Motor rotor position detection device and detection method

Abstract

The present disclosure provides a motor rotor position detection device and detection method. The motor rotor position detection method includes: before the motor rotor rotates, sending a test current command and a preset angle to a magnetic field guidance control circuit, so that the magnetic field guidance control circuit generates a feedback current, determining the current peak value of the feedback current, and comparing the current peak values ​​of the feedback current. When it is determined that the current peak value of the maximum peak feedback current in the feedback current is greater than the current peak values ​​of other feedback currents in the feedback current, outputting a preset angle corresponding to the maximum peak current command as the initial angular position of the motor rotor according to the maximum peak current command corresponding to the maximum peak feedback current.

Description

Technical Field

[0001] The present disclosure relates to a motor rotor position detection device and a method used therein, and in particular to a motor rotor initial angular position detection device and method suitable for a magnetic field oriented control architecture. Background Art

[0002] Motors have been widely used in electronic products, such as robotic arms, semiconductor process and packaging related equipment, elevators, air conditioners, electric vehicles, scanners, printers, optical disk drives, etc. In order to control the normal rotation of the motor, the existing motor rotor position detection device usually includes a rotor position sensor as a hardware component to detect the initial position of the motor rotor before the motor rotates, so as to avoid unexpected operating conditions when the motor starts.

[0003] However, the additional use of the aforementioned rotor position sensor will increase the production cost. If the rotor position sensor is not used, the aforementioned motor will cause unexpected operating conditions during startup. Therefore, in order to replace the rotor position sensor, some different motor control technologies have been developed. However, most motor control technologies still require additional hardware circuits, which makes it impossible to effectively reduce production costs, and their designs are usually unable to be flexibly adjusted according to different motors or different motor application products. Summary of the invention

[0004] In one embodiment, a motor rotor position detection method includes sending a test instruction to a magnetic field guidance control circuit within a preset time interval before a motor rotor rotates, the test instruction includes a test current instruction and a preset angle, generating a feedback current according to the test instruction, obtaining the peak value of the feedback current to form a peak matrix, and calculating a maximum value of the elements in the peak matrix. According to the maximum value, one of the preset angles is corresponding, and the magnetic field guidance control circuit uses the corresponding preset angle as an initial angular position of the motor rotor to control the rotation of the motor.

[0005] In one embodiment, a motor rotor position detection device includes a magnetic field guidance control circuit and an initial position detection circuit. The magnetic field guidance control circuit receives a test current instruction and a preset angle within a preset time interval, and generates a feedback current according to the test current instruction and the preset angle. The initial position detection circuit sends the test current instruction and the preset angle to the magnetic field guidance control circuit. The initial position detection circuit includes a current generator, an angle generator and a processing circuit. The current generator outputs a test current instruction, the angle generator outputs a preset angle, the processing circuit obtains the peak value of the feedback current to form a peak matrix, and calculates a maximum value of the elements in the peak matrix. The processing circuit corresponds to one of the preset angles according to the aforementioned maximum value to form the initial angular position of the motor rotor, and sends the initial angular position to the magnetic field guidance control circuit before the motor rotates, thereby controlling the rotation of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 The present invention is a functional block diagram of an embodiment of a motor rotor position detection device and a motor controlled by the motor rotor position detection device according to the present invention.

[0007] Figure 2 The present invention is a flow chart of an embodiment of a method for detecting a motor rotor position suitable for a motor according to the present invention.

[0008] Figure 3A-3D for Figure 1 A waveform diagram of an embodiment of the test current command, preset angle, feedback current and initial angular position in FIG.

[0009] Figure 4 for Figure 2 A flowchart of an embodiment of a step in.

[0010] Figure 5 for Figure 1 A circuit diagram of an embodiment of a driving circuit in FIG.

[0011] Figure 6 for Figure 1 A functional block diagram of an embodiment of an initial position detection circuit in FIG.

[0012] The reference numerals are described as follows:

[0013] 1: Motor rotor position detection device

[0014] 11: Initial position detection circuit

[0015] 111: Current generator

[0016] 112: Angle Generator

[0017] 113: Processing circuit

[0018] 12: Magnetic field guidance control circuit

[0019] 121: Quadrature-axis current combining circuit

[0020] 122: Direct axis current combining circuit

[0021] 123: Control circuit

[0022] 124: Inverse Pike conversion calculation circuit

[0023] 125: Vector Generator

[0024] 126: Clarke conversion calculation circuit

[0025] 127: Parker conversion calculation circuit

[0026] 2: Motor

[0027] 3: Driving circuit

[0028] S1: Direct axis test current command

[0029] S2: Feedback current

[0030] S3: Cross-axis test current command

[0031] S4: quadrature-axis feedback current

[0032] Vd: direct axis voltage signal

[0033] Vq: quadrature axis voltage signal

[0034] Vα: AC voltage signal

[0035] Vβ: AC voltage signal

[0036] Ia: three-phase alternating current

[0037] Ib: three-phase alternating current

[0038] Ic: three-phase alternating current

[0039] Iα: AC current

[0040] Iβ: AC current

[0041] T1: High level time

[0042] T2: Low level time

[0043] Ta: switch switching signal

[0044] Tb: switch switching signal

[0045] Tc: switch switching signal

[0046] θ1: initial angular position

[0047] θ2: preset angle

[0048] P1~P4: Output terminal

[0049] P5: Input terminal

[0050] S01~S05: Steps

[0051] S021~S027: Steps DETAILED DESCRIPTION

[0052] Figure 1 FIG. 1 is a functional block diagram of an embodiment of a motor rotor position detection device 1 and a motor 2 controlled by the motor rotor position detection device 1 according to the present disclosure. Figure 1 The motor rotor position detection device 1 includes an initial position detection circuit 11 and a magnetic field oriented control circuit 12. The motor rotor position detection device 1 can control the rotation of the motor 2 through the driving circuit 3. The motor 2 is suitable for field oriented control (FOC), and the motor rotor position detection device 1 has the aforementioned magnetic field oriented control function. In one embodiment, the motor 2 can be a brushless DC motor (BLDC) or a permanent-magnet synchronous motor (PMSM). The driving circuit 3 is designed by the manufacturer of the motor 2, and its function is to convert the driving signal transmitted by the motor rotor position detection device 1 into a signal readable by the motor 2, thereby driving the motor 3 to rotate.

[0053] Please continue to refer to Figure 1 The initial position detection circuit 11 is electrically connected to the magnetic field orientation control circuit 12, and the magnetic field orientation control circuit 12 is electrically connected to the motor 2. The magnetic field orientation control circuit 12 can determine the rotor of the aforementioned control motor 2 ( Figure 1 Not shown) torque direction or stator ( Figure 1 The direction of the magnetic field generated by the motor 2 (not shown). Before the rotor of the motor 2 officially starts to operate, the initial position detection circuit 11 can generate all test instructions within a preset time interval set by a user, and the preset time interval is generally 5 to 15 milliseconds (ms). The test instructions include current instructions (having multiple direct-axis test current instructions S1 and multiple cross-axis test current instructions S3), and multiple preset angles θ2. The direct-axis test current instruction S1 is issued from the output terminal P2, the cross-axis test current instruction S3 is issued from the output terminal P1, and the preset angle θ2 is issued from the output terminal P3, and these three signals (direct-axis test current instruction S1, cross-axis test current instruction S3 and preset angle θ2) have the same period.

[0054] Please refer to Figure 3A-3D. Among them, the initial position detection circuit 11 can generate six direct axis test current instructions S1 and six different preset angles θ2. In addition, the quadrature axis test current instructions S3 are all 0A (ampere) in this embodiment. The initial position detection circuit 11 can send and complete all test instructions within 8 milliseconds (preset time interval). The six direct axis test current instructions S1 respectively occupy six cycle times (cycle 1 to cycle 6), and cycles 1 to 6 can all be 1.3 milliseconds.

[0055] In addition, in this specific embodiment, the signals in the same cycle time are named with the same ordinal number, for example, the direct axis test current instruction S1 in cycle 1 is named "first direct axis test current instruction", and the corresponding preset angle θ2 in cycle 1 is named "first preset angle"; and the direct axis test current instruction S1 and the preset angle θ2 in cycle 2 are named "second direct axis test current instruction" and "second preset angle" respectively, and so on. The so-called "correspondence" means that the signals are generated in the same cycle, or the processed and generated signals are in the same cycle.

[0056] Please refer to the following Figure 2 , Figure 2 Flow chart of an embodiment of a motor rotor position detection method suitable for motor 2 according to the present disclosure. Figure 1 and Figures 3A-3D , the initial position detection circuit 11 sends a test instruction (step S01) to the magnetic field guidance control circuit 12 within a preset time interval before the motor 2 rotates. The magnetic field guidance control circuit 12 receives the test instruction within the preset time interval and generates a feedback current S2 (step S02) that can control the rotation of the motor 2 according to the test instruction. In the present disclosure, the feedback current S2 refers to the direct axis current referred to in the motor rotor coordinate system, which is the same as the direct axis test current instruction S1; in addition, the subsequent quadrature axis feedback current S4 refers to the quadrature axis current referred to in the motor rotor coordinate system, which is the same as the quadrature axis test current instruction S3. Moreover, the magnetic field guidance control circuit 12 generates a corresponding feedback current S2 according to each direct axis test current instruction S1 in the test instruction. Therefore, according to the direct axis test current instruction S1, the quadrature axis test current instruction S3 and the corresponding different preset angles θ2, the magnetic field guidance control circuit 12 generates a plurality of feedback currents S2 with different current peak values. Furthermore, since the response time (Response time) of the magnetic field oriented control circuit 12 to generate each feedback current S2 is approximately 100 microseconds (us), this is a negligible quantity level for the present specific embodiment, that is, the feedback current S2 and the direct-axis test current instruction S1 can be almost called "generated simultaneously".

[0057] Next, the initial position detection circuit 11 receives a plurality of feedback currents S2 from the magnetic field guidance control circuit 12 (step S03). The initial position detection circuit 11 obtains the peak value of each feedback current S2 to form a peak value matrix, and compares the peak values ​​between the plurality of feedback currents S2 to calculate the maximum value element in the peak value matrix (step S04). When the initial position detection circuit 11 calculates the maximum value element in the peak value matrix (i.e., determines that one of the current peak values ​​is the maximum), the initial position detection circuit 11 will correspond to one of the plurality of preset angles θ2 according to the maximum value in the feedback current S2 before the motor 2 rotates (formally operates), and output it as the initial angular position θ1 (step S05) to drive the magnetic field guidance control circuit 12 to control the rotation of the motor 2 accordingly. In addition, because the execution time (turnaround time) required for the initial position detection circuit 11 to calculate and generate the initial angular position θ1 is about 2 to 8 microseconds, for this specific embodiment, this is a negligible order of magnitude. In other words, the initial position detection circuit 11 can quickly calculate the initial angular position θ1.

[0058] Please refer to Figure 1 and Figures 3A-3D , the magnetic field guidance control circuit 12 generates six feedback currents S2 with different current peak values ​​according to the six direct axis test current instructions S1 and the six preset angles θ2. The processing circuit 113 in the subsequent initial position detection circuit 11 obtains the six feedback currents S2 (the unit can be ampere) to form a peak matrix X, for example, the peak matrix X={3,2,4,6,5,2}, and calculates that the maximum value element (element) in the peak matrix X is 6. Then, because this maximum value 6 is the fourth feedback current and belongs to cycle 4, the processing circuit 113 in the initial position detection circuit 11 will "correspond" to the fourth preset angle (i.e., 300 degrees) in cycle 4, and output this fourth preset angle as the initial angular position θ1, so that after the motor 2 is running, the magnetic field guidance control circuit 12 performs subsequent rotation (formal operation) control of the motor 2 according to the rotor initial angular position θ1 of 300 degrees.

[0059] Therefore, based on the aforementioned FOC control architecture, the initial angular position θ1 of the rotor is first detected before the rotor of the motor 2 starts to rotate. The present disclosure does not need to add additional current sampling resistors and corresponding amplifiers and digital-to-analog conversion circuits to the drive current input line connected to the motor 2 in order to detect the initial angular position θ1 of the rotor, thereby saving additional hardware costs, and the designer can flexibly adjust the number of direct-axis test current instructions S1 and cross-axis test current instructions S3 and the angle value of each preset angle θ2 to improve the accuracy of the motor rotor position detection device 1 in determining the initial angular position θ1 of the rotor, reduce the occurrence of misjudgment of the initial angular position θ1 of the rotor, and thereby avoid unexpected operating conditions of the motor 2 during startup.

[0060] In one embodiment, the direct-axis test current command S1 is a current pulse signal, and the initial position detection circuit 11 can determine the current values ​​of the direct-axis test current command S1 and the quadrature-axis test current command S3 according to the specifications of the motor 2, and the initial position detection circuit 11 can receive the input high-level time T1 and low-level time T2 to adjust the period and duty cycle of the direct-axis test current command S1. Figure 3A For example, the initial position detection circuit 11 can generate six direct axis test current instructions S1 with current values ​​of 5 amperes each, and Figure 3A As shown, the six direct-axis test current commands S1 all have the same high-level time T1 and low-level time T2, so that the six direct-axis test current commands S1 have the same period and duty cycle.

[0061] Based on the above, please refer to Figure 2 In step S01, the initial position detection circuit 11 can generate a direct axis test current command S1 in each cycle. The initial position detection circuit 11 can generate six direct axis test current commands S1 and six preset angles θ2 within six cycles, that is, the aforementioned preset time interval is the sum of the six cycles, so that the magnetic field guidance control circuit 12 outputs the corresponding feedback current S2 according to each direct axis test current command S1 in each of the six cycles. After six cycles, the initial position detection circuit 11 determines the initial angular position θ1 of the rotor.

[0062] In one embodiment, in order to improve the accuracy of the initial angular position θ1 of the rotor calculated by the initial position detection circuit 11, the angle difference between the two preset angles θ2 sent by the initial position detection circuit 11 in two cycles is at least greater than or equal to a preset value set by the user. The preset value is a numerical value, which can be greater than or equal to 1 degree, and preferably, this preset value is 180 degrees. This can avoid the inaccurate feedback current S2 caused by hysteresis due to the angle difference between the two preset angles θ2 in the test instruction being too small, causing the initial position detection circuit 11 to misjudge the current peak value of the feedback current S2 and misjudge the initial angular position θ1 of the rotor.

[0063] For details, please refer to Figure 3B, the six preset angles θ2 corresponding to the first preset angle to the sixth preset angle corresponding to the six direct axis test current instructions S1 are 0 degrees, 180 degrees, 120 degrees, 300 degrees, 240 degrees, and 60 degrees in sequence. It can be known that the difference between the two preset angles θ2 sent in two adjacent cycles is at least greater than or equal to a preset value of 60 degrees. Preferably, this preset value is an angle combination, that is, 180 degrees and 60 degrees. For example, the angle difference between the first preset angle and the second preset angle is 180 degrees, the angle difference between the second preset angle and the third preset angle is 60 degrees, the angle difference between the third preset angle and the fourth preset angle is 180 degrees, the angle difference between the fourth preset angle and the fifth preset angle is 60 degrees, and the angle difference between the fifth preset angle and the sixth preset angle is 180 degrees. Accordingly, the difference between the two preset angles θ2 generated at different times can be as large as possible to avoid the initial position detection circuit 11 from misjudging the initial angular position θ1 of the rotor.

[0064] like Figure 1 As shown, since the driving circuit 3 is still needed to control the rotation of the motor 2, the driving circuit 3 is electrically connected to the magnetic field guidance control circuit 12 and the motor 2. The magnetic field guidance control circuit 12 includes a quadrature axis current merging circuit 121, a direct axis current merging circuit 122, a control circuit 123, an inverse Park transform calculation circuit 124, a vector generator 125, a Clarke transform calculation circuit 126, and a Park transform calculation circuit 127. Among them, the quadrature axis current merging circuit 121, the direct axis current merging circuit 122, the inverse Park transform calculation circuit 124, and the Park transform calculation circuit 127 are electrically connected to the initial position detection circuit 11. The control circuit 123, the inverse Park transform calculation circuit 124, and the vector generator 125 are used to form the output switch switching signals Ta, Tb, and Tc. The vector generator 125 is electrically connected to the driving circuit 3, and the Clarke transform calculation circuit connects the driving circuit 3 and the motor 2. The Clarke conversion calculation circuit 126 and the Parker conversion calculation circuit 127 are used to form the feedback current S2 and the quadrature-axis feedback current S4. The initial position detection circuit 11 includes output terminals P1, P2, P3, P4 and an input terminal P5, the output terminal P1 is electrically connected to the quadrature-axis current merging circuit 121, the output terminal P2 is electrically connected to the direct-axis current merging circuit 122, the output terminal P3 is electrically connected to the Parker conversion calculation circuit 127 and the inverse Parker conversion calculation circuit 124, the initial angular position θ1 of the initial position detection circuit 11 is transmitted to other devices from the output terminal P4, and the input terminal P5 is electrically connected to the Parker conversion calculation circuit 127.

[0065] Please refer to the following Figures 1 to 4. In one embodiment, in step S01, the current value of the quadrature-axis test current command S3 outputted by the output terminal P1 of the initial position detection circuit 11 is 0 ampere, and the direct-axis test current command S1 is outputted from the output terminal P2 of the initial position detection circuit 11 to the magnetic field guidance control circuit 12, and the output terminal P3 of the initial position detection circuit 11 outputs a plurality of preset angles θ2 to the inverse Parker conversion calculation circuit 124 and the Parker conversion calculation circuit 127. Then, in step S02, the quadrature-axis current merging circuit 121 of the magnetic field guidance control circuit 12 receives the quadrature-axis test current command S3 from the output terminal P1 of the initial position detection circuit 11, and receives the quadrature-axis feedback current S4 from the Parker conversion calculation circuit 127 (before the rotor of the motor 2 rotates, the current value of the quadrature-axis feedback current S4 may have an initial value, and the aforementioned initial value may be zero) (step S021), and the quadrature-axis current merging circuit 121 merges the quadrature-axis test current command S3 and the quadrature-axis feedback current S4 and outputs them. And, with Figures 3A-3D For example, in the six cycles specified by the developer, the direct-axis current merging circuit 122 receives six direct-axis test current instructions S1 from the output terminal P2 of the initial position detection circuit 11, and receives the feedback current S2 as the direct-axis feedback current from the Parker conversion calculation circuit 127 (before the rotor of the motor 2 officially rotates, the current value of the feedback current S2 may have an initial value, and the aforementioned initial value may be zero) (step S021), and the direct-axis current merging circuit 122 merges the direct-axis test current instruction S1 and the feedback current S2 and outputs them. Similarly, the quadrature-axis current merging circuit 121 merges the quadrature-axis test current instruction S3 and the quadrature-axis feedback current S4 and outputs them. However, after the official operation, the feedback current S2 and the quadrature-axis feedback current S4 may both be a value other than 0.

[0066] The control circuit 123 generates a direct-axis voltage signal Vd and a quadrature-axis voltage signal Vq corresponding to direct-current signals based on the output signal of the quadrature-axis current combining circuit 121 and the output signal of the direct-axis current combining circuit 122 in each of the six cycles (step S022). The inverse Pike transformation calculation circuit 124 then performs an inverse Pike transformation based on the direct-axis voltage signal Vd, the quadrature-axis voltage signal Vq and the six preset angles θ2 sent by the initial position detection circuit 11 in the six cycles based on equation 1.1 in each of the six cycles (step S023) to calculate the two AC voltage signals Vα and Vβ corresponding to the two-phase stationary coordinate axes in each cycle. Next, the vector generator 125 performs space vector pulse width modulation on the AC voltage signals Vα and Vβ in each of the six cycles to control the required working cycle of the three phases and output switching signals Ta, Tb, and Tc to the driving circuit 3 including an inverter (step S024), so that the driving circuit 3 generates three-phase AC currents Ia, Ib, and Ic corresponding to the three-phase stationary coordinate axes based on the switching signals Ta, Tb, and Tc in each of the six cycles, that is, the motor driving current (step S025) to drive the rotor of the motor 2 to rotate.

[0067]

[0068] While the rotor of the motor 2 rotates, the magnetic field orientation control circuit 12 obtains the three-phase AC currents Ia, Ib, and Ic, and the Clarke conversion calculation circuit 126 thereof performs Clarke conversion based on equation 1.2 in each of the six cycles (step S026) to convert the three-phase AC currents Ia, Ib, and Ic into two AC currents Iα and Iβ corresponding to the two-phase stationary coordinate axes. The Parke conversion calculation circuit 127 performs Parke conversion again in each of the six cycles (step S027) to convert the AC currents Iα and Iβ into quadrature-axis feedback currents S4 and feedback current S2 corresponding to the synchronous rotating coordinate axes based on the preset angle θ2 and equation 1.3. The initial position detection circuit 11 receives six feedback currents S2 corresponding to the d-axis (direct axis) of the synchronous rotating coordinate axes from the Parke conversion calculation circuit 127 in step S03 to determine which of the six feedback currents S2 generated by the Parke conversion calculation circuit 127 within the preset time interval has the largest current peak value, so as to output the initial angular position θ1 of the rotor from the output terminal P4.

[0069]

[0070]

[0071] Finally, after the initial position detection circuit 11 calculates the initial angular position θ1, it can be transmitted to other components through the output terminal P4. After calculation or conversion by other components, the initial angular position θ1 and the direct-axis input current command and the quadrature-axis input current command required during operation can be sent to the magnetic field guidance control circuit 12, so that the magnetic field guidance control circuit 12 can control the rotation of the motor 2 accordingly, thereby avoiding unexpected operating conditions of the motor 2 during formal operation.

[0072] The number of direct axis test current instructions S1 has a great relationship with the accuracy. Figure 3A As shown, when the number of direct-axis test current instructions S1 is set to six, it means that a circle (rotor trajectory) is divided into six positioning points, and the accuracy of the positioning points is 60 degrees. In other embodiments, the number of direct-axis test current instructions S1 ranges from two to three hundred and sixty, preferably two to twelve, and optimally six. For example, when the number of direct-axis test current instructions S1 is set to ten, it means that a circle (rotor trajectory) is divided into ten positioning points, and the accuracy of the positioning points is 36 degrees, which is more accurate. The designer of the motor rotor position detection device 1 can design the number of direct-axis test current instructions S1 and the corresponding preset angle θ2 according to the accuracy of the initial angular position θ1 to be obtained.

[0073] In one embodiment, the circuit structure of the inverter included in the driving circuit 3 can refer to Figure 5 ,Depend on Figure 5 It can be seen that no resistors need to be set in the driving circuit 3, and the three-phase AC currents Ia, Ib, and Ic can be directly sampled, and there is no need to set up an additional amplifier (Amplifier) ​​or a digital-to-analog converter (DAC) connected to the sampling current resistors for sampling the three-phase AC currents Ia, Ib, and Ic, thereby further saving additional hardware costs and circuit space.

[0074] In one embodiment, please refer to Figure 1 and Figure 6The initial position detection circuit 11 further includes a current generator 111, an angle generator 112 and a processing circuit 113, wherein the processing circuit 113 is electrically connected to the current generator 111 and the angle generator 112. The processing circuit 113 can control the current generator 111 to output a plurality of direct-axis test current instructions S1 in each cycle within a preset time interval based on the high level time T1 and the low level time T2, and the processing circuit 113 can control the angle generator 112 to output a preset angle θ2 corresponding to each direct-axis test current instruction S1 in each cycle within the preset time interval. In addition, the processing circuit 113 can receive the feedback current S2 from the Parker conversion calculation circuit 127, and determine the current peak value of the feedback current S2 received in each cycle, so as to determine which feedback current S2 has the largest current peak value in the preset time interval, and output the corresponding initial angular position θ1. The processing circuit 113 can control the current generator 111, the angle generator 112 and execute the output of the initial angular position θ1 based on a finite state machine (FSM). In one embodiment, the control circuit 123 may be a closed-loop controller suitable for the direct-axis current and the quadrature-axis current, such as a PID controller.

[0075] In addition, the value ranges of the initial angular position θ1 and the preset angle θ2 are both in a virtual vector space (this vector space is called a definition domain) defined by the initial position circuit 11, the inverse Pike transformation calculation circuit 124 and the Pike transformation calculation circuit 127. Therefore, in one embodiment, the initial angular position θ1 output by the initial position detection circuit 11 can be output to the inverse Pike transformation calculation circuit 124 for calculation when the motor 2 is officially running. In another embodiment, the user can connect the output terminal P4 to an additional conversion circuit ( Figure 1 Not shown), so as to convert the virtual vector space into a real position space (real space), so that the initial angular position θ1 is converted into a three-dimensional coordinate in the real space before subsequent processing.

[0076] In addition, the initial position detection circuit 11 and the magnetic field guidance control circuit 12 can be implemented by a microcontroller (MCU) or other controllers with control and data computing capabilities. Figure 1 , Figure 5 and Figure 6 The disclosed architecture is made into a chip, or is used Figures 2 to 4The disclosed control method is written into program code and burned into the platform provided by the manufacturer to form an application on the platform. This application can obtain the initial position of the motor (rotor) in real time. Because the general existing platform can only be used to control the motor speed, if there is a need to know the initial position of the motor, an additional hardware circuit must be set up. If you want to know the initial position while using a general existing platform and do not want to set up additional devices, you only need to use or utilize Figures 2 to 4 The application program formed by the disclosed control method, combined with the motor rotor position detection device 1, can obtain the initial position of the motor rotor, which is very convenient.

[0077] In summary, according to an embodiment of the motor rotor position detection method and the motor rotor position detection device thereof disclosed in the present invention, the initial position detection circuit can replace the generally commercially available rotor position sensor, and the initial position detection circuit can be well combined with the magnetic field guidance control circuit to detect the initial angular position of the motor rotor. The designer of the motor rotor position detection device does not need to make additional adjustments to the magnetic field guidance control circuit; or when the motor rotor position detection device is implemented with a microcontroller, the designer can complete the motor rotor initial position detection without modifying the program code of the magnetic field guidance control executed by the magnetic field guidance control circuit.

[0078] Furthermore, the designer can flexibly adjust the number of test current instructions and the angle value of each preset angle to reduce the occurrence of misjudgment of the initial angular position of the rotor, and there is no need to add additional current sampling resistors and corresponding amplifiers and digital-to-analog conversion circuits to the bus current input line of the motor, which can further save additional hardware costs.

[0079] Although the present disclosure has been disclosed as above by way of embodiments, it is not intended to limit the present disclosure. Any technician in the relevant technical field may make slight changes and modifications without departing from the spirit and scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be determined by the scope of the attached patent application.

Claims

1. A method for detecting a motor rotor position, comprising: Before a motor rotates, a test instruction is sent to a magnetic field guidance control circuit within a preset time interval, wherein: The test instruction includes a test current instruction and a preset angle; The magnetic field guidance control circuit generates a feedback current according to the test instruction; Obtaining the peak value of the feedback current to form a peak matrix, and calculating a maximum value of elements in the peak matrix; According to the maximum value, one of the preset angles is selected; as well as The corresponding preset angle is used as an initial angular position of the motor rotor to control the rotation of the motor.

2. The motor rotor position detection method according to claim 1, wherein: The preset time interval is composed of a plurality of cycles, and the difference between the two preset angles sent in two cycles is greater than or equal to a preset value.

3. The motor rotor position detection method according to claim 2, wherein: The preset value is a value greater than or equal to 1 degree.

4. The motor rotor position detection method according to claim 1, wherein: The test current instruction includes a direct-axis test current instruction and a quadrature-axis test current instruction. The direct-axis test current instruction is a current pulse signal composed of a high-level time and a low-level time.

5. The motor rotor position detection method according to claim 1, wherein: The step of controlling the rotation of the motor by using the corresponding preset angle as the initial angular position is: outputting the initial angular position to an inverse Pike transformation calculation circuit of the magnetic field guidance control circuit to calculate the rotation control of the motor.

6. A motor rotor position detection device, comprising: A magnetic field guidance control circuit is used to receive a test instruction within a preset time interval and generate a feedback current according to the test instruction, wherein: The test instruction includes a test current instruction and a preset angle; and An initial position detection circuit is used to send the test instruction to the magnetic field guidance control circuit and output an initial angular position of the motor rotor. The initial position detection circuit is electrically connected to the magnetic field guidance control circuit and includes: a current generator, used for outputting the test current instruction; an angle generator, configured to output the preset angle; and A processing circuit controls the current generator and the angle generator, and is used to obtain the peak value of the feedback current to form a peak matrix, and calculate a maximum value of the elements in the peak matrix, and correspond one of them from the preset angles according to the maximum value to form the initial angular position, and before a motor rotates, the initial angular position is sent to the magnetic field guidance control circuit to control the rotation of the motor.

7. The motor rotor position detection device according to claim 6, wherein: The initial position detection circuit sends the test instruction in a plurality of cycles, and the difference between the two preset angles sent in two cycles is greater than or equal to a preset value.

8. The motor rotor position detection device according to claim 7, wherein: The preset value is a value greater than or equal to 1 degree.

9. The motor rotor position detection device according to claim 6, wherein: The magnetic field guidance control circuit comprises: a direct-axis current combining circuit electrically connected to the initial position detecting circuit, the direct-axis current combining circuit being used to receive the test current instruction, and a quadrature-axis current combining circuit electrically connected to the initial position detecting circuit; The test current instruction is a current pulse signal including a high level time and a low level time.

10. The motor rotor position detection device according to claim 6, wherein: The magnetic field oriented control circuit includes an inverse Pike transform calculation circuit. The processing circuit sends the initial angular position to the inverse Pike transform calculation circuit to calculate the rotation control of the motor.

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