Method and device for determining zero position of motor
阅读说明：本技术 电机零位的确定方法和装置 (Method and device for determining zero position of motor ) 是由 徐鲁辉 肖恺 杜智勇 于 2018-07-27 设计创作，主要内容包括：本公开涉及一种电机零位的确定方法和装置,该方法包括：根据预设的第一占空比和第一电流值,在电机通电后,确定在电机的转子达到预设位置时转子的第一角度；控制电机的电流清零；利用第一电流控制指令,控制电机的转速达到预设转速；利用第二电流控制指令,控制电机在惯性状态下运行预设时间,以在预设时间完成后获取转子的第二角度；根据第一角度和第二角度,确定电机的零位。因此能够有效地测试电机的零位,并对获取的数据进行实时在线处理,进而确定电机的精确的零位信息,不需要人为修正,操作简便,节约时间、人力和设备成本。(The present disclosure relates to a method and a device for determining a zero position of a motor, wherein the method comprises the following steps: according to the preset first duty ratio and the first current value, after the motor is electrified, determining a first angle of a rotor when the rotor of the motor reaches a preset position; current zero clearing of the control motor; controlling the rotating speed of the motor to reach a preset rotating speed by utilizing a first current control instruction; controlling the motor to operate for a preset time in an inertial state by using a second current control instruction so as to obtain a second angle of the rotor after the preset time is finished; and determining the zero position of the motor according to the first angle and the second angle. Therefore, the zero position of the motor can be effectively tested, the acquired data is processed on line in real time, accurate zero position information of the motor is further determined, manual correction is not needed, the operation is simple and convenient, and the time, labor and equipment cost are saved.)
1. A method of determining a zero position of an electric motor, the method comprising:
according to a preset first duty ratio and a first current value, after the motor is electrified, determining a first angle of a rotor of the motor when the rotor reaches a preset position;
controlling the current of the motor to be reset;
controlling the rotating speed of the motor to reach a preset rotating speed by utilizing a first current control instruction;
controlling the motor to operate for a preset time in an inertial state by using a second current control instruction so as to obtain a second angle of the rotor after the preset time is finished;
and determining the zero position of the motor according to the first angle and the second angle.
2. The method of claim 1, further comprising:
after the second angle is obtained, controlling the rotating speed of the motor to be reduced to an initial rotating speed value by using a third current control instruction;
and controlling the current of the motor to be cleared by utilizing a fourth current control command.
3. The method of claim 1, wherein determining a first angle of the motor when the rotor of the motor reaches a preset position after the motor is energized according to a preset first duty cycle and a first current value comprises:
setting duty ratios of the phases of the motor according to the first duty ratio;
after the duty ratio of each phase is set, electrifying the motor according to the first current value;
when the rotor reaches the preset position, determining the first angle according to the preset position;
and storing and writing the first angle into a control program of the motor.
4. The method of claim 1, wherein said controlling current to zero of said motor comprises:
setting the duty cycle of each phase of the motor to the initial duty cycle;
and controlling the current output of the motor to be zero by utilizing the initial duty ratio.
5. The method of claim 1, wherein the controlling the motor to operate in the inertial state for a preset time with a second current control command to obtain a second angle of the rotor after the preset time is completed comprises:
responding to the second current control instruction, and controlling the motor to operate for the preset time in an inertia state;
after the preset time is finished, acquiring direct-axis voltage and quadrature-axis voltage of the motor;
filtering the direct axis voltage and the quadrature axis voltage to determine a first direct axis voltage and a first quadrature axis voltage;
determining the second angle according to the first direct axis voltage and the second quadrature axis voltage;
and writing the second angle into a control program of the motor.
6. The method of claim 1, further comprising, prior to said determining a zero position of the motor based on the first angle and the second angle:
repeatedly executing the step of controlling the rotating speed of the motor to reach the preset rotating speed by using the first current control instruction and the step of controlling the motor to operate for the preset time in the inertial state by using the second current control instruction so as to obtain the second angle of the rotor after the preset time is finished, so as to obtain at least one second angle again;
the determining a zero position of the motor according to the first angle and the second angle includes:
and taking the difference value of the first angle and the obtained average value of the plurality of second angles as the zero position of the motor.
7. An apparatus for determining a zero position of an electric motor, the apparatus comprising:
the first angle determining module is used for determining a first angle of a rotor of the motor when the rotor reaches a preset position after the motor is electrified according to a preset first duty ratio and a first current value;
the current zero clearing module is used for controlling the current zero clearing of the motor;
the rotating speed control module is used for controlling the rotating speed of the motor to reach a preset rotating speed by utilizing a first current control instruction;
the second angle acquisition module is used for controlling the motor to operate for a preset time in an inertial state by using a second current control instruction so as to acquire a second angle of the rotor after the preset time is finished;
and the zero position determining module is used for determining the zero position of the motor according to the first angle and the second angle.
8. The apparatus of claim 7, wherein the apparatus comprises:
the rotating speed control module is further used for controlling the rotating speed of the motor to be reduced to an initial rotating speed value by using a third current control instruction after the second angle is obtained;
the current zero clearing module is further used for controlling current zero clearing of the motor by utilizing a fourth current control instruction.
9. The apparatus of claim 7, wherein the first angle determining module comprises:
the duty ratio setting submodule is used for setting the duty ratio of each phase of the motor according to the first duty ratio;
the energization submodule is used for energizing the motor according to the first current value after the duty ratio of each phase is set;
the angle determining submodule is used for determining the first angle according to the preset position when the rotor reaches the preset position;
and the angle writing submodule is used for storing and writing the first angle into a control program of the motor.
10. The apparatus of claim 7, wherein the current zero module comprises:
the duty ratio setting submodule is used for setting the duty ratio of each phase of the motor as the initial duty ratio;
and the current control submodule is used for controlling the current output of the motor to be zero by utilizing the initial duty ratio.
11. The apparatus of claim 7, wherein the second angle obtaining module comprises:
the operation control submodule is used for responding to the second current control instruction and controlling the motor to operate for the preset time in an inertial state;
the voltage acquisition submodule is used for acquiring direct-axis voltage and quadrature-axis voltage of the motor after the preset time is finished;
the filtering processing submodule is used for carrying out filtering processing on the direct-axis voltage and the quadrature-axis voltage so as to determine a first direct-axis voltage and a first quadrature-axis voltage;
the angle determining submodule is used for determining the second angle according to the first direct-axis voltage and the first quadrature-axis voltage;
and the angle writing submodule is used for writing the second angle into a control program of the motor.
12. The apparatus of claim 7, further comprising:
the repeated execution module is used for repeatedly executing the step of controlling the rotating speed of the motor to reach the preset rotating speed by using the first current control instruction and the step of controlling the motor to operate for the preset time in the inertial state by using the second current control instruction so as to obtain the second angle of the rotor after the preset time is finished, so as to obtain at least one second angle again;
the zero determination module is configured to:
and taking the difference value of the first angle and the obtained average value of the plurality of second angles as the zero position of the motor.
Technical Field
The disclosure relates to the technical field of machinery, in particular to a method and a device for determining a zero position of a motor.
Background
The integration of electric automobile is a definite development direction, and more manufacturers integrate the relevant power spare part of electric drive together and form the electric drive bridge, comprises three key components of motor controller, motor and reduction gear promptly, and motor controller and motor combination form the matching together. The zero position of the motor is a critical factor for controlling synchronous motors, and is a critical point for the orientation of the magnetic field in motor control. There are many test schemes to the zero position of the motor among the prior art, including: the method comprises the following steps of testing zero crossing points of no-load back electromotive force of the motor, comparing motor parameters by presetting a data table, and testing the direct current of the tested motor. However, some of the test schemes can need a whole set of motor test bench, and other test schemes need manual adjustment, so that the dependence on equipment and personnel is strong, large-batch zero position test is not easy to realize, and accurate test of the zero position of the motor system is not facilitated again after the motor parts are replaced.
Disclosure of Invention
The purpose of the present disclosure is to provide a method and an apparatus for determining a zero position of a motor, which can simplify operations and save costs without relying on manual calibration and a complete set of bench test systems.
According to a first aspect of the embodiments of the present disclosure, there is provided a method for determining a zero position of a motor, the method including:
according to a preset first duty ratio and a first current value, after the motor is electrified, determining a first angle of a rotor of the motor when the rotor reaches a preset position;
controlling the current of the motor to be reset;
controlling the rotating speed of the motor to reach a preset rotating speed by utilizing a first current control instruction;
controlling the motor to operate for a preset time in an inertial state by using a second current control instruction so as to obtain a second angle of the rotor after the preset time is finished;
and determining the zero position of the motor according to the first angle and the second angle.
Optionally, the method further includes:
after the second angle is obtained, controlling the rotating speed of the motor to be reduced to an initial rotating speed value by using a third current control instruction;
and controlling the current of the motor to be cleared by utilizing a fourth current control command.
Optionally, the determining, according to a preset first duty cycle and a preset first current value, a first angle of a rotor of the motor when the rotor reaches a preset position after the motor is powered on includes:
setting duty ratios of the phases of the motor according to the first duty ratio;
after the duty ratio of each phase is set, electrifying the motor according to the first current value;
when the rotor reaches the preset position, determining the first angle according to the preset position;
and storing and writing the first angle into a control program of the motor.
Optionally, the current zero clearing for controlling the motor includes:
setting the duty ratio of each phase voltage of the motor as the initial duty ratio;
and controlling the current output of the motor to be zero by utilizing the initial duty ratio.
Optionally, the controlling, by using the second current control instruction, the motor to operate for a preset time in an inertial state, so as to obtain a second angle of the rotor after the preset time is completed, includes:
responding to the second current control instruction, and controlling the motor to operate for the preset time in an inertia state;
after the preset time is finished, acquiring direct-axis voltage and quadrature-axis voltage of the motor;
filtering the direct axis voltage and the quadrature axis voltage to determine a first direct axis voltage and a first quadrature axis voltage;
determining the second angle according to the first direct axis voltage and the first quadrature axis voltage;
and writing the second angle into a control program of the motor.
Optionally, before the determining the zero position of the motor according to the first angle and the second angle, the method further includes:
repeatedly executing the step of controlling the rotating speed of the motor to reach the preset rotating speed by using the first current control instruction and the step of controlling the motor to operate for the preset time in the inertial state by using the second current control instruction so as to obtain the second angle of the rotor after the preset time is finished, so as to obtain at least one second angle again;
the determining a zero position of the motor according to the first angle and the second angle includes:
and taking the difference value of the first angle and the obtained average value of the plurality of second angles as the zero position of the motor.
According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus for determining a zero position of a motor, the apparatus including:
the first angle determining module is used for determining a first angle of a rotor of the motor when the rotor reaches a preset position after the motor is electrified according to a preset first duty ratio and a first current value;
the current zero clearing module is used for controlling the current zero clearing of the motor;
the rotating speed control module is used for controlling the rotating speed of the motor to reach a preset rotating speed by utilizing a first current control instruction;
the second angle acquisition module is used for controlling the motor to operate for a preset time in an inertial state by using a second current control instruction so as to acquire a second angle of the rotor after the preset time is finished;
and the zero position determining module is used for determining the zero position of the motor according to the first angle and the second angle.
Optionally, the apparatus includes:
the rotating speed control module is further used for controlling the rotating speed of the motor to be reduced to an initial rotating speed value by using a third current control instruction after the second angle is obtained;
the current zero clearing module is further used for controlling current zero clearing of the motor by utilizing a fourth current control instruction.
Optionally, the first angle determining module includes:
the duty ratio setting submodule is used for setting the duty ratio of each phase of the motor according to the first duty ratio;
the energization submodule is used for energizing the motor according to the first current value after the duty ratio of each phase is set;
the angle determining submodule is used for determining the first angle according to the preset position when the rotor reaches the preset position;
and the angle writing submodule is used for storing and writing the first angle into a control program of the motor.
Optionally, the current zero module includes:
the duty ratio setting submodule is used for setting the duty ratio of each phase voltage of the motor as the initial duty ratio;
and the current control submodule is used for controlling the current output of the motor to be zero by utilizing the initial duty ratio.
Optionally, the second angle obtaining module includes:
the operation control submodule is used for responding to the second current control instruction and controlling the motor to operate for the preset time in an inertial state;
the voltage acquisition submodule is used for acquiring direct-axis voltage and quadrature-axis voltage of the motor after the preset time is finished;
the filtering processing submodule is used for carrying out filtering processing on the direct-axis voltage and the quadrature-axis voltage so as to determine a first direct-axis voltage and a first quadrature-axis voltage;
the angle determining submodule is used for determining the second angle according to the first direct-axis voltage and the first quadrature-axis voltage;
and the angle writing submodule is used for writing the second angle into a control program of the motor.
Optionally, the apparatus further comprises:
the repeated execution module is used for repeatedly executing the step of controlling the rotating speed of the motor to reach the preset rotating speed by using the first current control instruction and the step of controlling the motor to operate for the preset time in the inertial state by using the second current control instruction so as to obtain the second angle of the rotor after the preset time is finished, so as to obtain at least one second angle again;
the zero determination module is configured to:
and taking the difference value of the first angle and the obtained average value of the plurality of second angles as the zero position of the motor.
According to the technical scheme, after the motor is electrified, a first angle of the rotor when the rotor of the motor reaches a preset position is determined according to a preset first duty ratio and a first current value; controlling the current of the motor to be reset; controlling the rotating speed of the motor to reach a preset rotating speed by utilizing a first current control instruction; controlling the motor to operate for a preset time in an inertial state by using a second current control instruction so as to obtain a second angle of the rotor after the preset time is finished; and determining the zero position of the motor according to the first angle and the second angle. Therefore, the zero position of the motor can be effectively tested, the acquired data is processed on line in real time, accurate zero position information of the motor is further determined, manual correction is not needed, the operation is simple and convenient, and the time, labor and equipment cost are saved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic diagram of an electric drive bridge according to an exemplary embodiment;
FIG. 2 is a flow chart illustrating a method of determining a zero position of a motor in accordance with an exemplary embodiment;
FIG. 3 is a flow chart illustrating another method of motor zero determination in accordance with an exemplary embodiment;
FIG. 4 is a flow chart illustrating yet another method of motor zero determination in accordance with an exemplary embodiment;
FIG. 5 is a flow chart illustrating yet another method of motor zero determination in accordance with an exemplary embodiment;
FIG. 6 is a flow chart illustrating yet another method of motor zero determination in accordance with an exemplary embodiment;
FIG. 7 is a flow chart illustrating yet another method of motor zero determination in accordance with an exemplary embodiment;
FIG. 8 is a block diagram illustrating an apparatus for determining a zero position of a motor in accordance with an exemplary embodiment;
FIG. 9 is a block diagram illustrating a first angle determination module in accordance with an exemplary embodiment;
FIG. 10 is a block diagram illustrating a current zero module in accordance with an exemplary embodiment;
FIG. 11 is a block diagram illustrating a second angle acquisition module in accordance with an exemplary embodiment;
FIG. 12 is a block diagram illustrating another motor zero position determination arrangement in accordance with an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Before introducing the embodiment of the present disclosure, an application scenario of the technical solution of the present disclosure is first introduced, where a structure of an electric drive bridge is as shown in fig. 1, when testing a zero position of a motor therein, the electric drive bridge needs to be fixed on a tool to prevent the electric drive bridge from rolling due to movement, which brings danger, and power is supplied to a bus side of a motor controller, so that the motor controller drives the motor to rotate, that is, a dc power supply is added to a dc power supply side to implement a zero position test of the motor.
When the zero position of the motor is accurate, and the motor stably runs at a certain rotating speed in a steady state, a current command Id (direct axis current) is 0, Iq (quadrature axis current) is 0 is applied to the motor controller, and according to a voltage calculation formula of the motor, the direct axis voltage can be determined to be zero Ud and 0, and the quadrature axis voltage is a fixed value. However, when the zero position of the motor is inaccurate, for example, a zero offset angle theta exists, and when the motor is stably operated at a certain rotating speed in a steady state, the current command Id is 0 and Iq is 0 are also applied to the motor controller, at this time, the direct-axis voltage is no longer zero, the quadrature-axis voltage is no longer a fixed value, and a function relation depending on theta exists between the direct-axis voltage and the quadrature-axis voltage, that is, the ratio of the direct-axis voltage to the quadrature-axis voltage is the tangent value of theta. The present disclosure provides a simple and easy technical scheme, which effectively tests the zero offset angle theta, and then controls and adjusts the motor to overcome the influence caused by the zero offset angle.
FIG. 2 is a flow chart illustrating a method for determining a zero position of a motor, as shown in FIG. 2, according to an exemplary embodiment, the method comprising the steps of:
By way of example, with a preset first duty cycle and a first current value, a rough determination of the zero position of the energized electric machine is achieved, since the three-phase synchronous motor includes a three-phase stator winding and a rotor (a rotor winding is provided on the rotor), the phase difference between each two phase windings of the three-phase stator winding is 120 degrees, the first current value includes the respective current values of the three phases, i.e., a-phase current value, a B-phase current value, and a C-phase current value, which are current values applied to both ends of the three-phase stator winding, respectively, the first duty includes duty ratios of the three phases, respectively, namely, the duty ratio of the A phase, the duty ratio of the B phase and the duty ratio of the C phase, the duty ratios of the three phases refer to the proportion of the power-on time of the voltages at two ends of the three-phase stator winding in one power-on and power-off period, the voltage at the two ends of the three-phase stator winding can be adjusted by adjusting the duty ratio of each phase. That is, the first duty ratio is different from the initial duty ratio of the motor, that is, the three-phase duty ratios of the motor are not consistent, and the motor is rotated by using the first current value, so that the rotor of the motor reaches a preset position, which is an indication of the position of the rotor in the motor, for example, D1 or D2, to measure the first angle of the rotor at the preset position.
It should be noted that the technical solution proposed by the present disclosure can be applied to, but not limited to, a drive system with a motor running in one direction, and the method proposed by the present disclosure can also be used for determining the zero position for a motor running in two directions.
After the first angle is determined, the first angle is written into a control program of the motor, so that the calculation is called when the zero position is determined in the following step.
And step 202, controlling the current of the motor to be cleared.
For example, after the
And step 203, controlling the rotating speed of the motor to reach a preset rotating speed by using the first current control instruction.
For example, after the current of the motor is cleared, the zero position of the motor is measured again, and the motor is rotated in a no-load manner until the rotation speed reaches the preset rotation speed by using the first current control command, for example, Id is 0 and Iq is TBD (a certain preset value, which is a positive value).
And 204, controlling the motor to operate for a preset time in an inertial state by using a second current control instruction so as to obtain a second angle of the rotor after the preset time is finished.
For example, after reaching the preset rotation speed, a second measurement of the deviation angle of the zero position of the motor is started, which is different from the operation of
For example, the zero position of the electric machine is determined as the difference between the first angle, i.e. the roughly measured zero position, and the second angle, and the corrected angle for the zero position.
In summary, according to the method for determining the zero position of the motor, after the motor is powered on, a first angle of the rotor when the rotor of the motor reaches a preset position is determined according to a preset first duty ratio and a first current value; after the first angle is determined, the current of the motor is controlled to be reset; after the current of the motor is cleared, controlling the rotating speed of the motor to reach a preset rotating speed by using a first current control instruction; after the rotating speed reaches the preset rotating speed, controlling the motor to operate for the preset time in the inertial state by using a second current control instruction so as to obtain a second angle of the rotor after the preset time is finished; and determining the zero position of the motor according to the first angle and the second angle. Therefore, the zero position of the motor can be effectively tested, the acquired data is processed on line in real time, accurate zero position information of the motor is further determined, manual correction is not needed, the operation is simple and convenient, and the time, labor and equipment cost are saved.
FIG. 3 is a flow chart illustrating another method for determining a zero position of a motor in accordance with an exemplary embodiment, as shown in FIG. 3, the method further comprising the steps of:
and step 206, after the second angle is obtained, controlling the rotation speed of the motor to be reduced to the rotation speed initial value by using a third current control instruction.
For example, after the second angle is obtained, a third current control command is used, for example, Id is 0, Iq is TBD (the absolute value of the quadrature axis current is equal to that of the second current control command, and the sign is opposite to that of the quadrature axis current, that is, the quadrature axis current is a negative value), so that the rotation speed of the measured motor can be quickly reduced to 0.
And step 207, utilizing a fourth current control command to control the current of the motor to be cleared.
For example, the initial value of the rotation speed is 0, that is, after the rotation speed of the motor is rapidly reduced to 0 in
That is, through the
Fig. 4 is a flowchart illustrating a method for determining a zero position of a motor according to an exemplary embodiment, where, as shown in fig. 4, after the motor is powered on, determining a first angle of the rotor when the rotor of the motor reaches a preset position according to a preset first duty ratio and a first current value in
in
For example, the first duty cycle may be different from the initial duty cycle and may be set to be three-phase asymmetric, that is, three-phase duty cycles are not uniform, for example: the duty ratio of the a phase is 14384, the duty ratio of the B phase is 18384, and the duty ratio of the C phase is 18384, so that the duty ratio difference between the AB phase is 4000, the duty ratio difference between the AC phase is 4000, and the duty ratio difference between the BC phase is 0, and the switching time of the thyristor is controlled according to such duty ratios, and the current flow in the following
In
And 2013, when the rotor reaches the preset position, determining a first angle of the rotor according to the preset position.
For example, after the motor is energized, a first angle of the rotor when the rotor reaches a preset position, i.e., a roughly acquired zero position of the motor.
The determined first angle is written, for example, into a control program of the electric machine for later recall.
Fig. 5 is a flow chart illustrating a method for determining a zero position of a motor according to an exemplary embodiment, where the current of the motor is controlled to be zero in
For example, after the zero position test of the motor is completed in
Fig. 6 is a flowchart illustrating a method for determining a zero position of a motor according to an exemplary embodiment, wherein, as shown in fig. 6, the
For example, after the rotation speed of the motor reaches the preset rotation speed, the second current control command, i.e., the current zero clearing command, is utilized to enable the motor to lose power and operate in the inertia state for a preset time, for example, 5 s. It should be noted here that, since the setting of the preset rotation speed may affect the test result of the technical solution of the present disclosure, the preset rotation speed is determined according to the characteristics and experience of the motor itself, so that when the motor runs through inertia near the preset rotation speed, sudden change of the rotation speed or other unstable factors may not occur.
For example, after the preset time that the motor operates in the inertia state is obtained, the direct-axis voltage and the quadrature-axis voltage of the motor may be processed and calculated according to a calculation formula of the motor to determine the second angle.
Illustratively, the effective voltage value is determined by a filtering process so as to determine the second angle more accurately in the calculation of the subsequent step.
For example, when the zero position of the motor is inaccurate, as described above, it can be known from the voltage calculation formula of the motor that the ratio of the direct-axis voltage to the quadrature-axis voltage is the tangent value of the initial angle, so that the filtered ratio of the direct-axis voltage to the quadrature-axis voltage is subjected to arc tangent calculation, that is, the arc tangent calculation is performed by a trigonometric function, and the ratio of the first direct-axis voltage to the first quadrature-axis voltage is used as the arc tangent value, which is denoted as theta2, and may be represented as:
Illustratively, fig. 7 is a flowchart illustrating a method for determining a zero position of a motor according to an exemplary embodiment, as shown in fig. 7, the method further includes, before step 205:
and step 208, repeatedly executing the operations of the
For example, in order to further improve the accuracy of the technical solution provided by the present disclosure, the obtaining operation of the second angle may be repeated, that is, at least one second angle is obtained, and corresponding data statistics processing, such as filtering and average processing, is performed according to the obtained plurality of second angles, so as to improve the accuracy of the second angle, thereby determining a more effective zero position of the motor.
The specific operations are the steps described in the above embodiments, and are not described herein again.
It should be noted that, when
Optionally, the determining the zero position of the motor according to the first angle and the second angle in
and step 2050, taking the difference value between the first angle and the obtained average value of the plurality of second angles as the zero position of the motor.
Illustratively, since at least one second angle is determined by step 208, in conjunction with the determination by
In summary, according to the method for determining the zero position of the motor, after the motor is powered on, a first angle of the rotor when the rotor of the motor reaches a preset position is determined according to a preset first duty ratio and a first current value; current zero clearing of the control motor; controlling the rotating speed of the motor to reach a preset rotating speed by utilizing a first current control instruction; controlling the motor to operate for a preset time in an inertial state by using a second current control instruction so as to obtain a second angle of the rotor after the preset time is finished; and determining the zero position of the motor according to the first angle and the second angle. Therefore, the zero position of the motor can be effectively tested, the acquired data is processed on line in real time, accurate zero position information of the motor is further determined, manual correction is not needed, the operation is simple and convenient, and the time, labor and equipment cost are saved.
FIG. 8 is a block diagram illustrating an apparatus for determining a zero position of a motor in accordance with an exemplary embodiment. Referring to fig. 8, for implementing the embodiment described in any of fig. 2-7, the
the first
And a current zero
And a rotation
The second
And a zero
Optionally, the rotation
The current zero
FIG. 9 is a block diagram illustrating a first angle determination module in accordance with an exemplary embodiment. Referring to fig. 9, the first
and a duty
And the energizing
The
The angle writing sub-module 814 is configured to store and write the first angle in the control program of the motor.
FIG. 10 is a block diagram illustrating a current zero module in accordance with an exemplary embodiment. Referring to fig. 10, the current zero
and a duty
And a
FIG. 11 is a block diagram illustrating a second angle acquisition module in accordance with an exemplary embodiment. Referring to fig. 11, the second
and the
The
And the
An
An
FIG. 12 is a block diagram illustrating another motor zero position determination arrangement in accordance with an exemplary embodiment. Referring to fig. 12, the
and a repeated
The zero
and taking the difference value of the first angle and the obtained average value of the plurality of second angles as the zero position of the motor.
In summary, according to the device for determining the zero position of the motor, provided by the present disclosure, after the motor is powered on, a first angle of the rotor when the rotor of the motor reaches a preset position is determined according to a preset first duty ratio and a first current value; current zero clearing of the control motor; controlling the rotating speed of the motor to reach a preset rotating speed by utilizing a first current control instruction; controlling the motor to operate for a preset time in an inertial state by using a second current control instruction so as to obtain a second angle of the rotor after the preset time is finished; and determining the zero position of the motor according to the first angle and the second angle. Therefore, the zero position of the motor can be effectively tested, the acquired data is processed on line in real time, accurate zero position information of the motor is further determined, manual correction is not needed, the operation is simple and convenient, and the time, labor and equipment cost are saved.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
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