Rotor position correction method, system and equipment during starting of permanent magnet gyro motor, medium and product
By normalizing the three-phase terminal voltage when the permanent magnet gyro motor is started and voltage space vector analysis, the angle position of the open-loop rotor is corrected, and the problems of starting error and acceleration loss of traditional gyro motors are solved, and starting stability and reliability are improved.
Patent Information
- Application Number
- CN202510394419.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-31
- Publication Date
- 2025-07-01
AI Technical Summary
During the startup process, traditional gyro motors have problems such as sequential starting error and rotor acceleration loss, which affects its accuracy and stability.
By obtaining the A, B and C phase terminal voltages when the permanent magnet gyro motor is started, normalizing the standard rotor angle position is determined based on the six-sector diagram of the voltage space vector, and the open-loop rotor angle position is corrected.
The starting stability and reliability of the permanent magnet gyro motor in the starting section are improved, the stable acceleration capability of the motor starting low-speed section is ensured, and the risk of rotor loss is reduced.
Smart Images
Figure CN120238002A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of motor control, and particularly to a method, system, device, medium and product for correcting the rotor position during the startup of a permanent magnet gyro motor. Background Art
[0002] Among the core components of a navigation system, a high-precision gyro motor plays a key role in precise guidance. Traditional gyro motors usually use hysteresis motors. However, such motors have the problem of successive startup errors, which to a certain extent affects the accuracy and stability of the gyro.
[0003] In addition, under the condition of no speed sensor, during the startup process of the gyro motor, it is difficult to observe the rotor position of the ironless motor, resulting in the problem of rotor acceleration out-of-step. Summary of the Invention
[0004] The purpose of this application is to provide a method, system, device, medium and product for correcting the rotor position during the startup of a permanent magnet gyro motor, so as to improve the startup stability of the permanent magnet gyro motor in the startup section.
[0005] To achieve the above purpose, this application provides the following solutions:
[0006] In the first aspect, this application provides a method for correcting the rotor position during the startup of a permanent magnet gyro motor, including:
[0007] Obtain the phase-A terminal voltage, phase-B terminal voltage, and phase-C terminal voltage after the switch tube is turned off during the initial startup process of the permanent magnet gyro motor;
[0008] Normalize the phase-A terminal voltage, the phase-B terminal voltage, and the phase-C terminal voltage respectively to obtain the processed phase-A terminal voltage, the processed phase-B terminal voltage, and the processed phase-C terminal voltage;
[0009] Based on the processed phase-A terminal voltage, the processed phase-B terminal voltage, and the processed phase-C terminal voltage, determine the standard rotor angle position based on the six-sector diagram of the voltage space vector; the six-sector diagram of the voltage space vector is determined by using the space vector pulse width modulation method;
[0010] Correct the open-loop rotor angle position according to the standard rotor angle position to obtain the corrected rotor angle position; the corrected rotor angle position is the standard rotor angle position or the open-loop rotor angle position.
[0011] Optionally, normalizing the phase-A terminal voltage, the phase-B terminal voltage, and the phase-C terminal voltage respectively to obtain the processed phase-A terminal voltage, the processed phase-B terminal voltage, and the processed phase-C terminal voltage specifically includes:
[0012] Using the formula to normalize the A-phase terminal voltage, obtaining the processed A-phase terminal voltage; where F a is the processed A-phase terminal voltage; v a is the A-phase terminal voltage; v b is the B-phase terminal voltage; v c is the C-phase terminal voltage;
[0013] Using the formula to normalize the B-phase terminal voltage, obtaining the processed B-phase terminal voltage; where F b is the processed B-phase terminal voltage;
[0014] Using the formula to normalize the C-phase terminal voltage, obtaining the processed C-phase terminal voltage; where F c is the processed C-phase terminal voltage.
[0015] Optionally, based on the processed A-phase terminal voltage, the processed B-phase terminal voltage, and the processed C-phase terminal voltage, and based on the six-sector diagram of the voltage space vector, determine the standard rotor angle position, specifically including:
[0016] When both the processed A-phase terminal voltage and the processed C-phase terminal voltage are greater than 0, θ1 = arcsin(F a ); where F a is the processed A-phase terminal voltage; θ1 is the standard rotor angle position;
[0017] When both the processed B-phase terminal voltage and the processed C-phase terminal voltage are less than 0, θ1 = -arcsin(F c ) + π / 3; where F c is the processed C-phase terminal voltage;
[0018] When both the processed A-phase terminal voltage and the processed B-phase terminal voltage are greater than 0, θ1 = arcsin(F b ) + 2π / 3; where F b is the processed B-phase terminal voltage;
[0019] When both the processed A-phase terminal voltage and the processed C-phase terminal voltage are less than 0, θ1 = -arcsin(F a ) + π;
[0020] When both the processed B-phase terminal voltage and the processed C-phase terminal voltage are greater than 0, θ1 = arcsin(F c ) + 4π / 3;
[0021] When both the processed phase-A terminal voltage and the processed phase-B terminal voltage are less than 0, θ1 = -arcsin(F b ) + 5π / 3.
[0022] Optionally, according to the standard rotor angle position, the open-loop rotor angle position is corrected to obtain the corrected rotor angle position, which specifically includes:
[0023] Calculating the angular error between the standard rotor angle position and the open-loop rotor angle position;
[0024] Determining whether the angular error is within the error range;
[0025] If so, taking the standard rotor angle position as the corrected rotor angle position;
[0026] If not, taking the open-loop rotor angle position as the corrected rotor angle position.
[0027] Optionally, it further includes:
[0028] Determining an acceleration curve according to the corrected rotor angle position, which is used to characterize the starting stability of the motor during the starting phase.
[0029] In a second aspect, the present application provides a rotor position correction system during the starting of a permanent magnet gyro motor, including:
[0030] A data acquisition module, configured to acquire the phase-A terminal voltage, phase-B terminal voltage, and phase-C terminal voltage after the switch tube is turned off during the initial starting process of the permanent magnet gyro motor;
[0031] A data processing module, configured to perform normalization processing on the phase-A terminal voltage, the phase-B terminal voltage, and the phase-C terminal voltage respectively to obtain the processed phase-A terminal voltage, the processed phase-B terminal voltage, and the processed phase-C terminal voltage;
[0032] A standard rotor angle position determination module, configured to determine the standard rotor angle position based on the six-sector diagram of the voltage space vector according to the processed phase-A terminal voltage, the processed phase-B terminal voltage, and the processed phase-C terminal voltage; the six-sector diagram of the voltage space vector is determined by using the space vector pulse width modulation method;
[0033] A correction module, configured to correct the open-loop rotor angle position according to the standard rotor angle position to obtain the corrected rotor angle position; the corrected rotor angle position is the standard rotor angle position or the open-loop rotor angle position.
[0034] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the rotor position correction method during the start-up of the permanent magnet gyro motor described in any one of the above.
[0035] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the rotor position correction method during the start-up of the permanent magnet gyro motor described in any one of the above.
[0036] In a fifth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the rotor position correction method during the start-up of the permanent magnet gyro motor described in any one of the above.
[0037] According to the specific embodiments provided by the present application, the present application has the following technical effects:
[0038] The present application provides a rotor position correction method, system, device, medium and product during the start-up of a permanent magnet gyro motor. During the initial start-up process of the permanent magnet gyro motor, the phase-A terminal voltage, phase-B terminal voltage, and phase-C terminal voltage after the switch tube is turned off are obtained; the phase-A terminal voltage, phase-B terminal voltage, and phase-C terminal voltage are respectively normalized to obtain the processed phase-A terminal voltage, processed phase-B terminal voltage, and processed phase-C terminal voltage; according to the processed phase-A terminal voltage, processed phase-B terminal voltage, and processed phase-C terminal voltage, based on the six-sector diagram of the voltage space vector, the standard rotor angle position is determined; according to the standard rotor angle position, the open-loop rotor angle position is corrected to obtain the corrected rotor angle position. The present application detects the position of the motor rotor under the condition of basically not affecting the starting torque of the motor, uses the detected weak back electromotive force signal to obtain the rotor angle information at this time, and compares and corrects it with the given open-loop rotor angle position, improving the starting stability and reliability of the permanent magnet gyro motor during the starting section. Description of the Drawings
[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0040] Figure 1 It is a schematic flowchart of a rotor position correction method during the start-up of a permanent magnet gyro motor provided by an embodiment of the present application;
[0041] Figure 2Flow chart of the rotor position correction method during the start-up of the permanent magnet gyro motor of the present application in practical applications;
[0042] Figure 3 Sector division diagrams of an embodiment of the present application;
[0043] Figure 4 Rotor position correction diagram after simulation blocking vector injection in an embodiment of the present application;
[0044] Figure 5 Oscilloscope display diagram after blocking vector injection in an embodiment of the present application;
[0045] Figure 6 Schematic diagram of angle correction after blocking vector injection in an embodiment of the present application;
[0046] Figure 7 Schematic structural diagram of a computer device provided in an embodiment of the present application. Detailed implementation manners
[0047] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0048] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below in conjunction with the drawings and specific implementation manners.
[0049] The present application proposes a rotor position correction method during the start-up of a permanent magnet gyro motor, applying a permanent magnet synchronous motor to the gyro motor. This improvement not only significantly improves the accuracy of the gyro motor but also effectively reduces the vibration and noise levels. In addition, to further optimize the performance of the motor and reduce the system complexity, the present application also introduces a sensorless algorithm, eliminating the need for additional sensors, thus effectively reducing the volume of the motor and simplifying the design of the control system.
[0050] Aiming at the problem of rotor acceleration out-of-step caused by the difficulty in observing the rotor position of a coreless motor during the start-up process of a gyro motor under sensorless conditions, the present application proposes a rotor position observation and correction method, which can solve the problem of accurately detecting the weak back electromotive force of the motor in the low-speed section of motor start-up, perform real-time rotor position correction, significantly improve the accuracy of motor electromagnetic torque tracking, ensure the stable acceleration ability of the motor in the low-speed section of start-up, and reduce the risk of rotor out-of-step.
[0051] In an exemplary embodiment, as Figure 1And Figure 2 As shown, a rotor position correction method for a permanent magnet gyro motor during startup is provided, including the following steps:
[0052] S1: Obtain the phase A terminal voltage, phase B terminal voltage, and phase C terminal voltage after the switch tube is turned off during the initial startup process of the permanent magnet gyro motor.
[0053] In practical applications, during the initial startup process of the permanent magnet gyro motor, first turn off the switch tube. The turn-off time is very short, and the electromagnetic torque and speed of the motor slightly decrease, but it can start normally.
[0054] Collect the three-phase terminal voltage of the motor after turning off, which is the back electromotive force voltage of the three phases A, B, and C at this time.
[0055] During the open-loop startup stage of the permanent magnet gyro motor, turn off the switch tube at regular intervals. After the blocking time, the filter inductor stops freewheeling, and the motor current is zero. The motor voltage collected at this time, without being interfered by the PWM wave, is the accurate back electromotive force. Assume that the three-phase terminal voltage of the motor collected at this time is v a , v b , v c :
[0056]
[0057] Among them, V m is the voltage amplitude; θ is the rotor angle;
[0058] S2: Normalize the phase A terminal voltage, the phase B terminal voltage, and the phase C terminal voltage respectively to obtain the processed phase A terminal voltage, the processed phase B terminal voltage, and the processed phase C terminal voltage. In practical applications, normalize the three-phase voltage to obtain the unitized back electromotive force of the three phases.
[0059] As an optional implementation manner, S2 specifically includes:
[0060] Use the formula to normalize the phase A terminal voltage to obtain the processed phase A terminal voltage; among them, F a is the processed phase A terminal voltage; v a is the phase A terminal voltage; v b is the phase B terminal voltage; v c is the phase C terminal voltage.
[0061] Use the formula to normalize the phase B terminal voltage to obtain the processed phase B terminal voltage; among them, F b is the processed phase B terminal voltage.
[0062] Using the formula normalize the C-phase terminal voltage to obtain the processed C-phase terminal voltage; where F c is the processed C-phase terminal voltage.
[0063] In practical applications, the back electromotive force extracted is normalized, and the amplitude is normalized to [-1, 1].
[0064]
[0065] S3: Based on the processed A-phase terminal voltage, the processed B-phase terminal voltage, and the processed C-phase terminal voltage, determine the standard rotor angle position based on the six-sector diagram of the voltage space vector; the six-sector diagram of the voltage space vector is determined using the space vector pulse width modulation method.
[0066] In practical applications, based on the six-sector diagram of the voltage space vector divided in the SVPWM (Space Vector Pulse Width Modulation) method, according to the unitized back electromotive force data, use the arcsine function to calculate the angle, and use the angle calculation methods of different sectors to obtain the accurate rotor angle position (standard rotor angle position).
[0067] The normalized three-phase back electromotive force is divided into regions as shown in Figure 3 where blue, red, and green respectively represent the A, B, and C three-phase back electromotive forces. F Figure 3 a F b F c will not simultaneously be greater than 0 or simultaneously be less than 0.
[0068] After normalization, calculate the angles of each sector according to the following method.
[0069]
[0070] According to formula (3), the angle calculation methods for different combinations of the three-phase back electromotive forces collected at different blocking moments are obtained, and the angle calculated at this time is the accurate rotor angle position.
[0071] As an optional implementation manner, S3 specifically includes:
[0072] When both the processed A-phase terminal voltage and the processed C-phase terminal voltage are greater than 0, θ1 = arcsin(F a ); where F a is the processed A-phase terminal voltage; θ1 is the standard rotor angle position.
[0073] When both the processed phase B terminal voltage and the processed phase C terminal voltage are less than 0, θ1 = -arcsin(F c ) + π / 3; where F c is the processed phase C terminal voltage.
[0074] When both the processed phase A terminal voltage and the processed phase B terminal voltage are greater than 0, θ1 = arcsin(F b ) + 2π / 3; where F b is the processed phase B terminal voltage.
[0075] When both the processed phase A terminal voltage and the processed phase C terminal voltage are less than 0, θ1 = -arcsin(F a ) + π.
[0076] When both the processed phase B terminal voltage and the processed phase C terminal voltage are greater than 0, θ1 = arcsin(F c ) + 4π / 3.
[0077] When both the processed phase A terminal voltage and the processed phase B terminal voltage are less than 0, θ1 = -arcsin(F b ) + 5π / 3.
[0078] S4: Correct the open-loop rotor angle position according to the standard rotor angle position to obtain the corrected rotor angle position; the corrected rotor angle position is the standard rotor angle position or the open-loop rotor angle position.
[0079] In practical applications, compare the accurately calculated rotor angle position with the angle position given by the open loop (open-loop rotor angle position), and use the rotor position at the injection moment as the reference information to correct the open-loop angle at this time to ensure the highly reliable starting of the permanent magnet gyro motor.
[0080] As an optional implementation manner, S4 specifically includes:
[0081] Calculate the angle error between the standard rotor angle position and the open-loop rotor angle position.
[0082] Determine whether the angle error is within the error range.
[0083] If so, use the standard rotor angle position as the corrected rotor angle position.
[0084] If not, use the open-loop rotor angle position as the corrected rotor angle position.
[0085] In practical applications, such as Figure 4As shown, the feasibility of the above algorithm is verified in simulation. After the blocking vector injection, after a short acquisition time, the accurate back electromotive force of the motor is acquired. According to the above calculation process, different angle information is calculated according to different voltage vector partitions after normalization. Figure 4 In it, the black line is the motor angle information, the red is the accurate rotor angle position calculated after the blocking vector injection, and the green is the moment of blocking vector injection, blocking at the low level moment. It can be seen that the calculated accurate rotor angle position can accurately reflect the motor angle at that time. Using this angle to correct the angle position given by the open loop can well ensure that the permanent magnet gyro motor does not fail to start due to rotor out-of-step during the low-speed open-loop starting process.
[0086] |θ ban -θ open |≤θ err (4)
[0087] As Figure 5 shown, an experiment is carried out on the permanent magnet gyro motor to inject a blocking vector. Assume that the angle position given by the open loop at this time is θ open , and the accurate rotor angle position obtained through the blocking vector injection is θ ban (i.e., θ1). Compare the magnitude relationship between the two. If the angle error is within the error range, as Figure 6 shown, the lower picture below is the open-loop angle at the blocking moment, and the upper picture is the angle calculated from the back electromotive force. If the error between the two is within the error range θ err , then the calculated accurate rotor angle position is used to replace the open-loop angle for motor control to correct the angle position given by the open loop at this time. If it exceeds the error range θ err , then the angle position given by the open loop is continued to be maintained without angle correction to avoid excessive angle step changes leading to rotor out-of-step. To ensure the highly reliable starting of the permanent magnet gyro motor.
[0088] As an optional implementation manner, the rotor position correction method during the starting of the permanent magnet gyro motor further includes:
[0089] Determine an acceleration curve according to the corrected rotor angle position, which is used to characterize the starting stability of the motor during the starting stage.
[0090] This application designs a motor rotor position observer. By using a short time interval to process the extracted back electromotive force signal, the rotor angle information at this time can be obtained and compared and corrected with the angle information given by the open loop, so that the rotor position can converge and return to the normal acceleration curve, improving the starting stability and reliability of the permanent magnet gyro motor during the starting section.
[0091] The rotor position correction method during the startup of the permanent magnet gyro motor of the present application is applicable to improving the startup stability and reliability of the motor during the startup stage. An observer for the motor rotor position is designed under the blocking vector insertion interval to detect the position of the motor rotor under the condition of basically not affecting the startup torque of the motor. Using the detected weak back-EMF signal, the rotor angle information at this time is obtained and compared and corrected with the open-loop given angle information to improve the startup stability and reliability of the permanent magnet gyro motor during the startup stage.
[0092] Based on the same inventive concept, an embodiment of the present application also provides a rotor position correction system for realizing the above-mentioned permanent magnet gyro motor during startup. The solution provided by this system to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in the embodiment of the rotor position correction system for the permanent magnet gyro motor during startup provided below can refer to the limitations on the rotor position correction method for the permanent magnet gyro motor during startup in the above text, and will not be repeated here.
[0093] In an exemplary embodiment, a rotor position correction system for a permanent magnet gyro motor during startup is provided, including:
[0094] A data acquisition module for acquiring the phase-A terminal voltage, phase-B terminal voltage, and phase-C terminal voltage after the switch tube is turned off during the initial startup process of the permanent magnet gyro motor.
[0095] A data processing module for respectively performing normalization processing on the phase-A terminal voltage, the phase-B terminal voltage, and the phase-C terminal voltage to obtain the processed phase-A terminal voltage, the processed phase-B terminal voltage, and the processed phase-C terminal voltage.
[0096] A standard rotor angle position determination module for determining the standard rotor angle position based on the processed phase-A terminal voltage, the processed phase-B terminal voltage, and the processed phase-C terminal voltage according to the six-sector diagram of the voltage space vector; the six-sector diagram of the voltage space vector is determined by using the space vector pulse width modulation method.
[0097] A correction module for correcting the open-loop rotor angle position according to the standard rotor angle position to obtain the corrected rotor angle position; the corrected rotor angle position is the standard rotor angle position or the open-loop rotor angle position.
[0098] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the above-mentioned rotor position correction method for the permanent magnet gyro motor during startup is implemented.
[0099] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program which, when executed by a processor, implements the rotor position correction method during the start-up of the permanent magnet gyro motor as described above.
[0100] In an exemplary embodiment, a computer program product is provided, including a computer program which, when executed by a processor, implements the rotor position correction method during the start-up of the permanent magnet gyro motor as described above.
[0101] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structural diagram can be as Figure 7 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used for the processor to exchange information with external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. The computer program, when executed by the processor, implements a rotor position correction method during the start-up of a permanent magnet gyro motor.
[0102] Those skilled in the art can understand that Figure 7 the structure shown in
[0103] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.
[0104] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.
[0105] The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logics, data processing logics based on quantum computing, etc., without limitation.
[0106] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.
[0107] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application; at the same time, for those of ordinary skill in the art, according to the ideas of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.
Claims
1. A method for correcting the rotor position when a permanent magnet gyro motor is started, characterized in that: include: Obtain the voltage of the A-phase terminal, the B-phase terminal voltage and the C-phase terminal voltage after the switch tube is turned off during the initial startup of the permanent magnet gyro motor; Normalizing the A-phase terminal voltage, the B-phase terminal voltage, and the C-phase terminal voltage respectively to obtain a processed A-phase terminal voltage, a processed B-phase terminal voltage, and a processed C-phase terminal voltage; Determining the standard rotor angle position according to the processed A-phase terminal voltage, the processed B-phase terminal voltage and the processed C-phase terminal voltage based on a six-sector diagram of a voltage space vector; the six-sector diagram of the voltage space vector is determined using a space vector pulse width modulation method; According to the standard rotor angle position, the open-loop rotor angle position is corrected to obtain a corrected rotor angle position; the corrected rotor angle position is the standard rotor angle position or the open-loop rotor angle position.
2. The rotor position correction method when the permanent magnet gyro motor starts according to claim 1, characterized in that: Normalizing the A-phase terminal voltage, the B-phase terminal voltage, and the C-phase terminal voltage respectively to obtain a processed A-phase terminal voltage, a processed B-phase terminal voltage, and a processed C-phase terminal voltage, specifically includes: Using the formula The A-phase terminal voltage is normalized to obtain the processed A-phase terminal voltage; wherein, F a is the voltage of phase A after processing; v a is the voltage at phase A; v b is the voltage at the phase B terminal; v c is the voltage at the phase C terminal; Using the formula The B-phase terminal voltage is normalized to obtain the processed B-phase terminal voltage; wherein, F b is the voltage at the B phase terminal after processing; Using the formula The C-phase terminal voltage is normalized to obtain a processed C-phase terminal voltage; wherein, F c is the voltage at the C phase terminal after processing.
3. The rotor position correction method when the permanent magnet gyro motor starts according to claim 1, characterized in that: According to the processed A-phase terminal voltage, the processed B-phase terminal voltage and the processed C-phase terminal voltage, based on the six-sector diagram of the voltage space vector, the standard rotor angle position is determined, specifically including: When the processed A-phase terminal voltage and the processed C-phase terminal voltage are both greater than 0, θ1=arcsin(F a ), where F a is the voltage at the A phase terminal after processing; θ1 is the standard rotor angle position; When the processed B-phase terminal voltage and the processed C-phase terminal voltage are both less than 0, θ1=-arcsin(F c )+π / 3; where F c is the voltage at the C phase terminal after processing; When the processed A-phase terminal voltage and the processed B-phase terminal voltage are both greater than 0, θ1=arcsin(F b )+2π / 3; where F b is the voltage at the B phase terminal after processing; When the processed A-phase terminal voltage and the processed C-phase terminal voltage are both less than 0, θ1=-arcsin(F a )+π; When the processed B-phase terminal voltage and the processed C-phase terminal voltage are both greater than 0, θ1=arcsin(F c )+4π / 3; When the processed A-phase terminal voltage and the processed B-phase terminal voltage are both less than 0, θ1=-arcsin(F b )+5π / 3.
4. The method for correcting the rotor position when starting a permanent magnet gyro motor according to claim 1, characterized in that: According to the standard rotor angle position, the open-loop rotor angle position is corrected to obtain a corrected rotor angle position, specifically including: Calculating an angular error between the standard rotor angular position and the open-loop rotor angular position; Determining whether the angle error is within an error range; If yes, the standard rotor angle position is used as the corrected rotor angle position; If not, the open-loop rotor angle position is used as the corrected rotor angle position.
5. The method for correcting the rotor position when starting a permanent magnet gyro motor according to claim 1, characterized in that: Also includes: An acceleration curve is determined according to the corrected rotor angle position, which is used to characterize the starting stability of the motor during the starting phase.
6. A rotor position correction system for a permanent magnet gyro motor when starting, characterized in that: include: A data acquisition module is used to obtain the voltage of the A phase terminal, the voltage of the B phase terminal and the voltage of the C phase terminal after the switch tube is turned off during the initial startup of the permanent magnet gyro motor; a data processing module, used for normalizing the A-phase terminal voltage, the B-phase terminal voltage and the C-phase terminal voltage respectively to obtain a processed A-phase terminal voltage, a processed B-phase terminal voltage and a processed C-phase terminal voltage; a standard rotor angle position determination module, for determining the standard rotor angle position according to the processed A-phase terminal voltage, the processed B-phase terminal voltage and the processed C-phase terminal voltage, based on a six-sector diagram of a voltage space vector; the six-sector diagram of the voltage space vector is determined by a space vector pulse width modulation method; The correction module is used to correct the open-loop rotor angle position according to the standard rotor angle position to obtain a corrected rotor angle position; the corrected rotor angle position is the standard rotor angle position or the open-loop rotor angle position.
7. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the rotor position correction method when the permanent magnet gyro motor is started as described in any one of claims 1-5.
8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the rotor position correction method when the permanent magnet gyro motor is started according to any one of claims 1 to 5 is implemented.
9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the rotor position correction method when the permanent magnet gyro motor is started according to any one of claims 1 to 5 is implemented.