CN102761307B - Motor control method and device as well as household electrical appliances - Google Patents
Motor control method and device as well as household electrical appliances Download PDFInfo
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- CN102761307B CN102761307B CN2012100429412A CN201210042941A CN102761307B CN 102761307 B CN102761307 B CN 102761307B CN 2012100429412 A CN2012100429412 A CN 2012100429412A CN 201210042941 A CN201210042941 A CN 201210042941A CN 102761307 B CN102761307 B CN 102761307B
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Abstract
The invention discloses a motor control method and a device as well as household electrical appliances. The motor control method comprises the steps of: sampling to obtain the phase current of the motor; estimating d-axis and q-axis inductance values of the motor according to the current value of the phase current; calculating control parameter by the estimated inductance values; and carrying out magnetic field directional control on the motor by the control parameter. According to the invention, the motor is simultaneously suitable for work at high and low current.
Description
Technical field
The present invention relates to control field, in particular to a kind of motor control method and device and household electrical appliance.
Background technology
The characteristics of reluctance motor are that the inductance value of motor is larger with the variation of electric current, thereby, when the variation of electric current is larger, then to field orientation FOC (the Field Oriented Control of traditional preset parameter, abbreviation FOC) control mode has proposed test, for example, so that the parameter of electric machine that is fit to move under the low current can't be adapted to the operation of high electric current.
Be difficult to the problem of the high low current of simultaneous adaptation for motor in the prior art, not yet propose at present effective solution.
Summary of the invention
Main purpose of the present invention is to provide a kind of motor control method and device and household electrical appliance, is difficult to the problem of the high low current of simultaneous adaptation with motor in the solution prior art.
To achieve these goals, according to an aspect of the present invention, provide a kind of motor control method.This motor control method comprises: the phase current that obtains motor by sampling; Estimate d, the q axle inductance value of motor according to the current value of phase current; By the control of the inductance value calculation after estimation parameter; And by the control parameter motor is carried out field orientation and control.
Further, after the d that estimates motor according to the current value of phase current, q axle inductance value, method also comprises: the inductance value that estimates is revised, wherein, comprised by the control of the inductance value calculation after estimation parameter: by revised inductance value calculation control parameter.
Further, estimate in the following manner d, the q axle inductance value of motor according to the current value of phase current: by the database lookup inductance value corresponding with current value, wherein, the pre-stored inductance value that has under the different electric currents in database, the corresponding relation between different current values and the different induction value obtains by the relation curve between inductance value and the current value.
Further, above-mentioned database is the database of form.
Further, estimate in the following manner d, the q axle inductance value of motor according to the current value of phase current: utilize many linear straightways to represent the relation curve of inductance value and current value; And in every section of many linear straightways, calculate the inductance value corresponding with current value according to linear function L=aI+b, and wherein, a and b are constant, and I is current value, and L is inductance value.
Further, in the following manner according to d, the q axle inductance value of the current value of phase current estimation motor: utilize the repeatedly relation curve of function representation inductance value and current value of monobasic; And utilize the monobasic many places function calculation inductance value corresponding with current value.
Further, said motor comprises reluctance motor and permagnetic synchronous motor.
To achieve these goals, according to a further aspect in the invention, provide a kind of motor control assembly.This motor control assembly comprises: sampling module, for the phase current that obtains motor by sampling; Estimation block is used for d, q axle inductance value according to the current value estimation motor of phase current; Computing module is used for by the control of the inductance value calculation after estimation parameter; And control module, be used for by the control parameter motor being carried out field orientation control.
Further, said apparatus also comprises: correcting module, be used for after the d that estimates motor according to the current value of phase current, q axle inductance value, the inductance value that estimates being revised, and wherein, estimation block is used for by revised inductance value calculation control parameter.
Further, estimation block one of is used in the following manner d, the q axle inductance value of estimation motor: mode one: by the database lookup inductance value corresponding with current value, wherein, the pre-stored inductance value that has under the different electric currents in database, corresponding relation between different current values and the different induction value obtains by the relation curve between inductance value and the current value, wherein, this database can be the database of form, mode two: utilize many linear straightways to represent the relation curve of inductance value and current value; And in every section of many linear straightways, calculate the inductance value corresponding with current value according to linear function L=aI+b, and wherein, a and b are constant, and I is current value, and L is inductance value.Mode three: utilize the repeatedly relation curve of function representation inductance value and current value of monobasic; And utilize the monobasic many places function calculation inductance value corresponding with current value.
Further, said motor comprises reluctance motor and permagnetic synchronous motor.
To achieve these goals, according to another aspect of the invention, also provide a kind of household electrical appliance, these household electrical appliance comprise any one motor control assembly provided by the invention.
Further, household electrical appliance can be air conditioner.
By the present invention, adopt the phase current that obtains motor by sampling; Estimate d, the q axle inductance value of motor according to the current value of phase current; By the control of the inductance value calculation after estimation parameter; And by the control parameter to the method that motor carries out field orientation control, solved that motor is difficult to the problem of the high low current of simultaneous adaptation in the prior art, and then reached so that motor can be suitable for the effect of working simultaneously under high low current.
Description of drawings
The accompanying drawing that consists of the application's a part is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram according to the motor control assembly of the embodiment of the invention;
Fig. 2 is the flow chart according to the motor control method of the embodiment of the invention;
Fig. 3 is the schematic diagram that motor is controlled according to the embodiment of the invention;
Fig. 4 is the schematic diagram according to the relation curve of the inductance value of the embodiment of the invention and current value; And
Fig. 5 is the schematic diagram that utilizes many linear straightways that the relation curve of inductance value and current value is represented according to the embodiment of the invention.
Embodiment
Need to prove that in the situation of not conflicting, embodiment and the feature among the embodiment among the application can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
Fig. 1 is the schematic diagram according to the motor control assembly of the embodiment of the invention.As shown in Figure 1, this motor control assembly comprises sampling module 10, estimation block 20, computing module 30 and control module 40.
Sampling module 10 is used for obtaining by sampling the phase current of motor.
Estimation block 20 is used for d, the q axle inductance value according to the current value estimation motor of phase current.
Computing module 30 is used for by the control of the inductance value calculation after estimation parameter.Wherein, the control parameter can be for current loop gain etc.
Control module 40 is used for by the control parameter motor being carried out field orientation control.
In this motor control assembly, owing at first obtain the phase current of motor by sampling, then the current value by this electric current estimates inductance value, thereby obtained an inductance value with curent change, calculate again the control parameter motor is carried out field orientation control by this inductance value, motor is difficult to the problem of the high low current of simultaneous adaptation in the prior art thereby solved, and then has reached so that motor can be suitable for the effect of working simultaneously under high low current.
For so that the estimation after inductance value more accurate, preferably, said apparatus can also comprise correcting module, this correcting module is used for after the d that estimates motor according to the current value of phase current, q axle inductance value, the inductance value that estimates is revised, at this moment, computing module 30 is used for by revised inductance value calculation control parameter.Thereby above-mentioned computing module 30 can be directly to calculate the control parameter according to the inductance value after the estimation, also can be after the inductance value after the estimation is revised, and recycles revised inductance value calculation control parameter.
In order to guarantee the reliable and stable operation under the high low current, the embodiment of the invention is utilized the on-line parameter correction technique, d, q axle inductance value by phase current signal real-time estimation motor, go out to control parameter by the inductance value calculation that estimates again, be used for field orientation (FOC) control, can guarantee that motor all can stable operation at high, medium and low power.
Because the motor in the embodiment of the invention can be used as the part of compressor, thereby, also can realize control to compressor by the control to motor, thereby the embodiment of the invention also provides a kind of control method of compressor.
Preferably, estimation block 20 one of is used in the following manner d, the q axle inductance value of estimation motor:
Mode one: by the database lookup inductance value corresponding with current value, wherein, the pre-stored inductance value that has under the different electric currents in this database, corresponding relation between different current values and the different induction value obtains by the relation curve between inductance value and the current value, wherein, this database can be the database of form.
Mode two: utilize many linear straightways to represent the relation curve of inductance value and current value; And in every section of many linear straightways, calculate the inductance value corresponding with current value according to linear function L=aI+b, and wherein, a and b are constant, and I is current value, and L is inductance value.
Mode three: utilize the repeatedly relation curve of function representation inductance value and current value of monobasic; And utilize the monobasic many places function calculation inductance value corresponding with current value.
The embodiment of the invention also provides a kind of motor control method.The method can be carried out by above-mentioned motor control assembly.
Fig. 2 is the flow chart according to the motor control method of the embodiment of the invention.
As shown in Figure 2, this motor control method may further comprise the steps:
Step S602 obtains the phase current of motor by sampling.
Step S604 is according to d, the q axle inductance value of the current value of phase current estimation motor.
Step S606 is by the control of the inductance value calculation after estimation parameter.
Step S608 carries out field orientation control by the control parameter to motor.
For so that the estimation after inductance value more accurate, preferably, after the d that estimates motor according to the current value of phase current, q axle inductance value, method also comprises: the inductance value that estimates is revised, wherein, comprise by the control of the inductance value calculation after estimation parameter: by revised inductance value calculation control parameter.
In step S604, can estimate in the following manner d, the q axle inductance value (corresponding to above-mentioned mode one) of motor according to the current value of phase current:
By the table lookup inductance value corresponding with current value, wherein, the pre-stored inductance value that has under the different electric currents in form, the corresponding relation between different current values and the different induction value obtains by the inductance value of actual measurement and the relation curve between the current value.
In step S604, also can estimate in the following manner d, the q axle inductance value (corresponding to above-mentioned mode two) of motor according to the current value of phase current:
Utilize many linear straightways to represent the relation curve of inductance value and current value; And in every section of many linear straightways, calculate the inductance value corresponding with current value according to linear function L=aI+b, and wherein, a and b are constant, and I is current value, and L is inductance value.
In step S604, can also estimate in the following manner d, the q axle inductance value (corresponding to above-mentioned mode three) of motor according to the current value of phase current:
Utilize the repeatedly relation curve of function representation inductance value and current value of monobasic; And utilize the monobasic many places function calculation inductance value corresponding with current value.
Fig. 3 is the schematic diagram that motor is controlled according to the embodiment of the invention.Above-mentioned control device and control method all can be controlled by control mode as described in Figure.
As shown in Figure 3, in this control mode, obtain first the actual phase current of motor by sampling, according to current value d, q axle inductance value are estimated and correction again, go out to control parameter by revised inductance value calculation at last and be used for FOC control.
More than closed-loop control of whole process implementation, thereby realize the real-time correction of parameter, guaranteed that motor all can stable operation at high, medium and low power, with respect to traditional d, the changeless control mode of q axle inductance, accommodation is wider, and stability is better.
Motor in the embodiment of the invention both can be reluctance motor, also can be the motors such as permagnetic synchronous motor.
Fig. 4 is the schematic diagram according to the relation curve of the inductance value of the embodiment of the invention and current value.In the figure, show d, q axle inductance separately with the situation of change of electric current, wherein, Lq be the inductance value of q axle with the curve of curent change, Ld is that the inductance value of d axle is with the curve of curent change.
Because the motor characteristic feature of reluctance motor is that the inductance value of motor is larger with the variation of electric current, Fig. 4 then is the inductance value of a certain motor and the corresponding relation of electric current, and when electric current was increasing as seen from the figure, inductance value descended a lot.If so when controlling with preset parameter in the whole service process, just so that the parameter of electric machine that is fit to move under the low current can not be adapted to the operation of high electric current, and the invention provides the solution of the compatible high low current operation of a kind of energy.
Below the estimation of d, q axle inductance value or the detailed implementation procedure of estimation and correction are introduced:
D, q axle inductance value can be estimated by following mode at least:
(1) look-up table
The method is corresponding to above-mentioned mode one, in the method, according to the relation curve of d, q axle inductance value and current value (for example, can be as shown in Figure 4 relation curve), place the form of a correspondence, obtain d, q axle inductance value under the different electric currents by look-up table.Such as following table:
Table 1
| Current value | The Ld inductance | The Lq inductance |
| 1A | 12.5mH | 18.6mH |
| 2A | 10.8mH | 17.9mH |
| 3A | 10.2mH | 17.3mH |
| 4A | 9.7mH | 16.9mH |
| 5A | 9.2mH | 16.2mH |
| 6A | 8.8mH | 15.8mH |
| 7A | 8.1mH | 15.2mH |
| 8A | 7.5mH | 14.7mH |
| 9A | 7.0mH | 14.1mH |
(2) the linear value method of multistage
The method is corresponding to above-mentioned mode two, in the method, according to the relation curve of d, q axle inductance value and current value (for example, can be as shown in Figure 4 relation curve), utilize many linear straightway to replace, in every section, calculate inductance value according to linear function L=aI+b.(wherein L is inductance value, and I is current of electric, and a, b are function coefficients).
Fig. 5 is the schematic diagram that utilizes many linear straightways that the relation curve of inductance value and current value is represented according to the embodiment of the invention.As described in Figure 5, what can be similar to utilizes AB, BC, and CD, four sections straight lines of DE are similar to replacement, thereby realize linear calculating.
(3) monobasic function method repeatedly
The method is corresponding to above-mentioned mode three, in the method, according to the relation curve of d, q axle inductance value and current value, utilize monobasic repeatedly function come approximate expression.As utilize following function calculation to go out inductance value:
L＝aI
n +bI
n-1 +cI
n-2 +dI
n-3……
Wherein, L is inductance value, and I is current of electric, a, and b, c, d etc. are function coefficients, are constant.
In addition, the embodiment of the invention also provides a kind of household electrical appliance, these household electrical appliance can be any household electrical appliance with motor control assembly that the embodiment of the invention provides, also can be any household electrical appliance that adopted the motor control method of the embodiment of the invention, as an example of household electrical appliance, these household electrical appliance can be air conditioner.
Can find out that by above description the embodiment of the invention has realized so that motor can be suitable for the purpose of steady operation under high low current simultaneously.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general calculation element, they can concentrate on the single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in the storage device and be carried out by calculation element, perhaps they are made into respectively each integrated circuit modules, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. a reluctance motor control method is characterized in that, comprising:
Obtain the phase current of motor by sampling;
Estimate d, the q axle inductance value of described motor according to the current value of described phase current;
By the control of the inductance value calculation after estimation parameter; And
By described control parameter described motor is carried out field orientation control; Wherein, estimate one of in the following manner d, the q axle inductance value of described motor according to the current value of described phase current:
Mode one: utilize many linear straightways to represent the relation curve of inductance value and current value; And in every section of described many linear straightways, calculate the inductance value corresponding with described current value according to linear function L=aI+b, and wherein, a and b are constant, and I is current value, and L is inductance value;
Mode two: utilize the repeatedly relation curve of function representation inductance value and current value of monobasic; And utilize the repeatedly function calculation inductance value corresponding with described current value of described monobasic.
2. method according to claim 1 is characterized in that,
After the d that estimates described motor according to the current value of described phase current, q axle inductance value, described method also comprises:
The inductance value that estimates is revised,
Wherein, comprise by the control of the inductance value calculation after estimation parameter:
By revised inductance value calculation control parameter.
3. a reluctance machine control device is characterized in that, comprising:
Sampling module is for the phase current that obtains motor by sampling;
Estimation block is for d, the q axle inductance value of estimating described motor according to the current value of described phase current;
Computing module is used for by the control of the inductance value calculation after estimation parameter; And
Control module is used for by described control parameter described motor being carried out field orientation control;
Described estimation block one of is used in the following manner d, the q axle inductance value of the described motor of estimation:
Mode one: utilize many linear straightways to represent the relation curve of inductance value and current value; And in every section of described many linear straightways, calculate the inductance value corresponding with described current value according to linear function L=aI+b, and wherein, a and b are constant, and I is current value, and L is inductance value,
Mode two: utilize the repeatedly relation curve of function representation inductance value and current value of monobasic; And utilize the repeatedly function calculation inductance value corresponding with described current value of described monobasic.
4. device according to claim 3 is characterized in that, described device also comprises:
Correcting module is used for after the d that estimates described motor according to the current value of described phase current, q axle inductance value the inductance value that estimates being revised,
Wherein, described computing module is used for by revised inductance value calculation control parameter.
5. household electrical appliance is characterized in that, comprise each described reluctance machine control device in the claim 3 to 4.
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| CN104283477B (en) * | 2014-09-28 | 2018-03-02 | 廖启新 | A kind of Vector Control System of Induction Motor field orientation antidote based on torque observation |
| FR3042332B1 (en) * | 2015-10-13 | 2017-10-13 | Schneider Toshiba Inverter Europe Sas | CONTROL METHOD FOR IDENTIFYING THE INDUCTANCE VALUES OF A SYNCHRONOUS ELECTRIC MOTOR WITH VARIABLE RELUCTANCE |
| CN105553369A (en) * | 2015-12-16 | 2016-05-04 | 四川长虹电器股份有限公司 | Motor control method and motor |
| CN107222145B (en) * | 2017-07-27 | 2019-09-06 | 广东美芝制冷设备有限公司 | Control method, system and the machine readable storage medium of permanent magnet synchronous motor |
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| JP3531428B2 (en) * | 1997-07-07 | 2004-05-31 | アイシン・エィ・ダブリュ株式会社 | Motor control device and control method |
| US5965995A (en) * | 1997-09-18 | 1999-10-12 | Allen-Bradley Company, Llc | Transient inductance tuner for motor control |
| CN1326318C (en) * | 2005-06-23 | 2007-07-11 | 南京航空航天大学 | Control method of double-salient-pole electric machine without position sensor |
| KR20090049856A (en) * | 2007-11-14 | 2009-05-19 | 엘지전자 주식회사 | Motor controller of air conditioner |
| CN101436843B (en) * | 2008-12-22 | 2010-12-08 | 哈尔滨工业大学 | Method for detecting rotor position in non position sensor switch magnetic resistance motor |
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| CN107070344A (en) * | 2017-04-01 | 2017-08-18 | 东南大学 | A kind of evaluation method of permanent magnetic brushless armature winding inductance value |
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