CN114362628B - Method and system for detecting initial position of rotor of counter-rotating permanent magnet synchronous motor - Google Patents
Method and system for detecting initial position of rotor of counter-rotating permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN114362628B CN114362628B CN202210043326.7A CN202210043326A CN114362628B CN 114362628 B CN114362628 B CN 114362628B CN 202210043326 A CN202210043326 A CN 202210043326A CN 114362628 B CN114362628 B CN 114362628B
- Authority
- CN
- China
- Prior art keywords
- rotor
- synchronous motor
- stator winding
- position angle
- initial position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 194
- 238000000034 method Methods 0.000 title claims abstract description 64
- 238000004804 winding Methods 0.000 claims abstract description 187
- 230000008859 change Effects 0.000 claims abstract description 8
- 230000006870 function Effects 0.000 claims description 6
- 230000000737 periodic effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 101100136092 Drosophila melanogaster peng gene Proteins 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 238000011426 transformation method Methods 0.000 description 1
Abstract
本发明属于转子位置角检测领域，具体涉及了一种对转永磁同步电机转子初始位置检测方法及系统，旨在解决对转永磁同步电机定子绕组和转子均在旋转时无法测量转子初始位置角的问题。本发明包括：在电机转子和定子上设置旋转变压器的转子，在机壳上设置旋转变压器的定子，获取当前转子绝对位置角θ2；固定定子绕组，获得当前定子绕组位置角θ10，获取固定定子绕组下转子初始位置角θ′0；转动定子绕组，获得当前定子绕组的绝对位置θ1；结合θ10到θ1的变化量和θ′0，获取转动定子绕组下电机的转子初始位置角θ0；θ0和θ2为同步电机转子初始位置。本发明利用双旋转变压器实现对转永磁同步电机定子绕组和转子均在旋转的情况下的转子初始位置角的测量。
The present invention belongs to the field of rotor position angle detection, and specifically relates to a method and system for detecting the initial position of a counter-rotating permanent magnet synchronous motor rotor, aiming to solve the problem that the initial position angle of the rotor cannot be measured when the stator winding and the rotor of the counter-rotating permanent magnet synchronous motor are both rotating. The present invention comprises: arranging the rotor of a rotary transformer on the motor rotor and the stator, arranging the stator of the rotary transformer on the housing, obtaining the current rotor absolute position angle θ 2 ; fixing the stator winding, obtaining the current stator winding position angle θ 10 , obtaining the initial rotor position angle θ′ 0 under the fixed stator winding; rotating the stator winding, obtaining the absolute position θ 1 of the current stator winding; combining the change from θ 10 to θ 1 and θ′ 0 , obtaining the initial rotor position angle θ 0 of the motor under the rotating stator winding; θ 0 and θ 2 are the initial positions of the synchronous motor rotor. The present invention uses a double rotary transformer to realize the measurement of the initial rotor position angle when the stator winding and the rotor of the counter-rotating permanent magnet synchronous motor are both rotating.
Description
Technical Field
The invention belongs to the field of rotor position angle detection in a permanent magnet synchronous motor control technology, and particularly relates to a method and a system for detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor.
Background
The underwater vehicle needs to stabilize the gesture in the navigation process, so that a contra-rotating propeller propulsion system is mostly adopted to overcome the gyroscopic effect, and the contra-rotating permanent magnet synchronous propulsion motor has two mechanical output ports because of no electric brush, commutator and gear, can directly drive the contra-rotating propeller propulsion system, has high power, high reliability, small torque pulsation, good heat dissipation effect, small radial pulling force and axial pulling force, no gyroscopic effect and other excellent performances, and is widely applied to the field of electric propulsion of ships, underwater vehicles and the like.
In order to ensure smooth rotation of the motor and accurate control of the motor, not only is the stator armature current required to be controlled, but also the rotor position angle of the motor is required to be accurately detected at all times. The high-performance permanent magnet synchronous motor driving system generally adopts rotor magnetic field vector control, adopts a coordinate transformation method to transform stator current from three-phase stationary coordinates (ABC) to two-phase rotating coordinates (dq), decouples motor stator current into two independent components, namely an exciting current component and a torque current component, and then controls the components respectively, wherein the rotor position angle of the permanent magnet synchronous motor is a necessary condition for realizing stator current decoupling control. The rotor position angle is generally defined as the included angle between the rotor magnetic pole (d-axis) in the rotating coordinate system and the a-axis in the three-phase stationary coordinate system, and when the two axes coincide (the rotor position angle is 0 °), the absolute position angle output by the position angle sensor mounted on the rotor at this time is the initial position angle of the rotor.
The current method is a magnetic pole pre-positioning method, a current vector in the d-axis direction is applied to a stator winding, and the rotor magnetic pole is forced to rotate (d-axis) to coincide with the A-axis and then stop, so that the initial position angle of the rotor is obtained. The method for detecting the position angle is adopted, the torque mechanism generated by the stator magnetic field and the rotor magnetic field of the permanent magnet synchronous motor is in direct proportion to the sine value of the included angle between the stator magnetic field and the rotor magnetic field, when the angle is close to zero, the output torque simultaneously tends to zero, and meanwhile, the detected angle is difficult to reach an absolute zero point due to the existence of the positioning torque (cogging torque) of the permanent magnet synchronous motor, so that the detection precision of the initial position angle of the rotor is affected to a certain extent.
Some documents propose a method and a system [1] for adjusting the initial position angle of a rotor of a built-in permanent magnet synchronous motor, wherein the accuracy of detecting the initial position angle of the rotor is improved by updating the flux linkage position angle for a plurality of times, setting a threshold value, judging the difference value between the orthogonal axis current which can enable the rotor to rotate positively and the negative orthogonal axis current which can rotate reversely. However, the algorithm of the method is too complex to implement, the calculated amount is large, an error threshold is set, and the initial position angle of the rotor cannot be obtained without accuracy. Other documents propose a permanent magnet synchronous motor rotor position angle detection and initial position angle calibration method [2], wherein a periodic variation rule of a cosine function is presented by motor stator line voltage u BC with respect to a rotor position angle theta, a waveform of stator line voltage u BC is recorded on an oscilloscope respectively, the rotor position angle theta is converted and output through a D/A module, an initial value of the rotor position angle is manually set and adjusted, and finally, a peak of line voltage u BC corresponds to a peak of the rotor position angle theta, so that the initial position angle of the rotor is obtained. According to the method, the accuracy of the initial position angle of the rotor is improved by means of the oscilloscope and the angle output D/A conversion module. Still other documents propose a method and a system [3] for automatic calibration angle compensation of an initial position angle of a motor, wherein an A-phase power factor angle is obtained according to input power, AB line voltage and A-phase current of the motor, electric angular frequency is obtained according to rotating speed of the motor, an A-phase internal power factor angle is obtained according to the electric angular frequency and the power factor angle, the initial position angle of a motor rotor is compensated, and finally the initial position angle of the motor is obtained. But the method relies on the input power P, line voltage UAB measurement and accurate measurement of A-phase current of the motor, in addition, strong electricity is provided for a driving controller on a motor rack, a proper constant torque/constant rotation speed working condition is selected, and then the input power P, AB line voltage UAB and A-phase current I of the motor are collected in real time by using equipment such as a power analyzer and the like, so that the special requirements limit the application scene of the method.
In general, the above techniques are applied to searching for the initial position angle of the rotor of a permanent magnet synchronous motor in a conventional sense (the stator winding is fixed, and the rotor can rotate), and the initial position angle of the rotor is finally found to be a fixed angle. In the driving system of the contra-rotating permanent magnet synchronous motor, the stator winding and the rotor of the motor rotate relative to the bracket, and the stator winding and the rotor reversely rotate under the interaction force, so that the initial position angle of the rotor is not fixed any more, and the initial position angle is always changed. Therefore, the above-mentioned technique cannot be applied to a counter-rotating permanent magnet synchronous motor driving system for precisely measuring the initial position of the motor rotor.
The following documents are background information related to the present invention:
[1] liu Xuebing, li Wenjie, zhou Congyuan and the like, a method and a system for adjusting initial position angle of rotor of built-in permanent magnet synchronous motor, 2016-12-23,201611206350.9
[2] Zhang Jian, yan Chaopeng, peng Meng and the like, and a permanent magnet synchronous motor rotor position angle detection and initial position angle calibration method, 2019-01-24,201910068623.5
[3] Sun Yangyang motor initial position angle automatic calibration angle compensation method and system, 2016-10-12,201610891993.5
Disclosure of Invention
In order to solve the above problems in the prior art, namely the problem that the initial position angle of the rotor cannot be measured when the stator winding and the rotor of the counter-rotating permanent magnet synchronous motor rotate, the invention provides a method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor, which comprises the following steps:
Step S10, setting a rotor of a resolver ① on a rotor winding of the synchronous motor, setting a rotor of a resolver ② on a stator winding, and setting a stator of a resolver ① and a resolver ② on a motor housing;
Step S20, obtaining an absolute position angle θ 2 of a current rotor of the synchronous motor through a rotor of a resolver ②, fixing a stator winding of the synchronous motor, and obtaining a position angle θ 10 of the current stator winding of the synchronous motor through a rotor of a resolver ①;
Step S30, obtaining a rotor initial position angle theta' 0 of the synchronous motor under a fixed stator winding based on the relation between the waveform of the stator voltage u BC of the synchronous motor and the rotor position angle theta converted by the D/A module;
Step S40, loosening and rotating a stator winding of the synchronous motor, and obtaining an absolute position angle theta 1 of the stator winding of the synchronous motor through a rotor of a rotary transformer ①;
step S50, obtaining a rotor initial position angle theta 0 of the synchronous motor under the rotating stator windings based on a rotor initial position angle theta' 0 of the synchronous motor under the fixed stator windings and the variation of the position angle of the stator windings of the synchronous motor between the fixed stator windings and the rotating stator windings;
Step S60, the initial position angle theta of the rotor of the synchronous motor under the rotating stator winding and the absolute position angle theta 2 of the current rotor of the synchronous motor are the initial position of the rotor of the synchronous motor.
In some preferred embodiments, step S30 includes:
Step S31, setting a rotor position angle initial value of the synchronous motor under a fixed stator winding based on a periodic variation rule of a cosine function presented by a waveform of a stator voltage u BC of the synchronous motor and a rotor position angle theta converted by a D/A module;
And S32, adjusting the initial value of the rotor position angle of the synchronous motor under the fixed stator winding, so that the peak of the stator voltage u BC of the synchronous motor corresponds to the peak of the rotor position angle theta converted by the D/A module, and obtaining the initial rotor position angle theta' 0 of the synchronous motor under the fixed stator winding.
In some preferred embodiments, the motor rotor magnetic field direction of the synchronous motor coincides with the stator winding a when the peak of the stator voltage u BC of the synchronous motor corresponds to the peak of the rotor position angle θ converted by the D/a module.
In some preferred embodiments, the amount of change in the position angle of the stator windings of the synchronous machine between a fixed stator winding and a rotating stator winding is expressed as:
Δθ1＝θ1-θ10
wherein Δθ 1 is the variation of the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding.
In some preferred embodiments, the rotor initial position angle θ 0 of the synchronous motor under the rotating stator winding is expressed as:
θ0＝θ′0-Δθ1
Wherein θ' 0 is the rotor initial position angle of the synchronous motor under the fixed stator winding.
In another aspect of the present invention, a system for detecting an initial position of a rotor of a counter-rotating permanent magnet synchronous motor is provided, the system comprising:
A resolver setting module configured to set a rotor of a resolver ① on a rotor winding of the synchronous motor, a rotor of a resolver ② on a stator winding, and a stator of a resolver ① and a resolver ② on a motor case;
A rotor absolute position angle acquisition module configured to acquire an absolute position angle θ 2 of a current rotor of the synchronous motor through a rotor of a resolver ②;
a motor stator winding position angle acquisition module under the fixed stator winding, configured to fix the stator winding of the synchronous motor, and acquire a position angle θ 10 of a current stator winding of the synchronous motor through a rotor of a resolver ①;
The motor rotor initial position angle acquisition module under the fixed stator winding is configured to acquire a rotor initial position angle theta' 0 of the synchronous motor under the fixed stator winding based on the relation between the waveform of the stator voltage u BC of the synchronous motor and the rotor position angle theta converted by the D/A module;
An absolute position angle acquisition module of a motor stator winding under a rotating stator winding, configured to loosen and rotate the stator winding of the synchronous motor, and acquire an absolute position angle theta 1 of the stator winding of the synchronous motor through a rotor of a rotary transformer ①;
A motor rotor initial position angle acquisition module under the rotating stator winding, configured to acquire a rotor initial position angle theta 0 of the synchronous motor under the rotating stator winding based on a rotor initial position angle theta' 0 of the synchronous motor under the fixed stator winding and a variation of a position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding;
And the synchronous motor rotor initial position output module is configured to output a rotor initial position angle theta 0 of the synchronous motor under the rotating stator winding and an absolute position angle theta 2 of a current rotor of the synchronous motor as the synchronous motor rotor initial positions.
In a third aspect of the present invention, an electronic device is provided, including:
At least one processor, and
A memory communicatively coupled to at least one of the processors, wherein,
The memory stores instructions executable by the processor for execution by the processor to implement the method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor.
In a fourth aspect of the present invention, a computer readable storage medium is provided, where computer instructions are stored, where the computer instructions are used to be executed by the computer to implement the method for detecting an initial position of a rotor of a counter-rotating permanent magnet synchronous motor.
The invention has the beneficial effects that:
The invention relates to a method for detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor, which is characterized in that a double-rotation transformer is respectively arranged on a stator winding and a rotor of the counter-rotating motor, absolute position angle information of the stator winding and the rotor is respectively output in real time by the double-rotation transformer, the stator winding is fixed first, the initial position angle is measured according to a permanent magnet synchronous motor in a traditional sense, then the stator winding is loosened, and the position angle variation of the stator winding is detected by the double-rotation transformer arranged on the stator winding, so that the initial position angle of the rotor of the permanent magnet synchronous motor is obtained. The method is suitable for the motor characteristics (both the stator winding and the rotor rotate) of a counter-rotating motor with a complex structure, and can obtain the initial position angle of the motor rotor like a traditional motor without adding special calibration software and a hardware detection circuit only by additionally installing a double-rotary transformer on the stator winding to detect the position angle information of the stator.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a method for detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor;
FIG. 2 is a schematic diagram illustrating the installation of a double-rotary transformer on a counter-rotating permanent magnet synchronous motor according to an embodiment of the method for detecting the initial position of a rotor of the counter-rotating permanent magnet synchronous motor according to the present invention;
FIG. 3 is a schematic diagram of a stator winding current position angle obtained after a stator winding of a counter-rotating motor is fixed according to an embodiment of a method for detecting an initial position of a rotor of the counter-rotating permanent magnet synchronous motor of the present invention;
FIG. 4 is a schematic diagram of obtaining an initial position angle of a rotor after stator windings of a counter-rotating motor are fixed according to an embodiment of a method for detecting an initial position of a rotor of a counter-rotating permanent magnet synchronous motor of the present invention;
FIG. 5 is a schematic diagram showing the angular change of stator position during rotation of stator windings of a counter-rotating permanent magnet synchronous motor according to an embodiment of the method for detecting the initial position of a rotor of the counter-rotating permanent magnet synchronous motor;
Fig. 6 is a schematic diagram of an initial position angle of a rotor when a stator winding of a counter-rotating electric machine rotates according to an embodiment of a method for detecting an initial position of a rotor of a counter-rotating permanent magnet synchronous motor of the present invention.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the present application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
The invention discloses a method for detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor, which comprises the following steps:
Step S10, setting a rotor of a resolver ① on a rotor winding of the synchronous motor, setting a rotor of a resolver ② on a stator winding, and setting a stator of a resolver ① and a resolver ② on a motor housing;
Step S20, obtaining an absolute position angle θ 2 of a current rotor of the synchronous motor through a rotor of a resolver ②, fixing a stator winding of the synchronous motor, and obtaining a position angle θ 10 of the current stator winding of the synchronous motor through a rotor of a resolver ①;
Step S30, obtaining a rotor initial position angle theta' 0 of the synchronous motor under a fixed stator winding based on the relation between the waveform of the stator voltage u BC of the synchronous motor and the rotor position angle theta converted by the D/A module;
Step S40, loosening and rotating a stator winding of the synchronous motor, and obtaining an absolute position angle theta 1 of the stator winding of the synchronous motor through a rotor of a rotary transformer ①;
step S50, obtaining a rotor initial position angle theta 0 of the synchronous motor under the rotating stator windings based on a rotor initial position angle theta' 0 of the synchronous motor under the fixed stator windings and the variation of the position angle of the stator windings of the synchronous motor between the fixed stator windings and the rotating stator windings;
Step S60, the initial position angle theta of the rotor of the synchronous motor under the rotating stator winding and the absolute position angle theta 2 of the current rotor of the synchronous motor are the initial position of the rotor of the synchronous motor.
In order to more clearly describe the method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor according to the present invention, each step in the embodiment of the present invention is described in detail below with reference to fig. 1.
The method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor comprises the following steps S10-S50, wherein the steps are described in detail:
In step S10, the rotor of the resolver ① is provided on the rotor winding of the synchronous motor, the rotor of the resolver ② is provided on the stator winding, and the stators of the resolver ① and the resolver ② are provided on the motor case.
The output signal of the rotary transformer is processed by a rotary decoding chip (circuit), and then the output value of the rotary decoding chip is directly read to obtain the measured angle.
The rotary-transformer decoding chip is an element which is combined with the rotary transformer to realize the decoding of the angle position and the speed signals, a plurality of rotary-transformer decoding chips can be selected in the prior art, different types of rotary-transformer decoding chips can be selected according to different application scenes, and the invention is not limited to the method.
Referring to fig. 2, a schematic diagram of a double-rotary transformer according to an embodiment of the method for detecting an initial position of a rotor of a counter-rotating permanent magnet synchronous motor according to the present invention is shown, wherein the rotary transformer ① includes a stator of a resolver ① and a rotor of a resolver ①, and the rotary transformer ② includes a stator of a resolver ② and a rotor of a resolver ②. The rotor of the rotating ① and the rotor of the rotating ② are arranged on a shell of the counter-rotating permanent magnet synchronous motor, and can also be arranged on a bracket of the fixed motor, the stator of the rotating ① is arranged on a stator winding of the counter-rotating permanent magnet synchronous motor, synchronously rotates along with the stator winding of the motor, and synchronously rotates along with the rotor of the motor, wherein the stator of the rotating ② is arranged on the rotor of the counter-rotating permanent magnet synchronous motor.
In step S20, the absolute position angle θ 2 of the current rotor of the synchronous motor is obtained by rotating the rotor of the transformer ②.
As shown in fig. 3, in an embodiment of the method for detecting an initial position of a rotor of a counter-rotating permanent magnet synchronous motor according to the present invention, after a stator winding of the counter-rotating motor is fixed, a current position angle of the stator winding is obtained, a resolver ① is used for outputting in real time absolute position angle information θ 1 of the stator winding of the counter-rotating permanent magnet synchronous motor, and a resolver ② is used for outputting in real time absolute position angle θ 2 of the rotor of the counter-rotating permanent magnet synchronous motor.
The stator winding of the synchronous motor is fixed, and the position angle theta 10 of the current stator winding of the synchronous motor is obtained through the rotor of the rotary transformer ①.
Step S30, obtaining a rotor initial position angle theta' 0 of the synchronous motor under fixed stator windings based on the relation between the waveform of the stator voltage u BC of the synchronous motor and the rotor position angle theta converted by the D/A module.
Step S31, setting a rotor position angle initial value of the synchronous motor under a fixed stator winding based on a periodic variation rule of a cosine function presented by a waveform of a stator voltage u BC of the synchronous motor and a rotor position angle theta converted by a D/A module;
And S32, adjusting the initial value of the rotor position angle of the synchronous motor under the fixed stator winding, so that the peak of the stator voltage u BC of the synchronous motor corresponds to the peak of the rotor position angle theta converted by the D/A module, and obtaining the initial rotor position angle theta' 0 of the synchronous motor under the fixed stator winding.
As shown in fig. 4, in an embodiment of the method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor according to the present invention, after the stator winding of the counter-rotating permanent magnet synchronous motor is fixed, a schematic diagram of the initial position angle of the rotor is obtained, the stator winding of the motor is fixed, and when the magnetic field (d-axis) direction of the rotor of the motor coincides with the direction of the stator winding a, the resolver ② outputs the absolute position angle of the rotor of the motor, that is, the initial position angle of the rotor position angle under the fixed stator winding is denoted as θ' 0. At this time, the stator winding of the counter-rotating motor is fixed, which is the same as the rotation change condition of the motor (stator winding is fixed) in the traditional sense, so that the initial position angle of the rotor can be found by adopting the prior art, for example, the periodic change rule of a cosine function is presented by the motor stator line voltage u BC with respect to the rotor position angle theta, the waveform of the stator line voltage u BC is recorded on an oscilloscope respectively, the rotor position angle theta is converted and output through a D/A module, the initial value of the rotor position angle is set and adjusted manually, and finally, the peak of the line voltage u BC corresponds to the peak of the rotor position angle theta, namely, the direction of the magnetic field (D axis) of the motor rotor coincides with the stator winding A, so as to obtain the initial position angle of the rotor. The method is only a method for searching the initial position angle of the rotor, and in other application scenes, other methods for searching the initial position angle of the rotor can be selected according to actual needs, and the invention is not limited herein.
Step S40, the stator winding of the synchronous motor is loosened and rotated, and the absolute position angle θ 1 of the stator winding of the synchronous motor is obtained by rotating the rotor of the transformer ①.
Step S50, obtaining a rotor initial position angle θ 0 of the synchronous motor under the rotating stator winding based on a rotor initial position angle θ' 0 of the synchronous motor under the fixed stator winding and a variation of a position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding.
The amount of change in the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding is expressed as shown in formula (1):
Δθ1＝θ1-θ10 (1)
wherein Δθ 1 is the variation of the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding.
As shown in fig. 5, in an embodiment of a method for detecting an initial position of a rotor of a counter-rotating permanent magnet synchronous motor according to the present invention, after the stator windings of the counter-rotating motor are loosened and rotated clockwise to any position angle, a resolver ① outputs an absolute position angle θ 1 of the stator windings of the motor, and then the change amount of the position angle with respect to the initial position angle (the stator windings are fixed) of the stator windings of the motor is Δθ 1＝θ1-θ10.
The initial rotor position angle θ 0 of the synchronous motor under the rotating stator winding is expressed as formula (2):
θ0＝θ′0-Δθ1 (2)
Wherein θ' 0 is the rotor initial position angle of the synchronous motor under the fixed stator winding.
As shown in fig. 6, a schematic diagram of a rotor initial position angle of a counter-rotating motor stator winding according to an embodiment of the method for detecting a rotor initial position of a counter-rotating permanent magnet synchronous motor according to the present invention is shown, where a rotor initial position angle θ 0 of the motor may be represented as θ 0＝θ′0-Δθ1.
Step S60, the initial position angle theta 0 of the rotor of the synchronous motor under the rotating stator winding and the absolute position angle theta 2 of the current rotor of the synchronous motor are the initial position of the rotor of the synchronous motor.
Although the steps are described in the above-described sequential order in the above-described embodiments, it will be appreciated by those skilled in the art that in order to achieve the effects of the present embodiments, the steps need not be performed in such order, and may be performed simultaneously (in parallel) or in reverse order, and such simple variations are within the scope of the present invention.
The system for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor according to the second embodiment of the invention comprises the following modules:
A resolver setting module configured to set a rotor of a resolver ① on a rotor winding of the synchronous motor, a rotor of a resolver ② on a stator winding, and a stator of a resolver ① and a resolver ② on a motor case;
A rotor absolute position angle acquisition module configured to acquire an absolute position angle θ 2 of a current rotor of the synchronous motor through a rotor of a resolver ②;
a motor stator winding position angle acquisition module under the fixed stator winding, configured to fix the stator winding of the synchronous motor, and acquire a position angle θ 10 of a current stator winding of the synchronous motor through a rotor of a resolver ①;
The motor rotor initial position angle acquisition module under the fixed stator winding is configured to acquire a rotor initial position angle theta' 0 of the synchronous motor under the fixed stator winding based on the relation between the waveform of the stator voltage u BC of the synchronous motor and the rotor position angle theta converted by the D/A module;
An absolute position angle acquisition module of a motor stator winding under a rotating stator winding, configured to loosen and rotate the stator winding of the synchronous motor, and acquire an absolute position angle theta 1 of the stator winding of the synchronous motor through a rotor of a rotary transformer ①;
A motor rotor initial position angle acquisition module under the rotating stator winding, configured to acquire a rotor initial position angle theta 0 of the synchronous motor under the rotating stator winding based on a rotor initial position angle theta' 0 of the synchronous motor under the fixed stator winding and a variation of a position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding;
And the synchronous motor rotor initial position output module is configured to output a rotor initial position angle theta 0 of the synchronous motor under the rotating stator winding and an absolute position angle theta 2 of a current rotor of the synchronous motor as the synchronous motor rotor initial positions.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above and the related description may refer to the corresponding process in the foregoing method embodiment, which is not repeated here.
It should be noted that, in the system for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor provided in the foregoing embodiment, only the division of the foregoing functional modules is illustrated, in practical application, the foregoing functional allocation may be performed by different functional modules according to needs, that is, the modules or steps in the embodiment of the present invention are further decomposed or combined, for example, the modules in the foregoing embodiment may be combined into one module, or may be further split into a plurality of sub-modules, so as to complete all or part of the functions described above. The names of the modules and steps related to the embodiments of the present invention are merely for distinguishing the respective modules or steps, and are not to be construed as unduly limiting the present invention.
An electronic device of a third embodiment of the present invention includes:
At least one processor, and
A memory communicatively coupled to at least one of the processors, wherein,
The memory stores instructions executable by the processor for execution by the processor to implement the method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor.
A computer-readable storage medium of a fourth embodiment of the present invention stores computer instructions for execution by the computer to implement the above-described method for detecting an initial position of a rotor of a counter-rotating permanent magnet synchronous motor.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the storage device and the processing device described above and the related description may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
Those of skill in the art will appreciate that the various illustrative modules, method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the program(s) corresponding to the software modules, method steps, may be embodied in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. To clearly illustrate this interchangeability of electronic hardware and software, various illustrative components and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Those skilled in the art may implement the described functionality using different approaches for each particular application, but such implementation is not intended to be limiting.
The terms "first," "second," and the like, are used for distinguishing between similar objects and not for describing a particular sequential or chronological order.
The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus/apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus/apparatus.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
Claims (8)
1. The method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor is characterized by comprising the following steps of:
Step S10, setting a rotor of a resolver ① on a rotor winding of the synchronous motor, setting a rotor of a resolver ② on a stator winding, and setting a stator of a resolver ① and a resolver ② on a motor housing;
Step S20, obtaining an absolute position angle θ 2 of a current rotor of the synchronous motor through a rotor of a resolver ②, fixing a stator winding of the synchronous motor, and obtaining a position angle θ 10 of the current stator winding of the synchronous motor through a rotor of a resolver ①;
Step S30, obtaining a rotor initial position angle theta' 0 of the synchronous motor under a fixed stator winding based on the relation between the waveform of the stator voltage u BC of the synchronous motor and the rotor position angle theta converted by the D/A module;
Step S40, loosening and rotating a stator winding of the synchronous motor, and obtaining an absolute position angle theta 1 of the stator winding of the synchronous motor through a rotor of a rotary transformer ①;
step S50, obtaining a rotor initial position angle theta 0 of the synchronous motor under the rotating stator windings based on a rotor initial position angle theta' 0 of the synchronous motor under the fixed stator windings and the variation of the position angle of the stator windings of the synchronous motor between the fixed stator windings and the rotating stator windings;
Step S60, the initial position angle theta 0 of the rotor of the synchronous motor under the rotating stator winding and the absolute position angle theta 2 of the current rotor of the synchronous motor are the initial position of the rotor of the synchronous motor.
2. The method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor according to claim 1, wherein step S30 includes:
Step S31, setting a rotor position angle initial value of the synchronous motor under a fixed stator winding based on a periodic variation rule of a cosine function presented by a waveform of a stator voltage u BC of the synchronous motor and a rotor position angle theta converted by a D/A module;
And S32, adjusting the initial value of the rotor position angle of the synchronous motor under the fixed stator winding, so that the peak of the stator voltage u BC of the synchronous motor corresponds to the peak of the rotor position angle theta converted by the D/A module, and obtaining the initial rotor position angle theta' 0 of the synchronous motor under the fixed stator winding.
3. The method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor according to claim 2, wherein when the peak of the stator voltage u BC of the synchronous motor corresponds to the peak of the rotor position angle θ converted by the D/a module, the motor rotor magnetic field direction of the synchronous motor coincides with the stator winding a.
4. The method for detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor according to claim 1, wherein the amount of change in the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding is expressed as:
Δθ1＝θ1-θ10
wherein Δθ 1 is the variation of the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding.
5. The method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor according to claim 4, wherein the initial position angle θ 0 of the rotor of the synchronous motor under the rotating stator winding is expressed as:
θ0＝θ′0-Δθ1
Wherein θ' 0 is the rotor initial position angle of the synchronous motor under the fixed stator winding.
6. The system for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor is characterized by comprising the following modules:
A resolver setting module configured to set a rotor of a resolver ① on a rotor winding of the synchronous motor, a rotor of a resolver ② on a stator winding, and a stator of a resolver ① and a resolver ② on a motor case;
A rotor absolute position angle acquisition module configured to acquire an absolute position angle θ 2 of a current rotor of the synchronous motor through a rotor of a resolver ②;
a motor stator winding position angle acquisition module under the fixed stator winding, configured to fix the stator winding of the synchronous motor, and acquire a position angle θ 10 of a current stator winding of the synchronous motor through a rotor of a resolver ①;
The motor rotor initial position angle acquisition module under the fixed stator winding is configured to acquire a rotor initial position angle theta' 0 of the synchronous motor under the fixed stator winding based on the relation between the waveform of the stator voltage u BC of the synchronous motor and the rotor position angle theta converted by the D/A module;
An absolute position angle acquisition module of a motor stator winding under a rotating stator winding, configured to loosen and rotate the stator winding of the synchronous motor, and acquire an absolute position angle theta 1 of the stator winding of the synchronous motor through a rotor of a rotary transformer ①;
A motor rotor initial position angle acquisition module under the rotating stator winding, configured to acquire a rotor initial position angle theta 0 of the synchronous motor under the rotating stator winding based on a rotor initial position angle theta' 0 of the synchronous motor under the fixed stator winding and a variation of a position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding;
And the synchronous motor rotor initial position output module is configured to output a rotor initial position angle theta 0 of the synchronous motor under the rotating stator winding and an absolute position angle theta 2 of a current rotor of the synchronous motor as the synchronous motor rotor initial positions.
7. An electronic device, comprising:
At least one processor, and
A memory communicatively coupled to at least one of the processors, wherein,
The memory stores instructions executable by the processor for execution by the processor to implement the method of detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor according to any one of claims 1 to 5.
8. A computer readable storage medium having stored thereon computer instructions for execution by the computer to implement the method of detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210043326.7A CN114362628B (en) | 2022-01-14 | 2022-01-14 | Method and system for detecting initial position of rotor of counter-rotating permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210043326.7A CN114362628B (en) | 2022-01-14 | 2022-01-14 | Method and system for detecting initial position of rotor of counter-rotating permanent magnet synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114362628A CN114362628A (en) | 2022-04-15 |
| CN114362628B true CN114362628B (en) | 2025-02-14 |
Family
ID=81090946
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210043326.7A Active CN114362628B (en) | 2022-01-14 | 2022-01-14 | Method and system for detecting initial position of rotor of counter-rotating permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114362628B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101826834A (en) * | 2009-01-05 | 2010-09-08 | 通用汽车环球科技运作公司 | Initial polarity detection for permanent magnet motor drives |
| CN102983803A (en) * | 2012-11-12 | 2013-03-20 | 中冶南方（武汉）自动化有限公司 | Initial positioning method for permanent-magnet synchronous motor |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105162372B (en) * | 2015-10-09 | 2018-08-24 | 中车株洲电力机车研究所有限公司 | A kind of method and system of correction initial zero position deviation |
| CN109831137B (en) * | 2019-01-24 | 2020-11-10 | 中国科学院电工研究所 | Permanent magnet synchronous motor rotor position detection and initial position calibration method |
| CN110855210A (en) * | 2019-11-04 | 2020-02-28 | 中国第一汽车股份有限公司 | Method, device and system for determining initial angle of rotor and storage medium |
-
2022
- 2022-01-14 CN CN202210043326.7A patent/CN114362628B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101826834A (en) * | 2009-01-05 | 2010-09-08 | 通用汽车环球科技运作公司 | Initial polarity detection for permanent magnet motor drives |
| CN102983803A (en) * | 2012-11-12 | 2013-03-20 | 中冶南方（武汉）自动化有限公司 | Initial positioning method for permanent-magnet synchronous motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114362628A (en) | 2022-04-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107919830B (en) | Calibration method and device of motor position sensor | |
| CN109831137B (en) | Permanent magnet synchronous motor rotor position detection and initial position calibration method | |
| CN107404272B (en) | Permanent magnet synchronous motor rotation becomes zero-bit initial angle scaling method and calibration system | |
| US8810169B2 (en) | Method and system for estimating rotor angle of an electric machine | |
| JP4191172B2 (en) | Hall sensor alignment of brushless DC motor | |
| US7692566B2 (en) | Angle detection device | |
| KR20150047536A (en) | System and method for error correction in angular position sensors | |
| US20150077156A1 (en) | Interface circuit for detecting fault of resolver and method thereof | |
| US10879820B2 (en) | Control device for brushless DC servo motor | |
| CN102401626B (en) | Method for estimating mounting deviation of permanent magnet synchronous motor rotor position sensor | |
| JP2005037305A (en) | Resolver-detected position correcting method and corrector | |
| KR101876064B1 (en) | Magnetization fault diagnosis method of permanent magnet motor | |
| Park et al. | Study on the optimal design of a novel slotless resolver by FEM | |
| KR101338707B1 (en) | Excitation signal generating device and resolver sensing device | |
| CN107834935A (en) | A kind of initial absolute position detection method of permanent-magnetic synchronous motor rotor | |
| CN104579045A (en) | Angle sensor based phase change method of brushless DC (direct current) motor | |
| CN114123879A (en) | Phase detection method, phase detection device, electronic equipment and storage medium | |
| CN109039176A (en) | A kind of permanent magnet synchronous motor rotation becomes the detection device and detection method of zero-bit initial angle | |
| CN111817615A (en) | Device and method for detecting rotor position of high-speed permanent magnet synchronous motor | |
| CN114362628B (en) | Method and system for detecting initial position of rotor of counter-rotating permanent magnet synchronous motor | |
| CN113131818B (en) | Hall sensor installation error identification method, device and motor control system | |
| CN109510542A (en) | A kind of back-emf zero offset angle scaling method based on Intelligent brake system | |
| CN119232004A (en) | A permanent magnet synchronous motor rotor position filtering and zero position calibration method and controller | |
| CN110798111B (en) | Method and device for detecting zero position of rotary transformer of permanent magnet synchronous motor | |
| CN114070151A (en) | Method, device and system for detecting zero position value of permanent magnet synchronous motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |