A method and device for detecting the position of a rotor of a permanent magnet synchronous motor on an arc

Abstract

The application relates to a mover position detection method and device of a permanent magnet synchronous motor on an arc line. The method comprises the following steps: setting the mover of the permanent magnet synchronous motor to move in a counterclockwise direction on the arc line, installing a position sensor on the arc line, detecting the position of the mover through the position sensor, calculating the angle of the center of the mover moving in the counterclockwise direction on the arc line according to the position measurement value output by the position sensor, and finally calculating the movement displacement of the mover on the arc line according to the angle of the center of the mover moving in the counterclockwise direction on the arc line and the radius of the arc line to realize the position detection of the mover on the arc line. The method can convert the measurement output value of the position sensor into the movement displacement of the mover on the arc line, obtain the specific position of the mover on the movement arc line, and realize the accurate positioning and movement control of the mover of the permanent magnet synchronous motor on the arc line.

Description

Technical Field

[0001] This application relates to the field of mover position detection technology, and in particular to a method and apparatus for detecting the mover position of a permanent magnet synchronous motor on an arc. Background Technology

[0002] A permanent magnet synchronous motor is a transmission device that directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism. It consists of components such as stator, mover, and end caps. It has the advantages of high response, high rigidity, and high precision, and is widely used in various high-precision industrial servo applications.

[0003] Position detection is a crucial aspect of permanent magnet synchronous motor (PMSM) research, directly impacting the motor's control cost and performance. Position detection accuracy is paramount to the motor's control precision. In PMSMs, position sensors are typically used to measure the mover's position. However, because these sensors output linear position values, they cannot reflect the mover's displacement along a curve, leading to reduced position detection accuracy. This compromises the stability of PMSM speed control and its positioning accuracy on curves. Therefore, accurately detecting the mover's position on a curve is a critical problem that needs to be solved for the widespread application of PMSMs. Summary of the Invention

[0004] Therefore, it is necessary to provide a method and device for detecting the position of the mover of a permanent magnet synchronous motor on an arc, in order to address the above-mentioned technical problems.

[0005] A method for detecting the position of the mover of a permanent magnet synchronous motor on an arc, the method comprising:

[0006] The mover of the permanent magnet synchronous motor is set to move counterclockwise along an arc, and a position sensor is installed on the arc. When the position sensor just detects the mover, the initial angle between the position sensor and the center of the mover is calculated based on the length of the mover along the direction of movement and the radius of the arc. The initial angle is the angle between the line connecting the position sensor to the center of the arc and the line connecting the center of the mover to the center of the arc when the position sensor just detects the mover.

[0007] When the position sensor continuously detects the mover, the position measurement value output by the position sensor is obtained, and the angle between the position sensor and the center of the mover at the current moment is updated according to the position measurement value. The angle of the mover center moving counterclockwise along the arc is calculated based on the updated angle and the initial angle.

[0008] The displacement of the mover on the arc is obtained by calculating the angle of the mover center moving counterclockwise along the arc and the radius of the arc, thus completing the mover position detection on the arc.

[0009] In one embodiment, the method further includes: when the position sensor just detects the mover, calculating the initial angle between the position sensor and the center of the mover based on the length of the mover along the direction of motion and the radius of the arc, expressed as θ0=arcsin(L / 2r); where L represents the length of the mover along the direction of motion and r represents the radius of the arc.

[0010] In one embodiment, when the position sensor continuously detects the mover, the position measurement value output by the position sensor is acquired, and the angle between the position sensor and the center of the mover at the current moment is updated based on the position measurement value. The updated angle is then compared with the initial angle to calculate the angle at which the center of the mover moves counterclockwise along the arc, including:

[0011] When the position sensor continuously detects the mover, the position measurement value s output by the position sensor is acquired;

[0012] When the position measurement value s is less than a set threshold, the angle between the position sensor and the center of the mover at the current moment is updated based on the position measurement value s, resulting in the updated angle θ1. Then, based on the updated angle θ1 and the initial angle θ0, the angle θ of the mover center's counterclockwise motion along the arc is calculated. At this point, θ and θ1 are represented as follows:

[0013] θ = θ0 - θ1;

[0014] θ1 = arcsin((L-2s) / 2r);

[0015] When the position measurement value s is not less than a set threshold, the angle between the position sensor and the center of the mover at the current moment is updated based on the position measurement value s, resulting in the updated angle θ1. Then, based on the updated angle θ1 and the initial angle θ0, the angle θ of the mover center's counterclockwise motion along the arc is calculated. At this point, θ and θ1 are respectively represented as...

[0016] θ = θ0 + θ1;

[0017] θ1=arcsin((2s-L) / 2r).

[0018] In one embodiment, the threshold is set to half the length of the mover along the direction of motion.

[0019] In one embodiment, the displacement of the mover on the arc is calculated based on the angle of the mover center moving counterclockwise along the arc and the radius of the arc, including:

[0020] The displacement of the mover on the arc is calculated based on the angle θ of the counterclockwise motion of the center of the mover on the arc and the radius r of the arc, and is expressed as S = r * θ.

[0021] A device for detecting the position of the moving part of a permanent magnet synchronous motor on an arc, the device comprising:

[0022] The first module is used to set the mover of the permanent magnet synchronous motor to move counterclockwise along the arc, and to install the position sensor on the arc. When the position sensor just detects the mover, the initial angle between the position sensor and the center of the mover is calculated based on the length of the mover along the direction of movement and the radius of the arc. The initial angle is the angle between the line connecting the position sensor to the center of the arc and the line connecting the center of the mover to the center of the arc when the position sensor just detects the mover.

[0023] The second module is used to obtain the position measurement value output by the position sensor when the position sensor continuously detects the mover, update the angle between the position sensor and the center of the mover at the current moment according to the position measurement value, and calculate the angle of the mover center moving counterclockwise on the arc according to the updated angle and the initial angle.

[0024] The third module is used to calculate the displacement of the mover on the arc based on the angle of the mover center moving counterclockwise on the arc and the radius of the arc, and to complete the mover position detection on the arc.

[0025] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program performing the following steps:

[0026] The mover of the permanent magnet synchronous motor is set to move counterclockwise along an arc, and a position sensor is installed on the arc. When the position sensor just detects the mover, the initial angle between the position sensor and the center of the mover is calculated based on the length of the mover along the direction of movement and the radius of the arc. The initial angle is the angle between the line connecting the position sensor to the center of the arc and the line connecting the center of the mover to the center of the arc when the position sensor just detects the mover.

[0027] When the position sensor continuously detects the mover, the position measurement value output by the position sensor is obtained, and the angle between the position sensor and the center of the mover at the current moment is updated according to the position measurement value. The angle of the mover center moving counterclockwise along the arc is calculated based on the updated angle and the initial angle.

[0028] The displacement of the mover on the arc is obtained by calculating the angle of the mover center moving counterclockwise along the arc and the radius of the arc, thus completing the mover position detection on the arc.

[0029] A computer-readable storage medium having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0030] The mover of the permanent magnet synchronous motor is set to move counterclockwise along an arc, and a position sensor is installed on the arc. When the position sensor just detects the mover, the initial angle between the position sensor and the center of the mover is calculated based on the length of the mover along the direction of movement and the radius of the arc. The initial angle is the angle between the line connecting the position sensor to the center of the arc and the line connecting the center of the mover to the center of the arc when the position sensor just detects the mover.

[0031] When the position sensor continuously detects the mover, the position measurement value output by the position sensor is obtained, and the angle between the position sensor and the center of the mover at the current moment is updated according to the position measurement value. The angle of the mover center moving counterclockwise along the arc is calculated based on the updated angle and the initial angle.

[0032] The displacement of the mover on the arc is obtained by calculating the angle of the mover center moving counterclockwise along the arc and the radius of the arc, thus completing the mover position detection on the arc.

[0033] The aforementioned method and apparatus for detecting the position of the mover of a permanent magnet synchronous motor on an arc differs from existing methods that only use a position sensor to measure the linear motion position of the mover. This method sets the mover of the permanent magnet synchronous motor to move counterclockwise on an arc, and installs the position sensor on the arc. The position sensor detects the mover's position, and based on the linear motion position measurement output by the position sensor, calculates the angle of the mover's center moving counterclockwise on the arc. Finally, based on the angle of the mover's center moving counterclockwise on the arc and the radius of the arc, the displacement of the mover on the arc is calculated, thus achieving the detection of the mover's position on the arc. This method converts the linear motion position measurement value of the position sensor into the displacement of the mover on the arc, obtaining the mover's position on the arc and achieving precise positioning and motion control of the permanent magnet synchronous motor's mover on an arc. Attached Figure Description

[0034] Figure 1 This is a flowchart illustrating a method for detecting the position of the mover of a permanent magnet synchronous motor on an arc in one embodiment.

[0035] Figure 2 This is a schematic diagram illustrating the motion of the mover along an arc when the position sensor just detects the mover in one embodiment.

[0036] Figure 3This is a schematic diagram illustrating the motion of the mover on an arc when the position sensor continuously detects the mover and the position measurement value output by the position sensor is less than a set threshold, in one embodiment.

[0037] Figure 4 This is a schematic diagram illustrating the motion of the mover on an arc when the position sensor continuously detects the mover and the position measurement value output by the position sensor is not less than a set threshold in one embodiment.

[0038] Figure 5 This is a structural block diagram of a permanent magnet synchronous motor moving part position detection device on an arc in one embodiment;

[0039] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0041] In one embodiment, such as Figure 1 As shown, a method for detecting the position of the mover of a permanent magnet synchronous motor on an arc is provided, including the following steps:

[0042] Step S1: Set the mover of the permanent magnet synchronous motor to move counterclockwise along the arc, and install the position sensor on the arc. When the position sensor just detects the mover, calculate the initial angle between the position sensor and the center of the mover based on the length of the mover along the direction of movement and the radius of the arc. The initial angle is the angle between the line connecting the position sensor to the center of the arc and the line connecting the center of the mover to the center of the arc when the position sensor just detects the mover.

[0043] Step S2: When the position sensor continuously detects the mover, the position measurement value output by the position sensor is obtained, and the angle between the position sensor and the center of the mover at the current moment is updated according to the position measurement value. The angle of the mover center moving counterclockwise on the arc is calculated based on the updated angle and the initial angle.

[0044] Step S3: Calculate the displacement of the mover on the arc by using the angle of the mover center moving counterclockwise on the arc and the radius of the arc, and complete the mover position detection on the arc.

[0045] Furthermore, when the mover of the permanent magnet synchronous motor moves clockwise on the arc, the position can also be detected according to the above-mentioned method for detecting the position of the mover of the permanent magnet synchronous motor on the arc. During the detection process, it is only necessary to convert the counterclockwise direction to the clockwise direction.

[0046] In one embodiment, such as Figure 2 As shown, when the position sensor E just detects the mover, the initial angle between the position sensor and the center of the mover is calculated based on the length of the mover along the direction of motion and the radius of the arc, expressed as: θ0=arcsin(L / 2r); where L represents the length of the mover along the direction of motion, and r represents the radius of the arc. Figure 2 In this context, O represents the center of the circle, and F represents the intersection of the line passing through point E and the line connecting the center of the moving part to the center O. Figure 2 The length of the median segment EF is L / 2.

[0047] In one embodiment, when the θ0 position sensor continuously detects the mover, the position measurement value output by the position sensor is acquired, and the angle between the position sensor and the center of the mover at the current moment is updated based on the position measurement value. Then, the angle of the mover center's counterclockwise movement along the arc is calculated based on the updated angle and the initial angle, including:

[0048] When the position sensor continuously detects the mover, the position measurement value s output by the position sensor is acquired (i.e., Figure 3 and Figure 4 (Length of the median segment GE);

[0049] like Figure 3 As shown, when the position measurement value s is less than the set threshold L / 2, that is, when the center of the moving part is to the right of the position sensor E, the angle between the position sensor and the center of the moving part at the current moment is updated according to the position measurement value s, and the updated angle θ1 is obtained. Then, the angle θ of the moving part center moving counterclockwise along the arc is calculated based on the updated angle θ1 and the initial angle θ0. At this time, the length of the line segment GF is L / 2, and θ and θ1 are respectively represented as...

[0050] θ = θ0 - θ1;

[0051] θ1 = arcsin((L-2s) / 2r);

[0052] like Figure 4As shown, when the position measurement value s is not less than the set threshold L / 2, that is, when the center of the moving part is to the left of the position sensor, the angle between the position sensor and the center of the moving part at the current moment is updated according to the position measurement value s, and the updated angle θ1 is obtained. Then, the angle θ of the moving part center moving counterclockwise along the arc is calculated based on the updated angle θ1 and the initial angle θ0. At this time, the length of line segment GF is L / 2, and θ and θ1 are respectively represented as...

[0053] θ = θ0 + θ1;

[0054] θ1=arcsin((2s-L) / 2r).

[0055] In one embodiment, the displacement of the mover on the arc is calculated based on the angle of the mover center moving counterclockwise along the arc and the radius of the arc, including:

[0056] The displacement of the mover on the arc is calculated based on the angle θ of the counterclockwise motion of the center of the mover on the arc and the radius r of the arc, and is expressed as S = r * θ.

[0057] It should be understood that, although Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0058] In one embodiment, such as Figure 5 As shown, a device for detecting the position of the moving part of a permanent magnet synchronous motor on an arc is provided, comprising:

[0059] The first module 501 is used to set the mover of the permanent magnet synchronous motor to move counterclockwise along the arc, and to install the position sensor on the arc. When the position sensor just detects the mover, the initial angle between the position sensor and the center of the mover is calculated based on the length of the mover along the direction of movement and the radius of the arc. The initial angle is the angle between the line connecting the position sensor to the center of the arc and the line connecting the center of the mover to the center of the arc when the position sensor just detects the mover.

[0060] The second module 502 is used to obtain the position measurement value output by the position sensor when the position sensor continuously detects the mover, update the angle between the position sensor and the center of the mover at the current moment according to the position measurement value, and calculate the angle of the center of the mover moving counterclockwise on the arc according to the updated angle and the initial angle.

[0061] The third module 503 is used to calculate the displacement of the mover on the arc based on the angle of the mover center moving counterclockwise on the arc and the radius of the arc, and to complete the position detection of the mover on the arc.

[0062] Specific limitations regarding the mover position detection device for permanent magnet synchronous motors on arcs can be found in the above-described limitations of the mover position detection method for permanent magnet synchronous motors on arcs, and will not be repeated here. Each module in the aforementioned mover position detection device for permanent magnet synchronous motors on arcs can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the corresponding operations of each module.

[0063] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements a method for detecting the position of the mover of a permanent magnet synchronous motor on an arc. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0064] Those skilled in the art will understand that Figure 6 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.

[0065] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to perform the following steps:

[0066] The mover of the permanent magnet synchronous motor is set to move counterclockwise along an arc, and a position sensor is installed on the arc. When the position sensor just detects the mover, the initial angle between the position sensor and the center of the mover is calculated based on the length of the mover along the direction of movement and the radius of the arc. The initial angle is the angle between the line connecting the position sensor to the center of the arc and the line connecting the center of the mover to the center of the arc when the position sensor just detects the mover.

[0067] When the position sensor continuously detects the mover, the position measurement value output by the position sensor is obtained, and the angle between the position sensor and the center of the mover at the current moment is updated according to the position measurement value. The angle of the mover center moving counterclockwise along the arc is calculated based on the updated angle and the initial angle.

[0068] The displacement of the mover on the arc is obtained by calculating the angle of the mover center moving counterclockwise along the arc and the radius of the arc, thus completing the mover position detection on the arc.

[0069] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0070] The mover of the permanent magnet synchronous motor is set to move counterclockwise along an arc, and a position sensor is installed on the arc. When the position sensor just detects the mover, the initial angle between the position sensor and the center of the mover is calculated based on the length of the mover along the direction of movement and the radius of the arc. The initial angle is the angle between the line connecting the position sensor to the center of the arc and the line connecting the center of the mover to the center of the arc when the position sensor just detects the mover.

[0071] When the position sensor continuously detects the mover, the position measurement value output by the position sensor is obtained, and the angle between the position sensor and the center of the mover at the current moment is updated according to the position measurement value. The angle of the mover center moving counterclockwise along the arc is calculated based on the updated angle and the initial angle.

[0072] The displacement of the mover on the arc is obtained by calculating the angle of the mover center moving counterclockwise along the arc and the radius of the arc, thus completing the mover position detection on the arc.

[0073] 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, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0074] 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.

[0075] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for detecting the position of the mover of a permanent magnet synchronous motor on an arc, characterized in that, The method includes: The mover of the permanent magnet synchronous motor is set to move counterclockwise along an arc, and a position sensor is installed on the arc. When the position sensor just detects the mover, the initial angle between the position sensor and the center of the mover is calculated based on the length of the mover along the direction of movement and the radius of the arc. The initial angle is the angle between the line connecting the position sensor to the center of the arc and the line connecting the center of the mover to the center of the arc when the position sensor just detects the mover. When the position sensor continuously detects the mover, the position measurement value output by the position sensor is obtained, and the angle between the position sensor and the center of the mover at the current moment is updated according to the position measurement value. The angle of the mover center moving counterclockwise along the arc is calculated based on the updated angle and the initial angle. The displacement of the mover on the arc is obtained by calculating the angle of the mover center moving counterclockwise along the arc and the radius of the arc, thus completing the mover position detection on the arc.

2. The method according to claim 1, characterized in that, The method further includes: when the position sensor just detects the mover, calculating the initial angle between the position sensor and the center of the mover based on the length of the mover along the direction of motion and the radius of the arc, expressed as θ0=arcsin(L / 2r); where L represents the length of the mover along the direction of motion and r represents the radius of the arc.

3. The method according to claim 2, characterized in that, When the position sensor continuously detects the mover, the position measurement value output by the position sensor is acquired, and the angle between the position sensor and the center of the mover at the current moment is updated based on the position measurement value. Then, the angle of the mover center's counterclockwise movement along the arc is calculated based on the updated angle and the initial angle, including: When the position sensor continuously detects the mover, the position measurement value s output by the position sensor is acquired; When the position measurement value s is less than a set threshold, the angle between the position sensor and the center of the mover at the current moment is updated based on the position measurement value s to obtain the updated angle θ1. Then, based on the updated angle θ1 and the initial angle θ0, the angle θ of the mover center's counterclockwise movement along the arc is calculated. At this time, θ and θ1 are respectively represented as... θ = θ0 - θ1; θ1 = arcsin((L-2s) / 2r); When the position measurement value s is not less than a set threshold, the angle between the position sensor and the center of the mover at the current moment is updated based on the position measurement value s to obtain the updated angle θ1. Then, based on the updated angle θ1 and the initial angle θ0, the angle θ of the mover center moving counterclockwise along the arc is calculated. At this time, θ and θ1 are respectively represented as... θ = θ0 + θ1; θ1=arcsin((2s-L) / 2r).

4. The method according to claim 3, characterized in that, The set threshold is half the length of the mover along the direction of motion.

5. The method according to claim 1, characterized in that, The displacement of the mover on the arc is calculated based on the angle of the mover's center moving counterclockwise along the arc and the radius of the arc, including: The displacement of the mover on the arc is calculated based on the angle θ of the counterclockwise motion of the center of the mover on the arc and the radius r of the arc, and is expressed as S = r * θ.

6. A device for detecting the position of the mover of a permanent magnet synchronous motor on an arc, characterized in that, The device includes: The first module is used to set the mover of the permanent magnet synchronous motor to move counterclockwise along the arc, and to install the position sensor on the arc. When the position sensor just detects the mover, the initial angle between the position sensor and the center of the mover is calculated based on the length of the mover along the direction of movement and the radius of the arc. The initial angle is the angle between the line connecting the position sensor to the center of the arc and the line connecting the center of the mover to the center of the arc when the position sensor just detects the mover. The second module is used to obtain the position measurement value output by the position sensor when the position sensor continuously detects the mover, update the angle between the position sensor and the center of the mover at the current moment according to the position measurement value, and calculate the angle of the center of the mover moving counterclockwise on the arc according to the updated angle and the initial angle. The third module is used to calculate the displacement of the mover on the arc based on the angle of the mover center moving counterclockwise on the arc and the radius of the arc, and to complete the mover position detection on the arc.

7. 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 method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

Images