Calibration method of initial position angle of permanent magnet synchronous motor and motor controller

Abstract

The invention provides an initial position angle calibration method of a permanent magnet synchronous motor and a motor controller. The initial position angle calibration method includes: firstly controlling the specific rotational speeds of the permanent magnet synchronous motor in both positive and negative directions respectively, and When the controller works in the current loop mode and the dq axis current command of the permanent magnet synchronous motor is 0, it obtains the current loop output value corresponding to the corresponding direction, and then according to the current loop output value corresponding to the positive and negative directions and the initial position angle The preset initial value is calculated to obtain the initial position angle calibration value, so that the current loop output values ​​corresponding to the positive and negative directions are used as parameters for calculating the initial position angle calibration value, so that the delays generated in the positive and negative directions are mutually correlated. Offset, avoiding the problem of low identification accuracy, thereby improving the accuracy of the initial position angle calibration of the motor.

Description

technical field [0001] The invention belongs to the technical field of motor control, and more specifically relates to a method for calibrating an initial position angle of a permanent magnet synchronous motor and a motor controller. Background technique [0002] The vector control scheme based on the rotor field orientation is widely used in the vector control system of the permanent magnet synchronous motor because of its superior steady-state control accuracy and dynamic response speed, and, in the vector control system, the rotor position = the pole pair of the motor and the resolver The ratio of the number * (resolver detection position - initial position angle), therefore, the initial position angle of the permanent magnet synchronous motor is a key parameter to achieve accurate orientation of the rotor magnetic field. [0003] For the calibration of the initial position angle of the permanent magnet synchronous motor, there is a solution in the prior art: in the curre...

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Problems solved by technology

[0003] For the calibration of the initial position angle of the permanent magnet synchronous motor, there is a solution in the prior art: in the current closed-loop mode, given a specific dq axis current and frequency command, the motor controller drives the motor under test to the permanent magnet synchronous motor After reaching a specific speed, set the dq-axis current command value to 0, and calculate the initial position angle based on the dq-axis voltage output by the current loop. However, this scheme does not consider the sampling delay and A / D conversion delay of the current hardware circuit, and the identification accuracy is low. , which in turn leads to lower accuracy of initial position angle calibration

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