CN105515489A - Method and device for controlling motor rotation speed - Google Patents
Method and device for controlling motor rotation speed Download PDFInfo
- Publication number
- CN105515489A CN105515489A CN201610042264.2A CN201610042264A CN105515489A CN 105515489 A CN105515489 A CN 105515489A CN 201610042264 A CN201610042264 A CN 201610042264A CN 105515489 A CN105515489 A CN 105515489A
- Authority
- CN
- China
- Prior art keywords
- current
- rotating speed
- motor
- current loop
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000004804 winding Methods 0.000 claims description 18
- 230000009466 transformation Effects 0.000 claims description 13
- 230000000694 effects Effects 0.000 abstract description 8
- 230000001276 controlling effect Effects 0.000 description 19
- 230000008569 process Effects 0.000 description 7
- 238000005070 sampling Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000001028 reflection method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
Landscapes
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a method and device for controlling motor rotation speed. The method comprises the steps of obtaining the current rotation speed of a motor, determining current loop reference value according to the current rotation speed and a set maximum rotation speed, obtaining a three-phase current of the motor, performing proportion-integral calculation according to the three-phase current and the current loop reference value to obtain a current loop output value, and determining motor driving signals for controlling the motor rotation speed according to the current loop output value. According to the method and device, the adjustment of the motor rotation speed of an intelligent appliance having air volume requirements, such as a kitchen ventilator is achieved, and the effect that the load is changed when outside air pressure changes and the motor rotation speed is adjusted automatically to meet the requirements of the air volume is achieved. According to the method and the device, when the outside air pressure changes, the motor rotation speed is stabilized at a maximum rotation speed, the function of meeting the noise requirements is achieved, and the effect of stable operation of the motor under the conditions of idle load or light load is achieved.
Description
Technical Field
The embodiment of the invention relates to an automatic control technology, in particular to a method and a device for controlling the rotating speed of a motor.
Background
With the continuous development of society, people pay more and more attention to the energy-saving and environment-friendly performance and the intelligent performance of electric appliances. In order to ensure that the intelligent electrical appliance meets the requirements of stable operation, energy conservation, environmental protection, low noise and the like, a great deal of effort is made by designers.
At present, many designers start with the improvement of intelligent electrical appliances from the aspects of indoor air quality, energy conservation, environmental protection, intelligence and the like. For example, the patent application No. 201410143579.7 discloses a method and a system for controlling noise reduction of a range hood with constant air volume. The scheme of this application document discloses whether through judging present motor speed is greater than the highest rotational speed that sets up in advance, if present motor speed is greater than the highest rotational speed that sets up in advance, comes the rotational speed reduction through the mode of direct adjustment electric current to realize the function of control motor speed and noise reduction. However, according to the technical scheme disclosed by the application document, when the motor is lightly loaded or unloaded, the motor is very easy to generate rotation speed fluctuation, and the performance of the motor is influenced.
Disclosure of Invention
The invention provides a motor rotating speed control method and device, which are used for realizing the functions of stabilizing the rotating speed of a motor, reducing the noise of the whole machine and improving the comfort of a user.
In a first aspect, an embodiment of the present invention provides a method for controlling a rotation speed of a motor, including:
acquiring the current rotating speed of a motor, and determining a current loop reference value according to the current rotating speed and the set highest rotating speed;
obtaining three-phase current of a motor, and carrying out proportional integral operation according to the three-phase current and the current loop reference value to obtain a current loop output value;
and determining a motor driving signal for controlling the rotating speed of the motor according to the output value of the current loop.
In a second aspect, an embodiment of the present invention further provides a device for controlling a rotation speed of a motor, where the device includes:
the current loop reference value determining unit is used for acquiring the current rotating speed of the motor and determining a current loop reference value according to the current rotating speed and the set highest rotating speed;
the current loop output value determining unit is used for acquiring three-phase current of the motor and carrying out proportional integral operation according to the three-phase current and the current loop reference value to obtain a current loop output value;
and the motor driving signal determining unit is used for determining a motor driving signal for controlling the rotating speed of the motor according to the output value of the current loop.
The method comprises the steps of determining a current loop reference value according to the current rotating speed and the set highest rotating speed by acquiring the current rotating speed of a motor; obtaining three-phase current of a motor, and carrying out proportional integral operation according to the three-phase current and the current loop reference value to obtain a current loop output value; and determining a motor driving signal for controlling the rotating speed of the motor according to the output value of the current loop. The invention solves the problem of motor rotating speed regulation and control of intelligent electrical appliances with air volume requirements of range hoods, and realizes the effect that the motor controller automatically regulates the rotating speed of the motor to ensure the air volume requirement is met when the load is changed due to the change of external air pressure; the invention also realizes the function that the motor controller stabilizes the rotating speed of the motor at the maximum rotating speed when the external wind pressure changes, thereby meeting the noise requirement; the effect of stable operation of the motor under the condition of no load or light load is achieved.
Drawings
Fig. 1 is a flowchart of a method for controlling a rotational speed of a motor according to a first embodiment of the present invention;
fig. 2a is a flowchart of a rotation speed protection step in a motor rotation speed control method according to a second embodiment of the present invention;
FIG. 2b is a flow chart illustrating a rotation speed adjusting step in a motor rotation speed control method according to a second embodiment of the present invention;
fig. 3a is a flowchart of a rotation speed protection step in a motor rotation speed control method according to a third embodiment of the present invention;
fig. 3b is a flowchart of a rotation speed adjusting step in a motor rotation speed control method according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a motor rotation speed control apparatus according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for controlling a rotational speed of a motor according to an embodiment of the present invention, where the embodiment is applicable to a situation where a rotational speed of a motor is automatically adjusted when an external wind pressure changes, and the method can be executed by a motor rotational speed control device, and specifically includes the following steps:
and 110, acquiring the current rotating speed of the motor, and determining a current loop reference value according to the current rotating speed and the set highest rotating speed.
Wherein the motor rotation speed is the angular speed of the motor rotor. The current rotating speed is the angular speed of the motor rotor at the sampling moment. Preferably, the obtaining of the current rotation speed of the motor includes obtaining a current angle of a rotor of the motor, and determining the current rotation speed according to the current angle. The interval and the corresponding angle of the rotor in the running process of the motor can be detected through the Hall sensor so as to obtain the ideal electrical angle at the Hall position. The instantaneous angular speed corresponding to the Hall position can be determined through the integration of the electrical angle to the time, namely the current rotating speed. Alternatively, it is also possible to determine the desired electrical angle of the rotor at the current position using a position-less sensor.
The set maximum rotating speed is the current maximum rotating speed of the motor. Taking the set maximum rotating speed as a reference value of a rotating speed ring, and adjusting the current rotating speed according to the set maximum rotating speed so as to stabilize the current rotating speed in the set rotating speedThe rotating speed protection function is realized near the value of the highest rotating speed, and the noise requirement is further met. Using the adjustment value obtained by adjusting the current rotating speed according to the set highest rotating speed as a current loop reference value IsRefProportional Integral (PI) operation is performed.
And 120, acquiring a three-phase current of the motor, and performing proportional integral operation according to the three-phase current and the current loop reference value to obtain a current loop output value.
The three-phase current of the motor is the current on the three-phase stator winding of the motor. The sampling resistor can be connected with the stator winding of the motor in series, and the currents Ia, Ib and Ic of the three-phase stator winding of the motor are respectively determined by calculating the current passing through the sampling resistor. Preferably, after obtaining the current on the three-phase stator winding of the motor, coordinate transformation is performed on the currents Ia, Ib, and Ic of the three-phase stator winding to obtain two-phase currents, and proportional integral operation is performed on the two-phase currents and a current loop reference value to obtain a current loop output value. For example, since the electrical angle corresponding to the current hall position, and the currents Ia, Ib, and Ic of the three-phase stator winding of the motor are known, the currents Ia, Ib, and Ic of the three-phase stator winding of the motor in the rectangular coordinate system are transformed to the d-axis and q-axis current components i in the rotating coordinate system according to Clarke (Clarke) and Park (Park) transformationdAnd iq. Calculating d-axis current component idWith a set current loop reference value IdrefThe d-axis voltage component V is obtained by performing Proportional Integral (PI) operation on the deviation amountd. Current loop reference value I determined by the above stepssRefCurrent loop reference Iq as a q-axis current componentrefCalculating the q-axis current component iqWith the current loop reference value IqrefIs subjected to Proportional Integral (PI) operation to obtain a q-axis voltage component Vq. Dividing the d-axis voltage component VdAnd a q-axis voltage component VqAs the current loop output value.
And step 130, determining a motor driving signal for controlling the rotating speed of the motor according to the output value of the current loop.
Wherein,the driving signal of the motor is a pulse signal with adjustable duty ratio, and the rotating speed of the motor can be adjusted by adjusting the duty ratio of the pulse signal. Preferably, after the current loop output value is obtained, the coordinate of the current loop output value is inversely transformed to obtain a voltage signal of the three-phase stator winding. And determining a motor driving signal for controlling the rotating speed of the motor according to the voltage signal of the three-phase stator winding. For example, since the electrical angle, d-axis voltage component V, corresponding to the current Hall position is knowndAnd q-axis voltage component VqConverting the q-axis voltage component V under the rotating coordinate system by inverse Park transformationqAnd d-axis voltage component Vdα -axis voltage component V transformed into two-axis orthogonal coordinate systemαAnd β Axis Voltage component VβThen, α -axis voltage component V in a biaxial orthogonal coordinate system was transformed by Clarke (Clarke) inverse transformationαAnd β Axis Voltage component VβAnd converting the voltage components into an a-axis voltage component Va, a b-axis voltage component Vb and a c-axis voltage component Vc in a rectangular coordinate system. Modulating the a-axis voltage component Va, the b-axis voltage component Vb and the c-axis voltage component Vc by a Space Vector Pulse Width Modulation (SVPWM) method to obtain pulse signals for controlling the rotating speed of the motor, and driving the motor to operate according to the determined rotating speed according to the pulse signals. Wherein the rotational speed of the motor is determined by the duty cycle of the pulse signal.
According to the technical scheme of the embodiment, a current loop reference value is determined according to the current rotating speed and the set highest rotating speed by acquiring the current rotating speed of the motor; obtaining three-phase current of a motor, and carrying out proportional integral operation according to the three-phase current and the current loop reference value to obtain a current loop output value; and determining a motor driving signal for controlling the rotating speed of the motor according to the output value of the current loop. The technical scheme of the embodiment solves the problem of motor rotating speed regulation and control of intelligent electrical appliances with air volume requirements of range hoods, and realizes the effect of automatically regulating the rotating speed of the motor to ensure the requirement of air volume when the load is changed due to the change of external air pressure; the invention also realizes the function of stabilizing the rotating speed of the motor at the maximum rotating speed when the external wind pressure changes, thereby meeting the noise requirement; the effect of stable operation of the motor under the condition of no load or light load is achieved.
Example two
Fig. 2a is a flowchart of a rotation speed protection step in a motor rotation speed control method according to a second embodiment of the present invention. On the basis of the above embodiment, the technical solution of this embodiment further defines a manner of determining a current loop reference value according to the current rotation speed and the set maximum rotation speed, and specifically includes the following steps:
and step 210, acquiring the current rotating speed of the motor.
And fixing the Hall sensor on the silicon steel sheet of the stator core, and electrically connecting the Hall sensor with the motor controller. The motor controller can determine the interval and the corresponding angle of the rotor in the motor operation process through the Hall sensor so as to obtain the ideal electrical angle at the Hall position. For example, the motor controller determines through the hall sensor that the rotor is currently in the 60 ° -120 ° interval, the corresponding angle being 150 °, then 150 ° is taken as the ideal electrical angle for that hall position. The instantaneous angular speed corresponding to the Hall position can be determined through the integration of the electrical angle to the time, namely the current rotating speed. In addition, the current rotating speed of the motor rotor can be obtained by utilizing a light reflection method, a magnetoelectric method, a grating method, a position-sensorless method and the like.
And step 220, performing PI operation on the current rotating speed and the set highest rotating speed.
And taking the preset highest rotating speed as a reference value for proportional-integral (PI) operation, and calculating the deviation amount of the current rotating speed and the set highest rotating speed through a motor controller.
And step 230, taking the result of the PI operation as the maximum target value of the current loop.
The deviation is used as the maximum target value of the current loop.
Step 240, determining whether the current loop set target value is greater than the current loop maximum target value, if so, executing step 250, and if not, executing step 260.
The current loop set target value is given by the rotating speed loop, namely the output value of the rotating speed loop is used as the set target value of the current loop. And the value range of the current loop set target value is between the maximum sustainable operation current and the minimum sustainable operation current of the motor. The current loop set target value is compared with the current loop maximum target value. If the current loop set target value is greater than the current loop maximum target value, go to step 250; if the current loop set target value is less than or equal to the current loop maximum target value, go to step 260.
And step 250, performing PI operation by taking the maximum target value of the current loop as a reference value of the current loop.
Obtaining a q-axis current component i of the motor current through motor current sampling and coordinate transformationqAnd d-axis current component id. When the current loop set target value is larger than the current loop maximum target value, the current loop maximum target value is used as a current loop reference value Iq of the q-axis current componentrefReference value Iq of current looprefWith said q-axis current component iqProportional Integral (PI) operation is performed. Referring to FIG. 2b, the q-axis current component i is calculatedqWith the current loop reference value IqrefIs subjected to Proportional Integral (PI) operation to obtain a q-axis voltage component Vq. Calculating d-axis current component idWith a set current loop reference value IdrefThe d-axis voltage component V is obtained by performing Proportional Integral (PI) operation on the deviation amountd. Because the electric angle and the d-axis voltage component V corresponding to the current Hall position are knowndAnd q-axis voltage component VqThe a-axis voltage component Va, the b-axis voltage Vb, and the c-axis voltage component Vc in the rectangular coordinate system are determined by inverse Park (Park) transformation and Clarke (Clarke) transformation. Modulating the a-axis voltage component Va, the b-axis voltage component Vb and the c-axis voltage component Vc by a Space Vector Pulse Width Modulation (SVPWM) method to obtain pulse signals for controlling the rotating speed of the motor, and driving the motor to operate according to the determined rotating speed according to the pulse signals. Wherein the rotational speed of the motor is determined by said pulsesThe duty cycle of the signal is determined.
And step 260, performing PI operation by taking the current loop set target value as a current loop reference value.
Obtaining a q-axis current component i of the motor current through motor current sampling and coordinate transformationqAnd d-axis current component id. When the current loop set target value is less than or equal to the current loop maximum target value, taking the current loop set target value as a current loop reference value Iq of a q-axis current componentrefReference value Iq of current looprefWith said q-axis current component iqProportional Integral (PI) operation is performed. And then, carrying out coordinate inverse transformation and Space Vector Pulse Width Modulation (SVPWM) according to the result of the proportional integral operation to obtain a pulse signal for controlling the rotating speed of the motor, and driving the motor to operate according to the determined rotating speed according to the pulse signal. Wherein the rotational speed of the motor is determined by the duty cycle of the pulse signal. The specific proportional-integral operation process, the coordinate inverse transformation process and the pulse width modulation process are the same as those in step 250, and are not described herein again.
According to the technical scheme of the embodiment, the current of the current motor running is obtained through motor current sampling and calculation, and the current is compared with the current loop set target current, so that the motor stably runs in the current loop set target current. When external wind pressure becomes big, because the motor current is unchangeable, the load becomes light, and motor controller can improve motor speed automatically to guarantee to satisfy the amount of wind demand. And when external wind pressure is reduced, the motor controller can automatically reduce the rotating speed of the motor so as to ensure that the requirement of air volume is met. Meanwhile, the rotating speed of the motor is limited to approach the set highest rotating speed, so that the noise requirement is met.
EXAMPLE III
Fig. 3a is a flowchart of a rotation speed protection step in a motor rotation speed control method according to a third embodiment of the present invention. On the basis of the above embodiment, the technical solution of this embodiment further defines that a current loop reference value is determined according to the current rotation speed and the set maximum rotation speed, and specifically includes the following steps:
and step 310, acquiring the current rotating speed of the motor.
The interval where the rotor is located and the corresponding angle in the running process of the motor can be determined through the Hall sensor, so that the ideal electrical angle at the Hall position can be obtained. The specific calculation process is the same as the above embodiment, and is not described herein again.
Step 320, determining whether the current rotation speed is greater than the set maximum rotation speed, if so, executing step 330, and if not, executing step 310.
The motor controller compares the current rotational speed with a set maximum rotational speed. When the current rotating speed is greater than the set highest rotating speed, executing step 330; and when the current rotating speed is less than or equal to the set highest rotating speed, returning to execute the step 310.
And step 330, entering a rotating speed closed-loop control state, and determining an output value of a rotating speed loop by performing proportional-integral operation on the current rotating speed.
The motor controller enters a rotation speed closed-loop control state, referring to fig. 3b, a deviation value between the current rotation speed and the set maximum rotation speed is calculated, and a proportional-integral operation (PI) is performed on the deviation value to obtain an output value of the rotation speed loop, wherein the output value is a current loop reference value Iqref。
And 340, performing PI operation by taking the output value of the rotating speed ring as a current ring reference value.
Referring to fig. 3b, the q-axis current component i of the motor current is obtained by motor current sampling and coordinate transformationqAnd d-axis current component id. Calculating the q-axis current component iqWith the current loop reference value IqrefIs subjected to Proportional Integral (PI) operation to obtain a q-axis voltage component Vq. Calculating d-axis current component idWith a set current loop reference value IdrefThe d-axis voltage component V is obtained by performing Proportional Integral (PI) operation on the deviation amountd. Because the electric angle and the d-axis voltage component V corresponding to the current Hall position are knowndAnd q-axis voltage component VqThe a-axis voltage component Va, the b-axis voltage Vb, and the c-axis voltage component Vc in the rectangular coordinate system are determined by inverse Park (Park) transformation and Clarke (Clarke) transformation. Modulating the a-axis voltage component Va, the b-axis voltage component Vb and the c-axis voltage component Vc by a Space Vector Pulse Width Modulation (SVPWM) method to obtain pulse signals for controlling the rotating speed of the motor, and driving the motor to operate according to the determined rotating speed according to the pulse signals. Wherein the rotational speed of the motor is determined by the duty cycle of the pulse signal.
According to the technical scheme of the embodiment, the noise requirement is further met by limiting the rotating speed of the motor to be below the set highest rotating speed. Meanwhile, the rotating speed of the motor is controlled to be automatically adjusted when the external wind pressure changes, and the air quantity requirement is met.
Example four
Fig. 4 is a schematic structural diagram of a motor rotation speed control apparatus according to a fourth embodiment of the present invention. The device comprises:
a current loop reference value determining unit 410, configured to obtain a current rotation speed of the motor, and determine a current loop reference value according to the current rotation speed and a set highest rotation speed;
the current loop output value determining unit 420 is configured to obtain a three-phase current of the motor, and perform proportional integral operation according to the three-phase current and the current loop reference value to obtain a current loop output value;
and a motor driving signal determining unit 430, configured to determine a motor driving signal for controlling a motor rotation speed according to the current loop output value.
According to the technical scheme of the embodiment, the current rotating speed of the motor is obtained through a current loop reference value determining unit 410, and a current loop reference value is determined according to the current rotating speed and the set highest rotating speed; obtaining a three-phase current of the motor through a current loop output value determining unit 420, and performing proportional integral operation according to the three-phase current and the current loop reference value to obtain a current loop output value; and a motor driving signal determining unit 430 is used to determine a motor driving signal for controlling the rotation speed of the motor according to the current loop output value. The technical scheme of the embodiment solves the problem of motor rotating speed regulation and control of intelligent electrical appliances with air volume requirements of range hoods, and realizes the effect of automatically regulating the rotating speed of the motor to ensure the requirement of air volume when the load is changed due to the change of external air pressure; the invention also realizes the function of stabilizing the rotating speed of the motor at the maximum rotating speed when the external wind pressure changes, thereby meeting the noise requirement; the effect of stable operation of the motor under the condition of no load or light load is achieved.
Further, the current loop reference value determining unit 410 is specifically configured to:
and acquiring the current angle of the motor rotor, and determining the current rotating speed according to the current angle.
Further, the current loop reference value determining unit 410 is specifically configured to:
carrying out proportional integral operation on the current rotating speed and the set highest rotating speed to obtain a maximum target value of a current loop;
determining a smaller parameter of the current loop maximum target value and the current loop set target value as a current loop reference value; or,
comparing the current rotating speed with a set highest rotating speed;
when the current rotating speed is greater than the set highest rotating speed, entering a rotating speed closed-loop control state, and determining an output value of a rotating speed loop by carrying out proportional-integral operation on the current rotating speed;
and determining a current loop reference value according to the output value of the rotating speed loop.
Further, the current loop output value determining unit 420 includes:
the current acquisition subunit is used for acquiring the current on the three-phase stator winding of the motor;
and the current loop output value determining subunit is used for performing coordinate transformation on the current to obtain two-phase current, and performing proportional integral operation on the two-phase current and a current loop reference value to obtain a current loop output value.
Further, the current loop output value determining subunit is specifically configured to:
carrying out coordinate inverse transformation on the current loop output value to obtain a voltage signal of the three-phase stator winding;
and determining a motor driving signal for controlling the rotating speed of the motor according to the voltage signal of the three-phase stator winding.
The motor rotating speed control device can execute the motor rotating speed control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of controlling a rotational speed of a motor, comprising:
acquiring the current rotating speed of a motor, and determining a current loop reference value according to the current rotating speed and the set highest rotating speed;
obtaining three-phase current of a motor, and carrying out proportional integral operation according to the three-phase current and the current loop reference value to obtain a current loop output value;
and determining a motor driving signal for controlling the rotating speed of the motor according to the output value of the current loop.
2. The method of claim 1, wherein obtaining the current speed of the motor comprises:
and acquiring the current angle of the motor rotor, and determining the current rotating speed according to the current angle.
3. The method of claim 1, wherein determining a current loop reference value based on the current speed and a set maximum speed comprises:
carrying out proportional integral operation on the current rotating speed and the set highest rotating speed to obtain a maximum target value of a current loop;
determining a smaller parameter of the current loop maximum target value and the current loop set target value as a current loop reference value; or,
comparing the current rotating speed with a set highest rotating speed;
when the current rotating speed is greater than the set highest rotating speed, entering a rotating speed closed-loop control state, and determining an output value of a rotating speed loop by carrying out proportional-integral operation on the current rotating speed;
and determining a current loop reference value according to the output value of the rotating speed loop.
4. The method of claim 1, wherein obtaining three-phase currents of the motor, and performing a proportional-integral operation according to the three-phase currents and the current loop reference value to obtain a current loop output value comprises:
obtaining current on a three-phase stator winding of the motor;
and carrying out coordinate transformation on the current to obtain two-phase current, and carrying out proportional integral operation on the two-phase current and a current loop reference value to obtain a current loop output value.
5. The method of claim 4, wherein determining a motor drive signal for controlling a motor speed based on the current loop output value comprises:
carrying out coordinate inverse transformation on the current loop output value to obtain a voltage signal of the three-phase stator winding;
and determining a motor driving signal for controlling the rotating speed of the motor according to the voltage signal of the three-phase stator winding.
6. A motor rotation speed control apparatus, characterized by comprising:
the current loop reference value determining unit is used for acquiring the current rotating speed of the motor and determining a current loop reference value according to the current rotating speed and the set highest rotating speed;
the current loop output value determining unit is used for acquiring three-phase current of the motor and carrying out proportional integral operation according to the three-phase current and the current loop reference value to obtain a current loop output value;
and the motor driving signal determining unit is used for determining a motor driving signal for controlling the rotating speed of the motor according to the output value of the current loop.
7. The apparatus according to claim 6, wherein the current loop reference value determining unit is specifically configured to:
and acquiring the current angle of the motor rotor, and determining the current rotating speed according to the current angle.
8. The apparatus according to claim 6, wherein the current loop reference value determining unit is specifically configured to:
carrying out proportional integral operation on the current rotating speed and the set highest rotating speed to obtain a maximum target value of a current loop;
determining a smaller parameter of the current loop maximum target value and the current loop set target value as a current loop reference value; or,
comparing the current rotating speed with a set highest rotating speed;
when the current rotating speed is greater than the set highest rotating speed, entering a rotating speed closed-loop control state, and determining an output value of a rotating speed loop by carrying out proportional-integral operation on the current rotating speed;
and determining a current loop reference value according to the output value of the rotating speed loop.
9. The apparatus of claim 6, wherein the current loop output value determining unit comprises:
the current acquisition subunit is used for acquiring the current on the three-phase stator winding of the motor;
and the current loop output value determining subunit is used for performing coordinate transformation on the current to obtain two-phase current, and performing proportional integral operation on the two-phase current and a current loop reference value to obtain a current loop output value.
10. The apparatus according to claim 9, wherein the current loop output value determining subunit is specifically configured to:
carrying out coordinate inverse transformation on the current loop output value to obtain a voltage signal of the three-phase stator winding;
and determining a motor driving signal for controlling the rotating speed of the motor according to the voltage signal of the three-phase stator winding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610042264.2A CN105515489B (en) | 2016-01-21 | 2016-01-21 | A kind of motor speed control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610042264.2A CN105515489B (en) | 2016-01-21 | 2016-01-21 | A kind of motor speed control method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105515489A true CN105515489A (en) | 2016-04-20 |
| CN105515489B CN105515489B (en) | 2018-01-23 |
Family
ID=55723217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610042264.2A Active CN105515489B (en) | 2016-01-21 | 2016-01-21 | A kind of motor speed control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105515489B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108390603A (en) * | 2018-03-08 | 2018-08-10 | 深圳市道通智能航空技术有限公司 | motor control method, its device and unmanned aerial vehicle control system |
| CN109124480A (en) * | 2018-07-02 | 2019-01-04 | 珠海格力电器股份有限公司 | Air pumping/blowing equipment and control method and device thereof |
| CN110553297A (en) * | 2019-09-30 | 2019-12-10 | 佛山市顺德区美的洗涤电器制造有限公司 | Control method of range hood and range hood |
| CN110815233A (en) * | 2019-11-28 | 2020-02-21 | 北京云迹科技有限公司 | Robot driving method, device, storage medium and robot |
| CN112311299A (en) * | 2020-09-18 | 2021-02-02 | 华帝股份有限公司 | Motor control method and cooking device applying same |
| CN113567730A (en) * | 2021-08-09 | 2021-10-29 | 华能新能源股份有限公司陕西分公司 | Generator shaft voltage measuring method based on rotating speed signal |
| CN117155207A (en) * | 2023-10-31 | 2023-12-01 | 奥铄动力科技(天津)有限公司 | Motor control method and power supply method based on d-axis and q-axis current control |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011031425A1 (en) * | 2009-08-28 | 2011-03-17 | Alcatel-Lucent Usa Inc. | System and method to indicate overspeeding to driver by location analysis |
| CN102386836A (en) * | 2010-08-27 | 2012-03-21 | 永济新时速电机电器有限责任公司 | Transmission control method and device of permanent magnet synchronous motor |
| CN102403949A (en) * | 2010-09-16 | 2012-04-04 | 精工爱普生株式会社 | Electric motor control device |
| CN102412778A (en) * | 2011-11-18 | 2012-04-11 | 华中科技大学 | Full speed domain torque maximizing vector control current distribution method for induction motor |
| CN102710206A (en) * | 2012-06-18 | 2012-10-03 | 浙江大学 | Variable-speed permanent-magnet alternator system and double-port voltage stabilization control method therefor |
| CN103208961A (en) * | 2012-01-16 | 2013-07-17 | 日立空调·家用电器株式会社 | Driving device of synchronous motor; refrigeration apparatuses, air conditioners and refrigerators using same; and driving method of synchronous motor |
| JP2014195352A (en) * | 2013-03-28 | 2014-10-09 | Fujitsu General Ltd | Motor control device |
| CN104779878A (en) * | 2015-04-06 | 2015-07-15 | 华中科技大学 | All-speed current distribution method capable of realizing torque and efficiency optimization and used for induction motor |
-
2016
- 2016-01-21 CN CN201610042264.2A patent/CN105515489B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011031425A1 (en) * | 2009-08-28 | 2011-03-17 | Alcatel-Lucent Usa Inc. | System and method to indicate overspeeding to driver by location analysis |
| CN102386836A (en) * | 2010-08-27 | 2012-03-21 | 永济新时速电机电器有限责任公司 | Transmission control method and device of permanent magnet synchronous motor |
| CN102403949A (en) * | 2010-09-16 | 2012-04-04 | 精工爱普生株式会社 | Electric motor control device |
| CN102412778A (en) * | 2011-11-18 | 2012-04-11 | 华中科技大学 | Full speed domain torque maximizing vector control current distribution method for induction motor |
| CN103208961A (en) * | 2012-01-16 | 2013-07-17 | 日立空调·家用电器株式会社 | Driving device of synchronous motor; refrigeration apparatuses, air conditioners and refrigerators using same; and driving method of synchronous motor |
| CN102710206A (en) * | 2012-06-18 | 2012-10-03 | 浙江大学 | Variable-speed permanent-magnet alternator system and double-port voltage stabilization control method therefor |
| JP2014195352A (en) * | 2013-03-28 | 2014-10-09 | Fujitsu General Ltd | Motor control device |
| CN104779878A (en) * | 2015-04-06 | 2015-07-15 | 华中科技大学 | All-speed current distribution method capable of realizing torque and efficiency optimization and used for induction motor |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108390603A (en) * | 2018-03-08 | 2018-08-10 | 深圳市道通智能航空技术有限公司 | motor control method, its device and unmanned aerial vehicle control system |
| CN109124480A (en) * | 2018-07-02 | 2019-01-04 | 珠海格力电器股份有限公司 | Air pumping/blowing equipment and control method and device thereof |
| CN110553297A (en) * | 2019-09-30 | 2019-12-10 | 佛山市顺德区美的洗涤电器制造有限公司 | Control method of range hood and range hood |
| CN110815233A (en) * | 2019-11-28 | 2020-02-21 | 北京云迹科技有限公司 | Robot driving method, device, storage medium and robot |
| CN112311299A (en) * | 2020-09-18 | 2021-02-02 | 华帝股份有限公司 | Motor control method and cooking device applying same |
| CN113567730A (en) * | 2021-08-09 | 2021-10-29 | 华能新能源股份有限公司陕西分公司 | Generator shaft voltage measuring method based on rotating speed signal |
| CN113567730B (en) * | 2021-08-09 | 2024-05-24 | 华能新能源股份有限公司陕西分公司 | Generator shaft voltage measurement method based on rotating speed signal |
| CN117155207A (en) * | 2023-10-31 | 2023-12-01 | 奥铄动力科技(天津)有限公司 | Motor control method and power supply method based on d-axis and q-axis current control |
| CN117155207B (en) * | 2023-10-31 | 2024-01-26 | 奥铄动力科技(天津)有限公司 | Motor control method and power supply method based on d-axis and q-axis current control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105515489B (en) | 2018-01-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105515489A (en) | Method and device for controlling motor rotation speed | |
| KR101565693B1 (en) | Optimized control for synchronous motors | |
| US10673365B2 (en) | Motor vector control method and device, and aircraft | |
| CN109150042B (en) | Surface permanent magnet synchronous motor feedforward decoupling flux-weakening control method | |
| KR101625278B1 (en) | Optimized control for synchronous motors | |
| KR101376389B1 (en) | Flux controller for induction motor | |
| CN106452243B (en) | Weak magnetic control system and method of permanent magnet synchronous motor, refrigerator controller and refrigerator | |
| CN109379016B (en) | Permanent magnet synchronous motor constant torque control method based on position-sensorless vector control | |
| US20200358382A1 (en) | Method for controlling start-up phase of permanent magnet synchronous motor | |
| US11606050B2 (en) | Method and system for controlling electric motor, and controller | |
| CN111786607A (en) | Reliable and smooth starting method based on permanent magnet synchronous motor without position sensor | |
| CN111092587B (en) | Variable frequency speed regulation control method | |
| CN108551285A (en) | Direct Torque Control System for Permanent Magnet Synchronous Motor and method based on double synovial membrane structures | |
| CN102647134A (en) | Efficiency optimization control method without angle sensor for permanent magnet synchronous motor | |
| CN106849812A (en) | A kind of asynchronous motor control method based on flux compensation | |
| WO2021081968A1 (en) | Parameterless position-sensorless permanent magnet synchronous motor control method based on mtpa | |
| US9143074B2 (en) | Controlling method of synchronous motor | |
| CN112671302A (en) | Speed sensorless control method and system for permanent magnet synchronous motor | |
| CN109617482A (en) | The L2 sliding-mode control of permanent magnet synchronous motor | |
| CN110096077B (en) | Nonsingular rapid terminal sliding mode rotating speed control method and system for switched reluctance motor | |
| CN109981023B (en) | Control method and control device of switched reluctance motor | |
| CN106849769A (en) | Motor driven systems based on sliding mode observer | |
| CN116743017A (en) | Reliable starting system for large-inertia load permanent magnet motor without position sensor control | |
| CN114531072A (en) | Permanent magnet synchronous motor speed sensorless switching method based on I/F starting | |
| CN108400745B (en) | Motor control method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190115 Address after: 519070, Jinji Hill Road, front hill, Zhuhai, Guangdong Co-patentee after: GREE GREEN REFRIGERATION TECHNOLOGY CENTER Co.,Ltd. OF ZHUHAI Patentee after: GREE ELECTRIC APPLIANCES,Inc.OF ZHUHAI Address before: 519070 Zhuhai Gree Energy Conservation and Environmental Protection Refrigeration Technology Research Center Co., Ltd. Patentee before: GREE GREEN REFRIGERATION TECHNOLOGY CENTER Co.,Ltd. OF ZHUHAI |
|
| TR01 | Transfer of patent right |