Installation deviation angle determination of positioning sensor, motor control method and controller

Abstract

This specification provides a method for determining the installation deviation angle of a positioning sensor, a motor control method, and a controller, relating to the field of motor technology. The method for determining the installation deviation angle includes: under no-load conditions, driving the motor to reach and maintain a preset speed based on signals acquired by multiple positioning sensors; wherein the multiple positioning sensors are located in the motor's magnetic field, and during the motor's rotation, the multiple positioning sensors and the phase coils of the motor are in a relatively stationary state; after maintaining the preset speed for a predetermined time, acquiring the d-axis and q-axis components of the motor drive voltage; and determining the installation deviation angle of the positioning sensor based on the d-axis and q-axis components of the motor drive voltage. This solution eliminates the need to construct a motor neutral point or use an oscilloscope, making the entire process relatively simple; by calculating the installation deviation angle using voltage in the dq coordinate system, it achieves a simple and accurate determination of the installation deviation angle.

Description

Technical Field

[0001] This application relates to the field of motor technology, and in particular to the determination of the installation deviation angle of a positioning sensor, a motor control method, and a controller. Background Technology

[0002] The essence of motor control is to determine, based on the positional relationship between the magnetic field on the rotor (or stator) and the coils of each phase on the stator (rotor), which phase coils need to be energized under various positional relationships, and in what direction the current will provide the appropriate torque to the rotor, so that the motor reaches the target rotation state. Therefore, in the motor control process, it is necessary to determine the positional relationship between the magnetic field in the motor and the coils of each phase. For this purpose, positioning sensors need to be installed on the motor.

[0003] However, positioning sensors have high requirements for installation location, and existing installation processes often fail to meet these requirements, resulting in positional deviations of the positioning sensors. These deviations lead to inaccurate motor control signals. Therefore, a solution is urgently needed to determine the installation deviation of the positioning sensors on the motor. Summary of the Invention

[0004] The purpose of this application is to provide a method for determining the installation deviation angle of a positioning sensor, as well as a motor control and controller, so as to achieve the goal of simply and efficiently determining the installation deviation angle of the positioning sensor on the motor.

[0005] To address the aforementioned technical problems, this specification provides a method for determining the installation deviation angle of a positioning sensor. The positioning sensor includes: driving the motor to reach and maintain a preset speed based on signals acquired by multiple positioning sensors when the motor is unloaded; wherein the multiple positioning sensors are located in the magnetic field of the motor, and during the rotation of the motor, the multiple positioning sensors and the phase coils of the motor are in a relatively stationary state; after maintaining the preset speed for a predetermined time, acquiring the d-axis and q-axis components of the motor driving voltage; and determining the installation deviation angle of the positioning sensor based on the d-axis and q-axis components of the motor driving voltage.

[0006] In some embodiments, the positioning sensor determines the installation deviation angle of the positioning sensor based on the d-axis and q-axis components of the motor drive voltage, including calculating the installation deviation angle of the positioning sensor according to the following formula: Where offset is the installation deviation angle, U d U is the d-axis component of the motor drive voltage. q This represents the q-axis component of the motor drive voltage.

[0007] In some embodiments, determining the installation deviation angle of the positioning sensor based on the d-axis and q-axis components of the motor drive voltage includes: performing low-pass filtering on the acquired d-axis and q-axis components of the motor drive voltage; and determining the installation deviation angle of the positioning sensor based on the low-pass filtered d-axis and q-axis components.

[0008] The second aspect of this specification provides a motor control method, wherein the positioning sensor includes: determining an installation deviation angle of the positioning sensor by means of the method described in any one of the first aspects; adjusting a motor control signal according to the installation deviation angle; and controlling the motor to rotate using the adjusted motor control signal.

[0009] In some embodiments, the positioning sensor controls the rotation of the motor, including: using a vector control method where the d-axis current component is 0 to control the rotation of the motor.

[0010] A third aspect of this specification provides a motor control system, wherein the positioning sensor includes: a motor; a plurality of positioning sensors located in the magnetic field of the motor, and wherein the plurality of positioning sensors and each phase coil of the motor are in a relatively stationary state during the rotation of the motor; and a controller that executes the method described in any of the second aspects.

[0011] In some embodiments, the positioning sensor is a Hall sensor.

[0012] In some embodiments, the number of positioning sensors is three, and the adjacent positioning sensors are separated by an electrical angle of 120°.

[0013] The fourth aspect of this specification provides a controller, in which a positioning sensor includes: a memory and a processor, the processor and the memory being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to implement the steps of the method described in any of the first or second aspects.

[0014] The fifth aspect of this specification provides a computer storage medium for a positioning sensor, the computer storage medium storing computer program instructions, which, when executed, implement the steps of the method described in any one of the first or second aspects.

[0015] The installation deviation angle determination method, motor control, and controller provided in this manual only require driving the motor to reach and maintain a preset speed based on the output signals of multiple positioning sensors under no-load conditions. After the motor stabilizes, the d-axis and q-axis components of the motor drive voltage are obtained. The installation deviation angle of the positioning sensor can then be determined based on these components. There is no need to construct a motor neutral point or use an oscilloscope, making the entire process relatively simple. This solution determines the installation deviation angle of the positioning sensor based on the d-axis and q-axis components of the motor drive voltage, i.e., it uses voltage calculation in the dq coordinate system to calculate the installation deviation angle, thus achieving the goal of simply and accurately determining the installation deviation angle. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This diagram illustrates the first relative position between the magnetic field and the coil of a preset phase during the rotation of the motor.

[0018] Figure 2 This diagram illustrates the second relative position between the magnetic field and the coil of a preset phase during the rotation of the motor.

[0019] Figure 3 A schematic diagram of the position deviation angle is shown;

[0020] Figure 4 A flowchart is shown for a method for determining the installation deviation angle of a positioning sensor provided in this specification;

[0021] Figure 5 A schematic diagram of a motor model is shown;

[0022] Figure 6 A schematic diagram of one installation method for a positioning sensor is shown;

[0023] Figure 7 A schematic diagram of another motor model is shown;

[0024] Figure 8 A schematic diagram showing a positive magnetic field passing through a Hall sensor is shown;

[0025] Figure 9 A schematic diagram showing a reverse magnetic field passing through a Hall sensor is shown;

[0026] Figure 10The diagram illustrates the correspondence between the output signal of a Hall sensor and the direction and intensity of the magnetic field during motor rotation.

[0027] Figure 11 This diagram illustrates the output signals of three Hall sensors during motor rotation.

[0028] Figure 12 A schematic diagram of the sector determined based on the output signals of three Hall sensors is shown.

[0029] Figure 13 A flowchart of the motor control method provided in this specification is shown;

[0030] Figure 14 A schematic block diagram of the controller provided in this specification is shown. Detailed Implementation

[0031] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0032] First, this instruction manual is based on Figure 1 and Figure 2 The motor model shown is an example of a Hall sensor used for positioning. This example illustrates the method for determining the installation deviation angle of the positioning sensor provided in this specification. Based on this example, the core content of the method for determining the installation deviation angle of the positioning sensor provided in this specification is summarized.

[0033] like Figure 1 and Figure 2 As shown, the motor model includes a pair of magnetic poles and three-phase coils. O represents the rotor shaft, which is also the rotation center point of the magnetic poles or three-phase coils. The abc coordinate system is a mechanical coordinate system determined by the position of the rotation center point O and the three-phase (A-phase, B-phase, and C-phase) coils. The dq coordinate system is a magnetic field coordinate system determined by the rotation center point O and the direction of the magnetic field, where the d-axis is parallel to the magnetic field direction of the N-end end, and the q-axis is perpendicular to the d-axis. Since the abc and dq coordinate systems coincide at the rotation center point O, the relative angular position of the A-phase coil and the magnetic field can be determined by the angle between the a-axis in the abc coordinate system and the d-axis in the dq coordinate system. This relative angular position is then used to control whether the three-phase coils are energized and the direction of the current, thereby controlling the motor's rotation.

[0034] Figure 1This diagram illustrates a situation where the angle between the a-axis in the abc coordinate system and the d-axis in the dq coordinate system is 0°. Figure 2 The angle between the a-axis in the abc coordinate system and the d-axis in the dq coordinate system is shown to be... A schematic diagram.

[0035] Since the purpose of Hall sensors is to determine the relative angular positions of each coil with respect to the magnetic field, the Hall sensors are placed at the coils. Under normal circumstances, in the abc coordinate system, the difference between the angular positions of the three-phase Hall sensors and the corresponding angular positions of the phase coils in the abc coordinate system should be a preset value, for example, 0° (i.e.,...). Figure 1 (The situation shown).

[0036] However, due to the uneven installation process, the positioning sensors on the motor generally have installation deviations. This results in the difference between the angular position of each phase Hall sensor in the abc coordinate system and the angular position of the corresponding phase coil in the abc coordinate system not being the preset value, but rather having a deviation value added on top of the preset value.

[0037] When the installation of the three-phase Hall sensor has a deviation value, the inventors conducted the following experiment: using i d The vector control method with =0 drives the motor to reach its rated speed under no-load conditions. After the speed stabilizes, the drive voltage U is recorded. d and U q and to U d and U q Perform low-pass filtering.

[0038] like Figure 3 As shown, in the presence of installation deviation, the relative angular position (i.e., the angular position of the coil of the preset phase in the three-phase coil relative to the direction of the magnetic field) determined by the combination of the output values ​​of the three-phase Hall sensors is expressed as follows: In the absence of this deviation value, the relative angular position (i.e., the angular position of the coil of the preset phase in the three-phase coil relative to the direction of the magnetic field) determined by the combination of the output values ​​of the three-phase Hall sensors is denoted as θ. Therefore, the installation deviation angle is...

[0039] For the above experiment, without considering installation deviations, the driving voltage U d and U q Perform the inverse park transformation, transforming U d and U q The transformation from the dq coordinate system to the αβ coordinate system is as follows:

[0040] U α =U d *cosθ-U q *sinθ

[0041] U β =U d *sinθ+U q *cosθ

[0042] Taking installation deviations into account, for U α and U β Perform a park transformation on U α and U β The transformation from the αβ coordinate system to the dq coordinate system is as follows:

[0043]

[0044]

[0045] The voltage equation for a permanent magnet synchronous motor is:

[0046] Among them, U d U is the d-axis voltage. q I is the q-axis voltage. d I is the d-axis current. q Let R be the q-axis current, R be the stator resistance, and L be the q-axis resistance. d L is the d-axis inductance component. q ω is the q-axis inductance component. e K is the electric angular velocity. E This is the back electromotive force coefficient.

[0047] Under no-load conditions, I d and I q If the voltage approaches 0, then according to the voltage equation of the permanent magnet synchronous motor mentioned above, the d-axis voltage approaches 0 under no-load conditions, which is the same as the above U... d1 ≈0, then Therefore,

[0048] Adjust the installation offset of the three-phase Hall sensor Since the installation offset is not considered when performing the park "inverse" transformation, i.e., θ = 0, we can obtain:

[0049] Based on the above experiments and analysis, this specification proposes a method for determining the installation deviation angle of a positioning sensor, such as... Figure 4 As shown, it includes the following steps:

[0050] S110: When the motor is unloaded, the motor is driven to reach and maintain a preset speed based on the signals obtained by multiple positioning sensors; wherein, the multiple positioning sensors are located in the magnetic field of the motor, and during the rotation of the motor, the multiple positioning sensors and the coils of each phase in the motor are in a relatively stationary state.

[0051] The no-load condition of the motor corresponds to "I" in the above theoretical analysis process. d and I q Approaching 0, thus U d1 ≈0".

[0052] In some embodiments, the motor coils are disposed on the motor stator, and multiple positioning sensors are also disposed on the motor stator. For example, Figure 1 and Figure 2 In the illustrated motor model, the magnetic field rotates while the individual phase coils do not. In some embodiments, the motor coils are disposed on the motor rotor, and multiple positioning sensors are also disposed on the motor rotor. For example, Figure 5 In the motor model shown, each phase coil rotates while the magnetic field does not.

[0053] During motor rotation, multiple positioning sensors and coils remain relatively stationary. In practice, each positioning sensor can be sequentially fixed to the coil. Alternatively, as... Figure 6 As shown, positioning sensors A1, A2, and A3 can also be pre-installed on positioning plate B, and then the positioning plate with the Hall sensor installed can be placed on the stator or rotor. This allows the relative positional relationship between multiple positioning sensors to be predetermined outside the motor, which helps improve the accuracy of the electrical angle between adjacent positioning sensors.

[0054] In some embodiments, the motor has a pair of magnetic poles, such as Figure 1 and Figure 2 ,or Figure 5 As shown.

[0055] In some embodiments, the motor has multiple pairs of magnetic poles. For example, Figure 7 The motor shown has four pairs of magnetic poles. The circle indicated by D represents a squirrel-cage structure with coils wound around each phase. In the case of multiple pairs of magnetic poles, the electrical angle = number of pole pairs × mechanical angle.

[0056] Since the coils of a motor can be installed on either the stator or the rotor, and multiple positioning sensors are in a relatively stationary state with respect to each phase coil during the rotation of the motor, multiple positioning sensors can also be installed on either the stator or the rotor.

[0057] In some embodiments, the positioning sensor may be a Hall sensor. The Hall sensor described in this specification has the following characteristics: Figure 8 As shown, when a positive magnetic field passes through Hall sensor E, Hall sensor E outputs a first signal, for example, outputting 1; Figure 9 As shown, when a reverse magnetic field passes through Hall sensor E, Hall sensor E outputs a second signal, for example, an output of 0. Figure 10 As shown, during the rotation of the rotor, a constantly changing magnetic field passes through a Hall sensor. The changes in the magnetic field include both changes in direction and changes in magnetic field strength. Corresponding to the magnetic field signal with changing direction, the Hall sensor outputs a square wave signal that changes with time.

[0058] Because the multiple positioning sensors differ by a certain electrical angle, the square waves output by the multiple positioning sensors differ by a certain time interval. Figure 11 A schematic diagram shows the square wave signals output by the three positioning sensors installed on the motor.

[0059] according to Figure 11 The rising and falling edges of the square wave signal shown are represented by vertical dashed lines. This allows the square wave signal to be divided into multiple equal parts in time sequence. Based on the output signals of the three positioning sensors in each part, the time interval of each part can be encoded. For example, in the second part, if the output signals of the three positioning sensors are 1, 0, and 1 respectively, then the time interval of this part can be encoded as binary 101, which is decimal 5. The encoding of other parts can be deduced similarly.

[0060] according to Figure 11 As can be seen from the decimal codes marked above, the codes cycle in the order of 5-4-6-2-3-1, with one cycle representing a 360° electrical rotation of the motor. Based on this, the 360° electrical angle can be divided into... Figure 12 The diagram shows six sectors, each corresponding to a state of "each coil relative to the direction of the magnetic field." The motor control signal can be given based on each sector. Therefore, at a certain moment during motor rotation, the sector corresponding to the motor's rotational position can be determined by combining the output signals of multiple positioning sensors. Thus, the control signal required for the motor to continue rotating can be determined based on the control signal corresponding to that sector.

[0061] In some embodiments, the positioning sensor may also employ other positioning sensors besides Hall sensors. For example, a laser may be placed on the N pole of a magnetic field, and multiple photosensitive devices may be placed on a coil. When a photosensitive device is irradiated by the laser, it outputs a first signal (corresponding to the N pole), and when the photosensitive device is not irradiated by the laser, it outputs a second signal (corresponding to the S pole). To distinguish the signals output by different photosensitive devices, the amplitude of the output signals may be set to be different. For example, the amplitudes of the output signals of photosensitive devices F1, F2, and F3 may be 1, 3, and 5, respectively. Thus, the sector can be determined based on the combination of the output signals of the photosensitive devices, and the control signal of the motor can be further determined.

[0062] In some embodiments, there may be 3, 4, 5 or more positioning sensors, and the electrical angle interval between adjacent positioning sensors is 360° / n, where n is the number of positioning sensors.

[0063] In some embodiments, during the process of the drive motor reaching and maintaining a preset speed, a vector control method with a d-axis current component of 0 can be adopted, i.e., i d =0. During the operation of the drive motor, it can be assumed that the installation deviation angle of the positioning sensor is 0.

[0064] Of course, other methods can also be used for motor control.

[0065] The preset speed in this manual can be the rated speed.

[0066] S120: After maintaining the preset speed for a predetermined time, acquire the d-axis and q-axis components of the motor drive voltage.

[0067] Maintain the preset speed for a predetermined time, that is, keep the motor running at the preset speed stably.

[0068] Normally, the d-axis and q-axis components of the drive voltage cannot be directly measured. They can be obtained as follows: Measure the voltage values ​​of each phase of the drive motor, perform a Clark transformation on each phase voltage value, and then perform a Park transformation on the transformation result to obtain u. d and u q .

[0069] S130: Determine the installation deviation angle of the positioning sensor based on the d-axis and q-axis components of the motor drive voltage.

[0070] Based on the above experiments and theoretical analysis, the installation deviation angle of the positioning sensor can be calculated using the following formula: Where offset is the installation deviation angle, U d U is the d-axis component of the motor drive voltage. qThis represents the q-axis component of the motor drive voltage.

[0071] The method for determining the installation deviation angle of the positioning sensor provided in this manual only requires driving the motor to reach and maintain a preset speed based on the output signals of multiple positioning sensors under no-load conditions. After the motor stabilizes, the d-axis and q-axis components of the motor drive voltage are obtained. The installation deviation angle of the positioning sensor can then be determined based on these components. There is no need to construct a motor neutral point or use an oscilloscope, making the entire process relatively simple. This solution determines the installation deviation angle of the positioning sensor based on the d-axis and q-axis components of the motor drive voltage, i.e., it uses voltage calculation in the dq coordinate system to calculate the installation deviation angle, providing a new approach to the calculation of the installation deviation angle.

[0072] In some embodiments, S130 includes: performing low-pass filtering on the d-axis and q-axis components of the acquired motor drive voltage, and determining the installation deviation angle of the positioning sensor based on the low-pass filtered d-axis and q-axis components.

[0073] In some embodiments, before driving the motor to operate at its rated speed, the method further includes S140: determining the installation order of the plurality of positioning sensors. Specifically, the installation order of the positioning sensors can be obtained by dragging the motor to a target angle multiple times at preset angle intervals.

[0074] In some embodiments, after obtaining the installation deviation angle of the positioning sensor, the position of the positioning sensor can be adjusted according to the installation deviation angle.

[0075] In some embodiments, after obtaining the installation deviation angle of the positioning sensor, the control method of the motor can be adjusted according to the installation deviation angle, and the motor rotation can be controlled according to the adjusted control method.

[0076] This manual also provides a motor control method, such as... Figure 13 As shown, it includes the following steps:

[0077] S210: Through Figure 4 The method shown determines the installation deviation angle of the positioning sensor.

[0078] S220: Adjust the motor control signal according to the installation deviation angle.

[0079] S230: The motor rotation is controlled by an adjusted motor control signal.

[0080] In some embodiments, the d-axis current component can be zero, i.e., i d =0 vector control mode, controlling the motor rotation.

[0081] like Figure 1 and Figure 2 As shown, the d-axis is parallel to the magnetic field direction at the N-end, and the q-axis is perpendicular to the d-axis. The force required for the magnetic field to rotate at a given moment originates from the force along the q-axis. Therefore, during the process of controlling the motor's rotation, the control of i... d Only when the value is 0 can the motor control efficiency be maximized.

[0082] In determining the installation deviation angle of the positioning sensor, when the drive motor reaches and maintains the preset speed, it can be assumed that there is no installation deviation angle, and the motor control signal can be directly generated based on the signal output by the positioning sensor. Even when an installation deviation angle exists, the i-axis is still used. d Even with vector control where i=0, the motor can still rotate; it's just that the actual i... d It's not zero; the motor control efficiency isn't at its highest. In fact, according to... Figure 1 and Figure 2 As long as i q Any value other than 0 will allow the motor to rotate.

[0083] The above-described motor control method can automatically determine the installation deviation angle of the positioning sensor after the motor starts, and automatically adjust the motor control signal according to the installation deviation angle, without manual intervention. This motor control method is simple and convenient when there is an installation deviation angle of the positioning sensor.

[0084] This specification provides a motor control system, including a motor, multiple positioning sensors, and a controller. The multiple positioning sensors are located in the magnetic field of the motor, and are relatively stationary to the coils of each phase of the motor. The controller is used to execute... Figure 13 The motor control method shown.

[0085] In some embodiments, the positioning sensor is a Hall sensor.

[0086] In some embodiments, the number of positioning sensors is three, and the adjacent positioning sensors are separated by an electrical angle of 120°.

[0087] This invention also provides a controller, such as... Figure 14 As shown, the controller may include a processor 1401 and a memory 1402, wherein the processor 1401 and the memory 1402 can be connected via a bus or other means. Figure 14 Taking the example of a connection between China and Israel via a bus.

[0088] Processor 1401 may be a central processing unit (CPU). Processor 1401 may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof.

[0089] The memory 1402, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the method for determining the installation deviation angle of the positioning sensor or the motor control method in the embodiments of the present invention. The processor 1401 executes various functional applications and data classification by running the non-transitory software programs, instructions, and modules stored in the memory 1402, thereby implementing the method for determining the installation deviation angle of the positioning sensor or the motor control method in the above method embodiments.

[0090] The memory 1402 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor 1401, etc. Furthermore, the memory 1402 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 1402 may optionally include memory remotely located relative to the processor 1401, and these remote memories may be connected to the processor 1401 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0091] The one or more modules are stored in the memory 1402, and when executed by the processor 1401, they perform the following: Figures 1 to 13 The method for determining the installation deviation angle of the positioning sensor or the motor control method in the illustrated embodiment.

[0092] For specific details about the aforementioned controller, please refer to [link / reference]. Figures 1 to 13 The relevant descriptions and effects in the corresponding embodiments are for reference only and will not be repeated here.

[0093] This specification also provides a computer storage medium storing computer program instructions, which, when executed, implement... Figures 1 to 13 The steps corresponding to the embodiments.

[0094] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0095] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (e.g., a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program a digital system themselves to "integrate" it onto a PLD, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must also be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog2. Those skilled in the art should also understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0096] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, hardware + program embodiments are relatively simple in description because they are fundamentally similar to method embodiments; relevant parts can be referred to the descriptions in the method embodiments.

[0097] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0098] Those skilled in the art will also know that, besides implementing the controller using purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller function as logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices within it used to implement various functions can also be considered structures within that hardware component. Alternatively, the devices used to implement various functions can be considered as both software modules implementing the method and structures within a hardware component.

[0099] The above description is merely an embodiment of the present specification and is not intended to limit the embodiments of the present specification. For those skilled in the art, various modifications and variations can be made to the embodiments of the present specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the embodiments of the present specification should be included within the scope of the claims of the embodiments of the present specification.

Claims

1. A method for determining the installation deviation angle of a positioning sensor, characterized in that, The positioning sensor is installed on the motor to determine the positional relationship between the magnetic field in the motor and each phase coil. The positioning sensor is a Hall sensor. The installation deviation angle is the positional deviation of the positioning sensor on the motor caused by the installation process. The method includes: Determine the installation sequence of multiple positioning sensors; When the motor is unloaded, it is driven to reach and maintain a preset speed based on signals acquired by multiple positioning sensors. These positioning sensors are located within the motor's magnetic field, and during motor rotation, they are relatively stationary to the coils of each phase of the motor. The motor control signal is based on the dq-axis coordinate system determined by the installation sequence. d =0 vector control mode; After maintaining the preset speed for a predetermined time, the motor drive voltage is obtained. Axial components and Axial components; Based on the motor drive voltage Axial components and The axial component is used to determine the installation deviation angle of the positioning sensor.

2. The method according to claim 1, characterized in that, Based on the motor drive voltage Axial components and The axis component is used to determine the installation deviation angle of the positioning sensor, including: The installation deviation angle of the positioning sensor is calculated using the following formula: in, For the installation deviation angle, For motor drive voltage Axial components, For motor drive voltage Axial components.

3. The method according to claim 1, characterized in that, Based on the motor drive voltage Axial components and The axis component, determining the installation deviation angle of the positioning sensor includes: The obtained motor drive voltage Axial components and Low-pass filtering is applied to the axis components; Based on the low-pass filter Axial components and The axial component is used to determine the installation deviation angle of the positioning sensor.

4. A motor control method, characterized in that, include: The installation deviation angle of the positioning sensor is determined by the method according to any one of claims 1 to 3; Adjust the motor control signal according to the installation deviation angle; The motor rotation is controlled by the adjusted motor control signal.

5. The method according to claim 4, characterized in that, Controlling the motor rotation includes: use Vector control mode with zero shaft current component controls motor rotation.

6. A motor control system, characterized in that, include: Electric motor; Multiple positioning sensors are located in the magnetic field of the motor, and during the rotation of the motor, the multiple positioning sensors and each phase coil in the motor are in a relatively stationary state. The controller performs the method described in claim 4 or 5.

7. The system according to claim 6, characterized in that, The positioning sensor is a Hall sensor.

8. The system according to claim 6, characterized in that, The number of positioning sensors is 3, and the adjacent positioning sensors are 120° apart by electrical angle.

9. A controller, characterized in that, include: A memory and a processor, the processor and the memory being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to implement the steps of the method according to any one of claims 1 to 5.

10. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, which, when executed, implement the steps of the method according to any one of claims 1 to 5.

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