A space non-continuous permanent magnet synchronous motor rotation angle identification method

Abstract

The application provides a space non-continuous rotating permanent magnet synchronous motor rotation angle recognition method, which comprises the following steps: in each communication period, an angle measuring sensor is used to measure the absolute angle of the motor rotation angle, so as to obtain a motor rotation angle measurement value; a motor controller recognizes the motor rotation angle according to the motor rotation angle measurement value; if the recognition result is available, the recognition result is used as the rotation angle recognition result of the current communication period; if the recognition result is unavailable, the motor controller obtains the recognition information of the last communication period from an upper computer, recognizes the motor rotation angle of the current communication period, and uses the recognition result as the rotation angle recognition result of the current communication period; if the recognition information of the last communication period cannot be obtained from the upper computer, the motor controller controls the motor to recognize the motor rotation angle through active boundary search. The application realizes the angle position recognition of the space non-continuous rotating permanent magnet synchronous motor with a rotation range of more than 360 degrees without increasing the sensor.

Description

Technical Field

[0001] This invention belongs to the field of space complex mechanism control, and specifically relates to a method for identifying the rotation angle of a space discontinuous rotating permanent magnet synchronous motor. Background Technology

[0002] Complex spatial mechanisms, combined with various spatial loads, can achieve high-precision spatial pointing control. Spatial load systems are complex, requiring the transmission of numerous signals and large amounts of data, with high signal quality requirements; therefore, direct cable transmission is generally used. To prevent cable tangling, the rotation range of the complex spatial mechanism driving the load rotation is limited, preventing continuous 360° rotation. Considering the ability to continuously track the pointing target, the spatial mechanism's rotation range is set to a limited angular rotation range exceeding 360°, such as -200° to +200°. For systems using absolute angle sensors, in overlapping angular regions, the sensors display the same angle, making it impossible to determine whether the angle is within a positive or negative angle range, thus making it impossible to determine the actual position of the mechanism.

[0003] Traditional identification methods that involve adding mechanical devices and sensors increase system complexity and reduce reliability. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a method for identifying the rotation angle of a spatial non-continuous rotating permanent magnet synchronous motor. Without adding sensors, the method achieves the identification of the angular position of a spatial non-continuous rotating permanent magnet synchronous motor with a rotation range of more than 360°.

[0005] The technical solution of this invention is:

[0006] A method for identifying the rotation angle of a spatial discontinuous rotating permanent magnet synchronous motor, wherein the rotation range of the spatial discontinuous rotating permanent magnet synchronous motor is [-α, +α], where α is the mechanical limit value of the motor rotation angle, 180° < α < 360°, includes the following steps:

[0007] (1) During each communication cycle, the absolute angle of the motor rotation is measured by an angle sensor to obtain the motor rotation measurement value. The motor controller identifies the motor rotation angle based on the motor rotation measurement value and obtains the first identification result.

[0008] (2) If the first identification result is available, it is used as the corner identification result of the current communication cycle. The motor controller sends the corner identification result to the host computer. The host computer forms the identification information of the current communication cycle based on the corner identification result and completes the corner identification of this communication cycle.

[0009] If the first identification result is unavailable, the motor controller obtains the identification information of the previous communication cycle from the host computer and proceeds to step (3). If it is not possible to obtain the identification information of the previous communication cycle from the host computer, it proceeds to step (4).

[0010] (3) The motor controller obtains the identification information of the previous communication cycle from the host computer and identifies the motor rotation angle of the current communication cycle, obtains the second identification result, and uses it as the rotation angle identification result of the current communication cycle. The motor controller sends the rotation angle identification result to the host computer, and the host computer forms the identification information of the current communication cycle based on the rotation angle identification result, thus completing the rotation angle identification of the current communication cycle.

[0011] (4) The motor controller controls the motor to identify the motor angle through active boundary search, obtains the third identification result, and uses it as the angle identification result of the current communication cycle. The motor controller sends the angle identification result to the host computer, and the host computer forms the identification information of the current communication cycle based on the angle identification result, and completes the angle identification of the current communication cycle.

[0012] Preferably, in step (1), the motor controller identifies the motor angle based on the measured motor angle value to obtain a first identification result, specifically as follows:

[0013] When 360°-(α+β)<θ a When <α+β, AngleAvlb=0;

[0014] When θ a When ≤360°-(α+β), AngleAvlb=1, SignDirect=1, θ m =θ a ;

[0015] When θ a When ≥α+β, AngleAvlb=1, SignDirect=0, θ m =θ a -360°;

[0016] Wherein, SignDirct is the direction indicator. When SignDirct=0, the motor rotation angle is in the positive direction, and when SignDirct=1, the motor rotation angle is in the negative direction.

[0017] AngleAvlb is the angle identifier. When AngleAvlb = 0, the identification result is unusable; when AngleAvlb = 1, the identification result is usable. AngleAvlb, SignDirct, and θ are used as the reference values. m As the first identification result;

[0018] θ a θ is the measured value of the motor rotation angle. mβ represents the mechanical position of the motor rotation angle, and β represents the tolerance value of the mechanical limit of the motor rotation angle.

[0019] Preferably, in step (4), the motor controller controls the motor to identify the motor rotation angle through active boundary search, and obtains the third identification result, specifically as follows:

[0020] The motor controller applies a force of ω to the motor. * m The forward rotation speed causes the motor to rotate in the forward direction;

[0021] If θ a ≥α+β, control the motor to stop rotating, SignDirct=1, θ m =θ a -360°, AngleAvlb = 1;

[0022] If within t0, ω m ≤ω * m -ε, controls the motor to stop rotating, SignDirct = 0, θ m =θ a AngleAvlb = 1;

[0023] Where, ω m t0 is the actual speed of the motor, ε is the time threshold, and ε is the speed threshold.

[0024] AngleAvlb, SignDirct, and θ m As the third identification result.

[0025] Preferably, the actual speed ω of the motor m Calculated using the following expression:

[0026] ω m =(θ a (k)-θ a (k-1)) / T

[0027] Where θ a (k) represents the measured motor rotation angle during the current control cycle, θ a (k-1) is the measured value of the motor rotation angle in the previous control cycle, and T is the control cycle of the motor controller for the motor.

[0028] Preferably, ω * m = 2° / s.

[0029] Preferably, ε = 0.2° / s.

[0030] Preferably, t0 = 2s.

[0031] Preferably, in step (2), the host computer forms the identification information for the current communication cycle based on the angle identification result, specifically as follows:

[0032] Angle interval identifiers are generated based on the direction identifiers in the identification results and used as identification information. When SignDirct = 0, the angle interval identifier is 55H, and when SignDirct = 1, the angle interval identifier is AAH.

[0033] Preferably, in step (3), the motor controller obtains the identification information of the previous communication cycle from the host computer to identify the motor rotation angle of the current communication cycle, and obtains the second identification result, specifically as follows:

[0034] If the angle interval is marked as 55H, SignDirct = 1, θ m =θ a AngleAvlb = 1;

[0035] If the angle interval is labeled AAH, SignDirct = 0, θ m =θ a -360°, AngleAvlb = 1

[0036] AngleAvlb, SignDirct, and θ m This serves as the second identification result.

[0037] Preferably, 1°≤β≤5°.

[0038] The advantages of this invention compared to the prior art are:

[0039] (1) Without adding sensors, the present invention uses angle measurement sensor output data and directly determines the angle of non-overlapping areas by angle partitioning;

[0040] (2) The present invention sends the identification result of each communication cycle to the host computer to form an angle interval mark, which assists the motor controller in determining the actual position of the motor rotation angle;

[0041] (3) The present invention actively searches the boundary, drives the motor to rotate, searches the mechanical boundary of the rotation range, determines the position of the rotation reaching the boundary according to the judgment conditions, and finally determines the actual angle position. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the rotation range of the spatial discontinuous rotating permanent magnet synchronous motor of the present invention. Detailed Implementation

[0043] The features and advantages of the present invention will become clearer and more explicit through the following detailed description.

[0044] like Figure 1 As shown, the rotation range of the spatial discontinuous rotating permanent magnet synchronous motor is as follows: Figure 1 As shown, its rotation range exceeds 360°, and it has mechanical limits in each direction. The angle measuring device is an absolute angle sensor, which can obtain absolute angles from 0-360°, wherein the 0° position of the sensor coincides with the 0° position of the motor. In the positive and negative overlapping areas of the rotation angle, the angle sensor readings are the same. In order to identify the actual rotation angle position of the motor and ensure its stable operation, this invention provides a method for identifying the rotation angle of a spatial discontinuous rotating permanent magnet synchronous motor. The rotation range of the spatial discontinuous rotating permanent magnet synchronous motor is [-α, +α], where α is the mechanical limit value of the motor rotation angle, 180° < α < 360°. The method includes the following steps:

[0045] S1: In each communication cycle, the absolute angle of the motor rotation is measured by an angle sensor to obtain the motor rotation measurement value. The motor controller identifies the motor rotation angle based on the motor rotation measurement value and obtains the first identification result.

[0046] Specifically, when the angle sensor reading θ a When the angle is ≤360°-(α+β), the angle indicator AngleAvlb is set to 1, indicating that the angle is available, and the direction indicator SignDirct is set to 0, using a positive angle to represent the current position. The current mechanical position θ m =θ a ;

[0047] When the angle sensor reading θ a When ≥α+β, the angle indicator AngleAvlb is set to 1, indicating that this angle is available, and the direction indicator SignDirct is set to 1, using a negative angle to represent the current position. The current mechanical position θ m =θ a -360°;

[0048] If the angle sensor reading is other angles, i.e., when 360° - (α + β) < θ a When <α+β, the angle identifier AngleAvlb is set to 0, indicating that the angle is unavailable and further angle identification is required.

[0049] θ a θ is the measured value of the motor rotation angle. m β is the mechanical position of the motor rotation angle, which is the tolerance value of the mechanical limit of the motor rotation angle. Considering the deviation of the mechanical limit installation, a certain margin is designed, which can generally be taken as 1°≤β≤5°.

[0050] S2: If the first identification result is available, it is used as the corner identification result of the current communication cycle. The motor controller sends the corner identification result to the host computer. The host computer forms the identification information of the current communication cycle based on the corner identification result and completes the corner identification of this communication cycle.

[0051] If the first identification result is unavailable, the motor controller obtains the identification information of the previous communication cycle from the host computer and proceeds to step S3. If it is unable to obtain the identification information of the previous communication cycle from the host computer, it proceeds to step S4.

[0052] Specifically, the host computer generates an angle interval identifier based on the direction identifier in the identification result, which serves as identification information. When SignDirct = 0, the angle interval identifier is 55H, indicating a positive angle interval. When SignDirct = 1, the angle interval identifier is AAH, indicating a negative angle interval.

[0053] S3: The motor controller obtains the identification information of the previous communication cycle from the host computer, identifies the motor rotation angle of the current communication cycle, obtains the second identification result, and uses it as the rotation angle identification result of the current communication cycle. The motor controller sends the rotation angle identification result to the host computer, and the host computer forms the identification information of the current communication cycle based on the rotation angle identification result, thus completing the rotation angle identification of the current communication cycle.

[0054] Specifically, the motor controller makes decisions based on the angle range representation.

[0055] If the angle range is marked as 55H, then set the direction marker SignDirct = 1, and the current machine position θ m =θ a Angle identifier AngleAvlb = 1;

[0056] If the angle interval is identified as AAH, then the direction identifier SignDirct = 0, and the current mechanical position θ m =θ a -360°, angle identifier AngleAvlb=1.

[0057] S4: The motor controller controls the motor to identify the motor angle through active boundary search, obtains the third identification result, and uses it as the angle identification result of the current communication cycle. The motor controller sends the angle identification result to the host computer, and the host computer forms the identification information of the current communication cycle based on the angle identification result, thus completing the angle identification of this communication cycle.

[0058] Specifically, motor drive is achieved using closed-loop speed control. Given a speed ω... * m This is the positive rotational speed, causing the motor to rotate in the positive direction. To ensure the safety and speed of boundary search, ω is generally taken as... *m It is 2° / s.

[0059] The actual speed of the motor is calculated using ω. m =(θ a (k)-θ a (k-1)) / T, where θa(k) is the measured value of the motor angle in the current control cycle, θa(k-1) is the measured value of the motor angle in the previous control cycle, and T is the control cycle.

[0060] The output current of the current loop is limited, and the limit value can be set to 1.1 times the motor current corresponding to the maximum resistance torque of the controlled system.

[0061] If the angle sensor reading θ a If ≥α+β, then ω * m =0, control the motor to stop rotating, set the direction indicator SignDirct to 1, and use a negative angle to represent the current position, current mechanical position θ m =θ a -360°; Set the angle identifier AngleAvlb = 1; otherwise, if within t0, ω m ≤ω * m -ε, then ω * m =0, control the motor to stop rotating, set the direction indicator SignDirct to 0, and use a positive angle to represent the current position, current mechanical position θ m =θ a Set the angle identifier AngleAvlb = 1 to complete the determination; ε is the judgment threshold, which can be 0.2° / s; t0 is the time judgment threshold, which can be 2s.

[0062] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A method for identifying the rotation angle of a spatial discontinuous rotating permanent magnet synchronous motor, wherein the rotation range of the spatial discontinuous rotating permanent magnet synchronous motor is [-α, +α], where, α is the mechanical limit value of the motor rotation angle, 180° < α < 360°, characterized by including the following steps: (1) During each communication cycle, the absolute angle of the motor rotation is measured by an angle sensor to obtain the motor rotation measurement value. The motor controller identifies the motor rotation angle based on the motor rotation measurement value and obtains the first identification result. (2) If the first identification result is available, it is used as the corner identification result of the current communication cycle. The motor controller sends the corner identification result to the host computer. The host computer forms the identification information of the current communication cycle based on the corner identification result and completes the corner identification of this communication cycle. If the first identification result is unavailable, the motor controller obtains the identification information of the previous communication cycle from the host computer and proceeds to step (3). If it is not possible to obtain the identification information of the previous communication cycle from the host computer, it proceeds to step (4). (3) The motor controller obtains the identification information of the previous communication cycle from the host computer and identifies the motor rotation angle of the current communication cycle, obtains the second identification result, and uses it as the rotation angle identification result of the current communication cycle. The motor controller sends the rotation angle identification result to the host computer, and the host computer forms the identification information of the current communication cycle based on the rotation angle identification result, thus completing the rotation angle identification of the current communication cycle. (4) The motor controller controls the motor to identify the motor angle through active boundary search, obtains the third identification result, and uses it as the angle identification result of the current communication cycle. The motor controller sends the angle identification result to the host computer, and the host computer forms the identification information of the current communication cycle based on the angle identification result, and completes the angle identification of the current communication cycle.

2. The method for identifying the rotation angle of a spatial discontinuous rotating permanent magnet synchronous motor according to claim 1, characterized in that, In step (1), the motor controller identifies the motor angle based on the measured motor angle value and obtains the first identification result, specifically: If 360°-(α+β)<θ a When <α+β, AngleAvlb=0; When a ≤360°-(α+β), AngleAvlb=1, SignDirct=1, θ m =θ a ; When a ≥α+β, AngleAvlb=1, SignDirct=0, θ m =θ a -360°; Wherein, SignDirct is the direction indicator. When SignDirct=0, the motor rotation angle is in the positive direction, and when SignDirct=1, the motor rotation angle is in the negative direction. AngleAvlb is the angle identifier. When AngleAvlb = 0, the identification result is unusable; when AngleAvlb = 1, the identification result is usable. AngleAvlb, SignDirct, and θ are used as the reference values. m As the first identification result; θ a θ is the measured value of the motor rotation angle. m β represents the mechanical position of the motor rotation angle, and β represents the tolerance value of the mechanical limit of the motor rotation angle.

3. The method for identifying the rotation angle of a spatial discontinuous rotating permanent magnet synchronous motor according to claim 2, characterized in that, In step (4), the motor controller controls the motor to identify the motor rotation angle through active boundary search, and obtains the third identification result, specifically: The motor controller applies a force of ω to the motor. * m The forward rotation speed causes the motor to rotate in the forward direction; If θ a ≥α+β, control the motor to stop rotating, SignDirct=1, θ m =θ a -360°, AngleAvlb = 1; If within t0, ω m ≤ω * m -ε, controls the motor to stop rotating, SignDirct = 0, θ m =θ a AngleAvlb = 1; Where, ω m t0 is the actual speed of the motor, ε is the time threshold, and ε is the speed threshold. AngleAvlb, SignDirct, and θ m As the third identification result.

4. The method for identifying the rotation angle of a spatial discontinuous rotating permanent magnet synchronous motor according to claim 3, characterized in that, The actual speed ω of the motor m Calculated using the following expression: oh m =(θ a (k)-θ a (k-1)) / T Where θ a (k) represents the measured motor rotation angle during the current control cycle, θ a (k-1) is the measured value of the motor rotation angle in the previous control cycle, and T is the control cycle of the motor controller for the motor.

5. The method for identifying the rotation angle of a spatial discontinuous rotating permanent magnet synchronous motor according to claim 3, characterized in that, oh * m = 2° / s.

6. The method for identifying the rotation angle of a spatial discontinuous rotating permanent magnet synchronous motor according to claim 3, characterized in that, ε = 0.2° / s.

7. The method for identifying the rotation angle of a spatial discontinuous rotating permanent magnet synchronous motor according to claim 3, characterized in that, t0 = 2s.

8. The method for identifying the rotation angle of a spatial discontinuous rotating permanent magnet synchronous motor according to claim 2, characterized in that: In step (2), the host computer generates identification information for the current communication cycle based on the corner identification result, specifically as follows: Angle interval identifiers are generated based on the direction identifiers in the identification results and used as identification information. When SignDirct = 0, the angle interval identifier is 55H, and when SignDirct = 1, the angle interval identifier is AAH.

9. The method for identifying the rotation angle of a spatial discontinuous rotating permanent magnet synchronous motor according to claim 8, characterized in that, In step (3), the motor controller obtains the identification information of the previous communication cycle from the host computer to identify the motor rotation angle of the current communication cycle, and obtains the second identification result, specifically: If the angle interval is marked as 55H, SignDirct = 1, θ m =θ a AngleAvlb = 1; If the angle interval is labeled AAH, SignDirct = 0, θ m =θ a -360°, AngleAvlb = 1 AngleAvlb, SignDirct, and θ m This serves as the second identification result.

10. A method for identifying the rotation angle of a spatial discontinuous rotating permanent magnet synchronous motor according to any one of claims 2 to 9, characterized in that, 1°≤β≤5°。

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