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A vector observation method for electric forklift motor rotor position and speed estimation

A rotor position and motor rotor technology, applied in the direction of motor generator control, electromechanical transmission control, electronic commutation motor control, etc., can solve problems such as rotor speed measurement errors, personal and property losses, and loss of control of electric vehicles, etc., to achieve improved Reliability, avoid potential out-of-control risks, improve the effect of angle measurement and speed measurement accuracy

Active Publication Date: 2022-07-19
凡己科技(苏州)有限公司
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Problems solved by technology

[0003] When the electric forklift is running at high speed, if the encoder fails or is damaged, it will cause errors in the measurement of the rotor position angle and rotor speed of the motor, and then cause the electric vehicle to lose control, resulting in personal and property losses

Method used

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  • A vector observation method for electric forklift motor rotor position and speed estimation
  • A vector observation method for electric forklift motor rotor position and speed estimation
  • A vector observation method for electric forklift motor rotor position and speed estimation

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Embodiment Construction

[0030] The technical solution of the present patent will be described in further detail below in conjunction with specific embodiments.

[0031] A vector observation method for estimating the rotor position and speed of an electric forklift motor, comprising the following steps:

[0032] Step 1. Convert the discrete binary rotor position information into a low-precision regular hexagonal discrete rotor position vector H αβ , according to Euler's formula, the discretized rotor position vector H αβ Expressed as:

[0033] H αβ =e jθ =cos(θ)+jsin(θ)(1);

[0034] Step 2. After Fourier transformation, rotate the position vector Η αβ Expressed as:

[0035]

[0036] in:

[0037]

[0038] Step 3: Establish a discrete vector observer;

[0039] Step 4. Obtain the estimated rotor position through the vector observer in step 3 and rotational speed

[0040] Step 5. According to the estimated rotor position and rotational speed Use the fundamental wave vector model and...

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Abstract

The invention discloses a vector observation method for estimating the rotor position and speed of an electric forklift motor, using a low-resolution motor rotor position sensor, such as a Hall element, a low-precision incremental photoelectric encoder of 80 or 100P / R, and constructing A vector observer realizes the indirect measurement of the rotor position angle and rotational speed of the phase induction motor; the present invention proposes an algorithm through harmonic decoupling, from the discrete rotational position vector H αβ The vector tracking observer, which extracts continuous rotor position information from the vector tracking observer, realizes the accurate estimation of the rotor position angle and the accurate measurement of the rotational speed of the three-phase induction motor using the low-resolution rotor position sensor.

Description

technical field [0001] The invention relates to the estimation of the rotor position and speed of the electric forklift when the electric forklift is running in the full speed range, in particular to a method that can effectively reduce the requirements of the electric forklift electric control system for the motor speed sensor, further reduce the cost of the electric control system, and at the same time maintain the electric control system with relatively high performance. A vector observation method for electric forklift motor rotor position and speed estimation with high speed measurement accuracy. Background technique [0002] When the induction motor for electric forklift runs in the full-speed operation area, the rotor position angle and rotor speed information are required for the realization of indirect vector control and closed-loop speed control. The existing electric forklift electric control systems are all equipped with incremental photoelectric encoders to meas...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/18H02P21/14H02P21/13
CPCH02P21/0021H02P21/13H02P21/14H02P21/18
Inventor 苏健勇杨贵杰孟凡己张平化
Owner 凡己科技(苏州)有限公司
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