CN114070156B - Motor control method based on rotation speed information, motor and storage medium - Google Patents
Motor control method based on rotation speed information, motor and storage medium Download PDFInfo
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- CN114070156B CN114070156B CN202010770812.XA CN202010770812A CN114070156B CN 114070156 B CN114070156 B CN 114070156B CN 202010770812 A CN202010770812 A CN 202010770812A CN 114070156 B CN114070156 B CN 114070156B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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Abstract
The invention provides a motor control method based on rotation speed information, a motor and a storage medium, wherein the control method comprises the following steps: acquiring the rotating speed information of the motor in real time, and performing spectrum analysis on the rotating speed information to determine a rotating speed spectrum corresponding to the rotating speed information; based on the condition that the rotating speed spectrum comprises the target characteristic spectrum, a corresponding compensation signal is generated according to the target characteristic spectrum, and the compensation signal is added to a driving signal of the motor, so that low-torque pulsation in the motor operation process can be effectively reduced, and noise in the motor operation process can be effectively reduced.
Description
Technical Field
The present invention relates to the technical field of motor control, and in particular, to a motor control method based on rotational speed information, a motor, and a computer readable storage medium.
Background
In the related art, motors are arranged in many home appliances, if the rotational speed of the motors fluctuates during operation, noise will occur to the motors, so that the use experience of users will be affected, and therefore, a method capable of effectively balancing the rotational speed of the motors is needed.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art or related art.
To this end, a first aspect of the invention proposes a method for controlling an electric motor based on rotational speed information.
A second aspect of the invention proposes an electric machine.
A third aspect of the present invention proposes a computer-readable storage medium.
In view of this, a first aspect of the present invention provides a method for controlling a motor based on rotational speed information, including: acquiring the rotating speed information of the motor, and performing spectrum analysis on the rotating speed information to determine a rotating speed spectrum corresponding to the rotating speed information; based on the condition that the rotating speed spectrum comprises the target characteristic spectrum, generating a corresponding compensation signal according to the target characteristic spectrum, and adding the compensation signal into a driving signal of the motor.
In the technical scheme, the rotating speed information in the running process of the motor is obtained in real time, the rotating speed information is subjected to spectrum analysis, and after the analysis, the rotating speed spectrum corresponding to the rotating speed information can be obtained.
Further, the rotating speed spectrum is analyzed and identified, if the rotating speed spectrum includes a target characteristic spectrum, such as a spectrum peak, abnormal rotating speed information exists in the motor operation process, noise and unbalanced operation possibly exist in the motor operation, at the moment, according to the determined target spectrum characteristic, a corresponding compensation signal is generated through a motor control algorithm, the compensation signal is added into a driving signal of the motor, and the motor operation is controlled through the driving signal added with the compensation signal.
By applying the embodiment of the invention, the rotation speed information of the motor in operation is obtained, whether the motor is unbalanced in operation is determined in a mode of carrying out frequency spectrum analysis on the rotation speed information, and when the motor is unbalanced in operation, a compensation signal is generated according to the identified target characteristic frequency spectrum, so that the rotation speed fluctuation of the motor can be effectively balanced, and the operation noise of the motor can be effectively reduced.
In addition, the motor control method based on the rotation speed information in the technical scheme provided by the invention can also have the following additional technical characteristics:
in the above technical solution, before the step of generating the corresponding compensation signal according to the target characteristic spectrum, the control method further includes: acquiring fundamental wave frequency of a motor, determining target harmonic frequency of the motor according to the fundamental wave frequency, and determining average amplitude corresponding to the target harmonic frequency; according to the target harmonic frequency and the rotating speed spectrum, determining a spectrum amplitude corresponding to the rotating speed spectrum and the target harmonic frequency; and determining an amplitude threshold according to the average amplitude, and determining that the rotating speed frequency spectrum comprises a target characteristic frequency spectrum on the target harmonic frequency based on the condition that the frequency spectrum amplitude is larger than the amplitude threshold.
In the technical scheme, the fundamental frequency of the motor is specifically the electric frequency of the motor, and the harmonic frequency (such as 2 nd harmonic frequency and 3 rd harmonic frequency … …) corresponding to each harmonic of the motor can be determined according to the fundamental frequency of the motor. When judging whether the characteristic spectrum exists on the rotating speed spectrum, whether the average amplitude corresponding to the rotating speed spectrum on each subharmonic frequency exceeds an amplitude threshold value can be respectively judged, if the average amplitude on a certain subharmonic frequency, particularly on a target harmonic frequency, of the rotating speed spectrum exceeds the amplitude threshold value, the rotating speed spectrum is indicated to comprise the target characteristic spectrum on the target harmonic frequency, namely, the condition that the motor is unbalanced in operation is caused, and a corresponding compensation signal is generated at the moment so as to ensure smooth operation of the motor.
When the target characteristic spectrum does not exist in the rotating speed spectrum, the compensation signal is 0.
In any of the above technical solutions, the step of determining the target harmonic frequency of the motor according to the fundamental frequency specifically includes: calculating a first product of the fundamental frequency and a first preset constant, and determining the first product as a target harmonic frequency; the first preset constant is a positive integer and is more than or equal to 2 and less than or equal to 20.
In this technical solution, when determining the target harmonic frequency of the motor, only the product of the fundamental frequency and the first preset constant needs to be calculated. Specifically, let the fundamental frequency be f e Then the respective subharmonic frequencies can be expressed as nf e . Wherein n is a first preset constant, and n is a positive integer greater than or equal to 2 and less than or equal to 20. The method determines the subharmonic frequency of the motor, namely the target harmonic frequency, has small calculated amount and high operation speed, and can improve the sensitivity of motor control.
In any of the above technical solutions, the step of determining the amplitude threshold according to the average amplitude specifically includes: calculating a second product of the average amplitude and a second preset constant, and determining the second product as an amplitude threshold; wherein the second preset constant is greater than 0 and less than or equal to 2.
In this embodiment, the target harmonic frequency is expressed as nf e The rotation frequency spectrum is at the target harmonic frequency nf e The corresponding amplitude may be expressed as P n The average amplitude may be expressed as P navg Calculating the product of the average amplitude and a second preset constant m, i.e. mP navg I.e. the amplitude threshold. When P n Greater than mP navg When the rotation frequency spectrum is nf e The position includes the target characteristic spectrum, otherwise, the rotating speed spectrum is indicated as nf e The target characteristic spectrum is not included. Wherein, m is more than or equal to 0 and less than or equal to 2.
In any of the above technical solutions, the step of determining an average amplitude corresponding to the target harmonic frequency specifically includes: calculating a third product of the target harmonic frequency and a third preset constant and a fourth product of the target harmonic frequency and a fourth preset constant; determining a frequency interval by taking the third product as an interval lower limit and taking the fourth product as an interval upper limit; determining a plurality of frequency amplitudes corresponding to a plurality of target frequencies in a frequency interval, calculating an average value of the plurality of frequency amplitudes, and determining the average value as an average amplitude value; wherein the third preset constant is equal to the difference between the first preset constant and 1, and the fourth preset constant is equal to the sum of the first preset constant and 1.
In determining the amplitude threshold, let the target harmonic frequency be denoted nf e The rotation frequency spectrum is at the target harmonic frequency nf e The corresponding amplitude may be expressed as P n The average amplitude may be expressed as P navg In particular, the amplitude average of the harmonic frequencies between the (n-1) and (n+1) harmonics is calculated, i.e. (n-1) f e To (n+1) f e Average value P of amplitude values in range navg Wherein n is a first preset constant, (n+1) is a third preset constant, and (n+1) is a fourth preset constant.
In some real-time modes, 0.9nf can also be calculated to reduce the calculation amount e To 1.1nf e The average amplitude is determined by the average of the amplitudes of the harmonic frequencies in between.
In any one of the above technical solutions, the step of performing spectrum analysis on the rotational speed information to determine a rotational speed spectrum corresponding to the motor includes: carrying out frequency spectrum analysis on the rotating speed information through a Fourier transform algorithm to determine a rotating speed frequency spectrum; or the rotation speed information is subjected to spectrum analysis through a wavelet transformation algorithm to determine the rotation speed spectrum.
In the technical scheme, the mechanical rotation speed information is specifically a physical rotation speed obtained through components such as a sensor, and the electrical rotation speed information is specifically a theoretical rotation speed calculated through running current and voltage of the motor. When the frequency spectrum analysis is carried out on the rotating speed information, the frequency spectrum analysis can be carried out on the rotating speed information through a Fourier change algorithm, and the frequency spectrum analysis can also be carried out on the rotating speed information through a wavelet change algorithm, so that the visualized rotating speed frequency spectrum which can be recognized by the processor is finally obtained. The rotating speed information is subjected to frequency spectrum analysis through a Fourier change algorithm and a wavelet change algorithm, so that the calculated amount can be reduced and the sensitivity of motor control can be improved on the premise of ensuring the accuracy.
In any of the above technical solutions, the compensation signal is a cosine signal, and the frequency of the cosine signal corresponds to the frequency of the target characteristic spectrum, and the phase of the cosine signal corresponds to the phase of the target characteristic spectrum; and calculating a fourth product of the amplitude of the target characteristic frequency spectrum and a preset coefficient, and determining the fourth product as the amplitude of the cosine signal.
In the technical scheme, the compensation signal is a cosine signal (or a sine signal), the frequency of the cosine signal corresponds to the frequency of the target characteristic frequency spectrum, and the phase of the cosine signal corresponds to the phase of the target characteristic frequency, so that the pulse generated by the operation of the motor corresponding to the target characteristic frequency spectrum can be effectively counteracted by superposing the cosine signal in the driving signal of the motor, and the stable operation of the motor is further ensured.
The amplitude of the compensation signal (cosine signal) is the product of the amplitude of the target characteristic spectrum and a preset coefficient.
In any of the above technical solutions, the compensation signal is a voltage compensation signal or a current compensation signal; and the preset coefficient is more than or equal to-10000, and the preset coefficient is less than or equal to 10000.
In this technical solution, the compensation signal is an electrical signal, in particular a current signal or a voltage signal. The amplitude of the compensation signal is equal to the product of the amplitude of the target characteristic frequency spectrum and a preset coefficient, the preset coefficient is related to the hardware parameter of the motor, the running environment and the running requirement of the motor, and the setting range of the preset coefficient is-10000 to 10000.
In any of the above technical solutions, the motor includes a rotation speed sensor, and rotation speed information is obtained through the rotation speed sensor.
In the technical scheme, the motor comprises a rotation speed sensor, and rotation speed information of the motor is obtained through the rotation speed sensor. Specifically, the rotational speed sensor is capable of determining actual "physical" rotational speed information of the motor based on positional information of the motor rotor.
In any of the above technical solutions, the method for controlling a motor based on rotational speed information further includes: and acquiring electric data in the operation of the motor, and determining the rotating speed information according to the electric data.
In the technical scheme, the electric data of the motor comprise running current and voltage of the motor, such as phase current and phase voltage, and theoretical rotating speed information of the motor can be calculated through the electric data.
A second aspect of the present invention provides an electric machine comprising a memory having a computer program stored thereon; the processor is configured to implement the steps of the method for controlling the motor based on rotational speed information provided in any one of the above-mentioned claims when executing the computer program, so that the motor also includes all the advantages of the method for controlling the motor based on rotational speed information provided in any one of the above-mentioned claims, which are not described herein.
In the above technical solution, the motor further includes: the driving unit is used for generating a driving signal corresponding to the motor; the rotating speed sensor is used for collecting rotating speed information in the running process of the motor; the rotating speed spectrum analysis unit is connected with the rotating speed sensor and is used for carrying out spectrum analysis on the rotating speed information; the target characteristic spectrum identification unit is connected with the rotating speed spectrum analysis unit and is used for identifying a target characteristic spectrum; and the compensation unit is connected with the target characteristic spectrum identification unit and the driving unit, and is used for generating a corresponding compensation signal according to the target characteristic spectrum and sending the compensation signal to the driving unit.
In this technical solution, the rotation speed analysis unit and the target characteristic spectrum recognition unit may be independent operation chips, or may be built in the main controller in the form of an integrated algorithm. The compensation unit is used for outputting a compensation signal and sending the compensation signal to the driving unit. The driving unit is used for controlling the motor to operate through a Pulse-Width Modulation (PWM) signal.
A third aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for controlling a motor based on rotational speed information as provided in any one of the above-mentioned aspects, and therefore the computer-readable storage medium also includes all the advantageous effects of the method for controlling a motor based on rotational speed information as provided in any one of the above-mentioned aspects, which will not be described in detail herein.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 shows one of control methods of a motor based on rotational speed information according to an embodiment of the present invention;
fig. 2 shows a second control method of the motor based on the rotational speed information according to the embodiment of the present invention;
fig. 3 shows a third control method of the motor based on the rotational speed information according to the embodiment of the present invention;
fig. 4 shows a fourth control method of the motor based on the rotational speed information according to the embodiment of the present invention;
fig. 5 shows a block diagram of a motor according to an embodiment of the invention;
FIG. 6 shows a block diagram of a motor control module according to an embodiment of the invention;
fig. 7 shows a control logic diagram of a driving unit according to an embodiment of the present invention;
fig. 8 shows a schematic structural view of a motor control module according to an embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
A control method of a motor based on rotational speed information, a motor, and a computer-readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 8.
Example 1
Fig. 1 shows one of control methods of a motor based on rotational speed information according to an embodiment of the present invention, specifically, the control method includes the steps of:
step S102, acquiring rotation speed information generated in the operation of the motor through a rotation speed sensor, and performing spectrum analysis on the rotation speed information to determine a rotation speed spectrum corresponding to the rotation speed information;
step S104, based on the condition that the rotating speed spectrum comprises the target characteristic spectrum, generating a corresponding compensation signal according to the target characteristic spectrum, and adding the compensation signal into a driving signal of the motor.
The motor comprises a rotating speed sensor, and rotating speed information is acquired through the rotating speed sensor.
In some embodiments, electrical data is obtained during operation of the motor, and rotational speed information is determined from the electrical data.
In the embodiment of the invention, the motor is provided with a rotating speed sensor, and the rotating speed sensor and the like can be specifically arranged. The rotating speed sensor is used for collecting rotating speed information generated by the motor in operation, and carrying out spectrum analysis on the collected rotating speed information, so that a rotating speed spectrum corresponding to the rotating speed information can be obtained after analysis.
Further, the rotating speed spectrum is analyzed and identified, if the rotating speed spectrum includes a target characteristic spectrum, such as a spectrum spike, abnormal rotating speed information exists in the motor operation process, noise and unbalanced operation possibly exist in the motor operation, at the moment, according to the determined target spectrum characteristic, a corresponding compensation signal is generated through a motor control algorithm, the compensation signal is superimposed into a driving signal of the motor, and the motor operation is controlled through the driving signal superimposed with the compensation signal until the target characteristic spectrum disappears.
The control method according to the embodiment of the present invention is executed in a loop and iteration manner, and after step S104 is executed, step S102 is repeatedly and continuously executed, that is, a rotational speed signal generated in the motor operation is continuously obtained in the motor operation process, and frequency spectrum analysis is performed. If the rotational frequency spectrum still contains the target characteristic frequency spectrum after the compensation, step S104 is repeatedly performed until the rotational frequency spectrum no longer contains the target characteristic frequency spectrum.
It should be noted that, after detecting that the rotation frequency spectrum no longer includes the target feature frequency spectrum, the rotation frequency spectrum still continues to be acquired and analyzed, if the target feature frequency spectrum is detected again in the subsequent operation process of the motor, the step S104 is continuously executed to compensate the driving signal of the motor.
By applying the embodiment of the invention, the rotation speed information of the motor in operation is acquired, whether the motor is unbalanced in operation is determined by performing frequency spectrum analysis on the rotation speed information, and when the motor is unbalanced in operation, a compensation signal is generated according to the identified target characteristic frequency spectrum, so that low torque pulsation in the motor operation process can be effectively reduced, and noise in the motor operation can be effectively reduced.
Example two
Fig. 2 shows a second control method of a motor based on rotational speed information according to an embodiment of the present invention, specifically, the control method further includes the steps of:
step S202, acquiring fundamental wave frequency of a motor, determining target harmonic frequency of the motor according to the fundamental wave frequency, and determining average amplitude corresponding to the target harmonic frequency;
step S204, according to the target harmonic frequency and the rotating speed frequency spectrum, determining the frequency spectrum amplitude of the rotating speed frequency spectrum corresponding to the target harmonic frequency;
step S206, determining an amplitude threshold according to the average amplitude, and determining that the rotating speed spectrum comprises a target characteristic spectrum on the target harmonic frequency based on the condition that the spectrum amplitude is larger than the amplitude threshold.
For step S202, the step of determining the target harmonic frequency of the motor according to the fundamental frequency may be specifically replaced by: a first product of the fundamental frequency and a first preset constant is calculated, and the first product is determined as a target harmonic frequency. The first preset constant is a positive integer and is more than or equal to 2 and less than or equal to 20.
Fig. 3 shows a third control method of a motor based on rotational speed information according to an embodiment of the present invention, specifically, the step of determining the average amplitude corresponding to the target harmonic frequency may be replaced by the following steps:
step S302, calculating a third product of the target harmonic frequency and a third preset constant and a fourth product of the target harmonic frequency and a fourth preset constant;
step S304, the third product is taken as the interval lower limit, the fourth product is taken as the interval upper limit, and the frequency interval is determined;
step S306, a plurality of frequency amplitudes corresponding to a plurality of target frequencies in the frequency interval are determined, an average value of the plurality of frequency amplitudes is calculated, and the average value is determined as an average amplitude value.
Wherein the third preset constant is equal to the difference between the first preset constant and 1, and the fourth preset constant is equal to the sum of the first preset constant and 1.
For step S206, the step of determining the amplitude threshold according to the average amplitude may be specifically replaced by: calculating a second product of the average amplitude and a second preset constant, and determining the second product as an amplitude threshold; wherein the second preset constant is greater than 0 and less than or equal to 2.
In the embodiment of the invention, the fundamental frequency of the motor is specifically the electrical frequency of the motor, and the harmonic frequency (such as 2 nd harmonic frequency and 3 rd harmonic frequency … …) corresponding to each harmonic of the motor can be determined according to the fundamental frequency of the motor. When judging whether the characteristic spectrum exists on the rotating speed spectrum, whether the average amplitude corresponding to the rotating speed spectrum on each subharmonic frequency exceeds an amplitude threshold value can be respectively judged, if the average amplitude on a certain subharmonic frequency, particularly on a target harmonic frequency, of the rotating speed spectrum exceeds the amplitude threshold value, the rotating speed spectrum is indicated to comprise the target characteristic spectrum on the target harmonic frequency, namely, the condition that the motor is unbalanced in operation is caused, and a corresponding compensation signal is generated at the moment so as to ensure smooth operation of the motor.
When the target characteristic spectrum does not exist in the rotating speed spectrum, the compensation signal is 0.
In determining the target harmonic frequency of the motor, only the product of the fundamental frequency and the first preset constant needs to be calculated. Specifically, let the fundamental frequency be f e Then the respective subharmonic frequencies can be expressed as nf e . The rotation frequency spectrum is at the target harmonic frequency nf e The corresponding amplitude may be expressed as P n The average amplitude may be expressed as P navg 。
In determining the amplitude threshold, let the target harmonic frequency be denoted nf e The rotation frequency spectrum is at the target harmonic frequency nf e The corresponding amplitude may be expressed as P n The average amplitude may be expressed as P navg In particular, the amplitude average of the harmonic frequencies between the (n-1) and (n+1) harmonics is calculated, i.e. (n-1) f e To (n+1) f e Average value P of amplitude values in range navg Wherein n is a first preset constant, (n+1) is a third preset constant, and (n+1) is a fourth preset constant.
Wherein n is a positive integer of not less than 2 and not more than 20. The method determines the subharmonic frequency of the motor, namely the target harmonic frequency, has small calculated amount and high operation speed, and can improve the sensitivity of motor control.
In some real-time modes, 0.9nf can also be calculated to reduce the calculation amount e To 1.1nf e The average amplitude is determined by the average of the amplitudes of the harmonic frequencies in between.
Calculating the product of the average amplitude and a second preset constant m, i.e. mP navg I.e. the amplitude threshold. When P n Greater than mP navg When the rotation frequency spectrum is nf e The position includes the target characteristic spectrum, otherwise, the rotating speed spectrum is indicated as nf e The target characteristic spectrum is not included. Wherein, m is more than or equal to 0 and less than or equal to 2.
In some embodiments, m=1.1.
Example III
In the embodiment of the invention, the rotation speed information comprises mechanical rotation speed information or electrical rotation speed information, and specifically, the rotation speed information can be subjected to spectrum analysis through a Fourier transform algorithm to determine a rotation speed spectrum; or the rotation speed information is subjected to spectrum analysis through a wavelet transformation algorithm to determine the rotation speed spectrum.
The compensation signal is a cosine signal, the frequency of the cosine signal corresponds to the frequency of the target characteristic frequency spectrum, and the phase of the cosine signal corresponds to the phase of the target characteristic frequency spectrum; and calculating a fourth product of the amplitude of the target characteristic frequency spectrum and a preset coefficient, and determining the fourth product as the amplitude of the cosine signal.
The compensation signal is a voltage compensation signal or a current compensation signal; and the preset coefficient is more than or equal to-10000, and the preset coefficient is less than or equal to 10000.
In the embodiment of the invention. The mechanical rotation speed information is specifically a physical rotation speed obtained through a sensor and other parts, and the electric rotation speed information is specifically a theoretical rotation speed calculated through motor running current and voltage. When the frequency spectrum analysis is carried out on the rotating speed information, the frequency spectrum analysis can be carried out on the rotating speed information through a Fourier change algorithm, and the frequency spectrum analysis can also be carried out on the rotating speed information through a wavelet change algorithm, so that the visualized rotating speed frequency spectrum which can be recognized by a processor is finally obtained. The rotating speed information is subjected to frequency spectrum analysis through a Fourier change algorithm and a wavelet change algorithm, so that the calculated amount can be reduced and the sensitivity of motor control can be improved on the premise of ensuring the accuracy.
The compensation signal is a cosine signal (or a sine signal), the frequency of the cosine signal corresponds to the frequency of the target characteristic frequency spectrum, and the phase of the cosine signal corresponds to the phase of the target characteristic frequency, so that the pulse generated by the operation of the motor corresponding to the target characteristic frequency spectrum can be effectively counteracted by superposing the cosine signal in the driving signal of the motor, and the stable operation of the motor is further ensured.
The amplitude of the compensation signal (cosine signal) is the product of the amplitude of the target characteristic spectrum and a preset coefficient.
The compensation signal is an electrical signal, in particular a current signal or a voltage signal. The amplitude of the compensation signal is equal to the product of the amplitude of the target characteristic frequency spectrum and a preset coefficient, the preset coefficient is related to the hardware parameter of the motor, the running environment and the running requirement of the motor, and the setting range of the preset coefficient is-10000 to 10000.
Example IV
In the embodiment of the present invention, fig. 4 shows a fourth control method of a motor based on rotational speed information according to the embodiment of the present invention, specifically, the control method includes:
step S402, acquiring rotation speed information of a motor during operation, and performing spectrum analysis on the rotation speed information;
step S404, based on fundamental wave frequency of the motor, acquiring amplitude values of rotating speed spectrums corresponding to all frequency harmonics of the motor;
step S406, judging whether the frequency spectrum amplitude of the rotating speed corresponding to each harmonic frequency is obviously higher than the frequency spectrum amplitude of the other two sides in sequence, and forming a frequency spectrum peak;
step S408, if there are 1 or more spectrum peaks, 1 or more compensation amounts are correspondingly formed according to the harmonic frequencies corresponding to the spectrum peaks, and if there are no spectrum peaks, the compensation amount is 0;
step S410, adding compensation quantity in motor control;
step S412, judging whether the spectrum spike disappears; if yes, the flow ends, otherwise, the flow returns to step S402.
Wherein, steps S402 to S410 are repeatedly performed until it is confirmed that the spectrum spike disappears.
It should be noted that, after the disappearance of the spectrum spike is detected, steps S402 to S406 are continuously repeated, and when it is determined that the spectrum spike exists again, steps S408 and S410 are continuously performed to eliminate the spectrum spike.
Example five
In an embodiment of the present invention, fig. 5 shows a block diagram of a motor according to an embodiment of the present invention, wherein the structure of the motor 500 includes:
a memory 502 on which a computer program is stored; a processor 504 configured to implement the steps of the method of controlling a motor based on rotational speed information as in any of the embodiments described above when executing a computer program.
The rotation speed analysis unit and the target characteristic spectrum recognition unit can be independent operation chips or can be built in the main controller in an integrated algorithm mode. The compensation unit is used for outputting a compensation signal and sending the compensation signal to the driving unit. The driving unit is used for controlling the motor to operate through a Pulse-Width Modulation (PWM) signal.
Fig. 7 shows a control logic diagram of a driving unit according to an embodiment of the present invention, where ASR and ACR form a dual closed loop speed regulation system, MTPA is maximum torque current ratio control logic, feed Forward Decoupling is feedforward decoupling control, park is Park variation, inv Park is Park inverse transformation, angle Compensation is angle compensation control, sensor is Sensorless electric control scheme, clarke is Clarke transformation, deadband Compensation is dead zone compensation, flux bias is field Weakening control, ADC is analog digital variation control, OVM is minimum variance output control, and finally PWM control signals, i.e., driving signals of a motor, are obtained.
Fig. 8 shows a schematic structure of a motor control module according to an embodiment of the present invention, a motor 800 is provided with a rotation speed detection module 802 and a current detection module 804, the rotation speed detection module 802 is connected with an MCU module 806 (MCU, micro Controller Unit, micro control unit), the MCU module 806 includes a motor control module 8062, and outputs a PWM signal to an inverter module 808, and the inverter module 808 controls the motor 800 to operate according to the PWM signal. Wherein the inverter module 808 is connected to the dc bus module 810.
Specifically, the rotation speed detection module 802 detects rotation speed information of the motor 800, and transmits the rotation speed information to the MCU module 806; the current detection module 804 is configured to detect a phase current of the motor module, and may be implemented by single resistance sampling, double resistance sampling, or hall current sensor sampling; the MCU module 806 controls the operation of the inverter module 808 via PWM signals.
Example six
In an embodiment of the present invention, a computer readable storage medium is provided, on which a computer program is stored, which when executed by a processor, implements the steps of the method for controlling a motor based on rotational speed information provided in any of the above embodiments, and thus the computer readable storage medium also includes all the advantages of the method for controlling a motor based on rotational speed information provided in any of the above embodiments, which are not described herein again.
In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are orientation or positional relationship based on the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A method for controlling a motor based on rotational speed information, comprising:
acquiring the rotating speed information of the motor, and performing spectrum analysis on the rotating speed information to determine a rotating speed spectrum corresponding to the rotating speed information;
generating a corresponding compensation signal according to a target characteristic spectrum based on the condition that the target characteristic spectrum is included in the rotating speed spectrum, and adding the compensation signal into a driving signal of the motor;
before the step of generating the corresponding compensation signal from the target characteristic spectrum, the control method further comprises:
acquiring fundamental wave frequency of the motor, determining target harmonic frequency of the motor according to the fundamental wave frequency, and determining average amplitude corresponding to the target harmonic frequency;
according to the target harmonic frequency and the rotating speed spectrum, determining a spectrum amplitude corresponding to the rotating speed spectrum and the target harmonic frequency;
determining an amplitude threshold according to the average amplitude, and determining that the rotating speed frequency spectrum comprises the characteristic frequency spectrum on the target harmonic frequency based on the condition that the frequency spectrum amplitude is larger than the amplitude threshold;
the step of determining the average amplitude corresponding to the target harmonic frequency specifically includes:
calculating a third product of the target harmonic frequency and a third preset constant and a fourth product of the target harmonic frequency and a fourth preset constant;
determining a frequency interval by taking the third product as an interval lower limit and taking the fourth product as an interval upper limit;
determining a plurality of frequency amplitudes corresponding to a plurality of target harmonic frequencies in the frequency interval, calculating an average value of the plurality of frequency amplitudes, and determining the average value as the average amplitude;
the third preset constant is equal to the difference between the first preset constant and 1, the fourth preset constant is equal to the sum of the first preset constant and 1, the first preset constant is a positive integer, the first preset constant is more than or equal to 2, and the first preset constant is less than or equal to 20.
2. The method for controlling a motor based on rotational speed information according to claim 1, wherein the step of determining a target harmonic frequency of the motor from the fundamental frequency specifically comprises:
calculating a first product of the fundamental frequency and the first preset constant, and determining the first product as the target harmonic frequency.
3. The method for controlling a motor based on rotational speed information according to claim 2, wherein the step of determining an amplitude threshold value according to the average amplitude value specifically comprises:
calculating a second product of the average amplitude and a second preset constant, and determining the second product as the amplitude threshold;
wherein the second preset constant is greater than 0 and less than or equal to 2.
4. The method for controlling a motor based on rotational speed information according to claim 1, wherein the rotational speed information includes mechanical rotational speed information or electrical rotational speed information, and the step of performing spectrum analysis on the rotational speed information to determine a rotational speed spectrum corresponding to the motor specifically includes:
performing spectrum analysis on the rotating speed information through a Fourier transform algorithm to determine the rotating speed spectrum; or (b)
And carrying out spectrum analysis on the rotating speed information through a wavelet transformation algorithm to determine the rotating speed spectrum.
5. The method according to claim 1, characterized in that the compensation signal is a cosine signal, and the frequency of the cosine signal corresponds to the frequency of the target characteristic spectrum, and the phase of the cosine signal corresponds to the phase of the target characteristic spectrum; and
and calculating a fourth product of the amplitude of the target characteristic frequency spectrum and a preset coefficient, and determining the fourth product as the amplitude of the cosine signal.
6. The method according to claim 5, wherein the compensation signal is a voltage compensation signal or a current compensation signal; and
the preset coefficient is greater than or equal to-10000, and the preset coefficient is less than or equal to 10000.
7. The control method of a motor based on rotational speed information according to any one of claims 1 to 6, characterized in that the motor includes a rotational speed sensor through which the rotational speed information is acquired.
8. The control method of the motor based on rotational speed information according to any one of claims 1 to 6, characterized by further comprising:
and acquiring electric data in the operation of the motor, and determining the rotating speed information according to the electric data.
9. An electric machine, comprising:
a memory having a computer program stored thereon;
a processor configured to implement the steps of the method of controlling a motor based on rotational speed information as claimed in any one of claims 1 to 8 when executing the computer program.
10. The electric machine of claim 9, further comprising:
the driving unit is used for generating a driving signal corresponding to the motor;
the rotating speed sensor is used for collecting rotating speed information in the running process of the motor;
the rotating speed spectrum analysis unit is connected with the rotating speed sensor and is used for carrying out spectrum analysis on the rotating speed information;
the target characteristic spectrum identification unit is connected with the rotating speed spectrum analysis unit and is used for identifying a target characteristic spectrum;
and the compensation unit is connected with the target characteristic spectrum identification unit and the driving unit, and is used for generating a corresponding compensation signal according to the target characteristic spectrum and sending the compensation signal to the driving unit.
11. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the method for controlling a motor based on rotational speed information according to any one of claims 1 to 8.
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