Motor rotor position observation method, device, rotor position observer and medium

Abstract

The present invention discloses a motor rotor position observation method, device, rotor position observer, and medium. The method includes: determining six comparison values ​​of three-way modulation when injecting a high-frequency pulse into the motor's d-axis; determining first and second current sampling trigger values ​​based on the comparison value Act22; controlling the motor based on the six comparison values, sampling the motor current based on the first and second current sampling trigger values ​​to obtain first and second sampled currents, and determining the motor's q-axis current based on the first and second sampled currents; determining an effective voltage vector acting after the second current sampling trigger value is triggered based on the second current sampling trigger value and the comparison value Act12; compensating the q-axis current based on the effective voltage vector, and estimating the motor's rotor position based on the compensated q-axis current. Thus, the accuracy of motor rotor position observation can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a motor rotor position observation method, device, rotor position observer and medium. Background Art

[0002] A sensorless motor control method based on high-frequency injection is simple to implement, low-cost, and offers good control performance in low-speed ranges, enabling low-speed load startup of the motor. This method injects periodic positive and negative pulses into the d-axis, samples the high-frequency current response induced by the pulses, and feeds this high-frequency current response into a phase-locked loop (PLL) to estimate the motor's position. Traditional observer methods offer good performance in medium and high-speed ranges but fail to converge at low speeds, making high-frequency injection a valuable approach for practical applications.

[0003] Single-resistor sampling technology uses a sampling resistor on the DC negative bus to sample the current. Sampling is performed twice within a control cycle, during the action time of two effective voltage vectors (i.e., non-zero voltage vectors). After sampling, the phase sequence of the sampled current is determined based on the voltage vector. In single-resistor sampling, to reduce the error caused by sampling the two phases at different times, the two sampling times are generally brought as close together as possible, usually around the time of the second or fifth switching tube operation. However, the sampling point of this sampling method will change, thereby introducing sampling errors. The estimated position calculated using this sampled current often has large errors. Summary of the Invention

[0004] The present invention aims to at least partially address one of the technical problems in the related art. To this end, a first object of the present invention is to provide a method for observing the position of a motor rotor that effectively improves the accuracy of current sampling using a single resistor, thereby improving the accuracy of observing the motor rotor position.

[0005] The second object of the present invention is to provide another method for observing the position of a motor rotor.

[0006] A third object of the present invention is to provide a computer-readable storage medium.

[0007] A fourth object of the present invention is to provide a rotor position observer.

[0008] A fifth object of the present invention is to provide a motor rotor position observation device.

[0009] A sixth object of the present invention is to provide another motor rotor position observation device.

[0010] To achieve the above-mentioned objectives, an embodiment of the first aspect of the present invention proposes a method for observing the rotor position of a motor, comprising: when injecting a high-frequency pulse into the d-axis of the motor, determining six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 of three-way modulation corresponding to the output required voltage vector under single resistor sampling; determining a first current sampling trigger value and a second current sampling trigger value based on the comparison value Act22; controlling the motor based on the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12, and sampling the current of the motor based on the first current sampling trigger value and the second current sampling trigger value to obtain a first sampling current and a second sampling current, and determining the q-axis current of the motor based on the first sampling current and the second sampling current; determining an effective voltage vector that acts after the second current sampling trigger value is triggered based on the second current sampling trigger value and the comparison value Act12; compensating the q-axis current based on the effective voltage vector, and estimating the rotor position of the motor based on the compensated q-axis current.

[0011] According to the motor rotor position observation method of an embodiment of the present invention, by determining the effective voltage vector that acts after the second current sampling trigger value is triggered based on the second current sampling trigger value and the comparison value Act12, compensating the q-axis current based on the effective voltage vector, and estimating the rotor position of the motor using the compensated q-axis current, the sampling current accuracy of single-resistance sampling can be effectively improved, thereby improving the accuracy of motor rotor position observation.

[0012] To achieve the above-mentioned purpose, the second embodiment of the present invention proposes another method for observing the rotor position of a motor, comprising: when injecting a high-frequency pulse into the d-axis of the motor, determining the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 of the three-way modulation corresponding to the output required voltage vector under single resistor sampling; determining the first current sampling trigger value and the second current sampling trigger value according to the comparison value Act21; controlling the motor according to the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12, and sampling the current of the motor according to the first current sampling trigger value and the second current sampling trigger value to obtain the first sampling current and the second sampling current, and determining the q-axis current of the motor according to the first sampling current and the second sampling current; determining the effective voltage vector acting before the first current sampling trigger value is triggered according to the first current sampling trigger value and the comparison value Act11; compensating the q-axis current according to the effective voltage vector, and estimating the rotor position of the motor according to the compensated q-axis current.

[0013] According to the motor rotor position observation method of an embodiment of the present invention, by determining the effective voltage vector acting before the first current sampling trigger value is triggered based on the first current sampling trigger value and the comparison value Act11, compensating the q-axis current based on the effective voltage vector, and estimating the rotor position of the motor based on the compensated q-axis current, the sampling current accuracy of single-resistance sampling can be effectively improved, thereby improving the accuracy of motor rotor position observation.

[0014] To achieve the above-mentioned purpose, the third aspect of the present invention proposes a computer-readable storage medium on which a motor rotor position observation program is stored. When the motor rotor position observation program is executed by a processor, the motor rotor position observation method of the aforementioned first aspect or second aspect is implemented.

[0015] According to the computer-readable storage medium of the embodiment of the present invention, based on the aforementioned motor rotor position observation method, the sampling current accuracy of single-resistance sampling can be effectively improved, thereby improving the accuracy of motor rotor position observation.

[0016] To achieve the above-mentioned objectives, an embodiment of the fourth aspect of the present invention proposes a rotor position observer, comprising a memory, a processor, and a motor rotor position observation program stored in the memory and executable on the processor. When the processor executes the motor rotor position observation program, the motor rotor position observation method of the aforementioned first aspect embodiment or the second aspect embodiment is implemented.

[0017] The rotor position observer according to the embodiment of the present invention, based on the aforementioned motor rotor position observation method, can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the accuracy of motor rotor position observation.

[0018] To achieve the above-mentioned object, a fifth embodiment of the present invention proposes a motor rotor position observation device, comprising: a first determination module, for determining six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 of three-way modulation corresponding to the output required voltage vector under single resistor sampling when a high-frequency pulse is injected into the motor D-axis; a second determination module, for determining a first current sampling trigger value and a second current sampling trigger value according to the comparison value Act22; a control module, for determining a first current sampling trigger value and a second current sampling trigger value according to the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12; 2. Act22 and Act12 control the motor, and sample the current of the motor according to the first current sampling trigger value and the second current sampling trigger value to obtain the first sampling current and the second sampling current, and determine the q-axis current of the motor according to the first sampling current and the second sampling current; a third determination module is used to determine the effective voltage vector that acts after the second current sampling trigger value is triggered according to the second current sampling trigger value and the comparison value Act12; a compensation module is used to compensate the q-axis current according to the effective voltage vector; the control module is also used to estimate the rotor position of the motor according to the compensated q-axis current.

[0019] According to an embodiment of the present invention, the motor rotor position observation device determines the effective voltage vector that acts after the second current sampling trigger value is triggered based on the second current sampling trigger value and the comparison value Act12, compensates the q-axis current based on the effective voltage vector, and estimates the rotor position of the motor based on the compensated q-axis current. This can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the accuracy of motor rotor position observation.

[0020] To achieve the above-mentioned purpose, the sixth embodiment of the present invention proposes another motor rotor position observation device, comprising: a first determination module, for determining six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 of three-way modulation corresponding to the output required voltage vector under single resistor sampling when a high-frequency pulse is injected into the motor d-axis; a second determination module, for determining a first current sampling trigger value and a second current sampling trigger value according to the comparison value Act21; a control module, for determining a first current sampling trigger value and a second current sampling trigger value according to the six comparison values ​​Act11, Act21, Act31, Act 32, Act22, and Act12 control the motor, and sample the current of the motor according to the first current sampling trigger value and the second current sampling trigger value to obtain the first sampling current and the second sampling current, and determine the q-axis current of the motor according to the first sampling current and the second sampling current; a third determination module is used to determine the effective voltage vector acting before the first current sampling trigger value is triggered according to the first current sampling trigger value and the comparison value Act11; a compensation module is used to compensate the q-axis current according to the effective voltage vector; the control module is also used to estimate the rotor position of the motor according to the compensated q-axis current.

[0021] According to an embodiment of the present invention, the motor rotor position observation device determines the effective voltage vector acting before the first current sampling trigger value is triggered based on the first current sampling trigger value and the comparison value Act11, compensates the q-axis current based on the effective voltage vector, and estimates the rotor position of the motor based on the compensated q-axis current. This can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the accuracy of motor rotor position observation.

[0022] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A diagram of a motor control system according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the effect of a sampling current lacking a portion of the effective voltage vector;

[0025] Figure 3a Schematic diagram of the voltage vector and the switch tube operation when a positive voltage pulse is injected at the 0° position according to one embodiment of the present invention;

[0026] Figure 3b Schematic diagram of the voltage vector and the switch tube operation when a negative voltage pulse is injected at the 0° position according to one embodiment of the present invention;

[0027] Figure 4 Schematic diagram of current compensation when positive and negative voltage pulses are injected at the 0° position according to one embodiment of the present invention;

[0028] Figure 5 2 is a flow chart of a method for observing the position of a motor rotor according to an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the effect of an additional effective voltage vector on the sampled current;

[0030] Figure 7a Schematic diagram of the voltage vector and the switch tube operation when a positive voltage pulse is injected at the 0° position according to another embodiment of the present invention;

[0031] Figure 7b Schematic diagram of the voltage vector and the switch tube operation when a negative voltage pulse is injected at the 0° position according to another embodiment of the present invention;

[0032] Figure 8 A schematic flow chart of a method for observing the position of a motor rotor according to another embodiment of the present invention;

[0033] Figure 9 FIG. 1 is a schematic diagram of a motor rotor position observation device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0035] In the process of motor position sensorless vector control, in order to obtain the motor rotor position, periodic positive and negative voltage pulses can be injected into the d-axis, and the high-frequency current response of the q-axis caused by the pulse is sampled. The high-frequency current response is then sent to the phase-locked loop to solve and obtain the motor rotor position. Due to cost considerations, single-resistance sampling technology is usually used to sample the high-frequency current response. The single-resistance sampling technology samples the current by using a sampling resistor on the DC negative bus, such as Figure 1 As shown, the current is sampled through the sampling resistor R on the DC negative bus. During sampling, sampling is required twice within one control cycle, and sampling is performed within the action time of two effective voltage vectors respectively. After the sampling is completed, the phase sequence of the sampled current is determined according to the voltage vector situation to obtain the two-phase current.

[0036] In single-resistor sampling, in order to reduce the error caused by the different sampling times of the two-phase currents, the two sampling times are generally brought as close as possible, usually around the time of the second or fifth switch operation.

[0037] For one of the situations, such as Figure 2 As shown, sampling can be performed before and after the fifth switch tube action moment (i.e., the moment corresponding to the comparison value Act22), that is, sampling can be performed at the moments corresponding to Trig1 and Trig2. Figure 2 It can be seen that the moment corresponding to Trig2 is within the action time of the last effective voltage vector, and in order to ensure that the error caused by different current sampling of the two phases is small, the sampled current will lack the effect of a part of the effective voltage vector, thereby introducing a sampling error. When the voltage vector Uinj is located in different areas, the action time Terr of the missing effective voltage vector (that is, the effective voltage vector within the Terr time has not yet taken effect) is not fixed. In the high-frequency injection algorithm, the injected positive and negative voltage pulses differ by approximately 180°, and the sampling error caused is more obvious. Figure 3a The voltage vector and the schematic diagram of the switch tube action when a positive voltage pulse is injected at the 0° position are given. Figure 3b The schematic diagram of the voltage vector and the switch tube action when a negative voltage pulse is injected at the 0° position is given, as shown in Figure 3a-3bAs shown in the figure, the action time Terr of the effective voltage vector missing when the positive voltage pulse is injected at the 0° position is much longer than the action time Terr of the effective voltage vector missing when the negative voltage pulse is injected at the 0° position. The sampling errors between the two change significantly, which will introduce errors when calculating the rotor position through the high-frequency injection algorithm.

[0038] Based on this, in this application, when current sampling is performed based on the action moment of the fifth switch tube, the error introduced by current sampling is compensated by compensating the sampled current to the moment when the effective voltage vector is fully effective within a control cycle, thereby improving the accuracy of position estimation.

[0039] Specifically, if Figure 4 As shown, in Figure 4 The right half, dotted line is Figure 3a Schematic diagram of the effective voltage vector action in each segment, the dotted line is equivalent to Figure 3a In the figure, the effective voltage vector that has been applied when sampling at the time corresponding to Trig2 is shown, and the solid line is the effective voltage vector that is expected to be applied. There is a large difference between the two. Figure 4 The left half, dotted line is Figure 3b Schematic diagram of the effective voltage vector action in each segment, the dotted line is equivalent to Figure 3b The effective voltage vector that has been applied when sampling at the time corresponding to Trig2 is shown in the figure, and the solid line is the effective voltage vector that is expected to be applied. There is a large difference between the two. Figure 4 The difference of the right half and Figure 4 There is a large change between the differences in the left half, which will introduce an error when calculating the motor rotor position through the high-frequency injection algorithm. Based on this, this application eliminates this error by compensating the sampled current to the black solid point, that is, compensating to the moment when the effective voltage vector is fully effective within a control cycle to eliminate this error and improve the position estimation accuracy.

[0040] Figure 5 FIG. 1 is a flow chart of a method for observing the position of a motor rotor according to an embodiment of the present invention. Figure 5 As shown, the motor rotor position observation method may include the following steps:

[0041] In step S101 , when a high-frequency pulse is injected into the motor d-axis, six comparison values ​​Act11 , Act21 , Act31 , Act32 , Act22 , and Act12 of three-way modulation corresponding to the output voltage vector required under single resistor sampling are determined.

[0042] Specifically, when high-frequency pulses, that is, positive and negative voltage pulses with a higher frequency, are injected into the d-axis of the motor, the comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 of the PWM (Pulse Width Modulation) signals required to control the motor can be first calculated based on single-resistor sampling, where Act11 represents the triangular wave carrier count value corresponding to the first switch tube action moment in the three-phase inverter bridge within a control cycle, Act21 represents the triangular wave carrier count value corresponding to the second switch tube action moment, Act31 represents the triangular wave carrier count value corresponding to the third switch tube action moment, Act32 represents the triangular wave carrier count value corresponding to the fourth switch tube action moment, Act22 represents the triangular wave carrier count value corresponding to the fifth switch tube action moment, and Act12 represents the triangular wave carrier count value corresponding to the sixth switch tube action moment. In the present application, the triangular wave carrier counting method is to increase first and then decrease, and accordingly Act11<Act21<Act31, Act32>Act22>Act12.

[0043] For example, if Figure 3a-Figure 3b As shown, PWM1, PWM2 and PWM3 are Figure 1The PWM control signals of the upper-arm switching tubes VT1, VT3, and VT5 are shown (the PWM control signals of the lower-arm switching tubes VT4, VT6, and VT2 are 180° apart from the PWM control signals of the upper-arm switching tubes VT1, VT3, and VT5). When positive and negative voltage pulses are injected, when the voltage vector is in sector I, the comparison values ​​corresponding to PWM1 are Act11 and Act12, the comparison values ​​corresponding to PWM2 are Act21 and Act22, and the comparison values ​​corresponding to PWM3 are Act31 and Act32, that is, the duty cycle of PWM1 is the maximum value, the duty cycle of PWM2 is the middle value, and the duty cycle of PWM3 is the minimum value; when the voltage vector is in sector II, the comparison values ​​corresponding to PWM1 are Act21 and Act22, and the comparison values ​​corresponding to PWM2 are Act11 and Act22. Act12, the comparison values ​​corresponding to PWM3 are Act31 and Act32, that is, the duty cycle of PWM1 is the middle value, the duty cycle of PWM2 is the maximum value, and the duty cycle of PWW3 is the minimum value; when the voltage vector is in sector III, the comparison values ​​corresponding to PWM1 are Act31 and Act32, the comparison values ​​corresponding to PWM2 are Act11 and Act12, and the comparison values ​​corresponding to PWM3 are Act21 and Act22, that is, the duty cycle of PWM1 is the minimum value, the duty cycle of PWM2 is the maximum value, and the duty cycle of PWW3 is the minimum value. The ratio is the middle value; when the voltage vector is in sector IV, the comparison values ​​corresponding to PWM1 are Act31 and Act32, the comparison values ​​corresponding to PWM2 are Act21 and Act22, and the comparison values ​​corresponding to PWM3 are Act11 and Act12, that is, the duty cycle of PWM1 is the minimum value, the duty cycle of PWM2 is the middle value, and the duty cycle of PWM3 is the maximum value; when the voltage vector is in sector V, the comparison values ​​corresponding to PWM1 are Act21 and Act22, and the comparison values ​​corresponding to PWM2 are Act31 and Act32 , the comparison values ​​corresponding to PWM3 are Act11 and Act12, that is, the duty cycle of PWM1 is the middle value, the duty cycle of PWM2 is the minimum value, and the duty cycle of PWW3 is the maximum value; when the voltage vector is in sector VI, the comparison values ​​corresponding to PWM1 are Act11 and Act12, the comparison values ​​corresponding to PWM2 are Act31 and Act32, and the comparison values ​​corresponding to PWM3 are Act21 and Act22, that is, the duty cycle of PWM1 is the maximum value, the duty cycle of PWM2 is the minimum value, and the duty cycle of PWW3 is the middle value.

[0044] It should be noted that when determining the comparison value of each PWM signal, the determined comparison value is also phase-shifted to ensure that single-resistance sampling is performed within the effective voltage vector action time, thereby ensuring the effectiveness and accuracy of current sampling. When performing the phase-shifting process, the corresponding comparison value is adjusted according to the current sampling stage, t1 / 2, and t2 / 2, so that the smaller value of t1 / 2 and t2 / 2 is greater than the minimum sampling time (it should be noted that t1 is the action time of the first basic voltage vector corresponding to the output of the composite voltage vector Uinj, and t2 is the action time of the second basic voltage vector corresponding to the output of the composite voltage vector Uinj). For example, if Figure 3a As shown in the figure, when current sampling is performed during the falling phase of the triangular wave carrier cycle, t2 / 2 is small. At this time, the high level of PWM3 is shifted to the left, and the corresponding comparison value Act31 decreases and the comparison value Act32 increases. When current sampling is performed during the rising phase of the triangular wave carrier cycle, t2 / 2 is small. At this time, the high level of PWM3 is shifted to the right, and the corresponding comparison value Act31 increases and the comparison value Act32 decreases. Figure 3b As shown, when current sampling is performed in the falling phase of the triangular wave carrier cycle, t1 / 2 is small. At this time, the high level of PWM1 is shifted to the right, and the corresponding comparison value Act11 increases, while the comparison value Act12 decreases; when current sampling is performed in the rising phase of the triangular wave carrier cycle, t1 / 2 is small. At this time, the high level of PWM1 is shifted to the left, and the corresponding comparison value Act11 decreases, while the comparison value Act12 increases.

[0045] Step S102 : determining a first current sampling trigger value and a second current sampling trigger value according to the comparison value Act22 .

[0046] Specifically, in one control cycle, single-resistance sampling can be performed in the rising or falling phase of the triangular wave carrier. Specifically, current sampling can be performed before and after the second or fifth switch tube action moment, that is, current sampling can be performed before and after the moment corresponding to the comparison value Act21 or Act22. Here, current sampling is performed before and after the moment corresponding to the comparison value Act22 to obtain the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2.

[0047] It should be noted that when obtaining the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 according to the comparison value Act22, they can be determined based on the time required for hardware sampling (such as the sampling time of the ADC converter), the dead time (that is, when the PWM signal is output, the time reserved to avoid the upper and lower switches of the same bridge arm from being turned on at the same time, such as the lower arm switch tube can be turned on only after the upper arm switch tube is turned off and the dead time is delayed, or the upper arm switch tube can be turned on only after the lower arm switch tube is turned off and the dead time is delayed), and the current stabilization time after the switch tube is turned on and off (such as the time corresponding to the current gradually rising until it is in a stable state after the switch tube is turned on) to ensure sufficient current sampling time, avoid the dead time and the current unstable time, and ensure the effectiveness and accuracy of current sampling.

[0048] According to one embodiment of the present invention, the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are determined according to the comparison value Act22 by the following formula (1):

[0049]

[0050] It should be noted that if Figure 3a As shown, when obtaining the first current sampling trigger value Trig1 based on the comparison value Act22, only the time Tsample required for hardware sampling needs to be considered. However, when obtaining the second current sampling trigger value Trig2 based on the comparison value Act22, since the moment corresponding to the comparison value Act22 is the moment when the fifth switch tube is actuated, there will be dead time and current rise time. Therefore, current sampling needs to be performed some time after the switch tube is actuated. That is, the dead time Tdead and the time Tup for the current to rise to stability need to be considered to ensure the effectiveness of current sampling.

[0051] In step S103, the motor is controlled according to the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12, and the current of the motor is sampled according to the first current sampling trigger value and the second current sampling trigger value to obtain the first sampling current and the second sampling current, and the q-axis current of the motor is determined according to the first sampling current and the second sampling current.

[0052] Specifically, after obtaining the six comparison values, the motor is also controlled according to the six comparison values, and during the control process, current sampling is performed according to the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2, thereby obtaining the first sampling current and the second sampling current, and the q-axis current of the motor is determined based on the first sampling current and the second sampling current.

[0053] like Figure 3aAs shown, after obtaining six comparison values, if a timer is used to generate a triangular wave carrier, then when the timer count value is equal to the comparison value Act11, the control Figure 1 The upper arm switch VT1 is turned on, the lower arm switch VT6 and VT2 remain on, and the other switch tubes are turned off; when the timer count value is equal to the comparison value Act21, the control Figure 1 The upper arm switch VT3 in the circuit is turned on, the upper arm switch VT1 and the lower arm switch VT2 remain turned on, and the other switches are turned off; when the timer count value is equal to the comparison value Act31, the control Figure 1 The upper arm switch VT5 in the circuit is turned on, the upper arm switch VT1 and VT3 remain on, and the other switch tubes are turned off; when the timer count value is equal to the comparison value Act32, the control Figure 1 The lower bridge arm switch tube VT2 is turned on, the upper bridge arm switch tubes VT1 and VT3 remain turned on, and the other switch tubes are turned off; when the timer count value is equal to the first current sampling trigger value Trig1, Figure 1 The sampling resistor R in the circuit samples the current to obtain the first sampling current; when the timer count value is equal to the comparison value Act22, the control Figure 1 The lower bridge arm switch tube VT6 is turned on, the upper bridge arm switch tube VT1 and the lower bridge arm switch tube VT2 remain turned on, and the other switch tubes are turned off; when the timer count value is equal to the second current sampling trigger value Trig2, Figure 1 The sampling resistor R in the circuit samples the current to obtain the second sampling current; when the timer count value is equal to the comparison value Act12, the control Figure 1 The lower bridge arm switch tube VT4 is turned on, the lower bridge arm switch tubes VT2 and VT6 remain turned on, and the other switch tubes are turned off.

[0054] Therefore, based on the comparison value and the sampling trigger value, the motor can be controlled, and current sampling is performed during the control process to obtain a first sampling current and a second sampling current. Then, the q-axis current of the motor can be determined based on the first sampling current and the second sampling current. Specifically, the third sampling current can be first calculated based on the first sampling current and the second sampling current (calculated based on the sum of the three-phase currents being zero), and then the d-axis current and q-axis current of the motor can be obtained through coordinate transformation based on the first sampling current, the second sampling current and the third sampling current.

[0055] Step S104 , determining an effective voltage vector that acts after the second current sampling trigger value is triggered according to the second current sampling trigger value and the comparison value Act12 .

[0056] Specifically, based on the above analysis, it can be seen that when the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are determined based on the comparison value Act22, the second sampling current obtained by sampling at the second current sampling trigger value Trig2 will lose a part of the effective voltage loss effect, that is, Figure 3a Therefore, after obtaining the second current sampling trigger value Trig2, the effective voltage vector acting after the second current sampling trigger value is triggered is determined according to the second current sampling trigger value Trig2 and the comparison value Act12, that is, the effective voltage vector corresponding to the Terr time.

[0057] like Figure 4 As shown, the difference between the effective voltage vector that has been applied and the effective voltage vector that is expected to be applied is T5 (i.e. Figure 3a The effective voltage vector at the time of Terr in (i.e. Vcomp) is due to the motor rotor position θ e It can be obtained based on the position estimation of the previous control cycle, so the component of the effective voltage vector Vcomp on the q-axis can be calculated. By calculating the current change caused by the effective voltage vector Vcomp on the q-axis, the sampled current can be compensated to the black solid point, and then the position calculation based on the compensated current can effectively improve the accuracy of the position estimation.

[0058] When obtaining the effective voltage vector Vcomp, the time T5, i.e., the action time Terr of the missing effective voltage vector, can be calculated based on the second current sampling trigger value Trig2 and the comparison value Act12. That is, Terr is equal to the difference between the second current sampling trigger value Trig2 and the comparison value Act12. Then, the effective voltage vector Vcomp is obtained based on the difference between the second current sampling trigger value Trig2 and the comparison value Act12, the triangle wave carrier vertex count value, and the DC bus voltage. Specifically, the effective voltage vector Vcomp can be calculated using the following formula (2):

[0059] Vcomp=(2 / 3)*Udc*Terr / Nperiod (2)

[0060] Wherein, Vcomp is the effective voltage vector, Terr is the difference between the second current sampling trigger value Trig2 and the comparison value Act12, that is, Terr=Trig2-Act12, Nperiod is the triangle wave carrier vertex count value, and Udc is the DC bus voltage.

[0061] Step S105 : Compensating the q-axis current according to the effective voltage vector, and estimating the rotor position of the motor according to the compensated q-axis current.

[0062] Specifically, after obtaining the effective voltage vector Vcomp that acts after the second current sampling trigger value Trig2 is triggered, the q-axis current can be compensated based on the effective voltage vector Vcomp, and position observation can be performed based on the compensated q-axis current and d-axis current to obtain a high-precision rotor position, thereby effectively reducing the current sampling error introduced by the single resistor sampling moment. Compensating the q-axis current based on the effective voltage vector includes: determining the q-axis component of the effective voltage vector based on the sector in which the voltage vector is located; and compensating the q-axis current based on the q-axis component of the effective voltage vector. That is, after obtaining the effective voltage vector Vcomp, the sector in which the voltage vector Uinj is located can be first determined, and the q-axis component Vqcomp of the effective voltage vector Vcomp can be determined based on the sector in which the voltage vector Uinj is located. Then, the q-axis current can be compensated based on the q-axis component Vqcomp of the effective voltage vector Vcomp.

[0063] According to one embodiment of the present invention, the q-axis component of the effective voltage vector is determined according to the sector in which the voltage vector is located, including: obtaining a corresponding geometric formula according to the sector in which the voltage vector is located; and determining the q-axis component of the effective voltage vector according to the effective voltage vector, the motor rotor position in the previous control cycle, and the corresponding geometric formula.

[0064] That is to say, when calculating the q-axis component Vqcomp of the effective voltage vector Vcomp, different sectors correspond to different calculation formulas. The calculation formula can be obtained in advance through theoretical analysis. In practical application, the corresponding calculation formula is directly obtained according to the sector where the voltage vector Uinj is located, and then the calculation formula, the effective voltage vector Vcomp and the motor rotor position θ in the previous control cycle are used. e The q-axis component Vqcomp of the effective voltage vector Vcomp is obtained by calculation. Specifically, the q-axis component Vqcomp of the effective voltage vector Vcomp can be obtained by the following method:

[0065] When the voltage vector is located in sectors I, III, and V, Vqcomp = -Vcomp*sin(θ1), where θ1 corresponding to sector I is θ e , θ1 corresponding to sector III is θ e -120°, the θ1 corresponding to sector V is θ e -240°;

[0066] When the voltage vector is located in sectors II, IV, and VI, Vqcomp=Vcomp*sin(60°-θ1), where θ1 corresponding to sector II is θ e -60°, the θ1 corresponding to sector IV is θ e -180°, the θ1 corresponding to sector VI is θ e -300°.

[0067] For example, if Figure 4 As shown in FIG, when the voltage vector Uinj is in sector I, the q-axis component Vqcomp of the effective voltage vector Vcomp can be calculated by the following formula (3):

[0068] Vqcomp=-Vcomp*sinθ e (3)

[0069] Furthermore, after obtaining the q-axis component Vqcomp of the effective voltage vector Vcomp, the q-axis current can be compensated based on the q-axis component Vqcomp of the effective voltage vector Vcomp. Optionally, compensating the q-axis current based on the q-axis component of the effective voltage vector includes: determining a compensation current based on the q-axis component of the effective voltage vector and a motor voltage equation; and superimposing the compensation current on the d-axis current to obtain a compensated d-axis current.

[0070] Specifically, after obtaining the q-axis component Vqcomp of the effective voltage vector Vcomp, the compensation current △Iq can be calculated based on the q-axis component Vqcomp and the motor voltage equation, as shown in the following formula (4):

[0071] ΔIq=Vqcomp / (R+L / (Terr*t)) (4)

[0072] Wherein, △Iq is the compensation current, Vqcomp is the q-axis component of the effective voltage vector, R is the motor resistance, L is the motor inductance, Terr is the difference between the second current sampling trigger value and the comparison value Act12, and t is the counting time interval of the triangle wave carrier.

[0073] Then, the compensated q-axis current can be obtained by adding the compensation current ΔIq to the q-axis current Iq, that is, the compensated q-axis current Iq′=Iq+ΔIq.

[0074] Finally, position observation is performed based on the d-axis current and the compensated q-axis current Iq' to obtain the motor rotor position in the current control cycle.

[0075] The following describes the motor rotor position observation method by taking the example of injecting a positive voltage pulse when the motor is at the 0° position and selecting the falling phase of the triangle wave carrier for single resistor sampling.

[0076] refer to Figure 3aAs shown, first, based on the single resistor sampling calculation, six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 corresponding to the output required voltage vector are obtained, and according to the comparison value Act22, the time required for hardware sampling Tsample, the dead time Tdead, and the time Tup for the current to rise to stability, the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are calculated by the above formula (1). Then, the motor is controlled according to the comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12. During the control process, current sampling is performed when the triangular wave carrier count value is equal to the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2, obtaining the first sampling current Iqsample1 and the second sampling current Iqsample2. The third sampling current Iqsample3 is calculated based on the first sampling current Iqsample1 and the second sampling current Iqsample2, and the d-axis current Id and the q-axis current Iq of the motor are obtained through coordinate transformation based on the first sampling current Iqsample1, the second sampling current Iqsample2, and the third sampling current Iqsample3. Then, the difference Terr between the second current sampling trigger value Trig2 and the comparison value Act12 is obtained, and based on the difference Terr, the triangular wave carrier vertex count value Nperiod corresponding to the current control period, and the DC bus voltage Udc, the effective voltage vector Vcomp after the second current sampling trigger value Trig2 is triggered is calculated using the above formula (2). Next, the corresponding calculation formula is determined according to the sector where the voltage vector is located, such as the above formula (3), and according to the above formula (3), the effective voltage vector Vcomp and the motor rotor position θ of the previous control cycle e The q-axis component Vqcomp of the effective voltage vector Vcomp is calculated. Based on the q-axis component Vqcomp, the difference Terr, and the motor resistance and capacitance parameters, current compensation is performed using the above formula (4) to obtain the compensation current △Iq. The compensation current △Iq is then added to the q-axis current Iq to obtain the compensated q-axis current Iq'. Finally, position observation is performed based on the d-axis current Id and the compensated q-axis current Iq' to obtain the motor rotor position in the current control cycle.

[0077] Therefore, by compensating the sampling current to the moment when the effective voltage vector is fully effective within a control cycle, the error introduced by the current sampling is compensated, and the accuracy of the position estimation is effectively improved. It should be noted that when injecting a negative voltage pulse, the sampling current is also compensated to the moment when the effective voltage vector is fully effective within a control cycle, that is, Figure 4 At the black solid points in , calculating the position based on the compensated current can improve the position estimation accuracy.

[0078] According to the motor rotor position observation method of an embodiment of the present invention, by determining the effective voltage vector acting after the second current sampling trigger value is triggered based on the second current sampling trigger value and the comparison value Act12, compensating the q-axis current based on the effective voltage vector, and estimating the rotor position of the motor based on the compensated q-axis current, the sampling current accuracy of single-resistance sampling can be effectively improved, thereby improving the accuracy of motor rotor position observation. The algorithm is simple and easy to apply in engineering, thereby achieving excellent control performance with low cost advantages.

[0079] For another situation, such as Figure 6 As shown, sampling can be performed before and after the second switch tube action moment (i.e., the moment corresponding to the comparison value Act21), that is, sampling can be performed at the moments corresponding to Trig1 and Trig2. Figure 6 It can be seen that the moment corresponding to Trig1 is within the action time of the first effective voltage vector. In order to ensure that the error caused by the different sampling of the two-phase current is small, the sampled current will have an additional effect of the effective voltage vector, thereby introducing a sampling error. When the voltage vector is located in different areas, the action time Terr of the additional effective voltage vector (that is, the effective voltage vector has taken effect within the Terr time) is not fixed. In the high-frequency injection algorithm, the injected positive and negative voltage pulses differ by approximately 180°, causing a more obvious sampling error. Figure 7a The voltage vector and the schematic diagram of the switch tube action when a positive voltage pulse is injected at the 0° position are given. Figure 7b The schematic diagram of the voltage vector and the switch tube action when a negative voltage pulse is injected at the 0° position is given, as shown in Figures 7a-7b As shown in the figure, the extra effective voltage vector action time Terr when a positive voltage pulse is injected at the 0° position is much longer than the extra effective voltage vector action time Terr when a negative voltage pulse is injected at the 0° position. The sampling errors between the two change significantly, which will introduce errors when calculating the rotor position through the high-frequency injection algorithm.

[0080] Based on this, in this application, when current sampling is performed based on the second switch tube action moment, the current generated by the excess effective voltage vector is removed from the sampled current to compensate for the error introduced by current sampling and improve the accuracy of position estimation.

[0081] Figure 8 FIG. 1 is a flow chart of a method for observing the position of a motor rotor according to another embodiment of the present invention. Figure 8 As shown, the motor rotor position observation method may include the following steps:

[0082] In step S201 , when a high-frequency pulse is injected into the motor d-axis, six comparison values ​​Act11 , Act21 , Act31 , Act32 , Act22 , and Act12 of three-way modulation corresponding to the output voltage vector required under single resistor sampling are determined.

[0083] It should be noted that step S201 is the same as step S101. Please refer to the above for details and will not be repeated here.

[0084] Step S202 : determining a first current sampling trigger value and a second current sampling trigger value according to the comparison value Act21 .

[0085] Specifically, in one control cycle, single-resistance sampling can be performed in the rising or falling phase of the triangular wave carrier. Specifically, current sampling can be performed before and after the second or fifth switch tube action moment, that is, current sampling can be performed before and after the moment corresponding to the comparison value Act21 or Act22. Here, current sampling is performed before and after the moment corresponding to the comparison value Act21 to obtain the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2.

[0086] It should be noted that when obtaining the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 according to the comparison value Act21, they can be determined based on the time required for hardware sampling, the dead time and the current stabilization time after the switch tube is turned on and off, so as to ensure sufficient current sampling time and avoid the dead time and current unstable time, thereby ensuring the effectiveness and accuracy of current sampling.

[0087] According to one embodiment of the present invention, the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are determined according to the comparison value Act21 by the following formula (5):

[0088]

[0089] It should be noted that if Figure 7a As shown, when obtaining the first current sampling trigger value Trig1 based on the comparison value Act21, only the time Tsample required for hardware sampling needs to be considered. However, when obtaining the second current sampling trigger value Trig2 based on the comparison value Act21, since the moment corresponding to the comparison value Act21 is the moment when the second switch tube is actuated, there will be dead time and current rise time. Therefore, current sampling needs to be performed some time after the switch tube is actuated. That is, the dead time Tdead and the time Tup for the current to rise to stability need to be considered to ensure the effectiveness of current sampling.

[0090] In step S203, the motor is controlled according to the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12, and the current of the motor is sampled according to the first current sampling trigger value and the second current sampling trigger value to obtain the first sampling current and the second sampling current, and the q-axis current of the motor is determined according to the first sampling current and the second sampling current.

[0091] It should be noted that step S203 is the same as step S103. Please refer to the above for details and will not be repeated here.

[0092] Step S204 : determining the effective voltage vector acting before the first current sampling trigger value is triggered according to the first current sampling trigger value and the comparison value Act11 .

[0093] Specifically, based on the above analysis, it can be seen that when the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are determined based on the comparison value Act21, the first sampling current obtained by sampling at the first current sampling trigger value Trig1 will have an additional effect of the effective voltage loss, that is, Figure 7a Therefore, after obtaining the first current sampling trigger value Trig1, the effective voltage vector acting before the first current sampling trigger value is triggered, that is, the effective voltage vector corresponding to the Terr time, is determined according to the first current sampling trigger value Trig1 and the comparison value Act11.

[0094] When obtaining the effective voltage vector Vcomp, the T1 time, i.e., the additional effective voltage vector action time Terr, can be calculated based on the first current sampling trigger value Trig1 and the comparison value Act11. That is, Terr is equal to the difference between the first current sampling trigger value Trig1 and the comparison value Act11. Then, the effective voltage vector Vcomp is obtained based on the difference between the first current sampling trigger value Trig1 and the comparison value Act11, the triangle wave carrier vertex count value, and the DC bus voltage. Specifically, the effective voltage vector Vcomp can be calculated using the following formula (6):

[0095] Vcomp=(2 / 3)*Udc*Terr / Nperiod (2)

[0096] Wherein, Vcomp is the effective voltage vector, Terr is the difference between the first current sampling trigger value Trig1 and the comparison value Act11, that is, Terr=Trig1-Act11, Nperiod is the triangle wave carrier vertex count value, and Udc is the DC bus voltage.

[0097] Step S205 , compensating the q-axis current according to the effective voltage vector, and estimating the rotor position of the motor according to the compensated q-axis current.

[0098] Specifically, after obtaining the effective voltage vector Vcomp that is in effect before the first current sampling trigger value Trig1 is triggered, the q-axis current can be compensated based on the effective voltage vector Vcomp, and position observation can be performed based on the compensated q-axis current to obtain a high-precision rotor position, thereby effectively reducing the current sampling error introduced by the single resistor sampling moment. Compensating the q-axis current based on the effective voltage vector includes: determining the q-axis component of the effective voltage vector based on the sector in which the voltage vector is located; and compensating the q-axis current based on the q-axis component of the effective voltage vector. In other words, after obtaining the effective voltage vector Vcomp, the sector in which the voltage vector Uinj is located can be first determined, and the q-axis component Vqcomp of the effective voltage vector Vcomp can be determined based on the sector in which the voltage vector Uinj is located. Then, the q-axis current can be compensated based on the q-axis component Vqcomp of the effective voltage vector Vcomp.

[0099] According to one embodiment of the present invention, the q-axis component of the effective voltage vector is determined according to the sector in which the voltage vector is located, including: obtaining a corresponding geometric formula according to the sector in which the voltage vector is located; and determining the q-axis component of the effective voltage vector according to the effective voltage vector, the motor rotor position in the previous control cycle, and the corresponding geometric formula.

[0100] That is to say, when calculating the q-axis component Vqcomp of the effective voltage vector Vcomp, different sectors correspond to different calculation formulas. The calculation formula can be obtained in advance through theoretical analysis. In practical application, the corresponding calculation formula is directly obtained according to the sector where the voltage vector Uinj is located, and then the calculation formula, the effective voltage vector Vcomp and the motor rotor position θ in the previous control cycle are used. e The q-axis component Vqcomp of the effective voltage vector Vcomp is obtained by calculation. Specifically, the q-axis component Vqcomp of the effective voltage vector Vcomp can be obtained by the following method:

[0101] When the voltage vector is located in sectors I, III, and V, Vqcomp = -Vcomp*sin(θ1), where θ1 corresponding to sector I is θ e , θ1 corresponding to sector III is θ e -120°, the θ1 corresponding to sector V is θ e -240°;

[0102] When the voltage vector is located in sectors II, IV, and VI, Vqcomp=Vcomp*sin(60°-θ1), where θ1 corresponding to sector II is θ e -60°, the θ1 corresponding to sector IV is θ e -180°, the θ1 corresponding to sector VI is θe -300°.

[0103] For example, when the voltage vector Uinj is in sector I, the q-axis component Vqcomp of the effective voltage vector Vcomp can be calculated using the following formula (7):

[0104] Vqcomp=-Vcomp*sinθ e (7)

[0105] Furthermore, after obtaining the q-axis component Vqcomp of the effective voltage vector Vcomp, the q-axis current may be compensated based on the q-axis component Vqcomp of the effective voltage vector Vcomp. Optionally, compensating the q-axis current based on the q-axis component of the effective voltage vector includes: determining a compensation current based on the q-axis component of the effective voltage vector and a motor voltage equation; and subtracting the compensation current from the q-axis current to obtain a compensated q-axis current.

[0106] Specifically, after obtaining the q-axis component Vqcomp of the effective voltage vector Vcomp, the compensation current △Iq can be calculated based on the q-axis component Vqcomp and the motor voltage equation, as shown in the following formula (8):

[0107] ΔIq=Vqcomp / (R+L / (Terr*t)) (8)

[0108] Wherein, △Iq is the compensation current, Vqcomp is the q-axis component of the effective voltage vector, R is the motor resistance, L is the motor inductance, Terr is the difference between the first current sampling trigger value and the comparison value Act11, and t is the counting time interval of the triangle wave carrier.

[0109] Then, the compensated q-axis current can be obtained by subtracting the compensation current ΔIq from the q-axis current Iq, that is, the compensated q-axis current Iq′=Iq1−ΔIq.

[0110] Finally, the position is observed based on the compensated q-axis current Iq1' to obtain the motor rotor position in the current control cycle.

[0111] The following describes the motor rotor position observation method by taking the example of injecting a positive voltage pulse when the motor is at the 0° position and selecting the rising phase of the triangle wave carrier for single resistor sampling.

[0112] refer to Figure 7aAs shown, first, based on the single resistor sampling calculation, six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 corresponding to the output required voltage vector are obtained, and according to the comparison value Act21, the time required for hardware sampling Tsample, the dead time Tdead, and the time Tup for the current to rise to stability, the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2 are calculated by the above formula (5). Then, the motor is controlled according to the comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12. During the control process, current sampling is performed when the triangular wave carrier count value is equal to the first current sampling trigger value Trig1 and the second current sampling trigger value Trig2, obtaining the first sampling current Iqsample1 and the second sampling current Iqsample2. The third sampling current Iqsample3 is calculated based on the first sampling current Iqsample1 and the second sampling current Iqsample2. The d-axis current Id and the q-axis current Iq of the motor are obtained through coordinate transformation based on the first sampling current Iqsample1, the second sampling current Iqsample2, and the third sampling current Iqsample3. Then, the difference Terr between the first current sampling trigger value Trig1 and the comparison value Act11 is obtained, and based on the difference Terr, the triangular wave carrier vertex count value Nperiod corresponding to the current control period, and the DC bus voltage Udc, the effective voltage vector Vcomp before the first current sampling trigger value Trig1 is triggered is calculated using the above formula (6). Next, the corresponding calculation formula is determined according to the sector where the voltage vector is located, such as the above formula (7), and according to the above formula (7), the effective voltage vector Vcomp and the motor rotor position θ of the previous control cycle e The q-axis component Vqcomp of the effective voltage vector Vcomp is calculated. Based on the q-axis component Vqcomp, the difference Terr, and the motor resistance and capacitance parameters, current compensation is performed using the above formula (8) to obtain the compensation current △Iq. The compensation current △Iq is then subtracted from the q-axis current Iq to obtain the compensated q-axis current Iq1'. Finally, position observation is performed based on the compensated q-axis current Iq1' and the d-axis current Id to obtain the motor rotor position in the current control cycle.

[0113] Therefore, by removing the current generated by the excess effective voltage vector from the sampled current to compensate for the error introduced by current sampling, the accuracy of position estimation can be effectively improved. It should be noted that the injection of negative voltage pulses is the same as the injection of positive voltage pulses, and the details will not be repeated here.

[0114] According to the motor rotor position observation method of an embodiment of the present invention, by determining the effective voltage vector acting before the first current sampling trigger value is triggered based on the first current sampling trigger value and the comparison value Act11, compensating the q-axis current based on the effective voltage vector, and estimating the rotor position of the motor based on the compensated q-axis current, the sampling current accuracy of single-resistance sampling can be effectively improved, thereby improving the accuracy of motor rotor position observation. The algorithm is simple and easy to apply in engineering, thereby achieving excellent control performance with low cost advantages.

[0115] An embodiment of the present invention further provides a computer-readable storage medium storing a motor rotor position observation program. When the motor rotor position observation program is executed by a processor, the motor rotor position observation program implements the aforementioned motor rotor position observation method.

[0116] According to the computer-readable storage medium of the embodiment of the present invention, based on the aforementioned motor rotor position observation method, the sampling current accuracy of single-resistance sampling can be effectively improved, thereby improving the accuracy of motor rotor position observation.

[0117] An embodiment of the present invention further provides a rotor position observer, comprising a memory, a processor, and a motor rotor position observation program stored in the memory and executable on the processor. When the processor executes the motor rotor position observation program, the aforementioned motor rotor position observation method is implemented.

[0118] The rotor position observer according to the embodiment of the present invention, based on the aforementioned motor rotor position observation method, can effectively improve the sampling current accuracy of single-resistance sampling, thereby improving the accuracy of motor rotor position observation.

[0119] Figure 9 is a schematic diagram of a motor rotor position observation device according to an embodiment of the present invention, with reference to Figure 9 As shown, the motor rotor position observation device may include: a first determination module 10 , a second determination module 20 , a control module 30 , a third determination module 40 and a compensation module 50 .

[0120] Among them, the first determination module 10 is used to determine the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 of the three-way modulation corresponding to the output required voltage vector under single resistor sampling when injecting a high-frequency pulse into the d-axis of the motor; the second determination module 20 is used to determine the first current sampling trigger value and the second current sampling trigger value based on the comparison value Act22; the control module 30 is used to control the motor based on the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12, and to sample the current of the motor based on the first current sampling trigger value and the second current sampling trigger value to obtain the first sampling current and the second sampling current, and to determine the q-axis current of the motor based on the first sampling current and the second sampling current; the third determination module 40 is used to determine the effective voltage vector that acts after the second current sampling trigger value is triggered based on the second current sampling trigger value and the comparison value Act12; the compensation module 50 is used to compensate the q-axis current based on the effective voltage vector; and the control module 30 is also used to estimate the rotor position of the motor based on the compensated q-axis current.

[0121] Alternatively, the first determination module 10 is used to determine the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 of the three-way modulation corresponding to the output required voltage vector under single resistor sampling when injecting a high-frequency pulse into the d-axis of the motor; the second determination module 20 is used to determine the first current sampling trigger value and the second current sampling trigger value based on the comparison value Act21; the control module 30 is used to control the motor based on the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12, and to sample the current of the motor based on the first current sampling trigger value and the second current sampling trigger value to obtain the first sampled current and the second sampled current, and to determine the q-axis current of the motor based on the first sampled current and the second sampled current; the third determination module 40 is used to determine the effective voltage vector acting before the first current sampling trigger value is triggered based on the first current sampling trigger value and the comparison value Act11; the compensation module 50 is used to compensate the q-axis current based on the effective voltage vector; and the control module 30 is further used to estimate the rotor position of the motor based on the compensated q-axis current.

[0122] It should be noted that, for the description of the motor rotor position observation device in this application, please refer to the description of the motor rotor position observation method in this application, and the details will not be repeated here.

[0123] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0124] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0125] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0126] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0127] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0128] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for observing the position of a motor rotor, characterized in that: include: When injecting a high-frequency pulse into the d-axis of the motor, determine the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 of the three-way modulation corresponding to the output required voltage vector under single-resistance sampling, wherein Act11 represents the triangular wave carrier count value corresponding to the first switch tube action moment in the three-phase inverter bridge within a control cycle, Act21 represents the triangular wave carrier count value corresponding to the second switch tube action moment, Act31 represents the triangular wave carrier count value corresponding to the third switch tube action moment, Act32 represents the triangular wave carrier count value corresponding to the fourth switch tube action moment, Act22 represents the triangular wave carrier count value corresponding to the fifth switch tube action moment, and Act12 represents the triangular wave carrier count value corresponding to the sixth switch tube action moment; Determine a first current sampling trigger value and a second current sampling trigger value according to the comparison value Act22; controlling the motor according to the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12, sampling the current of the motor according to the first current sampling trigger value and the second current sampling trigger value to obtain a first sampling current and a second sampling current, and determining a q-axis current of the motor according to the first sampling current and the second sampling current; Determine an effective voltage vector acting after the second current sampling trigger value is triggered according to the second current sampling trigger value and the comparison value Act12; The q-axis current is compensated according to the effective voltage vector, and the rotor position of the motor is estimated according to the compensated q-axis current.

2. The method according to claim 1, characterized in that The compensating the q-axis current according to the effective voltage vector includes: Determining the q-axis component of the effective voltage vector according to the sector in which the voltage vector is located; The q-axis current is compensated according to the q-axis component of the effective voltage vector.

3. The method according to claim 2, characterized in that Compensating the q-axis current according to the q-axis component of the effective voltage vector includes: Determining a compensation current based on the q-axis component of the effective voltage vector and a motor voltage equation; The compensation current is superimposed on the q-axis current to obtain a compensated q-axis current.

4. The method according to claim 3, characterized in that The compensation current is determined according to the following formula: ΔIq=Vqcomp / (R+L / (Terr*t)) Among them, ΔIq is the compensation current, Vqcomp is the q-axis component of the effective voltage vector, R is the motor resistance, L is the motor inductance, Terr is the difference between the second current sampling trigger value and the comparison value Act12, and t is the counting time interval of the triangular wave carrier.

5. The method according to any one of claims 2 to 4, characterized in that Determining the q-axis component of the effective voltage vector according to the sector in which the voltage vector is located includes: Obtaining a corresponding geometric formula according to the sector where the voltage vector is located; The q-axis component of the effective voltage vector is determined according to the effective voltage vector, the motor rotor position in the previous control cycle, and a corresponding geometric formula.

6. The method according to claim 5, characterized in that The q-axis component of the effective voltage vector is determined as follows: When the sectors where the voltage vector is located are sectors I, III and V, Vqcomp=-Vcomp*sin(θ1), where θ1 corresponding to sector I is θ e , θ1 corresponding to sector III is θ e -120°, the θ1 corresponding to sector V is θ e -240°; When the sectors where the voltage vector is located are sectors II, IV and VI, Vqcomp=Vcomp*sin(60°-θ1), where θ1 corresponding to sector II is θ e -60°, the θ1 corresponding to sector IV is θ e -180°, the θ1 corresponding to sector VI is θ e -300°, Vqcomp is the q-axis component of the effective voltage vector, Vcomp is the effective voltage vector, θ e is the motor rotor position in the previous control cycle.

7. The method according to any one of claims 1 to 4, characterized in that The effective voltage vector is determined according to the following formula: Vcomp=(2 / 3)*Udc*Terr / Nperiod Among them, Nperiod is the triangle wave carrier vertex count value, Vcomp is the effective voltage vector, Udc is the DC bus voltage, and Terr is the difference between the second current sampling trigger value and the comparison value Act12.

8. The method according to any one of claims 1 to 4, characterized in that The first current sampling trigger value and the second current sampling trigger value are determined according to the following formula: Trig1=Act22+Tsample; Trig2 = Act22-Tdead-Tup; Among them, Trig1 is the first current sampling trigger value, Trig2 is the second current sampling trigger value, Tsample is the time required for hardware sampling, Tdead is the dead time, and Tup is the time it takes for the current to rise to stability.

9. A method for observing the position of a motor rotor, characterized in that: include: When injecting a high-frequency pulse into the d-axis of the motor, determine the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 of the three-way modulation corresponding to the output required voltage vector under single-resistance sampling, wherein Act11 represents the triangular wave carrier count value corresponding to the first switch tube action moment in the three-phase inverter bridge within a control cycle, Act21 represents the triangular wave carrier count value corresponding to the second switch tube action moment, Act31 represents the triangular wave carrier count value corresponding to the third switch tube action moment, Act32 represents the triangular wave carrier count value corresponding to the fourth switch tube action moment, Act22 represents the triangular wave carrier count value corresponding to the fifth switch tube action moment, and Act12 represents the triangular wave carrier count value corresponding to the sixth switch tube action moment; Determine a first current sampling trigger value and a second current sampling trigger value according to the comparison value Act21; controlling the motor according to the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12, sampling the current of the motor according to the first current sampling trigger value and the second current sampling trigger value to obtain a first sampling current and a second sampling current, and determining a q-axis current of the motor according to the first sampling current and the second sampling current; Determine, according to the first current sampling trigger value and the comparison value Act11, an effective voltage vector acting before the first current sampling trigger value is triggered; The q-axis current is compensated according to the effective voltage vector, and the rotor position of the motor is estimated according to the compensated q-axis current.

10. The method according to claim 9, characterized in that The compensating the q-axis current according to the effective voltage vector includes: Determining the q-axis component of the effective voltage vector according to the sector in which the voltage vector is located; The q-axis current is compensated according to the q-axis component of the effective voltage vector.

11. The method according to claim 10, characterized in that Compensating the q-axis current according to the q-axis component of the effective voltage vector includes: Determining a compensation current based on the q-axis component of the effective voltage vector and a motor voltage equation; The compensation current is subtracted from the q-axis current to obtain a compensated q-axis current.

12. The method according to claim 11, characterized in that The compensation current is determined according to the following formula: ΔIq=Vqcomp / (R+L / (Terr*t)) Among them, ΔIq is the compensation current, Vqcomp is the q-axis component of the effective voltage vector, R is the motor resistance, L is the motor inductance, Terr is the difference between the first current sampling trigger value and the comparison value Act11, and t is the counting time interval of the triangle wave carrier.

13. The method according to any one of claims 9 to 12, characterized in that Determining the q-axis component of the effective voltage vector according to the sector in which the voltage vector is located includes: Obtaining a corresponding geometric formula according to the sector where the voltage vector is located; The q-axis component of the effective voltage vector is determined according to the effective voltage vector, the motor rotor position in the previous control cycle, and a corresponding geometric formula.

14. The method according to claim 13, characterized in that The q-axis component of the effective voltage vector is determined as follows: When the sectors where the voltage vector is located are sectors I, III and V, Vqcomp=-Vcomp*sin(θ1), where θ1 corresponding to sector I is θ e , θ1 corresponding to sector III is θ e -120°, the θ1 corresponding to sector V is θ e -240°; When the sectors where the voltage vector is located are sectors II, IV and VI, Vqcomp=Vcomp*sin(60°-θ1), where θ1 corresponding to sector II is θ e -60°, the θ1 corresponding to sector IV is θ e -180°, the θ1 corresponding to sector VI is θ e -300°, Vqcomp is the q-axis component of the effective voltage vector, Vcomp is the effective voltage vector, θ e is the motor rotor position in the previous control cycle.

15. The method according to any one of claims 9 to 12, characterized in that The effective voltage vector is determined according to the following formula: Vcomp=(2 / 3)*Udc*Terr / Nperiod Wherein, Nperiod is the vertex count value of the triangle wave carrier, Vcomp is the effective voltage vector, Udc is the DC bus voltage, and Terr is the difference between the first current sampling trigger value and the comparison value Act11.

16. The method according to any one of claims 9 to 12, characterized in that The first current sampling trigger value and the second current sampling trigger value are determined according to the following formula: Trig1 = Act21 - Tsample; Trig2=Act21+Tdead+Tup; Among them, Trig1 is the first current sampling trigger value, Trig2 is the second current sampling trigger value, Tsample is the time required for hardware sampling, Tdead is the dead time, and Tup is the time it takes for the current to rise to stability.

17. A computer-readable storage medium, characterized in that A motor rotor position observation program is stored thereon, and when the motor rotor position observation program is executed by the processor, the motor rotor position observation method according to any one of claims 1-8 or the motor rotor position observation method according to any one of claims 9-16 is implemented.

18. A rotor position observer, characterized in that: The invention comprises a memory, a processor and a motor rotor position observation program stored in the memory and executable on the processor. When the processor executes the motor rotor position observation program, the motor rotor position observation method according to any one of claims 1 to 8 or the motor rotor position observation method according to any one of claims 9 to 16 is implemented.

19. A motor rotor position observation device, characterized in that: include: a first determination module, configured to determine, when a high-frequency pulse is injected into the d-axis of the motor, six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 of three-way modulation corresponding to the output voltage vector required under single resistor sampling, wherein Act11 represents the triangular wave carrier count value corresponding to the first switching tube action moment in the three-phase inverter bridge within a control cycle, Act21 represents the triangular wave carrier count value corresponding to the second switching tube action moment, Act31 represents the triangular wave carrier count value corresponding to the third switching tube action moment, Act32 represents the triangular wave carrier count value corresponding to the fourth switching tube action moment, Act22 represents the triangular wave carrier count value corresponding to the fifth switching tube action moment, and Act12 represents the triangular wave carrier count value corresponding to the sixth switching tube action moment; a second determining module, configured to determine a first current sampling trigger value and a second current sampling trigger value according to the comparison value Act22; a control module, configured to control the motor according to the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12, perform current sampling on the motor according to the first current sampling trigger value and the second current sampling trigger value to obtain a first sampled current and a second sampled current, and determine a q-axis current of the motor according to the first sampled current and the second sampled current; a third determining module, configured to determine an effective voltage vector acting after the second current sampling trigger value is triggered according to the second current sampling trigger value and a comparison value Act12; a compensation module, configured to compensate the q-axis current according to the effective voltage vector; The control module is further configured to estimate the rotor position of the motor according to the compensated q-axis current.

20. A motor rotor position observation device, characterized in that: include: a first determination module, configured to determine, when injecting a high-frequency pulse into the d-axis of the motor, six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12 of three-way modulation corresponding to the output required voltage vector under single resistor sampling, wherein Act11 represents the triangular wave carrier count value corresponding to the first switching tube action moment in the three-phase inverter bridge within a control cycle, Act21 represents the triangular wave carrier count value corresponding to the second switching tube action moment, Act31 represents the triangular wave carrier count value corresponding to the third switching tube action moment, Act32 represents the triangular wave carrier count value corresponding to the fourth switching tube action moment, Act22 represents the triangular wave carrier count value corresponding to the fifth switching tube action moment, and Act12 represents the triangular wave carrier count value corresponding to the sixth switching tube action moment; a second determining module, configured to determine a first current sampling trigger value and a second current sampling trigger value according to the comparison value Act21; a control module, configured to control the motor according to the six comparison values ​​Act11, Act21, Act31, Act32, Act22, and Act12, perform current sampling on the motor according to the first current sampling trigger value and the second current sampling trigger value to obtain a first sampled current and a second sampled current, and determine a q-axis current of the motor according to the first sampled current and the second sampled current; a third determining module, configured to determine an effective voltage vector acting before the first current sampling trigger value is triggered according to the first current sampling trigger value and a comparison value Act11; a compensation module, configured to compensate the q-axis current according to the effective voltage vector; The control module is further configured to estimate the rotor position of the motor according to the compensated q-axis current.

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