Method and system for detecting initial position of rotor of counter-rotating permanent magnet synchronous motor

Abstract

The present invention belongs to the field of rotor position angle detection, and specifically relates to a method and system for detecting the initial position of a counter-rotating permanent magnet synchronous motor rotor, aiming to solve the problem that the initial position angle of the rotor cannot be measured when both the stator winding and the rotor of the counter-rotating permanent magnet synchronous motor are rotating. The present invention comprises: arranging a rotor of a rotary transformer on the motor rotor and the stator, arranging a stator of a rotary transformer on the housing, obtaining the current absolute position angle θ of the rotor 2 ;Fix the stator winding and obtain the current stator winding position angle θ 10 , get the initial rotor position angle θ′ under fixed stator winding 0 ; Rotate the stator winding to obtain the current absolute position of the stator winding θ 1 ; Combined with θ 10 to θ 1 The change in θ′ 0 , obtain the initial rotor position angle θ of the motor under the rotating stator winding 0 θ 0 and θ 2 The invention uses a double rotary transformer to measure the initial rotor position angle of a counter-rotating permanent magnet synchronous motor when both the stator winding and the rotor are rotating.

Description

Background Art

[0002] Underwater vehicles need to maintain a stable attitude during navigation, so most of them use contra-rotating propeller propulsion systems to overcome the gyroscopic effect. Since contra-rotating permanent magnet synchronous propulsion motors have no brushes, commutators, and gears, they have two mechanical output ports and can directly drive contra-rotating propeller propulsion systems. They have high power, high reliability, small torque pulsation, good heat dissipation, small radial and axial tensions, and no gyroscopic effect. Therefore, they are widely used in electric propulsion fields such as ships and underwater vehicles.

[0003] In order to ensure the smooth rotation of the motor and the precise control of the motor, it is necessary not only to control the stator armature current, but also to accurately detect the motor rotor position angle at all times. High-performance permanent magnet synchronous motor drive systems usually use rotor magnetic field vector control, and use the coordinate transformation method to transform the stator current from the three-phase static coordinate (ABC) to the two-phase rotating coordinate (dq), decouple the motor stator current into two independent components: the excitation current component and the torque current component, and then control them separately. The permanent magnet synchronous motor rotor position angle is a necessary condition for achieving stator current decoupling control. The rotor position angle is generally defined as the angle between the rotor pole (d axis) in the rotating coordinate system and the A axis in the three-phase static coordinate system. When the two axes coincide (the rotor position angle is 0°), the absolute position angle output by the position angle sensor installed on the rotor is the rotor initial position angle.

[0004] The method currently used is the magnetic pole pre-positioning method, which applies a current vector in the d-axis direction to the stator winding, forcing the rotor magnetic pole rotation (d-axis) to coincide with the A-axis and then stop, thereby obtaining the initial position angle of the rotor. However, when using this method to detect the position angle, since the torque generation mechanism of the stator and rotor magnetic fields of the permanent magnet synchronous motor is proportional to the sine value of the angle between the two, when the angle approaches zero, the output torque also tends to zero; at the same time, due to the presence of the positioning torque (cogging torque) of the permanent magnet synchronous motor, it is difficult for the detected angle to reach absolute zero, which affects the detection accuracy of the rotor initial position angle to a certain extent.

[0005] Some literature has proposed a method and system for adjusting the initial position angle of the rotor of a built-in permanent magnet synchronous motor [1]. By updating the magnetic flux position angle multiple times and setting a threshold, the difference between the orthogonal axis current that can cause the rotor to rotate in the positive direction and the negative axis current that can cause the rotor to rotate in the reverse direction is determined, thereby improving the accuracy of the rotor initial position angle detection. However, the algorithm implementation of this method is too complicated, the amount of calculation is large, and an error threshold is set, so the rotor initial position angle cannot be accurately obtained. Other literature has proposed a method for detecting the rotor position angle and calibrating the initial position angle of a permanent magnet synchronous motor [2]. By using the motor stator line voltage u BC The rotor position angle θ shows a periodic variation law of the cosine function, and the stator line voltage u is recorded on the oscilloscope.BC The waveform is converted by the D / A module to output the rotor position angle θ. The initial value of the rotor position angle is set and adjusted manually, and finally the line voltage u BC The peak of the wave corresponds to the peak of the rotor position angle θ, and then the initial position angle of the rotor is obtained. This method uses an oscilloscope and an angle output D / A conversion module to improve the accuracy of the initial position angle of the rotor. Some other literatures have proposed a method and system for automatic calibration of the initial position angle of a motor and an angle compensation system [3]. The power factor angle of phase A is obtained according to the input power, AB line voltage and A phase current of the motor, and the electrical angle frequency is obtained according to the speed of the motor. The internal power factor angle of phase A is obtained according to the electrical angle frequency and the power factor angle, and the initial position angle of the motor rotor is compensated to finally obtain the initial position angle of the motor. However, this method relies on the accurate measurement of the input power P, line voltage UAB and A phase current of the motor. In addition, strong power is provided to the drive controller on the motor test bench, and a suitable constant torque / constant speed working condition is selected. Then, the input power P, AB line voltage UAB and A phase current I of the motor are collected in real time using equipment such as a power analyzer. The above special requirements limit the application scenarios of this type of method.

[0006] In general, the above technologies are all applied to the search for the initial position angle of the rotor of a permanent magnet synchronous motor in the traditional sense (the stator winding is fixed and the rotor can rotate), and the initial position angle of the rotor finally found is a fixed angle. However, in a counter-rotating permanent magnet synchronous motor drive system, the stator winding and the rotor of the motor are both rotating relative to the bracket, and the two rotate in opposite directions due to the interaction force. At this time, the initial position angle of the rotor is no longer fixed and will always be changing. Therefore, the above technologies cannot be applied to a counter-rotating permanent magnet synchronous motor drive system to accurately measure the initial position of the motor rotor.

[0007] The following documents are technical background materials related to the present invention:

[0008] [1] Liu Xuebing, Li Wenjie, Zhou Congyuan, et al., A method and system for adjusting the initial position angle of the rotor of an interior permanent magnet synchronous motor, 2016-12-23, 201611206350.9

[0009] [2] Zhang Jian, Yan Chaopeng, Peng Meng, et al., Rotor position angle detection and initial position angle calibration method of permanent magnet synchronous motor, 2019-01-24, 201910068623.5

[0010] [3] Sun Yangyang, Automatic calibration angle compensation method and system for motor initial position angle, 2016-10-12, 201610891993.5 Summary of the invention

[0011] In order to solve the above-mentioned problem in the prior art, that is, the problem that the initial position angle of the rotor cannot be measured when both the stator winding and the rotor of the counter-rotating permanent magnet synchronous motor are rotating, the present invention provides a method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor, the method comprising:

[0012] Step S10, arranging the rotor of the rotary transformer ① on the rotor winding of the synchronous motor, arranging the rotor of the rotary transformer ② on the stator winding, and arranging the stators of the rotary transformer ① and the rotary transformer ② on the motor housing;

[0013] Step S20, obtaining the absolute position angle θ2 of the current rotor of the synchronous motor through the rotor of the rotary transformer ②, fixing the stator winding of the synchronous motor, and obtaining the position angle θ of the current stator winding of the synchronous motor through the rotor of the rotary transformer ① 10 ;

[0014] Step S30, based on the stator voltage u of the synchronous motor BC The relationship between the waveform and the rotor position angle θ converted by the D / A module is used to obtain the initial rotor position angle θ′0 of the synchronous motor under fixed stator winding;

[0015] Step S40, loosening the stator winding of the synchronous motor and rotating it, and obtaining the absolute position angle θ1 of the stator winding of the synchronous motor through the rotor of the rotary transformer ①;

[0016] Step S50, obtaining the initial rotor position angle θ0 of the synchronous motor under the rotating stator winding based on the initial rotor position angle θ′0 of the synchronous motor under the fixed stator winding and the variation of the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding;

[0017] Step S60, the initial rotor position angle θ of the synchronous motor under the rotating stator winding and the current absolute rotor position angle θ2 of the synchronous motor are the initial rotor position of the synchronous motor.

[0018] In some preferred embodiments, step S30 includes:

[0019] Step S31, based on the stator voltage u of the synchronous motor BC The waveform and the rotor position angle θ converted by the D / A module show the periodic variation law of the cosine function, and the initial value of the rotor position angle of the synchronous motor under the fixed stator winding is set;

[0020] Step S32, adjusting the initial value of the rotor position angle of the synchronous motor under the fixed stator winding so that the stator voltage u BCThe peak of corresponds to the peak value of the rotor position angle θ converted by the D / A module, and the initial rotor position angle θ′0 of the synchronous motor under the fixed stator winding is obtained.

[0021] In some preferred embodiments, the stator voltage u of the synchronous motor BC When the peak of corresponds to the peak value of the rotor position angle θ converted by the D / A module, the direction of the motor rotor magnetic field of the synchronous motor coincides with the stator winding A.

[0022] In some preferred embodiments, the change in the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding is expressed as:

[0023] Δθ1=θ1-θ 10

[0024] Among them, Δθ1 is the change in the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding.

[0025] In some preferred embodiments, the initial rotor position angle θ0 of the synchronous motor under the rotating stator winding is expressed as:

[0026] θ0=θ′0-Δθ1

[0027] Wherein, θ′0 is the initial rotor position angle of the synchronous motor under the fixed stator winding.

[0028] Another aspect of the present invention provides a system for detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor, the system comprising the following modules:

[0029] A rotary transformer setting module, configured to set a rotor of a rotary transformer ① on the rotor winding of the synchronous motor, set a rotor of a rotary transformer ② on the stator winding, and set stators of rotary transformers ① and ② on the motor housing;

[0030] A rotor absolute position angle acquisition module, configured to acquire the current absolute position angle θ2 of the rotor of the synchronous motor through the rotor of the rotary transformer ②;

[0031] The motor stator winding position angle acquisition module under the fixed stator winding is configured to fix the stator winding of the synchronous motor and obtain the current position angle θ of the stator winding of the synchronous motor through the rotor of the rotary transformer ① 10 ;

[0032] The motor rotor initial position angle acquisition module under the fixed stator winding is configured to be based on the stator voltage u of the synchronous motor BCThe relationship between the waveform and the rotor position angle θ converted by the D / A module is used to obtain the initial rotor position angle θ′0 of the synchronous motor under fixed stator winding;

[0033] The motor stator winding absolute position angle acquisition module is configured to loosen the stator winding of the synchronous motor and rotate it, and obtain the absolute position angle θ1 of the stator winding of the synchronous motor through the rotor of the rotary transformer ①;

[0034] A motor rotor initial position angle acquisition module under a rotating stator winding is configured to obtain the rotor initial position angle θ0 of the synchronous motor under a rotating stator winding based on the rotor initial position angle θ′0 of the synchronous motor under a fixed stator winding and the change in the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding;

[0035] The synchronous motor rotor initial position output module is configured to output the synchronous motor rotor initial position angle θ0 under the rotating stator winding and the synchronous motor current rotor absolute position angle θ2 as the synchronous motor rotor initial position.

[0036] According to a third aspect of the present invention, an electronic device is provided, comprising:

[0037] at least one processor; and

[0038] a memory communicatively connected to at least one of the processors; wherein,

[0039] The memory stores instructions that can be executed by the processor, and the instructions are used to be executed by the processor to implement the above-mentioned method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor.

[0040] In a fourth aspect of the present invention, a computer-readable storage medium is proposed, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by the computer to implement the above-mentioned method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor.

[0041] Beneficial effects of the present invention:

[0042] The present invention discloses a method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor. The method uses a dual rotary transformer to detect the initial position angle of the rotor. The dual rotary transformers are respectively installed on the stator winding and the rotor of the counter-rotating motor. The dual rotary transformers are used to output the absolute position angle information of the stator winding and the rotor in real time. The stator winding is first fixed, and the initial position angle is measured according to the permanent magnet synchronous motor in the traditional sense. Then, the stator winding is loosened, and the position angle variation of the stator winding is detected by using the dual rotary transformer installed on the stator winding, so as to obtain the initial position angle of the rotor of the permanent magnet synchronous motor. The present invention is applicable to the motor characteristics of the complex structure of the counter-rotating motor (both the stator winding and the rotor rotate). It only needs to install an additional dual rotary transformer on the stator winding to detect the position angle information of the stator. There is no need to add special calibration software and hardware detection circuits. The initial position angle of the motor rotor can be obtained like the motor in the traditional sense. The method is simple and easy to implement. At the same time, the accuracy of the initial position angle of the rotor is also improved by using the dual rotary transformer. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0044] Figure 1 It is a schematic flow chart of a method for detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor according to the present invention;

[0045] Figure 2 It is a schematic diagram of installing a dual rotary transformer on a counter-rotating permanent magnet synchronous motor according to an embodiment of a method for detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor of the present invention;

[0046] Figure 3 It is a schematic diagram of obtaining the current position angle of the stator winding of a counter-rotating permanent magnet synchronous motor after the stator winding of the counter-rotating permanent magnet synchronous motor is fixed according to an embodiment of the present invention;

[0047] Figure 4 It is a schematic diagram of obtaining the initial position angle of the rotor of a counter-rotating permanent magnet synchronous motor after the stator winding of the counter-rotating motor is fixed according to an embodiment of the method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor of the present invention;

[0048] Figure 5 It is a schematic diagram of the change of the stator position angle when the stator winding of the counter-rotating permanent magnet synchronous motor rotates according to one embodiment of the method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor of the present invention;

[0049] Figure 6 It is a schematic diagram of the initial position angle of the rotor of a counter-rotating permanent magnet synchronous motor when the stator winding rotates according to an embodiment of the method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor of the present invention. DETAILED DESCRIPTION

[0050] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0051] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0052] A method for detecting an initial position of a rotor of a counter-rotating permanent magnet synchronous motor of the present invention comprises:

[0053] Step S10, arranging the rotor of the rotary transformer ① on the rotor winding of the synchronous motor, arranging the rotor of the rotary transformer ② on the stator winding, and arranging the stators of the rotary transformer ① and the rotary transformer ② on the motor housing;

[0054] Step S20, obtaining the absolute position angle θ2 of the current rotor of the synchronous motor through the rotor of the rotary transformer ②, fixing the stator winding of the synchronous motor, and obtaining the position angle θ of the current stator winding of the synchronous motor through the rotor of the rotary transformer ① 10 ;

[0055] Step S30, based on the stator voltage u of the synchronous motor BC The relationship between the waveform and the rotor position angle θ converted by the D / A module is used to obtain the initial rotor position angle θ′0 of the synchronous motor under fixed stator winding;

[0056] Step S40, loosening the stator winding of the synchronous motor and rotating it, and obtaining the absolute position angle θ1 of the stator winding of the synchronous motor through the rotor of the rotary transformer ①;

[0057] Step S50, obtaining the initial rotor position angle θ0 of the synchronous motor under the rotating stator winding based on the initial rotor position angle θ′0 of the synchronous motor under the fixed stator winding and the variation of the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding;

[0058] Step S60, the initial rotor position angle θ of the synchronous motor under the rotating stator winding and the current absolute rotor position angle θ2 of the synchronous motor are the initial rotor position of the synchronous motor.

[0059] In order to more clearly explain the method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor of the present invention, Figure 1 Each step in the embodiment of the present invention is described in detail.

[0060] The method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor according to the first embodiment of the present invention comprises steps S10 to S50, each of which is described in detail as follows:

[0061] Step S10, arranging the rotor of the rotary transformer ① on the rotor winding of the synchronous motor, arranging the rotor of the rotary transformer ② on the stator winding, and arranging the stators of the rotary transformer ① and the rotary transformer ② on the motor housing.

[0062] The output signal of the resolver needs to be processed by the resolver decoding chip (circuit), and then the output value of the resolver decoding chip is directly read to obtain the measured angle.

[0063] The resolver decoding chip is a component that is combined with a rotary transformer to realize angular position and speed signal decoding. There are many optional resolver decoding chips in the prior art. Different types of resolver decoding chips can be selected for different application scenarios, and the present invention is not limited to this.

[0064] like Figure 2 As shown, it is a schematic diagram of the installation of a dual rotary transformer on a counter-rotating permanent magnet synchronous motor according to an embodiment of the method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor of the present invention. The rotary transformer ① includes a rotary transformer stator ① and a rotary transformer rotor ①, and the rotary transformer ② includes a rotary transformer stator ② and a rotary transformer rotor ②. The rotary transformer rotor ① and the rotary transformer rotor ② are arranged on the housing of the counter-rotating permanent magnet synchronous motor, and can also be installed on a bracket for fixing the motor. The rotary transformer stator ① is arranged on the stator winding of the counter-rotating permanent magnet synchronous motor and rotates synchronously with the stator winding of the motor. The rotary transformer stator ② is arranged on the rotor of the counter-rotating permanent magnet synchronous motor and rotates synchronously with the rotor of the motor.

[0065] Step S20, obtaining the absolute position angle θ2 of the current rotor of the synchronous motor through the rotor of the rotary transformer ②.

[0066] like Figure 3 As shown, it is a schematic diagram of obtaining the current position angle of the stator winding of the counter-rotating permanent magnet synchronous motor after the stator winding of the counter-rotating permanent magnet synchronous motor is fixed according to an embodiment of the method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor of the present invention, the rotary transformer ① is used to output the absolute position angle information θ1 of the stator winding of the counter-rotating permanent magnet synchronous motor in real time, and the rotary transformer ② is used to output the absolute position angle θ2 of the rotor of the counter-rotating permanent magnet synchronous motor in real time.

[0067] The stator winding of the synchronous motor is fixed, and the position angle θ of the current stator winding of the synchronous motor is obtained through the rotor of the rotary transformer ① 10 .

[0068] Step S30, based on the stator voltage u of the synchronous motor BCThe relationship between the waveform and the rotor position angle θ converted by the D / A module is used to obtain the rotor initial position angle θ′0 of the synchronous motor under fixed stator winding.

[0069] Step S31, based on the stator voltage u of the synchronous motor BC The waveform and the rotor position angle θ converted by the D / A module show the periodic variation law of the cosine function, and the initial value of the rotor position angle of the synchronous motor under the fixed stator winding is set;

[0070] Step S32, adjusting the initial value of the rotor position angle of the synchronous motor under the fixed stator winding so that the stator voltage u BC The peak of corresponds to the peak value of the rotor position angle θ converted by the D / A module, and the initial rotor position angle θ′0 of the synchronous motor under the fixed stator winding is obtained.

[0071] like Figure 4 As shown, it is a schematic diagram of obtaining the initial position angle of the rotor after the stator winding of the counter-rotating permanent magnet synchronous motor is fixed in one embodiment of the method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor of the present invention. The stator winding of the motor is fixed. When the direction of the magnetic field (d-axis) of the motor rotor coincides with the stator winding A, the rotary transformer ② outputs the absolute position angle of the motor rotor, which is the initial angle of the rotor position angle under the fixed stator winding, recorded as θ′0. At this time, the stator winding of the counter-rotating motor is fixed, which is the same as the rotation change of the motor in the traditional sense (stator winding is fixed). Therefore, the existing technology can be used to find the initial position angle of the rotor, for example, through the motor stator line voltage u BC The rotor position angle θ shows a periodic variation law of the cosine function, and the stator line voltage u is recorded on the oscilloscope. BC The waveform is converted by the D / A module to output the rotor position angle θ. The initial value of the rotor position angle is set and adjusted manually, and finally the line voltage u BC The peak of the wave corresponds to the peak value of the rotor position angle θ, that is, the direction of the motor rotor magnetic field (d-axis) coincides with the stator winding A, and the rotor initial position angle is obtained. This is only one method for finding the rotor initial position angle. In other application scenarios, other methods for finding the rotor initial position angle can also be selected according to actual needs, and the present invention is not limited here.

[0072] Step S40, loosen the stator winding of the synchronous motor and rotate it, and obtain the absolute position angle θ1 of the stator winding of the synchronous motor through the rotor of the rotary transformer ①.

[0073] Step S50, based on the initial rotor position angle θ′0 of the synchronous motor under the fixed stator winding and the change in the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding, obtain the initial rotor position angle θ0 of the synchronous motor under the rotating stator winding.

[0074] The change in the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding is expressed as shown in formula (1):

[0075] Δθ1=θ1-θ 10 (1)

[0076] Among them, Δθ1 is the change in the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding.

[0077] like Figure 5 As shown in FIG. 1 , a schematic diagram of the change in the stator position angle of the counter-rotating motor when the stator winding of the counter-rotating permanent magnet synchronous motor rotates according to an embodiment of the present invention is shown. After the stator winding of the counter-rotating motor is loosened, it rotates clockwise to any position angle, and the rotary transformer ① outputs the absolute position angle θ1 of the stator winding of the motor. Then, the position angle change relative to the initial position angle of the stator winding of the motor (the stator winding is fixed) is Δθ1=θ1-θ 10 .

[0078] The initial rotor position angle θ0 of the synchronous motor under the rotating stator winding is expressed as shown in formula (2):

[0079] θ0=θ′0-Δθ1 (2)

[0080] Wherein, θ′0 is the initial rotor position angle of the synchronous motor under the fixed stator winding.

[0081] like Figure 6 As shown, it is a schematic diagram of the initial rotor position angle of the counter-rotating permanent magnet synchronous motor when the stator winding rotates according to an embodiment of the method for detecting the initial rotor position of the counter-rotating permanent magnet synchronous motor of the present invention. It can be seen from the figure that the initial rotor position angle θ0 of the motor at this time can be expressed as θ0=θ′0-Δθ1.

[0082] Step S60, the initial rotor position angle θ0 of the synchronous motor under the rotating stator winding and the current absolute rotor position angle θ2 of the synchronous motor are the initial rotor position of the synchronous motor.

[0083] Although the various steps in the above embodiment are described in the above-mentioned order, those skilled in the art can understand that in order to achieve the effect of this embodiment, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in a reverse order. These simple changes are within the scope of protection of the present invention.

[0084] The second embodiment of the present invention is a system for detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor, the system comprising the following modules:

[0085] A rotary transformer setting module, configured to set a rotor of a rotary transformer ① on the rotor winding of the synchronous motor, set a rotor of a rotary transformer ② on the stator winding, and set stators of rotary transformers ① and ② on the motor housing;

[0086] A rotor absolute position angle acquisition module, configured to acquire the current absolute position angle θ2 of the rotor of the synchronous motor through the rotor of the rotary transformer ②;

[0087] The motor stator winding position angle acquisition module under the fixed stator winding is configured to fix the stator winding of the synchronous motor and obtain the current position angle θ of the stator winding of the synchronous motor through the rotor of the rotary transformer ① 10 ;

[0088] The motor rotor initial position angle acquisition module under the fixed stator winding is configured to be based on the stator voltage u of the synchronous motor BC The relationship between the waveform and the rotor position angle θ converted by the D / A module is used to obtain the initial rotor position angle θ′0 of the synchronous motor under fixed stator winding;

[0089] The motor stator winding absolute position angle acquisition module is configured to loosen the stator winding of the synchronous motor and rotate it, and obtain the absolute position angle θ1 of the stator winding of the synchronous motor through the rotor of the rotary transformer ①;

[0090] A motor rotor initial position angle acquisition module under a rotating stator winding is configured to obtain the rotor initial position angle θ0 of the synchronous motor under a rotating stator winding based on the rotor initial position angle θ′0 of the synchronous motor under a fixed stator winding and the change in the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding;

[0091] The synchronous motor rotor initial position output module is configured to output the synchronous motor rotor initial position angle θ0 under the rotating stator winding and the synchronous motor current rotor absolute position angle θ2 as the synchronous motor rotor initial position.

[0092] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0093] It should be noted that the counter-rotating permanent magnet synchronous motor rotor initial position detection system provided in the above embodiment is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be decomposed or combined. For example, the modules in the above embodiments can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not regarded as improper limitations of the present invention.

[0094] An electronic device according to a third embodiment of the present invention includes:

[0095] at least one processor; and

[0096] a memory communicatively connected to at least one of the processors; wherein,

[0097] The memory stores instructions that can be executed by the processor, and the instructions are used to be executed by the processor to implement the above-mentioned method for detecting the initial position of the rotor of the counter-rotating permanent magnet synchronous motor.

[0098] A fourth embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by the computer to implement the above-mentioned method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor.

[0099] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the storage device and processing device described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0100] Those skilled in the art should be able to appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two, and the programs corresponding to the software modules and method steps can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the technical field. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0101] The terms "first", "second", etc. are used to distinguish similar objects rather than to describe or indicate a particular order or sequence.

[0102] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus / device.

[0103] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor, characterized in that: The method includes: Step S10, arranging the rotor of the rotary transformer ① on the rotor winding of the synchronous motor, arranging the rotor of the rotary transformer ② on the stator winding, and arranging the stators of the rotary transformer ① and the rotary transformer ② on the motor housing; Step S20, obtaining the absolute position angle θ2 of the current rotor of the synchronous motor through the rotor of the rotary transformer ②, fixing the stator winding of the synchronous motor, and obtaining the position angle θ of the current stator winding of the synchronous motor through the rotor of the rotary transformer ① 10 ; Step S30, based on the stator voltage u of the synchronous motor BC The relationship between the waveform and the rotor position angle θ converted by the D / A module is used to obtain the initial rotor position angle θ′0 of the synchronous motor under fixed stator winding; Step S40, loosening the stator winding of the synchronous motor and rotating it, and obtaining the absolute position angle θ1 of the stator winding of the synchronous motor through the rotor of the rotary transformer ①; Step S50, obtaining the initial rotor position angle θ0 of the synchronous motor under the rotating stator winding based on the initial rotor position angle θ′0 of the synchronous motor under the fixed stator winding and the variation of the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding; Step S60, the initial rotor position angle θ0 of the synchronous motor under the rotating stator winding and the current absolute rotor position angle θ2 of the synchronous motor are the initial rotor position of the synchronous motor.

2. The method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor according to claim 1, characterized in that: Step S30 includes: Step S31, based on the stator voltage u of the synchronous motor BC The waveform and the rotor position angle θ converted by the D / A module show the periodic variation law of the cosine function, and the initial value of the rotor position angle of the synchronous motor under the fixed stator winding is set; Step S32, adjusting the initial value of the rotor position angle of the synchronous motor under the fixed stator winding so that the stator voltage u BC The peak of corresponds to the peak value of the rotor position angle θ converted by the D / A module, and the initial rotor position angle θ′0 of the synchronous motor under the fixed stator winding is obtained.

3. The method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor according to claim 2, characterized in that: The stator voltage u of the synchronous motor BC When the peak of corresponds to the peak value of the rotor position angle θ converted by the D / A module, the direction of the motor rotor magnetic field of the synchronous motor coincides with the stator winding A.

4. The method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor according to claim 1, characterized in that: The change in the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding is expressed as: Δθ1=θ1-θ 10 Among them, Δθ1 is the change in the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding.

5. The method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor according to claim 4, characterized in that: The initial rotor position angle θ0 of the synchronous motor under the rotating stator winding is expressed as: θ0=θ′0-Δθ1 Wherein, θ′0 is the initial rotor position angle of the synchronous motor under the fixed stator winding.

6. A system for detecting the initial position of a rotor of a counter-rotating permanent magnet synchronous motor, characterized in that: The system includes the following modules: A rotary transformer setting module, configured to set a rotor of a rotary transformer ① on the rotor winding of the synchronous motor, set a rotor of a rotary transformer ② on the stator winding, and set stators of rotary transformers ① and ② on the motor housing; A rotor absolute position angle acquisition module, configured to acquire the current absolute position angle θ2 of the rotor of the synchronous motor through the rotor of the rotary transformer ②; The motor stator winding position angle acquisition module under the fixed stator winding is configured to fix the stator winding of the synchronous motor and obtain the current position angle θ of the stator winding of the synchronous motor through the rotor of the rotary transformer ① 10 ; The motor rotor initial position angle acquisition module under the fixed stator winding is configured to be based on the stator voltage u of the synchronous motor BC The relationship between the waveform and the rotor position angle θ converted by the D / A module is used to obtain the initial rotor position angle θ′0 of the synchronous motor under fixed stator winding; The motor stator winding absolute position angle acquisition module is configured to loosen the stator winding of the synchronous motor and rotate it, and obtain the absolute position angle θ1 of the stator winding of the synchronous motor through the rotor of the rotary transformer ①; A motor rotor initial position angle acquisition module under a rotating stator winding is configured to obtain the rotor initial position angle θ0 of the synchronous motor under a rotating stator winding based on the rotor initial position angle θ′0 of the synchronous motor under a fixed stator winding and the change in the position angle of the stator winding of the synchronous motor between the fixed stator winding and the rotating stator winding; The synchronous motor rotor initial position output module is configured to output the synchronous motor rotor initial position angle θ0 under the rotating stator winding and the synchronous motor current rotor absolute position angle θ2 as the synchronous motor rotor initial position.

7. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to at least one of the processors; wherein, The memory stores instructions executable by the processor, and the instructions are used to be executed by the processor to implement the method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by the computer to implement the method for detecting the initial position of the rotor of a counter-rotating permanent magnet synchronous motor according to any one of claims 1 to 5.

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