Method and device for detecting angle of permanent magnet synchronous motor

A permanent magnet synchronous motor and angle detection technology, which is applied in the control of electromechanical transmission, control of generator, motor generator control, etc., can solve problems such as motor running swing, rotor initial position uncertainty, rotor reversal, etc.

CN106533308AActive Publication Date: 2017-03-22UBTECH ROBOTICS CORP LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2017-03-22

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Abstract

The invention discloses a method for detecting the angle of a permanent magnet synchronous motor. The method comprises the following steps: acquiring the initial coded value of a Hall sensor set; determining the angle range where a rotor is according to the initial coded value; driving the permanent magnet synchronous motor to rotate according to the angle range; detecting whether the coded value of the Hall sensor set changes or not; if the coded value of the Hall sensor set is detected to change, acquiring the current coded value of the Hall sensor set as a hopping coded value; and determining an initial angle where the rotor is according to the initial coded value and the hopping coded value. An existing method for detecting the initial angle of a motor rotor is avoided, and due to the fact that the initial position of the rotor is undetermined, the rotor possibly generates inversion when a specific current vector is applied to cause the problem of motor operation swing.
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Description

technical field

[0001] The invention relates to the field of motor control, in particular to angle detection of a permanent magnet synchronous motor. Background technique

[0002] The permanent magnet synchronous motor generally adopts the sinusoidal frequency conversion control method, and the accuracy of the rotor angle of the motor plays a vital role in the performance of the motor control. Especially when the motor is started, the control system does not know the specific position of the rotor, so it is necessary to find a way to find the rotor angle. If the rotor angle detection is inaccurate, the control efficiency of the permanent magnet synchronous motor will be reduced, the heat will be serious, and the noise will be large.

[0003] The existing detection motor rotor angle is usually determined by the following method: the control system outputs a specific current vector (current positioning method), and the motor rotor will turn to the position with the least relu...

Examples

Embodiment 1

[0055] The control system of the permanent magnet synchronous motor includes a Hall sensor group and an incremental encoder. The position sensor commonly used in brushless DC motors is the Hall sensor. The number of Hall sensors is usually equal to the number of winding phases. The rotor magnet can be used as the magnetic field pole of the Hall element.

[0056] In order to generate the correct commutation signal, the installation position of the Hall sensor has certain requirements, usually there are two ways of 120° installation and 60° installation. The installation methods of the two position sensors are essentially the same. During the rotation of the motor, the 360° electrical angle is divided into 6 states. Rotate 180° to install, and the commutation time of each component is the same. In commutation control, the combination of the output signal states of the three Hall sensors is used as the state control variable, and each Hall element produces a different state cont...

Embodiment 2

[0080] Such as figure 2 The shown permanent magnet synchronous motor angle detection method includes the following steps:

[0081] S201, acquiring the initial encoding value of the hall sensor group;

[0082] S202. Determine the angle interval where the rotor is located according to the initial encoding value;

[0083] S203, driving the permanent magnet synchronous motor to rotate according to the angle interval;

[0084] S204, detecting whether the encoding value of the Hall sensor group changes;

[0085] S205. If it is detected that the coding value of the Hall sensor group changes, then obtain the current coding value of the Hall sensor group as a jump coding value;

[0086] S206. Determine the starting angle of the rotor according to the initial code value and the jump code value.

[0087] Steps S201-S206 are the same as S101-S106 in Embodiment 1, and will not be repeated here.

[0088] S207. Calculate the rotation angle of the rotor according to the initial angle of...

Embodiment 3

[0105] Such as Figure 4 The shown permanent magnet synchronous motor angle detection device includes the following modules:

[0106] The first acquisition module 110 acquires the initial code value of the Hall sensor group;

[0107] The interval determination module 120 determines the angle interval of the rotor according to the initial code value;

[0108]The drive module 130 drives the permanent magnet synchronous motor to rotate according to the angle interval;

[0109] Specifically, the driving module includes the following units: a computing unit and a driving unit (not shown). Wherein, the calculation unit calculates the output voltage duty ratio according to the target position of the rotor, and the output voltage of the drive unit drives the permanent magnet synchronous motor to rotate according to the angle interval.

[0110] A detection module 140, detecting whether the encoding value of the Hall sensor group changes;

[0111] The second acquisition module 150, ...