A method for correcting initial position of a permanent magnet synchronous motor rotor for electric vehicles

Abstract

The application discloses a kind of permanent magnet synchronous motor rotor initial position correction methods for electric vehicle, comprising the following steps: S 10, motor pre-positioning;S20, motor continuous positioning;S30, motor repeated positioning;S40, take the average of positioning angle;S50, take the rotor electric angle corresponding to each positioning angle sample value;S60, take the average of error of each position time sample value and actual value;S70, save average error value;S80, angle correction;The application realizes the correction of permanent magnet synchronous motor rotor initial position, solves the error generated in the process of installing rotary transformer as motor position feedback signal, ensures the consistency of permanent magnet synchronous motor rotor installation position in production process, improves the efficiency of entire drive system, reduces the probability that even can cause drive system failure in extreme situation, greatly improves the safety of drive system.

Description

Technical Field

[0001] This invention relates to a method for correcting the initial position of the rotor of a permanent magnet synchronous motor for electric vehicles, belonging to the field of motor control technology. Background Technology

[0002] New energy vehicles, especially electric vehicles, are playing an increasingly important role in the rapidly developing automotive industry. This trend aligns with my country's energy development strategy. Permanent magnet synchronous motors (PMSMs), with their advantages of high torque-to-inertia ratio, no need for excitation current, fast dynamic response, and high operating efficiency and power density, have broad application prospects in electric vehicle drive systems. However, PMSMs require precise detection of the rotor's initial position to ensure high-performance motor control. During the production of PMSMs for electric vehicles, errors generated during the installation of the rotary transformer as a motor position feedback signal cannot guarantee the consistency of the installation position during production. This usually results in a certain angular error, which reduces the efficiency of the entire drive system and, in extreme cases, may even cause drive system failure. Summary of the Invention

[0003] To address the aforementioned technical problems, the purpose of this invention is to propose a method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles, which can effectively detect and correct the initial position of the permanent magnet synchronous motor rotor and ensure the efficiency of the drive system.

[0004] The technical solution of this invention is implemented as follows: A method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles, comprising the following steps,

[0005] S10, Motor pre-positioning: Pre-positioning ensures that the angle between the motor permanent magnet and the torque of the first positioning is not 0.

[0006] S20, Continuous Motor Positioning: The controller applies voltage to the motor and controls the three-phase current of the motor in combination with the voltage. At the same time, the position feedback signal of the rotary transformer is detected, and the values ​​of adjacent n detection cycles are continuously recorded. When the difference between the maximum and minimum values ​​in n cycles is less than the set threshold, the average value in n cycles is taken.

[0007] S30, Motor Repeated Positioning: Repeat step S20 m times, obtain the average value each time and record it;

[0008] S40, Take the average positioning angle: Add up the average values ​​obtained in step S30 each time and then divide by the number of repetitions to get the average positioning angle, which is the sampled value;

[0009] S50, take the rotor electrical angle corresponding to each positioning angle sampling value: the voltage vector of the voltage applied to the three-phase winding of the motor, and determine the rotor position of the motor after applying voltage based on the different angles formed by the direction of the combined magnetomotive force of the three-phase winding and the axis direction.

[0010] S60, take the average value of the error between the sampled value and the actual value at each position: based on the difference between the different rotor electrical angles and the sampled values ​​obtained in step S50, the average error value of the electrical angle position is obtained;

[0011] S70, Save the average error value: After obtaining the average error value, the microcontroller writes the value into the internally integrated EEPROM or other non-lossable storage medium, and reads the value as the compensation value for position feedback after the system is powered on again.

[0012] S80, Angle Correction: After each power-on of the controller, the average error value is first read as the compensation position angle. During the control process, the feedback position angle read through the rotary transformer is added to the average error value to obtain the actual position angle of the motor rotor as the subsequent control variable.

[0013] In a preferred embodiment, in step S20, the three-phase currents of the motor are denoted as IU, IV, and IW, respectively, where IU is -10% to 10%IN, IV is -10% to 10%IN, IW is -10% to 10%IN, and IN is the rated current.

[0014] In a preferred embodiment, in step S20, the motor continuously positions itself for the first time. A voltage is applied to the motor via the controller, and voltage control is implemented using IU = 10%IN, IV = -5%IN, and IW = -5%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ1. The values ​​of θ1 are continuously recorded for n consecutive detection cycles. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 11 .

[0015] In a preferred embodiment, in step S20, the motor continuously positions itself for a second time. A voltage is applied to the motor via the controller, and voltage control is implemented using IU = 5%IN, IV = 5%IN, and IW = -10%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ2. The values ​​of θ2 are continuously recorded for n consecutive detection cycles. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 21 .

[0016] In a preferred embodiment, in step S20, the motor continuously positions itself for the third time. A voltage is applied to the motor via the controller, and voltage control is implemented using IU = -5%IN, IV = 10%IN, and IW = -5%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ3. The values ​​of θ3 over n consecutive detection cycles are continuously recorded. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 31 .

[0017] In a preferred embodiment, in step S20, the motor continuously positions itself for the fourth time. A voltage is applied to the motor via the controller, and voltage control is implemented using IU = -10%IN, IV = 5%IN, and IW = 5%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ4. The values ​​of θ4 over n consecutive detection cycles are continuously recorded. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 41 .

[0018] In a preferred embodiment, in step S20, the motor continuously positions itself for the fifth time. A voltage is applied to the motor via the controller, and voltage control is implemented using IU = -5%IN, IV = -5%IN, and IW = 10%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ5. The values ​​of θ5 over n consecutive detection cycles are continuously recorded. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 51 .

[0019] In a preferred embodiment, in step S20, the motor continuously positions itself for the sixth time. A voltage is applied to the motor via the controller, and voltage control is implemented using IU = 5%IN, IV = -10%IN, and IW = 5%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ6. The values ​​of θ6 over n consecutive detection cycles are continuously recorded. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 61 .

[0020] In a preferred embodiment, according to step S30, the first to sixth positioning operations are performed a second time to obtain the average value of each operation, thus obtaining θ. 12 θ 22 θ 32 θ 42 θ 52 θ 62 Repeat step S20 m times to obtain θ. 1m θ 2m θ 3m θ 4m θ 5m θ6m And take the average value of the positioning angle:

[0021] θ1=(θ 11 +θ 12 +…+θ 1m ) / m;

[0022] θ2=(θ 21 +θ 22 +…+θ 2m ) / m;

[0023] θ3=(θ 31 +θ 32 +…+θ 3m ) / m;

[0024] θ4=(θ 41 +θ 42 +…+θ 4m ) / m;

[0025] θ5=(θ 51 +θ 52 +…+θ 5m ) / m;

[0026] θ6=(θ 61 +θ 62 +…+θ 6m ) / m.

[0027] In a preferred embodiment, according to step 60, the average error between the sampled value and the actual value at each location is taken:

[0028] Δθ1=0-θ1;

[0029] Δθ2=60-θ2;

[0030] Δθ3=120-θ3:

[0031] Δθ4=180-θ4;

[0032] Δθ5=240-θ5;

[0033] Δθ6=300-θ6;

[0034] The average error values ​​obtained at the 6 electrical angle positions are:

[0035] θ e =(Δθ1+Δθ2+Δθ3+Δθ4+Δθ5+Δθ6) / 6.

[0036] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0037] This invention discloses a method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles. Through steps including motor pre-positioning, continuous motor positioning, repeated motor positioning, averaging the positioning angles, taking the rotor electrical angle corresponding to each sampling angle, averaging the errors between the sampling values ​​and actual values ​​at each position, saving the average error value, and angle correction, the method achieves the correction of the initial position of the permanent magnet synchronous motor rotor. This solves the error generated during the installation of the rotary transformer as a motor position feedback signal, ensures the consistency of the permanent magnet synchronous motor rotor's installation position during production, improves the efficiency of the entire drive system, reduces the probability of drive system failure in extreme cases, and greatly enhances the safety of the drive system. Attached Figure Description

[0038] The technical solution of the present invention will be further described below with reference to the accompanying drawings:

[0039] Appendix Figure 1 This is a flowchart of a method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles according to the present invention;

[0040] Appendix Figure 2 This is a voltage vector diagram of a method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles according to the present invention.

[0041] Appendix Figure 3 This is a six-direction voltage vector diagram of a method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles according to the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention 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 the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention; based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] The present invention will now be described with reference to the accompanying drawings.

[0044] As attached Figure 1-3 The figure shows a method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles according to the present invention, which includes the following steps:

[0045] S10, Motor Pre-positioning: To avoid the situation where the angle between the torque applied during the first positioning of the motor and the permanent magnet is zero, pre-positioning ensures that the angle between the permanent magnet of the motor and the torque applied during the first positioning is not zero.

[0046] S20, Continuous Motor Positioning: The controller applies voltage to the motor and controls the three-phase current of the motor in conjunction with the voltage. At the same time, the position feedback signal of the rotary transformer is detected, and the values ​​of n consecutive detection cycles are continuously recorded. When the difference between the maximum and minimum values ​​within n cycles is less than a set threshold, the average value within n cycles is taken. The three-phase currents of the motor are denoted as IU, IV, and IW, where IU is -10% to 10% IN, IV is -10% to 10% IN, and IW is -10% to 10% IN, where IN is the rated current.

[0047] For the first positioning, a voltage U (100) is applied to the motor via the controller, combined with voltage control IU = 10%IN, IV = -5%IN, and IW = -5%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ1. The value of θ1 is continuously recorded for n consecutive detection cycles. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 11 .

[0048] The second positioning involves applying voltage U(110) to the motor via the controller, combined with voltage control IU = 5%IN, IV = 5%IN, and IW = -10%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ2. The value of θ2 is continuously recorded for n consecutive detection cycles. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 21 .

[0049] The third positioning involves applying voltage U(010) to the motor via the controller, combined with voltage control IU = -5%IN, IV = 10%IN, and IW = -5%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ3. The values ​​of θ3 are continuously recorded for n consecutive detection cycles. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 31 .

[0050] The fourth positioning involves applying voltage U(011) to the motor via the controller, combined with voltage control IU = -10%IN, IV = 5%IN, and IW = 5%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ4. The values ​​of θ4 are continuously recorded for n consecutive detection cycles. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 41 .

[0051] For the fifth positioning, a voltage U(001) is applied to the motor via the controller, combined with voltage control IU = -5%IN, IV = -5%IN, and IW = 10%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ5. The value of θ5 is continuously recorded for n consecutive detection cycles. When the difference between the maximum and minimum values ​​within n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 51 .

[0052] For the sixth positioning, a voltage U(101) is applied to the motor via the controller, combined with voltage control IU = 5%IN, IV = -10%IN, and IW = 5%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ6. The value of θ6 is continuously recorded for n consecutive detection cycles. When the difference between the maximum and minimum values ​​within n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 61 .

[0053] S30, Motor Repeated Positioning: Repeat step S20 m times, obtain the average value each time and record it;

[0054] The second execution of the first to sixth positioning operations is performed, and the average value of each operation is obtained, resulting in θ. 12 θ 22 θ 32 θ 42 θ 52 θ 62 Repeatedly execute m

[0055] In step S20, we obtain

[0056] θ 1m θ 2m θ 3m θ 4m θ 5m θ 6m ;

[0057] S40, Take the average positioning angle: Add up the average values ​​obtained in step S30 each time and then divide by the number of repetitions to get the average positioning angle, which is the sampled value;

[0058] Take the average value of the positioning angle:

[0059] θ1=(θ 11 +θ 12 +…+θ 1mm ) / m;

[0060] θ2=((θ 21 +θ 22 +…+θ 2m ) / m;

[0061] θ3=((θ 31 +θ 32 +…+θ 3m ) / m;

[0062] θ4=(θ 41 +θ 42 +…+θ 4m ) / m;

[0063] θ5=(θ 51 +θ 52 +…+θ 5m ) / m;

[0064] θ6=(θ 61 +θ 62 +…+θ 6m ) / m.

[0065] S50, take the rotor electrical angle corresponding to each positioning angle sampling value: the voltage vector of the voltage applied to the three-phase winding of the motor, and determine the rotor position of the motor after applying voltage based on the different angles formed by the direction of the combined magnetomotive force of the three-phase winding and the axis direction.

[0066] like Figure 2 As shown, from the working principle of the permanent magnet synchronous motor, when a voltage vector of U(100) is applied to the three-phase windings of the motor, the angle between the direction of the resultant magnetomotive force of the three-phase windings and the positive direction of the A-phase axis is 0 degrees. Therefore, the rotor position of the motor is 0 degrees after applying U(100). Similarly, the rotor position is 60 degrees when U(110), 120 degrees when U(010), 180 degrees when U(011), 240 degrees when U(001), and 300 degrees when U(101).

[0067] like Figure 3 As shown, when the rotor is in the position shown in the figure, when U(100) is applied, the rotor will rotate clockwise and finally reach a position with an angle of 0 degrees with the positive direction of the A axis; then, when other voltage vectors U(110), U(010), U(011), U(001), and U(101) are applied in sequence, the rotor will rotate counterclockwise and stop at positions of 60 degrees, 120 degrees, 180 degrees, 240 degrees, and 300 degrees respectively.

[0068] S60, take the average value of the error between the sampled value and the actual value at each position: based on the difference between the different rotor electrical angles and the sampled values ​​obtained in step S50, the average error value of the electrical angle position is obtained;

[0069] Take the average of the errors between the sampled values ​​and the actual values ​​at each location:

[0070] Δθ1=0-θ1;

[0071] Δθ2=60--θ2;

[0072] Δθ3=120-θ3;

[0073] Δθ4=180-θ4;

[0074] Δθ5=240-θ5;

[0075] Δθ6=300-θ6;

[0076] The average error values ​​obtained at the 6 electrical angle positions are:

[0077] θ e =(Δθ1+Δθ2+Δθ3+Δθ4+Δθ5+Δθ6) / 6.

[0078] S70, Save the average error value: After obtaining the average error value, the microcontroller writes the value into the internally integrated EEPROM or other non-lossable storage medium, and reads the value as the compensation value for position feedback after the system is powered on again.

[0079] S80, Angle Correction: After each power-on of the controller, the average error value is first read as the compensation position angle. During the control process, the feedback position angle read through the rotary transformer is added to the average error value to obtain the actual position angle of the motor rotor as the subsequent control variable.

[0080] This invention discloses a method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles. Through steps including motor pre-positioning, continuous motor positioning, repeated motor positioning, averaging the positioning angles, taking the rotor electrical angle corresponding to each sampling angle, averaging the errors between the sampling values ​​and actual values ​​at each position, saving the average error value, and angle correction, the method achieves the correction of the initial position of the permanent magnet synchronous motor rotor. This solves the error generated during the installation of the rotary transformer as a motor position feedback signal, ensures the consistency of the permanent magnet synchronous motor rotor's installation position during production, improves the efficiency of the entire drive system, reduces the probability of drive system failure in extreme cases, and greatly enhances the safety of the drive system.

[0081] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles, characterized in that: Includes the following steps, S10, Motor Pre-positioning: Pre-positioning ensures that the angle between the motor permanent magnet and the torque of the first positioning is not 0. S20, Continuous Motor Positioning: The controller applies voltage to the motor and controls the three-phase current of the motor in combination with the voltage. At the same time, the position feedback signal of the rotary transformer is detected, and the values ​​of adjacent n detection cycles are continuously recorded. When the difference between the maximum and minimum values ​​in n cycles is less than the set threshold, the average value in n cycles is taken. S30, Motor Repeated Positioning: Repeat step S20 m times, obtain the average value each time and record it; S40, Take the average positioning angle: Add up the average values ​​obtained in step S30 each time and then divide by the number of repetitions to get the average positioning angle, which is the sampled value; S50, take the rotor electrical angle corresponding to each positioning angle sampling value: the voltage vector of the voltage applied to the three-phase winding of the motor, and determine the rotor position of the motor after applying voltage based on the different angles formed by the direction of the combined magnetomotive force of the three-phase winding and the axis direction. S60, take the average value of the error between the sampled value and the actual value at each position: based on the difference between the different rotor electrical angles and the sampled values ​​obtained in step S50, the average error value of the electrical angle position is obtained; S70, Save the average error value: After obtaining the average error value, the microcontroller writes the value into the internally integrated EEPROM or other non-lossable storage medium, and reads the value as the compensation value for position feedback after the system is powered on again. S80, Angle Correction: After each power-on of the controller, the average error value is first read as the compensation position angle. During the control process, the feedback position angle read through the rotary transformer is added to the average error value to obtain the actual position angle of the motor rotor as the subsequent control variable.

2. The method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles as described in claim 1, characterized in that: In step S20, the three-phase currents of the motor are denoted as IU, IV, and IW, respectively, where IU is -10% to 10%IN, IV is -10% to 10%IN, IW is -10% to 10%IN, and IN is the rated current.

3. The method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles as described in claim 2, characterized in that: In step S20, the motor performs continuous positioning for the first time. Voltage is applied to the motor via the controller, and voltage control is implemented using IU = 10%IN, IV = -5%IN, and IW = -5%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ1. The values ​​of θ1 are continuously recorded for n consecutive detection cycles. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 11 .

4. The method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles as described in claim 3, characterized in that: In step S20, the motor continuously positions itself for the second time. Voltage is applied to the motor via the controller, and voltage control is implemented using IU = 5%IN, IV = 5%IN, and IW = -10%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ2. The values ​​of θ2 are continuously recorded for n consecutive detection cycles. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 21 .

5. The method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles as described in claim 4, characterized in that: In step S20, the motor continuously positions itself for the third time. Voltage is applied to the motor via the controller, and voltage control is implemented using IU = -5%IN, IV = 10%IN, and IW = -5%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ3. The values ​​of θ3 are continuously recorded for n consecutive detection cycles. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 31 .

6. The method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles as described in claim 5, characterized in that: In step S20, the motor continuously positions itself for the fourth time. Voltage is applied to the motor via the controller, and voltage control is implemented using IU = -10%IN, IV = 5%IN, and IW = 5%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ4. The values ​​of θ4 over n consecutive detection cycles are continuously recorded. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 41 .

7. The method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles as described in claim 6, characterized in that: In step S20, the motor continuously positions itself for the fifth time. Voltage is applied to the motor via the controller, and voltage control is implemented using IU = -5%IN, IV = -5%IN, and IW = 10%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ5. The values ​​of θ5 over n consecutive detection cycles are continuously recorded. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value within the n cycles is recorded as θ. 51 .

8. The method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles as described in claim 7, characterized in that: In step S20, the motor continuously positions itself for the sixth time. Voltage is applied to the motor via the controller, and voltage control is implemented using IU = 5%IN, IV = -10%IN, and IW = 5%IN. Simultaneously, the position feedback signal from the rotary transformer is detected and recorded as θ6. The values ​​of θ6 over n consecutive detection cycles are continuously recorded. When the difference between the maximum and minimum values ​​within the n cycles is less than a set threshold, the average value over the n cycles is recorded as θ. 61 .

9. The method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles as described in claim 8, characterized in that: According to step S30, the second positioning operation is performed from the first to the sixth iteration, and the average value of each operation is obtained to obtain θ. 12 θ 22 θ 32 θ 42 θ 52 θ 62 Repeat step S20 m times to obtain θ. 1m θ 2m θ 3m θ 4m θ 5m θ 6m And take the average value of the positioning angle: θ1=(θ 11 +θ 12 +…+θ 1m ) / m; θ2=(θ 21 +θ 22 +…+θ 2m ) / m; θ3=(θ 31 +θ 32 +…+θ 3m ) / m; θ4=(θ 41 +θ 42 +…+θ 4m ) / m; θ5=(θ 51 +θ 52 +…+θ 5m ) / m; θ6=(θ 61 +θ 62 +…+θ 6m ) / m.

10. The method for correcting the initial position of a permanent magnet synchronous motor rotor for electric vehicles as described in claim 9, characterized in that: According to step 60, take the average of the errors between the sampled values ​​and the actual values ​​at each location: Δθ1=0-θ1; Δθ2=60-θ2; Δθ3=120-θ3: Δθ4=180-θ4; Δθ5=240-θ5; Δθ6=300-θ6; The average error values ​​obtained at the 6 electrical angle positions are: i e =(Δθ1+Δθ2+Δθ3+Δθ4+Δθ5+Δθ6) / 6.

Images