Permanent magnet synchronous motor initial phase detection method and device, computer device

Abstract

This disclosure relates to the field of motor testing technology, and specifically discloses a method, apparatus, and computer device for detecting the initial phase of a permanent magnet synchronous motor. The method includes: applying voltage signals of different amplitudes to the circuit under test; determining the voltage amplitude of the detection signal based on the feedback current of the circuit under test; applying detection signals of different electrical angles to the circuit under test; and determining the initial phase of the motor based on the detection signals and the feedback current. By applying voltage signals of different amplitudes to the circuit under test, a suitable voltage amplitude of the detection signal can be selected based on the feedback current of the circuit under test. By applying detection signals of different electrical angles to the circuit under test again, the initial phase of the motor can be determined based on the changes in the feedback current. This method can replace a Hall encoder for detecting the initial phase of the motor, thus eliminating the need for a Hall encoder in the system, improving space utilization, and providing higher accuracy in detecting the initial phase.

Description

Technical Field

[0001] This invention relates to the field of motor testing technology, and in particular to a method, apparatus, and computer equipment for detecting the initial phase of a permanent magnet synchronous motor. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) possess advantages such as simple structure, small size, high efficiency, and high power factor. However, the reliable starting of a PMSM is closely related to the accuracy of its initial phase detection. Errors in initial phase detection of the motor rotor can severely affect rotor position calculations, hindering the correct execution of other motor control algorithms, causing erratic motor operation, and preventing it from reaching normal operating conditions. Therefore, initial phase detection is an indispensable step in the process of developing a PMSM.

[0003] Meanwhile, the initial position detection of permanent magnet synchronous motors cannot be performed using position detection methods under normal operating conditions. In existing technologies, common initial phase detection methods for permanent magnet synchronous motors with incremental encoders include using Hall effect sensors, applying two-phase current, or applying short-term currents in different directions. However, using Hall effect sensors to test the initial phase of the motor is easily affected by hardware quality and has low accuracy. The method of applying two-phase current to the motor and determining the initial electrical angle based on the current amplitude suffers from low accuracy due to the sampling accuracy being affected by the current sampling accuracy. Similarly, applying short-term currents in different directions also suffers from the sampling accuracy being affected by the current sampling accuracy, and this method can only be used under conditions without gravity. Therefore, improving the accuracy of initial phase detection methods is a problem that urgently needs to be solved. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, and computer equipment for initial phase detection of permanent magnet synchronous motors, addressing the problem of low testing accuracy in existing initial phase detection methods.

[0005] A method for detecting the initial phase of a permanent magnet synchronous motor includes: applying voltage signals of different amplitudes to a circuit under test; determining the voltage amplitude of the detection signal based on the feedback current of the circuit under test; applying the detection signals of different electrical angles to the circuit under test; and determining the initial phase of the motor based on the detection signals and the feedback current.

[0006] In one embodiment, the step of supplying voltage signals of different voltage amplitudes to the circuit under test includes supplying voltage signals of amplitude N to the circuit under test, where N > 0; determining whether the feedback current of the circuit under test is greater than or equal to a preset threshold; and when the feedback current is less than the preset threshold, changing the value of N until the feedback current is greater than or equal to the preset threshold.

[0007] In one embodiment, determining the voltage amplitude of the detection signal based on the feedback current of the circuit under test includes determining the voltage amplitude corresponding to the voltage signal supplied to the circuit under test when the feedback current of the circuit under test is greater than or equal to the preset threshold as the voltage amplitude of the detection signal.

[0008] In one embodiment, the step of introducing detection signals with different electrical angles into the circuit under test includes determining the electrical angle values ​​of M detection signals according to a predetermined voltage fraction, where M > 0; selecting one untested detection signal from the M detection signals and introducing it into the circuit under test; recording the correspondence between the currently introduced detection signal and the current feedback current of the circuit under test; determining whether all M detection signals have completed the test; if the determination result is negative, selecting another untested detection signal from the M detection signals and introducing it into the circuit under test again, until all M detection signals have completed the test.

[0009] In one embodiment, after all M detection signals have been tested, the method further includes sorting the detection signals according to the feedback current and filtering the feedback current.

[0010] In one embodiment, determining the initial phase of the motor based on the detection signal and the feedback current includes averaging the electrical angles of the detection signal corresponding to the feedback current that meets preset requirements to obtain the average electrical angle; and determining the initial angle of the motor based on the motion angle of the motor during the test and the average electrical angle.

[0011] An initial phase detection device for a permanent magnet synchronous motor includes a circuit under test (DUT), the DUT comprising a motor; a power supply module connected to the DUT for supplying voltage signals of different amplitudes to the DUT; a current detection module connected to the DUT for detecting the feedback current of the DUT; and a control module connected to both the current detection module and the power supply module for determining the voltage amplitude of the detection signal based on the feedback current and generating a control signal. The power supply module is further configured to supply the detection signals of different electrical angles to the DUT based on the control signal. The control module is also configured to determine the initial phase of the motor based on the detection signal and the feedback current.

[0012] In one embodiment, the control module is further configured to sort the detection signals corresponding to the feedback current and filter the feedback current.

[0013] In one embodiment, the permanent magnet synchronous motor initial phase detection device further includes an incremental encoder for detecting the motion angle of the motor; the control module is also used to average the electrical angle of the detection signal corresponding to the feedback current that meets the preset requirements, obtain the average electrical angle, and determine the initial angle of the motor based on the motion angle of the motor during the test and the average electrical angle.

[0014] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the initial phase detection method for a permanent magnet synchronous motor as described in any of the above embodiments.

[0015] A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the initial phase detection method for a permanent magnet synchronous motor as described in any of the above embodiments.

[0016] A computer program product includes a computer program that, when executed by a processor, implements the steps of the initial phase detection method for a permanent magnet synchronous motor as described in any of the above embodiments.

[0017] The aforementioned method for detecting the initial phase of a permanent magnet synchronous motor involves applying voltage signals of different amplitudes to the circuit under test (DUT). The appropriate voltage amplitude can be selected based on the feedback current of the DUT. By applying detection signals of different electrical angles to the DUT again, the initial phase of the motor can be determined based on changes in the feedback current. This method can replace Hall encoders for detecting the initial phase of the motor, eliminating the need for Hall encoders in the system and improving space utilization. Furthermore, compared to Hall encoders, this method is unaffected by gravity, requires less motor movement, and therefore offers higher accuracy in initial phase detection, enhancing system stability. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic flowchart of the method for initial phase detection of a permanent magnet synchronous motor in one embodiment of the present disclosure;

[0020] Figure 2 This is a schematic flowchart of a method for applying voltage signals of different voltage amplitudes to a circuit under test in one embodiment of the present disclosure;

[0021] Figure 3 This is a schematic flowchart of a method for supplying detection signals of different electrical angles to a circuit under test in one embodiment of the present disclosure;

[0022] Figure 4 This is a schematic flowchart of a method for processing feedback current in one embodiment of the present disclosure;

[0023] Figure 5 This is a schematic flowchart of a method for determining the initial phase of a motor in one embodiment of this disclosure;

[0024] Figure 6 This is a schematic diagram of the structure of the initial phase detection device for a permanent magnet synchronous motor in one embodiment of the present disclosure;

[0025] Figure 7 This is a schematic diagram of the device structure for implementing the initial phase detection method for a permanent magnet synchronous motor in one embodiment of the present disclosure;

[0026] Figure 8 This is an internal structural diagram of a computer device according to one embodiment of the present disclosure. Detailed Implementation

[0027] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0029] Within the joints of collaborative robots, three types of position encoders are generally involved: absolute encoders, incremental encoders, and Hall encoders. Absolute encoders are used to provide feedback on joint position, incremental encoders to provide feedback on motor position, and Hall encoders to provide feedback on the initial phase of the motor. However, the detection results of Hall sensors are easily affected by factors such as hardware quality and installation accuracy, resulting in low detection accuracy. This disclosure provides a method for initial phase detection of permanent magnet synchronous motors that replaces Hall encoders, thereby improving the accuracy of initial phase detection. Figure 1This is a schematic flowchart of a method for detecting the initial phase of a permanent magnet synchronous motor in one embodiment of the present disclosure. In one embodiment, the method may include the following steps S100 to S400.

[0030] Step S100: Apply voltage signals of different amplitudes to the circuit under test.

[0031] Step S200: Determine the voltage amplitude of the detection signal based on the feedback current of the circuit under test.

[0032] For permanent magnet synchronous motors, when the angle between the injected voltage and the rotor angle is π / 2, the inductance remains constant; when the angle between the injected voltage and the rotor angle is less than π / 2, the system magnetizes, and the inductance increases; when the angle between the injected voltage and the rotor angle is greater than π / 2, the system magnetizes, and the inductance decreases. Furthermore, with the same voltage signal amplitude, a larger inductance results in a slower current rise. Therefore, the difference between the electrical angle of the injected voltage and the rotor angle can be reflected by changes in the current amplitude.

[0033] Therefore, this disclosure determines the initial phase of the motor based on changes in the current amplitude by selecting an injection voltage with an appropriate amplitude and changing the electrical angle of the injection voltage. By applying voltage signals of different amplitudes to the circuit under test, a suitable voltage amplitude is found as the voltage amplitude of the detection signal based on the current amplitude. When the feedback current of the circuit under test meets certain conditions, the most suitable voltage amplitude of the currently applied voltage signal can be determined. In practical applications, corresponding selection conditions can be set according to the characteristics of different application scenarios. For example, when the amplitude of the feedback current equals a certain fixed value, the initial phase detection efficiency of the motor is highest; therefore, the selection condition can be set to the voltage amplitude of the voltage signal applied to the circuit under test when the feedback current equals a fixed value, which is then determined as the voltage amplitude of the detection signal.

[0034] Step S300: Input detection signals of different electrical angles into the circuit under test.

[0035] Step S400: Determine the initial phase of the motor based on the detection signal and feedback current.

[0036] After selecting the optimal voltage amplitude, detection signals with different electrical angles can be applied to the circuit under test. For example, when the optimal voltage amplitude determined in step S200 is U1, a detection signal with a voltage amplitude of U1 is applied to the circuit under test, changing the electrical angle of the detection signal without changing the voltage amplitude. Simultaneously, as the electrical angle of the detection signal changes, the change in feedback current is observed. By combining the characteristics of the feedback current change with the electrical angle of the injected detection signal at the corresponding moment, the initial phase of the motor can be determined. For example, when the angle between two consecutive injected voltages V1 and V2 differs by 180 electrical degrees, and the feedback current corresponding to the second injected voltage V2 is the same as the feedback current corresponding to the first injected voltage V1, it can be determined that the angle between the second injected voltage V2 and the rotor is π / 2. Therefore, the initial phase of the motor can be calculated based on the electrical angle of the detection signal at this time.

[0037] The aforementioned method for detecting the initial phase of a permanent magnet synchronous motor involves applying voltage signals of different amplitudes to the circuit under test. The appropriate voltage amplitude for the detection signal can be found based on the amplitude of the feedback current. Furthermore, by applying detection signals of different electrical angles to the circuit under test, the initial phase of the motor can be determined based on the changes in the feedback current. This method can replace the existing detection method that uses a Hall encoder to detect the initial phase of the motor, eliminating the need for a Hall encoder in the system and effectively improving space utilization. Moreover, compared to a Hall encoder, this method is unaffected by gravity, requires a smaller motor movement distance, and therefore offers higher accuracy in detecting the initial phase of the motor, improving the system's detection stability.

[0038] Figure 2 This is a schematic flowchart of a method for supplying voltage signals of different voltage amplitudes to a circuit under test in one embodiment of the present disclosure. In one embodiment, the step of supplying voltage signals of different voltage amplitudes to a circuit under test may include the following steps S110 to S130.

[0039] Step S110: Apply a voltage signal with an amplitude of N to the circuit under test, where N > 0.

[0040] Step S120: Determine whether the feedback current of the circuit under test is greater than or equal to the preset threshold.

[0041] Step S130: When the feedback current is less than the preset threshold, change the value of N until the feedback current is greater than or equal to the preset threshold.

[0042] When applying a voltage signal to the circuit under test, the voltage amplitude N can be selected based on prior information, or different voltage amplitudes can be injected from low to high. The electrical angles of the voltage signals with different amplitudes can be different to prevent excessive motor rotation caused by continuously applying voltage signals with the same electrical angle, which could affect subsequent testing. In practical applications, symmetrical injection or rotational injection methods can be used to input voltage signals with different electrical angles.

[0043] Considering the noise present in the feedback current, when the amplitude of the feedback current is too small, the noise may mask the effective current information. Simultaneously, when the amplitude of the feedback current reaches a preset threshold, the characteristics of the motor inductance change become more pronounced, which is more beneficial for detecting the initial phase of the motor. Therefore, in this embodiment, after applying voltage signals of different amplitudes to the circuit under test, the timing for stopping the injection of voltage signals of different amplitudes is determined by judging whether the feedback current of the circuit under test is greater than or equal to a preset threshold. When the feedback current is determined to be less than the preset threshold, the value of N can be further changed. When the feedback current is greater than or equal to the preset threshold, the operation of continuously injecting short-term voltages into the circuit under test can be stopped.

[0044] Please see Figure 2 In one embodiment, determining the voltage amplitude of the detection signal based on the feedback current of the circuit under test may include step S210: determining the voltage amplitude corresponding to the voltage signal applied to the circuit under test when the feedback current of the circuit under test is greater than or equal to a preset threshold as the voltage amplitude of the detection signal. When the amplitude of the feedback current reaches the preset threshold, the characteristics of the motor inductance change become more pronounced, and the interference of noise on the detection is reduced. Therefore, determining the voltage amplitude corresponding to the voltage signal applied to the circuit under test at this time as the optimal amplitude of the detection signal can enhance the reliability of the data and improve the detection accuracy.

[0045] Figure 3 This is a schematic flowchart of a method for passing detection signals of different electrical angles to a circuit under test in one embodiment of the present disclosure. In one embodiment, the step of passing detection signals of different electrical angles to the circuit under test may include the following steps S310 to S350.

[0046] Step S310: Determine the electrical angle values ​​of M detection signals according to the predetermined voltage equal division, where M > 0.

[0047] Before applying detection signals of different electrical angles to the circuit under test, the electrical angle values ​​of each detection signal can be predetermined. One revolution of the motor's electrical angle is [0, 2π) rad; therefore, the detection signals can be randomly or symmetrically selected from the range [0, 2π) rad. To better determine the initial phase of the motor, 2π can be divided into equal parts based on a predetermined voltage division number to determine the electrical angle values ​​of each detection signal. That is, the electrical angles of each detection signal form an arithmetic sequence, uniformly distributed within the range [0, 2π) rad. Therefore, the value of the voltage division number is the value of M.

[0048] The accuracy of the initial phase is related to the voltage equal fraction; the theoretical accuracy can be calculated using the following formula:

[0049]

[0050] For example, when the voltage is divided into 18 equal parts, by injecting 18 detection signals into the circuit under test and analyzing the corresponding changes in current amplitude, the detection accuracy of the initial phase can theoretically be determined within an electrical angle range of ±10 degrees, which is higher than the theoretical accuracy of the Hall encoder of ±30 degrees.

[0051] In practical applications, the voltage fraction can be 18, 24, 36, etc., but usually the value of the voltage fraction does not exceed 72. If the voltage fraction is too large, it will prolong the detection process, increase the amount of data, lead to longer algorithm time, reduced detection efficiency, and increase the impact of current sampling accuracy on detection accuracy.

[0052] Step S320: Select one untested signal from the M detection signals and pass it into the circuit under test.

[0053] Step S330: Record the correspondence between the currently applied detection signal and the feedback current of the circuit under test.

[0054] Step S340: Determine whether all M detection signals have completed the test.

[0055] Step S350: If the judgment result is negative, select an untested signal from the M detection signals and pass it into the circuit under test until all M detection signals have been tested.

[0056] M detection signals with predetermined electrical angle values ​​are sequentially applied to the circuit under test. For each signal applied, the electrical angle and the feedback current of the circuit are recorded; each electrical angle value corresponds to one feedback current. After data recording, the electrical angle of the applied detection signal is changed, and the electrical angle and feedback current are recorded again. This process is repeated until all M detection signals have been tested and data recorded. By injecting voltages with different electrical angles, the accuracy of the motor's initial phase detection can be improved.

[0057] Figure 4 This is a schematic flowchart of a method for processing feedback current in one embodiment of the present disclosure. In one embodiment, after all M detection signals have been tested, the method may further include the following steps S360 to S370.

[0058] Step S360: Sort the detection signals according to the feedback current.

[0059] Step S370: Filter the feedback current.

[0060] Since the electrical angle of the injected voltage is symmetrical and rotating, it can be sorted according to the position based on the electrical angle of the detection signal corresponding to each feedback current. After sorting the feedback currents according to the injection angle, the feedback currents can be filtered to a certain extent to remove some noise and reduce the interference of noise on the detection results, thereby enhancing the anti-interference capability of the system. In some embodiments, an FIR filter (Finite Impulse Response) can be used to filter the sorted currents to a certain extent. By sorting the current amplitudes according to the electrical angle and filtering the currents, the anti-interference capability of the system can be enhanced, thereby improving the detection accuracy of the initial phase of the motor.

[0061] Figure 5 This is a schematic flowchart of a method for determining the initial phase of a motor in one embodiment of the present disclosure. In one embodiment, determining the initial phase of the motor based on the detection signal and the feedback current may include the following steps S410 to S420.

[0062] Step S410: Take the average electrical angle of the detection signal corresponding to the feedback current that meets the preset requirements, and obtain the average electrical angle value.

[0063] The preset requirement can refer to the feedback current remaining constant. That is, when a detection signal at a certain electrical angle is injected, if the feedback current is the same as the feedback current corresponding to the detection signal at other electrical angles previously injected, then the current feedback current is considered to meet the preset condition. The average electrical angle is obtained by averaging the electrical angles corresponding to all feedback currents that meet this preset condition.

[0064] In practical applications, it's possible that none of the pre-determined electrical angles have a difference of π / 2 from the rotor angle. Therefore, the preset requirement can also be the maximum and minimum values ​​of the current amplitude. The average electrical angle is obtained by averaging the electrical angle corresponding to the maximum current amplitude, the electrical angle ±180° corresponding to the maximum current amplitude, the electrical angle corresponding to the minimum current amplitude, and the electrical angle ±180° corresponding to the minimum current amplitude across all detection data.

[0065] Step S420: Determine the initial angle of the motor based on the average value of the motor's motion angle and electrical angle during the test.

[0066] Because injecting a short-term voltage may cause the motor to wiggle slightly, an incremental encoder can be used to feed back the motor's motion after the voltage is injected. The motor motion angle detected by the incremental encoder can be superimposed on the average electrical angle obtained in step S410 to obtain the initial phase of the motor.

[0067] By applying detection signals of different electrical angles to the circuit under test, the initial phase of the motor is determined based on the changes in the feedback current and the movement of the motor caused by voltage injection. This avoids the influence of motor micro-motion on the detection results and effectively improves the accuracy of the initial phase.

[0068] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple steps or stages, which are not necessarily completed at the same time, but may be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but may be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0069] Based on the description of the above embodiments of the initial phase detection method for permanent magnet synchronous motors, this disclosure also provides an initial phase detection device for permanent magnet synchronous motors. The device may include apparatus (including distributed systems), software (applications), modules, components, servers, clients, etc., using the methods described in the embodiments of this specification, combined with necessary implementation hardware. Based on the same innovative concept, the apparatuses in one or more embodiments provided in this disclosure are as described in the following embodiments. Since the implementation schemes and methods for solving the problem by the apparatus are similar, the implementation of the specific apparatus in the embodiments of this specification can refer to the implementation of the foregoing methods, and repeated details will not be repeated. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0070] Figure 6 This is a schematic diagram of the structure of the initial phase detection device for a permanent magnet synchronous motor in one embodiment of the present disclosure. In one embodiment, the initial phase detection device for a permanent magnet synchronous motor may include a circuit under test 100, a power supply module 200, a current detection module 300, and a control module 400.

[0071] The circuit under test (DUT) 100 may include a motor. The motor can be a surface-mounted or embedded permanent magnet synchronous motor. A power supply module 200, connected to the DUT 100, can be used to supply voltage signals of different amplitudes to the DUT. A current detection module 200, connected to the DUT 100, can be used to detect the feedback current of the DUT 100. A control module 400, connected to both the current detection module and the power supply module 200, can be used to determine the voltage amplitude of the detection signal based on the feedback current and generate a control signal. The control module 400 feeds the control signal back to the power supply module 200, and the power supply module 200 can also supply detection signals of different electrical angles to the DUT 100 based on the control signal. The control module 400 can also determine the initial phase of the motor based on the detection signal and the feedback current.

[0072] By supplying voltage signals of different amplitudes to the circuit under test 100 through the power supply module 200, the control module 400 can find a suitable voltage amplitude as the voltage amplitude of the detection signal based on the amplitude of the feedback current detected by the current detection module 300. When the feedback current of the circuit under test meets certain conditions, it can be determined that the voltage amplitude of the currently supplied voltage signal is the most suitable.

[0073] After selecting the optimal voltage amplitude, the control module 400 can output a control signal to the power supply module 200 to control the power supply module 200 to supply detection signals with different electrical angles to the circuit under test 100. The power supply module 200 changes the electrical angle of the detection signal without changing the voltage amplitude. Simultaneously, when the electrical angle of the detection signal changes, the control module 300 can determine the initial phase of the motor based on the changes in the feedback current, combined with the characteristics of the feedback current change and the corresponding electrical angle of the injected detection signal. This device can detect the initial phase of the motor without using a Hall encoder, improving space utilization. Furthermore, compared to devices using Hall encoders, this device is unaffected by gravity, requires a smaller motor movement distance, and therefore has higher accuracy in initial phase detection, improving the device's detection stability.

[0074] In one embodiment, the control module 100 may include a storage unit and a filtering unit. When the control module 100 controls the circuit module 200 to sequentially input M detection signals with predetermined electrical angle values ​​into the circuit under test 100, the storage unit records the electrical angle of the input signal and the feedback current of the circuit under test for each input detection signal. Each electrical angle value corresponds to one feedback current. After the storage unit completes the current data recording, the control module 100 can control the circuit module 200 to change the electrical angle of the input detection signal, and the storage module will then re-record the new electrical angle and feedback current. This process is repeated until all M detection signals have been tested and data recorded.

[0075] The control module 400 can also be used to sort the detection signals corresponding to the feedback current, and the filtering unit can filter the feedback current. Since the electrical angle of the injected voltage is symmetrical and rotating, the control module 400 can sort the detection signals according to their positions based on the electrical angle of each feedback current. After the control module 400 sorts the feedback current according to the injection angle, the filtering unit can filter the feedback current to a certain extent, removing some noise and reducing the interference of noise on the detection results, thereby enhancing the system's anti-interference capability.

[0076] In some embodiments, the filtering unit may employ an FIR (Finite Impulse Response) filter to filter the sorted currents to a certain extent. By sorting the current amplitudes according to the electrical angle and filtering the currents, the system's anti-interference capability can be enhanced, thereby improving the detection accuracy of the motor's initial phase.

[0077] In one embodiment, the initial phase detection device for the permanent magnet synchronous motor may further include an incremental encoder. The incremental encoder converts displacement into a periodic electrical signal, then converts this electrical signal into counting pulses, using the number of pulses to represent the magnitude of the displacement. Therefore, in this embodiment, an incremental encoder can be used to detect the motor's motion angle.

[0078] The control module can also average the electrical angle of the detection signal corresponding to the feedback current that meets the preset requirements, obtain the average electrical angle, and determine the initial angle of the motor based on the motor's motion angle and the average electrical angle during the test.

[0079] The preset requirement can refer to the feedback current remaining constant. That is, when a detection signal at a certain electrical angle is injected, if the feedback current is the same as the feedback current corresponding to the detection signal at other electrical angles previously injected, then the current feedback current is considered to meet the preset condition. The control module 400 can average the electrical angles corresponding to all feedback currents that meet this preset condition to obtain the average electrical angle value.

[0080] In practical applications, it's possible that none of the predetermined electrical angles have a difference of π / 2 from the rotor angle. Therefore, the preset requirement can also be the maximum and minimum values ​​of the current amplitude. The control module 400 can take the average of the electrical angle corresponding to the maximum current amplitude, the electrical angle ±180 degrees corresponding to the maximum current amplitude, the electrical angle corresponding to the minimum current amplitude, and the electrical angle ±180 degrees corresponding to the minimum current amplitude from all the detected data to obtain the average electrical angle.

[0081] Because injecting a short-term voltage may cause slight movements in the motor, the control module 400 uses an incremental encoder to feed back the motor's motion after the voltage is injected. The control module then superimposes the motor motion angle detected by the incremental encoder onto the average electrical angle to obtain the initial phase of the motor.

[0082] The aforementioned permanent magnet synchronous motor initial phase detection device uses the power module 200 to supply detection signals of different electrical angles to the circuit under test 100. The control module 400 then determines the initial phase of the motor based on the changes in the feedback current and the movement of the motor caused by voltage injection. This avoids the influence of motor micro-motion on the detection results and effectively improves the accuracy of the initial phase.

[0083] It is understood that the various embodiments of the methods, apparatuses, etc. described in this specification are presented in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. Related details can be found in the descriptions of other method embodiments.

[0084] Figure 7This is a schematic diagram of a device structure for implementing an initial phase detection method for a permanent magnet synchronous motor in one embodiment of this disclosure. (Refer to...) Figure 7 The permanent magnet synchronous motor initial phase detection device S00 may include a processing component S20, which further includes one or more processors, and memory resources represented by a memory S22 for storing instructions executable by the processing component S20, such as application programs. The application programs stored in the memory S22 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component S20 is configured to execute instructions to perform the aforementioned permanent magnet synchronous motor initial phase detection method.

[0085] The permanent magnet synchronous motor initial phase detection device S00 may further include: a power supply component S24 configured to perform power management of the permanent magnet synchronous motor initial phase detection device S00; a wired or wireless network interface S26 configured to connect the permanent magnet synchronous motor initial phase detection device S00 to a network; and an input / output (I / O) interface S28. The permanent magnet synchronous motor initial phase detection device S00 can operate on an operating system stored in memory S22, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, or similar.

[0086] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory S22 including instructions, which can be executed by the processor of the permanent magnet synchronous motor initial phase detection device S00 to complete the above method. The storage medium can be a computer-readable storage medium, such as a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0087] In an exemplary embodiment, a computer program product is also provided, the computer program product including instructions that can be executed by the processor of the permanent magnet synchronous motor initial phase detection device S00 to complete the above method.

[0088] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 8 As shown, Figure 8This is an internal structural diagram of a computer device according to one embodiment of the present disclosure. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores user- and task-related data used in the aforementioned method for initial phase detection of a permanent magnet synchronous motor. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for initial phase detection of a permanent magnet synchronous motor.

[0089] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0090] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0091] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, hardware + program embodiments are basically similar to method embodiments, so they are described more simply; relevant parts can be referred to the descriptions in the method embodiments.

[0092] It should be noted that the devices, electronic devices, servers, etc., described above according to the method embodiments may also include other implementation methods, and specific implementation methods can be referred to the description of the relevant method embodiments. Furthermore, new embodiments formed by the combination of features between various methods, devices, and server embodiments still fall within the scope of this disclosure, and will not be elaborated upon here.

[0093] In the description of this specification, references to terms such as "some embodiments," "other embodiments," and "ideal embodiments" 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, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0094] 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.

[0095] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A method for detecting the initial phase of a permanent magnet synchronous motor, characterized in that, include: Apply voltage signals of different amplitudes to the circuit under test; The voltage amplitude of the detection signal is determined based on the feedback current of the circuit under test; The detection signals at different electrical angles are passed to the circuit under test; Determining the initial phase of the motor based on the detection signal and the feedback current includes averaging the electrical angles of the detection signals corresponding to the feedback current that meet preset requirements to obtain the average electrical angle value. The preset requirements are the maximum and minimum values ​​of the current amplitude. The average electrical angle value is obtained by averaging the electrical angles corresponding to the maximum current amplitude, the electrical angle ±180° corresponding to the maximum current amplitude, the electrical angles corresponding to the minimum current amplitude, and the electrical angles ±180° corresponding to the minimum current amplitude among all detection data. The initial angle of the motor is determined based on the motor's motion angle and the average electrical angle during the test.

2. The method for detecting the initial phase of a permanent magnet synchronous motor according to claim 1, characterized in that, The voltage signals of different amplitudes supplied to the circuit under test include: A voltage signal with an amplitude of N is applied to the circuit under test, where N > 0; Determine whether the feedback current of the circuit under test is greater than or equal to a preset threshold. When the feedback current is less than the preset threshold, the value of N is changed until the feedback current is greater than or equal to the preset threshold.

3. The method for initial phase detection of a permanent magnet synchronous motor according to claim 1 or 2, characterized in that, The step of determining the voltage amplitude of the detection signal based on the feedback current of the circuit under test includes: When the feedback current of the circuit under test is greater than or equal to a preset threshold, the voltage amplitude corresponding to the voltage signal applied to the circuit under test is determined as the voltage amplitude of the detection signal.

4. The method for initial phase detection of a permanent magnet synchronous motor according to claim 1, characterized in that, The detection signals of different electrical angles supplied to the circuit under test include: The electrical angle values ​​of the M detection signals are determined according to a predetermined voltage equal division, where M > 0; Select one untested signal from the M detection signals and pass it into the circuit under test; Record the correspondence between the currently applied detection signal and the current feedback current of the circuit under test; Determine whether all M detection signals have been tested. If the judgment result is negative, select an untested signal from the M detection signals and pass it into the circuit under test until all M detection signals have been tested.

5. The method for initial phase detection of a permanent magnet synchronous motor according to claim 4, characterized in that, After all M detection signals have been tested, the method further includes: The detection signals corresponding to the feedback current are sorted. The feedback current is filtered.

6. An initial phase detection device for a permanent magnet synchronous motor, characterized in that, include: The circuit under test includes a motor; A power supply module, connected to the circuit under test, is used to supply voltage signals of different voltage amplitudes to the circuit under test; A current detection module is connected to the circuit under test and is used to detect the feedback current of the circuit under test. The control module is connected to the current detection module and the power supply module respectively, and is used to determine the voltage amplitude of the detection signal based on the feedback current and generate a control signal; The power module is also used to supply detection signals of different electrical angles to the circuit under test according to the control signal; The control module is further configured to determine the initial phase of the motor based on the detection signal and the feedback current, including averaging the electrical angles of the detection signal corresponding to the feedback current that meets the preset requirements to obtain the average electrical angle value, wherein the preset requirements are the maximum and minimum values ​​of the current amplitude, and averaging the electrical angles corresponding to the maximum current amplitude, the electrical angle ±180° corresponding to the maximum current amplitude, the electrical angles corresponding to the minimum current amplitude, and the electrical angles ±180° corresponding to the minimum current amplitude among all detection data to obtain the average electrical angle value; The initial angle of the motor is determined based on the motor's motion angle and the average electrical angle during the test.

7. The initial phase detection device for a permanent magnet synchronous motor according to claim 6, characterized in that, The control module is also used to sort the detection signals corresponding to the feedback current and to filter the feedback current.

8. The initial phase detection device for a permanent magnet synchronous motor according to claim 6, characterized in that, The initial phase detection device for the permanent magnet synchronous motor also includes: An incremental encoder is used to detect the motion angle of the motor.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the initial phase detection method for a permanent magnet synchronous motor as described in any one of claims 1 to 5.

Images