Motor rotor angle position detection method and device and cold start method

Abstract

The invention provides a rotor angle position detection method. The rotor angle position detection method comprises the steps of detecting a voltage waveform output by a Hall sensor to obtain a single-path sinusoidal signal; obtaining a first cosine signal based on the signal; the single-path sinusoidal signal is converted into a square wave signal to control a PI module in the phase-locked loop module to be enabled or disabled; when the PI module is enabled, estimating an estimated value of the angular velocity signal in real time; obtaining an estimated value of an angular position according to the angular velocity signal, thereby obtaining a second cosine signal and obtaining a sign symbol of a waveform amplitude; obtaining a cosine signal based on the first cosine signal and the sign symbol; based on the single-path sinusoidal signal, the cosine signal and the estimated value of the angle position, obtaining an angle position error signal for a PI module to estimate an angular velocity signal; and performing difference operation on the angle position error signal and the angle error set value, and when the phase-locked loop module judges that a difference operation result is converged, outputting an estimated value of the angle position as an actual value of the angle position. The method is low in cost and high in precision.

Description

Motor rotor angle position detection method, device and cold start method

Technical field

[0001] The present invention relates to the field of motor control, and more specifically, to a motor rotor angle detection method, device, and cold start method. [Background Technology]

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in aerospace, industrial, electric vehicles, and household appliances due to their higher reliability and smaller size compared to other motors. To ensure stable and reliable operation, the rotor position of PMSMs must be detected. The accuracy of the rotor angle plays a crucial role in motor control performance. Inaccurate rotor angle detection can lead to reduced control efficiency, excessive heat generation, and high noise levels.

[0003] To detect the rotor position of a permanent magnet synchronous motor (PMSM), a Hall sensor or a resolver, also known as a resolver, is typically installed on the motor. For example, multiple Hall sensors are combined to detect the rotor position, placed at different locations on the motor for detection to ensure accurate rotor position measurement. However, installing multiple Hall sensors increases system cost, bulk, and reliability, limiting the application of PMSMs. Resolvers offer high detection accuracy. Resolvers are used in conjunction with a decoding chip to detect the rotor position of a PMSM. The decoding chip first decodes the output signal indicating the resolver's rotor angle to obtain the resolver's rotor angle. The resolver's rotor angle is then used to determine the PMSM's rotor position. However, due to the high cost of decoding chips, using resolvers to detect the PMSM's rotor position has drawbacks such as bulk and high price.

[0004] How to find a low-cost motor rotor angle detection method and device that can achieve high-precision detection of the motor rotor angle has become a technical problem that technical personnel in this field urgently need to solve.

[0005] [Summary of the invention]

[0006] In view of this, the present invention provides a motor rotor angular position detection method, a motor rotor angular position detection device, and a related motor cold start method to solve the above problems.

[0007] According to an embodiment of the present invention, a method for detecting the angular position of a motor rotor is provided, comprising: sensing the position of the rotor through a Hall sensor, outputting a voltage waveform signal, and normalizing the voltage waveform signal to obtain a single-channel sinusoidal signal sinθ; obtaining a first cosine signal based on the single-channel sinusoidal signal sinθ. By identifying the peak and valley intervals of the single-channel sinusoidal signal sinθ, the single-channel sinusoidal signal sinθ is converted into a square wave signal to control whether the proportional integral module in the phase-locked loop module is enabled or disabled; during the period when the proportional integral control module is enabled, the estimated value of the angular velocity signal is estimated in real time by the proportional integral control module Among them, K p is the proportionality coefficient, K i is the integral coefficient, T s is the sampling time; according to the angular velocity signal of the rotor To obtain an estimate of the angular position Based on the estimated value of the angular position Get the second cosine signal And obtain the second cosine signal The positive and negative signs of the waveform amplitude; based on the first cosine signal and the positive and negative signs to obtain a cosine signal cosθ; based on the single-channel sine signal sinθ, the cosine signal cosθ and the estimated value of the angular position Get the angle position error signal θ err The proportional integral control module estimates the angular velocity signal and the angular position error signal θ err The difference between the angle error setting value and the When the phase-locked loop module determines that Converge to When the estimated value of the angular position The actual value θ is output as the angular position.

[0008] Furthermore, the step of converting the single-channel sinusoidal signal sinθ into the square wave signal includes: when the single-channel sinusoidal signal sinθ is detected as a peak, converting the peak interval waveform between the front end of the peak with an amplitude greater than the first threshold and the rear end of the peak with an amplitude greater than the second threshold to a low level; when the single-channel sinusoidal signal sinθ is detected as a trough, converting the trough interval waveform between the front end of the trough with an amplitude less than the third threshold and the rear end of the trough with an amplitude less than the fourth threshold to a low level; and converting the waveform of the remaining intervals of the single-channel sinusoidal signal sinθ to a high level; wherein the first threshold and the second threshold are positive numbers, and the third threshold and the fourth threshold are negative numbers.

[0009] Further, the first threshold is 0.86 of the sinθ peak value of the single-channel sinusoidal signal, the second threshold is 0.8 of the sinθ peak value of the single-channel sinusoidal signal, the third threshold is -0.86 of the sinθ peak value of the single-channel sinusoidal signal, and the fourth threshold is -0.8 of the sinθ peak value of the single-channel sinusoidal signal.

[0010] Furthermore, according to the square wave signal, the step of controlling the proportional-integral control module to be enabled or disabled includes: when the square wave signal is at a high level, the proportional-integral control module is enabled; and when the square wave signal is at a low level, the proportional-integral control module is disabled.

[0011] Further, obtaining an estimated value of the angular position The method includes: during the period when the proportional integral control module is disabled, using the estimated value of the angular velocity signal immediately before the module is disabled As the estimated value of the angular velocity signal during the disabled period

[0012] Furthermore, based on the estimated value of the angular velocity signal Get an estimate of the angular position

[0013] Furthermore, the motor rotor angle position detection method also includes: outputting a certain drive voltage and rotor angle through V / F drive control to start the motor; when the single-channel sinusoidal signal sinθ of the motor is in the rising period of the waveform and the amplitude reaches the fifth threshold, or is in the falling period of the waveform and the amplitude reaches the sixth threshold, turning on the phase-locked loop module; wherein the fifth threshold shown is a negative number, and the sixth threshold is a positive number.

[0014] Further, the fifth threshold is -1 / 2, and the sixth threshold is 1 / 2.

[0015] Furthermore, the motor rotor angular position detection method further comprises: Output to the field oriented control FOC module.

[0016] Furthermore, the angular position error signal θ err (k) corresponds to

[0017] According to another embodiment of the present invention, a device for detecting the rotor angle position of a motor is provided, comprising: a detection module, a peak and trough identification module and an improved phase-locked loop module. The detection module is used to sense the position of the rotor through a Hall sensor to output a voltage waveform signal and normalize the voltage waveform signal to obtain a single-channel sinusoidal signal sinθ. The peak and trough identification module is used to identify the peak and trough intervals of the single-channel sinusoidal signal sinθ and convert the single-channel sinusoidal signal sinθ into a square wave signal to enable or disable the proportional-integral control module in the phase-locked loop module. The phase-locked loop module comprises: a processing module for obtaining a first cosine signal based on the single-channel sinusoidal signal sinθ. And based on the first cosine signal and the second cosine signal The positive and negative signs of the waveform amplitude are used to obtain the cosine signal cosθ; the proportional integral control module is used to estimate the estimated value of the angular velocity signal in real time during the enabled period And according to the angular velocity signal of the rotor To obtain an estimate of the angular position Among them, K p is the proportionality coefficient, K i is the integral coefficient, T s is the sampling time; the symbol function module is used to estimate the value based on the Get the second cosine signal And obtain the second cosine signal The positive and negative signs of the waveform amplitude; and the difference operation module for the angle position error signal θ err The difference between the angle error setting value and the When the phase-locked loop module determines that Converge to When the estimated value of the angular position The output is the actual value θ of the angular position. The phase-locked loop module is also based on the single-channel sine signal sinθ, the cosine signal cosθ and the estimated value of the angular position. Get the angle position error signal θ err To estimate the angular velocity signal

[0018] Furthermore, when the single-channel sinusoidal signal sinθ is detected as a peak, the peak and trough identification module converts the peak interval waveform between the front end of the peak with an amplitude greater than the first threshold and the rear end of the peak with an amplitude greater than the second threshold to a low level; when the single-channel sinusoidal signal sinθ is detected as a trough, the trough interval waveform between the front end of the trough with an amplitude less than the third threshold and the rear end of the trough with an amplitude less than the fourth threshold is converted to a low level; and the waveform of the remaining intervals of the single-channel sinusoidal signal sinθ is converted to a high level; wherein the first threshold and the second threshold are positive numbers, and the third threshold and the fourth threshold are negative numbers.

[0019] Further, the first threshold is 0.86 of the sinθ peak value of the single-channel sinusoidal signal, the second threshold is 0.8 of the sinθ peak value of the single-channel sinusoidal signal, the third threshold is -0.86 of the sinθ peak value of the single-channel sinusoidal signal, and the fourth threshold is -0.8 of the sinθ peak value of the single-channel sinusoidal signal.

[0020] Further, when the square wave signal is at a high level, the proportional-integral control module is enabled; and when the square wave signal is at a low level, the proportional-integral control module is disabled.

[0021] Furthermore, during the period when the proportional-integral control module is disabled, the estimated value of the angular velocity signal immediately before the disablement is used. As the estimated value of the angular velocity signal during the disabled period

[0022] Furthermore, based on the estimated value of the angular velocity signal Get an estimate of the angular position

[0023] Furthermore, the rotor angle position detection device of the motor also includes: a V / F drive module, which is used to output a certain drive voltage and rotor angle to start the motor, and turn on the phase-locked loop module when the single-channel sinusoidal signal sinθ of the motor is in the rising period of the waveform and the amplitude reaches the fifth threshold, or is in the falling period of the waveform and the amplitude reaches the sixth threshold; wherein the fifth threshold is a negative number and the sixth threshold is a positive number.

[0024] Further, the fifth threshold is -1 / 2, and the sixth threshold is 1 / 2.

[0025] Furthermore, the motor rotor angle position detection device further comprises: a field oriented control FOC module for calling the estimated value of the angle position output by the phase-locked loop module The motor is driven to operate at a specified operating point speed value.

[0026] Furthermore, the angular position error signal θ err (k) corresponds to

[0027] According to another embodiment of the present invention, a method for cold starting a motor is provided, comprising: outputting a certain drive voltage and rotor angle through V / F drive control to start the motor; turning on a phase-locked loop module when a single-channel sinusoidal signal sinθ of the motor is in a rising waveform period and the amplitude reaches a fifth threshold, or is in a falling waveform period and the amplitude reaches a sixth threshold, wherein the fifth threshold is a negative number and the sixth threshold is a positive number; detecting the angular position of the rotor according to any of the above-mentioned motor rotor angular position detection methods; and switching to a field-oriented control (FOC) closed-loop control when the motor reaches a predetermined speed value; wherein the field-oriented control (FOC) closed-loop control calls an estimated value of the angular position and drives the motor to a predetermined operating point speed value.

[0028] Furthermore, the phase-locked loop module is turned on when any of the following conditions is met: the fifth threshold is -1 / 2, and the sixth threshold is 1 / 2.

[0029] According to the embodiment of the present invention, the motor rotor angle detection is low-cost, simple and easy to implement, and has high estimation accuracy, thereby improving the reliability of the system.

Brief Description of the Drawings

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0031] FIG1 is a flow chart of a method 100 for detecting the angular position of a motor rotor according to an embodiment of the present invention.

[0032] FIG2 is a waveform diagram of a sinusoidal signal and a square wave signal according to an embodiment of the present invention.

[0033] FIG3 is a schematic diagram of an exemplary structure of a motor rotor angular position detection device 300 according to another embodiment of the present invention.

[0034] FIG4 is a schematic diagram of a strategy for enabling a PLL during a rising edge according to an embodiment of the present invention.

[0035] FIG5 is a schematic diagram of a core module of an improved phase-locked loop according to an embodiment of the present invention.

[0036] FIG6 is a schematic diagram of a motor cold starting method 600 according to yet another embodiment of the present invention.

[0037] FIG. 7 shows the test results of various parameters of the electronic rotor angle position detection according to an embodiment of the present invention.

[0038] FIG8 shows a test result of the three-phase current of a motor according to an embodiment of the present invention.

[0039] FIG. 9 shows a test result of the three-phase current of a motor according to another embodiment of the present invention. [Specific implementation method]

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0041] The exemplary embodiments of the present invention and their description are used to explain the present invention, but are not intended to limit the present invention. In addition, elements / components with the same or similar reference numerals used in the drawings and embodiments are used to represent the same or similar parts.

[0042] The words “include,” “including,” “have,” “contain,” etc. used in this document are open-ended terms, meaning including but not limited to.

[0043] As used herein, "and / or" includes any and all combinations of the items mentioned.

[0044] It should also be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity from another, and do not necessarily require or imply any actual relationship or order between these entities. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that an article or device comprising a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such article or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the article or device comprising the element.

[0045] When detecting the motor angle, the cosθ of the traditional phase-locked loop is directly generated by the Hall sensor, that is, the Hall sensor provides two signals, sine sinθ and cosine cosθ, at the same time. However, the motor rotor angle detection method proposed in this invention only needs the Hall sensor to provide one signal, sinθ, and then calculates The amplitude of the cosine signal cosθ is obtained. This calculated value is always positive. Therefore, the positive and negative signs of the amplitude of the cosine signal cosθ are obtained by estimating the rotor angular position, and finally the correct cosine signal cosθ waveform can be obtained.

[0046] The motor rotor angle position detection method, device, and motor cold start method proposed in embodiments of the present invention utilize an improved phase-locked loop (PLL) structure in combination with a linear Hall sensor to detect the motor rotor angle position. This allows for obtaining angle detection values ​​for a three-phase motor rotor in the range of 0° to 360° using only a single sinusoidal signal, resulting in high detection accuracy. Furthermore, since only a single Hall sensor is required, the motor cost and size are reduced. Furthermore, the detection method of embodiments of the present invention does not significantly increase the complexity of software implementation, providing a reliable guarantee for efficient and stable system control.

[0047] FIG1 is a flow chart of a method 100 for detecting the angular position of a motor rotor according to an embodiment of the present invention. In some embodiments, a Hall sensor (e.g., a single-channel linear Hall sensor) is mounted on a printed circuit board assembly (PCBA) of a three-phase motor controller to detect the angular position of the rotor. The Hall sensor is located directly above the motor rotor to sense the magnetic field strength of the magnetic disk at the top of the rotor and output a sinusoidal voltage waveform signal. The amplitude of the output sinusoidal signal waveform varies with the supply voltage. The method comprises the following steps:

[0048] S102: The rotor position is sensed by the Hall sensor, which outputs a voltage waveform signal. The voltage waveform signal is then normalized to obtain a single sinusoidal signal sinθ. After normalization, the amplitude of the sinusoidal signal sinθ ranges from -1 to 1.

[0049] S104: Obtain a first cosine signal based on a single-channel sine signal sinθ

[0050] S106: By identifying the peak and valley intervals of the single-channel sinusoidal signal sinθ, the single-channel sinusoidal signal sinθ is converted into a square wave signal to control whether an improved phase-locked loop module (hereinafter referred to as the PLL module) is enabled or disabled. Specifically, the proportional integral (PI) module in the PLL module is controlled to be enabled or disabled based on the square wave signal. For example, when the square wave signal is at a high level, the PI control module is enabled; and when the square wave signal is at a low level, the PI control module is disabled. This achieves the goal of enabling or disabling the PI control module of the PLL module through high and low level square wave signals, and the execution is repeated in this manner.

[0051] In some preferred embodiments, the waveform amplitude of the normalized single-channel sinusoidal signal sinθ is identified in real time and compared with at least one threshold value. When it is detected that the waveform is about to enter a peak and is greater than a threshold amplitude T1 set to disable the PLL module (e.g., disable the proportional-integral control module), or when it is detected that the waveform is about to enter a trough and is less than a threshold amplitude T2 set to disable the PLL module (e.g., disable the proportional-integral control module), a low level is output to disable the proportional-integral control module. When the real-time normalized value of sinθ after passing a peak is less than the threshold amplitude T1 set to disable the proportional-integral control module, or when the real-time normalized value of sinθ after passing a trough is greater than the threshold amplitude T2 set to disable the proportional-integral control module, a high level is output to enable the proportional-integral control module.

[0052] When intercepting peak and trough locations, a threshold hysteresis strategy can be used to set the thresholds. Thus, T1 and T2 include two specific thresholds, T11 and T12, and T21 and T22, respectively. Figure 2 shows a waveform diagram of a sinusoidal signal and a square wave signal according to an embodiment of the present invention. As shown in Figure 2, the sinusoidal signal sinθ is converted into a square wave signal en, where the first threshold T11 is located at the front end of the sinusoidal signal sinθ's peak, the second threshold T12 is located at the back end of the sinusoidal signal sinθ's peak, the third threshold T21 is located at the front end of the sinusoidal signal sinθ's trough, and the fourth threshold T22 is located at the back end of the sinusoidal signal sinθ's trough. When a single sinusoidal signal sinθ is detected as a peak, the peak interval between the front end of the peak with an amplitude greater than the first threshold T11 and the back end of the peak with an amplitude greater than the second threshold T12 is converted to a low level. When a single sinusoidal signal sinθ is detected as a trough, the trough interval between the front end of the trough with an amplitude less than the third threshold T21 and the back end of the trough with an amplitude less than the fourth threshold T22 is converted to a low level. In addition, the waveforms of the remaining intervals of the single-channel sinusoidal signal sinθ are all converted to high levels. In this embodiment, the first threshold T11 and the second threshold T12 are positive numbers, and the third threshold T21 and the fourth threshold T22 are negative numbers.

[0053] Preferably, the first threshold value T11 can be set to 0.86 of the sinθ peak value of the single-channel sinusoidal signal, the second threshold value T12 can be set to 0.8 of the sinθ peak value of the single-channel sinusoidal signal, the third threshold value T21 can be set to -0.86 of the sinθ peak value of the single-channel sinusoidal signal, and the fourth threshold value can be set to -0.8 of the sinθ peak value of the single-channel sinusoidal signal. The threshold values ​​set in this embodiment are not intended to limit the present invention, and it is also feasible to enlarge or reduce the peak and trough intervals to be cut out by modifying these threshold values.

[0054] S108: While the proportional-integral control module is enabled, the estimated value of the angular velocity signal is estimated in real time by the proportional-integral control module. Then, according to the rotor angular velocity signal To get an estimate of the angular position This step can be performed by the proportional integral control module to obtain the angular velocity signal Then the angle integration module (1 / S module) can be used according to the angular velocity signal Calculate an estimate of the angular position Due to the characteristics of the motor system itself, after the PI link, the output physical quantity is the angular velocity signal of the motor, that is, for The calculation formula can be:

[0055] Its discrete formula is:

[0056] Among them, K p is the proportionality coefficient, K i is the integral coefficient, T s is the sampling time, and Ki / s is the accumulated sum of the integral errors.

[0057] In some embodiments, while the proportional-integral control module is enabled, the estimated value of the angular velocity signal is estimated in real time by the proportional-integral control module:

[0058] When the proportional-integral control module is disabled, the estimated value of the angular velocity signal immediately before it is disabled is used. As an estimate of the angular velocity signal during the disabled period That is, during the period when the proportional integral control module is disabled, the latest (i.e. the estimated value of the angular velocity signal obtained just before disabling the proportional integral control module ) is time-integrated to obtain an estimate of the motor rotor's angular position

[0059] According to the improved PLL module of the embodiment of the present invention, the estimated value of the angular velocity signal can be Get an estimate of the angular position:

[0060] There are two reasons for disabling the PLL module in the peak and trough intervals: 1) The positive and negative signs of the cosine signal cosθ switch at the peak and trough of the sine signal sinθ. If the PLL module is not disabled here, the value of cosθ will approach 0 infinitely at the peak and trough, but it will never truly converge to 0, and the positive and negative switching of the sign cannot be achieved; 2) At the peak and trough of sinθ, its slope is very small, the waveform is relatively flat, and the amplitude deviation corresponding to different angles is extremely small. Coupled with the noise influence of AD sampling, the angle obtained here will be inaccurate and there will be a large deviation. Therefore, the PLL module is disabled here, such as disabling the proportional integral control module. Due to the inherent inertia characteristics of the motor, the angular velocity obtained just before disabling the proportional integral control module (i.e. ) as the angular velocity during the period of disabling the proportional-integral control module is consistent with its mechanical characteristics.

[0061] In other words, during the period when the proportional integral control module is disabled This is equivalent to a fixed value, equal to the angular velocity estimate obtained just before disabling the proportional integral control module. Then enable the first beat calculation of the proportional integral control module, still using this fixed value Calculation is performed, and the second beat is the output of the new angular velocity estimate. During the period when the proportional integral control module is enabled, the angular position is estimated. It is obtained by real-time integration of the angular velocity estimate. This processing method can effectively avoid severe amplitude jumps or overshoots caused by enabling or disabling the proportional-integral control module.

[0062] S110: Estimated value based on angular position Get the second cosine signal And get the second cosine signal The positive and negative sign of the waveform amplitude.

[0063] S112: Based on the first cosine signal and the second cosine signal The positive and negative signs of the waveform amplitude are adjusted to obtain the cosine signal cosθ.

[0064] S114: Estimated value based on single-channel sine signal sinθ, cosine signal cosθ and angular position Get the angle position error signal θ errTo be used in proportional-integral control module to estimate angular velocity signal

[0065] In some embodiments, the angular position error signal θ err Corresponding to The angular position error signal θ can be calculated by the following formula: err :

[0066] Among them, θ k is the actual value of the angular position at the kth sampling moment, is the estimated value of the angular position at the k-1th sampling moment.

[0067] S116: Angle position error signal θ err The difference between the angle error setting value and the And when the PLL module determines Converge to When the estimated value of the angular position The actual value θ is output as the angular position.

[0068] The angle error setting value can be 0, indicating that the deviation between the estimated angle position and the actual rotor angle position is 0°. After performing a difference operation between the angle position error signal and the value 0 (such as the ∑ module in Figure 5), according to the characteristics of the sine function, we can obtain when When the value of is very small, for example, close to 0, it satisfies That is, the estimated value The effects of the two are equivalent to the true value θ:

[0069] In some embodiments, the motor rotor angle position detection method 100 also includes the step of using a constant voltage-frequency ratio V / F drive to control the motor startup in the initial stage of motor startup. The angle used in this stage is an artificially given angle value that changes according to a certain rule. The algorithm of the PLL module has not yet been used to obtain the angle position estimate. This process is open-loop control. The peak-to-peak value of the sinusoidal waveform can be identified in the open-loop drive stage, and then the link of turning on the PLL module is further supported. For example, in the V / F open-loop drive stage, the motor speed is slowly accelerated from 0 rpm to 20 rpm. During this period, detailed related parameters such as the waveform amplitude can be identified. After reaching 20 rpm, the field-oriented control (FOC) closed-loop control will be switched to drive the motor to reach the low-temperature operating point speed value. The FOC stage uses the angle estimate output by the PLL module.

[0070] In some embodiments, during V / F drive control, the sinusoidal waveform output by the Hall sensor can be detected in real time, and its peak-to-peak value can be identified to obtain the peak value (amplitude) and offset (average value) of the sinusoidal wave signal, and the sinusoidal wave of the Hall sensor is normalized to obtain a sinθ waveform with a value range between -1 and 1.

[0071] Furthermore, during V / F drive control, the positive and negative signs of the slope of the sine wave output by the Hall sensor can also be identified in real time, indicating whether the waveform is in the rising / falling range. The control strategy can be to enable the improved PLL module of the embodiment of the present invention when the sine wave is in the period of increasing amplitude (when the rotor angle is between -90° and 90°). Within this range, the PLL module can ensure convergence and overall system stability, which helps improve the accuracy of the rotor angle position estimation of the improved phase-locked loop structure proposed in the embodiment of the present invention. Referring to FIG4 , FIG4 is a schematic diagram of the strategy of enabling the PLL during the rising edge according to the embodiment of the present invention. Since the trough is followed by the rising edge, the PLL module is enabled a certain angle after the trough. This is because the amplitudes of the sinθ waveform at different angles are very close at the trough, hindering angle identification. Therefore, the PLL module can be enabled after the trough, for example, when sinθ > -1 / 2. This allows ample time for the rotor position estimate to converge to the true rotor angle, ensuring that the rotor angle estimate output by the PLL module is very close to the true rotor angle. This also prevents the waveform from being flat near the trough, which hinders angle identification, and facilitates a smooth transition of relevant parameter values ​​when switching to FOC control at the zero crossing. Then, at the zero crossing during the rising edge, the switch from V / F open-loop control to FOC closed-loop control is made. This FOC closed-loop control strategy ensures that the motor operates effectively at the specified operating point. Compared to other methods such as square wave drive, FOC drive offers better performance, with less harmonic content and more stable motor speed and output torque. Furthermore, FOC combined with linear Hall sensors operates in low-temperature environments, reducing the need for linear Hall sensor calibration.

[0072] Specifically, a certain drive voltage and rotor angle are output through V / F drive control to ensure that the motor can start smoothly. When the single-channel sinusoidal signal sinθ of the motor is in the rising period of the waveform and the amplitude reaches the fifth threshold value T5, or when it is in the falling period of the waveform and the amplitude reaches the sixth threshold value T6, the PLL module is turned on, wherein the fifth threshold value T5 is a negative number and the sixth threshold value T6 is a positive number. Specifically, T5 can be -1 / 2 of the sinθ peak value, and T6 can be 1 / 2 of the sinθ peak value. For example, T5 can be set to -1 / 2, and T6 can be set to 1 / 2. When it reaches θ=-0.053rad / s (i.e., reaches -30°) during the rising period after passing through the trough, the function of the PLL module is turned on. Since the time required to reach the zero crossing point 0° is long at this time, it is enough for the PLL link to converge to the true angle. When the rotor reaches the zero crossing point 0°, it can be judged that the angle has converged and then directly switched to FOC. The FOC stage is the closed-loop control stage. This embodiment uses the zero crossing point between -90° and 90° when switching to FOC closed-loop control for the first time. After switching, the zero crossing point is no longer needed, that is, the zero crossing point will not be used in the entire 360° range.

[0073] In a preferred embodiment, the estimated value of the angular position The given initial value can be -30°, or 0.053 rad / s. Since the PLL function is enabled at -30° after the waveform passes through the trough during V / F open-loop drive, a matching angular position estimate is directly provided, which helps shorten the PLL convergence time. The initial angular velocity can be the angular velocity corresponding to the V / F drive controlling the motor to a stable speed of 20 rpm. This ensures that the error between the estimated angular velocity and the actual angular velocity is minimized. The first data beat when switching to FOC closed-loop control can use the angular position and angular velocity estimates estimated by the PLL module.

[0074] It should be noted that the term "turning on" the PLL module refers to starting to call the PLL functional module, including the two parts of the PLL module being enabled and disabled. The above embodiment selects the period of -90° to 90°, that is, turning on the PLL functional module during the rising period of the sinusoidal signal waveform, but this is not a limitation of the present invention. In other embodiments, it is also possible to select the period of 90° to 270°, that is, turning on the PLL functional module during the falling period of the sinusoidal signal waveform. It is only necessary to add a 180° compensation angle to this interval. After turning on the PLL module, no matter in which angle interval, the PLL module is already in the "on" state, but it will be disabled in the peak and trough intervals of the sinusoidal signal, and enabled in all other intervals, and thus repeatedly enabled / disabled.

[0075] In some embodiments, the motor rotor angular position detection method 100 further includes converting the estimated value of the angular position output by the PLL module into Output to the FOC module for the FOC module to call to control the motor to operate at a specified operating point speed value (for example, 100rpm). After calculation by the PLL module, this estimated value High accuracy: After the PLL converges, the rotor angle position can be as close to the true value as possible. Furthermore, since only a single linear Hall sensor is used for measurement, and only one sinθ signal needs to be generated, highly accurate rotor angle position can be detected, allowing the motor rotor angle to be determined within the 0° to 360° range. This reduces product cost while maintaining software algorithm complexity.

[0076] Figure 3 is a schematic diagram illustrating the exemplary structure of a motor rotor angular position detection device 300 according to another embodiment of the present invention. Device 300 includes a detection module 301, a peak-valley identification module 302, and an improved PLL module 303. Detection module 301 is configured to sense the motor rotor position using a Hall sensor, output a voltage waveform signal, and normalize the voltage waveform signal to obtain a single-channel sinusoidal signal, sinθ. Peak-valley identification module 302 is configured to identify the peak-valley intervals of the single-channel sinusoidal signal, sinθ, and convert it into a square wave signal to enable or disable the proportional-integral control module 3032 in the PLL module 303.

[0077] The improved PLL module 303 according to the embodiment of the present invention further includes a processing module 3031, a proportional integral control (PI) module 3032, a sign function module 3033, a difference operation module 3034, and an angle integration (1 / S) module 3035. The processing module 3031 is used to obtain the first cosine signal based on the single-channel sine signal sinθ And based on the first cosine signal and the second cosine signal The positive and negative signs of the waveform amplitude are used to obtain the cosine signal cosθ. The proportional integral control module 3032 is used to estimate the estimated value of the angular velocity signal in real time during the enabled period. And estimate the rotor angular velocity signal Used to obtain an estimate of the angular position Among them, K p is the proportionality coefficient, K i is the integral coefficient, T s In addition, the angle integral (1 / S) module 3035 can be connected to the proportional integral control module 3032 to estimate the rotor angular velocity signal Get an estimate of the angular position In the embodiment shown in FIG. 3 , during the period when the PLL module 303 is disabled, the 1 / S module 3035 may continue to operate to calculate the estimated value of the angular position. For example, during the period when the PLL module 303 is disabled, the proportional-integral control module 3032 is disabled, but the 1 / S module 3035 continues to operate, which can be based on the estimated value of the angular velocity signal immediately before the proportional-integral control module 3032 is disabled. Calculate the corresponding estimated value of the angular position The estimated value of the angular velocity signal As the estimated value of the angular velocity signal during the disabled period Perform calculations.

[0078] The sign function module 3033 is used to estimate the value based on the angle position. Get the second cosine signal And obtain the second cosine signal The difference operation module 3034 is used to calculate the positive and negative signs of the waveform amplitude of the angular position error signal θ err The difference between the angle error setting value and the when The value of is very small, satisfying That is, the estimated value The effects of the two are equivalent to the true value θ, so when the PLL module judges Converge to When the estimated value of the angular position The actual value θ of the angular position is output. In addition, the PLL module 303 is also used to calculate the estimated value of the angular position based on the single-channel sine signal sinθ, the cosine signal cosθ and the angular position. Get the angle position error signal θ err To estimate the angular velocity signal It can be executed by the processing module 3031.

[0079] In some embodiments, the peak and valley identification module 302 performs real-time identification of the value of the normalized single-channel sinusoidal signal sinθ. When it detects that the waveform is about to enter a peak and is greater than a threshold amplitude T1 set to disable the proportional-integral control module, or when it detects that the waveform is about to enter a valley and is less than a threshold amplitude T2 set to disable the proportional-integral control module, it outputs a low level to disable the proportional-integral control module. When the normalized real-time value of sinθ after passing a peak is less than the threshold amplitude T1 set to disable the proportional-integral control module, or when the normalized real-time value of sinθ after passing a valley is greater than the threshold amplitude T2 set to disable the proportional-integral control module, it outputs a high level to enable the proportional-integral control module. When capturing the peak and valley positions, a threshold hysteresis strategy can be used to set the thresholds. Thus, T1 and T2 include two specific thresholds: T11 and T12, and T21 and T22, respectively.

[0080] For example, when the peak and valley identification module 302 detects a peak in the single-channel sinusoidal signal sinθ, the waveform of the peak interval between the front end of the peak with an amplitude greater than the first threshold T11 and the back end of the peak with an amplitude greater than the second threshold T12 is converted to a low level. When the single-channel sinusoidal signal sinθ is detected as a valley, the waveform of the valley interval between the front end of the valley with an amplitude less than the third threshold T21 and the back end of the valley with an amplitude less than the fourth threshold T22 is converted to a low level. Furthermore, the waveform of the remaining intervals of the single-channel sinusoidal signal sinθ is converted to a high level, thereby converting the sinusoidal signal into a square wave signal to control the proportional-integral control module 3032 of the PLL module 303 to be enabled and disabled. This cycle is repeated. The first threshold T11 and the second threshold T12 can be set as positive numbers, while the third threshold T21 and the fourth threshold T22 can be set as negative numbers. For example, T11 can be set to 0.86 of the sinθ peak value of a single-channel sinusoidal signal, T12 can be set to 0.8 of the sinθ peak value of a single-channel sinusoidal signal, T21 can be set to -0.86 of the sinθ peak value of a single-channel sinusoidal signal, and T22 can be set to -0.8 of the sinθ peak value of a single-channel sinusoidal signal. The threshold values ​​set in this embodiment are not intended to limit the present invention, and it is also feasible to enlarge or reduce the peak and valley intervals to be cut out by modifying these threshold values.

[0081] The square wave signal converted by the peak and valley identification module 302 can be output to the PI module 3032. The high and low levels of the square wave signal can be used to enable and disable the PI module 3032, for example, to disable the proportional-integral control module 3032. However, the square wave signal does not participate in the calculations performed by the PI module 3032. When the square wave signal is at a high level, the proportional-integral control module 3032 is enabled; and when the square wave signal is at a low level, the proportional-integral control module 3032 is disabled.

[0082] In addition, the angle integral (1 / S) module 3035 can be connected to the proportional integral control module 3032 to estimate the rotor angular velocity signal. Get an estimate of the angular position For example, during the period when the proportional-integral control module 3032 is disabled, the 1 / S module 3035 may continue to operate, that is, the estimated value of the angular velocity signal immediately before the proportional-integral control module 3032 is disabled may be used to calculate the angular velocity signal. Calculate the corresponding estimated value of the angular position The estimated value of the angular velocity signal As the estimated value of the angular velocity signal during the disabled period Perform calculations.

[0083] The proportional-integral control module 3032 is enabled or disabled according to the square wave signal. During the period when it is enabled, the estimated value of the angular velocity signal is estimated in real time. And according to the rotor angular velocity signal To obtain an estimate of the angular position Due to the characteristics of the motor system itself, after the PI link, the output physical quantity is the angular velocity signal of the motor, that is, When the proportional-integral control module 3032 is enabled, the angular velocity signal is estimated in real time by the proportional-integral control PI module 3032:

[0084] Among them, K p is the proportionality coefficient, K i is the integral coefficient, T s is the sampling time.

[0085] When the proportional-integral control module 3032 is disabled, the estimated value of the angular velocity signal immediately before the disablement is used. As an estimate of the angular velocity signal during the disabled period Estimated value based on angular velocity signal The estimated value of the angular position can be obtained from the discrete expression corresponding to the 1 / S module 3035:

[0086] The symbol function module 3033 is based on the estimated value Get the second cosine signal And obtain the second cosine signal The processing module 3031 can obtain the first cosine signal based on the single-channel sine signal sinθ And based on the first cosine signal and the second cosine signal The processing module 3031 can also be based on the single-channel sine signal sinθ, cosine signal cosθ and the estimated value of the angular position. Get the angle position error signal θ err To estimate the angular velocity signal In some embodiments, the angular position error signal θ err Corresponding to The angular position error signal θ can be calculated by the following formula: err :

[0087] The difference operation module 3034 can be implemented by the ∑ module of FIG4 , and the angle position error signal θ err The difference between the angle error setting value and the When the PLL module 303 determines Converge to When the estimated value of the angular position The output is the actual value θ of the rotor's angular position.

[0088] In some embodiments, the motor rotor angle position detection device 300 may further include a V / F drive module 304 for outputting a certain drive voltage and rotor angle to start the motor. In some embodiments, the V / F drive module 304 can detect the sinusoidal waveform output by the Hall sensor in real time, identify its peak-to-peak value, thereby obtaining the peak value (amplitude) and offset (average value) of the sinusoidal wave signal, and normalize the sinusoidal wave output by the Hall sensor to obtain a sinθ waveform with a value range between -1 and 1. Furthermore, the V / F drive module 304 can also identify the slope sign of the sinusoidal wave output by the Hall sensor in real time, i.e., whether the waveform is in the rising / falling range. The control strategy can be to enable the PLL module when the sine wave is in the rising amplitude period (when the rotor angle is between -90° and 90°). This helps improve the detection accuracy of the rotor angle position by the improved phase-locked loop structure proposed in the embodiments of the present invention.

[0089] Specifically, when the single-channel sinusoidal signal sinθ of the motor is in the rising period of the waveform and the amplitude reaches the fifth threshold value T5, or when it is in the falling period of the waveform and the amplitude reaches the sixth threshold value T6, the PLL module 303 is turned on. The fifth threshold value T5 is a negative number, and the sixth threshold value T6 is a positive number. Specifically, T5 can be -1 / 2 of the sinθ peak value, and T6 can be 1 / 2 of the sinθ peak value. For example, T5 is set to -1 / 2, and T6 is set to 1 / 2. When the angle reaches θ = -0.053 rad / s (i.e., reaches -30°) during the rising period after passing the trough, the function of the PLL module is turned on. Since the time required to reach 0° at this time is long, it is sufficient for the PLL link to converge to the true angle. When the rotor reaches 0°, it can be judged that the angle has converged and then directly switch to the closed-loop control field-oriented control FOC module 305. The FOC stage is the closed-loop control stage. The first beat data when switching to the FOC closed-loop control can use the angular position estimation value and angular velocity estimation value estimated by the PLL module.

[0090] The initial angular velocity can be the angular velocity corresponding to a stable speed of 20 rpm when the motor is controlled by V / F drive. This ensures that the error between the estimated angular velocity and the actual angular velocity is as small as possible. In this example, 20 rpm is used as a transitional intermediate speed to ensure smooth start-up of the motor during V / F drive. The low-speed operating point controlled by FOC module 305 is the operating speed of the motor oil pump (e.g., 100 rpm).

[0091] In some embodiments, the motor rotor angle position detection device 300 may further include a field oriented control FOC module 305 for calling the estimated value of the angle position output by the PLL module 303. The motor is driven to operate at a specified operating point speed, such as 100 rpm. The Field Oriented Control (FOC) module 305 utilizes a closed-loop FOC control strategy, enabling the motor to operate effectively at the specified operating point. Compared to other methods, such as square-wave drive, this closed-loop FOC strategy offers superior performance, minimizes harmonic content, and stabilizes motor speed and output torque. Furthermore, the FOC module 305 integrates a linear Hall effect sensor to operate in low-temperature environments, reducing the need for linear Hall effect sensor calibration.

[0092] The motor rotor angle position detection method and device proposed in the embodiment of the present invention are low-cost, simple and easy to implement, and have high estimation accuracy, thereby improving the reliability of the system; they can be widely applied to three-phase motor control systems without the need for additional hardware overhead, and can achieve relatively satisfactory control performance.

[0093] FIG5 is a schematic diagram of a core module of an improved phase-locked loop according to an embodiment of the present invention. Similar elements and parameters included in FIG1 and FIG3 can be applied to FIG5 and are identified by the same reference numerals and parameter expressions as in FIG1 and FIG3. Therefore, for the sake of brevity, they are not repeated here.

[0094] FIG6 is a schematic diagram of a motor cold start method 600 according to another embodiment of the present invention. The oil pump motor has a low temperature requirement, for example, it is started at a temperature below -20°C. The cold start method 500 includes:

[0095] S601: Output a certain driving voltage and rotor angle through V / F driving control to start the motor.

[0096] S602: When the single-channel sinusoidal signal sinθ output by the Hall sensor sensing the position of the motor rotor is in a rising waveform and its amplitude reaches a fifth threshold, or when sinθ is in a falling waveform and its amplitude reaches a sixth threshold, the PLL module is turned on, wherein the fifth threshold is a negative number and the sixth threshold is a positive number. Specifically, T5 may be -1 / 2 of the sinθ peak value, and T6 may be 1 / 2 of the sinθ peak value. For example, the fifth threshold may be -1 / 2, and the sixth threshold may be 1 / 2.

[0097] S603: Detect the angular position of the rotor according to the motor rotor angular position detection method described in the embodiment of FIG. 1 .

[0098] S604: When the motor reaches a predetermined speed, switching to field oriented control (FOC) closed-loop control is performed, wherein the FOC closed-loop control uses the estimated value of the rotor angle position output by the PLL module and drives the motor to reach a predetermined operating point speed.

[0099] The specific execution process involved in each step of the cold start method in FIG6 can be referred to the description of the embodiment above, and for the sake of brevity, it will not be repeated here.

[0100] Figure 7 shows the test results of various parameters of the electronic rotor angle position detection method according to an embodiment of the present invention. Figure 7 is a schematic diagram showing the parameters of the improved PLL module when the motor is turned on at 40 rpm. Figure 8 shows the test results of the three-phase current of a motor according to an embodiment of the present invention. Figure 8 shows a schematic diagram of the U / V / W phase currents in the motor windings when the motor is turned on at 40 rpm. The period of 1-3 seconds is the V / F open-loop drive control phase, which slowly accelerates the motor speed from 0 rpm to 20 rpm. During this period, relevant detailed parameters such as waveform amplitude can be identified, as mentioned in the previous embodiments. It should be noted that the 40 rpm in Figures 7-8 is only used to demonstrate that the present invention can support stable operation at speeds as low as 40 rpm, but this speed is not a limit for a specific operating point. Figure 9 shows the test results of the three-phase current of a motor according to another embodiment of the present invention. Figure 9 shows a schematic diagram of the U / V / W phase currents in the motor windings when the motor is turned on at 10 rpm. Because the drive motor is a gear oil pump motor, its torque pulsation is large at low speeds, which is not conducive to speed stability. The lower the speed, the more difficult it is to maintain the stability of the oil pump motor. As shown in Figure 9, even at a low speed of 10 rpm, the oil pump motor can still operate at a stable speed by adopting the solution proposed in the embodiment of the present invention. The test data in Figures 7-9 show the actual test results of the motor running using the solution of the present invention. It can be seen that the present invention achieves high-precision angle detection, providing a reliable guarantee for efficient and stable control of the system.

[0101] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0102] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the various steps in the flowchart can be executed in an order different from the order shown, and the numbering of the steps in the method embodiments described above is only schematic and does not limit the execution order of the steps. In addition, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0103] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0104] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0105] If the integrated unit is implemented in the form of a software functional unit 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 all or 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 and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0106] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting the angle position of a motor rotor, characterized in that: include: The Hall sensor senses the position of the rotor, outputs a voltage waveform signal, and performs normalization processing on the voltage waveform signal to obtain a single-channel sinusoidal signal sinθ; Based on the single-channel sinusoidal signal sinθ, a first cosine signal is obtained By identifying the peak and valley interval of the single-channel sinusoidal signal sinθ, the single-channel sinusoidal signal sinθ is converted into a square wave signal to control the proportional integral control module in the phase-locked loop module to be enabled or disabled; During the period when the proportional-integral control module is enabled, the estimated value of the angular velocity signal is estimated in real time by the proportional-integral control module Among them, K p is the proportionality coefficient, K i is the integration coefficient, T s is the sampling time; According to the rotor angular velocity signal To obtain an estimate of the angular position Based on the estimated value of the angular position Get the second cosine signal And obtain the second cosine signal The positive and negative sign of the waveform amplitude; Based on the first cosine signal and the positive and negative signs, and obtain the cosine signal cosθ; Based on the single-channel sine signal sinθ, the cosine signal cosθ and the estimated value of the angular position The angle position error signal θ is obtained err The proportional-integral control module estimates the angular velocity signal as well as The angular position error signal θ err The difference between the angle error setting value and the And when the phase-locked loop module determines that Converge to When the estimated value of the angle position The actual value θ is output as the angular position.

2. The method according to claim 1, characterized in that The step of converting the single-channel sinusoidal signal sinθ into the square wave signal comprises: When the single-channel sinusoidal signal sinθ is detected as a peak, the peak interval waveform between the front end of the peak whose amplitude is greater than the first threshold T11 and the rear end of the peak whose amplitude is greater than the second threshold T12 is converted to a low level; When the single-channel sinusoidal signal sinθ is detected as a trough, the trough interval waveform between the front end of the trough whose amplitude is less than the third threshold value T21 and the rear end of the trough whose amplitude is less than the fourth threshold value T22 is converted to a low level; and Convert the waveform of the remaining intervals of the single-channel sinusoidal signal sinθ to a high level; The first threshold T11 and the second threshold T12 are positive numbers, and the third threshold T21 and the fourth threshold T22 are negative numbers.

3. The method according to claim 2, characterized in that The first threshold T11 is 0.86 of the peak value of the single-channel sinusoidal signal sinθ, the second threshold T12 is 0.8 of the peak value of the single-channel sinusoidal signal sinθ, the third threshold T21 is -0.86 of the peak value of the single-channel sinusoidal signal sinθ, and the fourth threshold T22 is -0.8 of the peak value of the single-channel sinusoidal signal sinθ.

4. The method according to any one of claims 1 to 3, characterized in that: According to the square wave signal, the step of controlling the proportional integral control module to be enabled or disabled comprises: When the square wave signal is at a high level, the proportional-integral control module is enabled; and when the square wave signal is at a low level, the proportional-integral control module is disabled.

5. The method according to claim 1, characterized in that Get an estimate of the angular position include: During the period when the proportional-integral control module is disabled, the estimated value of the angular velocity signal immediately before the module is disabled is used. As the estimated value of the angular velocity signal during the disabled period 6. The method according to claim 1, characterized in that Based on the estimated value of the angular velocity signal Get an estimate of the angular position 7. The method according to claim 1, characterized in that Also includes: Output a certain driving voltage and rotor angle through V / F driving control to start the motor; When the single-channel sinusoidal signal sinθ of the motor is in a rising period of the waveform and the amplitude reaches a fifth threshold, or is in a falling period of the waveform and the amplitude reaches a sixth threshold, turning on the phase-locked loop module; The fifth threshold value shown therein is a negative number, and the sixth threshold value is a positive number.

8. The method according to claim 7, characterized in that The fifth threshold is -1 / 2, and the sixth threshold is 1 / 2.

9. The method according to claim 1, characterized in that: Also includes: The estimated value of the angular position Output to the field oriented control FOC module.

10. The method according to claim 1, characterized in that The angular position error signal θ err (k) corresponds to 11. A device for detecting the rotor angle position of a motor, characterized in that: include: A detection module, used for sensing the position of the rotor through a Hall sensor to output a voltage waveform signal and performing normalization processing on the voltage waveform signal to obtain a single-channel sinusoidal signal sinθ; A peak and trough identification module, used to identify the peak and trough intervals of the single-channel sinusoidal signal sinθ, and convert the single-channel sinusoidal signal sinθ into a square wave signal to enable or disable the proportional integral control module in the phase-locked loop module; as well as The phase-locked loop module comprises: A processing module, used to obtain a first cosine signal based on the single-channel sine signal sinθ And based on the first cosine signal and the second cosine signal The positive and negative signs of the waveform amplitude are obtained to obtain the cosine signal cosθ; The proportional-integral control module is used to estimate the estimated value of the angular velocity signal in real time during the enabled period And according to the angular velocity signal of the rotor To obtain an estimate of the angular position Among them, K p is the proportionality coefficient, K i is the integration coefficient, T s is the sampling time; A symbolic function module for calculating the estimated value based on the Get the second cosine signal And obtain the second cosine signal The sign of the waveform amplitude of ; and The difference operation module is used to calculate the angle position error signal θ err The difference between the angle error setting value and the When the phase-locked loop module determines that Converge to When the estimated value of the angle position Output is the actual value θ of the angular position; The phase-locked loop module is also based on the single-channel sine signal sinθ, the cosine signal cosθ and the estimated value of the angle position. The angle position error signal θ is obtained err To estimate the angular velocity signal 12. The device according to claim 11, characterized in that When the peak and valley recognition module detects that the single-channel sinusoidal signal sinθ is a peak, the peak interval waveform between the front end of the peak whose amplitude is greater than the first threshold T11 and the rear end of the peak whose amplitude is greater than the second threshold T12 is converted into a low level; When the single-channel sinusoidal signal sinθ is detected as a trough, the trough interval waveform between the front end of the trough whose amplitude is less than the third threshold value T21 and the rear end of the trough whose amplitude is less than the fourth threshold value T22 is converted to a low level; and Convert the waveform of the remaining intervals of the single-channel sinusoidal signal sinθ to a high level; The first threshold T11 and the second threshold T12 are positive numbers, and the third threshold T21 and the fourth threshold T22 are negative numbers.

13. The device according to claim 12, characterized in that The first threshold T11 is 0.86 of the peak value of the single-channel sinusoidal signal sinθ, the second threshold T12 is 0.8 of the peak value of the single-channel sinusoidal signal sinθ, the third threshold T21 is -0.86 of the peak value of the single-channel sinusoidal signal sinθ, and the fourth threshold T22 is -0.8 of the peak value of the single-channel sinusoidal signal sinθ.

14. The device according to any one of claims 11 to 13, characterized in that: When the square wave signal is at a high level, the proportional-integral control module is enabled; and when the square wave signal is at a low level, the proportional-integral control module is disabled.

15. The device according to claim 11, characterized in that During the period when the proportional-integral control module is disabled, the estimated value of the angular velocity signal immediately before the module is disabled is used. As the estimated value of the angular velocity signal during the disabled period 16. The device according to claim 11, characterized in that Based on the estimated value of the angular velocity signal Get an estimate of the angular position 17. The device according to claim 11, characterized in that Also includes: A V / F driving module, used for outputting a certain driving voltage and rotor angle, starting the motor, and starting the phase-locked loop module when the single-channel sinusoidal signal sinθ of the motor is in a rising period of the waveform and the amplitude reaches a fifth threshold, or is in a falling period of the waveform and the amplitude reaches a sixth threshold; The fifth threshold is a negative number, and the sixth threshold is a positive number.

18. The device according to claim 17, characterized in that The fifth threshold is -1 / 2, and the sixth threshold is 1 / 2.

19. The device according to claim 11, characterized in that Also includes: A field oriented control (FOC) module is used to call the estimated value of the angle position output by the phase locked loop module. The motor is driven to operate at a specified operating point speed value.

20. The device according to claim 11, characterized in that The angular position error signal θ err (k) corresponds to 21. A method for cold starting a motor, characterized in that: include: Output a certain driving voltage and rotor angle through V / F driving control to start the motor; When the single-channel sinusoidal signal sinθ output by the Hall sensor sensing the position of the motor rotor is in a rising period of the waveform and the amplitude reaches a fifth threshold, or is in a falling period of the waveform and the amplitude reaches a sixth threshold, the phase-locked loop module is turned on, wherein the fifth threshold is a negative number and the sixth threshold is a positive number; The motor rotor angular position detection method according to any one of claims 1 to 10, detecting the angular position of the rotor; and When the motor reaches a predetermined speed value, switching to field oriented control (FOC) closed-loop control; The field oriented control (FOC) closed-loop control calls the estimated value of the angle position and drives the motor to reach a predetermined operating point speed value.

22. The method according to claim 20, characterized in that The fifth threshold is -1 / 2, and the sixth threshold is 1 / 2.

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