Motor resolver angle calibration method and related device

Abstract

The invention discloses a motor resolver angle calibration method and a related device. The method comprises the following steps: controlling a motor to accelerate to a preset first rotating speed based on a preset torque and an initial resolver angle, and carrying out zero clearing operation on the torque. The motor outputs the direct-axis voltage based on torque zero clearing, zero approaching control is carried out on the direct-axis voltage so as to adjust and update the resolver angle corresponding to the direct-axis voltage, the resolver angle corresponding to the direct-axis voltage meeting the set condition is determined as the target resolver angle of the motor, and the calibration efficiency of the resolver angle of the motor can be improved. Meanwhile, zero clearing operation is carried out on the torque, so that the motor determines the target resolver angle under loop control, the influence of the motor load can be reduced, and the accuracy of calibration of the resolver angle of the motor is improved.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a method for calibrating a motor rotation angle and a related device. Background Art

[0002] Permanent magnet synchronous motors are widely used in new energy vehicles, industrial automation, medical treatment, white appliances and other fields, and the rotor position of the motor is crucial to the accuracy of the control system. In order to obtain the rotor position, a resolver is usually used as a position sensor. However, there is an unknown resolver angle between the resolver and the motor rotor zero position after installation. In order to optimally control the motor, this unknown resolver angle needs to be obtained.

[0003] At present, the commonly used method for calibrating the motor resolver angle is manual calibration. The resolver signal is manually adjusted to make it consistent with the zero position of the motor rotor. However, the manual calibration method is inefficient and difficult to meet the needs of large-scale production. Summary of the invention

[0004] The main technical problem solved by the present application is to provide a method and related device for calibrating the motor rotation angle, which can improve the efficiency and accuracy of the motor rotation angle calibration.

[0005] A technical solution adopted in the present application is to provide a method and related device for calibrating the motor's rotation angle, including: controlling the motor to accelerate to a preset first speed based on a preset torque and an initial rotation angle, and performing a zeroing operation on the torque. Obtaining the direct-axis voltage of the motor under loop control and the rotation angle corresponding to the direct-axis voltage. The direct-axis voltage is controlled to approach zero to adjust and update the rotation angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching a preset setting condition, the rotation angle corresponding to the direct-axis voltage is determined as the target rotation angle of the motor.

[0006] In some embodiments, the direct-axis voltage is controlled to be zero-approached to adjust and update the resolver angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching a preset setting condition, the resolver angle corresponding to the direct-axis voltage is determined as the target resolver angle of the motor, including: in response to the amplitude of the direct-axis voltage being greater than a preset voltage threshold, obtaining a zero-approaching difference between the direct-axis voltage and the zero position, and adjusting and updating the resolver angle corresponding to the direct-axis voltage according to the zero-approaching difference. In response to the amplitude of the direct-axis voltage being less than or equal to the voltage threshold, determining the resolver angle corresponding to the direct-axis voltage as the target resolver angle of the motor.

[0007] In some embodiments, the direct-axis voltage is controlled to be close to zero so as to adjust and update the resolver angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching a preset setting condition, the resolver angle corresponding to the direct-axis voltage is determined as the target resolver angle of the motor, including: obtaining a count value for adjusting and updating the resolver angle of the motor. In response to the amplitude of the direct-axis voltage being greater than a preset voltage threshold, obtaining a close-to-zero difference between the direct-axis voltage and the zero position, adjusting and updating the resolver angle corresponding to the direct-axis voltage according to the close-to-zero difference, and decrementing the count value. In response to the amplitude of the direct-axis voltage being less than or equal to the voltage threshold, and the count value being less than or equal to the preset number threshold, adjusting and updating the resolver angle corresponding to the direct-axis voltage according to the close-to-zero difference, and incrementing the count value. In response to the amplitude of the direct-axis voltage being less than or equal to the voltage threshold, and the count value being greater than the number threshold, determining the resolver angle corresponding to the direct-axis voltage as the target resolver angle of the motor.

[0008] In some embodiments, the voltage threshold is calculated according to the current speed of the motor.

[0009] In some embodiments, based on the preset torque and the initial resolver angle, the motor is controlled to accelerate to a preset first speed, and the torque is cleared, which includes: injecting a high-frequency signal into the motor to obtain the resolver angle of the motor. Or obtaining an average value of a preset range of angles, and using the average value as the resolver angle of the motor.

[0010] In some embodiments, the direct-axis voltage of the motor under loop control and the resolver angle corresponding to the direct-axis voltage are obtained, and then the method includes: in response to the rotation speed of the motor dropping to a preset second rotation speed, outputting a calibration failure result.

[0011] In some embodiments, the direct-axis voltage of the motor under loop control and the resolver angle corresponding to the direct-axis voltage are obtained, and then the total time for adjusting and updating the resolver angle of the motor is obtained. In response to the total time exceeding a preset time threshold, the adjustment and update are stopped and a failure result is output.

[0012] In some embodiments, the direct-axis voltage is controlled to be toward zero so as to adjust and update the rotation angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching a preset setting condition, the rotation angle corresponding to the direct-axis voltage is determined as the target rotation angle of the motor, including: inputting the direct-axis voltage to a voltage controller, so as to control the direct-axis voltage to be toward zero through the voltage controller, so as to adjust and update the rotation angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching a preset setting condition, the rotation angle corresponding to the direct-axis voltage is determined as the target rotation angle of the motor.

[0013] Another technical solution adopted by the present application is: to provide a permanent magnet synchronous motor, the permanent magnet synchronous motor includes a memory and a processor. The memory is used to store executable program code. The processor is used to call and run the executable program code from the memory, so that the permanent magnet synchronous motor executes any one of the above methods for calibrating the motor rotation angle.

[0014] Another technical solution adopted in the present application is: providing a computer-readable storage medium, the computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, implementing any of the above methods for calibrating the motor rotation angle.

[0015] The embodiment of the present application provides a method for calibrating the motor rotation angle, and the method for calibrating the motor rotation angle includes: controlling the motor to accelerate to a preset first speed based on a preset torque and an initial rotation angle, and performing a zeroing operation on the torque. Obtaining the direct-axis voltage of the motor under loop control and the rotation angle corresponding to the direct-axis voltage. The direct-axis voltage is controlled to be tended to zero to adjust and update the rotation angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching a preset setting condition, the rotation angle corresponding to the direct-axis voltage is determined as the target rotation angle of the motor. Based on the direct-axis voltage output by the motor with the torque zeroed, the direct-axis voltage is controlled to be tended to zero, and the rotation angle corresponding to the direct-axis voltage that reaches the setting condition is determined to be the target rotation angle of the motor, which can improve the efficiency of the motor rotation angle calibration. At the same time, the torque is cleared to zero, so that the motor determines the target rotation angle under loop control, which can reduce the influence of the motor load and improve the accuracy of the motor rotation angle calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of the first embodiment of the method for calibrating the motor rotation angle of the present application;

[0017] Figure 2 It is a flow chart of the second embodiment of the method for calibrating the motor rotation angle of the present application;

[0018] Figure 3 This is a schematic diagram of an exemplary scenario of a method for calibrating the motor rotation angle of the present application;

[0019] Figure 4 It is a schematic diagram of the corresponding relationship between the direct-axis voltage and the resolver angle of the motor resolver angle calibration method of the present application;

[0020] Figure 5 This is a schematic diagram of the voltage controller parameter design framework for the motor resolver angle calibration method of the present application;

[0021] Figure 6 It is a flow chart of the third embodiment of the method for calibrating the motor rotation angle of the present application;

[0022] Figure 7It is an exemplary structural block diagram of a permanent magnet synchronous motor of the motor rotation angle calibration method of the present application;

[0023] Figure 8 It is an exemplary structural block diagram of a computer-readable storage medium of the motor rotation angle calibration method of the present application. DETAILED DESCRIPTION

[0024] The present application is described in detail below with reference to the accompanying drawings and implementation methods.

[0025] In the related art, the efficiency of obtaining the resolver angle by manual calibration method is low. The identification accuracy of the static resolver zero position self-learning method is easily affected by the load, so that the identified initial position may not meet the accuracy requirements. Therefore, this embodiment proposes a permanent magnet synchronous motor dynamic resolver zero position self-learning method based on voltage vector, which can improve the efficiency and accuracy of the motor resolver angle calibration.

[0026] See also Figure 1 , Figure 1 1 is a flow chart of the first embodiment of the method for calibrating the motor rotation angle of the present application. It should be noted that if there are substantially the same results, the method of the present application is not limited to the first embodiment. Figure 1 The process sequence shown is limited. Figure 1 As shown in the figure, the calibration method of the motor resolver angle includes:

[0027] Step S110, based on the preset torque and the initial rotation angle, the motor is controlled to accelerate to a preset first speed, and the torque is cleared.

[0028] Among them, the torque and the initial resolver angle are used to rotate the motor, and the initial resolver angle is used as the initial input of the dynamic self-learning of the resolver angle, and is not used as the target resolver angle.

[0029] As an illustrative example, the motor is started and the motor speed is controlled to reach a first speed by setting the motor rotation angle and torque in advance. When the motor reaches the preset first speed, the motor torque is reset, and the normal change of the motor current can be controlled by the torque loop, so that the motor can perform dynamic self-learning of the rotation angle during the rotation and sliding process.

[0030] Step S120, obtaining the direct-axis voltage of the motor under loop control and the resolver angle corresponding to the direct-axis voltage.

[0031] The resolver angle can be the motor rotor position angle measured by the resolver sensor, which is a key parameter used to reflect the position or direction of the motor rotor relative to the stator. The direct-axis voltage can be calculated based on the current resolver angle using the motor voltage equation. This direct-axis voltage can be in the same direction as the motor rotor magnetic flux direction, for example, it can be the d-axis voltage.

[0032] Step S130, controlling the direct-axis voltage to approach zero to adjust and update the resolver angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching a preset setting condition, determining the resolver angle corresponding to the direct-axis voltage as the target resolver angle of the motor.

[0033] Among them, the setting condition can be used to determine that the amplitude of the direct-axis voltage approaches or is equal to zero. Zeroing control can be an adjustment update strategy, which controls the direct-axis voltage to approach zero, so as to adjust and update the resolver angle corresponding to the direct-axis voltage as a new initial resolver angle, so that when the amplitude of the direct-axis voltage approaches or is equal to zero based on the updated initial resolver angle, the resolver angle corresponding to the direct-axis voltage can be determined as the target resolver angle, and this target resolver angle can be the zero-position reference angle of the determined motor rotor. After determining the target resolver angle of the motor, the motor can be applied to encoders such as rotary encoders, sine-cosine encoders, incremental ABZ encoders, and Hall encoders, and the application scenarios include but are not limited to: new energy vehicles, industrial automation, medical, and white appliances.

[0034] In a specific implementation, the current resolver angle can be adjusted and updated according to the error between the direct-axis voltage and the zero position, and the adjusted and updated resolver angle is used as the current resolver angle, and the corresponding direct-axis voltage is output. Until the amplitude of the direct-axis voltage is less than the voltage threshold, the current resolver angle adjustment and update is stopped, and the resolver angle corresponding to the direct-axis voltage is output and determined as the target resolver angle.

[0035] This embodiment controls the direct-axis voltage to zero based on the motor output direct-axis voltage with the torque cleared, determines the resolver angle corresponding to the direct-axis voltage that meets the set conditions as the target resolver angle of the motor, and can improve the efficiency of the motor resolver angle calibration, so that the dynamic self-learning time of the resolver angle can be less than 20 seconds. In addition, the torque is cleared to zero, so that the motor determines the target resolver angle under loop control, which can reduce the influence of the motor load and improve the accuracy of the motor resolver angle calibration.

[0036] See also Figure 2 , Figure 2 1 is a flow chart of the second embodiment of the method for calibrating the motor rotation angle of the present application. The method comprises the following steps:

[0037] Step S210, based on the preset torque and the initial rotation angle, the motor is controlled to accelerate to a preset first speed, and the torque is cleared.

[0038] Among them, in order to control the motor to rotate, the motor speed reaches the first speed, the torque and the initial rotation angle can be given, and when the motor accelerates to reach the first speed, the torque is cleared. At the same time, in order to make the motor rotate normally after the torque is cleared, the motor can be controlled by the torque loop.

[0039] As an illustrative example, before the motor is started by controlling the torque loop, a static self-learning phase of the resolver angle can be performed to obtain the initial resolver angle of the motor by injecting a high-frequency signal into the motor. As another illustrative example, if the resolver is installed within a fixed tolerance range, and the range is small, the average value of the angle in this range can be obtained, and the average value is used as the initial resolver angle of the motor.

[0040] Step S220, obtaining the direct-axis voltage of the motor under loop control and the resolver angle corresponding to the direct-axis voltage.

[0041] As an illustrative example, the direct-axis voltage of the motor can be calculated using the motor voltage equation.

[0042] Step S230, in response to the amplitude of the direct-axis voltage being greater than a preset voltage threshold, obtaining a zeroing difference between the direct-axis voltage and a zero position, and adjusting and updating the resolver angle corresponding to the direct-axis voltage according to the zeroing difference.

[0043] The voltage threshold can be a value very close to zero. The voltage threshold can be a fixed value, or a variable calculated according to the current speed of the motor, so that the voltage threshold decreases as the speed decreases, for example, 1V at 2000rpm and 0.5V at 1000rpm. Preferably, the voltage threshold in this embodiment can be less than 0.5V to improve the accuracy. In actual use, the voltage threshold can be adjusted according to the control accuracy. thd For example, when the control accuracy is higher, the voltage threshold can be reduced accordingly. The zeroing error can be the error range between the direct axis voltage and the zero position, which can be used to characterize the calibration deviation of the resolver angle, and then used to instruct the system to adjust the current resolver angle.

[0044] As an illustrative example, when the amplitude of the direct-axis voltage exceeds the voltage threshold, it indicates that the current motor's resolver angle has not been calibrated to the target state. At this time, the current resolver angle of the motor can be adjusted according to the zero difference between the direct-axis voltage and the zero position. For example, the method for adjusting the resolver angle can include a closed-loop adjustment update based on a proportional integral differential (PID) algorithm, which can balance the response speed and accuracy.

[0045] Step S240, in response to the amplitude of the direct-axis voltage being less than or equal to the voltage threshold, determining that the resolver angle corresponding to the direct-axis voltage is the target resolver angle of the motor.

[0046] When the amplitude of the direct-axis voltage is less than or equal to the voltage threshold, it means that the resolver angle corresponding to the direct-axis voltage is calibrated to the target state. The resolver angle at this time can be used as the target resolver angle of the motor, that is, the zero reference point of the motor resolver.

[0047] Please refer to Figure 3 , the calculated direct-axis voltage can be input into an integral voltage device for processing, and the target rotation angle can be obtained through the integral voltage device. As an illustrative example, the direct-axis voltage can be input into a voltage controller, so that the voltage controller can respond to the amplitude of the direct-axis voltage being greater than a preset voltage threshold, obtain the zeroing difference between the direct-axis voltage and the zero position, and adjust and update the rotation angle corresponding to the direct-axis voltage according to the zeroing difference. Or, in response to the amplitude of the direct-axis voltage being less than or equal to the voltage threshold, the voltage controller determines that the rotation angle corresponding to the direct-axis voltage is the target rotation angle of the motor. Or, in response to the motor speed dropping to a preset second speed, a calibration failure result is output. Or the total time for adjusting and updating the rotation angle of the motor is obtained. In response to the total time exceeding the preset time threshold, the adjustment and update are stopped and a failure result is output.

[0048] In a specific exemplary embodiment, the motor voltage equation may be as follows:

[0049]

[0050] Among them, U represents voltage, R represents resistance, i represents current, ω e represents the rotation speed, d represents the d-axis, q represents the q-axis, Represents magnetic linkage.

[0051] When the motor is in high-speed rotation, there is no torque given, and the resolver angle is accurate enough, then i d with i q is 0. According to the above formulas (1) and (2), at this time U d =0, The higher the speed, the higher the U q The larger the Figure 4 , if the rotation angle θ i There is an error of θ with the true rotation angle. Will be on the D axis according to The smaller θ is, the more accurate the rotation angle is. The closer it is to 0.

[0052] Based on this situation, the motor speed can be increased to ω under the torque loop. thd , then stop the torque setting and maintain the torque loop control. The closer it is to 0. Therefore, in this embodiment, the calculated direct axis voltage Adjust to 0 to get the ideal target rotation angle θ i The direct axis voltage can be calculated based on The difference with 0 adjusts the direct axis voltage The corresponding rotation angle

[0053] Among them, the first speed ω thd The larger the value, the greater the will also become larger, The larger the component on the D axis, the easier it is to identify, which is conducive to self-learning. On the contrary, if the speed is too low, the component will be too small, making it difficult to obtain an accurate resolver angle through the voltage controller.

[0054] The voltage controller can be an integrating controller, see Figure 5 , Figure 5 This is a schematic diagram of the parameter design framework of the integral controller. The parameters of the integral controller may at least include a multiplication sign (×), an integral term coefficient K i , at least one of the integral signs (∫), the specific values ​​of the parameters can be obtained based on practical experience or actual bench testing.

[0055] It should be noted that the dynamic resolver zero position self-learning can be based on the static resolver zero position self-learning. In this process, the resolver angle θ actually output and used for motor control is r ,exist The relationship between θ i fixed, Fixed. is equal to θ, then θ r Equal to the true rotation angle, the highest accuracy. At the same time, let U thd Very close to zero position, when the straight axis The amplitude is less than the voltage threshold U thd When the dynamic self-learning of the resolver angle is successful, the target resolver angle θ is output. r Sign of success with self learning.

[0056] In this embodiment, the rotary angle can be adjusted iteratively according to the difference between the direct-axis voltage and the zero position to improve the calibration accuracy. The motor outputs a direct-axis voltage, and the direct-axis voltage is controlled to approach zero. The rotary angle corresponding to the direct-axis voltage that meets the set conditions is determined to be the target rotary angle of the motor, which can improve the efficiency of the motor rotary angle calibration. The controller is designed based on the direct-axis voltage being 0. By observing the D-axis voltage of the motor during the sliding process, the rotary angle is directly obtained through the voltage controller, which effectively improves the accuracy of the rotary self-learning and greatly shortens the time required for manual self-learning.

[0057] See also Figure 6 , Figure 6 1 is a flow chart of the third embodiment of the method for calibrating the motor rotation angle of the present application. The method comprises the following steps:

[0058] Step S610, based on the preset torque and the initial rotation angle, the motor is controlled to accelerate to a preset first speed, and the torque is cleared. The implementation and beneficial effects of step S610 may be the same as those of the first embodiment and / or the second embodiment, and will not be described in detail here.

[0059] Step S620, obtaining the direct-axis voltage of the motor under loop control and the resolver angle corresponding to the direct-axis voltage. The implementation and beneficial effects of step S620 may be the same as those of the first embodiment and / or the second embodiment, and will not be described in detail herein.

[0060] Step S630, obtaining a count value for adjusting and updating the resolver angle of the motor.

[0061] Among them, the count value can be used to track the cumulative progress of the resolver angle adjustment and dynamically reflect whether the resolver angle adjustment process is close to the ideal value. Each time the resolver angle is adjusted, the current count value can be read, and the count value and the current direct-axis voltage can be combined to determine whether to adjust and update the resolver angle. After each resolver angle adjustment, the count value can be updated according to the voltage threshold and the current direct-axis voltage to provide an updated count value for the next adjustment.

[0062] Step S641, in response to the amplitude of the direct-axis voltage being greater than a preset voltage threshold, a zeroing difference between the direct-axis voltage and the zero position is obtained, the resolver angle corresponding to the direct-axis voltage is adjusted and updated according to the zeroing difference, and the count value is decremented.

[0063] As an illustrative example, when the amplitude of the direct-axis voltage is greater than the voltage threshold, it indicates that the error between the current resolver angle and the actual zero position is large.

[0064] Therefore, when the amplitude of the direct axis voltage is greater than the voltage threshold, the resolver angle can be adjusted and updated according to the zeroing error, and the count value can be decremented. The decrementing count value can indicate that the voltage needs to be reduced through further optimization and the error can be gradually reduced.

[0065] In addition, the present embodiment can also design the minimum limit of the numerical value to be zero. When the count value drops to zero, the system will no longer continue to decrease, thereby reducing the risk of logic confusion caused by infinite decrease of the count value, controlling the count value to fluctuate within a certain range, and improving the fault tolerance of the resolver angle calibration.

[0066] Step S642, in response to the amplitude of the direct-axis voltage being less than or equal to the voltage threshold, and the count value being less than or equal to the preset number threshold, the resolver angle corresponding to the direct-axis voltage is adjusted and updated according to the zeroing difference, and the count value is incremented.

[0067] As an illustrative example, when the amplitude of the direct-axis voltage is less than or equal to the voltage threshold, it indicates that the error may have been reduced to an ideal value, but it may also be a transient accidental phenomenon.

[0068] Therefore, when the amplitude of the direct-axis voltage is less than or equal to the voltage threshold, but the count value is less than or equal to the number threshold, the resolver angle can be adjusted and updated according to the zeroing difference, and the count value can be incremented. By incrementing the count value, the risk of the system misjudging success in a short-term misjudgment state can be reduced.

[0069] Step S643, in response to the amplitude of the direct-axis voltage being less than or equal to the voltage threshold and the count value being greater than the number threshold, determining that the resolver angle corresponding to the direct-axis voltage is the target resolver angle of the motor.

[0070] As an illustrative example, by controlling the amplitude of the direct-axis voltage to be less than the voltage threshold for multiple times, that is, when the amplitude of the direct-axis voltage is less than or equal to the voltage threshold and the count value is greater than the number threshold, the resolver angle corresponding to the direct-axis voltage can be considered to be the target resolver angle, thereby reducing the risk of instantaneous fluctuations and improving the resolver angle calibration tolerance.

[0071] In some embodiments, the direct-axis voltage can be input into a voltage controller for processing, so as to obtain the number of times the motor's resolver angle is adjusted and updated through the voltage controller, that is, the count value. Then, in response to the amplitude of the direct-axis voltage being greater than a preset voltage threshold, the zeroing difference between the direct-axis voltage and the zero position is obtained, the resolver angle corresponding to the direct-axis voltage is adjusted and updated according to the zeroing difference, and the count value is decremented. Or, in response to the amplitude of the direct-axis voltage being less than or equal to the voltage threshold, and the count value being less than or equal to the preset number threshold, the resolver angle corresponding to the direct-axis voltage is adjusted and updated according to the zeroing difference, and the count value is incremented. Or, in response to the amplitude of the direct-axis voltage being less than or equal to the voltage threshold, and the count value being greater than the number threshold, the resolver angle corresponding to the direct-axis voltage is determined to be the target resolver angle of the motor. Or, in response to the motor speed dropping to a preset second speed, a calibration failure result is output. Or the total time for adjusting and updating the resolver angle of the motor is obtained. In response to the total time exceeding the preset time threshold, the adjustment and update are stopped and the failure result is output.

[0072] In a specific exemplary embodiment, a counting value method is used, that is, when When the count value is increased with the adjustment times or time, When the count value is greater than the number threshold T suc When the dynamic self-learning of the resolver angle is successful, it can be determined that the dynamic self-learning of the resolver angle is successful and stops. If the total time of the dynamic resolver zero position self-learning exceeds the time threshold T fail , the self-learning is considered to have failed and stops. If the motor speed drops to the second speed, The amplitude still does not converge to the voltage threshold U thd If the number of times is less than , it is judged as a learning failure and a failure mark is given. suc It can be set in the range of 2 to 5 seconds, and the time threshold T fail Can be set in the range of 10 to 20 seconds.

[0073] For this example, please refer to Figure 7 , Figure 7 : is an exemplary structural block diagram of a permanent magnet synchronous motor of the present application's motor rotation angle calibration method. Figure 7 As shown, the permanent magnet synchronous motor 700 of the present application may include a processor 701 and a memory 702, wherein the processor 701 and the memory 702 communicate with each other via a bus. The memory 702 stores program instructions for motor resolver angle calibration, and when the program instructions are executed by the processor 701, the processor executes the above-mentioned related method steps to implement a motor resolver angle calibration method in the above-mentioned embodiment.

[0074] See also Figure 8 , Figure 8 is an exemplary structural block diagram of a computer-readable storage medium of the motor rotation angle calibration method of the present application. Figure 8 As shown, a computer program 801 is stored in the computer-readable storage medium 800. When the computer program 801 is executed by a processor on a computer, the computer executes the above-mentioned related method steps to implement a method for calibrating a motor rotation angle in the above-mentioned embodiment.

[0075] The above scheme controls the motor to accelerate to a preset first speed based on the preset torque and initial rotation angle, and performs a zeroing operation on the torque. Obtain the direct-axis voltage of the motor under loop control and the rotation angle corresponding to the direct-axis voltage. The direct-axis voltage is controlled to be close to zero to adjust and update the rotation angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching the preset setting condition, the rotation angle corresponding to the direct-axis voltage is determined as the target rotation angle of the motor. Based on the direct-axis voltage output by the motor with the torque cleared, this direct-axis voltage is controlled to be close to zero, and the rotation angle corresponding to the direct-axis voltage that reaches the setting condition is determined to be the target rotation angle of the motor, which can improve the efficiency of the motor rotation angle calibration. At the same time, the torque is cleared to determine the target rotation angle of the motor under loop control, which can reduce the influence of the motor load and improve the accuracy of the motor rotation angle calibration.

[0076] In the several embodiments provided in the present application, it should be understood that the disclosed method, permanent magnet synchronous motor and storage medium can be implemented in other ways. For example, the device implementation described above is only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0077] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0078] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0079] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of the motor rotation angle calibration method of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or CD-ROM and other media that can store program codes.

[0080] The above are only implementation methods of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for calibrating a motor resolver angle, characterized in that: The calibration method of the motor resolver angle comprises: Based on the preset torque and the initial rotation angle, the motor is controlled to accelerate to a preset first speed, and the torque is reset; Acquire the direct-axis voltage of the motor under loop control and the resolver angle corresponding to the direct-axis voltage; The direct-axis voltage is controlled to be toward zero so as to adjust and update the resolver angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching a preset setting condition, the resolver angle corresponding to the direct-axis voltage is determined as the target resolver angle of the motor.

2. The method for calibrating the motor resolver angle according to claim 1, characterized in that: The direct-axis voltage is controlled to be close to zero so as to adjust and update the resolver angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching a preset setting condition, the resolver angle corresponding to the direct-axis voltage is determined as the target resolver angle of the motor, including: In response to the amplitude of the direct-axis voltage being greater than a preset voltage threshold, obtaining a zeroing difference between the direct-axis voltage and a zero position, and adjusting and updating the initial resolver angle according to the zeroing difference; In response to the amplitude of the direct-axis voltage being less than or equal to the voltage threshold, the resolution angle corresponding to the direct-axis voltage is determined as the target resolution angle of the motor.

3. The method for calibrating the motor resolver angle according to claim 1, characterized in that: The direct-axis voltage is controlled to be close to zero so as to adjust and update the resolver angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching a preset setting condition, the resolver angle corresponding to the direct-axis voltage is determined as the target resolver angle of the motor, including: Obtaining a count value for adjusting and updating the resolver angle of the motor; In response to the amplitude of the direct-axis voltage being greater than a preset voltage threshold, obtaining a zeroing difference between the direct-axis voltage and a zero position, adjusting and updating the initial resolver angle according to the zeroing difference, and decrementing the count value; In response to the amplitude of the direct-axis voltage being less than or equal to the voltage threshold, and the count value being less than or equal to a preset number threshold, adjusting and updating the initial resolver angle according to the zeroing difference, and incrementing the count value; In response to the amplitude of the direct-axis voltage being less than or equal to the voltage threshold and the count value being greater than the number threshold, the resolver angle corresponding to the direct-axis voltage is determined to be the target resolver angle of the motor.

4. The method for calibrating the motor resolver angle according to any one of claims 2 to 3, characterized in that: The voltage threshold is calculated according to the current rotation speed of the motor.

5. The method for calibrating the motor resolver angle according to claim 1, characterized in that: The method of controlling the motor to accelerate to a preset first speed based on the preset torque and the initial rotation angle and performing a zeroing operation on the torque includes: The initial resolver angle is obtained by injecting a high frequency signal into the motor; or An average value of a preset range of angles is obtained, and the average value is used as the initial rotation angle.

6. The method for calibrating the motor resolver angle according to claim 1, characterized in that: The step of acquiring the direct-axis voltage of the motor under loop control and the resolver angle corresponding to the direct-axis voltage comprises: In response to the rotation speed of the motor dropping to a preset second rotation speed, a calibration failure result is output.

7. The method for calibrating the motor resolver angle according to claim 1, characterized in that: The step of acquiring the direct-axis voltage of the motor under loop control and the resolver angle corresponding to the direct-axis voltage comprises: Obtaining a total time for adjusting and updating the resolver angle of the motor; In response to the total time exceeding a preset time threshold, the adjustment update is stopped and a failure result is output.

8. The method for calibrating the motor resolver angle according to any one of claims 1 to 7, characterized in that: The direct-axis voltage is controlled to be close to zero so as to adjust and update the resolver angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching a preset setting condition, the resolver angle corresponding to the direct-axis voltage is determined as the target resolver angle of the motor, including: The direct-axis voltage is input into a voltage controller, so that the direct-axis voltage is controlled to approach zero through the voltage controller, so as to adjust and update the rotation angle corresponding to the direct-axis voltage, and in response to the amplitude of the direct-axis voltage reaching a preset setting condition, the rotation angle corresponding to the direct-axis voltage is determined as the target rotation angle of the motor.

9. A permanent magnet synchronous motor, characterized in that: The permanent magnet synchronous motor comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory, so that the permanent magnet synchronous motor executes the motor rotation angle calibration method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for calibrating the motor resolver angle as described in any one of claims 1 to 8 is implemented.

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