阅读说明：本技术 电机转子初始位置定位方法、装置、电子设备及存储介质 (Motor rotor initial position positioning method and device, electronic equipment and storage medium ) 是由 支涛 薛昊峰 于 2019-11-28 设计创作，主要内容包括：本申请提供了一种电机转子初始位置定位方法、装置、电子设备及存储介质,涉及电机技术领域,该方法应用于电机驱动装置,包括：获取电机的实际电流值；调节所述电机的实际电流值；在所述实际电流值与所述电机的额定电流值相等时,将所述转子的磁场轴的当前位置确定为所述转子的初始位置。本申请能够在不需要通过霍尔器件的情况下通过电机驱动装置得到电机转子初始位置,能够避免霍尔器件成本高且容易损坏的问题,因此本申请能够降低得到电机转子初始位置的成本以及提高得到电机转子初始位置的可靠性。(The application provides a motor rotor initial position positioning method, a motor rotor initial position positioning device, electronic equipment and a storage medium, which relate to the technical field of motors, and the method is applied to a motor driving device and comprises the following steps: acquiring an actual current value of the motor; adjusting an actual current value of the motor; when the actual current value is equal to a rated current value of the motor, determining a current position of a magnetic field axis of the rotor as an initial position of the rotor. According to the motor rotor initial position detection method and device, the motor rotor initial position can be obtained through the motor driving device under the condition that the Hall device is not needed, the problem that the Hall device is high in cost and easy to damage can be solved, and therefore the cost of obtaining the motor rotor initial position can be reduced, and the reliability of obtaining the motor rotor initial position can be improved.)

1. The method for positioning the initial position of the motor rotor is applied to a motor driving device and comprises the following steps:

acquiring an actual current value of the motor;

adjusting an actual current value of the motor;

when the actual current value is equal to a rated current value of the motor, determining a current position of a magnetic field axis of the rotor as an initial position of the rotor.

2. The method according to claim 1, wherein the motor driving device comprises a controller, a sensor is disposed in the motor for acquiring the actual current value of the motor, and the acquiring the actual current value of the motor comprises:

and the controller reads the current acquisition value of the sensor and takes the current acquisition value as the actual current value.

3. The method of claim 2, wherein the motor drive further comprises: the driver and the power tube control circuit, the driver respectively with the controller with the power tube control circuit electricity is connected, the power tube control circuit with the motor electricity is connected, the power tube control circuit includes power and one or more power tube, the driver is connected with the grid of each power tube, adjust the actual current value of the motor, include:

the controller sends a control signal to the driver;

the driver generates a level signal based on the control signal and controls a duty cycle of the one or more power tubes based on the level signal to adjust an actual current value in the motor.

4. The method according to claim 3, wherein the power tube control circuit comprises a first power tube, a second power tube, a third power tube, a fourth power tube, a fifth power tube and a sixth power tube, the positive electrode of the power source is connected with the drain electrode of the first power tube, the drain electrode of the third power tube and the drain electrode of the fifth power tube, the negative electrode of the power source is connected with the source electrode of the second power tube, the source electrode of the fourth power tube and the source electrode of the sixth power tube, the source electrode of the first power tube is connected with the drain electrode of the fourth power tube, the source electrode of the third power tube is connected with the drain electrode of the sixth power tube, the source electrode of the fifth power tube is connected with the drain electrode of the second power tube, the source electrode of the first power tube is connected with A of the motor, and the source electrode of the third power tube is connected with B of the motor, the source electrode of the fifth power tube is connected with the C of the motor, and the controlling the duty ratio of the one or more power tubes based on the level signal comprises the following steps:

the driver sends a low level to the first power tube, the second power tube and the sixth power tube, so that the first power tube, the second power tube or the sixth power tube are in an open circuit state;

the driver sends a low level to the third power tube and the fifth power tube, so that the third power tube and the fifth power tube are in a closed state;

the driver controls the duty ratio of the fourth power tube to adjust the actual current value of the motor.

5. The method of claim 4, wherein the driver controls a duty cycle of the fourth power tube, comprising:

when the actual current value is smaller than the rated current value, the driver increases the duty ratio of the fourth power tube by a preset value;

and when the actual current value is larger than the rated current value, the driver reduces the duty ratio of the fourth power tube by the preset value.

6. An initial position positioning device for a motor rotor, the device comprising:

the current acquisition module is used for acquiring the actual current value of the motor;

the current adjusting module is used for adjusting the actual current value in the motor;

and the rotor position determining module is used for determining the current position of the secondary state of the rotor as the initial position of the rotor when the actual current value is equal to the rated current value.

7. An electronic device, comprising a memory and a processor, wherein the memory stores program instructions, and wherein the processor, when reading and executing the program instructions, performs the steps of the method of any of claims 1-5.

8. A storage medium having stored thereon computer program instructions for executing the steps of the method according to any one of claims 1 to 5 when executed by a processor.

Technical Field

The application relates to the technical field of motors, in particular to a motor rotor initial position positioning method and device, electronic equipment and a storage medium.

Background

The existing robot chassis mostly adopts a Brushless Direct Current Motor (BLDC) or a Permanent Magnet Synchronous Motor (PMSM) to move, and because the robot needs to strictly control the running track and speed, the control strategy of the Motor mostly adopts vector control, and the vector control has the premise that the speed and position of the Motor are known, especially the initial position of the Motor in the position must be known, otherwise the Motor cannot be stably started, or even cannot be started. Conventionally, the speed and the position of the motor in the operation process are obtained through a photoelectric encoder, and the initial position of the motor is obtained through a hall device (a robot controller judges the position of a rotor by obtaining pulses sent by the hall device), so that the motor can be accurately controlled by adopting vector control.

However, the hall device and the light spot encoder are combined, so that the cost is high, the hall device is easy to damage, once the hall device is damaged, the motor cannot normally operate, and the robot cannot operate.

Disclosure of Invention

The embodiment of the application aims to provide a method, a device and electronic equipment for positioning an initial position of a motor rotor, so as to solve the problems of low reliability and high cost of the existing method.

The embodiment of the application provides a method for positioning an initial position of a motor rotor, which is applied to a motor driving device and comprises the following steps: acquiring an actual current value of the motor; adjusting an actual current value of the motor; when the actual current value is equal to a rated current value of the motor, determining a current position of a magnetic field axis of the rotor as an initial position of the rotor.

In the implementation process, the actual current value in the motor is adjusted through the motor driving device, and when the actual current value in the motor is equal to the rated current value, the initial position of the rotor is determined to be the position of the magnetic field shaft of the rotor.

Optionally, the motor driving device includes a controller, a sensor is disposed in the motor and used for acquiring the actual current value of the motor, and the acquiring the actual current value of the motor includes: and the controller reads the current acquisition value of the sensor and takes the current acquisition value as the actual current value.

In the implementation process, the controller in the motor driving device reads the actual current value acquired by the sensor and then obtains the initial position of the rotor when the actual current value is equal to the rated current, and a Hall device does not need to be added to obtain the initial position of the rotor, so that the cost of equipment needed for obtaining the initial position of the rotor can be reduced.

Optionally, the motor driving device further includes: a driver and a power tube control circuit, the driver being electrically connected to the controller and the power tube control circuit, respectively, the power tube control circuit being electrically connected to the motor, the power tube control circuit including a power source and one or more power tubes, the driver being connected to a gate of each power tube, the adjusting an actual current value in the motor comprising: the controller sends a control signal to the driver, and the driver generates a level signal based on the control signal and controls the duty ratio of the one or more power tubes based on the level signal so as to adjust the actual current value of the motor.

In the implementation process, the actual current value is accurately adjusted by adjusting the duty ratio of the one or more power tubes, so that the actual current value approaches the rated current value, and the initial position of the rotor is obtained.

Optionally, the power transistor control circuit includes a first power transistor, a second power transistor, a third power transistor, a fourth power transistor, a fifth power transistor, and a sixth power transistor, and an anode of the power supply is connected to a drain of the first power transistor, a drain of the third power transistor, and a drain of the fifth power transistor, respectively. The negative electrode of the power supply is respectively connected with the source electrode of the second power tube, the source electrode of the fourth power tube and the source electrode of the sixth power tube, and the source electrode of the first power tube is connected with the drain electrode of the fourth power tube. The source electrode of the third power tube is connected with the drain electrode of the sixth ground power tube, and the source electrode of the fifth power tube is connected with the drain electrode of the second power tube. The source electrode of the first power tube is connected with A of the motor, the source electrode of the third power tube is connected with B of the motor, the source electrode of the fifth power tube is connected with C of the motor, and the duty ratio of the one or more power tubes is controlled based on the level signal, including: the driver sends low level to the first power tube, the second power tube and the sixth power tube, so that the first power tube, the second power tube or the sixth power tube is in an open circuit state. The driver sends a low level to the third power tube and the fifth power tube, so that the third power tube and the fifth power tube are in a closed state. The driver controls the duty ratio of the fourth power tube to adjust the actual current value of the motor.

In the implementation process, when the first power tube, the second power tube, or the sixth power tube is in an open circuit state and the third power tube and the fifth power tube are in a closed state, and a high level is sent to the fourth power tube, a direction of a magnetic field synthesized by coils in the motor is a central axis direction of coils of the motor, and an initial position of the rotor is obtained through the direction of the magnetic field synthesized by the coils in the motor.

Further, when the fourth power tube is always in the closed state, the current in the motor may exceed the maximum current that the motor can bear, the duty cycle of the fourth power tube is controlled to adjust the actual current of the motor, the motor can be protected, and the duty cycle of the fourth power tube is adjusted to make the actual current approach the rated current, so that the initial position of the rotor is obtained, and the simplicity and accuracy of determining the initial position can be improved.

Optionally, the driver controls a duty cycle of the fourth power tube, including: when the actual current value is smaller than the rated current value, the driver increases the duty ratio of the fourth power tube by a preset value; and when the actual current value is larger than the rated current value, the driver reduces the duty ratio of the fourth power tube by the preset value.

In the implementation process, when the actual current value is smaller than the rated current value, the preset value is increased on the basis of the current duty ratio of the fourth power tube, and when the actual current value is larger than the rated current value, the preset value is decreased on the basis of the current duty ratio of the fourth power tube, so that the actual current value approaches the rated current value until the actual current value and the rated current value are equal, and the actual current value matched with the rated current value is obtained more accurately.

Embodiments of the present application further provide a motor rotor initial position positioning device, the device includes: and the current acquisition module is used for acquiring the actual current value of the motor. And the current adjusting module is used for adjusting the actual current value of the motor. And the rotor position determining module is used for indicating that the magnetic field generated by the rotor of the motor is superposed with the magnetic field generated by the coil of the motor when the actual current value is equal to the rated current value, and determining the initial position of the rotor as the position of the magnetic field axis of the rotor.

In the implementation process, the actual current value in the motor is adjusted through the motor driving device, and when the actual current value in the motor is equal to the rated current value, the initial position of the rotor is determined to be the position of the magnetic field shaft of the rotor.

Optionally, the motor driving device includes a controller, and a sensor for acquiring the actual current value of the motor is disposed in the motor. The current adjusting module is specifically configured to read a current collecting value of the sensor through the controller, and use the current collecting value as the actual current value.

In the implementation process, the controller in the motor driving device reads the actual current value acquired by the sensor and then obtains the initial position of the rotor when the actual current value is equal to the rated current value, and a hall device does not need to be added to obtain the initial position of the rotor, so that the cost for obtaining the initial position of the rotor can be reduced.

Optionally, the motor driving device further includes: the driver and the power tube control circuit, the driver respectively with the controller with the power tube control circuit electricity is connected, the power tube control circuit with the motor electricity is connected, the power tube control circuit includes power and one or more power tube, the driver is connected with the grid of each power tube, adjust the actual current value of motor, include: the controller sends a control signal to the driver; the driver generates a level signal based on the control signal and controls the duty ratio of the one or more power tubes based on the level signal to adjust the actual current value of the motor.

In the implementation process, the actual current value is adjusted by adjusting the duty ratio of the one or more power tubes, so that the actual current value approaches the rated current value, and the initial position of the rotor is obtained.

Optionally, the power tube control circuit includes a first power tube, a second power tube, a third power tube, a fourth power tube, a fifth power tube, and a sixth power tube. And the anode of the power supply is respectively connected with the drain electrode of the first power tube, the drain electrode of the third power tube and the drain electrode of the fifth power tube. And the negative electrode of the power supply is respectively connected with the source electrode of the second power tube, the source electrode of the fourth power tube and the source electrode of the sixth power tube. And the source electrode of the first power tube is connected with the drain electrode of the fourth power tube. And the source electrode of the third power tube is connected with the drain electrode of the sixth ground power tube. And the source electrode of the fifth power tube is connected with the drain electrode of the second power tube. The source electrode of the first power tube is connected with the motor A, the source electrode of the third power tube is connected with the motor B, and the source electrode of the fifth power tube is connected with the motor C. The rotor position determining module is specifically configured to send a low level to the first power tube, the second power tube, and the sixth power tube through the driver, so that the first power tube, the second power tube, or the sixth power tube is in an open circuit state; sending a low level to the third power tube and the fifth power tube through the driver, so that the third power tube and the fifth power tube are in a closed state; controlling, by the driver, a duty cycle of the fourth power tube to adjust the actual current value of the motor.

In the implementation process, when the first power tube, the second power tube, or the sixth power tube is in an open circuit state and the third power tube and the fifth power tube are in a closed state, and a high level is sent to the fourth power tube, a direction of a magnetic field synthesized by coils in the motor is a central axis direction of coils of the motor, and an initial position of the rotor is obtained through the direction of the magnetic field synthesized by the coils in the motor.

Further, when the fourth power tube is always in the closed state, the current in the motor may exceed the maximum current that the motor can bear, the duty cycle of the fourth power tube is controlled to adjust the actual current value of the motor, the motor can be protected, and the duty cycle of the fourth power tube is adjusted to make the actual current value approach the rated current value, so as to obtain the initial position of the rotor.

Optionally, the rotor position determining module is further specifically configured to increase, by the driver, a duty cycle of the fourth power tube by a preset value when the actual current value is smaller than the rated current value; and when the actual current value is larger than the rated current value, reducing the duty ratio of the fourth power tube by the preset value through the driver.

In the implementation process, when the actual current value is smaller than the rated current value, the preset value is increased on the basis of the current duty ratio of the fourth power tube, and when the actual current value is larger than the rated current value, the preset value is decreased on the basis of the current duty ratio of the fourth power tube, so that the actual current value approaches the rated current value until the actual current value and the rated current value are equal, and the actual current value matched with the rated current value is obtained more accurately.

The present embodiment also provides an electronic device, where the electronic device includes a memory and a processor, where the memory stores program instructions, and the processor executes the program instructions to perform the steps in any one of the above methods.

The present embodiment also provides a storage medium, in which computer program instructions are stored, and when the computer program instructions are executed by a processor, the steps in any one of the above methods are executed.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

Fig. 1 is a flowchart of a method for positioning an initial position of a rotor of a motor according to an embodiment of the present disclosure.

Fig. 2 is a schematic diagram of a method for positioning an initial position of a rotor of an electric machine according to an embodiment of the present application.

Fig. 3 is a block diagram of a motor driving apparatus according to an embodiment of the present application.

Fig. 4 is a flowchart for adjusting an actual current value in a motor according to an embodiment of the present disclosure.

Fig. 5 is a circuit diagram of a power control circuit according to an embodiment of the present disclosure.

Fig. 6 is a flowchart illustrating controlling duty cycles of one or more power transistors based on a level signal according to an embodiment of the present disclosure.

Fig. 7 is a schematic view of an initial position positioning device for a rotor of an electric machine according to an embodiment of the present disclosure.

Icon: 10-a motor; 101-a sensor; 20-motor drive means; 201-a controller; 202-a driver; 203-power tube control circuit; 2031-a power supply; 2032-power tube; 2032A-a first power tube; 2032B-a second power tube; 2032C-a third power tube; 2032D-a fourth power tube; 2032E-a fifth power tube; 2032F-sixth power tube; 30-motor rotor initial position positioning device; 301-a current acquisition module; 302-a current regulation module; 303-rotor position determination module.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

In the description of the present application, it is noted that the terms "first", "second", and the like are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.

An embodiment of the present application provides a method for positioning an initial position of a rotor of a motor, please refer to fig. 1, where fig. 1 is a flowchart of the method for positioning the initial position of the rotor of the motor according to the embodiment of the present application, and the method includes the following steps:

step S1: the actual current value of the motor 10 is acquired.

The motor 10 may be a dc motor or an ac motor, and the ac motor is further classified into a single-phase motor and a three-phase motor. According to the structure and working principle, the motor 10 can be an asynchronous motor or a synchronous motor, and the synchronous motor can be further divided into a permanent magnet synchronous motor, a reluctance synchronous motor and a hysteresis synchronous motor. Asynchronous motors can be divided into induction motors and ac commutator motors. Induction motors are further classified into three-phase asynchronous motors, single-phase asynchronous motors, shaded pole asynchronous motors, and the like. The ac commutator motor is divided into a single-phase series motor, an ac/dc dual-purpose motor and a repulsion motor. The actual current value refers to an actual current value in the motor 10 in a state where the motor 10 is in operation.

Alternatively, when the motor 10 is a three-phase motor, the current of the a-phase terminal of the motor 10 is collected as an actual current value.

Step S2: the actual current value of the motor 10 is adjusted.

Alternatively, it is possible to control the magnitude of the actual current value of the motor 10 by sending level signals of different duty ratios to the motor 10.

Step S3: when the actual current value is equal to the rated current value of the motor 10, the current position of the field axis of the rotor is determined as the initial position of the rotor.

Wherein, the rated current value is the current allowed by the motor in the long-term continuous operation under the rated environment (ambient temperature, sunshine and installation condition), taking the three-phase motor as an example, the following calculation formula

Wherein, U is a rated current value, P is a rated voltage value, phi is the phase difference of U and I, and the rated current value is calculated under the condition of knowing P, U and phi.

Referring to fig. 2, fig. 2 is a schematic diagram of a method for positioning an initial position of a rotor of an electric motor according to an embodiment of the present disclosure, where a direction of a magnetic field generated by a coil in the electric motor 10 is denoted as along a α axis, a direction of a magnetic field generated by a rotor of the electric motor 10 is denoted as along a d axis, and an included angle between an α axis and the d axis is θ, the two magnetic fields interact with each other so that the magnetic field generated by the rotor and the magnetic field generated by the coil attract each other, so that the direction of the magnetic field generated by the rotor approaches and coincides with the direction of the magnetic field generated by the coil, that is, the d axis finally coincides with a α axis, and thus, the initial position of the rotor magnetic field axis is along a α axis, that is, the initial position of the electric motor 10 is obtained.

In the implementation process, the actual current value in the motor 10 is adjusted by the motor driving device 20, and when the actual current value in the motor 10 is equal to the rated current value of the motor 10, the initial position of the rotor of the motor 10 is determined as the position of the magnetic field axis of the rotor of the motor 10, the method does not need to obtain the initial position of the motor 10 only by the motor driving device 20 through a hall device, the hall device is high in cost and easy to damage, and the initial position of the rotor of the motor 10 cannot be obtained under the condition that the hall device is damaged, so that the method can reduce the cost for obtaining the initial position of the motor 10 and improve the reliability for obtaining the initial position of the motor.

The embodiment of the application provides a method for positioning an initial position of a motor rotor, which is applied to a motor driving device 20, the motor driving device 20 comprises a controller 201, and a sensor 101 for acquiring an actual current value of a motor 10 is arranged in the motor 10.

When the method for positioning the initial position of the motor rotor is applied to the motor driving device 20, step S1 may specifically include: the controller 201 reads the current collection value of the sensor 101, and takes the current collection value as the actual current value.

In the present embodiment, the sensor 101 is used to collect the actual current value of the motor 10, and a current divider or an electronic current transformer may be selected. A shunt is used for measuring a direct current and is manufactured according to the principle that a voltage is generated across a resistor when a direct current passes through the resistor. The shunt has the advantages of high precision, high response speed and low cost. The electronic current transformer comprises a hall current sensor, which is made according to the hall effect principle and applies to ampere's law, i.e. a magnetic field proportional to the current is generated around the current carrying conductor, while the hall device is used to measure this magnetic field. Thus, a non-contact measurement of the current is made possible. The Hall current sensor can measure direct current and alternating current, the frequency is up to 100KHz, and the Hall current sensor has higher precision and good isolation.

Referring to fig. 3, fig. 3 is a block diagram of a motor driving apparatus according to an embodiment of the present application. The direction of the arrows in fig. 3 is the signal flow direction. The motor driving device 20 further includes a driver 202 and a power tube control circuit 203, the driver 202 is electrically connected to the controller 201 and the power tube control circuit 203, respectively, and the power tube control circuit 203 is electrically connected to the motor 10.

Optionally, the power tube control circuit 203 includes a power source 2031 and one or more power tubes 2032, the driver 202 is connected to the gate of each power tube, and the step S2 can be specifically divided into the following steps, please refer to fig. 4, where fig. 4 is a flowchart for adjusting the actual current value in the motor according to an embodiment of the present application:

step S21: the controller 201 sends a control signal to the driver 202.

Step S22: the driver 202 generates a level signal based on the control signal and controls the duty cycle of one or more power tubes based on the level signal to adjust the actual current value in the motor 10.

Alternatively, the controller 201 may be a processor composed of three components of an instruction register ir (instruction register), a program counter pc (program counter), and an operation controller oc (operation controller), and the controller 201 is used to send a control signal to the drive 202 in addition to reading the current acquisition value of the sensor 101.

Generally, the driver 202 is a stepping motor driver, a dc servo driver or an ac servo driver, and can control the angular displacement by controlling the number of pulses, so as to achieve the purpose of accurate positioning. Meanwhile, the driver 202 can control the speed and acceleration of the rotation of the motor 10 by controlling the pulse frequency, thereby achieving the purposes of speed regulation and positioning. Optionally, the power tube control circuit 203 includes a first power tube 2032A, a second power tube 2032B, a third power tube 2032C, a fourth power tube 2032D, a fifth power tube 2032E, and a sixth power tube 2032F, wherein the positive electrode of the power supply 2031 is connected to the drain of the first power tube 2032A, the drain of the third power tube 2032C, and the drain of the fifth power tube 2032E, the negative electrode of the power supply 2031 is connected to the source of the second power tube 2032B, the source of the fourth power tube 2032D, and the source of the sixth power tube 2032F, the source of the first power tube 2032A is connected to the drain of the fourth power tube 2032D, the source of the third power tube 2032C is connected to the drain of the sixth power tube 2032F, the source of the fifth power tube 2032E is connected to the drain of the second power tube 2032B, the source of the first power tube 2A is connected to the source of the motor 10, and the source of the third power tube 2032C is connected to the motor 10, the source of the fifth power transistor 2032E is connected to C of the motor 10. Fig. 5 may be referred to for the above connection manner, and fig. 5 is a circuit diagram of a power control circuit provided in an embodiment of the present application.

Alternatively, the power source 2031 is a dc power source, and the power transistor 2032 may be a field effect transistor.

Referring to fig. 6, fig. 6 is a flowchart illustrating controlling duty cycles of one or more power transistors based on a level signal according to an embodiment of the present disclosure. Step S22 may be specifically divided into the following steps:

step S22.1: the driver 202 sends a low level to the first power pipe 2032A, the second power pipe 2032B, and the sixth power pipe 2032F, so that the first power pipe 2032A, the second power pipe 2032B, or the sixth power pipe 2032F is in an open state.

Step S22.2: the driver 202 sends a low level to the third power tube 2032C and the fifth power tube 2032E, so that the third power tube 2032C and the fifth power tube 2032E are in a closed state.

Step S22.3: the driver 202 controls the duty cycle of the fourth power tube 2032D to adjust the actual current value of the motor 10.

When the first power tube 2032A, the second power tube 2032B, or the sixth power tube 2032F is in an open state and the third power tube 2032C and the fifth power tube 2032E are in a closed state and a high level is transmitted to the fourth power tube 2032D, the direction of the magnetic field synthesized by the coils in the motor 10 is the direction of the center axis of the coils of the motor 10, and the initial position of the rotor is obtained from the direction of the magnetic field synthesized by the coils in the motor 10, and the direction of the center axis of the coils of the motor 10 is easily obtained, so that it is convenient to determine the initial position of the motor 10.

Further, when the fourth power tube 2032D is always in a closed state, the current in the motor 10 may exceed the maximum current that the motor 10 can bear, the duty ratio of the fourth power tube 2032D is controlled to adjust the actual current value of the motor 10, the motor 10 can be protected, and the duty ratio of the fourth power tube 2032D is adjusted to make the actual current value approach the rated current value, so as to obtain the initial position of the rotor.

Optionally, the driver 202 controls the duty cycle of the fourth power tube 2032D, including: when the actual current value is less than the rated current value, the driver 202 increases the duty ratio of the fourth power tube 2032D by a preset value. And when the actual current value is larger than the rated current value, the driver reduces the duty ratio of the fourth power tube by the preset value.

It is understood that the preset value is set according to a variation amplitude of an actual current value of the motor 10 when the duty ratio of the fourth power tube 2032D is varied in an actual situation.

Referring to fig. 7, fig. 7 is a schematic view of an initial position positioning device for a rotor of an electric machine according to an embodiment of the present disclosure.

In order to better implement the method for positioning the initial position of the motor rotor provided by the embodiment, the embodiment further provides a device 30 for positioning the initial position of the motor rotor. The motor rotor initial position positioning device 30 includes:

a current obtaining module 301, configured to obtain an actual current value of the motor;

a current adjusting module 302 for adjusting an actual current value of the motor;

and a rotor position determining module 303, configured to determine a current position of the magnetic field axis of the rotor as an initial position of the rotor when the actual current value is equal to the rated current value.

Optionally, the motor driving device 20 includes a controller 201, and the motor 10 is provided with a sensor 101 for acquiring an actual current value of the motor 10. The current regulation module 302 is specifically configured to: the currently acquired value of the sensor 101 is read by the controller 201, and the currently acquired value is taken as the actual current value.

Optionally, the motor driving apparatus 20 includes a driver 202 and a power tube control circuit 203, the driver 202 is electrically connected to the controller 201 and the power tube control circuit 203 respectively, the power tube control circuit 203 is electrically connected to the motor 10, the power tube control circuit 203 includes a power source 2031 and one or more power tubes 2032, the driver 202 is connected to a gate of each power tube 2032, and the current adjusting module 302 is specifically configured to: the current adjusting module 302 is further configured to send a control signal to the driver 202 through the controller 201, and to generate a level signal based on the control signal through the driver 202, and to control the duty ratio of the one or more power tubes 2032 based on the level signal, so as to adjust the actual current value of the motor 10.

Optionally, the power tube control circuit 203 includes a first power tube 2032A, a second power tube 2032B, a third power tube 2032C, a fourth power tube 2032D, a fifth power tube 2032E, and a sixth power tube 2032F. The positive electrode of the power supply 2031 is connected to the drain of the first power transistor 2032A, the drain of the third power transistor 2032C, and the drain of the fifth power transistor 2032E, respectively. The negative electrode of the power supply 2031 is connected to the source of the second power transistor 2032B, the source of the fourth power transistor 2032D, and the source of the sixth power transistor 2032F, respectively. The source of the first power transistor 2032A is connected to the drain of the fourth power transistor 2032D. The source of the third power transistor 2032C is connected to the drain of the sixth power transistor 2032F. The source of the fifth power transistor 2032E is connected to the drain of the second power transistor 2032B. The source of the first power tube 2032A is connected to a of the motor 10, the source of the third power tube 2032C is connected to B of the motor 10, and the source of the fifth power tube 2032E is connected to C of the motor 10. The rotor position determination module 303 is specifically configured to: sending a low level to the first power tube 2032A, the second power tube 2032B, and the sixth power tube 2032F through the driver 202, so that the first power tube 2032A, the second power tube 2032B, and the sixth power tube 2032F are in an open state; sending a low level to the third power tube 2032C and the fifth power tube 2032E through the driver 202, so that the third power tube 2032C and the fifth power tube 2032E are in a closed state; the duty cycle of the fourth power tube 2032D is controlled by the driver 202 to adjust the actual current value of the motor 10.

Optionally, the rotor position determining module 303 is specifically further configured to: when the actual current value is smaller than the rated current value, the duty ratio of the fourth power tube 2032D is increased by a preset value through the driver 202; when the actual current value is greater than the rated current value, the duty cycle of the fourth power tube 2032D is decreased by the preset value through the driver 202.

The present embodiment also provides an electronic device, where the electronic device includes a memory and a processor, where the memory stores program instructions, and the processor executes the program instructions to perform the steps in any one of the above methods.

The present embodiment also provides a storage medium, in which computer program instructions are stored, and when the computer program instructions are executed by a processor, the steps in any one of the above methods are executed.

Alternatively, the electronic device may be a Personal Computer (PC), a tablet PC, a smart phone, a Personal Digital Assistant (PDA), or other electronic devices.

In summary, embodiments of the present application provide a method and an apparatus for positioning an initial position of a motor rotor, an electronic device, and a storage medium, where the method is applied to a motor driving apparatus, and the method includes: acquiring an actual current value of the motor; adjusting an actual current value of the motor; when the actual current value is equal to a rated current value of the motor, determining a current position of a magnetic field axis of the rotor as an initial position of the rotor.

In the implementation process, the actual current value in the motor is adjusted through the motor driving device, and when the actual current value in the motor is equal to the rated current value, the initial position of the rotor is determined to be the position of the magnetic field shaft of the rotor.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. The apparatus embodiments described above are merely illustrative, and for example, the block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices according to various embodiments of the present application. In this regard, each block in the block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams, and combinations of blocks in the block diagrams, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Therefore, the present embodiment further provides a readable storage medium, in which computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the computer program instructions perform the steps of any of the block data storage methods. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.