Initial electrical angle learning method for Hall-free linear motor

A technology of electrical angle and learning method, applied in the direction of electrical components, control generator, motor generator control, etc., can solve the problems of long estimation time, low recognition accuracy, complicated operation method, etc., and achieve the effect of meeting application requirements

Active Publication Date: 2021-07-23
SHENZHEN VMMORE CONTROL TECH
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AI-Extracted Technical Summary

Problems solved by technology

The estimation accuracy of this scheme is related to the number of pulse voltage injections and the accuracy of current collection. To achieve higher accuracy, the number of injections must be sufficient and the estimation time is long. In addition, how to reasonably select the parameters of the pulse voltage so that the The sub moves less during the estimation process a...
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Abstract

The invention discloses an initial electrical angle learning method for a Hall-free linear motor. The method comprises the following steps of: S1, iteratively searching an electrical angle of a rotor by adopting a binary search mode; S2, judging whether the rotor is located at the mechanical edge or not, if yes, dragging the rotor to leave the mechanical edge, then returning to the step S1, and if not, executing the step S3; and step S3, verifying a learning result: sending a voltage vector to the electrical angle position of the rotor searched in the step S1, judging whether the rotor moves or not through data fed back by an incremental encoder, and if the rotor moves, indicating that the search result is inaccurate and learning fails; and if the rotor does not move, determining that the electrical angle of the rotor is the initial electrical angle of the rotor obtained by learning, and ending the learning process. According to the invention, the electrical angle of the rotor can be learned when the system is powered on, an additional sensor does not need to be installed, the moving range of the rotor in the learning process is small, and the learning result is high in accuracy.

Application Domain

Technology Topic

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  • Initial electrical angle learning method for Hall-free linear motor
  • Initial electrical angle learning method for Hall-free linear motor
  • Initial electrical angle learning method for Hall-free linear motor

Examples

  • Experimental program(1)
  • Effect test(1)

Example Embodiment

[0037] Example one
[0038] This embodiment is an example of a linear motor motor angle as a search linear motor. figure 2 First, the voltage vector is first emitted to the 180 degree direction, including three possibilities, respectively, the coil is not moving, moving in the positive direction (the feedback pulse is increased), moving in the negative direction (the feedback pulse is reduced). specifically:
[0039] 1. If you don't move, the search is complete, the electrical angle of the rotor is the current vector pointing;
[0040] 2, if you move in the positive direction, the next 180- (90/1) = 90 degree direction is issued;
[0041] 3. If you move in the negative direction, the next 180+ (90/1) = 270 degree direction is applied.
[0042] The coil is moved in the positive direction in the above step, and the voltage vector is emitted in the 90 degree direction, including three possibilities, respectively, the coil does not move, moving in the positive direction, moving in the negative direction. specifically:
[0043] 1. If you don't move, the search is complete, the electrical angle of the rotor is the current vector pointing;
[0044] 2. If you move in the positive direction, the next 90- (90/2) = 45 degree direction will be issued;
[0045] 3. If you move in the negative direction, the next 90+ (90/2) = 135 degree direction is sent to the voltage vector;
[0046] In the above, the coil is moved to the negative direction as an example, and the voltage vector is transmitted in the 135 degree direction, and there are three possibilities, respectively, the coil does not move, move in the positive direction, movement in the negative direction. specifically:
[0047] 1. If you don't move, the search is complete, the electrical angle of the rotor is the current vector pointing;
[0048] 2. If you move in the positive direction, you will issue a voltage vector in 135- (90/4) = 112.5 degrees;
[0049] 3. If you move in the negative direction, the next 135+ (90/4) = 157.5 degree direction is sent to the voltage vector;
[0050] According to the above steps, the coil eventually does not move when the vector is emitted, and the vector angle at this time is the electrical angle of the coil.
[0051] Further, in the process of dragging the motor mover in each step vector, once the encoder acquires the amount of motion to exceed the preset limit value, the driver immediately shorts the UVW coil of the motor, which makes the movie to the fastest speed. Stop, reduce the movement range of macsels during learning.
[0052] Please refer to the voltage vector shown in this embodiment. image 3 Wherein, the rising time, duration, fall time, and vector strength of the voltage vector can be configured by the parameters. Configurable rising time and fall time can alleviate the vibration problem of the motor from the motor vector, the configurable duration and the vector strength can be adapted to a linear motor of different electrical parameters.
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Description & Claims & Application Information

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