A method for detecting the initial electrical angle position of a motor rotor, a storage medium and a detection device

Abstract

The present invention discloses a method for detecting the initial electrical angle position of a motor rotor, comprising: obtaining rotor position data θ1; obtaining rotor position data θ2; judging whether a judgment threshold condition is met; if the condition is met, detecting that the initial electrical angle position θ0 of the motor rotor is θ1 or θ2; obtaining the electrical angle θ of the motor rotor at any position through the initial electrical angle position θ0 of the motor rotor e The present invention also discloses a storage medium and a device for detecting the initial electrical angle position of a motor rotor.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a storage medium and a detection device for a method of detecting an initial electrical angle position of a motor rotor. Background Art

[0002] The driving motor used in the control system of traditional ground-based large-aperture telescopes is usually a brushed DC motor. As the aperture of the telescope continues to increase, a motor with greater driving capability is required. However, the traditional brushed DC motor can no longer meet the current design requirements of the control system of ground-based large-aperture telescopes. Therefore, AC permanent magnet synchronous motors with high power density and reliable performance have begun to be used in telescope control systems. However, the first important problem faced by the application of AC motors in telescope control systems is how to determine the initial electrical angle of the motor rotor, so as to achieve rapid closed-loop control of the motor current. In order to solve the above problems, there are methods in the prior art that use Hall elements in combination with encoders, or use magnetic pole search algorithms. However, the disadvantages of the above methods are high system cost, poor accuracy in detecting the initial electrical angle of the motor rotor, and even electrical angle detection errors and serious faults such as motor reversal. Therefore, in view of the above problems, it is necessary to provide a detection method with higher detection accuracy. Summary of the invention

[0003] The present invention aims to overcome the defects of the prior art, and the present invention adopts the following technical solutions:

[0004] In one aspect, the present invention provides a method for detecting the initial electrical angle position of a motor rotor. The method for detecting the initial electrical angle position of a motor rotor comprises:

[0005] S1, connect the A phase of the three-phase motor to the positive terminal of the DC power supply, and connect the B phase to the negative terminal of the DC power supply; S2, turn on the DC power supply to obtain the rotor position data θ1; disconnect the DC power supply and rotate the rotor to any position;

[0006] S3, connect the DC power supply to obtain the rotor position data θ2; disconnect the DC power supply and rotate the rotor to any position;

[0007] S4, determine whether the conditions are met: Among them, θN is the total code value of the encoder full circle count, p is the number of motor pole pairs, % is the integer operation, N is the nearest positive integer, and δ is the judgment threshold;

[0008] S5, if it is determined that step S4 does not meet the condition, repeat steps S2 and S3 until step S4 meets the condition;

[0009] S6, if it is determined that step S4 satisfies the condition, then the initial electrical angle position θ0 of the motor rotor is detected and obtained, wherein θ0 is any one of θ1 and θ2;

[0010] S7, obtaining the electrical angle θ of the motor rotor at any position through the initial electrical angle position θ0 of the motor rotor e .

[0011] In some embodiments, the DC power supply is a DC switching power supply, the A phase is connected to the positive terminal of the DC power supply, and the B phase and the C phase of the three-phase motor are connected in parallel to the negative terminal of the DC power supply;

[0012] The current flows into the A phase of the motor, and is output from the B phase and the C phase.

[0013] In some embodiments, the DC power supply satisfies the following conditions:

[0014]

[0015] Among them, U dc is the output voltage of the DC power supply, R is the phase resistance of the AC motor, I out is the maximum current output by the DC power supply, I N is the rated current of the motor.

[0016] In some embodiments, the electrical angle of the motor rotor at any position is:

[0017] θ e =2πp(θ-θ0) / θ N ;

[0018] Among them, θ is the encoder reading at the current moment.

[0019] In some embodiments, the DC power supply is a DC switching power supply, the A phase is connected to the positive terminal of the DC power supply, and the B phase of the three-phase motor is connected to the negative terminal of the DC power supply;

[0020] The current flows into the A phase of the motor and is output from the B phase.

[0021] In some embodiments, the electrical angle of the motor rotor at any position is:

[0022] θ e =2πp(θ-θ0) / θ N -π / 6;

[0023] Among them, θ is the encoder reading at the current moment.

[0024] In some embodiments, the motor is a three-phase AC motor, and the judgment threshold value is 0.01.

[0025] In some embodiments, the position data of the rotor is acquired by an absolute position encoder.

[0026] In a second aspect, the present invention further provides a storage medium storing a computer program, which, when executed by one or more processors, implements the method for detecting the initial electrical angle position of a motor rotor as described above.

[0027] In a third aspect, the present invention further provides a device for detecting the initial electrical angle position of a motor rotor, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method for detecting the initial electrical angle position of the motor rotor as described above is executed.

[0028] Technical effect of the present invention: The motor rotor initial electrical angle position detection method, storage medium and motor rotor initial electrical angle position detection device disclosed in the present invention obtain the position information of the rotor by connecting and disconnecting the DC power supply to the three-phase motor, and obtain the value of the motor rotor initial electrical angle by judging the rotor position information, and calculate the electrical angle of the motor rotor at any position. The motor rotor initial electrical angle position detection method, storage medium and motor rotor initial electrical angle position detection device disclosed in the present invention can effectively improve the detection accuracy of the motor rotor electrical angle, realize fast closed-loop control of the motor current, and shorten the debugging cycle of the control system while improving the closed-loop control performance of the motor current. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 A schematic diagram of a flow chart of a method for detecting an initial electrical angle position of a motor rotor according to an embodiment of the present invention;

[0031] Figure 2 A diagram showing a telescope AC motor drive control structure according to an embodiment of the present invention;

[0032] Figure 3 A current vector diagram of the initial electrical angle detection of the motor rotor based on three-phase current according to an embodiment of the present invention;

[0033] Figure 4 A flow chart of detecting the initial electrical angle of a motor rotor based on three-phase current according to an embodiment of the present invention;

[0034] Figure 5 A current vector diagram of motor rotor initial electrical angle detection based on two-phase current according to an embodiment of the present invention;

[0035] Figure 6 The figure is a flow chart of detecting the initial electrical angle of a motor rotor based on two-phase current according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0037] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0038] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0039] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0040] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0041] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0042] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0043] The present invention will be described in detail below in conjunction with the various embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0044] The inventor of the present application has found that the existing detection of the initial electrical angle position of the motor rotor usually adopts the method of combining the Hall element with the encoder, or adopts the magnetic pole search algorithm. The disadvantages of the above methods are high system cost, poor accuracy of the initial electrical angle detection of the motor, and even electrical angle detection errors and serious faults such as motor reversal. Therefore, it is necessary to provide a method for detecting the initial electrical angle position of the motor rotor with higher detection accuracy.

[0045] The embodiment of the present invention provides a method for detecting the initial electrical angle position of a motor rotor. Figure 1 As shown, the motor rotor initial electrical angle position detection method includes:

[0046] S1, connect the A phase of the three-phase motor to the positive terminal of the DC power supply, and the B phase to the negative terminal of the DC power supply; S2, turn on the DC power supply and obtain the rotor position data θ1; disconnect the DC power supply and rotate the rotor to any position;

[0047] S3, connect the DC power supply to obtain the rotor position data θ2; disconnect the DC power supply and rotate the rotor to any position;

[0048] S4, determine whether the conditions are met: Among them, θ N is the total code value of the encoder full circle count, p is the number of motor pole pairs, % is the integer operation, N is the nearest positive integer, and δ is the judgment threshold;

[0049] S5, if it is determined that step S4 does not meet the condition, repeat steps S2 and S3 until step S4 meets the condition;

[0050] S6, if it is determined that step S4 satisfies the condition, then the initial electrical angle position θ0 of the motor rotor is detected and obtained, wherein θ0 is any one of θ1 and θ2;

[0051] S7, obtaining the electrical angle θ of the motor rotor at any position through the initial electrical angle position θ0 of the motor rotor e .

[0052] In some embodiments, the DC power supply is a DC switching power supply, the A phase is connected to the positive terminal of the DC power supply, and the B phase and the C phase of the three-phase motor are connected in parallel to the negative terminal of the DC power supply;

[0053] The current flows into the A phase of the motor, and is output from the B phase and the C phase.

[0054] In some embodiments, the DC power supply satisfies the following conditions:

[0055]

[0056] Among them, U dc is the output voltage of the DC power supply, R is the phase resistance of the AC motor, I out is the maximum current output by the DC power supply, I N is the rated current of the motor.

[0057] In some embodiments, the electrical angle of the motor rotor at any position is:

[0058] θ e =2πp(θ-θ0) / θ N ;

[0059] Among them, θ is the encoder reading at the current moment.

[0060] In some embodiments, the DC power supply is a DC switching power supply, the A phase is connected to the positive terminal of the DC power supply, and the B phase of the three-phase motor is connected to the negative terminal of the DC power supply;

[0061] The current flows into the A phase of the motor and is output from the B phase.

[0062] In some embodiments, the electrical angle of the motor rotor at any position is:

[0063] θ e =2πp(θ-θ0) / θ N -π / 6;

[0064] Among them, θ is the encoder reading at the current moment.

[0065] In some embodiments, the motor is a three-phase AC motor, and the judgment threshold value is 0.01.

[0066] In some embodiments, the position data of the rotor is acquired by an absolute position encoder.

[0067] The following is an explanation through specific embodiments.

[0068] The motor is a three-phase AC drive motor used in telescopes. Figure 2 As shown in the figure, the rotation control of the AC motor in this control architecture is mainly achieved through a vector algorithm. The key in the vector algorithm is how to obtain the motor rotor electrical angle position θ required for Park transform and Park inverse transform. e , the initial electrical angle position detection method of the motor rotor will be introduced in detail below.

[0069] The first is the motor rotor initial electrical angle detection method based on three-phase current. This method is to connect the A phase of the AC motor to the positive end of the DC power supply, and the B phase and C phase are connected in parallel to the negative end of the DC power supply. The current input direction of the coil is defined as positive, and the current output direction is negative. Therefore, the current vector diagram of the motor rotor initial electrical angle detection method based on three-phase current is as follows: Figure 4 As shown. The current I of phase A a is the positive current vector, the current of phase B and phase C is -I b and-I c is a negative current vector; ideally, the resistance of the B-phase and C-phase coils of the motor are equal, that is, -I b =-I c , so the composite current vector of phase B and phase C is d The current I of phase A a The A-phase current vector angle is defined as 0°, so the motor rotor initial electrical angle obtained by the motor rotor initial electrical angle detection method based on three-phase current is 0°.

[0070] It should be noted that the DC power supply used in the above method needs to meet the following conditions:

[0071]

[0072] Among them, U dc is the output voltage of the DC power supply, R is the phase resistance of the AC motor, I out is the maximum current output by the DC power supply, and IN is the rated current of the motor.

[0073] In order to overcome the friction torque of the telescope turntable shaft system, the voltage of the DC power supply should satisfy U dc / 2R is greater than 0.1IN to ensure that the motor rotor can completely overcome the friction torque and accurately lock to the magnetic pole position; in addition, in order to avoid overheating or even damage to the motor caused by long-term power supply of the motor coil, the voltage of the DC power supply should also meet U dc / 2R is less than 0.5IN .

[0074] In this embodiment, the telescope turntable is fixedly connected to the rotor of the motor and is driven to move by the rotor.

[0075] The flow chart of the motor rotor initial electrical angle detection based on three-phase current is as follows: Figure 4 As shown, the specific steps of the detection are as follows:

[0076] (1) Phase A of the motor is connected to the positive terminal of the DC power supply, and phases B and C are connected in parallel to the negative terminal of the DC power supply;

[0077] (2) When the DC power supply is turned on, current will flow into the motor from phase A and out from phases B and C;

[0078] (3) Driven by the electric current, the telescope turret will swing around the magnetic pole position and gradually tend to a stationary state. When the telescope turret is stationary, the position data θ1 of the absolute encoder is recorded.

[0079] (4) Disconnect the DC power supply and move the telescope turntable to any position;

[0080] (5) When the DC power supply is turned on, current will flow into the motor from phase A and out from phases B and C;

[0081] (6) Driven by the current, the telescope turret will swing around the magnetic pole position and gradually tend to a stationary state. When the telescope turret is stationary, the position data θ2 of the absolute encoder is recorded;

[0082] (7) Disconnect the DC power supply and move the telescope turntable to any position;

[0083] (8)Judgment Among them, θ N is the total code value of the encoder full circle count, p is the number of motor pole pairs, % is the integer operation, N is the nearest positive integer, δ is the judgment threshold, usually 0.01.

[0084] (9) If step (8) does not meet the condition, repeat the operation from step (2) until step (8) meets the condition;

[0085] (10) If step (8) satisfies the condition, the initial electrical angle position θ0 of the rotor of the motor can be any one of θ1 and θ2;

[0086] (11) After obtaining the initial electrical angle position θ0 of the motor rotor, the electrical angle of the motor rotor at any position is θ e =2πp(θ-θ0) / θ N ; Among them, θ is the encoder reading at the current moment;

[0087] (12) Using the electrical angle θ of the motor rotor at any position e , the vector control algorithm based on Park transform and Park inverse transform can be calculated to achieve current closed-loop control of the AC motor.

[0088] In this embodiment, the premise of the motor rotor initial electrical angle detection method based on three-phase current is that the resistance of phase B and phase C are equal. If there is a deviation between the two phase resistances, the current vector Id synthesized by them is different from the current Id of phase A. a They will not completely overlap, and an angle Δθ will appear, such as Figure 3 As shown in the figure, the greater the difference in resistance between phase B and phase C, the greater the angle Δθ will be, which will cause a deviation in the actual electrical angle position of the motor rotor, resulting in a loss of motor output torque and failure to achieve optimal drive performance.

[0089] In order to further optimize the motor rotor initial electrical angle detection method based on three-phase current, an embodiment of the present invention further provides a motor rotor initial electrical angle detection method based on two-phase current. In this method, the A phase of the AC motor is connected to the positive end of the DC power supply, and the B phase is connected to the negative end of the DC power supply. Regardless of whether the A phase and B phase coil resistances of the motor are equal, the current flowing through them is always the same. Therefore, the detection method based on two-phase current has higher motor rotor detection accuracy and can further improve the motor current closed-loop control performance. The current input direction of the coil is defined as positive, and the current output direction is defined as negative. Therefore, the current vector diagram of the motor rotor initial electrical angle detection method based on two-phase current is as follows: Figure 5 As shown. The current I of phase A a is a positive current vector, the current of phase B is -I b The current vector is negative, and the A-phase current vector angle is defined as 0°. Therefore, the initial electrical angle of the motor rotor obtained by the motor rotor initial electrical angle detection method based on two-phase current is -30°.

[0090] The DC power supply used in the motor rotor initial electrical angle detection method based on two-phase current should also meet the following conditions:

[0091]

[0092] Among them, U dc is the output voltage of the DC power supply, R is the phase resistance of the AC motor, I out is the maximum current output by the DC power supply, I N is the rated current of the motor.

[0093] In order to overcome the friction torque of the telescope turntable shaft system, the voltage of the DC power supply should satisfy U dc / 2R greater than 0.1I N, to ensure that the motor rotor can completely overcome the friction torque and accurately lock to the magnetic pole position; in addition, in order to avoid overheating or even damage to the motor caused by long-term power supply of the motor coil, the voltage of the DC power supply should also meet U dc / 2R is less than 0.5I N .

[0094] The flow chart of the motor rotor initial electrical angle detection based on two-phase current is as follows: Figure 6 As shown, the specific steps of the detection are as follows:

[0095] (1) The A phase of the motor is connected to the positive terminal of the DC power supply, and the B phase is connected to the negative terminal of the DC power supply;

[0096] (2) When the DC power supply is turned on, current will flow into the motor from phase A and out from phase B;

[0097] (3) Driven by the electric current, the telescope turret will swing around the magnetic pole position and gradually tend to a stationary state. When the telescope turret is stationary, the position data θ1 of the absolute encoder is recorded.

[0098] (4) Disconnect the DC power supply and move the telescope turntable to any position;

[0099] (5) When the DC power supply is turned on, current will flow into the motor from phase A and out from phase B;

[0100] (6) Driven by the current, the telescope turret will swing around the magnetic pole position and gradually tend to a stationary state. When the telescope turret is stationary, the position data θ2 of the absolute encoder is recorded;

[0101] (7) Disconnect the DC power supply and move the telescope turntable to any position;

[0102] (8)Judgment Among them, θ N is the total code value of the encoder full circle count, p is the number of motor pole pairs, % is the integer operation, N is the nearest positive integer, δ is the judgment threshold, usually 0.01;

[0103] (9) If step (8) does not meet the condition, repeat the operation from step (2) until step (8) meets the condition;

[0104] (10) If step (8) satisfies the condition, the initial electrical angle position θ0 of the rotor of the motor can be any one of θ1 and θ2;

[0105] (11) After obtaining the initial electrical angle position θ0 of the motor rotor, the electrical angle of the motor rotor at any position is θ e =2πp(θ-θ0) / θ N -π / 6; where θ is the encoder reading at the current moment;

[0106] (12) Using the electrical angle θ of the motor rotor at any position e , the vector control algorithm based on Park transform and Park inverse transform can be calculated to achieve current closed-loop control of the AC motor.

[0107] The embodiment of the present invention provides a method for detecting the initial electrical angle position of a rotor of a ground-based large-aperture telescope motor, which can effectively improve the rotor electrical angle detection accuracy of the telescope drive motor, realize fast closed-loop control of the motor current, and shorten the debugging cycle of the control system while improving the closed-loop control performance of the motor current.

[0108] The present invention also provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by one or more processors, the method for detecting the initial electrical angle position of the motor rotor as described above is implemented.

[0109] The present invention also provides a device for detecting the initial electrical angle position of a motor rotor, which includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the method for detecting the initial electrical angle position of the motor rotor as described above is executed.

[0110] The storage medium of the motor rotor initial electrical angle position detection method and the beneficial effects of the motor rotor initial electrical angle position detection device are consistent with the above-mentioned motor rotor initial electrical angle position detection method, and will not be repeated here.

[0111] Beneficial effects of the embodiments of the present invention: The motor rotor initial electrical angle position detection method and storage medium and the motor rotor initial electrical angle position detection device disclosed in the embodiments of the present invention obtain the position information of the rotor by connecting and disconnecting the DC power supply to the three-phase motor, and obtain the value of the motor rotor initial electrical angle by judging the rotor position information, and calculate the electrical angle of the motor rotor at any position. The motor rotor initial electrical angle position detection method, storage medium and motor rotor initial electrical angle position detection device disclosed in the present invention can effectively improve the detection accuracy of the motor rotor electrical angle, realize fast closed-loop control of the motor current, and shorten the debugging cycle of the control system while improving the closed-loop control performance of the motor current.

[0112] The motor rotor initial electrical angle position detection method disclosed in the embodiment of the present invention combines an absolute position encoder to perform motor electrical angle detection, which simplifies the operation process and can effectively improve the rotor electrical angle detection accuracy of the telescope drive motor, thereby reducing torque loss and improving the motor current closed-loop control performance.

[0113] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0114] In the description of the present invention, it should be understood that the symbols such as parameters, variables and program names mentioned in the embodiments of the present invention can be replaced by any other codes that will not cause confusion.

[0115] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0116] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0117] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0118] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0119] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0120] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0121] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for detecting the initial electrical angle position of a motor rotor, characterized in that: Includes steps: S1, connecting the A phase of the three-phase motor to the positive terminal of the DC power supply, and the B phase to the negative terminal of the DC power supply; or, connecting the A phase to the positive terminal of the DC power supply, and connecting the B phase and the C phase of the three-phase motor to the negative terminal of the DC power supply in parallel; S2, turn on the DC power supply to obtain the rotor position data θ1; turn off the DC power supply and rotate the rotor to any position; S3, connect the DC power supply to obtain the rotor position data θ2; disconnect the DC power supply and rotate the rotor to any position; S4, determine whether the conditions are met: Among them, θ N is the total code value of the encoder full circle count, p is the number of motor pole pairs, % is the integer operation, N is the nearest positive integer, δ is the judgment threshold; the value of the judgment threshold is 0.01; S5, if it is determined that step S4 does not meet the condition, repeat steps S2 and S3 until step S4 meets the condition; S6, if the condition of step S4 is satisfied, the initial electrical angle position θ0 of the motor rotor is detected and obtained, wherein θ0 is any one of θ1 and θ2; S7, obtain the electrical angle θ of the motor rotor at any position through the initial electrical angle position θ0 of the motor rotor e ; The DC power supply meets the following conditions: Among them, U dc is the output voltage of the DC power supply, R is the phase resistance of the AC motor, I out is the maximum current output by the DC power supply, I N is the rated current of the motor.

2. The method for detecting the initial electrical angle position of a motor rotor according to claim 1, characterized in that: The DC power supply is a DC switching power supply. When the A phase is connected to the positive end of the DC power supply, and the B phase and C phase of the three-phase motor are connected in parallel to the negative end of the DC power supply, current flows into the A phase of the motor, and the B phase and the C phase output.

3. The method for detecting the initial electrical angle position of a motor rotor according to claim 1, characterized in that: The electrical angle of the motor rotor at any position is: i e =2πp(θ-θ0) / θ N ; Among them, θ is the encoder reading at the current moment.

4. The method for detecting the initial electrical angle position of a motor rotor according to claim 1, characterized in that: The DC power supply is a DC switching power supply. When the A phase is connected to the positive terminal of the DC power supply and the B phase of the three-phase motor is connected to the negative terminal of the DC power supply, current flows into the A phase of the motor and is output from the B phase.

5. The method for detecting the initial electrical angle position of a motor rotor according to claim 4, characterized in that: The electrical angle of the motor rotor at any position is: i e =2πp(θ-θ0) / θ N -π / 6; Among them, θ is the encoder reading at the current moment.

6. The method for detecting the initial electrical angle position of a motor rotor according to claim 1, characterized in that: The motor is a three-phase AC motor.

7. The method for detecting the initial electrical angle position of a motor rotor according to claim 1, characterized in that: The position data of the rotor is obtained through an absolute position encoder.

8. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by one or more processors, the method for detecting the initial electrical angle position of a motor rotor as described in any one of claims 1 to 7 is implemented.

9. A device for detecting the initial electrical angle position of a motor rotor, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method for detecting the initial electrical angle position of the motor rotor as claimed in any one of claims 1 to 7 is executed.

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