Rotor positioning method and device, electronic equipment and computer readable storage medium

Abstract

The embodiment of the invention provides a rotor positioning method and device, electronic equipment and a computer readable storage medium, and relates to the technical field of motor control, and the method comprises the steps: obtaining the actual D-axis voltage of a motor in the D-axis direction and the physical parameters of the motor, obtaining the D-axis voltage offset according to the actual D-axis voltage and the physical parameters, and obtaining the D-axis voltage offset; the D-axis voltage offset is the difference between the actual D-axis voltage and the theoretical D-axis voltage, performing phase-locked loop adjustment on the D-axis voltage offset to obtain a deviation angle which is the difference between the actual rotor angle and the ideal rotor angle of the rotor of the motor, and obtaining the actual rotor angle according to the deviation angle so as to position the rotor of the motor according to the actual rotor angle. The D-axis voltage offset is dynamically observed according to the actual D-axis voltage and the physical parameters of the motor, and the deviation angle is determined according to the D-axis voltage offset, so that the accuracy of the deviation angle is improved, the accuracy of motor control is improved, and the efficiency and the dynamic response of the motor are improved.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a rotor positioning method, device, electronic equipment and computer-readable storage medium. Background Art

[0002] Permanent Magnet Synchronous Motor (PMSM) is widely used in industry and household appliances due to its high efficiency and high power density. The rotor of this motor uses permanent magnets, which does not require excitation current to generate a magnetic field, thereby reducing energy loss and improving efficiency. However, the high performance of PMSM depends on an accurate Field Oriented Control (FOC) algorithm, which requires accurate knowledge of the rotor's position information.

[0003] In existing technologies, the measurement of rotor position usually relies on position sensors, such as Hall sensors or encoders. These sensors can provide real-time rotor position information, but they are susceptible to electromagnetic interference and delay, resulting in deviations in the measured angle. This deviation affects the control accuracy of the motor, thereby reducing the efficiency and performance of the motor.

[0004] To compensate for these deviations, conventional methods usually use a fixed angle as the compensation angle. However, this method has limitations because it makes the relationship between the motor speed and the compensation angle nonlinear, resulting in inaccurate motor position information obtained by the controller. This inaccurate position information can lead to inaccurate calculated current, which in turn causes control deviations, further affecting the efficiency and dynamic response of the motor. Summary of the invention

[0005] The object of the present invention is to provide a rotor positioning method, device, electronic device and computer-readable storage medium to solve the problem of low efficiency and dynamic response of a motor.

[0006] In a first aspect, the present invention provides a rotor positioning method, the method comprising:

[0007] Obtaining an actual D-axis voltage of the motor in a D-axis direction and physical parameters of the motor; the D-axis direction is the direction in which the magnetic field of the motor is located;

[0008] Obtaining a D-axis voltage offset according to the actual D-axis voltage and the physical parameter; the D-axis voltage offset is a difference between the actual D-axis voltage and a theoretical D-axis voltage;

[0009] Performing phase-locked loop adjustment on the D-axis voltage offset to obtain a deviation angle; the deviation angle is a difference between an actual rotor angle and an ideal rotor angle of the rotor of the motor;

[0010] The actual rotor angle is obtained according to the deviation angle, so as to position the rotor of the motor according to the actual rotor angle.

[0011] In an optional implementation manner, obtaining a D-axis voltage offset by using the actual D-axis voltage and the physical parameter includes:

[0012] Obtaining an actual D-axis current according to the actual D-axis voltage and the physical parameter;

[0013] A D-axis voltage offset is acquired according to the physical parameter, the actual D-axis voltage, and the actual D-axis current.

[0014] In an optional implementation manner, obtaining the actual D-axis current according to the actual D-axis voltage and the physical parameter includes:

[0015] According to the actual D-axis voltage and the physical parameters, the voltage drop of the stator of the motor in the D-axis direction, the power consumption value of the rotor, and the voltage error at the previous moment are adjusted to obtain the current voltage drop, the current power consumption value, and the current voltage error;

[0016] The actual D-axis current is obtained according to the actual D-axis voltage, the preset back electromotive force, the current voltage error, the current voltage drop, and the current power consumption value.

[0017] In an optional implementation manner, adjusting the voltage drop of the stator in the D-axis direction, the power consumption value of the rotor, and the voltage error at the previous moment according to the actual D-axis voltage and the physical parameters to obtain the current voltage drop, the current power consumption value, and the current voltage error includes:

[0018] Obtaining a current estimated D-axis current according to the actual D-axis current at the previous moment and a first preset observation gain coefficient;

[0019] The voltage error at the previous moment is adjusted according to the second preset observation gain coefficient, the actual D-axis current at the previous moment, and the current estimated D-axis current to obtain the current voltage error;

[0020] The voltage drop at the previous moment is adjusted according to the product of the actual D-axis current at the previous moment and the resistance value of the stator to obtain the current voltage drop;

[0021] Obtaining a current value of the rotor according to the actual D-axis current at the previous moment, the resistance value of the rotor, and the inductance value of the stator;

[0022] The power consumption value at the previous moment is adjusted according to the product of the current current value of the rotor and the resistance value of the stator to obtain the current power consumption value; the physical parameters include the resistance value of the stator, the resistance value of the rotor and the inductance value of the stator.

[0023] In an optional implementation manner, acquiring the D-axis voltage offset according to the physical parameter, the actual D-axis voltage, and the actual D-axis current includes:

[0024] Obtaining an observed power consumption value according to the actual D-axis current and the physical parameter;

[0025] Obtaining an observed D-axis voltage offset according to the actual D-axis voltage, the preset back electromotive force, the preset voltage drop, and the observed power consumption value;

[0026] The D-axis voltage offset is obtained according to the observed D-axis voltage offset, the actual D-axis current, the observed proportional gain parameter and the observed integral gain parameter; the observed proportional gain parameter is determined according to the inductance value of the stator of the motor and a first preset observation gain coefficient, and the observed integral gain parameter is determined according to the inductance value of the stator of the motor, the first preset observation gain coefficient and a second preset observation gain coefficient; the physical parameters include the inductance value of the stator of the motor.

[0027] In an optional implementation manner, performing a phase-locked loop adjustment on the D-axis voltage offset to obtain a deviation angle includes:

[0028] Obtaining a control signal frequency of the motor;

[0029] Obtaining an induced electromotive force according to the control signal frequency and a phase-locked loop gain parameter;

[0030] The ratio of the D-axis voltage offset to the induced electromotive force is calculated to obtain the deviation angle.

[0031] In an optional implementation, the phase-locked loop gain parameter includes a phase-locked loop integral gain parameter and a phase-locked loop proportional gain parameter, and obtaining the induced electromotive force according to the control signal frequency and the phase-locked loop gain parameter includes:

[0032] The product of the control signal frequency and the phase-locked loop integral gain parameter is calculated, and the ratio of the product to the phase-locked loop proportional gain parameter is calculated to obtain the induced electromotive force.

[0033] In a second aspect, the present invention provides a rotor positioning device, the device comprising:

[0034] A data acquisition module, used to obtain the actual D-axis voltage of the motor in the D-axis direction and the physical parameters of the motor; the D-axis direction is the direction of the magnetic field of the motor;

[0035] A D-axis voltage offset obtaining module, used to obtain a D-axis voltage offset according to the actual D-axis voltage and the physical parameter; the D-axis voltage offset is a difference between the actual D-axis voltage and a theoretical D-axis voltage;

[0036] A deviation angle obtaining module, used for performing a phase-locked loop adjustment on the D-axis voltage offset to obtain a deviation angle; the deviation angle is a difference between an actual rotor angle and an ideal rotor angle of the rotor of the motor;

[0037] The actual rotor angle obtaining module is used to obtain the actual rotor angle according to the deviation angle, so as to position the rotor of the motor according to the actual rotor angle.

[0038] In a third aspect, the present invention provides an electronic device, comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and the computer program executable by the processor is used to implement the rotor positioning method described in any of the aforementioned embodiments.

[0039] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a rotor positioning method as described in any one of the aforementioned embodiments.

[0040] The rotor positioning method, device, electronic device and computer-readable storage medium provided by the embodiment of the present invention include: obtaining the actual D-axis voltage of the motor in the D-axis direction and the physical parameters of the motor, the D-axis direction is the direction of the magnetic field of the motor, obtaining the D-axis voltage offset according to the actual D-axis voltage and the physical parameters, the D-axis voltage offset is the difference between the actual D-axis voltage and the theoretical D-axis voltage, performing phase-locked loop adjustment on the D-axis voltage offset to obtain the deviation angle, the deviation angle is the difference between the actual rotor angle of the motor's rotor and the ideal rotor angle, and obtaining the actual rotor angle according to the deviation angle, so as to position the rotor of the motor according to the actual rotor angle. By dynamically observing the D-axis voltage offset according to the actual D-axis voltage and the physical parameters of the motor, and then determining the deviation angle according to the D-axis voltage offset, the accuracy of the deviation angle is improved, thereby improving the accuracy of the motor control, and further improving the efficiency and dynamic response of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 A schematic diagram of a flow chart of a rotor positioning method provided by an embodiment of the present invention is shown;

[0043] Figure 2 Another schematic flow chart of a rotor positioning method provided by an embodiment of the present invention is shown;

[0044] Figure 3 Another schematic flow chart of the rotor positioning method provided by the embodiment of the present invention is shown;

[0045] Figure 4 Another schematic flow chart of a rotor positioning method provided by an embodiment of the present invention is shown;

[0046] Figure 5 A module block diagram of a rotor positioning device provided by an embodiment of the present invention is shown;

[0047] Figure 6 A block diagram of an electronic device provided by an embodiment of the present invention is shown.

[0048] Icons: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication module; 200 - rotor positioning device; 210 - data acquisition module; 220 - D-axis voltage offset acquisition module; 230 - deviation angle acquisition module; 240 - actual rotor angle acquisition module. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0050] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] It should be noted that relational terms such as "first" and "second" are used only 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", "comprises" 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, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0052] See also Figure 1 , Figure 1 A schematic diagram of a flow chart of a rotor positioning method provided by an embodiment of the present invention is shown. The rotor positioning method can be applied to electronic equipment. The specific flow chart of this embodiment is described below by taking electronic equipment as an example. Figure 1 The process shown is described in detail, and the rotor positioning may specifically include the following steps:

[0053] Step 110: Obtain the actual D-axis voltage of the motor in the D-axis direction and the physical parameters of the motor; the D-axis direction is the direction where the magnetic field of the motor is located.

[0054] It should be noted that the D-axis and the Q-axis are two axes of the rotating coordinate system used in motor control. The D-axis direction is the direction of the motor's magnetic field. The D-axis current is mainly used to control the motor's magnetic flux. The Q-axis direction is perpendicular to the D-axis direction. The Q-axis current is mainly used to control the motor's torque. By controlling the D-axis current and the Q-axis current, the motor's magnetic flux and torque can be controlled.

[0055] Step 120: Obtain a D-axis voltage offset according to the actual D-axis voltage and the physical parameters; the D-axis voltage offset is the difference between the actual D-axis voltage and the theoretical D-axis voltage.

[0056] In some implementations, a voltage offset observer is designed according to the D-axis voltage equation, and the D-axis voltage offset is observed by the voltage offset observer according to the actual D-axis voltage and physical parameters to obtain the D-axis voltage offset.

[0057] Among them, the D-axis voltage equation is:

[0058]

[0059] Among them, U d represents the D-axis voltage, R s represents the stator resistance, w represents the angular velocity of the motor, Lσ represents the inductance of the stator, i d Represents the D-axis current of the motor, R r Indicates the resistance value of the rotor, i dr represents the rotor current, Indicates the rate of change of D-axis current over time, U dz Indicates the voltage error on the D-axis.

[0060] The D-axis current And voltage error As the state variable in the voltage offset observer, the basic equation of the voltage offset observer is as follows:

[0061]

[0062] in, represents the estimated state, A represents the system matrix, B represents the input matrix, u represents the data parameter, L represents the observer gain matrix, y represents the measured output, Represents the estimated output.

[0063] According to the D-axis voltage equation, the system matrix A, input matrix B, observer gain matrix L and estimated output can be determined.

[0064]

[0065]

[0066] Among them, L σ represents the inductance value of the stator, L1 represents the first preset observation gain coefficient, L2 represents the second preset observation gain coefficient, represents the estimated D-axis current, Represents the estimated voltage error.

[0067] According to the above system matrix A, input matrix B, observer gain matrix L and estimated output The designed voltage offset observer is as follows:

[0068]

[0069] in, Indicates the observed D-axis current, Represents the observed voltage error, L σ represents the inductance value of the stator, L1 represents the first preset observation gain coefficient, L2 represents the second preset observation gain coefficient, represents the estimated D-axis current, represents the estimated voltage error, y represents the measured output, represents the estimated output, U deIndicates the D-axis voltage offset.

[0070] Step 130: Perform phase-locked loop adjustment on the D-axis voltage offset to obtain a deviation angle; the deviation angle is the difference between the actual rotor angle and the ideal rotor angle of the motor's rotor.

[0071] It should be noted that a phase-locked loop is a feedback control system that aims to keep the frequency or phase of two signals in a certain relationship. In the field of motor control, phase-locked loops are often used to adjust the position and speed of the motor rotor to optimize current control and voltage management.

[0072] In some embodiments, the electronic device performs a phase-locked loop adjustment on the D-axis voltage offset through a phase-locked loop until the direction of the D-axis voltage is aligned with the D-axis direction. At this time, the control signal output by the phase-locked loop represents the phase deviation between the actual D-axis voltage and the ideal D-axis voltage, that is, the deviation angle.

[0073] It can be understood that the D-axis voltage offset is adjusted through the phase-locked loop to ensure that the direction of the D-axis voltage is aligned with the D-axis direction, thereby reducing the phase error. Since the phase error will cause the torque fluctuation and control instability of the motor, reducing the phase error can improve the stability of the motor control.

[0074] Step 140: Obtain the actual rotor angle according to the deviation angle, so as to position the rotor of the motor according to the actual rotor angle.

[0075] In some embodiments, the electronic device may perform calculus on the deviation angle, calculate the sum of the deviation angle after calculus and the initial angle of the motor, obtain the actual rotor angle, and position the electronic rotor according to the actual rotor angle.

[0076] The rotor positioning method provided in the embodiment of the present invention designs an observer capable of dynamically observing the voltage offset, and uses the D-axis voltage offset output by the observer to compensate the motor angle to realize sensorless angle detection, thereby avoiding the use of additional sensors and reducing the cost of motor control. In addition, by dynamically observing the D-axis voltage offset according to the actual D-axis voltage and the physical parameters of the motor, and then determining the deviation angle according to the D-axis voltage offset, it is possible to dynamically monitor the angle change and adjust the control parameters in real time, thereby improving the control accuracy of the motor.

[0077] In some implementations, the specific operation process of the voltage offset observer is as follows: Figure 2 As shown, step 120 specifically further includes the following steps:

[0078] Step 121: Obtain the actual D-axis current according to the actual D-axis voltage and physical parameters.

[0079] In some embodiments, the electronic device can adjust the voltage drop of the stator of the motor in the D-axis direction, the power consumption value of the rotor, and the voltage error at the previous moment according to the actual D-axis voltage and physical parameters to obtain the current voltage drop, the current power consumption value, and the current voltage error, and obtain the actual D-axis current according to the actual D-axis voltage, the preset back electromotive force, the current voltage error, the current voltage drop, and the current power consumption value.

[0080] The physical parameters may include a resistance value of the stator, a resistance value of the rotor, and an inductance value of the stator.

[0081] It should be noted that when the current voltage drop, current power consumption value and current voltage error are obtained for the first time, the voltage drop of the stator of the motor in the D-axis direction, the power consumption value of the rotor and the voltage error at the previous moment are all corresponding initial values.

[0082] In some embodiments, the current estimated D-axis current is obtained based on the actual D-axis current at the previous moment and the first preset observation gain coefficient; the voltage error at the previous moment is adjusted based on the second preset observation gain coefficient, the actual D-axis current at the previous moment, and the current estimated D-axis current to obtain the current voltage error.

[0083] The electronic device can obtain the current estimated D-axis current according to the following formula.

[0084]

[0085] in, represents the current estimated D-axis current, s represents the complex frequency variable in Laplace transform, L σ Indicates the inductance of the stator, U de Indicates the D-axis voltage offset at the last moment, U dz represents the voltage error at the previous moment, L1 represents the first preset observation gain coefficient, It represents the estimated D-axis current at the previous moment, and id represents the actual D-axis current at the previous moment.

[0086] The electronic device can obtain the current voltage error according to the following formula.

[0087]

[0088] in, represents the current voltage error, L2 represents the second preset observation gain coefficient, s represents the complex frequency variable in Laplace transform, It indicates the current estimated D-axis current, and id indicates the actual D-axis current at the previous moment.

[0089] In some implementations, the voltage drop at the last moment is adjusted according to the product of the actual D-axis current at the last moment and the resistance value of the stator to obtain the current voltage drop.

[0090] In some embodiments, the current current value of the rotor is obtained based on the actual D-axis current, the resistance value of the rotor, and the inductance value of the stator at the previous moment, and the power consumption value at the previous moment is adjusted based on the product of the current current value of the rotor and the resistance value of the stator to obtain the current power consumption value.

[0091] The electronic device can obtain the current current value of the rotor according to the following formula: The current power consumption value is the product of the current current value of the rotor and the resistance value of the stator.

[0092]

[0093] Among them, i dr Indicates the current value of the rotor, i d Indicates the actual D-axis current, R r represents the resistance value of the rotor, s represents the complex frequency variable in Laplace transform, L σ Indicates the inductance of the stator.

[0094] In some implementations, the actual D-axis current is obtained according to the actual D-axis voltage, the preset back electromotive force, the current voltage error, the current voltage drop, and the current power consumption value.

[0095] The electronic device can obtain the actual D-axis current according to the following formula;

[0096]

[0097] Where, id represents the actual D-axis current, w s L σ i q Indicates the preset back electromotive force, w s Indicates the motor angular velocity, L σ represents the inductance of the stator, i q represents the Q-axis current, i′ d Indicates the actual D-axis current at the last moment, i dr represents the current value of the rotor, s represents the complex frequency variable in Laplace transform, U d Indicates the actual D-axis voltage, U dz Represents the current voltage error, R r i dr Indicates the current power consumption value, R s i′ d Represents the current voltage drop, R r Indicates the resistance value of the rotor, R s Indicates the resistance value of the stator.

[0098] Step 122: Obtain the D-axis voltage offset according to the physical parameters, the actual D-axis voltage, and the actual D-axis current.

[0099] In some embodiments, an observed power consumption value is obtained based on the actual D-axis current and physical parameters, an observed D-axis voltage offset is obtained based on the actual D-axis voltage, a preset back electromotive force, a preset voltage drop, and the observed power consumption value, and a D-axis voltage offset is obtained based on the observed D-axis voltage offset, the actual D-axis current, an observed proportional gain parameter, and an observed integral gain parameter.

[0100] In some embodiments, the physical parameters may include the inductance value of the stator, the resistance value of the stator, and the resistance value of the rotor. The electronic device may obtain the observed current value of the rotor according to the actual D-axis current, the inductance value of the stator, and the resistance value of the rotor, calculate the product of the observed current value of the rotor and the resistance value of the rotor, and obtain the observed power consumption value. The preset voltage drop is obtained as the product of the preset D-axis current and the resistance value of the stator.

[0101] The electronic device can obtain the observed D-axis voltage offset according to the following formula;

[0102]

[0103] in, Indicates the observed D-axis voltage offset, U d Indicates the actual D-axis voltage, w s L σ i q Represents the estimated induced electromotive force, R r i dr Represents the observed power consumption value, R r Indicates the resistance value of the rotor, i dr represents the observed current value, Indicates the preset voltage drop, R s Indicates the resistance value of the stator, Indicates the preset D-axis current.

[0104] The electronic device can obtain the D-axis voltage offset according to the following formula;

[0105]

[0106] Among them, U e_emfeer Indicates the voltage offset of the D axis, U′ e_emfeer Indicates the D-axis voltage offset at the last moment, K p represents the observation proportional gain parameter, K i represents the observation integral gain parameter, i d Indicates the actual D-axis current, Indicates the observed D-axis voltage offset, L σ represents the inductance of the stator, and s represents the complex frequency variable in the Laplace transform.

[0107] In some embodiments, the physical parameter includes the inductance of the stator of the motor. The observed proportional gain parameter is determined according to the inductance of the stator of the motor and a first preset observed gain coefficient, and the observed integral gain parameter is determined according to the inductance of the stator of the motor, the first preset observed gain coefficient, and the second preset observed gain coefficient.

[0108] That is, according to the following formula, the observed proportional gain parameter and the observed integral gain parameter are obtained.

[0109] K p =L1L σ

[0110] Among them, K p represents the observation proportional gain parameter, L σ represents the inductance of the stator, L1 represents the first preset observation gain coefficient, K i represents the observation integral gain parameter, L2 represents the second preset observation gain coefficient. The first preset observation gain coefficient L1 and the second preset observation gain coefficient L2 are both gain coefficients of the voltage offset observer. The first preset observation gain coefficient L1 and the second preset observation gain coefficient L2 are used to adjust the response of the voltage offset observer. The observation proportional gain parameter K p Determines the response speed of the voltage offset observer to the deviation and observes the integral gain parameter K i Determines the accuracy of the voltage offset observer's response to deviations.

[0111] In some embodiments, Figure 3 As shown, step 130 specifically further includes the following steps:

[0112] Step 131: Obtain the control signal frequency of the motor.

[0113] Step 132: Obtain the induced electromotive force according to the control signal frequency and the phase-locked loop gain parameter.

[0114] In some embodiments, the phase-locked loop gain parameter includes a phase-locked loop integral gain parameter and a phase-locked loop proportional gain parameter. The product of the control signal frequency and the phase-locked loop integral gain parameter is calculated, and the ratio of the product to the phase-locked loop proportional gain parameter is calculated to obtain the induced electromotive force.

[0115] Electronic devices can obtain the induced electromotive force according to the following formula.

[0116]

[0117] Among them, W s ψ represents the induced electromotive force, W s represents the angular velocity of the motor, ψ represents the magnetic flux of the motor, K li represents the phase-locked loop integral gain parameter, f pwm Indicates the control signal frequency, K lp Indicates the proportional gain parameter of the phase-locked loop. The integral gain parameter of the phase-locked loop K li And the phase-locked loop proportional gain parameter K lp These are the gain parameters of the phase-locked loop, and the proportional gain parameter K of the phase-locked loop lp Determines the response speed of the phase-locked loop to the deviation. Phase-locked loop integral gain parameter K li Determines the accuracy of the phase-locked loop's response to deviations.

[0118] Step 133: Calculate the ratio of the D-axis voltage offset to the induced electromotive force to obtain the deviation angle.

[0119] It should be noted that the D-axis voltage offset U d_Emffer It can be expressed by the deviation angle Δθ:

[0120] U d_Emffer =W s ψsin(Δθ)

[0121] When the deviation angle Δθ is small, sin(Δθ) is equivalent to Δθ, and the relationship between the D-axis voltage offset and the deviation angle Δθ is:

[0122] U d_Emffer =W s ψΔθ

[0123] Among them, U e_emfeer Indicates the D-axis voltage offset, W s ψ represents the induced electromotive force, W s represents the angular velocity of the motor, ψ represents the magnetic flux of the motor, and Δθ represents the deviation angle.

[0124] From the above formula, it can be seen that the deviation angle Δθ is the ratio of the D-axis voltage offset to the induced electromotive force.

[0125] In some embodiments, the overall process of the rotor positioning method is as follows: Figure 4 shown.

[0126] In order to perform the corresponding steps in the above embodiments and various possible methods, a rotor positioning device is provided below. Figure 5, is a functional module diagram of a rotor positioning device provided by an embodiment of the present invention. It should be noted that the basic principle and technical effects of the rotor positioning device provided by this embodiment are the same as those of the above embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiments. The rotor positioning device 200 includes: a data acquisition module 210, a D-axis voltage offset acquisition module 220, a deviation angle acquisition module 230, and an actual rotor angle acquisition module 240, wherein:

[0127] The data acquisition module 210 is used to obtain the actual D-axis voltage of the motor in the D-axis direction and the physical parameters of the motor; the D-axis direction is the direction where the magnetic field of the motor is located;

[0128] A D-axis voltage offset obtaining module 220 is used to obtain a D-axis voltage offset according to an actual D-axis voltage and physical parameters; the D-axis voltage offset is a difference between an actual D-axis voltage and a theoretical D-axis voltage;

[0129] The deviation angle obtaining module 230 is used to perform a phase-locked loop adjustment on the D-axis voltage offset to obtain a deviation angle; the deviation angle is the difference between the actual rotor angle and the ideal rotor angle of the motor rotor;

[0130] The actual rotor angle obtaining module 240 is used to obtain the actual rotor angle according to the deviation angle, so as to position the rotor of the motor according to the actual rotor angle.

[0131] Furthermore, the D-axis voltage offset obtaining module 220 is specifically used to obtain the actual D-axis current according to the actual D-axis voltage and the physical parameters; and obtain the D-axis voltage offset according to the physical parameters, the actual D-axis voltage and the actual D-axis current.

[0132] Furthermore, the D-axis voltage offset acquisition module 220 is specifically used to adjust the voltage drop of the stator in the D-axis direction of the motor at the previous moment, the power consumption value of the rotor and the voltage error according to the actual D-axis voltage and physical parameters, and obtain the current voltage drop, the current power consumption value and the current voltage error; and obtain the actual D-axis current according to the actual D-axis voltage, the preset back electromotive force, the current voltage error, the current voltage drop and the current power consumption value.

[0133] Furthermore, the D-axis voltage offset acquisition module 220 is specifically used to obtain the current estimated D-axis current based on the actual D-axis current at the previous moment and the first preset observation gain coefficient; adjust the voltage error at the previous moment according to the second preset observation gain coefficient, the actual D-axis current at the previous moment and the current estimated D-axis current to obtain the current voltage error; adjust the voltage drop at the previous moment according to the product of the actual D-axis current at the previous moment and the resistance value of the stator to obtain the current voltage drop; obtain the current current value of the rotor according to the actual D-axis current at the previous moment, the resistance value of the rotor and the inductance value of the stator; adjust the power consumption value at the previous moment according to the product of the current current value of the rotor and the resistance value of the stator to obtain the current power consumption value; the physical parameters include the resistance value of the stator, the resistance value of the rotor and the inductance value of the stator.

[0134] Furthermore, the D-axis voltage offset acquisition module 220 is specifically used to obtain an observed power consumption value based on the actual D-axis current and physical parameters; to obtain an observed D-axis voltage offset based on the actual D-axis voltage, a preset back electromotive force, a preset voltage drop and the observed power consumption value; to obtain the D-axis voltage offset based on the observed D-axis voltage offset, the actual D-axis current, an observed proportional gain parameter and an observed integral gain parameter; the observed proportional gain parameter is determined based on the inductance value of the stator of the motor and a first preset observation gain coefficient, and the observed integral gain parameter is determined based on the inductance value of the stator of the motor, the first preset observation gain coefficient and the second preset observation gain coefficient; the physical parameters include the inductance value of the stator of the motor.

[0135] Furthermore, the deviation angle acquisition module 230 is specifically used to obtain the control signal frequency of the motor; obtain the induced electromotive force according to the control signal frequency and the phase-locked loop gain parameter; calculate the ratio of the D-axis voltage offset to the induced electromotive force to obtain the deviation angle.

[0136] Furthermore, the deviation angle obtaining module 230 is specifically used to calculate the product of the control signal frequency and the phase-locked loop integral gain parameter, and calculate the ratio of the product to the phase-locked loop proportional gain parameter to obtain the induced electromotive force.

[0137] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0138] In several embodiments provided by the present invention, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0139] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0140] Please refer to Figure 6 , is a block diagram of an electronic device 100 provided in an embodiment of the present invention. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0141] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0142] The processor 120 is used to read / write data or programs stored in the memory and execute corresponding functions. For example, when the computer program stored in the memory 110 is executed by the processor 120, the rotor positioning method disclosed in the above embodiments can be implemented.

[0143] The communication module 130 is used to establish a communication connection between the electronic device 100 and the motor through a network, and to send and receive data through the network.

[0144] It should be understood that Figure 6 The structure shown is only a schematic diagram of the structure of the electronic device. The electronic device may also include Figure 6 More or fewer components may be shown. Figure 6 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0145] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. When the computer program can be executed by a processor, the rotor positioning method described in the above method embodiment is implemented.

[0146] The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program codes that execute any of the method steps in the above method. These program codes can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0147] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a module, a program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0148] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0149] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A rotor positioning method, characterized in that: The method comprises: Obtaining an actual D-axis voltage of the motor in a D-axis direction and physical parameters of the motor; the D-axis direction is the direction in which the magnetic field of the motor is located; Obtaining a D-axis voltage offset according to the actual D-axis voltage and the physical parameter; the D-axis voltage offset is a difference between the actual D-axis voltage and a theoretical D-axis voltage; Performing phase-locked loop adjustment on the D-axis voltage offset to obtain a deviation angle; the deviation angle is a difference between an actual rotor angle and an ideal rotor angle of the rotor of the motor; The actual rotor angle is obtained according to the deviation angle, so as to position the rotor of the motor according to the actual rotor angle.

2. The method according to claim 1, characterized in that The step of obtaining a D-axis voltage offset by using the actual D-axis voltage and the physical parameter includes: Obtaining an actual D-axis current according to the actual D-axis voltage and the physical parameter; A D-axis voltage offset is acquired according to the physical parameter, the actual D-axis voltage, and the actual D-axis current.

3. The method according to claim 2, characterized in that The obtaining the actual D-axis current according to the actual D-axis voltage and the physical parameter includes: According to the actual D-axis voltage and the physical parameters, the voltage drop of the stator of the motor in the D-axis direction, the power consumption value of the rotor, and the voltage error at the previous moment are adjusted to obtain the current voltage drop, the current power consumption value, and the current voltage error; The actual D-axis current is obtained according to the actual D-axis voltage, the preset back electromotive force, the current voltage error, the current voltage drop, and the current power consumption value.

4. The method according to claim 3, characterized in that: The step of adjusting the voltage drop of the stator in the D-axis direction, the power consumption value of the rotor, and the voltage error at the previous moment according to the actual D-axis voltage and the physical parameters to obtain the current voltage drop, the current power consumption value, and the current voltage error includes: Obtaining a current estimated D-axis current according to the actual D-axis current at the previous moment and a first preset observation gain coefficient; The voltage error at the previous moment is adjusted according to the second preset observation gain coefficient, the actual D-axis current at the previous moment, and the current estimated D-axis current to obtain the current voltage error; The voltage drop at the previous moment is adjusted according to the product of the actual D-axis current at the previous moment and the resistance value of the stator to obtain the current voltage drop; Obtaining a current value of the rotor according to the actual D-axis current at the previous moment, the resistance value of the rotor, and the inductance value of the stator; The power consumption value at the previous moment is adjusted according to the product of the current current value of the rotor and the resistance value of the stator to obtain the current power consumption value; the physical parameters include the resistance value of the stator, the resistance value of the rotor and the inductance value of the stator.

5. The method according to claim 2, characterized in that: The obtaining of the D-axis voltage offset according to the physical parameter, the actual D-axis voltage, and the actual D-axis current includes: Obtaining an observed power consumption value according to the actual D-axis current and the physical parameter; Obtaining an observed D-axis voltage offset according to the actual D-axis voltage, the preset back electromotive force, the preset voltage drop, and the observed power consumption value; The D-axis voltage offset is obtained according to the observed D-axis voltage offset, the actual D-axis current, the observed proportional gain parameter and the observed integral gain parameter; the observed proportional gain parameter is determined according to the inductance value of the stator of the motor and a first preset observation gain coefficient, and the observed integral gain parameter is determined according to the inductance value of the stator of the motor, the first preset observation gain coefficient and a second preset observation gain coefficient; the physical parameters include the inductance value of the stator of the motor.

6. The method according to claim 1, characterized in that The performing phase-locked loop adjustment on the D-axis voltage offset to obtain a deviation angle includes: Acquiring a control signal frequency of the motor; Obtaining an induced electromotive force according to the control signal frequency and a phase-locked loop gain parameter; The ratio of the D-axis voltage offset to the induced electromotive force is calculated to obtain the deviation angle.

7. The method according to claim 6, characterized in that The phase-locked loop gain parameter includes a phase-locked loop integral gain parameter and a phase-locked loop proportional gain parameter. The induced electromotive force is obtained according to the control signal frequency and the phase-locked loop gain parameter, including: The product of the control signal frequency and the phase-locked loop integral gain parameter is calculated, and the ratio of the product to the phase-locked loop proportional gain parameter is calculated to obtain the induced electromotive force.

8. A rotor positioning device, characterized in that: The device comprises: A data acquisition module, used to obtain the actual D-axis voltage of the motor in the D-axis direction and the physical parameters of the motor; the D-axis direction is the direction of the magnetic field of the motor; A D-axis voltage offset obtaining module, used to obtain a D-axis voltage offset according to the actual D-axis voltage and the physical parameter; the D-axis voltage offset is a difference between the actual D-axis voltage and a theoretical D-axis voltage; A deviation angle obtaining module, used for performing a phase-locked loop adjustment on the D-axis voltage offset to obtain a deviation angle; the deviation angle is a difference between an actual rotor angle and an ideal rotor angle of the rotor of the motor; The actual rotor angle obtaining module is used to obtain the actual rotor angle according to the deviation angle, so as to position the rotor of the motor according to the actual rotor angle.

9. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores a computer program executable by the processor, and the computer program executable by the processor is used to implement the rotor positioning method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the rotor positioning method according to any one of claims 1 to 7 is implemented.

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