Method for testing initial position angle of electric motor rotor

Abstract

The present disclosure discloses a method for measuring an initial position angle of a rotor of an electric machine, which solves the technical problem in the prior art that the requirement on the measurement conditions of the initial position angle of the rotor of the electric machine is high and the actual operation is not easy. The method comprises: Step 1, supplying an electric current i to an electric machine to be measured to cause the electric machine to run; Step 2, when the electric machine is running, reducing the electric current i to be zero; Step 3, measuring voltages of a d-axis and a q-axis of a stator of the electric machine at the moment, respectively as u.sub.d and u.sub.q; and Step 4, according to a trigonometric function relation between u.sub.d and u.sub.q, calculating to obtain an initial position angle deviation θ.sub.err of the rotor of the electric machine.

Claims

1. A method for measuring an initial position angle of a rotor of an electric machine, wherein a control system of the electric machine feeds back a parameter of a current position angle, and the method comprises the following steps: Step 1, firstly supplying an electric current (i) to the electric machine to cause the electric machine to run; Step 2, when the electric machine is running, reducing the electric current (i) to be zero; Step 3, measuring voltages of a d-axis and a q-axis of a stator of the electric machine at the moment, respectively as u.sub.d and u.sub.q; and Step 4, calculating to obtain an initial position angle deviation θ.sub.err of the rotor of the electric machine according to a trigonometric function relation between u.sub.d and u.sub.q, and further obtaining the initial position angle according to θ=α+(β×γ); where θ is a digital pulse number of the initial position angle of the rotor of the electric machine; α is a current initial position angle feedback pulse number of the rotor of the electric machine; β is a direction of the initial position angle deviation of the rotor of the electric machine, when the electric machine is rotating in a positive direction, β=1, and when the electric machine is rotating in a reverse direction, β=−1; and γ is a pulse filtering value of the initial position angle deviation θ.sub.err of the rotor of the electric machine.

2. The method according to claim 1, wherein when the electric machine is rotating in a positive direction, θ.sub.err=arctan 2(u.sub.d, u.sub.q), where u.sub.d and u.sub.q are voltages of the d-axis and the q-axis of the stator of the electric machine respectively when the electric current (i) is zero.

3. The method according to claim 1, wherein when the electric machine is rotating in a reverse direction, θ.sub.err=arctan 2(−u.sub.d,u.sub.q), where u.sub.d and u.sub.q are voltages of the d-axis and the q-axis of the stator of the electric machine respectively when the electric current (i) is zero.

4. The method according to claim 1, wherein the supplying the electric current (i) to the electric machine and reducing the electric current (i) to be zero is realized by using a current converter.

5. The method according to claim 1, wherein the θ.sub.err is converted to a digital pulse number by a rotary decoding chip.

6. The method according to claim 1, wherein the voltage of the d-axis u.sub.d=R.sub.si.sub.d−ω.sub.eL.sub.qi.sub.q, and the voltage of the q-axis u.sub.q=R.sub.si.sub.q+ω.sub.eL.sub.di.sub.d+ω.sub.eψrd; where R.sub.s is a phase resistance of the electric machine to be measured, L.sub.d and L.sub.q are inductances of the d-axis and the q-axis of the electric machine respectively, ω.sub.e is an angular velocity of the rotor, and ψ.sub.rd is a flux of the rotor.

7. The method according to claim 1, wherein a frequency of the electric current (i) causing the electric machine to run is less than a rated frequency of the electric machine.

8. The method according to claim 7, wherein the frequency of the electric current (i) causing the electric machine to run is ⅓ of the rated frequency of the electric machine.

9. The method according to claim 1, wherein the electric machine is a permanent magnet synchronous motor or is an electrically excited synchronous motor.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) The present invention will hereinafter be described in conjunction with the following drawing figures, wherein like numerals denote like elements, and:

(2) FIG. 1 is a schematic diagram of the trigonometric function relation between the voltages of the d-axis and the q-axis of the stator of the electric machine; and

(3) FIG. 2 is an interface diagram of marking the initial position angle of the rotor of the electric machine by using a computer program.

DETAILED DESCRIPTION

(4) The following detailed description is merely exemplary in nature and is not intended to limit the invention or the Application and uses of the invention. Furthermore, there is no intention to be bound by any theory presented in the preceding background of the invention or the following detailed description.

(5) In order to make the objects, the technical solutions and the advantages of the present disclosure clearer, the embodiments of the present disclosure will be described below in further detail in conjunction with the drawings.

The First Embodiment

(6) As shown in FIG. 1, in the first embodiment of the present disclosure, a method for measuring an initial position angle of a rotor of an electric machine is disclosed, wherein the method comprises the following steps:

(7) Step 1, firstly supplying an electric current i to an electric machine to be measured to cause the electric machine to run; wherein the frequency of the electric current i is relatively low, and the measurement can be preformed as long as the electric machine begins to rotate; the electric current frequency decides the rotational speed of the electric machine, so the frequency of the electric current i can be within the range of the rated rotational speed; for example, the frequency of the electric current i is ⅓ of the rated frequency of the electric machine;

(8) Step 2, when the electric machine is running, reducing the electric current i to be zero;

(9) Step 3, measuring voltages of a d-axis and a q-axis of a stator of the electric machine at the moment, respectively as ud and uq; and

(10) Step 4, according to a trigonometric function relation between the ud and the uq, calculating to obtain an initial position angle deviation θerr of the rotor of the electric machine at the moment.

(11) The electric machine that is measured in this embodiment is a synchronous motor, which may be a permanent magnet synchronous motor, or be an electrically excited synchronous motor.

(12) The d-axis and the q-axis in a permanent magnet machine are defined as follows: in the synchronous coordinate system of the rotor, the d-axis is at the N pole of the rotor, and the q-axis is orthogonal to the d-axis, and leads the d-axis by 90 degrees. Therefore, once the coordinate system has been established, all of the physical variables of the stator and the rotor of the electric machine can be converted and expressed in the coordinate system. The essence of that is that for the entire electric machine a d-axis and a q-axis are defined, and the coordinate axis is on the rotor and rotates along with the rotor. For example, the three-phase voltages ua, ub and uc of the stator windings, when converted to the synchronous coordinate system of the rotor, are ud and uq, which are respectively referred to as the stator d-axis voltage or the stator q-axis voltage, and are physical variables on the stator.

(13) When the electric machine is rotating in a positive direction, θ.sub.err=arctan 2(u.sub.d, u.sub.q). The arctan2 is the expression of the “arc tangent” in the four-quadrant trigonometric functions, which applies to the full text.

(14) When the electric machine is rotating in a reverse direction, θ.sub.err=arctan 2(−u.sub.d, −u.sub.q).

(15) The electric current i is controlled to be obtained by using a current converter. The current converter is in-built in the electric machine to be measured, or a separate current converter that is installed on the electric machine.

(16) θerr is an electric angle value or a digital pulse number converted by a rotary decoding chip.

(17) θerr is an electric angle value θe, and it may also be expressed as the digital pulse number D converted by a rotary decoding chip.

(18) The conversion relation between the electric angle value θe and the digital pulse value D is:

(19) θe=(D/4096)×(PM/PR)×360, wherein PM is the number of the pole pairs of the electric machine, and PR is the number of the pole pairs of a rotating transformer.

(20) The conversion precision of the decoding chip decides the range of the digital pulse value. For example, the digital pulse range corresponding to the 12-bit precision is 212=4096.

(21) As shown in FIG. 2, when the initial position angle θ of the rotor of the electric machine is the digital pulse number, wherein θ=α+(β×γ);

(22) α is a current initial position angle feedback pulse number of the rotor of the electric machine;

(23) β is a direction of the initial position angle deviation of the rotor of the electric machine, wherein when the electric machine is rotating in a positive direction, β=1, and when the electric machine is rotating in a reverse direction, β=−1; and

(24) γ is a pulse filtering value of the initial position angle deviation θerr of the rotor of the electric machine. The parameter is the numerical value that is obtained by filtering off the high-frequency interference and the glitches in the signal, which enhances the accuracy and the anti-interference performance of the measurement.

(25) FIG. 2 shows that, in order to adjust and compensate an erroneous initial angle of the rotor into a correct initial angle of the rotor, the pulse value of the initial position angle of the measurement object is measured firstly by using a conventional method to be 1083. Then it is changed to an erroneous initial angle, and by using the measuring method of this embodiment, the initial position angle of the rotor is measured to substantially maintain at the pulse value of 1083.

(26) FIG. 2 shows an upper computer interface diagram, which can be displayed on a computer screen, and can be implemented by an upper computer software (for example, LabVIEW) through CAN communication.

(27) The principle of calculating the initial position angle deviation θerr of the rotor of the electric machine is as follows:

(28) By neglecting the mutual inductance between the d-axis and the q-axis, and considering merely the fundamental component, the equation of the voltage of the electric machine is:
u.sub.d=R.sub.si.sub.d−ω.sub.eL.sub.qi.sub.q  (1)
u.sub.q=R.sub.si.sub.q+ω.sub.eL.sub.di.sub.d+ω.sub.eψrd  (2)

(29) wherein Rs is a phase resistance of the electric machine, Ld and Lq are inductances of the d-axis and the q-axis of the electric machine respectively, ωe is an electric angular velocity, and .sub.ψrd is a flux of the rotor.

(30) When the controller controls the electric current to be zero, that is, id=0 and iq=0, it can be obtained that:
u.sub.d=0  (3)
u.sub.q=ω.sub.eψrd=E  (4)

(31) That is, the voltage of the d-axis is zero, and the voltage of the q-axis is the back electromotive force of the electric machine. However, when the rotor has an initial position angle deviation, in the coordinate system of the rotor of the electric machine, both of the d-axis and the q-axis of the stator have an angle deviation with respect to the positions of the magnetic poles of the rotor, as shown in FIG. 1. At the moment, the voltages of the d-axis and of the q-axis are no longer zero, and the angle deviation θerr and the voltages of the d-axis and the q-axis are of a trigonometric function relation of arc tangent, that is:

(32) when the electric machine is rotating in a positive direction:
θ.sub.err=arctan 2(u.sub.d, u.sub.q)  (5)

(33) when the electric machine is rotating in a reverse direction:
θ.sub.err=arctan 2(−u.sub.d, −u.sub.q)  (6)

(34) Therefore, according to the equation (5) or (6), the initial position angle deviation of the rotor can be obtained by calculating in real time.

(35) The measuring method of this embodiment is implemented by using a computer program in actual use, in which the measuring method is written into codes and the control software of the current converter is modified to add functions, which is simple to operate.

The Second Embodiment

(36) In the second embodiment of the present disclosure, the trigonometric function relation of the initial position angle deviation θerr of the rotor of the electric machine is expressed as follows:

(37) when the electric machine is rotating in a positive direction, θerr=arccot2(uq, ud).

(38) when the electric machine is rotating in a reverse direction, θerr=arccot2(−uq, −ud).

(39) Certainly, it may also be expressed by using other trigonometric functions, such as arcsine and anticosine, which are not individually listed here.

(40) The description above is merely particular embodiments of the present disclosure. By the foregoing teachings of the present disclosure, a person skilled in the art may make other improvements or modifications based on the foregoing embodiments. A person skilled in the art should understand that, the particular description above is merely for better interpreting the present disclosure, and the protection scope of the present disclosure should be subject to the protection scope of the claims.

(41) While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be appreciated that a vast number of variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are only examples, and are not intended to limit the scope, applicability, or configuration of the invention in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing an exemplary embodiment, it being understood that various changes may be made in the function and arrangement of elements described in an exemplary embodiment without departing from the scope of the invention as set forth in the appended claims and their legal equivalents.