Method and device for determining initial position of motor rotor, chip and motor controller

Abstract

The invention discloses a method and device for determining the initial position of a motor rotor, a chip and a motor controller, and the method comprises the steps: applying a periodic rotating current vector to a motor, controlling the motor to be in an out-of-step state, and generating a periodic d-axis voltage or q-axis voltage; wherein the amplitude and the frequency of the rotating current vector are unchanged, the amplitude is smaller than a preset amplitude, and the frequency is larger than a preset frequency; and determining the initial position of the motor rotor according to the d-axis voltage or the q-axis voltage. According to the method, a periodic rotating current vector is applied to the motor, so that the motor is in an out-of-step state, abnormal shaking of the motor due to application of current is avoided, and the initial position of the motor rotor is determined based on the generated d-axis voltage or q-axis voltage, so that accurate positioning of the initial position of the motor rotor is realized; the motor can be suitable for both a surface-mounted motor and an embedded motor.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic equipment, and in particular to a method for determining an initial position of a motor rotor, a device for determining an initial position of a motor rotor, a chip, a motor controller and an electronic equipment. Background Art

[0002] In the related art, the method for determining the initial position of the motor rotor is to apply voltage pulses in different directions to the phase motor and collect the corresponding feedback current. The initial position of the rotor is determined by comparing the magnitude of the feedback current to ensure that the motor can work normally during operation.

[0003] However, this technical solution is only applicable to motors with LD=LQ and has great application limitations. At the same time, pulse injection will cause abnormal vibration of the motor, thereby causing the initial position of the motor rotor to change, resulting in failure to locate the initial position of the motor rotor. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first purpose of the present invention is to propose a method for determining the initial position of a motor rotor, by applying a periodic rotating current vector to the motor, so that the motor is in a step-out state, and the motor rotor will not shake abnormally due to the application of current, and the initial position of the motor rotor is determined based on the generated d-axis voltage or q-axis voltage, thereby achieving accurate positioning of the initial position of the motor rotor, which can be applied to both surface-mounted motors and embedded motors.

[0005] A second objective of the present invention is to provide a device for determining the initial position of a motor rotor.

[0006] The third objective of the present invention is to provide a chip.

[0007] A fourth objective of the present invention is to provide a motor controller.

[0008] A fifth objective of the present invention is to provide an electronic device.

[0009] To achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a method for determining the initial position of a motor rotor, the method comprising: applying a periodic rotating current vector to the motor, controlling the motor to be in a step-out state, and generating a periodic d-axis voltage or q-axis voltage; wherein the amplitude and frequency of the rotating current vector remain unchanged, and the amplitude is less than a preset amplitude, and the frequency is greater than a preset frequency; and determining the initial position of the motor rotor according to the d-axis voltage or the q-axis voltage.

[0010] According to the method for determining the initial position of the motor rotor of an embodiment of the present invention, a periodic rotating current vector is first applied to the motor to control the motor to be in a step-out state, and a periodic d-axis voltage or q-axis voltage is generated; wherein the amplitude and frequency of the rotating current vector remain unchanged, and the amplitude is less than the preset amplitude, and the frequency is greater than the preset frequency, and then the initial position of the motor rotor is determined according to the d-axis voltage or the q-axis voltage. Thus, the method applies a periodic rotating current vector to the motor to put the motor in a step-out state, and the motor rotor will not shake abnormally due to the application of current, and the initial position of the motor rotor is determined based on the generated d-axis voltage or q-axis voltage, thereby achieving precise positioning of the initial position of the motor rotor, and can be applied to both surface-mounted motors and embedded motors.

[0011] In addition, the method for determining the initial position of the motor rotor according to the above embodiment of the present invention may also have the following additional technical features:

[0012] According to one embodiment of the present invention, applying a periodic rotating current vector to a motor includes: controlling the q-axis given current of the motor to be zero, and applying a periodic d-axis given current to the motor to apply a periodic rotating current vector to the motor; or controlling the d-axis given current of the motor to be zero, and applying a periodic q-axis given current to the motor to apply a periodic rotating current vector to the motor.

[0013] According to one embodiment of the present invention, when a periodic d-axis given current is applied to the motor, the initial position of the motor rotor is determined according to the d-axis voltage; when a periodic q-axis given current is applied to the motor, the initial position of the motor rotor is determined according to the q-axis voltage.

[0014] According to one embodiment of the present invention, the initial position of the motor rotor is determined based on the d-axis voltage, including: obtaining the maximum value of the d-axis voltage, and determining the initial position of the motor rotor based on a first rotation angle of a rotating current vector corresponding to the maximum value; the initial position of the motor rotor is determined based on the q-axis voltage, including: obtaining the maximum value of the q-axis voltage, and determining the initial position of the motor rotor based on a second rotation angle of the rotating current vector corresponding to the maximum value.

[0015] According to one embodiment of the present invention, based on a first rotation angle of a rotating current vector corresponding to a maximum value, the initial position of a motor rotor is determined, including: taking the position corresponding to the first rotation angle as the initial position of the motor rotor; based on a second rotation angle of a rotating current vector corresponding to the maximum value, the initial position of the motor rotor is determined, including: taking the position corresponding to the sum of the second rotation angle and a preset angle as the initial position of the motor rotor; wherein the preset angle is 90°.

[0016] According to one embodiment of the present invention, the method for determining the initial position of the motor rotor further includes: performing current closed-loop control on the motor based on the d-axis given current and the q-axis given current, and obtaining the d-axis voltage or the q-axis voltage during the control process.

[0017] To achieve the above-mentioned purpose, the second aspect of the embodiment of the present invention proposes a device for determining the initial position of a motor rotor, comprising: a control unit, used to apply a periodic rotating current vector to the motor, control the motor to be in a step-out state, and generate a periodic d-axis voltage or q-axis voltage; wherein the amplitude and frequency of the rotating current vector remain unchanged, and the amplitude is less than a preset amplitude, and the frequency is greater than a preset frequency; a determination unit, used to determine the initial position of the motor rotor according to the d-axis voltage or the q-axis voltage.

[0018] According to the device for determining the initial position of the motor rotor of an embodiment of the present invention, the control unit applies a periodic rotating current vector to the motor, controls the motor to be in a step-out state, and generates a periodic d-axis voltage or q-axis voltage, wherein the amplitude and frequency of the rotating current vector remain unchanged, and the amplitude is less than the preset amplitude, and the frequency is greater than the preset frequency, and the determination unit determines the initial position of the motor rotor according to the d-axis voltage or the q-axis voltage. Thus, the device applies a periodic rotating current vector to the motor, so that the motor is in a step-out state, and the motor rotor will not shake abnormally due to the application of current, and determines the initial position of the motor rotor based on the generated d-axis voltage or q-axis voltage, thereby achieving precise positioning of the initial position of the motor rotor, and can be applied to both surface-mounted motors and embedded motors.

[0019] To achieve the above-mentioned purpose, the third aspect of the present invention proposes a chip, including a memory, a processor, and a motor rotor initial position determination program stored in the memory and executable on the processor. When the processor executes the program, the above-mentioned motor rotor initial position determination method is implemented.

[0020] According to the chip of the embodiment of the present invention, when the processor executes the motor rotor initial position determination program, the above-mentioned motor rotor initial position determination method is implemented. Based on the above-mentioned motor rotor initial position determination method, the initial position of the motor rotor is accurately positioned, which can be applicable to both surface-mounted motors and embedded motors.

[0021] To achieve the above-mentioned purpose, a fourth aspect of the present invention provides a motor controller, including the above-mentioned device for determining the initial position of the motor rotor, or the above-mentioned chip.

[0022] According to the motor controller of the embodiment of the present invention, based on the above-mentioned motor rotor initial position determination device or the above-mentioned chip, the initial position of the surface-mounted motor and the embedded motor rotor can be accurately positioned to ensure that the motor can work normally during operation and improve the performance and reliability of the motor.

[0023] To achieve the above-mentioned purpose, a fifth aspect of the present invention provides an electronic device, including the above-mentioned motor controller.

[0024] The electronic device according to the embodiment of the present invention can realize accurate positioning of the initial position of the motor rotor based on the above-mentioned motor controller, thereby ensuring that the motor can work normally during operation and improving the performance and reliability of the motor.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a flow chart of a method for determining an initial position of a motor rotor according to an embodiment of the present invention;

[0027] Figure 2 is a schematic diagram of the operation of a rotating current vector according to a specific embodiment of the present invention;

[0028] Figure 3 is a flow chart of a method for determining an initial position of a motor rotor according to a specific embodiment of the present invention;

[0029] Figure 4 2 is a block diagram of a device for determining an initial position of a motor rotor according to an embodiment of the present invention;

[0030] Figure 5 is a block diagram of a chip according to an embodiment of the present invention;

[0031] Figure 6 is a block diagram of a motor controller according to an embodiment of the present invention;

[0032] Figure 7 is a block diagram of a motor controller according to another embodiment of the present invention;

[0033] Figure 8 FIG. 4 is a block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0035] The following describes a method for determining an initial position of a motor rotor, a device for determining an initial position of a motor rotor, a chip, a motor controller, and an electronic device provided in embodiments of the present invention with reference to the accompanying drawings.

[0036] The motor rotor initial positioning technology refers to the process of calibrating the rotor position through a specific method during the motor manufacturing process to ensure that the motor can work normally during operation.

[0037] In the manufacturing process of AC motors, inductive position detection technology is usually used for initial rotor positioning. This technology uses an inductive sensor to detect the rotor position and feeds the rotor position information back to the control system, thereby achieving accurate positioning of the rotor position.

[0038] In the manufacturing process of DC motors, Hall element detection technology is usually used to perform initial rotor positioning. This technology uses Hall elements to detect the rotor position and feeds the rotor position information back to the control system, thereby achieving accurate positioning of the rotor position.

[0039] In the related art, a rotor initial positioning algorithm is also used to realize the initial position positioning of the motor rotor. Specifically, voltage pulses in different directions are applied to the motor, and the corresponding feedback current is collected, and the initial position of the rotor is judged by comparing the magnitude of the feedback current. However, pulse injection will cause abnormal vibration of the motor, thereby causing the initial position of the motor rotor to change, and then leading to the failure of initial positioning. In addition, this technical solution is only applicable to motors with LD=LQ, that is, the motor satisfies the consistency of electromagnetic parameters in all directions in the dq coordinate system, and the influence of voltage pulses in any direction on the motor inductance is consistent. The magnitude of the feedback current depends only on the position of the motor rotor, so that the feedback current can be used to determine the rotor position. If the LD of the motor is not equal to LQ, it will cause the rotor positioning to fail.

[0040] In order to solve the above technical problems, the present application proposes a method for determining the initial position of a motor rotor. By applying a periodic rotating current vector to the motor, the motor is put into a step-out state, and the application of current will not cause abnormal shaking of the motor rotor. The initial position of the motor rotor is determined based on the generated d-axis voltage or q-axis voltage, thereby achieving precise positioning of the initial position of the motor rotor. At the same time, there is no need to strictly limit the motor direct-axis inductance LD of the applicable motor to be equal to the motor quadrature-axis inductance LQ, and the method is compatible with surface-mount motors and embedded motors.

[0041] Figure 1 The figure is a flow chart of a method for determining an initial position of a motor rotor according to an embodiment of the present invention.

[0042] like Figure 1 As shown, the method for determining the initial position of the motor rotor according to the embodiment of the present invention may include:

[0043] S1, applying a periodic rotating current vector to the motor, controlling the motor to be in a step-out state, and generating a periodic d-axis voltage or q-axis voltage; wherein the amplitude and frequency of the rotating current vector remain unchanged, and the amplitude is less than a preset amplitude, and the frequency is greater than a preset frequency;

[0044] S2, determining the initial position of the motor rotor according to the d-axis voltage or the q-axis voltage.

[0045] Specifically, the periodic rotating current vector is a current vector with a constant current magnitude in the dq coordinate system, and is a high-frequency small current, so as to control the motor to be in a step-out state, that is, when the periodic rotating current vector is applied to the motor, the motor rotor remains stationary to prevent the motor from abnormally shaking and causing the initial position of the motor rotor to change, thereby causing the positioning of the initial position of the motor rotor to fail. Among them, the amplitude of the rotating current vector can be less than the amplitude of the rated current of the motor, and the frequency of the current vector is greater than ten times the rated frequency of the motor, which is not limited here.

[0046] In the process of determining the initial position of the motor rotor, a periodic rotating current vector is applied to the motor to put the motor in a step-out state so as to lock the position of the motor rotor at the initial position. According to Lenz's law, the magnet will have an N-pole enhancement and S-pole obstruction effect on the magnetic field generated by the current. When the N-pole enhancement effect is the largest, the required voltage is the smallest; when the S-pole obstruction effect is the largest, the required voltage is the largest. Therefore, with the periodic rotation of the current vector in the dq coordinate system, under the premise of locking the position of the motor rotor, the generated feedback voltage will also change periodically, thereby obtaining a periodic d-axis voltage or q-axis voltage. According to Lenz's law, the initial position of the motor rotor can be determined based on the d-axis voltage or the q-axis voltage, thereby completing the initial positioning of the motor rotor.

[0047] Specifically, during the control process, the rotating current vector operates as follows: Figure 2 As shown in 1-8, the rotating current vector at different positions is represented by numbers 1, 2...8, where 1-6 is a rotation cycle. When the rotating current vector runs to position 1, the feedback voltage reaches the peak, i.e., the maximum value. When the rotating current vector runs to position 4, the feedback voltage reaches the trough, i.e., the minimum value. Thus, the initial position of the motor rotor can be determined based on the maximum value of the d-axis voltage or the q-axis voltage. In addition, the initial position of the motor rotor can also be determined based on the minimum value of the d-axis voltage or the q-axis voltage, which is not limited here.

[0048] In one embodiment of the present invention, applying a periodic rotating current vector to a motor includes: controlling the q-axis given current of the motor to be zero, and applying a periodic d-axis given current to the motor to apply a periodic rotating current vector to the motor; or controlling the d-axis given current of the motor to be zero, and applying a periodic q-axis given current to the motor to apply a periodic rotating current vector to the motor.

[0049] Specifically, there are three ways to apply a periodic rotating current vector to the motor:

[0050] Method 1: Set the q-axis given current to zero and apply a periodic d-axis given current to the motor. At this time, the periodic rotating current vector is the periodic d-axis given current.

[0051] Method 2: Set the d-axis given current to zero, and apply a periodic q-axis given current to the motor. At this time, the periodic rotating current vector is the periodic q-axis given current.

[0052] In one embodiment of the present invention, the method for determining the initial position of the motor rotor further includes: performing current closed-loop control on the motor based on the d-axis given current and the q-axis given current, and obtaining the d-axis voltage or the q-axis voltage during the control process.

[0053] Specifically, the d-axis given current and the q-axis given current can be input through the two given current input terminals of the current loop. In the determination process, the three-phase current of the motor is detected and obtained in real time, and the d-axis current and the q-axis current are obtained by transforming the three-phase current. The d-axis given current is subtracted from the d-axis current, and the q-axis given current is subtracted from the q-axis current, and the difference is input into a PI (Proportional Integral) controller, and the d-axis voltage and the q-axis voltage are calculated by the PI controller, and the initial position of the motor rotor is determined based on the calculated d-axis voltage and q-axis voltage.

[0054] In addition, during the current closed-loop control process, the calculated d-axis voltage and q-axis voltage need to be combined with the rotor angle to control the motor. The rotor angle can be pre-assumed, and specifically any angle between 0 and 360 degrees can be used. The rotating current vector is applied with the rotor angle as the starting point to generate periodic voltage feedback, namely the d-axis voltage and q-axis voltage.

[0055] In one embodiment of the present invention, when a periodic d-axis given current is applied to the motor, the initial position of the motor rotor is determined according to the d-axis voltage; when a periodic q-axis given current is applied to the motor, the initial position of the motor rotor is determined according to the q-axis voltage.

[0056] That is to say, when a periodic rotating current vector is applied to the motor by the above-mentioned method 1, the initial position of the motor rotor is determined based on the calculated d-axis voltage; when a periodic rotating current vector is applied to the motor by the above-mentioned method 2, the initial position of the motor rotor is determined based on the calculated q-axis voltage.

[0057] In one embodiment of the present invention, the initial position of the motor rotor is determined according to the d-axis voltage, including: obtaining the maximum value of the maximum d-axis voltage, and determining the initial position of the motor rotor based on a first rotation angle of a rotating current vector corresponding to the maximum value; the initial position of the motor rotor is determined according to the q-axis voltage, including: obtaining the maximum value of the q-axis voltage, and determining the initial position of the motor rotor based on a second rotation angle of a rotating current vector corresponding to the maximum value.

[0058] Specifically, when determining the initial position of the motor rotor based on the d-axis voltage or the q-axis voltage, the output voltage value is calculated based on the PI controller, the maximum voltage is obtained, and the rotation angle of the rotating current vector corresponding to the maximum voltage is determined, and the initial position of the motor rotor is determined based on the rotation angle of the rotating current vector.

[0059] In one embodiment of the present invention, the initial position of the motor rotor is determined based on a first rotation angle of the rotating current vector corresponding to a maximum value, including: taking the position corresponding to the first rotation angle as the initial position of the motor rotor; based on a second rotation angle of the rotating current vector corresponding to the maximum value, the initial position of the motor rotor is determined, including: taking the position corresponding to the sum of the second rotation angle and a preset angle as the initial position of the motor rotor; wherein the preset angle is 90°.

[0060] That is, in the process of determining the initial position of the motor rotor according to the d-axis voltage, the position corresponding to the first rotation angle determined by the maximum value of the d-axis voltage is used as the initial position of the motor rotor. In the process of determining the initial position of the motor rotor according to the q-axis voltage, the position corresponding to the sum of the second rotation angle determined by the maximum value of the q-axis voltage and 90° is used as the initial position of the motor rotor.

[0061] After determining the initial position of the motor rotor, the initial position is assigned to the actual position of the motor to start the motor operation. It can be understood that in the process of current control of the motor based on the d-axis given current and the q-axis given current, the pre-assumed rotor angle is used as the control starting point. When the pre-assumed rotor angle is not zero, the pre-assumed rotor angle should also be superimposed to determine the initial position of the motor rotor.

[0062] As a specific embodiment of the present invention, the pre-assumed rotor angle is 0, such as Figure 3 As shown, the method for determining the initial position of the motor rotor may include the following steps:

[0063] S301, controlling the q-axis given current of the motor to be zero, and applying a periodic d-axis given current to the motor to perform current closed-loop control on the motor, wherein the amplitude of the d-axis given current is less than the amplitude of the rated current of the motor, and the frequency of the d-axis given current is ten times the rated frequency.

[0064] S302, obtaining the d-axis voltage output by the PI controller.

[0065] S303, obtaining the maximum value of the d-axis voltage.

[0066] S304, determining a first rotation angle of a rotating current vector corresponding to the maximum value;

[0067] S305: Taking the position corresponding to the first rotation angle as the initial position of the motor rotor.

[0068] The method for determining the initial position of the motor rotor in this embodiment injects a high-frequency, small-amplitude d-axis given current to put the motor in a state of out-of-step at the beginning, and then determines the initial position of the motor rotor through the generated periodic d-axis voltage. Compared with the technical solution of determining the initial position of the rotor based on pulse injection in the related art, the advantage of this embodiment is that it will not cause jitter to the motor, avoiding the positioning accuracy of the initial position of the rotor being affected by abnormal jitter of the motor. At the same time, it is not limited to motors with LD=LQ, and is compatible with surface-mounted motors and embedded motors, expanding the scope of application.

[0069] In summary, according to the method for determining the initial position of the motor rotor of an embodiment of the present invention, a periodic rotating current vector is first applied to the motor to control the motor to be in a step-out state, and a periodic d-axis voltage or q-axis voltage is generated; wherein the amplitude and frequency of the rotating current vector remain unchanged, and the amplitude is less than the preset amplitude, and the frequency is greater than the preset frequency, and then the initial position of the motor rotor is determined according to the d-axis voltage or the q-axis voltage. Therefore, the method applies a periodic rotating current vector to the motor to put the motor in a step-out state, and the motor rotor will not shake abnormally due to the application of current, and the initial position of the motor rotor is determined based on the generated d-axis voltage or q-axis voltage, thereby achieving precise positioning of the initial position of the motor rotor, and can be applied to both surface-mounted motors and embedded motors.

[0070] Corresponding to the above-mentioned embodiment, the present invention further proposes a device for determining the initial position of a motor rotor.

[0071] like Figure 4 As shown, the device for determining the initial position of a motor rotor according to an embodiment of the present invention may include: a control unit 10 and a determination unit 20 .

[0072] The control unit 10 is used to apply a periodic rotating current vector to the motor, control the motor to be in a step-out state, and generate a periodic d-axis voltage or q-axis voltage; wherein the amplitude and frequency of the rotating current vector remain unchanged, and the amplitude is less than a preset amplitude, and the frequency is greater than a preset frequency. The determination unit 20 is used to determine the initial position of the motor rotor according to the d-axis voltage or the q-axis voltage.

[0073] According to one embodiment of the present invention, the control unit 10 applies a periodic rotating current vector to the motor, specifically for: controlling the q-axis given current of the motor to be zero, and applying a periodic d-axis given current to the motor, so as to apply a periodic rotating current vector to the motor; or, controlling the d-axis given current of the motor to be zero, and applying a periodic q-axis given current to the motor, so as to apply a periodic rotating current vector to the motor.

[0074] According to one embodiment of the present invention, when the control unit 10 applies a periodic d-axis given current to the motor, the determination unit 20 determines the initial position of the motor rotor based on the d-axis voltage; when the control unit 10 applies a periodic q-axis given current to the motor, the determination unit 20 determines the initial position of the motor rotor based on the q-axis voltage.

[0075] According to one embodiment of the present invention, the determination unit 20 determines the initial position of the motor rotor based on the d-axis voltage, and is specifically used to: obtain the maximum value of the maximum d-axis voltage, and determine the initial position of the motor rotor based on the first rotation angle of the rotating current vector corresponding to the maximum value; the determination unit 20 determines the initial position of the motor rotor based on the q-axis voltage, and is specifically used to: obtain the maximum value of the q-axis voltage, and determine the initial position of the motor rotor based on the second rotation angle of the rotating current vector corresponding to the maximum value.

[0076] According to one embodiment of the present invention, the determination unit 20 determines the initial position of the motor rotor based on the first rotation angle of the rotating current vector corresponding to the maximum value, and is specifically used to: use the position corresponding to the first rotation angle as the initial position of the motor rotor; the determination unit 20 determines the initial position of the motor rotor based on the second rotation angle of the rotating current vector corresponding to the maximum value, and is specifically used to: use the position corresponding to the sum of the second rotation angle and the preset angle as the initial position of the motor rotor; wherein the preset angle is 90°.

[0077] According to one embodiment of the present invention, the control unit 10 is further used to: perform current closed-loop control on the motor based on the d-axis given current and the q-axis given current, and obtain the d-axis voltage or the q-axis voltage during the control process.

[0078] It should be noted that for details not disclosed in the device for determining the initial position of the motor rotor in the embodiment of the present invention, please refer to the details disclosed in the method for determining the initial position of the motor rotor in the above embodiment of the present invention, and the details will not be repeated here.

[0079] According to the device for determining the initial position of the motor rotor of an embodiment of the present invention, the control unit applies a periodic rotating current vector to the motor, controls the motor to be in a step-out state, and generates a periodic d-axis voltage or q-axis voltage, wherein the amplitude and frequency of the rotating current vector remain unchanged, and the amplitude is less than the preset amplitude, and the frequency is greater than the preset frequency, and the determination unit determines the initial position of the motor rotor according to the d-axis voltage or the q-axis voltage. Thus, the device applies a periodic rotating current vector to the motor, so that the motor is in a step-out state, and the motor rotor will not shake abnormally due to the application of current, and determines the initial position of the motor rotor based on the generated d-axis voltage or q-axis voltage, thereby achieving precise positioning of the initial position of the motor rotor, and can be applied to both surface-mounted motors and embedded motors.

[0080] Corresponding to the above embodiment, the present invention also proposes a chip.

[0081] like Figure 5 As shown, the chip 100 of the embodiment of the present invention includes a memory 110, a processor 120, and a motor rotor initial position determination program stored in the memory 110 and executable on the processor 120. When the processor 120 executes the motor rotor initial position determination program, the above-mentioned motor rotor initial position determination method is implemented.

[0082] According to the chip of the embodiment of the present invention, when the processor executes the motor rotor initial position determination program, the above-mentioned motor rotor initial position determination method is implemented. Based on the above-mentioned motor rotor initial position determination method, the initial positions of the surface-mounted motor and the embedded motor rotor can be accurately positioned, ensuring that the motor can work normally during operation, thereby improving the performance and reliability of the motor.

[0083] Corresponding to the above embodiment, the present invention also proposes a motor controller.

[0084] like Figure 6 As shown, the motor controller 200 of the embodiment of the present invention includes the above-mentioned motor rotor initial position determination device 210, or, as shown in FIG. Figure 7 As shown, the motor controller 200 according to the embodiment of the present invention includes the above-mentioned chip 100 .

[0085] According to the motor controller of the embodiment of the present invention, based on the above-mentioned motor rotor initial position determination device, or the above-mentioned chip, the initial position of the motor rotor can be accurately positioned, ensuring that the motor can work normally during operation and improving the performance and reliability of the motor.

[0086] Corresponding to the above embodiment, the present invention further proposes an electronic device, wherein the electronic device is an electrical device composed of electronic components and provided with a motor, such as an air conditioner, a refrigerator, a washing machine, etc.

[0087] like Figure 8 As shown, the electronic device 300 according to the embodiment of the present invention includes the above-mentioned motor controller 200 .

[0088] The electronic device according to the embodiment of the present invention can realize accurate positioning of the initial position of the motor rotor based on the above-mentioned motor controller, thereby ensuring that the motor can work normally during operation and improving the performance and reliability of the motor.

[0089] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0090] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0091] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0092] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0093] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0094] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for determining the initial position of a motor rotor, characterized in that: The method comprises: Applying a periodic rotating current vector to the motor, controlling the motor to be in a step-out state, and generating a periodic d-axis voltage or q-axis voltage; wherein the amplitude and frequency of the rotating current vector remain unchanged, and the amplitude is less than a preset amplitude, and the frequency is greater than a preset frequency; An initial position of the motor rotor is determined according to the d-axis voltage or the q-axis voltage.

2. The method according to claim 1, characterized in that The step of applying a periodic rotating current vector to the motor comprises: Controlling the q-axis given current of the motor to be zero, and applying a periodic d-axis given current to the motor, so as to apply a periodic rotating current vector to the motor; or, The d-axis given current of the motor is controlled to be zero, and a periodic q-axis given current is applied to the motor, so as to apply a periodic rotating current vector to the motor.

3. The method according to claim 2, characterized in that When a periodic d-axis given current is applied to the motor, an initial position of the motor rotor is determined according to the d-axis voltage; When a periodic q-axis given current is applied to the motor, an initial position of the motor rotor is determined according to the q-axis voltage.

4. The method according to claim 2 or 3, characterized in that: Determining an initial position of the motor rotor according to the d-axis voltage includes: Acquire a maximum value of the d-axis voltage, and determine an initial position of the motor rotor based on a first rotation angle of the rotating current vector corresponding to the maximum value; Determining an initial position of the motor rotor according to the q-axis voltage includes: The maximum value of the q-axis voltage is obtained, and the initial position of the motor rotor is determined based on the second rotation angle of the rotating current vector corresponding to the maximum value.

5. The method according to claim 4, characterized in that The determining the initial position of the motor rotor based on the first rotation angle of the rotating current vector corresponding to the maximum value includes: Using the position corresponding to the first rotation angle as the initial position of the motor rotor; The determining the initial position of the motor rotor based on the second rotation angle of the rotating current vector corresponding to the maximum value includes: The position corresponding to the sum of the second rotation angle and the preset angle is used as the initial position of the motor rotor; wherein the preset angle is 90°.

6. The method according to claim 2, characterized in that The method further comprises: Based on the d-axis given current and the q-axis given current, current closed-loop control is performed on the motor, and during the control process, the d-axis voltage or the q-axis voltage is obtained.

7. A device for determining the initial position of a motor rotor, characterized in that: include: A control unit, used for applying a periodic rotating current vector to the motor, controlling the motor to be in a step-out state, and generating a periodic d-axis voltage or q-axis voltage; wherein the amplitude and frequency of the rotating current vector remain unchanged, and the amplitude is less than a preset amplitude, and the frequency is greater than a preset frequency; A determination unit is used to determine an initial position of the motor rotor according to the d-axis voltage or the q-axis voltage.

8. A chip, characterized in that: The invention comprises a memory, a processor and a motor rotor initial position determination program stored in the memory and executable on the processor. When the processor executes the program, the motor rotor initial position determination method according to any one of claims 1 to 6 is implemented.

9. A motor controller, characterized in that: It comprises the device for determining the initial position of the motor rotor according to claim 7, or the chip according to claim 8.

10. An electronic device, characterized in that: Comprising a motor controller according to claim 9.

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