CN118944500A - Rotor position determination method, device, equipment, storage medium and program product - Google Patents
Rotor position determination method, device, equipment, storage medium and program product Download PDFInfo
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- CN118944500A CN118944500A CN202411123208.2A CN202411123208A CN118944500A CN 118944500 A CN118944500 A CN 118944500A CN 202411123208 A CN202411123208 A CN 202411123208A CN 118944500 A CN118944500 A CN 118944500A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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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
- 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
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high-frequency signals
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
本申请公开了一种转子位置确定方法、装置、设备、存储介质及程序产品，涉及电机控制技术领域，转子位置确定方法包括：通过在电机注入高频电压信号之后，采样得到电机的高频电流信息，由于高频电流信息包括电流误差信号，电流误差信号包括估算的旋转坐标系下q轴的电流分量，以及电流采样噪声；受该电流采样噪声的干扰，会导致位置观测器收敛到相反的极性，若直接基于该电流误差信号对转子位置进行估算，会造成获得的转子位置出现偏差；本申请基于电流误差信号，通过限幅模块进行限幅处理，得到限幅后的电流误差信号；基于限幅后的电流误差信号，确定电机的转子位置；可以减小电流采样噪声对转子位置产生的影响，从而能够更加准确确定转子位置。
The present application discloses a method, device, equipment, storage medium and program product for determining rotor position, and relates to the field of motor control technology. The method for determining rotor position comprises: sampling and obtaining high-frequency current information of the motor after injecting a high-frequency voltage signal into the motor, and since the high-frequency current information comprises a current error signal, the current error signal comprises an estimated current component of the q-axis in the rotating coordinate system, and current sampling noise; interference from the current sampling noise will cause the position observer to converge to the opposite polarity, and if the rotor position is directly estimated based on the current error signal, deviation will be caused in the obtained rotor position; the present application performs limiting processing through a limiting module based on the current error signal to obtain a current error signal after limiting; the rotor position of the motor is determined based on the current error signal after limiting; the influence of the current sampling noise on the rotor position can be reduced, so that the rotor position can be determined more accurately.
Description
Technical Field
The present application relates to the field of motor control technology, and in particular, to a rotor position determining method, apparatus, device, storage medium, and program product.
Background
At present, a new energy electric drive system generally adopts a rotary transformer to obtain motor rotor position information, and when the rotary transformer fails, fault limp-home can be realized in a mode of no-position sensor control based on high-frequency voltage signal injection under a low-speed working condition in order to avoid vehicle power loss.
However, the motor rotor position estimated by the method is easily interfered by factors such as current sampling noise, so that the position observer converges to opposite polarity, deviation of the obtained rotor position is caused, the torque of an electric drive system is reversed, and the safety of the whole vehicle is affected.
Disclosure of Invention
The main object of the present application is to provide a method, apparatus, device, storage medium and program product for determining rotor position, which aims to solve the technical problem of how to accurately determine rotor position.
To achieve the above object, the present application provides a rotor position determining method, the method comprising:
Sampling to obtain high-frequency current information of the motor after the motor injects a high-frequency voltage signal, and determining a current error signal based on the high-frequency current information, wherein the current error signal comprises an estimated current component of a q-axis under a rotating coordinate system and current sampling noise;
Based on the current error signal, carrying out amplitude limiting processing on the current error signal through an amplitude limiting module to obtain an amplitude limited current error signal;
And determining a rotor position of the motor based on the limited current error signal.
In an embodiment, the step of clipping the current error signal by a clipping module based on the current error signal to obtain a clipped current error signal includes:
Determining a current component of a q-axis in a theoretical rotation coordinate system which is not interfered by current sampling noise based on the voltage amplitude, the sampling frequency and the d-axis inductance in the rotation coordinate system of the high-frequency voltage signal and the q-axis inductance in the rotation coordinate system;
and based on the current component of the q-axis under the theoretical rotation coordinate system, carrying out amplitude limiting processing on the current error signal through an amplitude limiting module to obtain an amplitude limited current error signal.
In an embodiment, the step of clipping the current error signal by a clipping module based on the current component of the q-axis in the theoretical rotation coordinate system to obtain a clipped current error signal includes:
Determining a clipping value of the current error signal based on a current component of the q-axis in the theoretical rotational coordinate system;
And based on the amplitude limiting value of the current error signal, carrying out amplitude limiting processing on the current error signal through an amplitude limiting module to obtain an amplitude-limited current error signal.
In an embodiment, the step of determining the rotor position of the motor based on the limited current error signal comprises:
processing the current error signal after amplitude limiting through a phase-locked loop to obtain an initial rotor frequency;
Based on the initial rotor frequency, a rotor position of the electric machine is determined.
In an embodiment, the step of determining the rotor position of the electric machine based on the initial rotor frequency comprises:
based on the initial rotor frequency, carrying out amplitude limiting treatment on the initial rotor frequency through an amplitude limiting module to obtain an amplitude limited rotor frequency;
and determining the rotor position of the motor based on the limited rotor frequency.
In an embodiment, the step of clipping the initial rotor frequency by a clipping module based on the initial rotor frequency to obtain a clipped rotor frequency includes:
acquiring the working condition of the whole vehicle;
Determining the limiting value of the rotor frequency corresponding to the whole vehicle working condition based on a mapping relation between a preset working condition and a frequency limiting value;
and based on the amplitude limiting value of the rotor frequency, carrying out amplitude limiting treatment on the initial rotor frequency through an amplitude limiting module to obtain the rotor frequency after amplitude limiting.
In addition, in order to achieve the above object, the present application also proposes a rotor position determining apparatus including:
The sampling module is used for sampling to obtain high-frequency current information of the motor after the high-frequency voltage signal is injected into the motor, and determining a current error signal based on the high-frequency current information, wherein the current error signal comprises an estimated current component of a q-axis under a rotating coordinate system and current sampling noise;
the amplitude limiting module is used for carrying out amplitude limiting processing through the amplitude limiting module based on the current error signal to obtain an amplitude-limited current error signal;
And the rotor position determining module is used for determining the rotor position of the motor based on the limited current error signal.
Furthermore, to achieve the above object, the present application also proposes a rotor position determining apparatus comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the rotor position determining method as described above.
Furthermore, to achieve the above object, the present application also proposes a storage medium being a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the steps of the rotor position determination method as described above.
Furthermore, to achieve the above object, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the rotor position determination method as described above.
The technical scheme provided by the application has the following technical effects:
Obtaining high-frequency current information of the motor by sampling after the high-frequency voltage signal is injected into the motor, wherein the high-frequency current information comprises a current error signal, and the current error signal comprises an estimated current component of a q-axis under a rotating coordinate system and current sampling noise; interference from the current sampling noise may cause the position observer to converge to the opposite polarity, i.e. if the rotor position is estimated directly based on the current error signal, a deviation in the obtained rotor position may occur; the application carries out amplitude limiting processing through an amplitude limiting module based on the current error signal to obtain an amplitude limited current error signal; determining a rotor position of the motor based on the limited current error signal; it will be appreciated that determining the rotor position of the motor based on the limited current error signal may reduce the impact of current sampling noise on the rotor position, thereby enabling a more accurate determination of the rotor position.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of a rotor position determining method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a high frequency voltage signal provided by a first embodiment of a rotor position determining method according to the present application;
FIG. 3 is a block diagram of a method for controlling a position-less sensor based on high frequency voltage signal injection in accordance with an embodiment of the present application;
FIG. 4 is a block diagram of a phase locked loop according to an embodiment of the present application;
FIG. 5 is a flowchart of a rotor position determining method according to an embodiment of the present application;
FIG. 6 is a block diagram of a current error clipping module according to an embodiment of the present application;
FIG. 7 is a flowchart of a rotor position determining method according to an embodiment of the present application;
FIG. 8 is a block diagram of current error clipping and rotor frequency clipping in accordance with an embodiment of the present application;
FIG. 9 is a block diagram of a rotor frequency clipping module according to an embodiment of the present application;
FIG. 10 is a schematic block diagram of a rotor position determining apparatus according to an embodiment of the present application;
fig. 11 is a schematic device structure diagram of a hardware operating environment related to a rotor position determining method according to an embodiment of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the technical solution of the present application and are not intended to limit the present application.
For a better understanding of the technical solution of the present application, the following detailed description will be given with reference to the drawings and the specific embodiments.
It should be noted that, the execution body of the present embodiment may be a computing service device having functions of data processing, network communication, and program running, such as a tablet computer, a personal computer, a mobile phone, or an electronic device, a rotor position determining device, or the like, which can implement the above functions. The present embodiment and the following embodiments will be described below by taking a rotor position determination device as an example.
Based on this, an embodiment of the present application provides a rotor position determining method, and referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of the rotor position determining method of the present application.
In the present embodiment, the rotor position determining method includes steps S10 to S40:
Step S10, after the high-frequency voltage signal is injected into the motor, sampling to obtain high-frequency current information of the motor, and determining a current error signal based on the high-frequency current information, wherein the current error signal comprises an estimated current component of a q-axis under a rotating coordinate system and current sampling noise;
At present, a motor in a new energy electric drive system usually uses a rotary transformer to obtain motor rotor position information under a low-speed working condition, wherein the motor can be a permanent magnet synchronous motor, an induction motor or a switched reluctance motor; in order to avoid vehicle loss of power when the resolver fails, a failover may be implemented in a sensorless control based on high frequency voltage signal injection.
The high-frequency voltage signal injection means that a high-frequency voltage signal (including a high-frequency square wave voltage and referring to fig. 2) with a preset voltage amplitude is injected into a stator of the motor, the motor generates a high-frequency current response after receiving the high-frequency voltage signal, and the high-frequency current response can be detected by a current sensor, so that high-frequency current information of the motor is obtained through sampling.
Specifically, referring to fig. 3, fig. 3 is a block diagram of a control method of a position-free sensor based on high-frequency voltage signal injection, and under a low-speed working condition, voltages of d-axis and q-axis of a permanent magnet synchronous motor under a rotating coordinate system are as follows:
further, the original dq coordinate system is converted into The transformation matrix of the coordinate system is:
Wherein the method comprises the steps of Θ is the true position of the motor rotor,For the estimated rotor position of the electric machine,For errors in true motor rotor position and estimated motor rotor position, i.e. by rotating the original dq coordinate system clockwiseObtaining the observation of the position observerCoordinate system (estimatedA coordinate system);
in the observed state In a coordinate systemThe high frequency square wave voltage with the amplitude u h is injected into the shaft:
Wherein n=0, 1,2,3, …, n;
based on the above, it can be calculated that, in The estimated high-frequency current information in the coordinate system is specifically calculated as:
for the above calculation The calculation formula of the estimated high-frequency current information under the coordinate system is rewritten, so that the following can be obtained:
Wherein k is the sampling period of the current error signal;
Wherein L 1 is the average inductance, L 2 is the differential inductance, and i cos is the estimated rotation coordinate system The current component of the shaft, i sin, is in the estimated rotational coordinate systemA current component of the shaft; therefore, the calculation formulas before and after the writing are calculatedCurrent in coordinate systemThe difference value can obtain a high-frequency current signal containing rotor position information; i.e. the rotor position information is included in i sin.
Since the sampling process is susceptible to interference caused by factors such as current sampling noise, a current signal calculated based on the sampled high-frequency current information is actually a current error signal i err including the estimated current component i sin of the q-axis in the rotation coordinate system, and current sampling noise i noise:
ierr＝isin+inoise；
As shown in fig. 4, assuming i sin is input into the phase locked loop, it is possible to Convergence to 0, at which time the rotor position determined based on the rotor frequency of the phase locked loop output may differ from the true rotor position by 0 ° or 180 °.
The current error signal may be determined based on the high frequency current information by filtering.
In general, in order to make the estimated rotor position coincide with the actual rotor position, the polarity (N-pole or S-pole) of the current rotor may be distinguished by using the saturation effect of the magnetic circuit, and then angle compensation is performed, so that the rotor position is obtained based on the compensated angle.
However, after sampling the current error signal i err, the current error signal i err is input into the phase-locked loopConverging to 0 and outputting rotor frequency; in the process, because the current error signal comprises current sampling noise, the current error signal is interfered by the current sampling noise, the position observer can be converged to opposite polarity, the obtained rotor position is caused to deviate, the rotor magnetic pole is lost, the torque of the electric drive system is reversed, and the safety of the whole vehicle is influenced.
Specifically, after the current error signal i err is input to the phase-locked loop, the output rotor frequency is:
As shown in fig. 4, the phase-locked loop includes a PI (Proportional-Integral) module and an integrating module, and the PI integrating module can be omitted because the PI module integration term has an untimely effect on the rotor frequency in the dynamic integration process, so that the calculated rotor frequency error caused by the current sampling noise is Δω noise＝kp*inoise.
Further, since the current sampling noise is far greater than the i sin originally acquired, the output rotor frequency will generate the error, resulting in deviation of the observed angle θ: Δθ noise＝∫Δωnoise,Δθnoise is the rotor frequency error due to noise sampled over time as current, which can cause the phase locked loop to converge in the opposite direction.
Step S20, based on the current error signal, carrying out amplitude limiting processing on the current error signal through an amplitude limiting module to obtain an amplitude limited current error signal;
The clipping process may attenuate the instantaneous value exceeding the preset clipping value, thereby attenuating the instantaneous value of the current sampling noise in the current error signal.
Therefore, the amplitude limiting module can be used for carrying out amplitude limiting processing on the current error signal to obtain an amplitude-limited current error signal.
Step S30, determining a rotor position of the motor based on the limited current error signal.
Because the instantaneous value of the current sampling noise in the limited current error signal is weakened, and the rotor position of the motor is determined based on the limited current, the influence of the current sampling noise on the estimated rotor position can be weakened, so that the rotor position of the motor is more accurate.
Therefore, by performing the amplitude limiting process on the current error signal, the occurrence of the situation that the rotor magnetic pole is lost after the high-frequency voltage signal is injected into the motor can be prevented, and abnormal jump of the rotor position estimated based on the rotor frequency can be avoided.
Based on the above, by injecting the high-frequency voltage signal into the motor, the high frequency current information of the motor is sampled, and since the high frequency current information includes a current error signal, the current error signal comprises an estimated current component of the q-axis in the rotational coordinate system, and current sampling noise; interference from the current sampling noise may cause the position observer to converge to the opposite polarity, i.e. if the rotor position is estimated directly based on the current error signal, a deviation in the obtained rotor position may occur; the application carries out amplitude limiting processing through an amplitude limiting module based on the current error signal to obtain an amplitude limited current error signal; determining a rotor position of the motor based on the limited current error signal; it will be appreciated that determining the rotor position of the motor based on the limited current error signal may reduce the impact of current sampling noise on the rotor position, thereby enabling a more accurate determination of the rotor position.
In the second embodiment of the present application, the same or similar content as in the first embodiment of the present application may be referred to the above description, and will not be repeated. On this basis, referring to fig. 5, step S20 includes steps A1 to A2:
A1, determining a current component of a q-axis in a theoretical rotation coordinate system which is not interfered by current sampling noise based on a voltage amplitude, a sampling frequency and an inductance of a d-axis in the rotation coordinate system of a high-frequency voltage signal and an inductance of the q-axis in the rotation coordinate system;
Based on the above analysis, it can be known that the influence of the current sampling noise on the estimated rotor position can be reduced by performing the clipping process on the current error signal, specifically, the current error signal interfered by the current sampling noise can be subjected to the clipping process by taking the undisturbed current signal as a reference, thereby realizing reasonable clipping.
Since the q-axis current mainly generates electromagnetic torque of the motor, controlling the q-axis current can directly influence the rotational speed and torque output of the motor; thus, the present embodiment can first determine the current component of the q-axis in the theoretical rotation coordinate system that is not disturbed by the current sampling noise.
It should be noted that the obtained current error signal may be affected by parameters such as the voltage amplitude u h of the injected high-frequency voltage signal, the sampling frequency T s, the d-axis inductance L d in the rotating coordinate system, and the q-axis inductance L q in the rotating coordinate system.
Therefore, the influence of the parameter change on the sampled current error signal under different working conditions is considered, and the current error signal is subjected to amplitude limiting processing, so that the interference of current sampling noise can be reduced.
Specifically, as shown in fig. 6, the current component of the q-axis in the theoretical rotation coordinate system may be determined based on the voltage amplitude and the sampling frequency of the high-frequency voltage signal, the inductance of the d-axis in the rotation coordinate system, and the inductance of the q-axis in the rotation coordinate system, that is, the current component of the q-axis in the theoretical rotation coordinate system is the current component of the q-axis in the rotation coordinate system that is not interfered by the current sampling noise.
Specifically, the calculation formula of the current component of the q-axis in the above theoretical rotation coordinate system is:
and step A2, based on the current component of the q axis under the theoretical rotation coordinate system, carrying out amplitude limiting treatment on the current error signal through an amplitude limiting module to obtain an amplitude-limited current error signal.
It can be appreciated that if the current error signal is greater than the current component of the q-axis in the theoretical rotational coordinate system, it is indicated that the current error signal is disturbed by current sampling noise; that is, the current component of the q-axis under the theoretical rotation coordinate system can be used as a reference, and the current error signal is subjected to amplitude limiting processing by an amplitude limiting module based on the current component of the q-axis under the theoretical rotation coordinate system, so as to obtain an amplitude-limited current error signal; thereby acting to reduce interference of current sampling noise.
The specific implementation manner of performing clipping processing on the current error signal by using the clipping module based on the current component of the q-axis under the theoretical rotation coordinate system to obtain the clipped current error signal may be:
determining a limiting value of a current error signal based on a current component of a q-axis under a theoretical rotation coordinate system; and based on the amplitude limiting value of the current error signal, carrying out amplitude limiting processing on the current error signal through an amplitude limiting module to obtain an amplitude-limited current error signal.
Due toThe range of (2) is [0, -1], and the calculation formula of the q-axis current component under the theoretical rotation coordinate system can be known that the error limiting value of the limiting module is:
That is, when the current error signal is greater than the absolute value of I Lmt, the clipping process is required on the current error signal, that is, when the current error signal is greater than the absolute value of I Lmt, the value of I Lmt corresponding to the current error signal may be used as the clipped current error signal, as shown in fig. 6; when the current error signal is less than the absolute value of I Lmt, the current error signal is used as the current error signal after clipping.
In the present embodiment, the clipping value of the current error signal is determined based on the current component of the q-axis in the rotational coordinate system that is not subjected to the current sampling theory; based on the amplitude limiting value of the current error signal, the amplitude limiting module is used for carrying out amplitude limiting processing on the current error signal to obtain an amplitude-limited current error signal, so that reasonable amplitude limiting is realized, and the accuracy of determining the rotor position is improved.
In the third embodiment of the present application, the same or similar contents as those of the first embodiment can be referred to the description above, and the description thereof will be omitted. On this basis, referring to fig. 7, step S20 includes steps B1 to B2:
step B1, processing through a phase-locked loop based on the current error signal after amplitude limiting to obtain an initial rotor frequency;
it should be noted that, the current error signal is input into the phase-locked loop, and calculated by the PI module, the initial rotor frequency can be obtained And calculating the initial rotor frequency through an integration module to obtain the rotor position.
However, when the rotor frequency changes greatly, the rotor position output by the integration module may change greatly, so that the estimated rotor position is 180 ° different from the actual rotor position, and therefore, the initial rotor frequency may be further limited on the basis of limiting the current error signal, so as to avoid abnormal jump of the rotor position, referring to fig. 8.
Step B2, determining a rotor position of the electric machine based on the initial rotor frequency.
Specifically, after the initial rotor frequency is obtained, the amplitude limiting module can be used for carrying out amplitude limiting treatment to obtain the rotor frequency after amplitude limiting; and the rotor position is estimated based on the limited rotor frequency, so that the accuracy of the rotor position is improved.
Specifically, based on the initial rotor frequency, the initial rotor frequency is subjected to clipping processing by a clipping module, and a specific implementation manner of obtaining the clipped rotor frequency may be:
Acquiring the working condition of the whole vehicle; determining the limiting value of the rotor frequency corresponding to the whole vehicle working condition based on a mapping relation between the preset working condition and the frequency limiting value; and based on the amplitude limiting value of the rotor frequency, carrying out amplitude limiting treatment on the initial rotor frequency through an amplitude limiting module to obtain the rotor frequency after amplitude limiting.
The whole vehicle working condition comprises road conditions, vehicle speed, load and the like, and the mapping relation between the preset working condition and the frequency limiting value can be calibrated based on implementation data; as shown in fig. 9, during the running of the vehicle, the limiting value g of the rotor frequency corresponding to the whole vehicle working condition can be determined by means of table look-up.
Therefore, in the process of obtaining the limited rotor frequency based on the initial rotor frequency through the limiting module, the limiting process is needed to be carried out on the initial rotor frequency by combining the whole vehicle working condition, so as to obtain the limited rotor frequency omega Lmt:
It will be appreciated that the rotor frequency may be estimated based on the previous period Limiting the rotor frequency of the current period; therefore, based on the amplitude limiting value of the rotor frequency, the amplitude limiting module is used for carrying out amplitude limiting processing on the initial rotor frequency calculated in the previous period, and the rotor frequency after amplitude limiting corresponding to the current period can be obtained.
Specifically, if the initial frequency estimated in the current period is greater than ω Lmt, determining that the limited rotor frequency corresponding to the current period is ω Lmt, and if the initial frequency estimated in the current period is less than (- ω Lmt), determining that the limited rotor frequency corresponding to the current period is (- ω Lmt).
Based on the above, the purpose of directly limiting the initial rotor frequency can be achieved, the effect of avoiding abnormal jump of the rotor position is achieved, and therefore the accuracy of the rotor position is improved.
In the embodiment, the initial rotor frequency is obtained by processing based on the current error signal through a phase-locked loop, and the working condition of the whole vehicle is obtained; determining the limiting value of the rotor frequency corresponding to the whole vehicle working condition based on a mapping relation between the preset working condition and the frequency limiting value; based on the amplitude limiting value of the rotor frequency, carrying out amplitude limiting treatment on the initial rotor frequency through an amplitude limiting module to obtain the rotor frequency after amplitude limiting; the method achieves the aim of limiting the initial rotor frequency, plays a role in avoiding abnormal jump of the rotor position, and improves the accuracy of the rotor position.
The present application also provides a rotor position determining apparatus, referring to fig. 10, the rotor position determining apparatus includes:
the sampling module 10 is configured to sample high-frequency current information of the motor after the high-frequency voltage signal is injected into the motor, and determine a current error signal based on the high-frequency current information, where the current error signal includes an estimated current component of the q-axis in the rotation coordinate system, and current sampling noise;
The limiting module 20 is configured to perform limiting processing on the current error signal through the limiting module based on the current error signal, so as to obtain a limited current error signal;
a rotor position determination module 30 for determining a rotor position of the electric machine based on the limited current error signal.
The rotor position determining device provided by the application can solve the technical problem of rotor position determination by adopting the rotor position determining method in the embodiment. Compared with the prior art, the rotor position determining device provided by the application has the same beneficial effects as the rotor position determining method provided by the embodiment, and other technical features in the rotor position determining device are the same as the features disclosed by the method of the embodiment, and are not repeated herein.
The present application provides a rotor position determining apparatus, the rotor position determining apparatus comprising: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the rotor position determining method of the first embodiment.
Referring now to fig. 11, a schematic diagram of a rotor position determining apparatus suitable for use in implementing an embodiment of the present application is shown. The rotor position determining apparatus in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal DIGITAL ASSISTANT: personal digital assistants), PADs (Portable Application Description: tablet computers), PMPs (Portable MEDIA PLAYER: portable multimedia players), vehicle-mounted terminals (e.g., vehicle-mounted navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. The rotor position determining device shown in fig. 11 is only one example and should not impose any limitation on the function and scope of use of the embodiment of the present application.
As shown in fig. 11, the rotor position determining apparatus may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access Memory (RAM: random Access Memory) 1004. In the RAM1004, various programs and data required for the operation of the rotor position determination apparatus are also stored. The processing device 1001, the ROM1002, and the RAM1004 are connected to each other by a bus 1005. An input/output (I/O) interface 1006 is also connected to the bus. In general, the following systems may be connected to the I/O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, and the like; an output device 1008 including, for example, a Liquid crystal display (LCD: liquid CRYSTAL DISPLAY), a speaker, a vibrator, and the like; storage device 1003 including, for example, a magnetic tape, a hard disk, and the like; and communication means 1009. The communication means 1009 may allow the rotor position determining device to communicate wirelessly or wired with other devices to exchange data. Although a rotor position determining device having various systems is shown in the figures, it should be understood that not all of the illustrated systems are required to be implemented or provided. More or fewer systems may alternatively be implemented or provided.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. The above-described functions defined in the method of the disclosed embodiment of the application are performed when the computer program is executed by the processing device 1001.
The rotor position determining device provided by the application can solve the technical problem of rotor position determination by adopting the rotor position determining method in the embodiment. Compared with the prior art, the rotor position determining device provided by the application has the same advantages as the rotor position determining method provided by the embodiment, and other technical features in the rotor position determining device are the same as those disclosed by the method of the previous embodiment, and are not repeated herein.
It is to be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present application, and the application should be covered. Therefore, the protection scope of the application is subject to the protection scope of the claims.
The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon for performing the rotor position determining method in the above-described embodiments.
The computer readable storage medium provided by the present application may be, for example, a U disk, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access Memory (RAM: random Access Memory), a Read-Only Memory (ROM: read Only Memory), an erasable programmable Read-Only Memory (EPROM: erasable Programmable Read Only Memory or flash Memory), an optical fiber, a portable compact disc Read-Only Memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: wire, fiber optic cable, RF (Radio Frequency), and the like, or any suitable combination of the foregoing.
The above-mentioned computer-readable storage medium may be contained in a rotor position determining apparatus; or may be present alone without being fitted into the rotor position determining device.
The above computer-readable storage medium carries one or more programs which, when executed by the rotor position determining device, cause the rotor position determining device to: and determining the rotor position.
Computer program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of remote computers, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN: local Area Network) or a wide area network (WAN: wide Area Network), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules involved in the embodiments of the present application may be implemented in software or in hardware. The rotor position determination method, the device, the apparatus, the storage medium and the program product of the module do not constitute a limitation of the unit itself in some cases.
The readable storage medium provided by the application is a computer readable storage medium, and the computer readable storage medium stores computer readable program instructions (namely computer program) for executing the rotor position determining method, so that the technical problem of rotor position determination can be solved. Compared with the prior art, the beneficial effects of the computer readable storage medium provided by the application are the same as those of the rotor position determining method provided by the above embodiment, and are not described herein.
The application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of a rotor position determination method as described above.
The computer program product provided by the application can solve the technical problem of rotor position determination. Compared with the prior art, the beneficial effects of the computer program product provided by the application are the same as those of the rotor position determining method provided by the above embodiment, and are not described herein.
The foregoing description is only a partial embodiment of the present application, and is not intended to limit the scope of the present application, and all the equivalent structural changes made by the description and the accompanying drawings under the technical concept of the present application, or the direct/indirect application in other related technical fields are included in the scope of the present application.
Claims (10)
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| CN202411123208.2A CN118944500A (en) | 2024-08-15 | 2024-08-15 | Rotor position determination method, device, equipment, storage medium and program product |
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| CN202411123208.2A CN118944500A (en) | 2024-08-15 | 2024-08-15 | Rotor position determination method, device, equipment, storage medium and program product |
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