Zero calibration method and device for rotary transformer of motor

Abstract

The invention discloses a zero calibration method and device for a motor rotary transformer, and relates to the technical field of power electronics. The method comprises the steps that three-phase currents corresponding to all rotor expected angles in N rotor expected angles are provided for a three-phase winding of the permanent magnet synchronous motor, so that a rotor of the permanent magnet synchronous motor is controlled to rotate to stop at the corresponding rotor expected angles, and N is a positive integer larger than 1; under the condition that the rotor of the permanent magnet synchronous motor stops to each rotor expected angle in the N rotor expected angles, N rotary transformer measurement angles, fed back by the corresponding rotary transformer, of the rotor are obtained respectively; and according to the N rotor expected angles and the N rotary transformer measurement angles, rotary transformer deviation parameters of the rotary transformer are obtained through calculation. According to the embodiment of the invention, the zero calibration of the motor rotary transformer can be efficiently and accurately realized, the zero calibration efficiency of the whole motor rotary transformer is effectively improved, and the operation complexity of zero calibration is reduced.

Description

Technical Field

[0001] The present application belongs to the field of power electronics technology, and in particular, relates to a method and device for zero-position calibration of a motor rotary transformer. Background Art

[0002] At present, due to the increasingly prominent problems such as the greenhouse effect and environmental pollution, the efficient and clean use of energy has become the focus of global attention in recent years, and the electrification of energy production and utilization has become an important development direction. In the process of electrification, various types of motors play an important role as the hub for the mutual conversion between mechanical energy and electrical energy. Among various types of motors, permanent magnet synchronous motors have been widely used in scenarios with high performance requirements such as electric vehicle drives, servo drives, and new energy power generation because of their advantages such as high efficiency, high power density, high torque density, and high control performance. They have become key components in various types of electrified energy systems.

[0003] In the permanent magnet synchronous motor drive system, it is usually necessary to obtain the accurate rotation position of the rotor poles in order to achieve high-performance and high-efficiency operation. Therefore, a rotor position sensor is generally required to measure the rotor position. Among various types of rotor position sensors, resolvers (referred to as resolvers) have been widely used in electric vehicle drives and other aspects because of their high reliability and high speed support. Due to installation errors and other reasons, there is a deviation between the angle zero position of the resolver and the angle zero position of the motor rotor when the motor leaves the factory. In order to ensure the accuracy of the motor rotor position measurement, the zero position of the resolver needs to be calibrated, and the difference between the angle zero position of the resolver and the angle zero position of the motor rotor needs to be measured, and the difference value is written into the motor controller for use by the control algorithm.

[0004] However, the motor resolver zero position calibration scheme currently used in the industry still has the problems of poor calibration accuracy and low calibration efficiency due to the complex resolver zero position calibration process. Therefore, the industry is still in urgent need of a new motor resolver zero position calibration scheme to achieve the purpose of accurate and efficient motor resolver zero position calibration. Summary of the invention

[0005] The embodiments of the present application provide a method and device for zero-position calibration of a motor rotary transformer, which can efficiently and accurately realize zero-position calibration of a motor rotary transformer, thereby effectively improving the overall zero-position calibration efficiency of the motor rotary transformer and reducing the operational complexity of the zero-position calibration process.

[0006] In a first aspect, an embodiment of the present application provides a method for zero-position calibration of a motor rotary transformer, which is applied to a motor controller electrically connected to a permanent magnet synchronous motor. The method for zero-position calibration of a motor rotary transformer includes:

[0007] Providing three-phase currents corresponding to each of the N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor respectively, so as to control the rotor of the permanent magnet synchronous motor to stop rotating to the corresponding expected rotor angle, where N is a positive integer greater than 1;

[0008] When the rotor of the permanent magnet synchronous motor stops at each of the N expected rotor angles, N resolver measurement angles of the rotor fed back by the resolver are respectively obtained, and the N resolver measurement angles correspond to the N expected rotor angles one by one;

[0009] According to the N expected rotor angles and the N resolver measurement angles, the resolver deviation parameters of the resolver are calculated.

[0010] In some possible implementations, the motor controller is electrically connected to a DC bus, and the DC bus is used to supply power to the motor controller;

[0011] Providing three-phase currents corresponding to each of the N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor respectively, including:

[0012] Measure and obtain the three-phase current of the three-phase winding of the permanent magnet synchronous motor and the bus voltage of the DC bus input;

[0013] According to the measured three-phase current, the measured bus voltage and the target rotor expected angle, the pulse width modulation control signal of the power device is calculated and adjusted in real time, so that the three-phase current in the three-phase winding of the permanent magnet synchronous motor is equal to the target three-phase current corresponding to the target rotor expected angle in steady state, so as to control the rotor of the permanent magnet synchronous motor to stop at the target rotor expected angle;

[0014] The target rotor expected angle is any one of N rotor expected angles.

[0015] In some possible implementations, the pulse width modulation control signal for adjusting the power device is calculated in real time according to the measured three-phase current, the measured bus voltage and the target rotor expected angle, including:

[0016] By using the measured three-phase current and the target rotor expected angle to perform Park transformation, the corresponding stator current in the dq coordinate system is obtained;

[0017] The three-phase voltage reference value of the permanent magnet synchronous motor is calculated according to the stator current, the d-axis reference current and the q-axis reference current;

[0018] According to the three-phase voltage reference value and the bus voltage, the pulse width modulation control signal of the power device is calculated.

[0019] In some possible implementations, the target rotor expected angle and the d-axis reference current are determined based on a first set of constraint relations;

[0020] The first set of constraint relations is:

[0021] max I calib

[0022]

[0023] i a +i b +i c =0

[0024] i a |≤I r ,|i b |≤I r ,|i c |≤I r

[0025] Among them, I calib is the d-axis reference current, θ e is the target rotor angle, i a 、i b 、i c is the target three-phase current, I r is the target rated current, which is the smaller rated current between the rated current of the permanent magnet synchronous motor and the rated current of the motor controller.

[0026] In some possible implementations, the resolver deviation parameter includes a relative steering calibration result and a deviation angle amount;

[0027] The relative steering calibration result represents the same or opposite direction relationship between the positive direction of the permanent magnet synchronous motor's rotor rotation and the reference direction of the resolver;

[0028] The deviation angle represents the fixed deviation between the angle value obtained after the relative steering calibration result is used to perform steering correction on the resolver measurement angle and the corresponding expected rotor angle.

[0029] In some possible implementations, the resolver deviation parameter of the resolver is calculated based on the N expected rotor angles and the N resolver measurement angles, including:

[0030] Determine the relative steering calibration result according to the change trend between any two adjacent resolver measurement angles among the N resolver measurement angles;

[0031] The deviation angle is determined based on the relative steering calibration result, N expected rotor angles and N resolver measured angles.

[0032] In some possible implementations, after determining the relative steering calibration result according to the change trend between any two adjacent resolver measurement angles among the N resolver measurement angles, the motor resolver zero position calibration method further includes:

[0033] Calculate the angle difference between the target steering correction angle and the target rotor expected angle; the target rotor expected angle is any one of the N rotor expected angles, and the target steering correction angle is obtained by steering correction of the target resolver measurement angle based on the relative steering calibration result; the target resolver measurement angle corresponds to the target rotor expected angle;

[0034] According to the absolute value of the angle difference, determine the angle conversion range corresponding to the deviation angle amount;

[0035] According to the relative steering calibration result, N expected rotor angles and N resolver measurement angles, the deviation angle is determined, including:

[0036] The deviation angle is determined based on the angle conversion range, the relative steering calibration result, the N expected rotor angles and the N resolver measurement angles.

[0037] In some possible implementations, the deviation angle amount is determined according to the angle conversion range, the relative steering calibration result, the N expected rotor angles, and the N resolver measurement angles, including:

[0038] Determine N first deviation angle amounts corresponding to the N resolver measurement angles one by one according to the relative steering calibration result, each of the N expected rotor angles, and the corresponding resolver measurement angle;

[0039] According to the angle conversion range, the N first deviation angle quantities are converted into angle ranges to obtain corresponding N second deviation angle quantities;

[0040] The N second deviation angle quantities are averaged to obtain the deviation angle quantity.

[0041] In some possible implementations, after calculating the resolver deviation parameter of the resolver according to the N expected rotor angles and the N resolver measurement angles, the motor resolver zero position calibration method further includes:

[0042] The resolver deviation parameters are stored in the non-volatile memory of the motor controller.

[0043] Based on the same inventive concept, in a second aspect, an embodiment of the present application provides a motor rotary transformer zero position calibration device, which is applied to a motor controller electrically connected to a permanent magnet synchronous motor, and the motor rotary transformer zero position calibration device includes:

[0044] A first providing module is used to provide three-phase currents corresponding to each of N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor, so as to control the rotor of the permanent magnet synchronous motor to stop rotating to the corresponding expected rotor angle, where N is a positive integer greater than 1;

[0045] A first acquisition module is used to respectively acquire N resolver measurement angles of the rotor fed back by the resolver when the rotor of the permanent magnet synchronous motor stops at each of the N expected rotor angles, wherein the N resolver measurement angles correspond to the N expected rotor angles one by one;

[0046] The first calculation module is used to calculate the resolver deviation parameter of the resolver according to the N expected rotor angles and the N resolver measurement angles.

[0047] In a third aspect, an embodiment of the present application provides a motor rotary transformer zero position calibration device, the motor rotary transformer zero position calibration device comprising:

[0048] a processor and a memory storing computer program instructions;

[0049] When the processor executes the computer program instructions, the motor rotary transformer zero position calibration method provided in any one of the above embodiments of the present application is implemented.

[0050] In a fourth aspect, an embodiment of the present application provides a computer storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, a method for zero-position calibration of a motor rotary transformer as provided in any one of the above-mentioned embodiments of the present application is implemented.

[0051] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes a method for zero-position calibration of a motor rotating transformer as provided in any one of the above-mentioned embodiments of the present application.

[0052] A method and device for zero-position calibration of a motor rotary transformer provided in an embodiment of the present application respectively provide three-phase currents corresponding to each of the N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor, where N is a positive integer greater than 1. In this way, the rotor of the permanent magnet synchronous motor is controlled to rotate and stop at the corresponding expected rotor angle, and the N rotary measurement angles of the rotor fed back by the corresponding rotary transformer are obtained, and the N rotary measurement angles correspond to the N expected rotor angles one by one. In this way, the rotary deviation parameters of the rotary transformer are calculated according to the N expected rotor angles and the N rotary measurement angles obtained by the above measurement. It can be seen from the above description that a method and device for zero-position calibration of a motor rotary transformer in an embodiment of the present application, which controls the three-phase current and obtains the corresponding rotary feedback parameters, does not require the use of additional calibration equipment, and has low operating requirements for calibration personnel, thereby greatly reducing the cost of the zero-position calibration process of the rotary transformer. In addition, the embodiment of the present application performs multiple comprehensive calculations through multiple sets of resolver measurement angles and multiple sets of expected rotor angles, which can greatly reduce the calibration errors caused by factors such as mechanical friction resistance and tooth slot torque, and can efficiently and accurately realize the zero-position calibration of the motor resolver, thereby effectively improving the overall motor resolver zero-position calibration efficiency and reducing the operational complexity of the zero-position calibration process. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0054] Figure 1 It is a flow chart of a method for zero-position calibration of a motor rotary transformer provided in an embodiment of the present application;

[0055] Figure 2 It is a schematic diagram of the implementation framework of the motor rotary transformer zero position calibration method provided in one embodiment of the present application;

[0056] Figure 3 It is a schematic diagram of the principle of realizing zero-position calibration of a rotary transformer by the control logic provided in an embodiment of the present application;

[0057] Figure 4 It is a schematic diagram of the internal logic structure of a resolver zero position calibration module in the control logic provided in an embodiment of the present application;

[0058] Figure 5 is a simulation result of a rotary transformer zero position calibration method provided in an embodiment of the present application;

[0059] Figure 6 is a simulation result of a rotary transformer zero position calibration method provided by another embodiment of the present application;

[0060] Figure 7 It is a structural schematic diagram of a zero-position calibration device for a motor rotary transformer provided in one embodiment of the present application;

[0061] Figure 8 It is a structural schematic diagram of a motor rotary transformer zero position calibration device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0062] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0063] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0064] As mentioned in the background technology section, there are three main zero-position calibration schemes for motor resolvers currently used in the industry:

[0065] (1) DC positioning-zeroing device method: Let the three-phase motor shaft be in a free state, connect one phase winding of the three-phase motor to the positive pole of the DC power supply, and the other two phase windings to the negative pole of the DC power supply. Turn on the DC power supply to let a certain amount of DC current flow through the motor winding. The motor rotor will be fixed in a specific position. At this time, use a resolver zeroing instrument to measure the angle of resolver feedback, and adjust the installation angle of the resolver so that the feedback angle obtained on the zeroing instrument is consistent with the current motor rotor angle, thus achieving the mechanical zeroing of the resolver.

[0066] (2) Rotational zeroing method: Place the motor on a zeroing stand and let the motor drive the resolver to rotate at a low speed. Use an instrument to measure the resolver feedback angle and the motor line voltage. By comparing the phase difference between the two, the deviation between the resolver zero position and the motor rotor zero position can be calculated.

[0067] (3) Motor controller DC positioning zeroing method: Let the three-phase motor shaft be in a free state, the three-phase windings of the motor and the resolver signal lines are connected to the corresponding ports of the matching motor controller, and the motor controller is commanded to pass a given DC current through the three-phase windings of the motor. The motor rotor will be fixed in a specific position. At this time, the motor controller will measure the resolver feedback angle through the resolver feedback signal, and calculate the deviation between it and the current expected rotor position. The deviation is directly stored in the non-volatile memory of the motor controller and can be used directly in actual operation, thus completing the calibration of the resolver zero position.

[0068] However, the above-mentioned resolver zeroing scheme still has the problems of poor calibration accuracy, complex resolver zero position calibration process and high cost. Specifically, in the above-mentioned DC positioning-zeroing device method and rotary zeroing method, special test equipment or benches are required to calibrate the resolver. The operation of these devices is generally complicated, and the calibration personnel generally need to undergo more comprehensive training before they can correctly complete the calibration process. The procurement of equipment and the training of calibration personnel will increase the production cost of the permanent magnet synchronous motor drive system. In addition, in the DC positioning-zeroing device method, the zeroing of the resolver position is generally achieved by mechanically changing the installation position of the resolver. Due to the limitation of the positioning accuracy of the mechanical device, the maximum error of zeroing under this zeroing method can reach 1 to 2°, which cannot meet the requirements of some high-performance and high-precision applications.

[0069] Also, in the above-mentioned DC positioning-zeroing device method and motor controller DC positioning zeroing method, a small DC current is often injected at a single rotor position for calibration. Due to the existence of mechanical friction resistance and cogging torque, the calibration result at a single position and with a small DC current may have a large error, thereby affecting the accuracy of the rotor position measurement in actual operation.

[0070] Based on this, the industry is still in urgent need of a new motor resolver zero-position calibration solution to achieve the purpose of accurate and efficient motor resolver zero-position calibration.

[0071] In view of the above, in order to solve the problems of the prior art, the embodiments of the present application provide a method and device for zero position calibration of a motor rotary transformer. It should be noted that the embodiments provided in the present application are not intended to limit the scope of the present application.

[0072] The following first introduces the motor rotary transformer zero position calibration method provided in the embodiment of the present application.

[0073] Figure 1 The flowchart of the method for zero-position calibration of a motor rotary transformer provided by an embodiment of the present application is shown. The method for zero-position calibration of a motor rotary transformer is applied to a motor controller electrically connected to a permanent magnet synchronous motor. Figure 1 As shown, the motor rotary transformer zero position calibration method includes the following steps:

[0074] S110, respectively providing three-phase currents corresponding to each of N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor, so as to control the rotor of the permanent magnet synchronous motor to stop rotating to the corresponding expected rotor angle, where N is a positive integer greater than 1;

[0075] S120, when the rotor of the permanent magnet synchronous motor stops at each of the N expected rotor angles, respectively obtain N resolver measurement angles of the rotor fed back by the resolver, wherein the N resolver measurement angles correspond to the N expected rotor angles one by one;

[0076] S130, calculating a resolver deviation parameter of the resolver according to the N expected rotor angles and the N resolver measurement angles.

[0077] The embodiment of the present application provides a method for zero-position calibration of a motor rotary transformer, which provides three-phase currents corresponding to each of the N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor, where N is a positive integer greater than 1. In this way, the rotor of the permanent magnet synchronous motor is controlled to stop rotating to the corresponding expected rotor angle, and the N rotary transformer measurement angles of the rotor fed back by the corresponding rotary transformer are obtained, and the N rotary transformer measurement angles correspond to the N expected rotor angles one by one. In this way, the rotary transformer deviation parameters of the rotary transformer are calculated based on the N expected rotor angles and the N rotary transformer measurement angles obtained by the above measurement.

[0078] It can be seen from the above description that a motor rotary transformer zero-position calibration method of an embodiment of the present application controls the three-phase current and obtains the corresponding rotary transformer feedback parameters, without the need to use additional calibration equipment, and has low operating requirements for calibration personnel, thereby greatly reducing the cost of the rotary transformer zero-position calibration process. In addition, the embodiment of the present application performs multiple comprehensive calculations through multiple sets of rotary transformer measurement angles and multiple sets of rotor expected angles, which can greatly reduce the calibration errors caused by factors such as mechanical friction resistance and tooth slot torque, and can efficiently and accurately realize the zero-position calibration of the motor rotary transformer, thereby effectively improving the overall motor rotary transformer zero-position calibration efficiency and reducing the operational complexity of the zero-position calibration process.

[0079] The specific implementation of the above steps 110 to 130 is described in detail below.

[0080] In S110, three-phase currents corresponding to each of N expected rotor angles are provided to the three-phase windings of the permanent magnet synchronous motor respectively to control the rotor of the permanent magnet synchronous motor to stop rotating to the corresponding expected rotor angle, where N is a positive integer greater than 1.

[0081] In this embodiment, the three-phase electrical output terminal of the motor controller is electrically connected to the three-phase winding terminal of the permanent magnet synchronous motor. In specific implementation, the motor controller may be provided with a plurality of power devices. In this way, the power devices are controlled by appropriate pulse width modulation (PWM), so that different three-phase currents corresponding to different expected rotor angles can be output, so that the rotor of the permanent magnet synchronous motor can stop at the desired position.

[0082] It should be noted that the above-mentioned N expected rotor angles can be flexibly set according to the actual resolver zero position calibration requirements, or can be randomly selected, and this embodiment does not impose strict restrictions here.

[0083] In S120, when the rotor of the permanent magnet synchronous motor stops at each of the N expected rotor angles, N resolver measurement angles of the rotor fed back by the resolver are respectively obtained, and the N resolver measurement angles correspond to the N expected rotor angles one by one.

[0084] In this embodiment, the excitation and measurement windings of the rotary transformer (resolver for short) on the permanent magnet synchronous motor are connected to the corresponding resolver interface on the motor controller to receive feedback of the resolver measurement angle measured by the motor resolver.

[0085] In specific implementation, when the rotor of the permanent magnet synchronous motor rotates and stops to a certain expected rotor angle under the drive of the corresponding three-phase current, the resolver in the permanent magnet synchronous motor measures the position angle of the rotor, obtains the corresponding resolver measurement angle and feeds it back to the motor controller. In this way, the motor controller finally obtains the N resolver measurement angles corresponding to the N expected rotor angles fed back by the resolver one by one.

[0086] In S130, during specific implementation, the resolver deviation parameter of the resolver is calculated based on the N expected rotor angles and the N resolver measurement angles, and the specific calculation method will be described in detail later.

[0087] According to some embodiments of the present application, optionally, in order to more reasonably realize the three-phase power supply of the motor controller to the three-phase winding of the permanent magnet synchronous motor, so that the rotor of the permanent magnet synchronous motor can be more accurately rotated and stopped to the desired position, the motor controller is electrically connected to the DC bus, and the DC bus is used to power the motor controller;

[0088] The above-mentioned providing three-phase currents corresponding to each of the N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor respectively may include:

[0089] Measure and obtain the three-phase current of the three-phase winding of the permanent magnet synchronous motor and the bus voltage of the DC bus input;

[0090] According to the measured three-phase current, the measured bus voltage and the target rotor expected angle, the pulse width modulation control signal of the power device is calculated and adjusted in real time, so that the three-phase current in the three-phase winding of the permanent magnet synchronous motor is equal to the target three-phase current corresponding to the target rotor expected angle in steady state, so as to control the rotor of the permanent magnet synchronous motor to stop at the target rotor expected angle;

[0091] The target rotor expected angle is any one of N rotor expected angles.

[0092] In this embodiment, for example, the three-phase current output by the motor controller (i.e., the three-phase current of the three-phase winding of the permanent magnet synchronous motor) and the bus voltage of the DC bus input can be measured, and the PWM control signal sent to the power device part in the motor controller can be calculated based on the above measurement results, so that the desired target three-phase current can be obtained on the three-phase winding of the permanent magnet synchronous motor, so that the rotor of the permanent magnet synchronous motor can rotate and stop to the expected angle of the target rotor.

[0093] According to some embodiments of the present application, optionally, in order to more accurately and reliably provide the above-mentioned target three-phase current to the three-phase winding of the permanent magnet synchronous motor, the above-mentioned real-time calculation and adjustment of the pulse width modulation control signal of the power device based on the measured three-phase current, the measured bus voltage and the target rotor expected angle may include:

[0094] By using the measured three-phase current and the target rotor expected angle to perform Park transformation, the corresponding stator current in the dq coordinate system is obtained;

[0095] The three-phase voltage reference value of the permanent magnet synchronous motor is calculated according to the stator current, the d-axis reference current and the q-axis reference current;

[0096] According to the three-phase voltage reference value and the bus voltage, the pulse width modulation control signal of the power device is calculated.

[0097] In this embodiment, in a specific implementation, the stator current in the corresponding dq coordinate system can be calculated according to the measured three-phase current of the three-phase winding of the permanent magnet synchronous motor and the expected target rotor angle according to the calculation formula of the conventional Park transformation.

[0098] After obtaining the above stator current, the d-axis reference current and the q-axis reference current are combined to calculate the d-axis reference voltage and the q-axis reference voltage in the dq coordinate system. The calculated d-axis reference voltage and the q-axis reference voltage are subjected to Park inverse transformation to obtain the three-phase voltage reference value corresponding to the permanent magnet synchronous motor.

[0099] In this way, the PWM control signal of the power device part in the motor controller can be calculated based on the above-mentioned three-phase voltage reference value corresponding to the above-mentioned permanent magnet synchronous motor and the bus voltage obtained by the above-mentioned measurement, according to, for example, the principle of space vector pulse width modulation (SVPWM), so that the target three-phase current corresponding to the expected angle of the target rotor can flow through the three-phase winding of the permanent magnet synchronous motor.

[0100] It should be added that, considering the actual operation scenario of the permanent magnet synchronous motor, the d-axis reference current can be determined according to the magnetic field strength generated by the DC current in the stator, and the value of the q-axis reference current can be 0. The embodiment of the present application does not impose strict restrictions on this.

[0101] According to some embodiments of the present application, optionally, considering that when the rotor in the permanent magnet synchronous motor is controlled to rotate and stop at the target rotor expected angle by the target three-phase current, due to the presence of mechanical friction resistance, cogging torque, etc. in actual applications, the actual stop position of the rotor will deviate from the target rotor expected angle. The smaller this deviation is, the more accurate the resolver deviation parameter calculated based on the N rotor expected angles and the N resolver measurement angles will be.

[0102] The inventor of the present application has found that, for the same motor, the above deviation will decrease as the d-axis reference current increases, and the d-axis reference current is limited by the maximum DC current that the power device and the motor stator winding can withstand. Based on this, this embodiment proposes that, under the condition that the power device and the stator winding current do not exceed their limit values ​​(the limit value is generally equal to the maximum DC current allowed by the motor controller and the motor, which can be obtained during the design stage of the controller and the motor), an appropriate target rotor expected angle can be selected to maximize the usable d-axis reference current.

[0103] In a specific implementation, the above-mentioned target rotor expected angle and d-axis reference current are determined based on a first constraint relationship set;

[0104] The first set of constraint relations is:

[0105] max I calib

[0106]

[0107] ia +i b +i c =0

[0108] i a |≤I r ,|i b |≤I r ,|i c |≤I r

[0109] Among them, I calib is the d-axis reference current, θ e is the target rotor angle, i a 、i b 、i c is the target three-phase current, I r is the target rated current, which is the smaller rated current between the rated current of the permanent magnet synchronous motor and the rated current of the motor controller.

[0110] In this way, by using the above constraints to solve the target rotor expected angle and the d-axis reference current, the corresponding maximum value of the d-axis reference current and the selection rule of the target rotor expected angle can be obtained.

[0111] According to some embodiments of the present application, optionally, combined with the actual resolver zero-position calibration situation, in the traditional resolver zero-position calibration scheme, calibration is generally performed only at a single position, and such a scheme has two problems. First, calibration at a single position cannot determine the relationship between the motor rotor reference direction and the resolver reference direction. Once the two are inconsistent, the motor rotor position feedback result will be completely wrong, causing the motor to lose control during actual operation. Secondly, the calibration result at a single position is more susceptible to the influence of mechanical friction resistance and tooth slot torque, resulting in a larger error in the calibration result. Based on this, the above-mentioned resolver deviation parameters may include a relative steering calibration result and a deviation angle amount.

[0112] The above relative steering calibration result represents the same direction or opposite direction relationship between the positive direction of the rotor rotation of the permanent magnet synchronous motor and the reference direction of the rotary transformer;

[0113] The deviation angle represents the fixed deviation between the angle value obtained after the relative steering calibration result is used to perform steering correction on the resolver measurement angle and the corresponding expected rotor angle.

[0114] In specific implementation, when performing resolver zero position calibration, the resolver deviation parameter of resolver zero position calibration can be calculated based on the change trend of the corresponding resolver measurement angle under each different rotor expected angle value, and the relative relationship between the rotor expected angle and the corresponding resolver measurement angle under each different rotor expected angle value. The resolver deviation parameter includes the deviation angle amount and the relative steering calibration result.

[0115] In this embodiment, the number of pole pairs of the resolver is equal to the number of rotor pole pairs of the permanent magnet synchronous motor. In this case, the relationship between the rotor position of the permanent magnet synchronous motor (which can be substituted into the expected rotor angle) and the resolver measurement angle obtained by the resolver measurement feedback is as follows:

[0116] At this time, the resolver position feedback θ r The relationship between the rotor position θ is shown as follows:

[0117] θ=k dir θ r +θ calib

[0118] Where, θ is the rotor position angle of the permanent magnet synchronous motor, θ r The resolver measurement angle obtained by resolver measurement feedback; θ calib is the above deviation angle, k dir This is the relative steering calibration result mentioned above.

[0119] k dir Indicates the relationship between the positive direction of the motor rotor rotation and the reference direction of the resolver. When the two are in the same direction, k dir =1, when the two are in opposite directions, k dir =-1. θ calib This means that after the steering correction, θ and θ r A fixed deviation between .

[0120] In this embodiment, compared with the previous scheme of performing zero-position calibration only at a single position, multiple sets of expected rotor angles and corresponding resolver measurement angles can be used to calculate the above-mentioned relative steering calibration results and deviation angle amounts, and the relationship between the motor rotor reference steering and the resolver reference steering can be effectively considered to avoid erroneous motor rotor position feedback results and loss of control of the actual motor operation due to inconsistent steering problems.

[0121] At the same time, this embodiment can also use multiple measurement data to calculate the above-mentioned relative steering calibration results and deviation angles, which greatly reduces the calibration errors caused by factors such as mechanical friction resistance and tooth groove torque, improves the calibration accuracy, and effectively reduces the calculation errors of the calibration results.

[0122] According to some embodiments of the present application, optionally, more specifically, in order to fully realize the reasonable calculation of the relative steering calibration result and the deviation angle, the above-mentioned calculation of the resolver deviation parameter of the resolver according to the N expected rotor angles and the N resolver measurement angles may include:

[0123] Determine the relative steering calibration result according to the change trend between any two adjacent resolver measurement angles among the N resolver measurement angles;

[0124] The deviation angle is determined based on the relative steering calibration result, N expected rotor angles and N resolver measured angles.

[0125] In this embodiment, when it is specifically implemented, it can be determined whether the positive direction of the rotor rotation of the permanent magnet synchronous motor and the reference direction of the rotary transformer are in the same direction or in the opposite direction based on the change trend of the corresponding rotary transformer measurement angle under the values ​​of the expected rotor angles of two adjacent times.

[0126] After the relative steering calibration result is determined, the relative steering calibration result is introduced into the process of calculating the deviation angle, which is beneficial for making the final calculation result more accurate.

[0127] According to some embodiments of the present application, optionally, in combination with the angle difference calculation scenario in the actual resolver zero position calibration process, in order to effectively improve the reliability and accuracy of the actual calibration result, after determining the relative steering calibration result according to the change trend between any two adjacent resolver measurement angles among the N resolver measurement angles, the motor resolver zero position calibration method may also include:

[0128] Calculate the angle difference between the target steering correction angle and the target rotor expected angle; the target rotor expected angle is any one of the N rotor expected angles, and the target steering correction angle is obtained by steering correction of the target resolver measurement angle based on the relative steering calibration result; the target resolver measurement angle corresponds to the target rotor expected angle;

[0129] According to the absolute value of the angle difference, determine the angle conversion range corresponding to the deviation angle amount;

[0130] Determining the deviation angle amount based on the relative steering calibration result, N expected rotor angles and N resolver measured angles may include:

[0131] The deviation angle is determined based on the angle conversion range, the relative steering calibration result, the N expected rotor angles and the N resolver measurement angles.

[0132] In this embodiment, illustratively, the target rotor expected angle may be the first rotor expected angle among the N rotor expected angles. After the rotor in the permanent magnet synchronous motor rotates and stops to the target rotor expected angle, and the corresponding resolver measurement angle of the resolver feedback is obtained, the angle difference between the target steering correction angle and the target rotor expected angle may be calculated, so that the angle conversion range of the deviation angle amount may be determined according to the absolute value of the angle difference.

[0133] After determining the angle conversion range, when performing subsequent deviation angle calculation, the calculated angle difference can be converted into a unified angle range according to the angle conversion range, thereby effectively improving the accuracy of the deviation angle finally calculated.

[0134] It should be added that, considering the actual three-phase angle of the motor, the above angle conversion range can be, for example, within the range of [-π, π) or [0, 2π). The advantages of this treatment are: it can effectively avoid the problem of jumping between two boundaries that may occur when the deviation angle is located at the boundary of the selected angle conversion range when calculating the deviation angle.

[0135] According to some embodiments of the present application, optionally, more specifically, in order to more reasonably calculate the deviation angle amount, determining the deviation angle amount according to the angle conversion range, the relative steering calibration result, the N expected rotor angles and the N resolver measurement angles may include:

[0136] Determine N first deviation angle amounts corresponding to the N resolver measurement angles one by one according to the relative steering calibration result, each of the N expected rotor angles, and the corresponding resolver measurement angle;

[0137] According to the angle conversion range, the N first deviation angle quantities are converted into angle ranges to obtain corresponding N second deviation angle quantities;

[0138] The N second deviation angle quantities are averaged to obtain the deviation angle quantity.

[0139] In this embodiment, the first deviation angle amount is converted into the second deviation angle amount by utilizing the above-mentioned angle conversion range, so as to avoid directly using the calculated first deviation angle amount to calculate the final deviation angle amount, thereby avoiding the situation where the calibration error increases due to boundary jumps.

[0140] After obtaining the N second deviation angle values ​​after the angle range conversion, the N second deviation angle values ​​are averaged to obtain the deviation angle value. In this way, by continuously calibrating at multiple points and taking the average value, the calibration error caused by factors such as mechanical friction resistance and tooth groove torque is greatly reduced, thereby effectively improving the calibration accuracy.

[0141] It should be added that, if the N first deviation angle quantities do not have values ​​at the boundary range of the original default angle conversion range, it is not necessary to perform the angle range conversion, and the deviation angle quantity can be directly calculated based on the N first deviation angle quantities.

[0142] According to some embodiments of the present application, optionally, in combination with the actual motor operation control scenario, after calculating the resolver deviation parameter of the resolver according to the N expected rotor angles and the N resolver measurement angles, the motor resolver zero position calibration method may further include:

[0143] The resolver deviation parameters are stored in the non-volatile memory of the motor controller.

[0144] In this way, this embodiment stores the resolver deviation parameter in the non-volatile memory of the motor controller, which is beneficial for the motor controller to achieve more effective and reliable control of the permanent magnet synchronous motor according to the resolver deviation parameter during the subsequent motor operation.

[0145] In order to facilitate understanding of the motor rotary transformer zero position calibration method provided in the above embodiment, please refer to the following Figure 2 . Figure 2 It is a schematic diagram of the implementation framework of the motor rotary transformer zero-position calibration method provided in one embodiment of the present application.

[0146] Figure 2 The overall implementation framework of this embodiment is shown. A DC power supply supplies power to the DC bus of the motor controller, and the three-phase power output terminal of the motor controller is connected to the three-phase winding terminal of the motor. The excitation and measurement windings of the resolver on the motor are connected to the corresponding resolver interface on the motor controller to measure the resolver angle θ. r Inside the motor controller, the control logic is responsible for the three-phase current i output by the motor controller. a 、i b 、i c And the bus voltage u of the DC power input dc Measurements are taken and the PWM control signals sent to the power circuit part are calculated based on these measurement results, so as to obtain the desired DC current on the three-phase winding of the motor and allow the motor rotor to stop at the desired position.

[0147] See below Figure 3 , Figure 3 It is a schematic diagram of the principle of realizing zero-position calibration of a rotary transformer by the control logic provided in one embodiment of the present application. Figure 3The schematic diagram of the control logic for implementing the resolver zero position calibration in this embodiment is shown. The resolver zero position calibration module is the core module in the entire control logic, which is responsible for receiving the angle mark mode enable signal to start the resolver zero position calibration process. When performing the resolver zero position calibration, the resolver zero position calibration module outputs the expected rotor angle θ e , and according to each different θ e Take the value of θ r The changing trend of e Take the value of θ e With θ r The relative relationship between them is used to calculate the final result of the resolver zero position calibration, which includes the deviation angle θ calib And the relative steering calibration result k dir In general, the number of resolver pole pairs is equal to the number of motor rotor pole pairs. In this case, the resolver position feedback θ r The relationship between k and the rotor position θ is shown in the following equation. dir Indicates the relationship between the positive direction of the motor rotor rotation and the reference direction of the resolver. When the two are in the same direction, k dir =1, when the two are in opposite directions, k dir =-1. θ calib This means that after the steering correction, θ and θ r A fixed deviation between .

[0148] θ=k dir θ r +θ calib

[0149] Figure 3 The expected rotor angle θ output by the resolver zero position calibration module is e , which is the position where the motor rotor is expected to stay during the current calibration process. The Park transformation module, based on the measured motor three-phase current i a 、i b 、i c , and θ e According to the calculation formula of the conventional Park transformation, the stator current i in the corresponding dq coordinate system is calculated. d ,i q And input into the current controller in the dq coordinate system. The d-axis reference current i of the current controller is dref is a preset value I calib , q-axis reference current i qref =0. The dq current controller uses the conventional dq current closed-loop control principle to d ,i q ,i dref and i qref Calculate the d-axis reference voltage u in the dq coordinate system drefand q-axis reference voltage u qref .u dref and u qref After Park inverse transformation, it is transformed into the three-phase voltage reference value u of the motor aref ,u bref and u cref . The PWM modulation module is based on u aref ,u bref ,u cref , and the measured bus voltage u dc According to the conventional SVPWM principle, the PWM control signal of the power device is calculated, so that the three-phase winding of the motor flows through the θ e ,I calib The determined DC current, the expression of the DC current on the three-phase winding is shown below.

[0150]

[0151] When the above current flows through the motor stator, according to the motor operation principle, the rotor should stay at the angle θ e In practical applications, due to the existence of mechanical friction resistance and tooth torque, the rotor stops at a relatively short position. e There will be deviations. For the same motor, the above deviations will increase with I calib decreases with the increase of calib It is also limited by the maximum DC current that the power devices and motor stator windings can withstand.

[0152] Therefore, this embodiment proposes that it is necessary to select an appropriate θ under the condition that the power device and the stator winding current do not exceed their limit values ​​(the limit value is generally equal to the maximum DC current allowed by the motor controller and the motor, which can be obtained during the design stage of the controller and the motor). e Make available I calib To this end, the optimization problem shown in the following formula (the first set of constraint relations mentioned above) can be designed:

[0153] max I calib

[0154]

[0155] i a +i b +i c =0

[0156] |i a |≤I r ,|i b |≤I r ,|i c |≤I r

[0157] Using the first set of constraints above, e and I calib By solving the maximum value of I, we can get the value shown in Table 1. calib Maximum value and θ e Selection rules. r is the rated current of the motor and the motor controller (in this embodiment, the rated current of the motor and the motor controller are set to be consistent). As can be seen from Table 1 below, under each pole pair of the motor rotor, there are 6 optimal resolver zero position calibration angles.

[0158] Table 1

[0159]

[0160] In the traditional resolver zero position calibration scheme, calibration is generally performed only at a single position. This scheme has two problems. First, calibration at a single position cannot determine the relationship between the motor rotor reference direction and the resolver reference direction. Once the two are inconsistent, the motor rotor position feedback result will be completely wrong, causing the motor to lose control during actual operation. Second, the calibration result at a single position is more susceptible to mechanical friction resistance and cogging torque, resulting in a large error in the calibration result.

[0161] In order to overcome the defects of the previous single-position calibration, this embodiment proposes a multi-position DC injection calibration scheme. That is, at each pole pair of the motor rotor, the θ e The three-phase winding current is taken by controlling the PWM signal of the inverter power device to make the three-phase winding of the motor flow through the corresponding DC current. According to the principle of permanent magnet synchronous motor, the motor rotor will stay at the given θ in turn. e Position. At each θ e Under the value of, after the motor rotor stops, record the time θ e ,θ r According to the value of two adjacent θ e Under the value, θ r The trend of change can be used to determine θ e and θ r The relationship between the reference turns. After recording each θ under one pole pair e The value of θ e ,θ r After that, the above process can be repeated for the next pole pair until all pole pairs of the motor are traversed. At this time, the motor rotor has just rotated nearly 360° mechanical angle, and the calibration process is completed. After the calibration is completed, the θ r The trend of change determines k dir , according to kdir and θ recorded at each calibration position e ,θ r Calculate θ at each position e ,θ r The difference between the two values ​​and the average value can be used to obtain the final resolver zero position calibration result θ calib .

[0162] See below Figure 4 , Figure 4 1 is a schematic diagram of the internal logic structure of the resolver zero position calibration module in the control logic provided in an embodiment of the present application. After the resolver zero position calibration module receives the angle mark mode enable signal, the rotor expected position selection module starts to output the rotor expected angle signal θ to the outside of the module. e , the single position calibration time timer starts timing. When the timing reaches the preset time of the timer (the preset time is generally determined by the time required from the start of injecting DC current into the motor winding to the time when the motor rotor stops stably at the preset position), the single position calibration time timer sends a trigger signal to instruct the rotor expected angle recording module to record the current θ e The resolver feedback angle recording module records the current θ r Make a record.

[0163] After that, the trigger signal will command the rotor expected position selection module to adjust θ according to the order in the table above. e The output of is rotated to the next given value, the timer count value is reset, and the calibration process at the first calibration position is completed. Then, the steps at the first calibration position are repeated at the second calibration position. When the calibration process at the second calibration position is completed, the motor rotor and resolver relative direction judgment module will calculate the resolver feedback angle θ obtained at the second calibration position. r (2) The resolver feedback angle θ obtained at the first calibration position r (1) The relationship between the reference direction of the motor rotor and the reference direction of the resolver can be determined based on the sign of the difference. dir According to the operating principle of permanent magnet synchronous motor, when the difference is approximately equal to π / 3, the two are in the same direction, k dir = 1. When the difference is approximately equal to -π / 3, the two are reversed, k dir =-1.

[0164] Determine k dir After taking the value of , it is necessary to calculate the expected rotor position θ at the second calibration position e (2) with k dir θ r (2) The absolute value of the difference. When the absolute value is not greater than π / 2, the final calculation is θ calib Each calibration position will be θe With θ r The difference is converted to the range of [-π,π). When the absolute value is greater than π / 2, the last calculation of θ calib Each calibration position will be θ e With θ r The difference is converted to the range of [0, 2π). This processing is mainly to avoid θ calib When you are at the boundary of the selected angle conversion range, there may be a problem of jumping between the two boundaries.

[0165] After completing the above operations, continue to record the expected rotor angle and resolver feedback angle at the subsequent calibration positions until all the calibration points specified in the table above are calibrated for each pole pair. r and k dir Multiply each θ recorded r Perform sign correction and use the θ recorded at each position e Subtract k from the corresponding position dir θ r , and after completing the angle range conversion, average the subtraction results to get the calibration result θ calib .

[0166] In order to fully demonstrate the effectiveness of the resolver zero position calibration solution provided in the embodiment of the present application, please refer to the following Figure 5 , Figure 5 is a simulation result of a rotary transformer zero position calibration method provided in an embodiment of the present application, Figure 5 The simulation results of the resolver zero position calibration method proposed in this embodiment are shown when the positive direction of the motor steering is the same as the resolver reference positive direction and the fixed deviation between the motor zero position and the resolver zero position is π / 4.

[0167] like Figure 5 As shown, the calibration algorithm starts running at 1s. During the period of 1 to 1.1s, the calibration algorithm outputs the expected rotor position as π / 6. It can be seen that the DC current that meets the algorithm requirements is injected into the three-phase winding of the motor. The actual position of the motor rotor changes with the injected DC current and stops near the π / 6 position at around 1.1s. At 1.1s, the control algorithm completes the calibration of the first calibration position in the entire calibration process, and records the resolver feedback angle and the expected rotor angle at this time. During the period of 1.2 to 1.3s, the calibration algorithm calibrates the second calibration position in the entire calibration process. At 1.2s, the calibration of the second calibration position is completed, and the resolver feedback angle and the expected rotor angle at this time are recorded. The calibration steering k is obtained based on the change trend of the resolver feedback angle at the first two calibration positions. dir=1, and based on the quantitative relationship between the resolver feedback angle and the expected rotor angle at the first two calibration positions, the conversion range of [-π,π) as the calibration result is determined. At the subsequent calibration position, the entire calibration process is completed in about 3.5s, and the calibrated angle deviation is output, which shows that the deviation is completely consistent with the actual angle deviation.

[0168] Accordingly, Figure 6 This is a simulation result of a rotary transformer zero position calibration method provided in another embodiment of the present application. Figure 6 The simulation results of the resolver zero position calibration method proposed in this embodiment are shown when the motor's positive direction is opposite to the resolver reference positive direction and the fixed deviation between the motor zero position and the resolver zero position is 3π / 4. Figure 4 The displayed situations are basically the same, so I will not repeat them here. From the final calibration results, we can see that the calibrated angle deviation is consistent with the actual angle deviation, and the relative steering calibration result is consistent with the actual situation.

[0169] In summary, this scenario embodiment proposes a method for zero-position calibration of a permanent magnet synchronous motor rotary transformer based on large DC current injection under multiple rotor positions. By using this motor rotary transformer zero-position calibration, it is possible to accurately calibrate the zero position of the permanent magnet synchronous motor rotary transformer without using other additional equipment, only using a permanent magnet synchronous motor, a matching motor controller and a low-power DC power supply (the output voltage and current requirements of the power supply are also very low), thereby ensuring the control performance of the actual operation process. Compared with the existing technical solutions, the main advantages of this embodiment are:

[0170] (1) This embodiment does not require additional test and measurement equipment. It only needs to configure the motor, the supporting controller (the controller needs to have a software program developed according to the principle of this method), and a DC power supply with very low power, current, and voltage requirements. In addition, after matching the corresponding host computer, this calibration method can be implemented on the host computer with one button execution, with low requirements for calibration personnel, and can even achieve assembly-line automatic calibration. Therefore, this application can significantly reduce the cost of the resolver zero position calibration process;

[0171] (2) This embodiment actually provides an electrical zero-position calibration method, which has higher accuracy and smaller calibration error than most mechanical calibration methods;

[0172] (3) Compared with the existing calibration method of passing DC current through the stator winding, this method maximizes the magnetic field strength generated by the DC current in the motor stator (the aforementioned d-axis reference current), and by continuously calibrating at multiple points and taking the average value, it greatly reduces the calibration error caused by factors such as mechanical friction resistance and tooth torque, thereby improving the calibration accuracy.

[0173] Based on the motor rotary transformer zero position calibration method provided in the above embodiment, for the same embodiment concept, the present application also provides a motor rotary transformer zero position calibration device corresponding to the above motor rotary transformer zero position calibration method. Figure 7 The zero position calibration device of the motor rotating transformer is introduced in detail.

[0174] Figure 7 A schematic structural diagram of a motor rotary transformer zero-position calibration device provided in one embodiment of the present application is shown, which is applied to a motor controller electrically connected to a permanent magnet synchronous motor. Figure 7 The motor rotary transformer zero position calibration device 700 shown includes:

[0175] A first providing module 710 is used to provide three-phase currents corresponding to each of N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor, so as to control the rotor of the permanent magnet synchronous motor to stop rotating to the corresponding expected rotor angle, where N is a positive integer greater than 1;

[0176] A first acquisition module 720 is used to respectively acquire N resolver measurement angles of the rotor fed back by the resolver when the rotor of the permanent magnet synchronous motor stops at each of the N expected rotor angles, wherein the N resolver measurement angles correspond to the N expected rotor angles one by one;

[0177] The first calculation module 730 is used to calculate the resolver deviation parameter of the resolver according to the N expected rotor angles and the N resolver measurement angles.

[0178] The embodiment of the present application provides a motor rotary transformer zero position calibration device, which provides three-phase currents corresponding to each of the N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor by setting corresponding functional modules, where N is a positive integer greater than 1. In this way, the rotor of the permanent magnet synchronous motor is controlled to stop rotating to the corresponding expected rotor angle, and the N rotary transformer measurement angles of the rotor fed back by the corresponding rotary transformer are obtained, and the N rotary transformer measurement angles correspond to the N expected rotor angles one by one. In this way, the rotary transformer deviation parameters of the rotary transformer are calculated based on the N expected rotor angles and the N rotary transformer measurement angles obtained by the above measurement.

[0179] It can be seen from the above description that a motor rotary transformer zero position calibration device of an embodiment of the present application controls the three-phase current and obtains the corresponding rotary transformer feedback parameters without the need for additional calibration equipment, and has low operating requirements for calibration personnel, thereby greatly reducing the cost of the rotary transformer zero position calibration process. In addition, the embodiment of the present application performs multiple comprehensive calculations through multiple sets of rotary transformer measurement angles and multiple sets of rotor expected angles, which can greatly reduce the calibration errors caused by factors such as mechanical friction resistance and tooth slot torque, and can efficiently and accurately realize the zero position calibration of the motor rotary transformer, thereby effectively improving the overall motor rotary transformer zero position calibration efficiency and reducing the operational complexity of the zero position calibration process.

[0180] According to some embodiments of the present application, optionally, the motor controller is electrically connected to a DC bus, and the DC bus is used to supply power to the motor controller;

[0181] The first providing module 710, respectively providing the three-phase current corresponding to each of the N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor, may include:

[0182] The first measurement submodule can be used to measure the three-phase current of the three-phase winding of the permanent magnet synchronous motor and the bus voltage of the DC bus input;

[0183] The first submodule is used to calculate and adjust the pulse width modulation control signal of the power device in real time according to the measured three-phase current, the measured bus voltage and the target rotor expected angle, so that the three-phase current in the three-phase winding of the permanent magnet synchronous motor is equal to the target three-phase current corresponding to the target rotor expected angle in steady state, so as to control the rotor of the permanent magnet synchronous motor to stop to the target rotor expected angle;

[0184] The target rotor expected angle is any one of N rotor expected angles.

[0185] According to some embodiments of the present application, optionally, the first providing submodule calculates and adjusts the pulse width modulation control signal of the power device in real time according to the measured three-phase current, the measured bus voltage and the target rotor expected angle, which may include:

[0186] The first transformation unit may be used to perform Park transformation by using the measured three-phase current and the target rotor expected angle to obtain the corresponding stator current in the dq coordinate system;

[0187] The first calculation unit can be used to calculate the three-phase voltage reference value of the permanent magnet synchronous motor according to the stator current, the d-axis reference current and the q-axis reference current;

[0188] The second calculation unit can be used to calculate the pulse width modulation control signal of the power device according to the three-phase voltage reference value and the bus voltage.

[0189] According to some embodiments of the present application, optionally, the target rotor expected angle and the d-axis reference current are determined based on a first set of constraint relations;

[0190] The first set of constraint relations is:

[0191] max I calib

[0192]

[0193] i a +i b +i c =0

[0194] i a |≤I r ,|i b |≤I r ,|i c |≤I r

[0195] Among them, I calib is the d-axis reference current, θ e is the target rotor angle, i a 、i b 、i c is the target three-phase current, I r is the target rated current, which is the smaller rated current between the rated current of the permanent magnet synchronous motor and the rated current of the motor controller.

[0196] According to some embodiments of the present application, optionally, the resolver deviation parameter may include a relative steering calibration result and a deviation angle amount;

[0197] The relative steering calibration result represents the same or opposite direction relationship between the positive direction of the permanent magnet synchronous motor's rotor rotation and the reference direction of the resolver;

[0198] The deviation angle represents the fixed deviation between the angle value obtained after the relative steering calibration result is used to perform steering correction on the resolver measurement angle and the corresponding expected rotor angle.

[0199] According to some embodiments of the present application, optionally, the first calculation module 730 calculates the resolver deviation parameter of the resolver according to the N expected rotor angles and the N resolver measurement angles, which may include:

[0200] The first determination submodule can be used to determine the relative steering calibration result according to the change trend between any two adjacent resolver measurement angles among the N resolver measurement angles;

[0201] The second determination submodule can be used to determine the deviation angle amount according to the relative steering calibration result, N expected rotor angles and N resolver measurement angles.

[0202] According to some embodiments of the present application, optionally, after determining the relative steering calibration result according to the change trend between any two adjacent resolver measurement angles among the N resolver measurement angles, the motor resolver zero position calibration device may further include:

[0203] The second calculation module can be used to calculate the angle difference between the target steering correction angle and the target rotor expected angle; the target rotor expected angle is any one of the N rotor expected angles, and the target steering correction angle is obtained by steering correction of the target resolver measurement angle based on the relative steering calibration result; the target resolver measurement angle corresponds to the target rotor expected angle;

[0204] A first determination module may be used to determine an angle conversion range corresponding to the deviation angle value according to an absolute value of the angle difference;

[0205] The second determination submodule determines the deviation angle amount according to the relative steering calibration result, the N expected rotor angles and the N resolver measurement angles, which may include:

[0206] The deviation angle is determined based on the angle conversion range, the relative steering calibration result, the N expected rotor angles and the N resolver measurement angles.

[0207] According to some embodiments of the present application, optionally, determining the deviation angle amount according to the angle conversion range, the relative steering calibration result, the N expected rotor angles, and the N resolver measurement angles may include:

[0208] The first determination unit may be used to determine N first deviation angle amounts corresponding to the N resolver measurement angles one by one according to the relative steering calibration result, each of the N expected rotor angles, and the corresponding resolver measurement angle;

[0209] The first conversion unit may be used to perform angle range conversion on the N first deviation angle quantities according to the angle conversion range to obtain corresponding N second deviation angle quantities;

[0210] The first obtaining unit may be used to perform mean processing on the N second deviation angle quantities to obtain the deviation angle quantity.

[0211] According to some embodiments of the present application, optionally, after calculating the resolver deviation parameter of the resolver according to the N expected rotor angles and the N resolver measurement angles, the motor resolver zero position calibration device may further include:

[0212] The first storage module can be used to store the resolver deviation parameter in the non-volatile memory of the motor controller.

[0213] Based on the motor rotary transformer zero position calibration method provided in the above embodiment, for the same inventive concept, the present application also provides a motor rotary transformer zero position calibration device corresponding to the above motor rotary transformer zero position calibration method. Figure 8 The zero position calibration equipment of motor rotary transformer is introduced in detail.

[0214] See below Figure 8 , Figure 8 It is a structural schematic diagram of a motor rotary transformer zero position calibration device provided in one embodiment of the present application.

[0215] The motor resolver zero position calibration device may include a processor 801 and a memory 802 storing computer program instructions.

[0216] Specifically, the processor 801 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0217] The memory 802 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 802 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 802 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 802 is a non-volatile solid-state memory.

[0218] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0219] The processor 801 implements any one of the motor resolver zero position calibration methods in the above embodiments by reading and executing computer program instructions stored in the memory 802 .

[0220] In one example, the data motor rotary transformer zero position calibration device may further include a communication interface 803 and a bus 810. Figure 8 As shown, the processor 801, the memory 802, and the communication interface 803 are connected via a bus 810 and communicate with each other.

[0221] The communication interface 803 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0222] Bus 810 includes hardware, software or both, and the parts of the motor rotary transformer zero calibration device are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransmission (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 810 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0223] The motor rotary transformer zero position calibration device executes the motor rotary transformer zero position calibration method in the embodiment of the present application, thereby realizing the motor rotary transformer zero position calibration method described in the embodiment of the present application.

[0224] In addition, in combination with the motor rotary transformer zero position calibration method in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any motor rotary transformer zero position calibration method in the above embodiment is implemented.

[0225] Based on the motor rotating transformer zero-position calibration method in the above-mentioned embodiment, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the motor rotating transformer zero-position calibration method provided in any one of the above-mentioned embodiments of the present application.

[0226] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0227] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0228] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0229] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0230] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for zero position calibration of a motor rotary transformer, characterized in that: Applied to a motor controller electrically connected to a permanent magnet synchronous motor, the method comprises: Providing three-phase currents corresponding to each of N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor respectively, so as to control the rotor of the permanent magnet synchronous motor to stop rotating to the corresponding expected rotor angle, where N is a positive integer greater than 1; When the rotor of the permanent magnet synchronous motor stops at each of the N expected rotor angles, respectively obtain N resolver measurement angles of the rotor fed back by the resolver, and the N resolver measurement angles correspond to the N expected rotor angles one by one; A resolver deviation parameter of the resolver is calculated according to the N expected rotor angles and the N resolver measurement angles.

2. The method according to claim 1, characterized in that The motor controller is electrically connected to a DC bus, and the DC bus is used to supply power to the motor controller; The providing three-phase currents corresponding to each of the N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor respectively includes: Measure and obtain the measured three-phase current of the three-phase winding of the permanent magnet synchronous motor and the bus voltage of the DC bus input; According to the measured three-phase current, the measured bus voltage and the target rotor expected angle, a pulse width modulation control signal of a power device is calculated and adjusted in real time, so that the three-phase current in the three-phase winding of the permanent magnet synchronous motor is equal to the target three-phase current corresponding to the target rotor expected angle in a steady state, so as to control the rotor of the permanent magnet synchronous motor to stop at the target rotor expected angle; Wherein, the target expected rotor angle is any one of the N expected rotor angles.

3. The method according to claim 2, characterized in that The method of calculating and adjusting the pulse width modulation control signal of the power device in real time according to the measured three-phase current, the measured bus voltage and the target rotor expected angle includes: By using the measured three-phase current and the target rotor expected angle to perform Park transformation, a stator current in a corresponding dq coordinate system is obtained; Calculating a three-phase voltage reference value of the permanent magnet synchronous motor according to the stator current, the d-axis reference current and the q-axis reference current; The pulse width modulation control signal of the power device is calculated according to the three-phase voltage reference value and the bus voltage.

4. The method according to claim 3, characterized in that The target rotor expected angle and the d-axis reference current are determined based on a first set of constraint relations; The first set of constraint relations is: max I calib i a +i b +i c =0 i a |≤I r ,|i b |≤I r ,|i c |≤I r Among them, I calib is the d-axis reference current, θ e is the target rotor expected angle, i a 、i b 、i c is the target three-phase current, I r is a target rated current, and the target rated current is the smaller rated current between the rated current of the permanent magnet synchronous motor and the rated current of the motor controller.

5. The method according to claim 1, characterized in that The resolver deviation parameter includes a relative steering calibration result and a deviation angle value; The relative steering calibration result represents the same direction or opposite direction relationship between the positive direction of the rotor rotation of the permanent magnet synchronous motor and the reference direction of the rotary transformer; The deviation angle represents a fixed deviation between an angle value obtained after the relative steering calibration result is used to perform steering correction on the resolver measurement angle and the corresponding expected angle of the rotor.

6. The method according to claim 5, characterized in that The calculating, according to the N expected rotor angles and the N resolver measurement angles, a resolver deviation parameter of the resolver comprises: Determining the relative steering calibration result according to a change trend between any two adjacent resolver measurement angles among the N resolver measurement angles; The deviation angle amount is determined according to the relative steering calibration result, the N expected rotor angles and the N resolver measurement angles.

7. The method according to claim 6, characterized in that After determining the relative steering calibration result according to the change trend between any two adjacent resolver measurement angles among the N resolver measurement angles, the method further includes: Calculating an angle difference between a target steering correction angle and a target expected rotor angle; the target expected rotor angle is any one of the N expected rotor angles, and the target steering correction angle is obtained by steering correction of a target resolver measurement angle based on the relative steering calibration result; the target resolver measurement angle corresponds to the target expected rotor angle; Determining an angle conversion range corresponding to the deviation angle amount according to the absolute value of the angle difference; Determining the deviation angle amount according to the relative steering calibration result, the N expected rotor angles and the N resolver measurement angles includes: The deviation angle amount is determined according to the angle conversion range, the relative steering calibration result, the N expected rotor angles and the N resolver measurement angles.

8. The method according to claim 7, characterized in that Determining the deviation angle amount according to the angle conversion range, the relative steering calibration result, the N expected rotor angles, and the N resolver measurement angles includes: Determine N first deviation angle amounts corresponding to the N resolver measurement angles one by one according to the relative steering calibration result, each of the N expected rotor angles, and the corresponding resolver measurement angle; According to the angle conversion range, the N first deviation angle quantities are converted into angle ranges to obtain corresponding N second deviation angle quantities; Performing mean processing on the N second deviation angle quantities to obtain the deviation angle quantity.

9. The method according to claim 1, characterized in that: After calculating the resolver deviation parameter of the resolver according to the N expected rotor angles and the N resolver measured angles, the method further includes: The resolver deviation parameter is stored in a non-volatile memory of the motor controller.

10. A zero position calibration device for a motor rotary transformer, characterized in that: A motor controller applied to a permanent magnet synchronous motor electrically connected to the motor, the device comprising: A first providing module is used to provide three-phase currents corresponding to each of N expected rotor angles to the three-phase windings of the permanent magnet synchronous motor, so as to control the rotor of the permanent magnet synchronous motor to stop rotating to the corresponding expected rotor angle, where N is a positive integer greater than 1; A first acquisition module is used to respectively acquire N resolver measurement angles of the rotor fed back by a resolver when the rotor of the permanent magnet synchronous motor stops at each of the N expected rotor angles, wherein the N resolver measurement angles correspond to the N expected rotor angles one by one; The first calculation module is used to calculate the resolver deviation parameter of the resolver according to the N expected rotor angles and the N resolver measurement angles.

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