acquisition unit configured to acquire a measurement angle by the angle sensor, where the measurement angle is an angle of the rotor acquired by the angle sensor;
a processing unit for determining the angle of the rotor according to the first estimated angle, the second estimated angle and the measured angle.
According to the technical scheme, the motor control system can obtain a first estimation angle according to the current of the first winding, and obtain a second estimation angle according to the current of the second winding, so that the first estimation angle and the second estimation angle can be combined, and the measurement angle obtained by the angle sensor can be obtained, the angle of the rotor with higher reliability can be obtained, the angle of the rotor can be obtained without increasing the number of the angle sensors, so that the reliability of the obtained angle of the rotor can be ensured, the motor can be ensured to run safely and controllably, the excessive increase of the angle sensors can be avoided, the hardware structure of the motor control system can be simplified, and the cost is reduced.
In some embodiments, the angle sensor comprises a first angle sensor and a second angle sensor;
said determining an angular aspect of said rotor based on said first estimated angle, said second estimated angle and said measured angle, the processing unit being specifically configured to:
determining an angle of the rotor according to the first estimated angle, the second estimated angle, a first measured angle and a second measured angle, wherein the first measured angle is the angle of the rotor acquired by the first angle sensor, and the second measured angle is the angle of the rotor acquired by the second angle sensor.
In certain embodiments, in said determining the angle of the rotor based on the first estimated angle, the second estimated angle, the first measured angle, and the second measured angle, the processing unit is specifically configured to:
if the first measurement angle is credible, the angle of the rotor is the first measurement angle;
if the first measurement angle is not credible and the second measurement angle is credible, the angle of the rotor is the second measurement angle;
if both the first measured angle and the second measured angle are not authentic, the angle of the rotor is the first estimated angle or the second estimated angle.
In certain embodiments, in said determining the angle of the rotor based on the first estimated angle, the second estimated angle, the first measured angle, and the second measured angle, the processing unit is specifically configured to:
if the difference value between the first measured angle and the first estimated angle is within a set range, or the difference value between the first measured angle and the second estimated angle is within a set range, determining that the first measured angle is credible; and/or
And if the difference value between the second measured angle and the first estimated angle is within a set range, or the difference value between the second measured angle and the second estimated angle is within a set range, determining that the second measured angle is credible.
In some embodiments, the number of angle sensors is 1; in said determining the angle of the rotor based on the first estimated angle, the second estimated angle and the measured angle, the processing unit is specifically configured to:
if the measured angle is credible, the angle of the rotor is the first measured angle;
if the measured angle is not authentic, the angle of the rotor is the first estimated angle or the second estimated angle.
It should be understood that the description related to the embodiment of the angle acquisition method described above also applies to the angle acquisition apparatus of the embodiment of the present application. To avoid redundancy, it is not described here in detail.
In a third aspect, the present application provides an angle obtaining apparatus, including: a processor which, when executing the computer program or instructions in the memory, causes the method of any of the embodiments of the first aspect described above to be performed.
In a fourth aspect, the present application provides a vehicle including the angle acquisition apparatus of any one of the second or third aspects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a motor control system according to an embodiment of the present invention;
fig. 2A is a schematic flow chart of an angle obtaining method according to an embodiment of the present invention;
fig. 2B is a schematic flow chart of an angle obtaining method according to an embodiment of the present invention;
fig. 2C is a schematic flow chart of an angle obtaining method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another configuration of a motor control system according to an embodiment of the present application;
fig. 4 is another schematic flow chart related to an angle obtaining method according to an embodiment of the present application;
fig. 5 is another schematic flow chart related to an angle obtaining method according to an embodiment of the present application;
fig. 6 is another schematic flow chart related to an angle obtaining method according to an embodiment of the present application;
fig. 7 is another schematic flow chart related to an angle obtaining method according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an angle obtaining apparatus according to an embodiment of the present application;
fig. 9 is another schematic structural diagram of the angle obtaining apparatus according to the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The structure of the motor control system shown in fig. 1 is schematic.
The motor control system 100 includes a first winding 101, a second winding 102, a motor 103, an angle sensor 104, an angle estimation unit 105, and an angle diagnosis unit 106. The motor 103 includes a rotor and a stator, and the rotor is rotatable relative to the stator. The first winding 101 and the second winding 102 are used to control the rotor of the motor 103 to rotate relative to the stator. The angle sensor 104 is used for acquiring the angle of the rotor relative to the stator to obtain a measured angle. The angle estimation unit 105 is configured to estimate an angle of the rotor according to currents of the first winding and the second winding, so as to obtain a first estimated angle corresponding to the first winding and a second estimated angle corresponding to the second winding. The angle diagnosis unit 106 is configured to obtain an angle of the rotor according to the first estimated angle, the second estimated angle, and the measured angle obtained by the angle sensor 104. The angle of the rotor is the angle of the rotor with respect to the stator, which can be considered.
The angle estimation unit 105 and the angle diagnosis unit 106 may be a processing unit, and the processing unit includes the angle estimation unit 105 and the angle diagnosis unit 106. Or the angle estimation unit 105 and the angle diagnosis unit 106 may be disposed in a processor that implements the functions of the angle estimation unit 105 and the angle diagnosis unit 106. Alternatively, the angle estimation unit 105 and the angle diagnosis unit 106 may be disposed in a controller or a control unit that realizes the functions of the angle estimation unit 105 and the angle diagnosis unit 106. The specific implementation of the controller or the control unit may be, for example, a single chip microcomputer, a logic circuit, or the like.
The technical scheme of the application is explained in detail in the following with the accompanying drawings.
As shown in the schematic flow chart of fig. 2A, the angle obtaining method of the embodiment of the present application may include the following steps:
201. obtaining a first estimated angle theta est1 corresponding to the first winding and a second estimated angle theta est2 corresponding to the second winding, wherein the first estimated angle is obtained according to the current of the first winding, and the second estimated angle is obtained according to the current of the second winding;
the first winding and/or the second winding may be, for example, three-phase windings.
The first estimated angle may be understood as an angle estimated from the current of the first winding with respect to the angle of the rotor with respect to the stator.
The second estimated angle may be understood as an angle estimated from the current of the second winding with respect to the angle of the rotor with respect to the stator.
For example, the angle estimation unit 105 may include a first estimation unit and a second estimation unit. The angle diagnosing unit 106 may acquire the first estimated angle θ est1 from the first estimating unit and the second estimated angle θ est2 from the second estimating unit.
202. Acquiring a measurement angle through an angle sensor, wherein the measurement angle is the angle of the rotor acquired by the angle sensor;
the measured angle is the angle of the rotor relative to the stator, which is acquired by the angle sensor.
The number of the measuring angles can be one, 2 or more than 2.
For example, the motor control system may comprise a plurality of angle sensors, each of which may acquire at least one measured angle. The motor control system may also comprise only one angle sensor, which may acquire at least one measured angle.
Specifically, the measurement angle may be acquired by the angle diagnosis unit 106 through an angle sensor.
203. And determining the angle of the rotor according to the first estimated angle, the second estimated angle and the measured angle.
For example, the angle diagnosing unit 106 may perform a mutual verification according to the first estimated angle, the second estimated angle and the measured angle to obtain a reliable rotor angle.
According to the technical scheme of the embodiment of the application, the motor control system can obtain a first estimated angle according to the current of the first winding and a second estimated angle according to the current of the second winding, so that the first estimated angle, the second estimated angle and the measured angle obtained by the angle sensor can be combined to obtain the angle of the rotor with higher reliability, and the angle of the rotor can be obtained without excessively increasing the number of the angle sensors, so that the reliability of the obtained angle of the rotor can be ensured, the motor can safely and controllably operate, excessively increasing the number of the angle sensors can be avoided, the simplification of a hardware structure of the motor control system is facilitated, and the cost is reduced.
Based on the embodiment corresponding to fig. 2A, as shown in the flowchart of fig. 2B, in some optional embodiments, the angle sensor of the motor control system includes a first angle sensor and a second angle sensor; step 203 may include:
2031. and determining the angle of the rotor according to the first estimated angle theta est1, the second estimated angle theta est2, the first measured angle theta 1 and the second measured angle theta 2, wherein the first measured angle theta 1 is the angle of the rotor acquired by the first angle sensor, and the second measured angle theta 2 is the angle of the rotor acquired by the second angle sensor.
Therefore, mutual verification can be performed according to the first estimation angle, the second estimation angle, the first measurement angle and the second measurement angle, a more credible angle is obtained, and the reliability of the angle of the rotor is improved.
Specifically, step 2031 may comprise: if the first measurement angle is credible, the angle of the rotor is the first measurement angle; if the first measurement angle is not credible and the second measurement angle is credible, the angle of the rotor is the second measurement angle; if both the first measured angle and the second measured angle are not authentic, the angle of the rotor is the first estimated angle or the second estimated angle.
For example, it may be determined whether the first measured angle is authentic by: and if the difference value between the first measured angle and the first estimated angle is within a set range, or the difference value between the first measured angle and the second estimated angle is within a set range, determining that the first measured angle is credible.
It may be determined whether the second measured angle is authentic by: and if the difference value between a second measured angle and the first estimated angle is within a set range, or the difference value between the second measured angle and the second estimated angle is within a set range, determining that the second measured angle is credible.
Based on the embodiment corresponding to fig. 2A, as shown in the flowchart of fig. 2C, in some optional embodiments, the number of the angle sensors of the motor control system is 1; step 203 may include:
2032. if the measured angle is credible, the angle of the rotor is the first measured angle;
for example, if the difference between the measured angle and the first estimated angle is within a set range, or the difference between the measured angle and the second estimated angle is within a set range, it may be determined that the measured angle is authentic.
2033. If the measured angle is not authentic, the angle of the rotor is the first estimated angle or the second estimated angle.
For example, if the difference between the measured angle and the second estimated angle is not within the set range and the difference between the measured angle and the second estimated angle is not within the set range, it may be determined that the measured angle is not authentic.
Like this, motor control system only need set up an angle sensor, can guarantee the reliability of the angle of the rotor that acquires, guarantees motor safe controllable operation, can avoid too much increase angle sensor again, helps simplifying motor control system's hardware structure, reduce cost.
To facilitate understanding, a more specific example is provided below.
As shown in fig. 3, the motor control system includes a motor, two three-phase windings, two angle sensors, a rotor angle estimation unit, and an angle diagnosis unit. The motor is a six-phase motor.
The two three-phase windings are respectively a first winding M1 and a second winding M2.
The two angle sensors are respectively a first angle sensor and a second angle sensor. The first angle sensor and the second angle sensor are used for acquiring the angle of the rotor relative to the stator. The angle acquired by the first angle sensor may be understood as a first measured angle, and the angle acquired by the second angle sensor may be understood as a second measured angle.
The motor control system further includes: the device comprises a plurality of control units, 2 PWM driving units, 2 inverters, a plurality of current sensors and 2 coordinate transformation units.
The plurality of control units include: a control unit P1, a control unit P3, and a control unit P4. The control unit may be a PI control unit, for example.
The 2 PWM driving units include: a PWM driving unit D1 and a PWM driving unit D2.
The 2 inverters include: inverter I1 and inverter I2.
The 2 coordinate transformation units include a coordinate transformation unit T1 and a coordinate transformation unit T2. The coordinate transformation unit may be, for example, a three-phase/two-phase coordinate transformation unit.
The plurality of current sensors includes: current sensor C1, current sensor C2, current sensor C3, current sensor C4, current sensor C5, and current sensor C6.
The control unit P1 is configured to output a d-axis command voltage Ud1 of the first winding M1 according to a difference Δ Id1 between an input d-axis target current Id1 and an input d-axis actual current Id 1; the control unit P2 is configured to output a d-axis command voltage Uq1 of the first winding M1 according to a difference Δ Iq1 between an input q-axis target current Iq1 and a q-axis actual current Iq 1.
The d-axis target current Id1 is a d-axis component current in vector control represented in a two-phase synchronous rotating coordinate system of the first winding M1 in the six-phase motor, and is used to weaken or strengthen the magnitude of the magnetic field generated by the first winding M1. The q-axis target current Iq1 is a q-axis component current in vector control represented in a two-phase synchronous rotating coordinate system of the first winding M1 in the six-phase motor, and is used to control the electromagnetic torque generated by the first winding M1.
The PWM driving unit D1 is configured to convert the D-axis command voltage Ud1 of the first winding M1 output from the control unit P1 and the D-axis command voltage Uq1 of the first winding M1 output from the control unit P2 into PWM control voltage signals PWMa, PWMb, PWMc of the first winding M1, and output the PWM control voltage signals PWMa, PWMb, PWMc to the inverter I1. Wherein PWMa controls the a-phase voltage of the first winding M1, PWMb controls the b-phase voltage of the first winding M1, and PWMc controls the c-phase voltage of the first winding M1.
The inverter I1 is configured to output three-phase voltages Ua, Ub, Uc of the PWM control voltage signals PWMa, PWMb, PWMc according to the PWM control voltage signals PWMa, PWMb, PWMc of the phase voltage of the first winding M1 from the PWM driving unit D1, and to apply them to three windings a, b, c of the first winding M1.
The current sensors C1, C2 and C3 are respectively arranged on three windings a, b and C of the first winding M1 and are respectively used for acquiring the currents Ia, Ib and Ic of the three windings a, b and C of the first winding M1.
The coordinate transformation unit T1 is used to convert Ia, Ib, Ic into two-phase actual currents Id1 and Iq1 of the first winding M1 in a two-phase synchronous rotating coordinate system. The two-phase actual currents Id1 and Iq1 are used for closed-loop control with the two-phase target current commands Id1 and Iq 1.
The rotor angle estimation unit E1 is used for estimating a first estimation angle theta est1 corresponding to the first winding according to Id1 and Iq 1.
The control unit P3 is configured to output a d-axis command voltage Ud2 of the second winding M2 according to a difference Δ Id2 between the input d-axis target current Id2 and the d-axis actual current Id 2; the control unit P4 is configured to output a d-axis command voltage Uq2 of the second winding M2 according to a difference Δ Iq2 between an input q-axis target current Iq2 and a q-axis actual current Iq 2.
The d-axis target current Id2 is a d-axis component current in vector control represented in a two-phase synchronous rotating coordinate system of the second winding M2 in the six-phase motor, and is used to reduce or enhance the magnitude of the magnetic field generated by the second winding M2. The q-axis target current Iq2 is a q-axis component current in vector control expressed in a two-phase synchronous rotating coordinate system of the second winding M2 in the six-phase motor, and is used to control the electromagnetic torque generated by the second winding M2.
The PWM driving unit D2 is configured to convert the D-axis command voltage Ud2 of the second winding M2 output by the control unit P2 and the D-axis command voltage Uq2 of the second winding M2 output by the control unit P2 into PWM control voltage signals PWMu, PWMv, PWMw of the second winding M2, and output the PWM control voltage signals to the inverter I1. Wherein PWMa controls the phase u voltage of the second winding M2, PWMb controls the phase v voltage of the second winding M2, and PWMc controls the phase w voltage of the second winding M2.
The inverter I2 is used for outputting three-phase voltages Uu, Uv and Uw of the PWM control voltage signals PWMu, PWMv and PWMw according to the PWM control voltage signals PWMu, PWMv and PWMw of the phase voltage of the second winding M2, and applying the three phase voltages Uu, v and w to the three windings u, v and w of the second winding M2.
The current sensors C3, C4 and C5 are respectively arranged on three windings u, v and w of the second winding M2 and are respectively used for acquiring the currents Ia, Ib and Ic of three windings a, b and C of the second winding M1.
The coordinate transformation unit T2 is used to convert Iu, Iv, Iw into two-phase actual currents Id2 and Iq2 of the second winding M2 in a two-phase synchronous rotating coordinate system. The two-phase actual currents Id2 and Iq2 are used for closed-loop control with the two-phase target current commands Id2 and Iq 2.
The rotor angle estimation unit E2 is used for estimating a second estimated angle theta est1 corresponding to the second winding according to Id2 and Iq 2.
The angle diagnosis and verification unit is used for outputting the angle of the rotor according to the first estimation angle, the second estimation angle, the first measurement angle and the second measurement angle.
It is understood that the steps 201-203 in the above embodiments can be implemented by the angle diagnosis verification unit.
Specifically, in step 201, the angle diagnosis verifying unit may obtain a first estimated angle from the rotor angle estimating unit E1 and a second estimated angle from the rotor angle estimating unit E2.
In step 202, the angle diagnosis and verification unit may acquire a first measurement angle θ 1 from the first angle sensor and a second measurement angle θ 2 from the second angle sensor.
In step 203, the angle diagnosis verification unit outputs the angle of the rotor according to the first estimated angle θ est1, the second estimated angle θ est2, the first measured angle θ 1, and the second measured angle θ 2.
An embodiment of an angle diagnosis unit outputting an angle θ elec of the rotor based on the first estimated angle θ est1, the second estimated angle θ est3, the first measured angle θ 1, and the second measured angle θ 2 is provided below.
As shown in the flowchart of fig. 4, θ 1_ Flag is 1, which indicates that the first measurement angle is authentic; θ 1_ Flag ═ 0 indicates that the first measurement angle is not authentic; θ 2_ Flag ═ 1 indicates that the second measurement angle is authentic; θ 2_ Flag ═ 0 indicates that the second measurement angle is not authentic; when the angle of the rotor is obtained for the first time, θ 1_ Flag is equal to 1 and θ 2_ Flag is equal to 1.
The scheme that the angle diagnosing unit outputs the angle of the rotor according to the first estimated angle, the second estimated angle, the first measured angle and the second measured angle may include the steps of:
401. the angle diagnosis unit judges whether the first measurement angle theta 1 is authentic; if yes, go to step 402, otherwise go to step 404.
The angle diagnosing unit may determine whether the first measured angle θ 1 is authentic according to the condition judgment 1 and the condition judgment 2.
Specifically, condition judgment 1 is: the | [ theta ] 1-theta 2| < 5 °, and the condition judgment 2 is as follows: the angle theta 1-theta est1 is less than 10 degrees or the angle theta 1-theta est2 is less than 10 degrees; if both condition judgment 1 and condition judgment 2 are satisfied, it is determined that the first measurement angle θ 1 is authentic.
It can be understood that if | θ 1- θ 2| is less than 5 °, it indicates that the direct difference between θ 1 and θ 2 is small, the confidence level of θ 1 and θ 2 is high, and it can be further determined whether θ 1 and θ 2 are reliable.
If | θ 1- θ est1| < 10 ° or | θ 1- θ est2| < 10 °, then it is stated that θ 1 is close to at least one of θ est1 or θ est2, then it may be further determined that the confidence level of θ 1 is sufficiently high, and then it may be determined that θ 1 is trustworthy.
Alternatively, the angle diagnosing unit may determine whether the first measured angle θ 1 is authentic, based on the angle diagnosis result in the process of acquiring the angle of the rotor in the previous round.
402. The angle diagnosis unit judges whether the second measured angle theta 2 is authentic; if yes, go to step 403, otherwise go to step 404.
The angle diagnosing unit may determine whether the second measured angle θ 2 is authentic according to the condition judgment 3.
The condition 3 is judged to be | theta 2-theta est1| < 10 ° or | theta 2-theta est2| < 10 °. If condition decision 3 is satisfied, then θ 2 may be determined to be authentic.
It is to be understood that if either | θ 2- θ est1| < 10 ° or | θ 2- θ est2| < 10 °, then it is stated that θ 2 is close to at least one of θ est1 or θ est2, then it may be further determined that the confidence level of θ 2 is sufficiently high, and then it may be determined that θ 2 is trustworthy.
Alternatively, the angle diagnosing unit may determine whether the first measured angle θ 2 is authentic, based on the angle diagnosis result in the process of acquiring the angle of the rotor in the previous round.
403. The angle diagnosing unit performs the process of angle diagnosis 1.
For example, the angle diagnosis unit may perform the process of angle diagnosis 1 through the angle diagnosis SW1 sub-module.
404. The angle diagnosing unit performs the process of angle diagnosis 2.
For example, the angle diagnosis unit may perform the process of angle diagnosis 2 through the angle diagnosis SW2 sub-module.
405. The angle diagnosis unit judges whether the second measured angle is authentic; if yes, go to step 406, otherwise go to step 407.
For a specific example that the angle diagnosing unit determines whether θ 2 is reliable, reference may be made to the example corresponding to step 402 described above, and details are not described here.
406. The angle diagnosing unit performs the process of angle diagnosis 3.
For example, the angle diagnosis unit may perform the process of angle diagnosis 3 through the angle diagnosis SW3 sub-module.
407. The angle diagnosing unit performs the process of angle diagnosis 4.
For example, the angle diagnosis unit may perform the process of angle diagnosis 4 through the angle diagnosis SW4 sub-module.
In this embodiment, step 403, step 404, step 406, and step 407 are processes of performing an angle diagnosis, and in the angle diagnosis process, the angle θ elec of the rotor is obtained from the structure of the angle diagnosis.
The processes of angle diagnosis 1, angle diagnosis 2, angle diagnosis 3, and angle diagnosis 4 are described below with reference to the drawings.
As shown in the flowchart of fig. 5, the angle diagnosis 1 process is as follows:
a1, judging whether the angle is theta 1-theta 2 < 5 degrees; if yes, go to step A2, otherwise go to step A7.
It is understood that | θ 1 — θ 2| < 5 ° is the conditional judgment 1, and if the result of the conditional judgment 1 is "yes", it indicates that the first measurement angle and the second measurement angle have high reliability.
A2, judging whether: the angle theta 1-theta est1 is less than 10 degrees or the angle theta 1-theta est2 is less than 10 degrees; if yes, go to step A3; if not, go to step A4.
A3, determining the angle theta elec of the rotor as a first measurement angle theta 1.
A4, judging whether: the angle theta 2-theta est1 is less than 10 degrees or the angle theta 2-theta est2 is less than 10 degrees; if yes, go to step A5, otherwise go to step A6.
Further, it is judged whether or not θ 1 is authentic by the condition judgment 2. If the result is yes, the angle of the rotor can be determined to be a first measured angle theta 1; if not, further judging whether the theta 2 is credible by using a condition judgment 3. The condition 3 is judged to be | theta 2-theta est1| < 10 ° or | theta 2-theta est2| < 10 °.
A5, determining that the first measured angle theta 1 is not authentic and theta 2 is authentic.
A6, determining that both the first measured angle θ 1 and the second measured angle θ 2 are not authentic, and then the process of angle diagnosis 4 is performed.
If the condition judgment 3 is satisfied, it can be determined that θ 2 is authentic, that is, θ 1 is not authentic, and θ 2 is authentic. If the condition judgment 3 is not satisfied, it is determined that θ 2 is not authentic, that is, both θ 1 and θ 2 are not authentic.
A7, judging whether (| theta 1-theta est1| + | theta 1-theta est2|) < (| theta 2-theta est1| + | theta 2-theta est2 |); if yes, go to step A8; if not, go to step A9.
If the condition judgment 1 is not satisfied, it may be determined that the degrees of reliability of θ 1 and θ 2 are low, and it is further judged whether the first estimated angle θ est1 and the second estimated angle θ est1 are reliable.
Specifically, the condition judgment 4 is used to judge whether or not θ est1 and θ est2 are authentic. The condition judgment 4 is (| theta 1-theta est1| + | theta 1-theta est2|) < (| theta 2-theta est1| + | theta 2-theta est2 |).
A8, determining that the second measured angle θ 2 is not authentic, and then the process of angle diagnosis 2 is performed.
A9, determining that the first measured angle θ 1 is not authentic, and then the process of angle diagnosis 3 is performed.
If the condition judgment 4 is satisfied, it is indicated that θ 2 is not authentic, and if the condition judgment 4 is not satisfied, it is indicated that θ 1 is not authentic.
As shown in the flowchart of fig. 6, the process of angle diagnosis 2 may be used to determine whether θ 1 is authentic. The procedure for angle diagnosis 2 is as follows:
b1, judging whether the following conditions are met: the angle theta 1-theta est1 is less than 10 degrees or the angle theta 1-theta est2 is less than 10 degrees; if so, go to step B2, otherwise, go to step B3.
Specifically, the condition judgment 2 is used to judge whether θ 1 is authentic. The condition judgment 2 is as follows: the angle is less than 10 degrees in the range of | theta 1-theta est1| < 10 degrees or less than 10 degrees in the range of | theta 1-theta est2 |.
B2, determining the angle theta elec of the rotor as a first measurement angle theta 1.
B3, determining the angle theta elec of the rotor to be a first estimated angle theta est1, and the first measured angle theta 1 is not trusted.
If the condition judgment 2 is satisfied, it can be determined that θ 1 is authentic, and then the angle of the rotor can be determined to be the first measured angle θ 1. If the condition determination 2 is not satisfied, it may be determined that the difference between θ 1 and both of θ est1 and θ est2 is large, it may be determined that the angle of the rotor is the first estimated angle θ est1, and θ 1 is not trusted.
Continuing with the flowchart shown in FIG. 7, the process of angle diagnosis 3 may be used to determine whether θ 2 is authentic. The procedure for angle diagnosis 3 is as follows:
c1, judging whether the following conditions are met: the angle theta 2-theta est1 is less than 10 degrees or the angle theta 2-theta est2 is less than 10 degrees; if so, go to step B2, otherwise, go to step B3.
Specifically, the condition judgment 3 is used to judge whether θ 2 is authentic. The condition judgment 3 is as follows: either | θ 2- θ est1| < 10 ° or | θ 2- θ est2| < 10 °.
And C2, determining the angle theta elec of the rotor as a second measurement angle theta 2.
C3, determining the angle θ elec of the rotor to be a first measured angle θ 1, and the second measured angle θ 2 is not trusted.
If the condition judgment 3 is satisfied, it may be determined that θ 2 is authentic, and then the angle of the rotor may be determined to be the first measured angle θ 2, and if the condition judgment 3 is not satisfied, it may be determined that θ 2 is largely different from both θ est1 and θ est2, it may be determined that the angle of the rotor is the first estimated angle θ 1, and θ 2 is not authentic.
The procedure of the angle diagnosis 4 includes: the angle of the rotor is determined to be θ est 1. That is, when both θ 1 and θ 2 are not authentic, the angle θ elec of the rotor is θ est 1.
It should be understood that, in the embodiment of the present application, the result of the process of each angle diagnosis may be used to determine whether the first measured angle θ 1 and/or the second measured angle θ 2 is authentic when the angle of the rotor is acquired next time. That is, in the present application, the process of obtaining the angle of the rotor may be cyclic.
For example, if it is determined that θ 1 is authentic during the angle diagnosis 2 from the last time the angle of the rotor was acquired, the angle diagnosis unit may determine that θ 1 is authentic in step 401 at the next time the angle of the rotor is acquired. If it is determined that θ 2 is authentic during the angle diagnosis 3 at the time of last acquisition of the angle of the rotor, the angle diagnosis unit may determine that θ 2 is authentic in step 402 or step 405.
It can be seen that in the technical solution of this embodiment, only two angle sensors (the first angle sensor and the second angle sensor) need to be provided, the first angle sensor and the second angle sensor obtain the first measured angle θ 1 and the second measured angle θ 2, and perform the diagnostic check with the first estimated angle and the second estimated angle obtained through estimation. When θ 1 is not trusted, the first angle sensor may be considered to be malfunctioning or failing, and when θ 2 is not trusted, the second angle sensor may be considered to be malfunctioning or failing. When neither θ 1 nor θ 2 is authentic, both the first angle sensor and the second angle sensor may be considered to be malfunctioning or failing. Therefore, when the angle sensor fails or fails, the failed angle sensor can be accurately found, and only two angle sensors are needed to be arranged, so that the hardware redundancy of the motor control system is effectively realized, and the cost is reduced.
Moreover, when any one angle sensor fails or fails, the measured angle obtained by the other angle sensor, the first estimated angle and the second estimated angle can be used for diagnosis and verification, and the credible angle theta elec of the rotor can be obtained.
Even if both angle sensors fail, the first estimation angle and the second estimation angle can be used for diagnosis and verification, and the angle theta elec of a credible rotor is obtained. For example, when neither the condition judgment 1 nor the condition judgment 2 is satisfied, it is determined that the angle θ elec of the rotor is the first estimated angle θ est 1.
Therefore, when any one of the two angle sensors fails or both the two angle sensors fail, the technical scheme of the application can not only normally obtain the angle of a credible rotor, but also find the failed or failed angle sensor in time, ensure the safe operation of the motor control system, avoid the hardware redundancy of the motor control system and reduce the cost.
It should be understood that, in the motor control system including two three-phase motors in the embodiment of the present application, two estimated angles can be obtained from the two three-phase motors. The first estimated angle θ est1 is any one of the two estimated angles, and does not specifically refer to which estimated angle.
As shown in the schematic structural diagram of fig. 8, an embodiment of the present application further provides an angle obtaining apparatus 800, including:
an estimated angle obtaining unit 801, configured to obtain a first estimated angle corresponding to the first winding and obtain a second estimated angle corresponding to the second winding, where the first estimated angle is obtained according to the current of the first winding, and the second estimated angle is obtained according to the current of the second winding;
a measurement angle acquisition unit 802 configured to acquire a measurement angle by using an angle sensor, where the measurement angle is an angle of the rotor acquired by the angle sensor;
a processing unit 803 for determining the angle of the rotor based on the first estimated angle, the second estimated angle and the measured angle.
It should be understood that the estimated angle acquisition unit 801, the measured angle acquisition unit 802, and the processing unit 803 in this embodiment may be disposed in an angle diagnosis unit of the electronic control system. The functions of the estimated angle acquisition unit 801, the measured angle acquisition unit 802, and the processing unit 803 described above are implemented by an angle diagnosis unit.
According to the technical scheme of the embodiment of the application, the angle acquisition device 800 can obtain a first estimation angle according to the current of the first winding and a second estimation angle according to the current of the second winding, so that the first estimation angle and the second estimation angle can be combined, and the measurement angle obtained by the angle sensor can be obtained to obtain the angle of the rotor with higher reliability, and the angle of the rotor can be acquired without excessively increasing the number of the angle sensors, so that the reliability of the obtained angle of the rotor can be ensured, the safe and controllable operation of the motor can be ensured, the excessively increased angle sensors can be avoided, the simplification of a hardware structure of a motor control system is facilitated, and the cost is reduced.
In certain embodiments, the angle sensor comprises a first angle sensor and a second angle sensor;
said determining an angular aspect of said rotor based on said first estimated angle, said second estimated angle and said measured angle, the processing unit 803 being specifically configured to:
determining the angle of the rotor according to the first estimated angle, the second estimated angle, a first measured angle and a second measured angle, wherein the first measured angle theta 1 is the angle of the rotor acquired by the first angle sensor, and the second measured angle theta 2 is the angle of the rotor acquired by the second angle sensor.
In certain embodiments, in said determining the angle of the rotor based on the first estimated angle, the second estimated angle, the first measured angle and the second measured angle, the processing unit 803 is specifically configured to:
if the first measurement angle is credible, the angle of the rotor is the first measurement angle;
if the first measurement angle is not credible and the second measurement angle is credible, the angle of the rotor is the second measurement angle;
if both the first measured angle and the second measured angle are not authentic, the angle of the rotor is the first estimated angle or the second estimated angle.
In certain embodiments, in said determining the angle of the rotor based on the first estimated angle, the second estimated angle, the first measured angle and the second measured angle, the processing unit 803 is specifically configured to:
if the difference value between the first measured angle and the first estimated angle is within a set range, or the difference value between the first measured angle and the second estimated angle is within a set range, determining that the first measured angle is credible; and/or
And if the difference value between the second measured angle and the first estimated angle is within a set range, or the difference value between the second measured angle and the second estimated angle is within a set range, determining that the second measured angle is credible.
In certain embodiments, the number of angle sensors is 1; in said determining the angle of the rotor based on the first estimated angle, the second estimated angle and the measured angle, the processing unit 803 is specifically configured to:
if the measured angle is credible, the angle of the rotor is the first measured angle;
if the measured angle is not authentic, the angle of the rotor is the first estimated angle or the second estimated angle.
It should be understood that the description related to the embodiment of the angle obtaining method is also applicable to the angle obtaining apparatus 800 of the embodiment of the present application. To avoid redundancy, it is not described here in detail.
An angle obtaining apparatus 900 is further provided in the embodiment of the present application, as shown in the schematic structural diagram of fig. 9, where the angle obtaining apparatus 900 includes a processor, and when the processor executes a computer program or an instruction in the memory, the processor executes the steps of any one of the method embodiments described above.
The embodiment of the application also provides a vehicle. The vehicle includes the motor control system of any one of the above embodiments, or includes the angle acquisition apparatus of any one of the above embodiments.
The steps in the method of the embodiment of the application can be sequentially adjusted, combined and deleted according to actual needs.
The modules in the device can be merged, divided and deleted according to actual needs.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (12)
1. An angle acquisition method is used for a motor control system, and is characterized in that the motor control system comprises a motor and an angle sensor; the motor comprises a first winding, a second winding and a rotor; the method comprises the following steps:
acquiring a first estimation angle corresponding to the first winding and a second estimation angle corresponding to the second winding, wherein the first estimation angle is obtained according to the current of the first winding, and the second estimation angle is obtained according to the current of the second winding;
acquiring a measurement angle through the angle sensor, wherein the measurement angle is the angle of the rotor acquired by the angle sensor;
determining an angle of the rotor according to the first estimated angle, the second estimated angle, and the measured angle.
2. The method of claim 1, wherein the angle sensor comprises a first angle sensor and a second angle sensor;
said determining an angle of the rotor from the first estimated angle, the second estimated angle, and the measured angle comprises:
determining an angle of the rotor according to the first estimated angle, the second estimated angle, a first measured angle and a second measured angle, wherein the first measured angle is the angle of the rotor acquired by the first angle sensor, and the second measured angle is the angle of the rotor acquired by the second angle sensor.
3. The method of claim 2, wherein determining the angle of the rotor based on the first estimated angle, the second estimated angle, a first measured angle, and a second measured angle comprises:
if the first measurement angle is credible, the angle of the rotor is the first measurement angle;
if the first measurement angle is not credible and the second measurement angle is credible, the angle of the rotor is the second measurement angle;
if both the first measured angle and the second measured angle are not authentic, the angle of the rotor is the first estimated angle or the second estimated angle.
4. The method of claim 3, wherein determining the angle of the rotor based on the first estimated angle, the second estimated angle, a first measured angle, and a second measured angle further comprises:
if the difference value between the first measured angle and the first estimated angle is within a set range, or the difference value between the first measured angle and the second estimated angle is within a set range, determining that the first measured angle is credible; and/or
And if the difference value between the second measured angle and the first estimated angle is within a set range, or the difference value between the second measured angle and the second estimated angle is within a set range, determining that the second measured angle is credible.
5. The method of claim 1, wherein the number of angle sensors is 1; said determining an angle of the rotor from the first estimated angle, the second estimated angle, and the measured angle comprises:
if the measured angle is credible, the angle of the rotor is the first measured angle;
if the measured angle is not authentic, the angle of the rotor is the first estimated angle or the second estimated angle.
6. An angle acquisition device is used for a motor control system, and is characterized in that the motor control system comprises a motor and an angle sensor; the motor comprises a first winding, a second winding and a rotor; the method comprises the following steps:
an estimated angle obtaining unit, configured to obtain a first estimated angle corresponding to the first winding and obtain a second estimated angle corresponding to the second winding, where the first estimated angle is obtained according to a current of the first winding, and the second estimated angle is obtained according to a current of the second winding;
a measurement angle acquisition unit configured to acquire a measurement angle by the angle sensor, where the measurement angle is an angle of the rotor acquired by the angle sensor;
a processing unit for determining the angle of the rotor according to the first estimated angle, the second estimated angle and the measured angle.
7. The angle acquisition device of claim 6, wherein in certain embodiments, the angle sensor comprises a first angle sensor and a second angle sensor;
said determining an angular aspect of said rotor based on said first estimated angle, said second estimated angle and said measured angle, the processing unit being specifically configured to:
determining an angle of the rotor according to the first estimated angle, the second estimated angle, a first measured angle and a second measured angle, wherein the first measured angle is the angle of the rotor acquired by the first angle sensor, and the second measured angle is the angle of the rotor acquired by the second angle sensor.
8. The angle acquisition apparatus according to claim 7, wherein, in said determining the angle of the rotor based on the first estimated angle, the second estimated angle, the first measured angle, and the second measured angle, the processing unit is specifically configured to:
if the first measurement angle is credible, the angle of the rotor is the first measurement angle;
if the first measurement angle is not credible and the second measurement angle is credible, the angle of the rotor is the second measurement angle;
if both the first measured angle and the second measured angle are not authentic, the angle of the rotor is the first estimated angle or the second estimated angle.
9. The angle acquisition apparatus according to claim 8, wherein in said determining the angle of the rotor based on the first estimated angle, the second estimated angle, the first measured angle, and the second measured angle, the processing unit is specifically configured to:
if the difference value between the first measured angle and the first estimated angle is within a set range, or the difference value between the first measured angle and the second estimated angle is within a set range, determining that the first measured angle is credible; and/or
And if the difference value between the second measured angle and the first estimated angle is within a set range, or the difference value between the second measured angle and the second estimated angle is within a set range, determining that the second measured angle is credible.
10. The angle acquisition apparatus according to claim 6, wherein the number of the angle sensors is 1; in said determining the angle of the rotor based on the first estimated angle, the second estimated angle and the measured angle, the processing unit is specifically configured to:
if the measured angle is credible, the angle of the rotor is the first measured angle;
if the measured angle is not authentic, the angle of the rotor is the first estimated angle or the second estimated angle.
11. An angle acquisition apparatus, comprising: a processor which, when executing the computer program or instructions in the memory, causes the method of any of claims 1-5 to be performed.
12. A vehicle characterized by comprising the angle acquisition apparatus of any one of claims 6 to 11.
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Application publication date: 20210420 |