873 results about "Position angle" patented technology

A method for identifying an initial position of a rotor of a permanent magnet synchronous motor of a non-position sensor belongs to the motor control field, and aims at solving the problems of the traditional method for identifying the initial position of magnetic poles of the rotor such as position change of the rotor, low identification precision or complex algorithm. The method comprises the following steps: maintaining the rotor under a static state during the identification process of the initial position of the rotor, injecting a high-frequency voltage signal to a stator winding, carrying out rotational coordinate conversion on three-phase stator current, and acquiring position information of the magnetic poles of the rotor by current components at q axis to obtain an initial judgment value of the magnetic pole position of the rotor; and then injecting two impulse voltage vectors in opposite directions to the stator winding, judging the polarity of the magnetic poles by comparing size of current components at d axis, and correcting the initial judgment value of the magnetic pole position obtained formerly by the judged polarity information of the magnetic poles to finally obtain an initial position angle of the rotor.

The invention relates to a system and a method for positioning a mobile robot based on regular graphic code composite tags. The system comprises a regular graphic code positioning controller, a regular graphic code reader, a radio frequency identification (RFID) tag code reader, and the regular graphic code composite tags which are distributed on the ground, wherein each regular graphic code composite tag is formed by compositing a regular graphic code tag and an RFID tag. The method comprises the following steps of: (1) establishing an image coordinate system, a trolley coordinate system and a world coordinate system; (2) calculating the deviation position and position angle of a mobile robot trolley relative to each composite tag in the trolley coordinate system; (3) calculating the deviation position and angle of each composite tag relative to the world coordinate system; and (4) calculating the deviation position and angle of the mobile robot trolley relative to the world coordinate system. The invention is reasonable in design, the characteristics of the regular graphic code tag and the RFID tag are effectively combined, a function of accurately positioning the mobile robot trolley is realized, and positioning efficiency is improved.

The invention provides a method for detecting the initial position of a magnetic pole of a rotor of a built-in permanent magnetic synchronous motor, belongs to the field of motor control, and solves the problems of over-complicated processing, easy occurrence of polarity misjudging, poor practicality and the like existing in the conventional method based on high-frequency signal injection for detecting the initial position of the rotor. The method comprises the following steps: constantly maintaining the stationary state of the rotor; injecting a rotating high-frequency voltage signal into a stator winding; detecting three-phase stator current and converting the three-phase stator current into two-phase static coordinates; acquiring an error signal capable of reflecting position information of the magnetic pole of the rotor through signal processing; adjusting the error signal by using a PI tracker so as to acquire an initial judging value of the position of the magnetic pole of the rotor; and injecting two impulse voltage vectors in opposite directions into the stator winding, comparing values of direct axis current components by detecting the three phase current and converting the rotating coordinates so as to determine the polarity of the magnetic pole, and finally acquiring the initial position angle of the magnetic pole of the rotor of the built-in permanent magnetic synchronous motor.

The invention relates to a method for determining an initial position angle of a rotor of a permanent magnet synchronous motor, which belongs to the field of motor control. The invention aims to solve the problems that a rotor detection method provided by a patent of a method and a device for detecting an initial position of a motor rotor in an alternating current servo system has complex logical decision and easy failure of detection. The method for determining the initial position angle of the rotor of the permanent magnet synchronous motor comprises the following steps: controlling the amplitude and the phase of the current of a d shaft and a q shaft under a two-phase synchronous rotating shaft system to further control the amplitude and the phase of the current of a three-phase stator under a three-phase stationary shaft system; controlling the rotation of the motor rotor under a given stator magnetic field; and according to a pulse signal fed back by an incremental encoder, making the direction of the given magnetic field gradually and circularly approach the actual position angle of the rotor until the direction of the given stator magnetic field corresponding to the current of the d shaft and the q shaft is coincident with the direction of a rotor magnetic field. The direction of a given stator current magnetic field is changed by 90 degrees, so that a torque vertical to the direction of the rotor magnetic field is generated on the rotor, and according to the rotating direction of the rotor, the initial position angle of the actual rotor is determined.

The invention discloses a vector screening and duty cycle combined motor model prediction control system and method. The method comprises the steps that a reference voltage vector is acquired according to the idea of no-beat control; the sector of the reference voltage vector is judged through the position angle of the reference voltage vector, and at the same time two effective non-zero voltage vectors are quickly selected; the comparison between the reference voltage vector and two quickly selected effective non-zero voltage vectors is used as a value function; a new value function is provided, and a duty cycle control method is used to calculate the action time of the non-zero voltage vectors; and based on the principle of switching loss minimization, the appropriate zero voltage vector is selected according to the non-zero voltage vectors, and the action time of the zero voltage vector is calculated. The switching state and action time of the non-zero voltage vectors and the switching state and action time of the zero voltage vector are applied on an inverter in turn. The inverter converts the switching state into voltage and outputs the voltage to a permanent magnet synchronous motor to drive a motor to run.

The invention provides a method, device and system for controlling a PMSM (Permanent Magnet Synchronous Motor) to put into operation again at the belt speed. The counter EMF of the PMSM is obtained by the speed of a trailer, and is compared with the voltage on the inverter side, if the counter EMF is higher than the voltage on the inverter side, the PMSM is not allowed to be put into operation again at the belt speed, otherwise, the PMSM is put into operation again at the belt speed. When the PMSM is allowed to be put into operation again at the belt speed, a separation contactor is closed; when the PMSM is not allowed to be put into operation again at the belt speed, the separation contactor is switched off. Therefore, the method, the device and the system can be used for computing the rotor position angles through dividing the working conditions into low-speed working conditions and medium-high speed working conditions according to Omega e, and the PMSM is started through the rotor position angles; the overall control method is provided from the view of system, the PMSM at the high speed section is not allowed to be put into operation again at the belt speed, the position for the PMSM at the medium-high speed section to be put into operation again is determined through adopting a one-step short-circuit method to compute the rotor position angles, the position for the PMSM at the low speed section to be put into operation again is determined through adopting an INFORM (Indirect Flux detection by On-line Reactance Measurement) method to compute the rotor position angles.

The invention provides a position observation device and a position observation method for a rotor of a built-in permanent magnetic synchronous motor based on adaptive filtering, and belongs to the field of motor control, solving the problem of the convectional model method that six-time harmonic pulsation observation error is contained in the acquired rotor position angle observation value. The position observation device and the position observation method are respectively an adaptive notch filtering filter signal processing device and an adaptive notch filtering filter signal processing method based on the least mean square algorithm, and the device and the method are used for removing the six-time rotor pulsation error in the control technology model method applicable to a middle and high speed position-free sensor permanent magnetic synchronous motor. The method comprises the following steps of: acquiring equivalent back electromotive force information through the model method; regulating through the adaptive notch filtering filter based on the least mean square algorithm; then carrying out normalization processing on the back electromotive force information; and finally acquiring a rotor position observation value through a phase-locked loop. The device and the method provided by the invention are simple and easy to implement, can be used for effectively inhibiting the influence of the six-time pulsation error in the rotor position observation value and improving the performance of the position-free sensor permanent magnetic synchronous motor, and are applicable to a permanent magnetic synchronous motor control system.

This invention discloses a hydraulic pressure excavator to evade bonds control system and the method. Including the following step: (1) hypothesis unearths the forbidden area; (2) gains the excavator through the sensor of move arm, the bucket arm, the scoop and the working platform condition; (3) computation excavator work installs and unearths the forbidden area the distance, when this distance being smaller than marginal value, sends out the alarm; (4) redundant step (2), (3), until excavator engine off when up to; The system including input device's load module, uses in examining the excavator work, walking the setting position angle sensor, the inclination angle sensor, various sensors' output signal after the sensor interface module and the controller connection, is equipped with the comparison module the controller as well as the early-warning installation. This invention the online data which and the critical number comparison obtains through various sensors, the definite excavator's active status, realizes in the excavator work process by this to the obstacle avoidance function, avoids the accident occurring.

The invention relates to a three-phase sinusoidal voltage control driving system for a permanent magnet synchronous motor, in particular to a Hall position sensor-based position estimation and compensation method for the permanent magnet synchronous motor. The method comprises the following steps of: driving the permanent magnet synchronous motor to rotate at constant speed in a VVVF manner by a controller, and detecting a position signal transmitted back by a Hall sensor to obtain the distribution proportion of six position intervals under an electrical angle of 360 degrees; obtaining a position interval with a calculation number i according to the distribution proportion, and estimating a correction coefficient V[i] of an angle change value; and correcting T in an angle estimation formula 60*t / T to finally obtain a corrected angle estimation formula 60*t / (V[i]*T), wherein i is the number of the position interval, and V[i]*T in the corrected angle estimation formula is time actually required by the rotation of the motor by the position interval with the number i. A position angle change value calculated according to the formula in the interval always changes linearly within 0 to 60 degrees regardless of an electrical angle actually corresponding to the position interval.

A method for controlling antenna to automatically track to satellite includes initializing system and fetching effective data of GPS, calculating theoretical angle requiring to be pointed by pitch angle and position angle of current antenna aligning to satellite, fetching compass data to calculate position difference between current pitch angle and position angle of current antenna and said theoretical angle, setting object rotary speed of current motor and driving antenna to make tracking-operation according to said position difference. The device used for realizing said method is also disclosed.

The invention relates to the field of electrical transmission and aims at providing a permanent-magnet synchronous-motor position-free-sensor control method based on rotating-current vectors. The method includes: setting the amplitude of the rotating-current vectors; setting the angle frequency of the rotating-current vectors; setting the position angle of a permanent-magnet synchronous-motor rotor; carrying out coordinate transformation on stator output current of a three-phase permanent-magnet synchronous motor; simulating PI operations of a d-p coordinate system; carrying out inverse transformation on coordinates and realizing whole driving via an inverter; and observing the power angle of the permanent-magnet synchronous motor. Starting of the permanent-magnet synchronous motor is completed after the above-mentioned seven steps are finished. The permanent-magnet synchronous-motor position-free-sensor control method based on the rotating-current vectors makes use of an inherent characteristic that under a condition that the permanent-magnet synchronous motor does not step out, the rotating speed of the rotor is capable of synchronously tracking of given frequency of a stator rotating magnetic field. The operation state of the permanent-magnet synchronous motor is observed through a load torque angle and controlled so that system stability is ensured. The method is low in cost, simple in control algorithm and capable of realizing full-speed-section operation of the permanent-magnet synchronous-motor position-free sensor perfectly.

The invention discloses a modeling method for milling the surface appearance of a workpiece, belonging to the field of digital milling. The modeling method comprises the steps of carrying out dispersing treatment on the cutting edge of a ball-end mill according to cutting movement locus of a milling cutter; establishing infinitesimal cutting locus equation of the cutting edge of the ball-end mill, wherein the surface appearance of the cutting locus equation is formed by the outermost side locus in the established locus equation; determining corresponding cutter turning angle range for milling the outermost side locus by judging the cutting infinitesimal position angle range corresponding to the outermost side locus; calculating corresponding milling time for milling the locus by combining with angular rotation speed obtained through a cutter spindle rotation speed; and obtaining the outermost side milling locus through a helical lag angle at the cutting infinitesimal position, thus obtaining the surface appearance of the milling workpiece. The modeling method can solve the generation problem on the surface appearance of the workpiece in milling process.

The invention relates to a control method of low-speed stage starting of static frequency conversion starting of a pumped storage power station, comprising the following steps: calculating the initial position of a rotor; estimating each force commutation moment of a low-speed stage inverting bridge according to a preset constant acceleration value; electrifying an appointed two-phase winding at the unlocking moment of a frequency converter according to an interval to which the initial position of the rotor belongs; switching a rectifier bridge to an inversion run mode at the forced commutation moment, sending a trigger pulse to a thyristor bridge arm corresponding to the appointed two-phase winding according to an interval to which a rotor position angle belongs at the moment after a loop of a frequency converter is cut out and each bridge arm of the inverting bridge is reliably shut off, and simultaneously switching the rectifier bridge to a rectifying run mode, and ending single forced commutation; ending the low-speed run stage if the rotor speed is higher than or equal to 5 percent of specific speed of a machine set, and then switching to a natural commutation stage based on machine terminal voltage, or carrying out the forced commutation again; and if starting exceeds time, regulating the preset constant acceleration value, and then restarting until successful starting. The invention can realize rapid and reliable frequency conversion starting at the low-speed stage of the machine set of the pumped storage power station as long as a set value of the constant acceleration of machine set starting is regulated.

The invention discloses a system and method for controlling the current of a permanent magnet synchronous motor for an electric vehicle. The system comprises a rotating speed / position detection module used for detecting the rotating speed value omega and the position angle theta of the permanent magnet synchronous motor, a current sensor, a first coordinate transformation module, a second coordinate transformation module, a PI speed ring controller used for conducting PI operation on the motor rotating speed value omega obtained through the rotating speed / position detection module and a given motor rotating speed value omega r to obtain a q-axis current reference value, a current ring prediction control module, a sliding formwork disturbance observation module, a third coordinate transformation module and a space vector pulse width duration modulation module, wherein the space vector pulse width duration modulation module is used for calculating u alpha and u beta to obtain six-path PWM signal output, PWM signals are used for controlling an inverter, and thus three-phase output voltage is obtained to drive the motor to operate. An advanced continuous time generalized prediction control method is adopted for the tracking and controlling of the current of the permanent magnet synchronous motor for the electric vehicle, and the system and method have the advantages of being small in calculated amount, good in control effect and the like.

The present invention relates to a method for detecting a rotation speed and a rotation direction of a rotating apparatus with the digital detection of a single sensor. In the method, a turnable which is connected with a rotation axis with a same axial center is provided on the rotating apparatus. Different directions of the circumference of the turnable are provided with a plurality of inducing pieces of a same sensor. The position angles formed by adjacent inducing pieces are not equal. The inducing pieces are arranged in the sequence of the magnitude of the position angle. When the turnable rotates, a sensor detects the pulse output generated by the inducing pieces. The pulse signal is obtained through a shaping circuit and is outputted to an arithmetic circuit and is connected to a display circuit. A time period S for rotating the turnable for a circle is the summation of a plurality of adjacent pulse interval lengths of a plurality of inducing piece compositions. The rotation speed of the turnable is digitally displayed. The arrival sequence of spacing interval of random adjacent pulse is obtained for determining that the rotation direction of the turnable is clockwise direction or counter-clockwise direction. The invention requires only one sensor for completing the digital detection to the rotation speed and rotation direction of the rotating apparatus. The installation position of the inducing piece of the sensor has no high requirement and the structure is simple. The cost for digital detection and the cost for installing the sensor are reduced.

The invention discloses a method for initially positioning and starting a switched reluctance motor without a position sensor, and belongs to the technical field of control of the switched reluctance motor. The method comprises the following steps of: setting an inductance bottom threshold value LLow and an inductance top threshold value LHigh based on the basic characteristic that the inductance of the switched reluctance motor periodically changes with the position of a rotor; injecting short pulses into each phase winding and calculating inductance values according to a phase voltage equation; judging phases which can be currently switched on according to the relation among each phase inductance calculated value and LLow and LHigh and selecting estimated phases of an initial position angle at the same time; and establishing a phase inductance mathematical model to obtain angle information in the selected phases by using the relation between the inductance mathematical model and the inductance calculated values. Though the method, an initial switch-on phase selection signal can be accurately acquired and the initial position angle of the rotor can be calculated at the same time, so the switched reluctance motor can be started and initially positioned without the position sensor, an algorithm is simple and generality is high.

The invention relates to a method and device for observing and controlling a rotor position in motor control. According to the method and the device, an initial position angle of a motor rotor can be observed; angular errors caused by an imprecise assembled angle of a Hall sensor can be eliminated by online discrimination of software; a real-time speed detection program is provided to eliminate an angular accumulated error caused by imprecision of an angular speed omega; a rotor position angle can be precisely tracked in a motor vector control operation process, the rotor angle is prevented form overflowing, and self-detection of the motor in reverse rotation can be realized; and when a certain sensor has a fault, a system can judge a fault point per se and performs self-adaption to achieve the function of still normally running. According to the device and the method, independence on a hardware circuit is reduced, observation and real-time tracking of the rotor position angle can be realized, the function of fault judgment of the system can be used for protecting the motor, and loss caused by motor locking or running out is prevented. The device has a great practical value in the fields of electric vehicles and precise machine tools, and has the advantages of reliability in operation, low cost and wide application range.

The invention discloses a permanent magnet synchronous motor (PMSM) quasi dead-beat model prediction flux linkage control method comprising steps of: computing a stator flux linkage vector reference value at a next moment within a limited control framework, and obtaining a target voltage vector according to the reference value and a dead-model control idea; determining the sector of the target voltage vector in virtue of the position angle of the target voltage vector and selecting three valid voltage vectors by using the sector; predicting the stator flux linkage vector at the next moment according to the three valid voltage vectors; and obtaining the optimum on-off state of an inverter by optimizing a value function, wherein the inverter outputs voltage to a PMSM according to the optimum on-off state. The value function does not include weight calculation. When the value function is optimized, only the three valid voltage vectors are optimized so that algorithm operation time is shortened.

The invention provides a permanent-magnet synchronous motor start-up smooth switching method. The method includes the following steps: presupposing that given torque current is identically 1.5 times that of rated current of a permanent magnet synchronous motor; presupposing that a rotor position angle is increased progressively at a T-squared growth rate, and enabling the permanent magnet synchronous motor to rotate at a constant accelerated speed; when the speed of the permanent magnet synchronous motor reaches 30% of a rated rotation speed, beginning to carry out switching transition, enabling a rotor position angle used for PARK transformation and reverse transformation to gradually approach an actual rotor position angle acquired by a position and speed estimator, and meanwhile, enabling the presupposed torque current to gradually approach torque current calculated by adopting the actual rotor position angle; and when time for switching transition arrives, switching closed-loop control states of the speed, the position and the current. The method can achieve the purposes that the rotor position and phase current are undistorted and the rotation speed does not oscillate in start-up switching of the permanent-magnet synchronous motor only by one-time parameter setting under any load.

The present invention discloses a system and method for fault-tolerant control under five-phase permanent magnet synchronous motor open-circuit faults. The method comprises: employing a rotation speedcontroller to obtain a fundamental wave space quadrature-axis current reference value; based on a magneto-motive force invariant principle, performing reconfiguration of phase current after generation of faults, and obtaining a fundamental wave space two-phase static current reference value through the developed Clark conversion; employing the collected phase current and a rotor position angle tocalculate a no-voltage voltage vector effect time; employing the two-phase static current reference value and a preset value to establish a value function; and finally, obtaining an optimal voltage vector and an effect time thereof through optimization of the value function, employing duty ratio control to design a duty ratio and convey to duty ratio to an inverter, and outputting an optimal voltage through the inverter to a permanent magnet synchronous motor operated with faults. The system and method for fault-tolerant control under five-phase permanent magnet synchronous motor open-circuitfaults simplify a voltage vector set after five-phase permanent magnet synchronous motor open-circuit faults are generated and reduce calculation amount; a method through combination of a no-zero vector and a zero vector is utilized to improve model prediction and control stable state performances.

The invention provides a compensation method for the rotor position angle of a permanent-magnet motor, which can enable a permanent-magnet synchronous motor to keep on stable operation under the conditions of a high speed and large rotary transformer errors. The method specifically comprises the following steps: sampling the rotor position angle of the permanent-magnet synchronous motor by using a rotary transformer coaxial with the permanent-magnet synchronous motor at a specific time interval, resolving output signals of a rotary transformer sensor by using a digital signal processing unit after each sampling operation, and judging whether the variation of the rotor position angle of the motor is within the allowed range; if so, directly using the rotor position angle value of the motor as a correction value of the current rotor position angle of the motor; and if not, calculating the correction value of the current rotor position angle of the motor based on the angular speed of the motor in the last sampling operation and the time interval between two consecutive sampling operations, and compensating for the time delay deviation of the rotor position angle of the motor by using a processor.

The invention discloses a field dynamic balance measuring device and method for a utility boiler side fan. The method comprises the following steps of: I, reading a vibration value by using an axis vibration probe and a key phase value, wherein the vibration value comprises a power frequency amplitude and a phase angle; II, determining a weighting testing position: directly calculating a position required to be weighted by using a read-out phase angle, and calculating a weighting position angle theta according to a formula (1), wherein a position on a key phase groove where a disk rotor is reversely rotated by the angle theta serves as the position required to be weighted; and III, determining a weighting testing magnitude: inquiring needed parameters in a formula (2) from fan specifications to calculate the weighing testing magnitude. Due to the adoption of the device and the method, the successful rate of one-time weighing is greatly increased, a calculating formula is simplified, and complex steps for attaching cursors by halting are reduced on the aspect of process.

A method for setting axle of polarization shaft on polarization preserving fiber based on side view light intensity distribution includes regulating distance between said fiber and objective to let light intensity distribution present nine characteristic points, rotating said fiber to obtain light intensity characteristic amounts at different position angle and to obtain measurement curve of angle variation in following to light intensity characteristic amounts, making cross - correlation of measurement curve with standard curve and using angle corresponding to maximum value of cross - correlation as position angle of said fiber.

It is described an open-loop transmit coil diversity scheme, intended for communication based on magnetic induction, wherein the diversity scheme automatically aligns the transmit coil (110) of a transmitter (100) with the receive coil of a receiver without relying on feedback information from the receiver to the transmitter (100). This may be achieved by having a plurality of coils (110, 120, 130) in the transmitter (100) and / or in the receiver. Each of these coils (110, 120, 130) may be oriented orthogonally with respect to the other coil(s). The optimal coil (130) may be selected by measuring the position angle of the transmitter (100) and / or the receiver by making use of at least one inclinometer (132). For radio communication on the transmitter and / or on the receiver this coil (130) is selected, whose orientation is maximally parallel with the orientation of the corresponding coil on the other side of the radio communication link. Alternatively, if there is only one coil in the transmitter and / or the receiver, it may be possible to spatially adjust the orientation of the transmit coil and / or the receive coil by employing at least one mechanical actuator.

The invention relates to a method and a control system for driving an electric motor (4) coupled with a crankshaft (2) of an internal combustion engine, in order to position the crankshaft (2) at a starting angle, wherein the control system comprises: a detection device (7) for receiving and / or determining a position angle and / or the rotational speed of the crankshaft (2), and a control unit (5) which is capable of driving the electric motor (4) in a closed loop control mode dependent on the rotational speed of the crankshaft and of positioning the crankshaft (2) at said starting angle after the internal combustion engine (1) is stopped, so that, in the case of a subsequent start, the internal combustion engine (1) is started from this starting angle, wherein the control unit (5) is designed so as to drive the electric motor (4) according to an open loop control mode, below a prespecified rotational speed limit independently of the rotational speed in an open loop control, so that the crankshaft (2) is set to the starting angle.

The invention discloses a detection method of a permanent magnet motor rotor position. The detection method comprises: (1) calculating alpha and beta weight of a stator flux linkage; (2) setting up auxiliary d'-q' coordinate system; (3) figuring out angle from d' axis to d axis, and then obtaining position information of the rotor. By introducing the auxiliary d'-q' coordinate system which has same position angle with the stator flux linkage vector and same revolving speed with a d-q coordinate system, physical quantities in the coordinate system are all direct current when the coordinate system is operated in a steady state, thereby simplifying computation process, and reducing requests to a processor and a sensor. Calculation error is smaller due to the fact that influence of a filter can be basically ignored. Meanwhile calculation can automatically adjust according to the former calculation, and correct an inductance timely, so that final error is lessened.

The invention discloses an on-line rotational inertia identification device for an alternate current permanent magnet servo system and an identification method, belongs to the technical field of servo motor control, and solves the problem that the conventional identification of rotational inertia of all motors is identification of rotational inertia of load mechanical systems in an off state so as not to adjust system control parameters according to current conditions of a system in real time. The device consists of a position controller, a speed controller, a torque controller, a motor and load unit, a photoelectric encoder, a differential unit, a sinusoidal signal generator and a rotational inertia identification unit; and the method comprises the following steps of: injecting a harmonic command with a lower amplitude value to a given position of a position loop motor during production run of a motor system; and extracting a motor position angle and torque control signal of a corresponding frequency component to realize on-line identification of the rotational inertia. The device and the method are suitable for on-line rotational inertia identification of the alternate current permanent magnet servo system.

The present invention provides a variable speed constant frequency doubly-fed wind power generation system, characterized in that the system includes a stator grid connected device, a motor, a controlling plate, a dual pwm converter, a code disc; the stator of the motor is connected with the power network by the stator grid connected device; the rotor of the motor is connected with the power network by the dual pwm converter; the controlling plate is connected with the power network, the motor, the dual pwm converter and the stator grid connected device; the controlling plate is also connected with the rotor via the code disc. The system eliminates some influence caused by some parameter error of the generating system according to designing a voltage amplitude compensator and a rotor position angle compensator in the controlling plate.