阅读说明：本技术 转子初始角的确定方法、装置、系统和存储介质 (Method, device and system for determining initial angle of rotor and storage medium ) 是由 李伟亮 苏瑞涛 刘亚川 潘忠亮 范雨卉 李芝炳 王韶涵 李帅 于 2019-11-04 设计创作，主要内容包括：本发明公开了一种转子初始角的确定方法、装置、电机系统和存储介质。该转子为电动汽车永磁同步电机的位置传感器旋转变压器的转子,该转子初始角的确定方法：获取所述转子的默认初始角；根据所述默认初始角控制所述同步电机的转速及电流达到设定条件；根据所述同步电机的d轴电压确定所述转子的初始角。本发明实施例的技术方案,通过根据默认初始角控制电机的转速和电流达到设定条件,在此状态下,根据电机d轴的电压确定转子的初始角,实现了转子位置的自动标定,无需借助外部平台,确定方法简单、易行、准确度高。(The invention discloses a method and a device for determining an initial angle of a rotor, a motor system and a storage medium. The rotor is a rotor of a position sensor rotary transformer of an electric automobile permanent magnet synchronous motor, and the determination method of the initial angle of the rotor comprises the following steps: acquiring a default initial angle of the rotor; controlling the rotating speed and the current of the synchronous motor to reach set conditions according to the default initial angle; an initial angle of the rotor is determined from a d-axis voltage of the synchronous machine. According to the technical scheme of the embodiment of the invention, the rotation speed and the current of the motor are controlled according to the default initial angle to reach the set conditions, and in this state, the initial angle of the rotor is determined according to the voltage of the d axis of the motor, so that the automatic calibration of the position of the rotor is realized, an external platform is not needed, and the determination method is simple, easy to implement and high in accuracy.)

1. A method for determining an initial angle of a rotor of a position sensor resolver of a permanent magnet synchronous motor of an electric vehicle is characterized by comprising the following steps:

acquiring a default initial angle of the rotor;

controlling the rotating speed and the current of the synchronous motor to reach set conditions according to the default initial angle;

an initial angle of the rotor is determined from a d-axis voltage of the synchronous machine.

2. The method of claim 1, wherein the default initial angle is a middle value of an initial angular range of the rotor, wherein the initial angular range is determined by a mounting error of the rotary transformer.

3. The method of claim 1, wherein the controlling the speed and current of the synchronous machine to set conditions according to the default initial angle comprises:

controlling the rotating speed of the synchronous motor according to the default initial angle and the set rotating speed;

and when the rotating speed of the synchronous motor reaches a set rotating speed and lasts for a first set time, controlling the current of the synchronous motor according to the default initial angle and the set current so as to enable the current of the synchronous motor to reach the set current and last for a second set time.

4. The method of claim 3, wherein said controlling the speed of the synchronous machine based on the default initial angle and the set speed comprises:

controlling the rotating speed of the synchronous motor according to the default initial angle and the set rotating speed to increase to the set rotating speed by a set slope, and monitoring the fluctuation value of the rotating speed of the synchronous motor;

and when the fluctuation value of the rotating speed is larger than the set rotating speed threshold value and lasts for a third set time, stopping determining the initial angle of the rotor.

5. The method of claim 3, wherein the controlling the current of the synchronous motor according to the default initial angle and the set current when the rotation speed of the synchronous motor reaches the set rotation speed for a first set time comprises:

when the rotating speed of the synchronous motor reaches a set rotating speed and lasts for a first set time, controlling the current of the synchronous motor according to the default initial angle and the set current, and monitoring the fluctuation value of the current of the synchronous motor;

and stopping the determination of the initial angle of the rotor when the fluctuation value of the current is greater than a set current threshold value for a fourth set time.

6. The method of claim 1, wherein determining an initial angle of the rotor from a d-axis voltage of the synchronous machine comprises:

determining an initial angle superposition value of the rotor according to a difference value between the d-axis voltage and a target voltage of the synchronous motor;

determining an initial angle of the rotor from the default initial angle and the initial angle overlap value.

7. The method of claim 6, wherein said determining an initial angle of the rotor from the default initial angle and the initial angle addition value comprises:

and when the difference value between the d-axis voltage of the synchronous motor and the target voltage is smaller than a set difference value and lasts for a fifth set time, determining the sum of the default initial angle and the initial angle superposition value as the initial angle of the rotor.

8. An apparatus for determining an initial angle of a rotor of a position sensor resolver of a permanent magnet synchronous motor of an electric vehicle, comprising:

a default initial angle obtaining module, configured to obtain a default initial angle of the rotor;

the motor rotating speed and current control module is used for controlling the rotating speed and the current of the synchronous motor to reach set conditions according to the default initial angle;

an initial angle determination module to determine an initial angle of the rotor based on a d-axis voltage of the synchronous machine.

9. An electric motor system for an electric vehicle, comprising: the system comprises a permanent magnet synchronous motor, a rotary transformer, a motor controller, a high-voltage power supply and a low-voltage power supply, wherein the rotary transformer is a position sensor of the permanent magnet synchronous motor; the low-voltage power supply is used for supplying power to the motor controller; the high-voltage power supply is used for supplying power to the motor system so as to control the motor to rotate; the motor controller comprises an initial angle calibration module for performing the method of determining an initial angle of a rotor as claimed in any one of claims 1-7.

10. A storage medium containing computer-executable instructions for performing the method of determining an initial angle of a rotor of any one of claims 1-7 when executed by a computer processor.

Technical Field

The embodiment of the invention relates to the technical field of motor control, in particular to a method, a device and a system for determining an initial angle of a rotor and a storage medium.

Background

In a power motor system of a new energy vehicle, the permanent magnet synchronous motor has the advantages of wide speed regulation range, low rotational inertia, high torque-current ratio, high power factor, small torque fluctuation, easiness in realizing high-speed operation and the like, and is the most widely applied motor at present. However, permanent magnet synchronous motor control requires rotor position information, and therefore requires a corresponding sensor. Because the rotary transformer can normally work in the occasions where the photoelectric encoder cannot normally work, such as high temperature, severe cold, humidity, high speed, high vibration and the like, and the rotary transformer can output the absolute position of the motor rotor, the rotary transformer is generally adopted as a rotor position sensor in the vehicle power motor system.

During the installation of the resolver, the zero-degree position of the resolver should coincide with the zero-degree position of the motor as much as possible. However, in the actual installation process, due to factors such as installation equipment errors and human operation errors, the zero-degree position of the rotary transformer cannot be completely overlapped with the zero-degree position of the motor, and a certain angle deviation exists, which is the initial angle of the rotor position (or called as the rotor position offset angle). The initial angle directly influences the torque response, the torque precision and even the external characteristics of the motor system, and further influences the dynamic property, the economical efficiency and the comfort of the whole vehicle. Therefore, the initial angle of the motor needs to be measured and marked for tracking in the process of each motor going off the line.

The traditional initial angle calibration method needs to be carried out on a motor system rack, rack resources, human resources and the like are needed in the method, the requirement of an automatic production line cannot be met, and due to the fact that the manual operation process is influenced by subjective feeling of operators, the stability and consistency of test results cannot be guaranteed. And the traditional method can not realize the automatic storage process of the initial angle, and errors brought by the recording process can be introduced.

Disclosure of Invention

The invention provides a method and a device for determining an initial angle of a rotor, a motor system and a storage medium, which are used for realizing automatic calibration of the position of a rotor of a rotary transformer.

In a first aspect, an embodiment of the present invention provides a method for determining an initial angle of a rotor, where the rotor is a rotor of a position sensor resolver of a permanent magnet synchronous motor of an electric vehicle, and the method includes:

acquiring a default initial angle of the rotor;

controlling the rotating speed and the current of the synchronous motor to reach set conditions according to the default initial angle;

an initial angle of the rotor is determined from a d-axis voltage of the synchronous machine.

In a second aspect, an embodiment of the present invention further provides a device for determining an initial angle of a rotor, the device including:

a default initial angle obtaining module, configured to obtain a default initial angle of the rotor;

the motor rotating speed and current control module is used for controlling the rotating speed and the current of the synchronous motor to reach set conditions according to the default initial angle;

an initial angle determination module to determine an initial angle of the rotor based on a d-axis voltage of the synchronous machine.

In a third aspect, an embodiment of the present invention further provides a motor system of an electric vehicle, where the motor system of the electric vehicle includes: the system comprises a permanent magnet synchronous motor, a rotary transformer, a motor controller, a high-voltage power supply and a low-voltage power supply, wherein the rotary transformer is a position sensor of the permanent magnet synchronous motor; the low-voltage power supply is used for supplying power to the motor controller; the high-voltage power supply is used for supplying power to the motor system so as to control the motor to rotate; the motor controller comprises an initial angle calibration module, and the initial angle calibration module is used for executing the method for determining the initial angle of the rotor provided by any embodiment of the invention.

In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the method for determining an initial angle of a rotor provided in any of the embodiments of the present invention.

According to the technical scheme of the embodiment of the invention, the rotation speed and the current of the motor are controlled to reach the set conditions according to the default initial angle, so that the state of the motor is close to the normal running state, the initial angle of the rotor is determined according to the voltage of the d shaft of the motor in the state, the automatic calibration of the initial angle of the rotor is realized, an external platform is not needed, the initial angle can be determined under the condition that the permanent magnet synchronous motor normally works, and the determination method is simple, easy to implement and high in accuracy.

Drawings

FIG. 1 is a flow chart of a method for determining an initial rotor angle according to a first embodiment of the present invention;

FIG. 2 is a flow chart of a method for determining an initial rotor angle according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a circuit device for determining an initial angle of a rotor according to a third embodiment of the present invention;

fig. 4A is a schematic structural diagram of a motor system of an electric vehicle according to a fourth embodiment of the present invention;

fig. 4B is a schematic structural diagram of a motor controller according to a fourth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures associated with the present invention are shown in the drawings, not all of them.