Motor rotor position determination method, device, readable storage medium and vehicle
Through screening and multiple injection of high-frequency sinusoidal signal processing, the problem of low accuracy in determining the position of the motor rotor is solved, the accuracy of the actual initial position is improved, and the error of the blind spot of the initial position is reduced.
Patent Information
- Application Number
- CN202410974213.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-19
- Publication Date
- 2025-01-14
- Estimated Expiration
- 2044-07-19
AI Technical Summary
In the prior art, when determining the position of the motor rotor, the accuracy is not high, and there are blind spots for initial position identification, resulting in large errors in actual initial position identification.
By obtaining multiple predicted initial positions, injecting high-frequency sinusoidal signals into the motor, filtering out the target predicted initial positions, determining the actual initial positions based on the response current, and using multiple injection signals and filtering processing to improve accuracy.
The initial position identification blind spot is reduced, the rotor position determination accuracy is improved, and the error in identifying the actual position at the initial position is reduced.
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Figure CN118508811B_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of motor technology, and in particular to a method and device for determining a motor rotor position, a readable storage medium, and a vehicle. Background Art
[0002] When vector control is performed on a motor, the position of the rotor in the motor needs to be determined first. Currently, the methods for determining the position of the rotor in the motor include detection through a rotary transformer, a pre-positioning method, and a back electromotive force method.
[0003] However, the accuracy of the position of the rotor determined by the above method is not high. Summary of the invention
[0004] The embodiments of the present application provide a method, device, readable storage medium and vehicle for determining the position of a motor rotor, which can improve the accuracy of the determined rotor position to at least partially solve the above-mentioned technical problems.
[0005] In order to achieve the above object, according to a first aspect of the present application, a method for determining a motor rotor position is provided, comprising:
[0006] obtaining a plurality of predicted initial positions for a rotor in a motor;
[0007] Injecting high-frequency sinusoidal signals corresponding to each of the predicted initial positions into the motors respectively to obtain response currents corresponding to each of the predicted initial positions;
[0008] Screening out a target predicted initial position from the plurality of predicted initial positions according to the response current corresponding to each of the predicted initial positions;
[0009] A high frequency sinusoidal signal corresponding to the target predicted initial position is injected into the motor to obtain a target response current corresponding to the target predicted initial position, and the actual initial position of the rotor is determined based on the target response current.
[0010] Optionally, the step of selecting a target predicted initial position from the plurality of predicted initial positions according to the response current corresponding to each of the predicted initial positions comprises:
[0011] Determining the maximum response current among the response currents corresponding to the predicted initial positions;
[0012] The predicted initial position corresponding to the above maximum response current is determined as the target predicted initial position.
[0013] Optionally, injecting a high-frequency sinusoidal signal for the target predicted initial position into the motor to obtain a target response current for the target predicted initial position, and determining the actual initial position of the rotor according to the target response current includes:
[0014] Injecting a high-frequency sinusoidal signal corresponding to the target predicted initial position into the motor multiple times to obtain multiple target response currents corresponding to the target predicted initial position;
[0015] Determining a plurality of candidate actual initial positions of the rotor according to the plurality of target response currents;
[0016] The actual initial position of the rotor is determined based on the multiple candidate actual initial positions.
[0017] Optionally, determining the actual initial position of the rotor according to the plurality of candidate actual initial positions comprises:
[0018] Determine an average value of a plurality of the candidate actual initial positions;
[0019] According to the average value, outliers in the plurality of candidate actual initial positions are removed to obtain a first candidate actual initial position;
[0020] The average value of the first candidate actual initial positions is determined as the actual initial position of the rotor.
[0021] Optionally, determining the actual initial position of the rotor according to the target response current includes:
[0022] Performing modulation processing on the first current component and the second current component of the target response current respectively to obtain a first modulated signal and a second modulated signal;
[0023] Performing filtering processing on the first modulated signal and the second modulated signal respectively to obtain a first filtered signal and a second filtered signal;
[0024] Performing polarity judgment based on the first filtered signal to obtain a polarity judgment result;
[0025] Determining a plurality of second candidate initial positions of the rotor based on the second filtered signal;
[0026] Based on the polarity determination result and the second candidate initial position, the actual initial position of the rotor is determined.
[0027] Optionally, determining a plurality of second candidate initial positions of the rotor based on the second filtered signal comprises:
[0028] Determine a first back electromotive force on a first coordinate axis, a second back electromotive force on a second coordinate axis, and a position error in a stationary coordinate system according to the second filtered signal;
[0029] Multiplying the first back electromotive force and the second back electromotive force to obtain a first target back electromotive force;
[0030] Subtracting the square of the second back electromotive force from the square of the first back electromotive force to obtain a second target back electromotive force;
[0031] A plurality of second candidate initial positions of the rotor are determined according to the first target back electromotive force, the second target back electromotive force and the position error.
[0032] Optionally, performing polarity judgment based on the first filtered signal to obtain a polarity judgment result includes:
[0033] The polarity determination is performed based on the first filtered signal by the second harmonic method to obtain a polarity determination result.
[0034] Optionally, the obtaining of multiple predicted initial positions of a rotor in the motor includes:
[0035] Obtaining positioning instructions through the display device and sending positioning instructions to the vehicle controller;
[0036] The positioning instruction is sent to the motor controller via the vehicle controller;
[0037] Through the motor controller, multiple predicted initial positions of the rotor in the motor are obtained according to the positioning instructions.
[0038] According to a second aspect of the present application, a device for determining a motor rotor position is provided, comprising:
[0039] An acquisition module, used for acquiring a plurality of predicted initial positions of a rotor in a motor;
[0040] An injection module, used for injecting a high-frequency sinusoidal signal corresponding to each of the predicted initial positions into the motor to obtain a response current corresponding to each of the predicted initial positions;
[0041] A screening module, used for screening out a target predicted initial position from the plurality of predicted initial positions according to a response current corresponding to each of the predicted initial positions;
[0042] A determination module is used to inject a high-frequency sinusoidal signal for the target predicted initial position into the motor to obtain a target response current for the target predicted initial position, and determine the actual initial position of the rotor based on the target response current.
[0043] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for loading by a motor controller to execute any one of the motor rotor position determination methods provided in the embodiments of the present application.
[0044] In a fourth aspect, an embodiment of the present application also provides a vehicle control system, including a display device, a vehicle controller, a motor controller and a motor, wherein the display device is used to obtain positioning instructions and send positioning instructions to the vehicle controller, the vehicle controller sends the positioning instructions to the motor controller, and the motor controller is used to execute the motor rotor position determination method provided in the embodiment of the present application according to the positioning instructions.
[0045] In the fifth aspect, an embodiment of the present application also provides a vehicle, including a display device, a vehicle controller, a motor controller and a motor, the display device is used to obtain positioning instructions and send positioning instructions to the vehicle controller, the vehicle controller sends the positioning instructions to the motor controller, and the motor controller is used to execute the motor rotor position determination method provided in the embodiment of the present application according to the positioning instructions.
[0046] In an embodiment of the present application, multiple predicted initial positions of a rotor in a motor are obtained, and high-frequency sinusoidal signals for each predicted initial position are respectively injected into the motor to obtain a response current corresponding to each predicted initial position. A target predicted initial position is screened out from the multiple predicted initial positions based on the response current corresponding to each predicted initial position. A high-frequency sinusoidal signal for the target predicted initial position is injected into the motor to obtain a target response current for the target predicted initial position. Based on the target response current, the actual initial position of the rotor is determined, thereby determining the actual initial position through the screened target predicted initial position, reducing the probability of identifying the actual initial position in a blind spot in the identification of the initial position, and thus improving the accuracy of the actual initial position.
[0047] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS
[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.
[0049] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.
[0050] Figure 1 is a flow chart of a method for determining a motor rotor position provided in an exemplary embodiment of the present application;
[0051] Figure 2 is a schematic diagram of a coordinate system provided in an exemplary embodiment of the present application;
[0052] Figure 3 is a schematic diagram of a circuit for determining an actual initial position provided in an exemplary embodiment of the present application;
[0053] Figure 4 is a schematic diagram of a process of determining an actual initial position provided in an exemplary embodiment of the present application;
[0054] Figure 5 is a schematic diagram of a vector control block diagram provided in an exemplary embodiment of the present application;
[0055] Figure 6 is another schematic diagram of a method for determining an actual initial position provided in an exemplary embodiment of the present application;
[0056] Figure 7 is a schematic diagram of a motor rotor position determination device provided in an exemplary embodiment of the present application;
[0057] Figure 8 It is a schematic diagram of the structure of a vehicle control system provided in an exemplary embodiment of the present application. DETAILED DESCRIPTION
[0058] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.
[0059] The embodiments of the present application provide a method, device, readable storage medium and vehicle for determining the position of a motor rotor. The method for determining the position of a motor rotor may be performed by a device including a motor, for example, the method for determining the position of a motor rotor may be performed by a vehicle.
[0060] An embodiment of the present application provides a method for determining a motor rotor position. Figure 1 FIG. 1 is a flow chart showing a method for determining the position of a motor rotor provided by an exemplary embodiment of the present application. Figure 1 As shown, the method for determining the motor rotor position includes the following steps:
[0061] S101. Acquire multiple predicted initial positions of a rotor in a motor.
[0062] The type of the motor can be set according to actual conditions, for example, the motor can be a permanent magnet synchronous motor. The initial position, also known as the zero position, refers to the position of the rotor before the motor is running. The predicted initial position refers to the predicted position of the rotor before the motor is running, and the actual initial position refers to the actual position of the rotor before the motor is running.
[0063] In the related art, when the actual initial position of the rotor in a motor is determined by the high-frequency injection method, a predicted initial position is set for the rotor of the motor, and then a high-frequency sinusoidal signal is injected to obtain a response current corresponding to the predicted initial position. Based on the response current, the actual initial position of the rotor of the motor is determined.
[0064] However, when the amplitude of the response current corresponding to the predicted initial position is small, there will be a blind spot in the identification of the initial position. The error in identifying the actual initial position in the blind spot is large, resulting in a low accuracy in determining the actual initial position.
[0065] Therefore, in an embodiment of the present application, multiple predicted initial positions are set, and a target predicted initial position is screened out from the multiple predicted initial positions so as to avoid the blind spot of the initial position identification and improve the accuracy of the actual initial position.
[0066] Multiple predicted initial positions can be set according to actual conditions. For example, multiple predicted initial positions can be 0°, 120° and 240°, which is not limited in the embodiments of the present application.
[0067] In some embodiments, obtaining a plurality of predicted initial positions of a rotor in a motor includes:
[0068] Obtaining positioning instructions through the display device and sending positioning instructions to the vehicle controller;
[0069] The positioning command is sent to the motor controller via the vehicle controller;
[0070] A plurality of predicted initial positions of a rotor in the motor are obtained through a motor controller according to a positioning instruction.
[0071] The vehicle controller may also be referred to as a vehicle control unit (VCU). The method of obtaining the positioning instruction through the display device may be set according to the actual situation. For example, the positioning control may be displayed through the display device, and the positioning instruction may be generated in response to the triggering operation of the positioning control. Alternatively, the voice may be collected through a voice collection device associated with the display device, and the positioning instruction may be generated according to the voice recognition result. The embodiments of the present application are not limited here.
[0072] In an embodiment of the present application, a positioning instruction is obtained through a display device and sent to a vehicle controller. The positioning instruction is sent to a motor controller (Motor Control Unit, MCU) through the vehicle controller. The motor controller obtains multiple predicted initial positions for the rotor in the motor according to the positioning instruction. That is, the motor rotor position determination method provided in the embodiment of the present application can be executed by the motor controller, so that the motor rotor position determination method can be executed by the vehicle alone without the aid of external equipment, so that the motor rotor position determination method provided in the embodiment of the present application can be used to determine the rotor position of the installed motor, thereby realizing self-learning of the vehicle on the initial position of the motor.
[0073] S102 , injecting a high-frequency sinusoidal signal corresponding to each predicted initial position into the motor respectively to obtain a response current corresponding to each predicted initial position.
[0074] Among them, when the motor is a permanent magnet synchronous motor, the permanent magnet synchronous motor includes a stator and a rotor, and the stator includes a three-phase winding. After a high-frequency sinusoidal signal is injected into the three-phase winding of the stator, the three-phase winding will generate a response current to the high-frequency sinusoidal signal. The response current carries information about the actual initial position of the rotor. After processing the response current, the actual initial position of the rotor can be obtained.
[0075] The mathematical model of the permanent magnet synchronous motor is explained below.
[0076] like Figure 2 As shown, the axes of the three-phase winding of the stator are A-axis, B-axis and C-axis respectively. The phase difference between A-axis, B-axis and C-axis is 120° respectively. A-axis, B-axis and C-axis constitute a three-phase coordinate system, and a two-phase stationary coordinate system is created ( coordinate system), The axis coincides with the A axis. Axis and The axes are 90° apart, creating an estimated rotor synchronous rotating coordinate system ( coordinate system) and the actual rotor synchronously rotating coordinate system ( coordinate system), represents the predicted initial position, represents the actual initial position, It is called the position error, which represents the difference between the actual initial position and the predicted initial position, that is, .
[0077] The voltage and current equations for a permanent magnet synchronous motor are:
[0078] (1)
[0079] (2)
[0080] in, Indicated in d The voltage on the shaft, Indicated in q The voltage on the shaft, R is the stator resistance, i d Indicated in d The response current on the axis, L d Indicated in d The inductance on the axis, t Indicates time, L q Indicated in q The inductance on the axis, i q Indicated in q The response current on the axis, w e represents the rotor angular velocity, Represents the flux linkage of a permanent magnet.
[0081] When at zero speed ( w e =0） When a high-frequency sinusoidal signal is injected, the stator resistance is small relative to the inductance. Ri d is approximately equal to 0, so the voltage and current equations can be simplified to:
[0082] (3)
[0083] (4)
[0084] In the actual rotor synchronous rotating coordinate system, the stator inductance can be expressed as:
[0085] (5)
[0086] In the two-phase stationary coordinate system, formula (5) can be converted into:
[0087] (6)
[0088] in, L represents the average inductance, L = (L q +L d ） / 2 , represents the semi-differential inductance, .
[0089] Then, in the estimated rotor synchronous rotating coordinate system, formula (3) and formula (4) can be converted into:
[0090] (7)
[0091] in, Indicated in The voltage on the shaft, Indicated in The voltage on the shaft, Indicated in The response current on the axis, Indicated in Response current on the axis.
[0092] According to formula (6) and formula (7), the voltage and current equations in the estimated rotor synchronous rotating coordinate system can be obtained as follows:
[0093] (8)
[0094] (9)
[0095] Since a high-frequency sinusoidal signal is injected into the motor for each predicted initial position, A high-frequency sinusoidal signal is injected into the motor for each predicted initial position. and It can be expressed as:
[0096] (10)
[0097] (11)
[0098] in, u in represents the amplitude of a high-frequency sinusoidal signal, w in Represents the frequency of a high-frequency sinusoidal signal.
[0099] Substituting formula (10) and formula (11) into formula (9) and formula (8), we can obtain:
[0100] (12)
[0101] (13)
[0102] The response current corresponding to each predicted initial position is The current component of the axis can be , the response current corresponding to each predicted initial position is The current component of the axis can be .
[0103] It is understandable that although the response current corresponding to the predicted initial position includes the unknown actual initial position However, since the response current corresponding to each predicted initial position includes ,Therefore, the response current corresponding to each predicted initial position can be compared, so as to screen out the target predicted initial position from multiple predicted initial positions.
[0104] S103 , selecting a target predicted initial position from multiple predicted initial positions according to the response current corresponding to each predicted initial position.
[0105] Among them, the target predicted initial position is a certain predicted initial position. Since the probability of the existence of an identification blind area is smaller when the amplitude of the response current is larger, and the probability of the existence of an identification blind area is larger when the amplitude of the response current is smaller, the error of identifying the actual initial position according to the predicted initial position in the identification blind area is larger. Therefore, when the target predicted initial position is the predicted initial position corresponding to the larger response current, the probability of identifying the actual initial position in the identification blind area can be reduced, and the accuracy of determining the actual initial position can be improved. Therefore, when the target predicted initial position is not the predicted initial position corresponding to the smallest response current in the response current, the probability of identifying the actual initial position in the identification blind area can be reduced, and the accuracy of determining the actual initial position can be improved.
[0106] Optionally, according to the response current corresponding to each predicted initial position, the method of screening out the target predicted initial position from multiple predicted initial positions can be set according to actual conditions, and the embodiment of the present application is not limited here.
[0107] In some embodiments, according to the response current corresponding to each predicted initial position, the process of selecting the target predicted initial position from multiple predicted initial positions may be:
[0108] The response currents corresponding to the predicted initial positions are sorted to obtain a current sequence;
[0109] The predicted initial position corresponding to any one of the first target number of response currents in the current sequence is determined as the target predicted initial position.
[0110] The target number is a preset number, which is smaller than the number of response currents and can be set according to actual conditions. Sorting the response currents can be understood as sorting the amplitudes of the response currents.
[0111] For example, the number of targets is 2, and the predicted initial positions include d1, d2, and d3. The response current corresponding to d1 is I1, the response current corresponding to d2 is I2, and the response current corresponding to d3 is I3. I1 is greater than I2 and I3, and I3 is greater than I2. Then the current sequence is I1, I3, and I2. The first target number of response currents is I1 or I3, and d1 or d3 can be determined as the target predicted initial position.
[0112] In an embodiment of the present application, the response currents corresponding to the predicted initial positions are sorted to obtain a current sequence, and the predicted initial position corresponding to any one of the first target number of response currents in the current sequence is determined as the target predicted initial position, so that the target predicted initial position is not the predicted initial position corresponding to the minimum response current, thereby reducing the probability of identifying the actual initial position based on the predicted initial position in the identification blind spot and improving the accuracy of determining the actual initial position.
[0113] In some embodiments, selecting a target predicted initial position from a plurality of predicted initial positions according to a response current corresponding to each predicted initial position includes:
[0114] determining a maximum response current among the response currents corresponding to the predicted initial positions;
[0115] The predicted initial position corresponding to the maximum response current is determined as the target predicted initial position.
[0116] The maximum response current among the response currents corresponding to the predicted initial positions can be understood as determining the amplitude of the response current corresponding to the predicted initial positions, and the response current corresponding to the maximum amplitude among the amplitudes is the maximum response current.
[0117] For example, the predicted initial position includes d1, d2 and d3, the amplitude of the response current corresponding to d1 is I1, the amplitude of the response current corresponding to d2 is I2, the amplitude of the response current corresponding to d3 is I3, I1 is greater than I2 and I3, I3 is greater than I2, and the maximum amplitude is I1, then d1 is determined as the target predicted initial position.
[0118] In an embodiment of the present application, the maximum response current among the response currents corresponding to the predicted initial position is determined, and the predicted initial position corresponding to the maximum response current is determined as the target predicted initial position, so as to avoid the identification blind spot of the initial position, avoid identifying the actual initial position based on the predicted initial position in the identification blind spot, and improve the accuracy of the identified actual initial position.
[0119] S104, injecting a high-frequency sinusoidal signal corresponding to the target predicted initial position into the motor to obtain a target response current corresponding to the target predicted initial position, and determining the actual initial position of the rotor according to the target response current.
[0120] The target response current may include a first current component and a second current component. The first current component may be expressed by formula (12), and the second current component may be expressed by formula (13).
[0121] In some embodiments, determining the actual initial position of the rotor according to the target response current includes:
[0122] Performing modulation processing on the first current component and the second current component of the target response current respectively to obtain a first modulated signal and a second modulated signal;
[0123] Performing filtering processing on the first modulated signal and the second modulated signal respectively to obtain a first filtered signal and a second filtered signal;
[0124] Performing polarity judgment based on the first filtered signal to obtain a polarity judgment result;
[0125] determining a plurality of second candidate initial positions of the rotor based on the second filtered signal;
[0126] Based on the polarity determination result and the second candidate initial position, the actual initial position of the rotor is determined.
[0127] The first current component can be modulated by a first modulation signal, and the second current component can be modulated by a second modulation signal. The first modulation signal and the second modulation signal can be set according to actual conditions. For example, the first modulation signal can be 2cos(w in t)-1 or cos(2w in t) , the second modulation signal can be sinw in t , which is not limited in the present embodiment. The first modulated signal and the second modulated signal may be filtered by a low pass filter (LPF) to obtain a first filtered signal and a second filtered signal.
[0128] When the second modulation signal is sinw in t When , the second filtered signal can be:
[0129] (14)
[0130] When the position error is small enough, formula (14) can be converted to:
[0131] (15)
[0132] According to formula (15), if the If it is set to 0, the position error is also 0. At this time, the target predicted initial position of the rotor converges to the actual initial position of the rotor, thereby obtaining the actual initial position of the rotor.
[0133] Because when When it is 0, the position error may be 0 or Therefore, the second candidates can be initially 0 and At this time, it is also necessary to use the polarity judgment result to determine whether the actual initial position of the rotor is 0 or .
[0134] In some embodiments, a plurality of second candidate initial positions of the rotor can be determined based on the second filtered signal by a position observer and a PI regulator, or a plurality of second candidate initial positions of the rotor can be determined based on the second filtered signal by a position observer and a phase-locked loop structure.
[0135] In some embodiments, when a plurality of second candidate initial positions of the rotor are determined based on the second filtered signal by using a position observer and a phase-locked loop structure, a process of determining a plurality of second candidate initial positions of the rotor based on the second filtered signal may be:
[0136] Determine a first back electromotive force on a first coordinate axis, a second back electromotive force on a second coordinate axis, and a position error in a stationary coordinate system according to the second filtered signal;
[0137] Multiplying the first back electromotive force and the cosine value of the position error to obtain a first result;
[0138] Multiplying the second back electromotive force and the sine value of the position error to obtain a second result;
[0139] A plurality of second candidate initial positions of the rotor are determined according to the first result and the second result.
[0140] Among them, the stationary coordinate system refers to the two-phase stationary coordinate system ( Coordinate system). A first back electromotive force on a first coordinate axis, a second back electromotive force on a second coordinate axis, and a position error in the stationary coordinate system can be determined by a position observer according to the second filtered signal. A first result can be obtained by multiplying the first back electromotive force and the cosine value of the position error, and a second result can be obtained by multiplying the second back electromotive force and the sine value of the position error through a phase-locked loop structure. A plurality of second candidate initial positions of the rotor can be determined according to the first result and the second result.
[0141] That is, the phase-locked loop structure can be as shown in formula (16). Substituting the first back electromotive force, the second back electromotive force and the position error into formula (16), the error signal is obtained:
[0142] (16)
[0143] in, represents the error signal, represents the first back EMF, Represents the second back electromotive force.
[0144] After the error signal is obtained, the error signal is input to a PI regulator in a phase-locked loop structure for adjustment, and an integral operation is performed after the adjustment to obtain a plurality of second candidate initial positions.
[0145] It can be understood that since the back electromotive force is the differential of the permanent magnet flux, formula (16) can be converted to:
[0146] (17)
[0147] in, w e represents the rotor angular velocity, represents the permanent magnet flux. At this time, the permanent magnet flux can be determined by the position observer, and then a plurality of second candidate initial positions are determined according to the permanent magnet flux and the position error.
[0148] In some embodiments, when a plurality of second candidate initial positions of the rotor are determined based on the second filtered signal by a position observer and a phase-locked loop structure, the plurality of second candidate initial positions of the rotor are determined based on the second filtered signal, including:
[0149] Determine a first back electromotive force on a first coordinate axis, a second back electromotive force on a second coordinate axis, and a position error in a stationary coordinate system according to the second filtered signal;
[0150] Multiplying the first back electromotive force and the second back electromotive force to obtain a first target back electromotive force;
[0151] Subtract the square of the second back electromotive force from the square of the first back electromotive force to obtain a second target back electromotive force;
[0152] A plurality of second candidate initial positions of the rotor are determined according to the first target back electromotive force, the second target back electromotive force, and the position error.
[0153] At this time, the phase-locked loop structure can be called a square difference phase-locked loop structure. The first back electromotive force on the first coordinate axis, the second back electromotive force on the second coordinate axis, and the position error in the stationary coordinate system can be determined by the position observer according to the second filtered signal. The first back electromotive force and the second back electromotive force can be multiplied by the square difference phase-locked loop structure to obtain the first target back electromotive force, and the square of the second back electromotive force can be subtracted from the square of the first back electromotive force to obtain the second target back electromotive force. According to the first target back electromotive force, the second target back electromotive force, and the position error, multiple second candidate initial positions of the rotor can be determined.
[0154] That is, the square difference phase-locked loop structure can be shown as formula (18). Substituting the first back electromotive force, the second back electromotive force and the position error into formula (18), the error signal is obtained:
[0155] (18)
[0156] in, represents the error signal, represents the first target back EMF, represents the second target back electromotive force.
[0157] After the error signal is obtained, the error signal is input to a PI regulator in a phase-locked loop structure for adjustment, and an integral operation is performed after the adjustment to obtain a plurality of second candidate initial positions.
[0158] It can be understood that since the back electromotive force is the differential of the permanent magnet flux, formula (18) can be converted to:
[0159] (19)
[0160] in, w e represents the rotor angular velocity, represents the permanent magnet flux. At this time, the permanent magnet flux can be determined by the position observer, and then a plurality of second candidate initial positions are determined according to the permanent magnet flux and the position error.
[0161] In an embodiment of the present application, based on the second filtered signal, a first back electromotive force on the first coordinate axis, a second back electromotive force on the second coordinate axis and a position error in the stationary coordinate system are determined, the first back electromotive force and the second back electromotive force are multiplied to obtain a first target back electromotive force, the square of the second back electromotive force is subtracted from the square of the first back electromotive force to obtain a second target back electromotive force, and based on the first target back electromotive force, the second target back electromotive force and the position error, multiple second candidate initial positions of the rotor are determined, and multiple second candidate initial positions are determined through a square difference phase-locked loop structure, so that the output of the phase-locked loop is no longer related to the direction of rotation of the permanent magnet synchronous motor, thereby solving the problem of a 180° deviation in the initial position determined by the phase-locked loop when the motor reverses, and further improving the accuracy of the actual initial position.
[0162] In some embodiments, polarity judgment is performed based on the first filtered signal, and a method for obtaining the polarity judgment result can be selected according to actual conditions. For example, the D-axis fundamental current method or the second harmonic method can be used, and the embodiments of the present application are not limited here.
[0163] When the polarity judgment result is obtained by the second harmonic method based on the first filtered signal, due to the saturation effect of the magnetic circuit, The axial flux and the first current component are nonlinearly related. The relationship between the flux and the first current component is expanded about the zero point using the Taylor series, and we can get:
[0164] (20)
[0165] in, express Axis flux.
[0166] Then the first filtered signal can be expressed as:
[0167] (twenty one)
[0168] When the position error is 0, the result of formula (21) is a negative value. When , the result of formula (22) is positive.
[0169] By performing an integration operation on the first filtered signal, a polarity determination result can be obtained.
[0170] In an embodiment of the present application, polarity judgment is performed based on the first filtered signal through the second harmonic method, and the process of obtaining the polarity judgment result can be carried out in parallel with determining multiple second candidate initial positions, thereby simplifying the process of determining the actual initial position and reducing the time for determining the actual initial position.
[0171] When the polarity judgment is performed based on the first filtered signal by the second harmonic method to obtain the polarity judgment result, and multiple second candidate initial positions are determined by the square difference phase-locked loop structure, the process of determining the actual initial position in the embodiment of the present application can be as follows: Figure 3 shown.
[0172] exist Figure 3 middle, i a represents the current component on the A axis, i b represents the current component on the B axis, i c represents the current component on the C axis. The first conversion represents i a , i b and i c Convert to and , the first operation represents the negation operation.
[0173] In some embodiments, a high frequency sinusoidal signal for a target predicted initial position is injected into the motor to obtain a target response current for the target predicted initial position, and an actual initial position of the rotor is determined according to the target response current, including:
[0174] injecting a high-frequency sinusoidal signal corresponding to the target predicted initial position into the motor multiple times to obtain multiple target response currents corresponding to the target predicted initial position;
[0175] determining a plurality of candidate actual initial positions of the rotor according to the plurality of target response currents;
[0176] An actual initial position of the rotor is determined according to a plurality of candidate actual initial positions.
[0177] Among them, each time a high-frequency sinusoidal signal for the target predicted initial position is injected into the motor, a target response current can be obtained. The target response current obtained each time a high-frequency sinusoidal signal for the target predicted initial position is injected into the motor may be the same or different. According to a target response current, a candidate actual initial position can be determined. When there are multiple target response currents, multiple candidate actual initial positions can be determined. Finally, the actual initial position is determined based on multiple candidate actual initial positions.
[0178] In an embodiment of the present application, high-frequency sinusoidal signals for a target predicted initial position are injected into the motor multiple times to obtain multiple target response currents for the target predicted initial position. Based on the multiple target response currents, multiple candidate actual initial positions of the rotor are determined. Based on the multiple candidate actual initial positions, the actual initial position of the rotor is determined, thereby determining the actual initial position based on the multiple target response currents, and further improving the accuracy of the actual initial position.
[0179] In some embodiments, based on multiple candidate actual initial positions, the process of determining the actual initial position of the rotor can be set according to actual conditions, and the embodiments of the present application are not limited here.
[0180] For example, according to multiple candidate actual initial positions, the process of determining the actual initial position of the rotor may be:
[0181] determining an average of a plurality of candidate actual initial positions;
[0182] The average value is determined as the actual initial position of the rotor.
[0183] For another example, the process of determining the actual initial position of the rotor according to multiple candidate actual initial positions may also be:
[0184] determining an average of a plurality of candidate actual initial positions;
[0185] According to the average value, outliers in the multiple candidate actual initial positions are removed to obtain a first candidate actual initial position;
[0186] The average value of the first candidate actual initial positions is determined as the actual initial position of the rotor.
[0187] Among them, the outlier may refer to a candidate actual initial position whose difference with the average value is greater than a preset difference, that is, when the difference between a candidate actual initial position and the average value is greater than the preset difference, the candidate actual initial position is an outlier.
[0188] For example, the candidate actual initial positions include s1, s2 and s3, the average of s1, s2 and s3 is s123, the difference between s3 and s123 is greater than the preset difference, the first candidate actual initial position is s1 and s2, the average of s1 and s2 is s12, and s12 is the actual initial position.
[0189] In an embodiment of the present application, high-frequency sinusoidal signals for a target predicted initial position are injected into the motor multiple times to obtain multiple target response currents for the target predicted initial position. Based on the multiple target response currents, multiple candidate actual initial positions of the rotor are determined. Based on the multiple candidate actual initial positions, the actual initial position of the rotor is determined to remove outliers, thereby further improving the accuracy of the actual initial position.
[0190] In some embodiments, it can be understood that the process of determining a candidate actual initial position according to a target response current can refer to the process of directly determining the actual initial position according to a target response current, and the embodiments of the present application will not be repeated here.
[0191] For example, according to a target response current, the process of determining a candidate actual initial position can be:
[0192] Performing modulation processing on the first current component and the second current component of the target response current respectively to obtain a first modulated signal and a second modulated signal;
[0193] Performing filtering processing on the first modulated signal and the second modulated signal respectively to obtain a first filtered signal and a second filtered signal;
[0194] Performing polarity judgment based on the first filtered signal to obtain a polarity judgment result;
[0195] determining a plurality of second candidate initial positions of the rotor based on the second filtered signal;
[0196] Based on the polarity determination result and the second candidate initial position, a candidate actual initial position of the rotor is determined.
[0197] In an embodiment of the present application, multiple predicted initial positions of a rotor in a motor are obtained, and high-frequency sinusoidal signals for each predicted initial position are respectively injected into the motor to obtain a response current corresponding to each predicted initial position. A target predicted initial position is screened out from the multiple predicted initial positions based on the response current corresponding to each predicted initial position. A high-frequency sinusoidal signal for the target predicted initial position is injected into the motor to obtain a target response current for the target predicted initial position. Based on the target response current, the actual initial position of the rotor is determined, thereby determining the actual initial position through the screened target predicted initial position, reducing the probability of identifying the actual initial position in a blind spot in the identification of the initial position, and thus improving the accuracy of the actual initial position.
[0198] According to the following Figure 4-6 , the method for determining the motor rotor position provided in this application is further explained.
[0199] like Figure 4 As shown, the vehicle obtains the positioning instruction through the display device and sends the positioning instruction to the vehicle controller. The vehicle controller sends the positioning instruction to the motor controller. The motor controller obtains multiple predicted initial positions for the rotor in the motor according to the positioning instruction, and injects high-frequency sinusoidal signals for each predicted initial position into the motor to obtain a response current corresponding to each predicted initial position.
[0200] Through the motor controller, a target predicted initial position is screened out from multiple predicted initial positions according to the response current corresponding to each predicted initial position, and a high-frequency sinusoidal signal for the target predicted initial position is injected into the motor multiple times to obtain a target response current for the target predicted initial position. According to the second current component in the target response current, multiple second candidate initial positions are determined, and a polarity judgment result is performed according to the first current component in the target response current. Based on the polarity judgment result and the second candidate initial positions, multiple candidate actual initial positions of the rotor are determined, and according to the multiple candidate actual initial positions, the actual initial position of the rotor is determined.
[0201] The vector control block diagram for injecting a high-frequency sinusoidal signal into the motor and the process of determining the actual initial position can be shown as follows: Figure 5 As shown, u dc represents the DC voltage, u a represents the voltage component on the A axis, u b represents the voltage component on the B axis, u c Represents the voltage component on the C-axis.
[0202] According to the following Figure 6 , further describing how to determine the actual initial position of the rotor through the vehicle controller and the motor controller.
[0203] The vehicle obtains the positioning command, performs safety inspection and status logic judgment according to the positioning command,
[0204] The positioning command is sent to the motor controller. The motor controller detects whether the motor is in a zero speed and zero torque state according to the positioning command. If the motor is in a zero speed and zero torque state, a high-frequency sinusoidal signal for each predicted initial position is injected into the motor to obtain a response current corresponding to each predicted initial position. According to the response current corresponding to each predicted initial position, the target predicted initial position is selected from multiple predicted initial positions. Next, the motor controller determines whether the number of times the high-frequency sinusoidal signal for the target predicted initial position is injected into the motor is less than the preset number. If the number of times the high-frequency sinusoidal signal for the target predicted initial position is injected into the motor is less than the preset number, the high-frequency sinusoidal signal for the target predicted initial position is injected into the motor to obtain the target response current for the target predicted initial position, determine the second candidate initial position according to the second current component in the target response current, and perform a polarity judgment result according to the first current component in the target response current. Based on the polarity judgment result and the second candidate initial position, determine the candidate actual initial position of the rotor, add 1 to the preset number, and return to the step of injecting the high-frequency sinusoidal signal for the target predicted initial position into the motor. If the number of times the high-frequency sinusoidal signal for the target predicted initial position is injected into the motor is equal to the preset number, determine the average value of multiple candidate actual initial positions, remove the abnormal values in the multiple candidate actual initial positions according to the average value, obtain the first candidate actual initial position, and determine the average value of the first candidate actual initial position as the actual initial position of the rotor. Return the actual initial position to the vehicle controller, and the vehicle controller returns the actual initial position to the display device for display.
[0205] The motor rotor position determination method provided in this embodiment can be executed by the vehicle alone without the aid of external equipment, so that it can be used to determine the actual initial position of the rotor of the motor installed on the vehicle, and realize one-key self-learning of the actual initial position of the rotor. Moreover, since a high-frequency signal is injected, the motor is in a stationary state during the process of determining the actual initial position of the rotor and will not affect the vehicle. In addition, the actual initial position is determined by the predicted initial position of the selected target, and the probability of identifying the actual initial position in the blind spot of the initial position is reduced, thereby improving the accuracy of the actual initial position.
[0206] The explanation of terms, specific implementation and corresponding beneficial effects of this embodiment can be specifically referred to the above-mentioned motor rotor position determination method embodiment, and this embodiment will not be repeated here.
[0207] In order to facilitate better implementation of the motor rotor position determination method provided in the embodiment of the present application, the embodiment of the present application also provides a motor rotor position determination device based on the motor rotor position determination method. The meanings of the terms are the same as those in the motor rotor position determination method, and the specific implementation details can refer to the description in the method embodiment.
[0208] For example, Figure 7 As shown, the motor rotor position determination device may include:
[0209] The acquisition module 701 is used to acquire multiple predicted initial positions of the rotor in the motor.
[0210] The injection module 702 is used to inject a high-frequency sinusoidal signal for each predicted initial position into the motor to obtain a response current corresponding to each predicted initial position.
[0211] The screening module 703 is used to screen out a target predicted initial position from multiple predicted initial positions according to the response current corresponding to each predicted initial position.
[0212] The determination module 704 is used to inject a high-frequency sinusoidal signal for a target predicted initial position into the motor, obtain a target response current for the target predicted initial position, and determine the actual initial position of the rotor according to the target response current.
[0213] In some embodiments, the screening module 703 is specifically used to perform:
[0214] Determining a maximum response current among the response currents corresponding to the predicted initial positions;
[0215] The predicted initial position corresponding to the maximum response current is determined as the target predicted initial position.
[0216] In some embodiments, the determination module 704 is specifically configured to execute:
[0217] injecting a high-frequency sinusoidal signal corresponding to the target predicted initial position into the motor multiple times to obtain multiple target response currents corresponding to the target predicted initial position;
[0218] determining a plurality of candidate actual initial positions of the rotor according to the plurality of target response currents;
[0219] An actual initial position of the rotor is determined according to a plurality of candidate actual initial positions.
[0220] In some embodiments, the determination module 704 is specifically configured to execute:
[0221] determining an average of a plurality of candidate actual initial positions;
[0222] According to the average value, outliers in the multiple candidate actual initial positions are removed to obtain a first candidate actual initial position;
[0223] The average value of the first candidate actual initial positions is determined as the actual initial position of the rotor.
[0224] In some embodiments, the determination module 704 is specifically configured to execute:
[0225] Performing modulation processing on the first current component and the second current component of the target response current respectively to obtain a first modulated signal and a second modulated signal;
[0226] Performing filtering processing on the first modulated signal and the second modulated signal respectively to obtain a first filtered signal and a second filtered signal;
[0227] Performing polarity judgment based on the first filtered signal to obtain a polarity judgment result;
[0228] determining a plurality of second candidate initial positions of the rotor based on the second filtered signal;
[0229] Based on the polarity determination result and the second candidate initial position, the actual initial position of the rotor is determined.
[0230] In some embodiments, the determination module 704 is specifically configured to execute:
[0231] Determine a first back electromotive force on a first coordinate axis, a second back electromotive force on a second coordinate axis, and a position error in a stationary coordinate system according to the second filtered signal;
[0232] Multiplying the first back electromotive force and the second back electromotive force to obtain a first target back electromotive force;
[0233] Subtract the square of the second back electromotive force from the square of the first back electromotive force to obtain a second target back electromotive force;
[0234] A plurality of second candidate initial positions of the rotor are determined according to the first target back electromotive force, the second target back electromotive force, and the position error.
[0235] In some embodiments, the determination module 704 is specifically configured to execute:
[0236] The polarity determination is performed based on the first filtered signal by the second harmonic method to obtain a polarity determination result.
[0237] In some embodiments, the acquisition module 701 is specifically used to execute:
[0238] Obtaining positioning instructions through the display device and sending positioning instructions to the vehicle controller;
[0239] The positioning command is sent to the motor controller via the vehicle controller;
[0240] A plurality of predicted initial positions of a rotor in the motor are obtained through a motor controller according to a positioning instruction.
[0241] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation methods and corresponding beneficial effects of the above modules can be found in the previous method embodiments, which will not be repeated here.
[0242] Accordingly, if Figure 8 As shown, an embodiment of the present application also provides a vehicle control system, including a display device, a vehicle controller, a motor controller and a motor, the display device is used to obtain positioning instructions and send positioning instructions to the vehicle controller, the vehicle controller sends the positioning instructions to the motor controller, and the motor controller is used to execute the motor rotor position determination method provided in the present application according to the positioning instructions.
[0243] A person skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a motor controller.
[0244] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of computer programs are stored, and the computer program can be loaded by a motor controller to execute any of the motor rotor position determination methods provided in the embodiments of the present application. For example, the computer program can execute the following steps:
[0245] obtaining a plurality of predicted initial positions for a rotor in a motor;
[0246] Injecting high-frequency sinusoidal signals for each predicted initial position into the motor respectively to obtain a response current corresponding to each predicted initial position;
[0247] Screening out a target predicted initial position from a plurality of predicted initial positions according to a response current corresponding to each predicted initial position;
[0248] A high-frequency sinusoidal signal corresponding to a target predicted initial position is injected into the motor to obtain a target response current corresponding to the target predicted initial position, and the actual initial position of the rotor is determined according to the target response current.
[0249] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the detailed description of the motor rotor position determination method above, which will not be elaborated here.
[0250] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.
[0251] Since the computer program stored in the computer-readable storage medium can execute any of the motor rotor position determination methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any of the motor rotor position determination methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.
[0252] Correspondingly, an embodiment of the present application also provides a vehicle, including a display device, a vehicle controller, a motor controller and a motor, the display device is used to obtain positioning instructions and send positioning instructions to the vehicle controller, the vehicle controller sends the positioning instructions to the motor controller, and the motor controller is used to execute the motor rotor position determination method provided in the present application according to the positioning instructions.
[0253] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0254] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0255] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.
[0256] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of various embodiments in the embodiments of the present application have different focuses, for parts not described in detail in a certain embodiment, reference can be made to the relevant embodiments of other embodiments. However, any modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.
Claims
1. A method for determining the position of a motor rotor, characterized in that: include: Obtaining positioning instructions through the display device and sending positioning instructions to the vehicle controller; sending the positioning instruction to the motor controller via the vehicle controller; By means of the motor controller, judging whether the motor in the vehicle is in a zero speed and zero torque state according to the positioning instruction; If the motor is in a zero speed and zero torque state, obtaining a plurality of predicted initial positions of a rotor in the motor; By means of the motor controller, a high-frequency sinusoidal signal corresponding to each of the predicted initial positions is injected into the motor to obtain a response current corresponding to each of the predicted initial positions; Screening out a target predicted initial position from the plurality of predicted initial positions according to a response current corresponding to each of the predicted initial positions; A high frequency sinusoidal signal for the target predicted initial position is injected into the motor to obtain a target response current for the target predicted initial position, and the actual initial position of the rotor is determined according to the target response current.
2. The method for determining the motor rotor position according to claim 1, characterized in that: The step of selecting a target predicted initial position from a plurality of predicted initial positions according to a response current corresponding to each predicted initial position includes: Determining a maximum response current among the response currents corresponding to the predicted initial positions; The predicted initial position corresponding to the maximum response current is determined as the target predicted initial position.
3. The method for determining the motor rotor position according to claim 1, characterized in that: The step of injecting a high-frequency sinusoidal signal corresponding to the target predicted initial position into the motor to obtain a target response current corresponding to the target predicted initial position, and determining the actual initial position of the rotor according to the target response current includes: injecting a high-frequency sinusoidal signal corresponding to the target predicted initial position into the motor multiple times to obtain a plurality of target response currents corresponding to the target predicted initial position; determining a plurality of candidate actual initial positions of the rotor according to the plurality of target response currents; The actual initial position of the rotor is determined according to the plurality of candidate actual initial positions.
4. The method for determining the motor rotor position according to claim 3, characterized in that: Determining the actual initial position of the rotor according to the plurality of candidate actual initial positions comprises: Determining an average value of a plurality of the candidate actual initial positions; According to the average value, outliers in the plurality of candidate actual initial positions are removed to obtain a first candidate actual initial position; An average value of the first candidate actual initial positions is determined as the actual initial position of the rotor.
5. The method for determining the motor rotor position according to claim 1, characterized in that: Determining the actual initial position of the rotor according to the target response current includes: Performing modulation processing on the first current component and the second current component of the target response current respectively to obtain a first modulated signal and a second modulated signal; Performing filtering processing on the first modulated signal and the second modulated signal respectively to obtain a first filtered signal and a second filtered signal; Performing polarity judgment based on the first filtered signal to obtain a polarity judgment result; determining a plurality of second candidate initial positions of the rotor based on the second filtered signal; Based on the polarity determination result and the second candidate initial position, an actual initial position of the rotor is determined.
6. The method for determining the motor rotor position according to claim 5, characterized in that: The step of determining a plurality of second candidate initial positions of the rotor based on the second filtered signal comprises: Determine a first back electromotive force on a first coordinate axis, a second back electromotive force on a second coordinate axis, and a position error in a stationary coordinate system according to the second filtered signal; Multiplying the first back electromotive force and the second back electromotive force to obtain a first target back electromotive force; Subtracting the square of the second back electromotive force from the square of the first back electromotive force to obtain a second target back electromotive force; A plurality of second candidate initial positions of the rotor are determined according to the first target back electromotive force, the second target back electromotive force, and the position error.
7. The method for determining the motor rotor position according to claim 5, characterized in that: The performing polarity determination based on the first filtered signal to obtain a polarity determination result includes: A polarity determination is performed based on the first filtered signal by a second harmonic method to obtain a polarity determination result.
8. A device for determining the position of a motor rotor, characterized in that: include: An acquisition module is used to acquire a positioning instruction through a display device and send the positioning instruction to a vehicle controller; and send the positioning instruction to a motor controller through the vehicle controller; By means of the motor controller, according to the positioning instruction, determining whether the motor in the vehicle is in a zero speed and zero torque state; if the motor is in a zero speed and zero torque state, obtaining a plurality of predicted initial positions for the rotor in the motor; An injection module, used for injecting a high-frequency sinusoidal signal for each predicted initial position into the motor through the motor controller, to obtain a response current corresponding to each predicted initial position; A screening module, used for screening out a target predicted initial position from a plurality of the predicted initial positions according to a response current corresponding to each of the predicted initial positions; A determination module is used to inject a high-frequency sinusoidal signal for the target predicted initial position into the motor, obtain a target response current for the target predicted initial position, and determine the actual initial position of the rotor according to the target response current.
9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a motor controller to execute the method for determining the motor rotor position according to any one of claims 1 to 8.
10. A vehicle control system, characterized in that: It includes a display device, a vehicle controller, a motor controller and a motor, the display device is used to obtain a positioning instruction and send the positioning instruction to the vehicle controller, the vehicle controller sends the positioning instruction to the motor controller, and the motor controller is used to execute the motor rotor position determination method as described in any one of claims 1-7 according to the positioning instruction.
11. A vehicle, characterized in that: It includes a display device, a vehicle controller, a motor controller and a motor, the display device is used to obtain a positioning instruction and send the positioning instruction to the vehicle controller, the vehicle controller sends the positioning instruction to the motor controller, and the motor controller is used to execute the motor rotor position determination method as described in any one of claims 1-7 according to the positioning instruction.