CN105429529B - A kind of motor control method and electronic equipment - Google Patents
A kind of motor control method and electronic equipment Download PDFInfo
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- CN105429529B CN105429529B CN201510946820.4A CN201510946820A CN105429529B CN 105429529 B CN105429529 B CN 105429529B CN 201510946820 A CN201510946820 A CN 201510946820A CN 105429529 B CN105429529 B CN 105429529B
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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
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
- H02P2006/045—Control of current
Abstract
The invention discloses a kind of motor control method and electronic equipment, by obtaining the back electromotive force constant K by motorE, the first inductance value L in the quadrature axis of the motorq, the second inductance value L on the d-axis of the motord, and the first control electric current value I in the quadrature axis of the motorqSo as to obtain Query Value N corresponding with above-mentioned parameter, then the sqrt end value M corresponding to acquisition that tables look-up is carried out in the inquiry table with default precision to prestore by the Query Value N, finally four fundamental rules basic operation can be used to obtain the second control electric current value I on the d-axis of the motor with the default precisiond, other control parameters are obtained so as to be calculated on the basis of the control electric current parameter with default precision is obtained.Therefore, the technical scheme in the embodiment of the present application has the efficiency for improving the control electric current value on the d-axis for obtaining motor, and improves the technique effect of the precision of control electric current value on the d-axis of motor got.
Description
Technical field
The present invention relates to electronic technology field, more particularly to a kind of motor control method and electronic equipment.
Background technology
With the continuous development of scientific technology, electronic technology has also obtained development at full speed, and the species of electronic product is also got over
Come more, people have also enjoyed the various facilities that development in science and technology is brought.Present people can be set by various types of electronics
It is standby, enjoy the comfortable life brought with development in science and technology.
At present, permanent magnetic brushless of the prior art typically uses maximum moment control method, and power is carried out in processor
Square needs to be related to computing of extracting square root during calculating, also, when processor calculates the control voltage vector size of motor
It is also required to make extraction of square root computing, for example, calculating control voltage VrUsed formula is,But due to
Computational accuracy problem is usually there will be when making extraction of square root computing by electronic microprocessor in the prior art, if precision is inadequate,
The control that so MCU (Microcontroller Unit micro-control units) calculates generation also can with PWM ripple dutycycle precision
It is not high.Also, if motor is powered using three phase mains, because busbar voltage is generally more than 500 volts, when the control of motor
When torque accuracy is inadequate, it is very easy to cause motor that three-phase current vibration operationally occurs than violent, motor operation frequency is not
It is stable, the technical problems such as operation noise is big, very big influence is caused on motor normal operation, serious can even cause production thing
Therefore.
It can be seen that the calculating knot for computing of being extracted square root in the prior art there is processor in motor control calculating process is carried out
Fruit precision is not high, and it is relatively low to handle the control parameter precision of generation, easily causes the unstable technical problem of motor operation.
The content of the invention
The application provides a kind of motor control method and electronic equipment, and to solve, there is processor in the prior art to exist
Extracted square root in motor control calculating process computing computational solution precision it is not high, handle the control parameter precision of generation compared with
It is low, easily cause the unstable technical problem of motor operation.
On the one hand the application provides a kind of motor control method, including：
Obtain the back electromotive force constant K by motorE, the first inductance value L in the quadrature axis of the motorq, the motor it is straight
The second inductance value L on axled, and the first control electric current value I in the quadrature axis of the motorqFirst array of composition；
Obtain Query Value N corresponding with first array；
Tabled look-up in inquiry table, obtain end value M corresponding with the Query Value N, the inquiry table includes 2n+1
And several end values, n be the natural number more than or equal to 1；
Based on first array and the end value M, second on the d-axis of the motor is obtained using basic operation
Control electric current value Id。
Alternatively, acquisition Query Value N corresponding with first array, including：
Determine to be worth the smaller value between second in value between the first value and second value, first value are first, described second
It is worth for the higher value between described first between value and described second in value, value is the back electromotive force constant K between described firstEWith in
Between number ratio absolute value, the mediant is the second inductance value LdWith the first inductance value Lq2 times of difference,
Value is the first control electric current value I between described secondqAbsolute value；
The n powers that ratio based on first value and the second value expands 2 determine the Query Value N again.
Alternatively, it is described to be tabled look-up in inquiry table, end value M corresponding with the Query Value N is obtained, including：
Tabled look-up in inquiry table, obtain it is corresponding with the Query Value N, and for based on to described first be worth with it is described
The ratio of second value square plus 1 the sum sqrt end value M that subtracts the numerical value obtained after 1 again and obtain.
Alternatively, it is described to be based on first array and the end value M, the straight of the motor is obtained using basic operation
The second control electric current value I on axled, including：
Based on formulaObtain the second control electric current value Id。
On the other hand, the embodiment of the present application additionally provides a kind of electronic equipment, it is characterised in that including：
Sensor, the first control electric current value I in the quadrature axis for obtaining motorq；
Processor, to inquire about back electromotive force constant K of the parameter of electric machine acquisition by motorE, and obtain the motor
The first inductance value L in quadrature axisq, the second inductance value L on the d-axis of the motord, obtain Query Value corresponding with the first array
N, tabled look-up in inquiry table, end value M corresponding with the Query Value N is obtained, based on first array and the knot
Fruit value M, the second control electric current value I on the d-axis of the motor is obtained using basic operationd, wherein, the counter electromotive force is normal
Number KE, the first inductance value Lq, the second inductance value LdAnd the first control electric current value IqThe first array is formed, it is described to look into
Asking table includes 2n+ 1 and several end values, n be the natural number more than or equal to 1.
Alternatively, the processor, to determine the first value and second value, based on the described first value and the second value
The n powers that ratio expands 2 determine the Query Value N again, wherein, it is smaller in being worth between first value is first between value and second
Value, the second value are worth the higher value in being worth between described second between being described first, value is described anti-electronic between described first
Potential constant KEWith the absolute value of the ratio of mediant, the mediant is the second inductance value LdWith the first inductance value Lq
2 times of difference, value is the first control electric current value I between described secondqAbsolute value.
Alternatively, the processor, to be tabled look-up in inquiry table, acquisition is corresponding with the Query Value N, and is
Ratio based on first value and the second value square subtracts the numerical value that is obtained after 1 again plus 1 sum sqrt
And the end value M obtained.
Alternatively, the processor, to based on formulaObtain
Obtain the second control electric current value Id。
The one or more technical schemes provided in the embodiment of the present application, have at least the following technical effects or advantages：
Technical scheme in the embodiment of the present application can be by obtaining the back electromotive force constant K by motorE, the motor
The first inductance value L in quadrature axisq, the second inductance value L on the d-axis of the motord, and first in the quadrature axis of the motor
Control electric current value Iq, so as to obtain Query Value N corresponding with above-mentioned parameter, then have by the Query Value N what is prestored
The sqrt end value M corresponding to acquisition that tables look-up is carried out in the inquiry table of default precision, can finally use four fundamental rules basic operation
Obtain the second control electric current value I on the d-axis of the motor with the default precisiond, so as to obtain with default precision
Calculated on the basis of control electric current parameter and obtain other control parameters.Therefore, the technical scheme in the embodiment of the present application has and carried
Height obtains the efficiency of the control electric current value on the d-axis of motor, and improves the control electric current value on the d-axis of motor got
Precision technique effect.
The embodiment of the present application at least also has the following technical effect that or advantage：
Alternatively, the technical scheme in the embodiment of the present application can also by the Query Value is expanded 2 m powers times,
Thus the Query Value for avoiding being obtained is decimal, facilitates single-chip microcomputer quickly to be handled.Therefore, in the embodiment of the present application
Technical scheme, which also has, is applied to the technique effect that single-chip microcomputer is handled.
Alternatively, the technical scheme in the embodiment of the present application can be based on formula：
Search obtain withOr withAfter corresponding end value M, the reality on motor d-axis is accurately and efficiently obtained by basic operation
When control electric current.Therefore, with technology of the real-time control electric current on the motor d-axis for ensureing to get with default accuracy
Effect.
Brief description of the drawings
Fig. 1 is a kind of flow chart of motor control method provided in an embodiment of the present invention；
Fig. 2 is the structure chart of a kind of electronic equipment provided in an embodiment of the present invention.
Embodiment
The application provides a kind of motor control method and electronic equipment, and to solve, there is processor in the prior art to enter
The computational solution precision of extraction of square root computing is not high during row Calculating Torque during Rotary, handles the relatively low skill of the control moment precision of generation
Art problem.
Technical scheme in the embodiment of the present application is in order to solve the above technical problems, general thought is as follows：
Technical scheme in the embodiment of the present application can be by obtaining the back electromotive force constant K by motorE, the motor
The first inductance value L in quadrature axisq, the second inductance value L on the d-axis of the motord, and first in the quadrature axis of the motor
Control electric current value Iq, so as to obtain Query Value N corresponding with above-mentioned parameter, then have by the Query Value N what is prestored
The sqrt end value M corresponding to acquisition that tables look-up is carried out in the inquiry table of default precision, can finally use four fundamental rules basic operation
Obtain the second control electric current value I on the d-axis of the motor with the default precisiond, so as to obtain with default precision
Calculated on the basis of control electric current parameter and obtain other control parameters.Therefore, the technical scheme in the embodiment of the present application has and carried
Height obtains the efficiency of the control electric current value on the d-axis of motor, and improves the control electric current value on the d-axis of motor got
Precision technique effect.
Technical scheme is described in detail below by accompanying drawing and specific embodiment, it should be understood that the application
Specific features in embodiment and embodiment are the detailed description to technical scheme, rather than to present techniques
The restriction of scheme, in the case where not conflicting, the technical characteristic in the embodiment of the present application and embodiment can be mutually combined.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, expression may have three kinds of passes
System, for example, A and/or B, can be represented：Individualism A, while A and B be present, these three situations of individualism B.In addition, herein
Middle character "/", it is a kind of relation of "or" to typically represent forward-backward correlation object.
Embodiment one
Fig. 1 is refer to, the embodiment of the present application one provides a kind of motor control method, including：
Step 101 " obtains the back electromotive force constant K by motorE, the first inductance value L in the quadrature axis of the motorq, it is described
The second inductance value L on the d-axis of motord, and the first control electric current value I in the quadrature axis of the motorqFirst number of composition
Group.
When motor rotates in the process of running, there will necessarily be coil cutting magnetic line, thus can then produce anti-electricity
Kinetic potential.For a specific motor, its velocity of rotation is faster, then caused back-emf voltage is higher, conversely, then caused anti-
EMF voltage is lower.That is, back-emf voltage is directly proportional to the rotating speed of motor, and the back electromotive force constant KEThen
To represent the parameter of this proportionate relationship.It can be seen that the back electromotive force constant KEFor the intrinsic parameter of motor, the class with motor
Type, running status are related.It can be determined in actual mechanical process by type parameter of the running status of motor or motor etc.
And obtain.
On the other hand, circuit inductance device or the every ginseng of the motor to prestore can also be passed through in the running of motor
Number data are to the first inductance value Lq, the second inductance value Ld, the motor quadrature axis on the first control electric current value IqEnter
Row obtains in real time.
Step 102：Obtain Query Value N corresponding with first array.
Because DC MOTOR CONTROL is using maximum moment control, its key parameter values is motor quadrature axis and d-axis
On control electric current, that is to say IdAnd Iq, and calculate control electric current IdThe formula sampled is：The above method, which is related to, to be askedResult, that is to say, that can
To regard asOr
ForFollowing control method can be used：
The maximum maxXY and minimum value minXY, minXY≤maxXY in X and Y are determined, for example, X=2, Y=3,
MaxXY=3, minXY=2.
Due toSo：
It can further obtain：It thereby establishThe array of data of form, 0≤x≤1, it is possible to design general extraction of square root calculation procedure, supply and demand will extract square root
Routine call.
Because single-chip microcomputer is typically calculated using fixed-point number, decimal can not be handled, so, it can be located with the following method
Reason：
By formulaIn x from 0 to 1, at intervals ofCalculateThat is, it can adopt
2 are divided into by 1nThe mode of part, when n value is bigger, then representative is got 1 etc. more, and evolution table interval is smaller, calculates
The value precision of acquisition is higher.
Due toAnd single-chip microcomputer can not handle decimal, therefore can be by above-mentioned knot
Round numbers after fruit expands, the array of data needed for computer off-line calculation is recycled, and result is stored in the MCU of single-chip microcomputer
In ROM, tabled look-up use for MCU.
As can be seen here, the Query Value N in this step can be withEnd value corresponding toValue.That is, the Query Value N can beAnd IqIn it is less value withAnd Iq
In larger value ratio corresponding to be worth.For example, work asWhen, the Query Value N can be 4/5=
0.8, or expand 10 times of value 8 by 0.8, can also be the value obtained according to other predefined function relations, such as 0.8*
100-400=400.
It can be seen that in actual mechanical process, the Query Value N can be a variety of values corresponding with predefined function value, and
The predefined function value can beAnd IqIn it is less value withAnd IqIn larger value ratio pair
The value answered.The specific method for obtaining the Query Value N can be set as needed in actual mechanical process, for specification
Succinct just do not repeat one by one herein.
Step 103：Tabled look-up in inquiry table, obtain end value M corresponding with the Query Value N, the inquiry table
Including 2n+ 1 and several end value M, n be natural number more than or equal to 1.
The inquiry table is namely divided into 2 according to by 1nPart, the electric with control of acquisition is calculated using one-to-one corresponding mode
Flow IdSampling formula in evolution array corresponding to 2n+ 1 and several end values, and by described 2n+ 1 and several end values
With the inquiry table of the Query Value corresponding record storage.
When Query Value N corresponding with actual parameter value is determined, also can corresponding lookup by way of obtain with
Sqrt end value corresponding to the Query Value N.
Step 104：Based on first array and the end value M, using the d-axis of the basic operation acquisition motor
On the second control electric current value Id。
When by lookup table mode got withAfter corresponding end value, according to control electricity
Flow IdThe formula sampled：Addition subtraction multiplication and division four fundamental rules base can then be used
This computing fast and accurately gets the control electric current on motor d-axis, and further gets accurate motor control torque ginseng
Number.
It can be seen that the technical scheme in the embodiment of the present application can be by obtaining the back electromotive force constant K by motorE, it is described
The first inductance value L in the quadrature axis of motorq, the second inductance value L on the d-axis of the motord, and in the quadrature axis of the motor
The first control electric current value Iq, so as to obtain Query Value N corresponding with above-mentioned parameter, then prestored by the Query Value N
Have in the inquiry table of default precision and carry out the sqrt end value M corresponding to acquisition that tables look-up, can finally use four fundamental rules base
This computing obtains the second control electric current value I on the d-axis of the motor with the default precisiond.Therefore, in the embodiment of the present application
Technical scheme have improve obtain motor d-axis on control electric current value efficiency, and improve get motor it is straight
The technique effect of the precision of control electric current value on axle.
Alternatively, acquisition Query Value N corresponding with first array, including：
Determine to be worth the smaller value between second in value between the first value and second value, first value are first, described second
It is worth for the higher value between described first between value and described second in value, value is the back electromotive force constant K between described firstEWith in
Between number ratio absolute value, the mediant is the second inductance value Ld and the first inductance value Lq2 times of difference,
Value is the first control electric current value I between described secondqAbsolute value；
Ratio based on first value and the second value expand 2 n powers determine again the Query Value N, k be more than
Integer equal to 1.
That is, value is between described firstValue is between described second | Iq|, first value is thenThe second value is then
First value and the ratio of the second value are the decimal less than or equal to 1 and more than 0, and due to single-chip microcomputer without
Method handles decimal, therefore, the ratio of the described first value and the second value can be expanded to 2 n powers times, after thus will be enlarged by
Integer as the Query Value N.
For example, work asWhen,Therefore,
The Query Value can be then 213, and the end value M corresponding with 213 can be obtained in inquiry table.
It can be seen that technical scheme in the embodiment of the present application can also by the Query Value is expanded 2 m powers times, by
This described Query Value for avoiding being obtained is decimal, facilitates single-chip microcomputer quickly to be handled.Therefore, the skill in the embodiment of the present application
Art scheme, which also has, is applied to the technique effect that single-chip microcomputer is handled.
Alternatively, it is described to be tabled look-up in inquiry table, end value M corresponding with the Query Value N is obtained, including：
Tabled look-up in inquiry table, obtain it is corresponding with the Query Value N, and for based on to described first be worth with it is described
The ratio of second value square plus 1 the sum sqrt end value M that subtracts the numerical value obtained after 1 again and obtain.
That is, the end value M is speciallyResult of calculation value.Certainly, due to list
Piece machine can not handle decimal, and the end value M can also be willResult of calculation expand 2 m
The integer value that power obtains again and after rounding.That is, the value being stored in the inquiry table can beResult of calculation integer value.Of course for quick obtaining lookup value accordingly, institute is stored in
Stating the value in inquiry table can also directly beCorresponding integer value, carry out again afterwards corresponding
Basic operation.
It can be seen that can be as needed in actual mechanical process precision and single-chip microcomputer actual treatment ability and determine byThe multiple of expansion, or the mode expanded, in order to which specification does not just repeat succinctly one by one herein.
Alternatively, it is described to be based on first array and the end value M, the straight of the motor is obtained using basic operation
The second control electric current value I on axled, including：
Based on formulaObtain the second control electric current value Id。
Because the control electric current sampling formula of motor d-axis is：
Can be further：
As can be seen here, when the end value being stored in inquiry table is speciallyOr other withEnd value corresponding value when, then can directly just can be fast by addition subtraction multiplication and division basic operation
Speed accurately obtains the control electric current on corresponding motor d-axis.
It can be seen that the technical scheme in the embodiment of the present application can be based on formula：
Search obtain withOr withAfter corresponding end value M, the reality on motor d-axis is accurately and efficiently obtained by basic operation
When control electric current.Therefore, with technology of the real-time control electric current on the motor d-axis for ensureing to get with default accuracy
Effect.
Embodiment two
Fig. 2 is refer to, the embodiment of the present application two provides a kind of a kind of electronic equipment, including：
Sensor 201, the first control electric current value I in the quadrature axis for obtaining motorq；
Processor 202, to inquire about back electromotive force constant K of the parameter of electric machine acquisition by motorE, and obtain the motor
Quadrature axis on the first inductance value Lq, the second inductance value L on the d-axis of the motord, obtain inquiry corresponding with the first array
Value N, is tabled look-up in inquiry table, obtains end value M corresponding with the Query Value N, based on first array and described
End value M, the second control electric current value I on the d-axis of the motor is obtained using basic operationd, wherein, the counter electromotive force
Constant KE, the first inductance value Lq, the second inductance value LdAnd the first control electric current value IqThe first array is formed, it is described
Inquiry table includes 2n+ 1 and several end values, n be the natural number more than or equal to 1.
Specifically, processor 202 can be specifically general central processing unit (CPU), can be that application-specific integrates
Circuit (English：Application Specific Integrated Circuit, referred to as：ASIC), can be one or more
The integrated circuit performed for control program.
Further, the electronic equipment can also include memory, and the quantity of memory can be one or more.Deposit
Reservoir can include read-only storage (English：Read Only Memory, referred to as：ROM), random access memory (English：
Random Access Memory, referred to as：) and magnetic disk storage RAM.
Alternatively, the processor 202, to determine the first value and second value, based on the described first value and described second
The n powers that the ratio of value expands 2 determine the Query Value N again, wherein, in being worth between first value is first between value and second
Smaller value, the second value are worth the higher value in being worth between described second between being described first, value is described anti-between described first
Back EMF constant KEWith the absolute value of the ratio of mediant, the mediant is the second inductance value LdWith first inductance
Value Lq2 times of difference, value is the first control electric current value I between described secondqAbsolute value.
Alternatively, the processor 202, to be tabled look-up in inquiry table, acquisition is corresponding with the Query Value N,
And for based on to first value and the ratio of the second value square add 1 sum sqrt subtract 1 again after obtain
Numerical value and the end value M that obtains.
Alternatively, the processor 202, to based on formula：
Obtain the second control electric current value Id。
Various change mode in motor control method and instantiation in the embodiment of earlier figures 1 are equally applicable to this reality
The electronic equipment of example is applied, by the foregoing detailed description to motor control method, those skilled in the art are clear that
The implementation of electronic equipment in the present embodiment, thus it is succinct for specification, it will not be described in detail herein.
As can be seen here, the technical scheme in the embodiment of the present application can be by obtaining the back electromotive force constant K by motorE,
The first inductance value L in the quadrature axis of the motorq, the second inductance value L on the d-axis of the motord, and the friendship of the motor
The first control electric current value I on axleq, so as to obtain Query Value N corresponding with above-mentioned parameter, then existed by the Query Value N
Having for prestoring carries out the sqrt end value M corresponding to acquisition that tables look-up in the inquiry table for presetting precision, can finally use four
Then basic operation obtains the second control electric current value I on the d-axis of the motor with the default precisiond.Therefore, the application is implemented
Technical scheme in example has the efficiency for improving the control electric current value on the d-axis for obtaining motor, and improves the motor got
D-axis on control electric current value precision technique effect.
The embodiment of the present application at least also has the following technical effect that or advantage：
Alternatively, the technical scheme in the embodiment of the present application can also by the Query Value is expanded 2 m powers times,
Thus the Query Value for avoiding being obtained is decimal, facilitates single-chip microcomputer quickly to be handled.Therefore, in the embodiment of the present application
Technical scheme, which also has, is applied to the technique effect that single-chip microcomputer is handled.
Alternatively, the technical scheme in the embodiment of the present application can be based on formula：
Search obtain withOr withAfter corresponding end value M, the reality on motor d-axis is accurately and efficiently obtained by basic operation
When control electric current.Therefore, with technology of the real-time control electric current on the motor d-axis for ensureing to get with default accuracy
Effect.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, the application can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the application can use the computer for wherein including computer usable program code in one or more
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is with reference to the flow according to the method for the embodiment of the present application, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Specifically, computer program instructions corresponding to a kind of display methods in the embodiment of the present application can be stored in
In the storage mediums such as CD, hard disk, USB flash disk, when computer program corresponding with a kind of motor control method refers in storage medium
When order is read or is performed by an electronic equipment, comprise the following steps：
Obtain the back electromotive force constant K by motorE, the first inductance value L in the quadrature axis of the motorq, the motor it is straight
The second inductance value L on axled, and the first control electric current value I in the quadrature axis of the motorqFirst array of composition；
Obtain Query Value N corresponding with first array；
Tabled look-up in inquiry table, obtain end value M corresponding with the Query Value N, the inquiry table includes 2n+1
And several end values, n be the natural number more than or equal to 1；
Based on first array and the end value M, second on the d-axis of the motor is obtained using basic operation
Control electric current value Id。
Alternatively, stored in the storage medium and step：Acquisition is corresponding with Query Value N corresponding to first array
Computer program instructions when executed, specifically comprise the following steps：
Determine to be worth the smaller value between second in value between the first value and second value, first value are first, described second
It is worth for the higher value between described first between value and described second in value, value is the back electromotive force constant K between described firstEWith in
Between number ratio absolute value, the mediant is the second inductance value LdWith the first inductance value Lq2 times of difference,
Value is the first control electric current value I between described secondqAbsolute value；
The n powers that ratio based on first value and the second value expands 2 determine the Query Value N again.
Alternatively, stored in the storage medium and step：Tabled look-up, obtained and the Query Value in inquiry table
Computer program instructions when executed, specifically comprise the following steps corresponding to end value M corresponding to N：
Tabled look-up in inquiry table, obtain it is corresponding with the Query Value N, and for based on to described first be worth with it is described
The ratio of second value square plus 1 the sum sqrt end value M that subtracts the numerical value obtained after 1 again and obtain.
Alternatively, stored in the storage medium and step：Based on first array and the end value M, use
Basic operation obtains the second control electric current value I on the d-axis of the motordCorresponding computer program instructions when executed,
Specifically also comprise the following steps：
Based on formulaObtain the second control electric current value Id。
Although having been described for the preferred embodiment of the application, those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So appended claims be intended to be construed to include it is excellent
Select embodiment and fall into having altered and changing for the application scope.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the application to the application
God and scope.So, if these modifications and variations of the application belong to the scope of the application claim and its equivalent technologies
Within, then the application is also intended to comprising including these changes and modification.
Claims (8)
- A kind of 1. motor control method, it is characterised in that including：Obtain the back electromotive force constant K by motorE, the first inductance value L in the quadrature axis of the motorq, on the d-axis of the motor The second inductance value Ld, and the first control electric current value I in the quadrature axis of the motorqFirst array of composition；Obtain Query Value N corresponding with first array；Tabled look-up in inquiry table, obtain end value M corresponding with the Query Value N, the inquiry table includes 2n+ 1 sum Individual end value, n are the natural number more than or equal to 1；Based on first array and the end value M, the second control on the d-axis of the motor is obtained using basic operation Current value Id。
- 2. the method as described in claim 1, it is characterised in that described to obtain Query Value N corresponding with first array, bag Include：The smaller value being worth between the first value and second value, first value are first in being worth between second is determined, the second value is It is worth the higher value between described second in value between described first, value is the back electromotive force constant K between described firstEWith mediant Ratio absolute value, the mediant is the second inductance value LdWith the first inductance value Lq2 times of difference, it is described Value is the first control electric current value I between secondqAbsolute value；The n powers that ratio based on first value and the second value expands 2 determine the Query Value N again.
- 3. method as claimed in claim 2, it is characterised in that it is described to be tabled look-up in inquiry table, obtain and the inquiry End value M corresponding to value N, including：To be tabled look-up in inquiry table, acquisition is corresponding with the Query Value N, and for based on the described first value and the second value Ratio square plus 1 the sum sqrt end value M that subtracts the numerical value obtained after 1 again and obtain.
- 4. method as claimed in claim 3, it is characterised in that it is described to be based on first array and the end value M, use Basic operation obtains the second control electric current value I on the d-axis of the motord, including：Based on formulaObtain the second control electric current value Id。
- 5. a kind of electronic equipment, it is characterised in that including：Sensor, the first control electric current value I in the quadrature axis for obtaining motorq；Processor, to inquire about back electromotive force constant K of the parameter of electric machine acquisition by motorE, and in the quadrature axis of the acquisition motor The first inductance value Lq, the second inductance value L on the d-axis of the motord, Query Value N corresponding with the first array is obtained, is being looked into Tabled look-up in inquiry table, obtain end value M corresponding with the Query Value N, based on first array and the end value M, The second control electric current value I on the d-axis of the motor is obtained using basic operationd, wherein, the back electromotive force constant KE, institute State the first inductance value Lq, the second inductance value LdAnd the first control electric current value IqForm the first array, the inquiry table bag Include 2n+ 1 and several end values, n be the natural number more than or equal to 1.
- 6. electronic equipment as claimed in claim 5, it is characterised in that the processor, to determine the first value and second value, The n powers that ratio based on first value and the second value expands 2 determine the Query Value N again, wherein, first value Smaller value in being worth between value and second between first, it is larger in being worth between the second value is described first between value and described second It is worth, value is the back electromotive force constant K between described firstEWith the absolute value of the ratio of mediant, the mediant is described the Two inductance value LdWith the first inductance value Lq2 times of difference, value is the first control electric current value I between described secondqIt is exhausted To value.
- 7. electronic equipment as claimed in claim 6, it is characterised in that the processor, to be tabled look-up in inquiry table, Obtain it is corresponding with the Query Value N, and for based on to the described first value and the ratio of the second value square add 1 and The end value M that number sqrt subtracts the numerical value obtained after 1 and obtained again.
- 8. electronic equipment as claimed in claim 7, it is characterised in that the processor, to based on formulaObtain the second control electric current value Id。
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| CN113054876A (en) * | 2021-03-17 | 2021-06-29 | 林国尊 | Sensorless brushless DC motor control device and method for ceiling fan |
| CN114221642B (en) * | 2022-02-22 | 2022-06-17 | 浙江地芯引力科技有限公司 | PWM wave generation and duty ratio control method, device, timer and equipment |
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