CN-121567006-B - Motor angle magnetic field position output method

CN121567006BCN 121567006 BCN121567006 BCN 121567006BCN-121567006-B

Abstract

The invention discloses a motor angle magnetic field position output method, which relates to the technical field of automobile electronics and comprises the steps of outputting PWM signals to control motor operation, collecting magnetic field signals, temperature signals and load torque signals, calculating magnetic field coupling correction coefficients, dynamic weights and comprehensive positioning errors, and adjusting the PWM signals through closed loop feedback to realize accurate positioning. The method solves the problem of positioning error caused by neglecting magnetic field nonlinearity, temperature drift and load torque coupling influence in the prior art, and improves the positioning accuracy and the running stability of the motor under complex working conditions.

Inventors

LI WENRU
ZHU LIN
PAN JUNJIE
YUAN MAOHUA

Assignees

上海世佳汽车零部件制造有限公司

Dates

Publication Date: 20260512
Application Date: 20251204

Claims (7)

1. The motor angle magnetic field position output method is characterized by comprising the following steps: outputting PWM control signals to the motor and adjusting the running state of the motor; collecting a magnetic field signal of a motor through a magnetic field signal collecting module, and collecting an environment temperature signal and a load torque signal of the motor through a multi-parameter monitoring module; Calculating a magnetic field coupling correction coefficient based on nonlinear characteristics in the acquired temperature signal, load torque signal and magnetic field signal; Calculating dynamic weight according to the deviation value of the temperature signal, the nonlinearity of the magnetic field signal and the value of the load torque signal; combining the magnetic field coupling correction coefficient and the dynamic weight, and calculating a comprehensive positioning error based on an original angle signal and a reference angle signal of the motor; The duty ratio of the PWM control signal is adjusted according to the comprehensive positioning error through a closed loop feedback mechanism, so that the position output of the motor angle is realized; The MCU control module adopts an ARMCortex-M7 kernel chip, a signal deconstructing unit, a coefficient calculating unit, a weight calculating unit and an error calculating unit are arranged in the MCU control module, the signal deconstructing unit is used for converting a magnetic field signal into an original angle signal of a motor, the coefficient calculating unit is used for executing calculation of a magnetic field coupling correction coefficient, the weight calculating unit is used for executing calculation of dynamic weight, and the error calculating unit is used for executing calculation of a comprehensive positioning error; the magnetic field coupling correction coefficient The calculation of (2) satisfies the following formula: ; Wherein, the Is a magnetic field coupling correction coefficient, is dimensionless, alpha is a temperature influence coefficient, the value is determined by a motor magnetic steel material, the unit is -1 , delta T is a temperature deviation value, the unit is DEG C, delta T is equal to the acquired temperature signal value minus a reference temperature value under the rated working condition of the motor, and beta is a torque influence coefficient, and the unit is The value is determined by the motor air gap structure, M is the value of a load torque signal, the unit is N.m, gamma is the non-linear correction coefficient of a magnetic field, the value is determined by the hysteresis characteristic of motor magnetic steel; Is the nonlinearity of the magnetic field, the unit is, Equal to the ratio of the amplitude of the harmonic component to the amplitude of the fundamental component in the magnetic field signal multiplied by 100; the integrated positioning error The calculation of (2) satisfies the following formula: ; Wherein, the The unit is degree for the integrated positioning error; the value of the original angle signal is given in DEG, Deconstructing the magnetic field signals to obtain the magnetic field signals; Is the value of the reference angle signal, the unit is degree, Presetting according to the motor position output requirement; the magnetic field coupling correction coefficient is dimensionless, and omega is dynamic weight and dimensionless.
2. The motor angle magnetic field position output method according to claim 1, wherein the magnetic field signal acquisition module adopts a three-axis Hall sensor, the three-axis Hall sensor acquires X-axis and Y-axis direction component signals of a motor magnetic field in a non-contact mode, the output end of the three-axis Hall sensor is connected with the input end of the MCU control module, and the MCU control module receives and analyzes the magnetic field signals transmitted by the three-axis Hall sensor.
3. The motor angle magnetic field position output method according to claim 1, wherein the multi-parameter monitoring module comprises a temperature sensor and a torque sensor, the temperature sensor is used for collecting temperature signals of a motor stator winding, the torque sensor is used for collecting load torque signals of a motor output shaft, the output end of the multi-parameter monitoring module is connected with the input end of the MCU control module, and the MCU control module receives and preprocesses the temperature signals and the load torque signals.
4. A motor angular magnetic field position output method according to claim 2, wherein the calculation of the dynamic weight ω satisfies the following formula: ; Wherein ω is dynamic weight, dimensionless, 0< ω <1;k 1 is temperature deviation weight coefficient, the unit is DEG C -1 , the value is determined according to the positioning error sensitivity of the motor in different temperature intervals, k 2 is magnetic field nonlinear weight coefficient, the unit is% -1 , the value is determined according to the influence degree of magnetic field nonlinearity on positioning error, and k 3 is load torque weight coefficient, the unit is The value is determined according to the influence degree of the load torque change on the positioning error, wherein the delta T is the absolute value of the temperature deviation value, and the unit is the temperature; the magnetic field nonlinearity is expressed in units of%M is the value of a load torque signal, and the unit is N.m.
5. The method for outputting the angular magnetic field position of the motor according to claim 1, wherein the total response time of the closed-loop feedback mechanism is not more than 20ms, the closed-loop feedback mechanism comprises four links including signal acquisition updating, coefficient weight calculation, error evaluation and PWM adjustment, when the integrated positioning error is greater than a preset error threshold, the closed-loop feedback mechanism triggers the MCU control module to increase the duty ratio adjustment amplitude of the PWM control signal, and when the integrated positioning error is less than or equal to the preset error threshold, the closed-loop feedback mechanism triggers the MCU control module to decrease the duty ratio adjustment amplitude of the PWM control signal.
6. The method of claim 4, wherein the duty cycle adjustment logic of the PWM control signal is such that when the integrated positioning error is detected In which Duty cycle adjustment of PWM control signal for preset error threshold When (when) In the time-course of which the first and second contact surfaces, Wherein The value is determined according to the rotating speed response characteristic of the motor for the reference adjustment quantity without dimension, The adjustment quantity is single duty ratio adjustment quantity, and is dimensionless.
7. The motor angle magnetic field position output method according to claim 4, wherein the MCU control module is further connected with a storage module, the storage module is used for storing collected historical data of magnetic field signals, temperature signals and load torque signals, and calculation records of magnetic field coupling correction coefficients, dynamic weights and comprehensive positioning errors, the storage capacity of the storage module is not lower than 8GB, and the data writing rate is not lower than 500kbps.

Description

Motor angle magnetic field position output method Technical Field The invention relates to the technical field of automobile electronics, in particular to a motor angle magnetic field positioning output method. Background In the field of small motor control in the automobile industry, the accuracy of motor angle magnetic field position output directly influences the running stability of related functions of an automobile, such as an automobile window lifting motor, a seat adjusting motor and the like, and stable start-stop and position control of actions are realized through accurate angle positioning. The existing motor angle magnetic field positioning scheme only focuses on acquisition and analysis of magnetic field signals, and does not consider the coupling influence of multiple factors in the motor operation process, namely, on one hand, magnetic steel of a motor has hysteresis characteristics, so that the magnetic field signals are nonlinear, the nonlinearity of the magnetic field increases along with the accumulation of the working time of the magnetic steel, and the angle analysis precision is directly influenced, on the other hand, the temperature fluctuation range of an automobile operation environment is large, the magnetic conductivity of the magnetic steel is changed due to temperature change from low temperature of minus 40 ℃ to high temperature of 125 ℃, and the amplitude deviation of the magnetic field signals is further caused, and meanwhile, the load torque of the motor is frequently changed along with working conditions, such as load torque suddenly increases due to resistance when a car window is lifted, the load torque change can change the air gap magnetic density distribution of the motor, and the distortion of the magnetic field signals is further aggravated. The coupling effect of the magnetic field nonlinearity, the temperature drift and the load torque fluctuation enables the positioning error of the existing scheme to change by more than 5% along with the working condition, and the error accumulation can cause the motor control misalignment under the frequent start and stop or high and low temperature environment of the automobile, so that the problems of action blocking, position deviation and the like occur, and the user experience and the service life of the motor are seriously influenced. Based on the above problems, there is a need for a motor angle magnetic field position output method capable of quantifying multi-factor coupling influence and dynamically adapting to working condition changes, and solving the problems of low positioning accuracy and poor environmental adaptability of the existing scheme. Disclosure of Invention The invention aims to provide a motor angle magnetic field position output method which comprises the following steps of outputting PWM control signals to a motor to adjust the running state of the motor, collecting magnetic field signals of the motor through a magnetic field signal collecting module, collecting environment temperature signals and load torque signals of the motor through a multi-parameter monitoring module, calculating magnetic field coupling correction coefficients based on nonlinear characteristics in the collected temperature signals, the load torque signals and the magnetic field signals, calculating dynamic weights according to deviation values of the temperature signals, nonlinearity of the magnetic field signals and numerical values of the load torque signals, calculating comprehensive positioning errors based on original angle signals and reference angle signals of the motor by combining the magnetic field coupling correction coefficients and the dynamic weights, and adjusting duty ratio of the PWM control signals according to the comprehensive positioning errors through a closed loop feedback mechanism to realize motor angle position output. Preferably, the magnetic field signal acquisition module adopts a three-axis hall sensor, the three-axis hall sensor acquires component signals of the X axis and the Y axis of the motor magnetic field in a non-contact mode, the output end of the three-axis hall sensor is connected with the input end of the MCU control module, and the MCU control module receives the magnetic field signals transmitted by the three-axis hall sensor and analyzes the magnetic field signals. Preferably, the multi-parameter monitoring module comprises a temperature sensor and a torque sensor, the temperature sensor is used for collecting temperature signals of a motor stator winding, the torque sensor is used for collecting load torque signals of a motor output shaft, the output end of the multi-parameter monitoring module is connected with the input end of the MCU control module, and the MCU control module receives the temperature signals and the load torque signals and performs preprocessing. Preferably, the MCU control module adopts an ARMCortex-M7 kernel chip, a signal deconstructing unit, a coefficient cal