阅读说明：本技术 一种电机的换相误差补偿方法、装置及存储介质 (Commutation error compensation method and device of motor and storage medium ) 是由 王鲁 诸自强 宾宏 于 2019-11-13 设计创作，主要内容包括：一种电机的换相误差补偿方法,所述方法包括：在电机中的未经校正的转子以设定方向进行转动时,采集所述转子的位置信号、三相电流信号；其中,所述转子的位置信号表征转子转动的角度(101)；对所述三相电流信号进行滤波处理,得到三相电流信号的基波分量,基于所述三相电流信号的基波分量,确定电机的位置误差补偿信号(102)；根据所述位置误差补偿信号、转子的位置信号,确定所述转子理想的相位区间(103)；根据所述转子理想的相位区间,确定对所述电机的转子的调整方式,根据所述调整方式,对所述电机的转子进行换相(104)。(A commutation error compensation method for an electric machine, the method comprising: when an uncorrected rotor in a motor rotates in a set direction, acquiring a position signal and a three-phase current signal of the rotor; wherein the position signal of the rotor is indicative of an angle (101) of rotation of the rotor; filtering the three-phase current signals to obtain fundamental wave components of the three-phase current signals, and determining position error compensation signals (102) of the motor based on the fundamental wave components of the three-phase current signals; determining an ideal phase interval (103) of the rotor according to the position error compensation signal and the position signal of the rotor; and determining an adjusting mode of the rotor of the motor according to the ideal phase interval of the rotor, and performing phase commutation (104) on the rotor of the motor according to the adjusting mode.)

A commutation error compensation method for an electric machine, the method comprising:

when an uncorrected rotor in a motor rotates in a set direction, acquiring a position signal and a three-phase current signal of the rotor; wherein the position signal of the rotor is indicative of an angle of rotation of the rotor;

filtering the three-phase current signals to obtain fundamental wave components of the three-phase current signals, and determining position error compensation signals of the motor based on the fundamental wave components of the three-phase current signals;

determining an ideal phase interval of the rotor according to the position error compensation signal and the position signal of the rotor;

and determining an adjusting mode of the rotor of the motor according to the ideal phase interval of the rotor, and performing phase change on the rotor of the motor according to the adjusting mode.

The method of claim 1, wherein the filtering the three-phase current signals to obtain fundamental components of the three-phase current signals comprises:

acquiring an angular velocity of an uncorrected rotor of a motor;

determining a cosine reference signal and a sine reference signal according to the angular velocity;

determining an initial current output signal based on the cosine reference signal and the sine reference signal;

generating a weight signal based on a difference between the three-phase current signal and the initial current output signal;

and obtaining the fundamental component of the three-phase current signal according to the weight signal, the cosine reference signal and the sine reference signal.

The method of claim 1, wherein determining a position error compensation signal for the motor based on the fundamental components of the three-phase current signals comprises:

converting the fundamental component of the three-phase current signal on the static coordinate system into a two-phase current signal on the rotating coordinate system; the rotating angle of the rotating coordinate system is the same as the rotating angle of a rotor of the motor, and the two-phase current signal comprises d-axis current corresponding to one axis in the rotating coordinate system;

and adjusting the d-axis current according to the corresponding relation between the d-axis current and the position signal of the rotor, and determining the position error compensation signal of the rotor.

The method of claim 1, wherein determining the desired phase interval of the rotor based on the position error compensation signal and a position signal of the rotor comprises:

compensating the position error compensation signal into the position signal of the rotor which is not corrected to obtain an ideal position signal of the rotor;

and determining the ideal phase interval of the rotor according to the corresponding relation between the preset phase interval and the position signal of the rotor.

The method of claim 1, wherein determining an adjustment to the rotor of the electric machine based on the desired phase interval for the rotor comprises:

determining a control voltage required for adjusting the rotor;

and determining an adjusting mode of the rotor of the motor based on the control voltage and the ideal phase interval of the rotor.

The method of claim 5, wherein the determining a control voltage required to adjust the rotor comprises:

acquiring a current angular velocity and a given angular velocity of an uncorrected rotor of the motor; wherein the given angular velocity is a desired angular velocity;

and processing the difference value of the current angular speed and the given angular speed by using a regulator, and determining the control voltage required for adjusting the rotor.

A commutation error compensation apparatus for an electric motor, comprising: the device comprises an acquisition unit, a filtering unit, a determining unit and a phase commutation unit; wherein the content of the first and second substances,

the collecting unit is used for collecting position signals and three-phase current signals of a rotor when the rotor which is not corrected in the motor rotates in a set direction; wherein the position signal of the rotor is indicative of an angle of rotation of the rotor;

the filtering unit is used for carrying out filtering processing on the three-phase current signals to obtain fundamental wave components of the three-phase current signals, and determining position error compensation signals of the motor based on the fundamental wave components of the three-phase current signals;

the determining unit is used for determining an ideal phase interval of the rotor according to the position error compensation signal and the position signal of the rotor;

and the phase commutation unit is used for determining an adjusting mode of the rotor of the motor according to the ideal phase interval of the rotor, and performing phase commutation on the rotor of the motor according to the adjusting mode.

A commutation error compensation apparatus for an electric motor, comprising: a processor and a memory configured to store a computer program operable on the processor;

wherein the processor is configured to perform the steps of the method of any one of claims 1 to 6 when running the computer program.

A storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of any one of claims 1 to 6.