Non-salient pole type permanent magnet brushless hub motor position estimation and calibration method

Abstract

The invention belongs to the technical field of motor control, and provides a position estimation and calibration method of a non-salient pole type permanent magnet brushless hub motor, which comprises the following steps of: acquiring a Hall position sensor signal of the non-salient pole type permanent magnet brushless hub motor and a stator voltage and a stator current under a two-phase static coordinate system; setting a filtering rule to filter off interference signals of the Hall position sensor; utilizing an average speed method to obtain a rotor position and an average rotating speed, and extracting a rotor observation position [theta]e through a back electromotive force observer; correcting the rotor observation position [theta]e according to the rotor position, and calculating a rotor position error; and adopting a phase-locked loop structure to obtain a rotating speed error, compensating the rotating speed error into the average rotating speed to obtain a calibrated rotatingspeed, and calculating the rotor position. According to the invention, the problems of inaccurate rotor position estimation and low precision caused by discrete characteristics, electromagnetic interference and installation errors of the Hall position sensor are solved, and the control performance and reliability of the non-salient pole type permanent magnet brushless wheel hub motor vector control system are improved.

Description

technical field [0001] The invention belongs to the technical field of motor control, and in particular relates to a method for position estimation and calibration of a hidden pole permanent magnet brushless hub motor. Background technique [0002] Permanent magnet brushless hub motors have been widely used in the field of electric vehicles due to their advantages of high efficiency, easy control, low cost, and space saving. According to the different manufacturing process of the motor, the permanent magnet brushless hub motor is divided into hidden pole type and salient pole type. In the vector control system of the permanent magnet brushless hub motor, it is necessary to accurately locate the rotor position to achieve high-performance control. If the rotor position estimation error is too large, the motor will have large pulsation and even fail to start smoothly. [0003] The switch-type Hall position sensor has the advantages of low cost and small size, and has been wide...

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Problems solved by technology

[0005] In view of this, an embodiment of the present invention provides a position estimation and calibration method for a hidden pole permanent magnet brushless hub motor, which aims to solve the inaccurate rotor position estimation caused by the discrete characteristics of the Hall position sensor, installation errors and electromagnetic interference and the problem of low precision, improve the control performance and reliability of the hidden pole permanent magnet brushless hub motor vector control system

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