A kind of initial angle static calibration control method and motor of vehicle permanent magnet synchronous motor

Abstract

The application discloses a kind of initial angle static calibration control method and motor of vehicle permanent magnet synchronous motor, setting test bench, install blocking rotation disc, given d-axis current;Setting motor d-axis current is negative direction, and increase d-axis current, adjust motor initial angle, obtain first initial angle;Setting motor d-axis current is positive direction, and increase d-axis current, adjust motor initial angle, obtain second initial angle;Obtain the average of first, second initial angle, determine initial angle.The application obtains first, second initial angle by setting motor d-axis current is positive direction or negative direction, and increase d-axis current, and determines initial angle according to the average of first, second initial angle, can also obtain rotor real position according to motor rotor estimation position and motor mutual inductance deviation, further improve the precision of motor initial angle static calibration.

Description

Technical Field

[0001] This invention relates to a static calibration control method for the initial angle of a motor and a motor, and more particularly to a static calibration control method for the initial angle of a permanent magnet synchronous motor for vehicles and a motor. Background Technology

[0002] An electric motor is an electromagnetic device that converts or transmits electrical energy based on the law of electromagnetic induction. Its main function is to convert mechanical energy into electrical energy to generate driving torque, serving as a power source for electrical appliances or various machines. In automotive permanent magnet synchronous motors, rotor magnetic field-oriented vector closed-loop control is achieved through rotor position measurement. The rotor position is reported in real-time by a resolver, which is coaxial with the rotor, so its position can be used to represent the rotor position. There is an angular difference between the initial position of the resolver and the initial position of the rotor; this difference is the motor's initial angle. In engineering, the initial angle is typically calibrated by observing no-load losses under fixed speed conditions. Due to engineering requirements, temperature sensors are often embedded in the motor rotor. If the rotor is reinstalled in the stator, it may not rotate due to the temperature sensor wiring harness. Therefore, the initial angle needs to be determined before the humidity sensor is installed on the rotor. Summary of the Invention

[0003] The purpose of this invention is to provide a static calibration control method and motor for initial angle of a vehicle permanent magnet synchronous motor. The first technical problem to be solved is to perform static calibration of the initial angle of the motor. The second technical problem to be solved is to obtain the true position of the rotor based on the estimated position of the motor rotor and the mutual inductance deviation of the motor, thereby overcoming the shortcomings of the existing technology.

[0004] This invention provides the following solution:

[0005] A method for static calibration control of the initial angle of a vehicle permanent magnet synchronous motor, specifically including:

[0006] Set up the test bench, install the stalled turntable, and set the d-axis current;

[0007] Set the motor's d-axis current to negative and increase the d-axis current. Adjust the motor's initial angle to obtain the first initial angle.

[0008] Set the motor's d-axis current to be positive, increase the d-axis current, and adjust the motor's initial angle to obtain the second initial angle;

[0009] Find the average of the first and second initial angles to determine the initial angle.

[0010] Furthermore, observe the test bench torque. If the d-axis current increases negatively, the initial angle decreases, and the test bench torque increases, then the calibrated initial angle range is correct.

[0011] Furthermore, if the d-axis current increases negatively, the initial angle decreases, and the test bench torque decreases, then it is determined that the calibrated initial angle differs from the correct initial angle by 180 electrical degrees.

[0012] Furthermore, a motor resolver sensor is installed on the motor rotor, and the motor resolver sensor reports the position of the motor rotor in real time.

[0013] Furthermore, the estimated position of the rotor is obtained by using a closed-loop control system based on the amplitude of the d-axis current signal.

[0014] Furthermore, the true position of the rotor is obtained based on the estimated position of the rotor and the mutual inductance deviation of the motor.

[0015] A static calibration control system for the initial angle of a vehicle permanent magnet synchronous motor, specifically comprising:

[0016] Motor d-axis current setting module: set up test bench, install stall disc, and set d-axis current;

[0017] The motor d-axis current negative setting module sets the motor d-axis current to negative, increases the d-axis current, and adjusts the motor initial angle to obtain the first initial angle;

[0018] The motor d-axis current positive setting module sets the motor d-axis current to positive and increases the d-axis current to adjust the motor initial angle and obtain the second initial angle;

[0019] The motor initial angle static calibration module is used to obtain the average value of the first and second initial angles and determine the initial angle.

[0020] A vehicle permanent magnet synchronous motor is provided, wherein the initial angle static calibration is performed using a vehicle permanent magnet synchronous motor initial angle static calibration control method.

[0021] An electronic device includes: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method.

[0022] A computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] By setting the motor's d-axis current to positive or negative and increasing the d-axis current, the first and second initial angles can be obtained. The initial angle can be determined based on the average of the first and second initial angles. Furthermore, the true position of the rotor can be obtained based on the estimated position of the motor rotor and the mutual inductance deviation of the motor, thereby further improving the accuracy of the static calibration of the motor's initial angle. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a flowchart of the initial angle static calibration control method for automotive permanent magnet synchronous motors.

[0027] Figure 2 This is the architecture diagram of the initial angle static calibration control system for a permanent magnet synchronous motor in a vehicle.

[0028] Figure 3 This is a control block diagram for a permanent magnet synchronous motor.

[0029] Figure 4 It is a coordinate graph showing the relationship between the motor's d-axis, q-axis, and torque.

[0030] Figure 5 This is a control logic diagram for the initial angle static calibration of a permanent magnet synchronous motor in a specific application.

[0031] Figure 6 This is a schematic diagram of the electronic device. Detailed Implementation

[0032] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present 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.

[0033] like Figure 1 The static calibration control method for the initial angle of a vehicle permanent magnet synchronous motor, as shown, specifically includes:

[0034] Step S1: Set up the test bench, install the stalled rotary table, and apply the d-axis current;

[0035] Step S2: Set the motor d-axis current to negative and increase the d-axis current to adjust the motor initial angle to obtain the first initial angle;

[0036] Step S3: Set the motor d-axis current to positive and increase the d-axis current; adjust the motor initial angle to obtain the second initial angle.

[0037] For example, the first and second initial angles are both obtained by observing the torque of the observation platform.

[0038] Step S4: Calculate the average value of the first and second initial angles to determine the initial angles.

[0039] Specifically, observe the test bench torque. If the d-axis current increases negatively, the initial angle decreases, and the test bench torque increases, then the calibration of the initial angle range is correct.

[0040] Specifically, if the d-axis current increases negatively, the initial angle decreases, and the test bench torque decreases, then it is determined that the calibrated initial angle differs from the correct initial angle by 180 electrical degrees.

[0041] Specifically, a motor resolver sensor is installed on the motor rotor, and the motor resolver sensor reports the position of the motor rotor in real time.

[0042] Specifically, the estimated position of the rotor is obtained by using a closed-loop control system based on the amplitude of the d-axis current signal.

[0043] Specifically, the true position of the rotor is obtained based on the estimated position of the rotor and the mutual inductance deviation of the motor.

[0044] For the purpose of simplicity, the method steps disclosed in the above embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0045] Any flowchart or other description of a process or method can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed and implemented not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, or by executing computer instructions and implementing corresponding functions according to program structures such as loops, branches, etc., as will naturally be understood by those skilled in the art when practicing embodiments of the invention.

[0046] like Figure 2 The static calibration control system for the initial angle of the vehicle permanent magnet synchronous motor shown herein specifically includes:

[0047] Motor d-axis current setting module: set up test bench, install stall disc, and set d-axis current;

[0048] The motor d-axis current negative setting module sets the motor d-axis current to negative, increases the d-axis current, and adjusts the motor initial angle to obtain the first initial angle;

[0049] The motor d-axis current positive setting module sets the motor d-axis current to positive and increases the d-axis current to adjust the motor initial angle and obtain the second initial angle;

[0050] The motor initial angle static calibration module is used to obtain the average value of the first and second initial angles and determine the initial angle.

[0051] It is worth noting that although only some basic functional modules are disclosed in the embodiments of this invention, it does not mean that the composition of this system is limited to the above-mentioned basic functional modules. On the contrary, what this embodiment intends to express is that, based on the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with existing technology to form an infinite number of embodiments or technical solutions. That is to say, this system is open rather than closed. The fact that this embodiment only discloses a few basic functional modules should not be considered as the scope of protection of the claims of this invention being limited to the disclosed basic functional modules. At the same time, for the convenience of description, the above device is described separately according to its functions as various units and modules. Of course, in implementing this invention, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0052] The implementation methods of the system described above are merely illustrative. For example, the various functional modules, units, or subsystems within the system may or may not be physically separate, or they may or may not be physical units; that is, they may be located in the same place or distributed across multiple different systems and their subsystems or modules. Those skilled in the art can select some or all of the functional modules, units, or subsystems to achieve the objectives of the embodiments of the present invention according to actual needs. Those skilled in the art can understand and implement the above-described situations without any creative effort.

[0053] like Figure 3The diagram shows the control block diagram of a permanent magnet synchronous motor (PMSM). During operation, the PSM uses rotor position for closed-loop rotor magnetic field orientation vector control. In the diagram, θrecord represents the rotor position, which is reported in real-time by the resolver. Because the resolver is coaxial with the rotor, its position can be used to represent the rotor position. Since there is an angle between the rotor's zero-point position and the resolver's zero-point position, this angle range is the initial angle. In engineering, the initial angle is typically calibrated by observing no-load losses under a fixed motor speed. Due to engineering requirements, a temperature sensor is usually embedded in the rotor. If the rotor is reinstalled in the stator, it will be unable to rotate due to issues with the temperature sensor wiring harness.

[0054] like Figure 4 and Figure 5 The coordinate graph showing the relationship between the motor's d-axis and q-axis and the motor torque, along with the static calibration control logic diagram for the motor's initial angle, illustrates the method for determining the motor's initial angle under static stall conditions. With a stall disc installed, the relationship between the d-axis and q-axis currents and torque, and the static calibration control logic for the permanent magnet synchronous motor's initial angle are shown in the figure. θ1 represents the motor's initial angle, the dashed line represents the actual d-axis current, and the double arc represents the actual motor torque. Given a negative d-axis current, the current intensity N1 is gradually increased, and the motor's initial angle is adjusted to keep the test bench torque within ±M (N·m), thus obtaining the initial angle M1. Given a positive d-axis current, the current intensity N2 is gradually increased until the absolute values ​​of current intensity N1 and N2 are equal. The initial angle is then adjusted to keep the test bench torque within ±M, thus obtaining the initial angle M2. Finally, the average value of M1 and M2 is taken as the motor's initial angle. During the calibration process, if the d-axis current is negative and has a large value, and the initial angle decreases, the absolute value of the test bench torque increases, indicating that the initial angle range is correct. If the d-axis current is negative and has a large value, and the initial angle decreases, the test bench torque decreases, indicating that the calibrated initial angle and the correct initial angle differ by 180 electrical degrees. After calibrating the motor initial angle in both positive and negative directions using the d-axis current, the calculated initial angle is averaged to further improve the accuracy of the static calibration of the motor initial angle.

[0055] Definition: Electrical angle is an actual spatial geometric angle. The angle 360° / p occupied by each pair of poles on the inner circle of the stator in a motor refers to the actual spatial geometric angle, which is called the mechanical angle. In motors with four or more poles, the mechanical angle occupied by a pair of poles is often defined as 360 degrees of electrical angle because the induced electromotive force in the winding changes in one cycle of 360°. For a two-pole motor, the electrical angle and mechanical angle occupied by its inner circle of the stator are equal, both 360°; while for a p-pole motor, the total electrical angle of its inner circle of the stator is 360°·p, but the mechanical angle is still 360°.

[0056] The relationship between the electrical angle and the mechanical angle of an electric motor is: Electrical angle = Mechanical angle × Number of pole pairs.

[0057] A commonly used three-phase brushless DC motor typically has three position sensors, and the output waveforms are of two types: one with a phase difference of 60° electrical angle and the other with a phase difference of 120° electrical angle. For example, with one pair of magnetic poles and a phase difference of 120° electrical angle, the spatial interval between the three position sensors is 120° mechanical angle; with two pairs of magnetic poles and a phase difference of 60° electrical angle, the spatial interval between the three position sensors is 30° mechanical angle.

[0058] like Figure 6 As shown, the present invention also discloses electronic devices, storage media, and automotive permanent magnet synchronous motors corresponding to the initial angle static calibration control method for permanent magnet synchronous motors:

[0059] A vehicle permanent magnet synchronous motor is provided, wherein the initial angle static calibration is performed using a vehicle permanent magnet synchronous motor initial angle static calibration control method.

[0060] An electronic device includes: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of a static calibration control method for the initial angle of a vehicle permanent magnet synchronous motor.

[0061] A computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of a static calibration control method for the initial angle of a permanent magnet synchronous motor for vehicles.

[0062] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0063] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0064] The electronic device comprises a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory. The operating system can be any one or more computer operating systems that control the electronic device through processes, such as Linux, Unix, Android, iOS, or Windows. Furthermore, in this embodiment of the invention, the electronic device can be a smartphone, tablet computer, or other handheld device, or a desktop computer, portable computer, or other electronic device; there is no particular limitation in this embodiment.

[0065] In this embodiment of the invention, the executing entity for electronic device control can be an electronic device itself, or a functional module within an electronic device capable of calling and executing a program. The electronic device can obtain the firmware corresponding to the storage medium. This firmware is provided by the supplier, and different storage media may have the same or different firmware; no limitation is made here. After obtaining the firmware corresponding to the storage medium, the electronic device can write this firmware into the storage medium; specifically, it burns the firmware corresponding to the storage medium into the storage medium. The process of burning the firmware into the storage medium can be implemented using existing technology, and will not be elaborated upon in this embodiment of the invention.

[0066] Electronic devices can also obtain reset commands corresponding to the storage media. The reset commands corresponding to the storage media are provided by the supplier. The reset commands corresponding to different storage media can be the same or different, and no restrictions are imposed here.

[0067] At this time, the storage medium of the electronic device is a storage medium on which the corresponding firmware has been written. The electronic device can respond to the reset command corresponding to the storage medium on which the corresponding firmware has been written, thereby resetting the storage medium on which the corresponding firmware has been written according to the reset command. The process of resetting the storage medium according to the reset command can be implemented by existing technology and will not be described in detail in this embodiment of the invention.

[0068] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0069] It should be noted that certain terms are used in this specification and claims to refer to specific elements. Those skilled in the art will understand that different manufacturers or producers may use different terms to refer to the same element. This specification and claims do not distinguish elements based on differences in terminology, but rather on differences in function.

[0070] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, any of the embodiments claimed in the claims can be used in any combination of embodiments of the invention.

[0072] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0073] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0074] All features disclosed in this specification, or steps in all disclosed methods or processes, may be combined in any way, except for mutually exclusive features and / or steps. Any feature disclosed in this specification, unless specifically stated otherwise, may be replaced by other equivalent or similar features. That is, unless specifically stated otherwise, each feature is merely one example of a series of equivalent or similar features. Throughout this specification, the same reference numerals indicate the same elements.

[0075] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the corresponding claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the corresponding claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for static calibration control of the initial angle of a vehicle permanent magnet synchronous motor, characterized in that, Specifically, it includes: Set up the test bench, install the stalled turntable, and set the d-axis current; Set the motor's d-axis current to negative and increase the d-axis current. Adjust the motor's initial angle to obtain the first initial angle. Set the motor's d-axis current to be positive, increase the d-axis current, and adjust the motor's initial angle to obtain the second initial angle; Calculate the average of the first and second initial angles to determine the initial angles; If the test bench torque increases when the d-axis current increases negatively and the initial angle decreases, then the calibration of the initial angle range is correct. If the d-axis current increases negatively and the initial angle decreases, the test bench torque decreases. Therefore, it is determined that the calibrated initial angle differs from the correct initial angle by 180 electrical degrees. A motor resolver sensor is installed on the motor rotor, and the motor resolver sensor reports the position of the motor rotor in real time.

2. A static calibration control system for the initial angle of a vehicle permanent magnet synchronous motor, characterized in that, Specifically, it includes: Motor d-axis current setting module: set up test bench, install stall disc, and set d-axis current; The motor d-axis current negative setting module sets the motor d-axis current to negative, increases the d-axis current, and adjusts the motor initial angle to obtain the first initial angle; The motor d-axis current positive setting module sets the motor d-axis current to positive and increases the d-axis current to adjust the motor initial angle and obtain the second initial angle; The motor initial angle static calibration module is used to obtain the average value of the first and second initial angles and determine the initial angle; If the test bench torque increases when the d-axis current increases negatively and the initial angle decreases, then the calibration of the initial angle range is correct. If the d-axis current increases negatively and the initial angle decreases, the test bench torque decreases. Therefore, it is determined that the calibrated initial angle differs from the correct initial angle by 180 electrical degrees. A motor resolver sensor is installed on the motor rotor, and the motor resolver sensor reports the position of the motor rotor in real time.

3. A permanent magnet synchronous motor for vehicles, characterized in that, The vehicle permanent magnet synchronous motor was statically calibrated using the initial angle static calibration control method for vehicle permanent magnet synchronous motors as described in claim 1.

4. An electronic device, characterized in that, include: The system includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method described in claim 1.

5. A computer-readable storage medium, characterized in that, It stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method of claim 1.

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