CN107134958B - A kind of controlling method for DC motor and control device - Google Patents
A kind of controlling method for DC motor and control device Download PDFInfo
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- CN107134958B CN107134958B CN201710557258.5A CN201710557258A CN107134958B CN 107134958 B CN107134958 B CN 107134958B CN 201710557258 A CN201710557258 A CN 201710557258A CN 107134958 B CN107134958 B CN 107134958B
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
Abstract
The present invention provides a kind of controlling method for DC motor and control devices, this method comprises: setting voltage threshold, the first duration and the second duration；Determine dc motor the first quadrature axis current in normal operation and the first direct-axis current；Whether the DC bus-bar voltage for detecting the dc motor reaches first duration continuously less than the time of the voltage threshold；When the DC bus-bar voltage reaches first duration continuously less than the time of the voltage threshold, using first quadrature axis current and first direct-axis current as control electric current, controls the dc motor and run second duration.The device includes: default unit, assignment unit, detection unit and control unit.This programme can reduce the probability that abnormal sound is issued when dc motor power-off.
Description
Technical field
The present invention relates to electrical engineering technical field, in particular to a kind of controlling method for DC motor and control device.
Background technique
Dc motor is the device that direct current energy is converted to mechanical energy, since dc motor has good speed regulation
Performance and be widely used in the fields such as automobile, household electrical appliances, for example permanent magnet synchronous DC motor is widely used in frequency conversion refrigerator
On.
When the load of dc motor is larger, in dc motor course of normal operation, if dc motor
Power supply disconnects suddenly, dc motor under the drive of load will high-speed cruising, at this time dc motor DC bus electricity
Pressure quickly reduces, and power supply system is in order to maintain the revolving speed of dc motor, the capacitor repid discharge shape being connected with DC bus
At high current.The rotor of dc motor can shake under the action of the high current, issue abnormal sound, cause user experience compared with
Difference.
Abnormal sound is issued when currently, dc motor powering off in order to prevent, detects bus in the dc motor course of work
Voltage cuts off the output of dc motor after busbar voltage reaches preset duration threshold value continuously less than the time of certain value,
Rotor shakes and issues abnormal sound when preventing due to dc motor power-off.
For the method at present controlling dc motor, determine whether to cut off direct current drive by duration threshold value
The output of machine does not have the effect for preventing dc motor from issuing abnormal sound, if duration threshold if the setting of duration threshold value is too long
Value setting is too short, can cause to report by mistake due to the error of sampled signal.Therefore, because when in the control method of existing dc motor
Long threshold value is difficult to determine, the probability that abnormal sound is issued when dc motor being caused to power off is higher.
Summary of the invention
The embodiment of the invention provides a kind of controlling method for DC motor and control devices, can reduce dc motor
The probability of abnormal sound is issued when power-off.
In a first aspect, the embodiment of the invention provides a kind of controlling method for DC motor, comprising:
Set voltage threshold, the first duration and the second duration；
Determine dc motor the first quadrature axis current in normal operation and the first direct-axis current；
Whether the DC bus-bar voltage for detecting the dc motor reaches institute continuously less than the time of the voltage threshold
State the first duration；
It, will be described when the DC bus-bar voltage reaches first duration continuously less than the time of the voltage threshold
First quadrature axis current and first direct-axis current are as control electric current, when controlling dc motor operation described second
It is long.
Optionally, the DC bus-bar voltage of the detection dc motor continuously less than the voltage threshold when
Between whether reach first duration after, further comprise:
If not, according to the current actual speed of the dc motor and rotating speed of target, determine the second quadrature axis current and
Second direct-axis current controls the direct current using second quadrature axis current and second direct-axis current as control electric current
Motivation operation；And by second quadrature axis current and second direct-axis current be successively determined as first quadrature axis current and
After first direct-axis current, the DC bus-bar voltage of the detection dc motor is executed continuously less than the voltage threshold
Whether the time of value reaches first duration.
Optionally, after the control dc motor runs second duration, further comprise:
Judge during the control dc motor runs second duration, the dc motor it is straight
It flows busbar voltage and whether reaches first duration continuously less than the time of the voltage threshold；
If so, executing described using first quadrature axis current and first direct-axis current as control electric current, control
The dc motor runs second duration；
If not, according to the current actual speed of the dc motor and rotating speed of target, determine the second quadrature axis current and
Second direct-axis current controls the direct current using second quadrature axis current and second direct-axis current as control electric current
Motivation operation；And by second quadrature axis current and second direct-axis current be successively determined as first quadrature axis current and
After first direct-axis current, the DC bus-bar voltage of the detection dc motor is executed continuously less than the voltage threshold
Whether the time of value reaches first duration；Wherein, second duration is greater than or equal to first duration.
Optionally, the actual speed and rotating speed of target current according to the dc motor determine the second quadrature axis current
With the second direct-axis current, comprising:
Receive the externally input rotating speed of target；
According to the actual angle frequency of the current electromagnetic parameter of the dc motor and last moment, pass through following formula
One calculates the phaselocked loop angular error of the dc motor, and the phaselocked loop angular error and zero are carried out as given value
Proportion adjustment and integral adjustment obtain the actual speed；
Proportion adjustment and integral adjustment are carried out using the rotating speed of target and the actual speed as given value, described in acquisition
Second quadrature axis current, and second direct-axis current is determined according to second quadrature axis current；
The formula one includes:
Δ θ=Vd1-R·Id1+Lq1·Iq1·ω
Wherein, the Δ θ characterizes the phaselocked loop angular error, the Vd1Characterize the current reality of the dc motor
Direct-axis voltage, the R characterize the phase resistance of the dc motor, the Id1It is straight to characterize the current reality of the dc motor
Shaft current, the Lq1The current practical axis inductor of the dc motor, the Iq1It is current to characterize the dc motor
Practical quadrature axis current, the actual angle frequency of dc motor last moment described in the ω.
It is optionally, described that second direct-axis current is determined according to second quadrature axis current, comprising:
According to the current electromagnetic parameter of the dc motor and second quadrature axis current, calculated by following formula two
Second direct-axis current；
The formula two includes:
Wherein, the Id2Characterize second direct-axis current, the Iq2Characterize second quadrature axis current, the Ld1Institute
State the current practical d-axis inductance of dc motor, the Lq1The current practical axis inductor of the dc motor, the KE
Characterize the current back EMF coefficient of the dc motor.
Optionally, described using first quadrature axis current and first direct-axis current as straight described in control current control
Flow motor running, comprising:
Proportion adjustment and integral adjustment are carried out to first quadrature axis current by adjustment of field excitation parameter, obtain the first quadrature axis
Voltage；
Proportion adjustment and integral adjustment are carried out to first direct-axis current by torque adjusting parameter, obtain the first d-axis
Voltage；
According to first quadrature-axis voltage and first direct-axis voltage, to accounting for for the switching tube group of the dc motor
Empty ratio is controlled, to control the input current of the dc motor.
Optionally, described using second quadrature axis current and second direct-axis current as straight described in control current control
Flow motor running, comprising:
Proportion adjustment and integral adjustment are carried out to first quadrature axis current by adjustment of field excitation parameter, obtain the second quadrature axis
Voltage；
Proportion adjustment and integral adjustment are carried out to second direct-axis current by torque adjusting parameter, obtain the second d-axis
Voltage；
By second quadrature-axis voltage and second direct-axis voltage, to accounting for for the switching tube group of the dc motor
Empty ratio is controlled, to pass through the input current for controlling the dc motor.
Second aspect, the embodiment of the invention also provides a kind of controller for DC electrical motor, comprising: default unit is assigned
Value cell, detection unit and control unit；
The default unit, for presetting voltage threshold, the first duration and the second duration；
The assignment unit, for determining the first quadrature axis current and first of dc motor in normal operation directly
Shaft current；
The detection unit, the voltage threshold and first duration for being set according to the default unit, inspection
Whether the DC bus-bar voltage for surveying the dc motor reaches first duration continuously less than the time of the voltage threshold；
Described control unit, for the testing result according to the detection unit, if so, the assignment unit is determined
First quadrature axis current and first direct-axis current as control electric current, control dc motor operation described the
Two durations.
Optionally,
Described control unit is further used for the testing result according to the detection unit, if not, according to the direct current
The current actual speed of motor and rotating speed of target, determine the second quadrature axis current and the second direct-axis current, by second quadrature axis
Electric current and second direct-axis current control the dc motor operation as control electric current；
The assignment unit, second quadrature axis current for being further used for determining described control unit are determined as institute
The first quadrature axis current is stated, second direct-axis current that described control unit is determined is determined as first direct-axis current,
And it triggers the detection unit and executes the DC bus-bar voltage of the detection dc motor continuously less than the voltage threshold
Whether the time of value reaches first duration.
Optionally,
The device further comprises: judging unit；
The judging unit is further used for when described control unit controls dc motor operation described second
In growth process, judge whether the DC bus-bar voltage of the dc motor reaches institute continuously less than the time of the voltage threshold
State the first duration；
Described control unit, for the judging result according to the judging unit, if so, by first quadrature axis current
With first direct-axis current as control electric current, controls the dc motor and run second duration；If not, according to
The current actual speed of the dc motor and rotating speed of target, determine the second quadrature axis current and the second direct-axis current, will be described
Second quadrature axis current and second direct-axis current control the dc motor operation as control electric current；
The assignment unit, is further used for the judging result of the judging unit, if not, by described control unit
Second quadrature axis current determined is determined as first quadrature axis current, described second that described control unit is determined
Direct-axis current is determined as first direct-axis current, and triggers the detection unit and execute the detection dc motor
Whether DC bus-bar voltage reaches first duration continuously less than the time of the voltage threshold.
Optionally,
Described control unit includes: receiving subelement, the first operation subelement and the second operation subelement；
The receiving subelement, for receiving the externally input rotating speed of target；
The first operation subelement, for the reality according to the dc motor current electromagnetic parameter and last moment
Border angular frequency, calculates the phaselocked loop angular error of the dc motor by following formula one, and by the phaselocked loop angle
Error and zero is spent as given value progress proportion adjustment and integral adjustment, obtains the actual speed；
The formula one includes:
Δ θ=Vd1-R·Id1+Lq1·Iq1·ω
Wherein, the Δ θ characterizes the phaselocked loop angular error, the Vd1Characterize the current reality of the dc motor
Direct-axis voltage, the R characterize the phase resistance of the dc motor, the Id1It is straight to characterize the current reality of the dc motor
Shaft current, the Lq1The current practical axis inductor of the dc motor, the Iq1It is current to characterize the dc motor
Practical quadrature axis current, the actual angle frequency of dc motor last moment described in the ω；
The second operation subelement, the rotating speed of target and the reality for receiving the receiving subelement
Revolving speed carries out proportion adjustment and integral adjustment as given value, obtains second quadrature axis current, and according to second quadrature axis
Electric current determines second direct-axis current.
Optionally,
The second operation subelement, for according to the current electromagnetic parameter of the dc motor and second quadrature axis
Electric current calculates second direct-axis current by following formula two；
The formula two includes:
Wherein, the Id2Characterize second direct-axis current, the Iq2Characterize second quadrature axis current, the Ld1Institute
State the current practical d-axis inductance of dc motor, the Lq1The current practical axis inductor of the dc motor, the KE
Characterize the current back EMF coefficient of the dc motor.
Optionally,
Described control unit, for carrying out proportion adjustment and integral to first quadrature axis current by adjustment of field excitation parameter
It adjusts, obtains the first quadrature-axis voltage, and proportion adjustment and integral are carried out to first direct-axis current by torque adjusting parameter
It adjusts, the first direct-axis voltage is obtained, and by first quadrature-axis voltage and first direct-axis voltage, to the direct current
The duty ratio of the switching tube group of motivation is controlled, to control the input current of the dc motor.
Optionally,
Described control unit, for carrying out proportion adjustment and integral to first quadrature axis current by adjustment of field excitation parameter
It adjusts, obtains the second quadrature-axis voltage, and proportion adjustment and integral are carried out to second direct-axis current by torque adjusting parameter
It adjusts, the second direct-axis voltage is obtained, and according to second quadrature-axis voltage and second direct-axis voltage, to the direct current
The duty ratio of the switching tube group of motivation is controlled, to pass through the input current for controlling the dc motor.
Controlling method for DC motor and control device provided in an embodiment of the present invention, to the DC bus of dc motor
Voltage is detected, if DC bus-bar voltage reaches preset first duration continuously less than the time of preset voltage threshold,
Illustrate that the DC bus of dc motor is continuously in under-voltage condition, it may be possible to due to caused by dc motor power-off, at this time
Using dc motor the first quadrature axis current in normal operation and the first direct-axis current as control electric current, direct current is controlled
Preset second duration of motor running.If it is to pass through first as caused by dc motor power-off that DC bus is under-voltage
Quadrature axis current and the first direct-axis current control dc motor, and the electric current of limitation input direct-current motor coil persistently increases
Greatly, until the electric energy stored with DC bus connected capacitors is exhausted, prevent input direct-current motor coil current is excessive from leading
The rotor of dc motor is caused to shake, so as to reduce the probability for issuing abnormal sound when dc motor power-off.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of flow chart of controlling method for DC motor provided by one embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of switching tube group provided by one embodiment of the present invention；
Fig. 3 is a kind of flow chart for controlling method for DC motor that another embodiment of the present invention provides；
Fig. 4 is a kind of schematic diagram of controller for DC electrical motor provided by one embodiment of the present invention；
Fig. 5 is a kind of schematic diagram for controller for DC electrical motor that another embodiment of the present invention provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, this method may include following the embodiment of the invention provides a kind of controlling method for DC motor
Step:
Step 101: setting voltage threshold, the first duration and the second duration；
Step 102: determining dc motor the first quadrature axis current in normal operation and the first direct-axis current；
Step 103: the DC bus-bar voltage for detecting the dc motor is continuously less than the time of the voltage threshold
It is no to reach first duration；
Step 104: when the DC bus-bar voltage reaches first duration continuously less than the time of the voltage threshold
When, using first quadrature axis current and first direct-axis current as control electric current, control dc motor operation institute
State the second duration.
The embodiment of the invention provides a kind of controlling method for DC motor, to the DC bus-bar voltage of dc motor into
Row detection illustrates straight if DC bus-bar voltage reaches preset first duration continuously less than the time of preset voltage threshold
The DC bus of galvanic electricity motivation is continuously in under-voltage condition, it may be possible to due to caused by dc motor power-off, at this time by direct current
The first quadrature axis current and the first direct-axis current conduct control electric current of motor in normal operation, control dc motor
Run preset second duration.If it is to pass through the first quadrature axis electricity as caused by dc motor power-off that DC bus is under-voltage
Stream and the first direct-axis current control dc motor, and the electric current of limitation input direct-current motor coil persistently increases, directly
To the electric energy stored with DC bus connected capacitors is exhausted, prevent input direct-current motor coil current is excessive from leading to direct current
The rotor of motor shakes, so as to reduce the probability for issuing abnormal sound when dc motor power-off.
Optionally, as shown in Figure 1,
The DC bus-bar voltage that dc motor is detected in step 103, if DC bus-bar voltage is not less than voltage threshold
Value, or do not reach the first duration continuously less than the time of voltage threshold, illustrate that the voltage of dc motor is not held
Continuous property reduces, and determines that the busbar voltage of dc motor is temporarily normal.At this point, according to the current actual speed of dc motor and
Rotating speed of target determines the second quadrature axis current and the second direct-axis current, using the second quadrature axis current and the second direct-axis current as control
The operation of current-controlled dc motor.In addition, will be determined using the second quadrature axis current determined as the first quadrature axis current
The second direct-axis current as the execution 103 since new after the first quadrature axis current, the control in next period is carried out to dc motor
System.
On the one hand, it is not less than preset voltage threshold in the DC bus-bar voltage of dc motor, or continuously less than
The time of voltage threshold does not reach preset first duration, illustrates that DC bus-bar voltage is temporarily in normal condition, at this time root
Determine the second quadrature axis current and the second direct-axis current to direct current according to the current actual speed of dc motor and rotating speed of target
Motivation is controlled, and so that DC bus is inputted corresponding electric current to dc motor according to the speed demand of dc motor, is protected
Demonstrate,prove the normal operation of dc motor.
It on the other hand, will after being run according to the second direct-axis current and the second quadrature axis current control dc motor
The second direct-axis current determined and the second quadrature axis current are respectively as the first direct-axis current and the first quadrature axis electricity in step 102
After stream, restarts to execute step 103, the control of next cycle is carried out to dc motor.It can be seen that direct current drive
The control of machine forms a closed loop, if the testing result of step 103 is the first d-axis yes, that upper a cycle is determined
Electric current and the first quadrature axis current are as control the second duration of current-controlled dc motor running；If the detection knot of step 103
Fruit be it is no, then using current period determine the second direct-axis current and the second quadrature axis current as control current-controlled dc motor
Operation, and the second direct-axis current that current period is determined and the second quadrature axis current are as the first direct-axis current and
Start to execute step 103 after one quadrature axis current, the control of next cycle is carried out to dc motor.By to dc motor
Closed-loop control is carried out, guarantees in real time to control dc motor, hair when further reduced dc motor power-off
The probability of abnormal sound out.
In embodiments of the present invention, voltage threshold is less than the voltage rating of dc motor, for example can be voltage rating
50%.When periodically controlling dc motor progress, the control period is millisecond rank, for example can be 1ms, with guarantee pair
The accuracy that dc motor is controlled.
Optionally, as shown in Figure 1,
During step 104 control dc motor runs the second duration, the DC bus of dc motor is judged
Whether the time continuously less than voltage threshold reaches the first duration.
If it is judged that be it is yes, illustrate that the bus of dc motor is still continuously in under-voltage condition, reached when the duration
To after the first duration, the duration that busbar voltage is less than voltage threshold is recorded again, and restart to execute in step 104
Using the first quadrature axis current and the first direct-axis current as control the second duration of current-controlled dc motor running.It can be seen that
If the DC bus-bar voltage of dc motor continues continuously less than preset voltage threshold with the positive reason of DC bus-bar voltage
The first quadrature axis current and the first direct-axis current under condition guarantee input dc power as control current-controlled dc motor running
The electric current of motivation is not too big, and the electric energy stored in uniform consumption and DC bus connected capacitors prevents dc motor from powering off
When issue abnormal sound.In addition, DC bus-bar voltage is continuously less than preset voltage threshold, it may be possible to due to sampled signal error or its
Caused by his reason, continue using DC bus-bar voltage the first quadrature axis current under normal circumstances and the first direct-axis current as controlling
Current-controlled dc motor running guarantees the safety and reliability of dc motor.
If it is judged that be it is no, illustrate the busbar voltage of dc motor to tend to be normal, at this time according to direct current drive
The current actual speed of machine and rotating speed of target determine the second quadrature axis current and the second direct-axis current as control current-controlled dc
Motor running.And successively it regard the second quadrature axis current determined and the second direct-axis current as the first quadrature axis current and first directly
After shaft current, start to execute step 103, into next loop control period.It in that case, is not due to direct current
Motivation power-off causes DC bus-bar voltage to reduce, and may be that failures cause since sampled signal error is larger etc., with direct current mother
The first quadrature axis current and the first direct-axis current conduct control current-controlled dc motor running one of line voltage under normal circumstances
After a or multiple first durations, DC bus-bar voltage may restore normally, at this time according to dc motor after troubleshooting
Actual speed and rotating speed of target determine the second quadrature axis current and the second direct-axis current to control dc motor operation, re-execute
Step 103 enters control loop, avoids dc motor stalling, guarantees the stability of dc motor operation.
In embodiments of the present invention, when the second duration needs to be greater than or equal to the first duration, such as the second duration with first
Length is equal.In addition, the first duration and the second duration needs are flexibly determined according to load, the power etc. of dc motor, than
Such as the first duration and the second duration can be disposed as 100ms.
Optionally, do not reach continuously less than the time of voltage threshold in the DC bus-bar voltage for determining dc motor
When one duration, need to determine the second quadrature axis current and the second d-axis according to the current actual speed of dc motor and rotating speed of target
Electric current, detailed process may comprise steps of:
A1: externally input rotating speed of target is received.Wherein rotating speed of target is provided by external control program, such as direct current
When motivation is applied to refrigerator, the rotating speed of target of dc motor is determined by the demand of compressor, specifically by freezer temperature control chip
The rotating speed of target of input direct-current motor.
A2: according to the actual angle frequency of the current electromagnetic parameter of dc motor and last moment, pass through following formula
One calculates the phaselocked loop angular error of dc motor；
Formula one includes:
Δ θ=Vd1-R·Id1+Lq1·Iq1·ω
Wherein, Δ θ characterizes phaselocked loop angular error, Vd1The current practical direct-axis current of dc motor is characterized, R characterization is straight
The phase resistance of galvanic electricity motivation, Id1Characterize the current practical direct-axis current of dc motor, Lq1The current practical friendship of dc motor
Axle inductance, Iq1Characterize the current practical quadrature axis current of dc motor, the actual angle frequency of ω dc motor last moment.
A3: phaselocked loop angular error and zero are subjected to PI adjusting (proportion adjustment and integral adjustment) as given value, obtained
The actual speed of dc motor.
A4: PI adjusting is carried out using the rotating speed of target of dc motor and actual speed as given value, obtains the second quadrature axis
Electric current.
A5: the second direct-axis current is determined according to the second quadrature axis current.
Specifically, phaselocked loop be by the circuit of the dc motor phase of feedback control, by phaselocked loop angular error and
After zero carries out PI adjusting respectively as input, the actual speed of dc motor can be obtained.And phaselocked loop angular error can be with
It is calculated by above-mentioned formula one, practical direct-axis voltage, the practical direct-axis current, practical quadrature axis electricity being related in formula one
Sense, practical quadrature axis current and the actual angle frequency of last moment can be measured directly or indirectly, and phase resistance is direct current
The intrinsic parameter of motivation.It should be noted that the actual angle frequency of last moment involved in formula one, one as upper
Control cycle detection go out actual angle frequency, such as control the period be 1ms, then the actual angle frequency of last moment be on
The actual angle frequency of dc motor in one 1ms.
Optionally, in above-mentioned A5, the second direct-axis current can be determined according to the second quadrature axis current, it specifically can be by such as
Lower formula two, which calculates, obtains the second direct-axis current；
Formula two includes:
Wherein, Id2Characterize the second direct-axis current, Iq2Characterize the second quadrature axis current, Ld1The current reality of dc motor is straight
Axle inductance, Lq1The current practical axis inductor of dc motor, KECharacterize the current back EMF coefficient of dc motor.
Specifically, quadrature axis current and direct-axis current are related with the magnetic field strength of dc motor, and magnetic field strength by
The d-axis inductance and axis inductor of dc motor determine.Therefore, in conjunction with the d-axis inductance of dc motor, axis inductor and anti-
Electromotive force system can obtain the second d-axis inductance by the second axis inductor.Wherein, the d-axis electricity of dc motor
Sense, axis inductor and counter electromotive force system can directly or indirectly detected.
Optionally, using the first quadrature axis current and the first direct-axis current as the operation of control current-controlled dc motor
When, PI adjusting is carried out to the first quadrature axis current by adjustment of field excitation parameter first, obtains the first quadrature-axis voltage；Then pass through torque
Adjustment parameter carries out PI to the first direct-axis current and adjusts the first direct-axis voltage of acquisition；It is finally straight according to the first quadrature-axis voltage and first
Shaft voltage controls the duty ratio of dc motor switching tube group, to control the input current of dc motor.
Specifically, dc motor usually passes through switching tube group and is controlled, as shown in Fig. 2, dc motor M's is each
Phase coil is connected between a pair of switches pipe (K1 and K2), and the input terminal of switching tube K1 is connected with the anode of capacitor C, switching tube
The output end of K2 is connected with the cathode of capacitor C.By the level signal of each switch controlled pole PWM, each open is controlled
The duty ratio for closing pipe, can control the electric current for being input to dc motor 301.
Inside dc motor, direct-axis current is used for excitation, and quadrature axis current is used to form torque, is obtaining the first quadrature axis
After electric current and the first direct-axis current, corresponding the can be obtained by carrying out PI adjusting to the first quadrature axis current by adjustment of field excitation parameter
One quadrature-axis voltage, corresponding first d-axis electricity can be obtained by carrying out PI adjusting to the first direct-axis current by torque adjusting parameter
Pressure.Dc motor M corresponding friendship when the voltage of first quadrature-axis voltage and the first direct-axis voltage for characterizing DC bus Q is normal
Shaft voltage and direct-axis voltage control the duty ratio of each switching tube, Ke Yibao according to the first quadrature-axis voltage and the first direct-axis voltage
The electric current that card is input to dc motor M maintains normal level.
Optionally, using the second quadrature axis current and the second direct-axis current as control current-controlled dc motor running
When, PI adjusting is carried out to the second quadrature axis current by adjustment of field excitation parameter first, obtains the second quadrature-axis voltage；Then pass through torque
Adjustment parameter carries out PI to the second direct-axis current and adjusts the second direct-axis voltage of acquisition；It is finally straight according to the second quadrature-axis voltage and second
Shaft voltage controls the duty ratio of dc motor switching tube group, to control the input current of dc motor.
Specifically, due to dc motor is controlled by the second direct-axis current and the second quadrature axis current process with
It is similar with the process that the first quadrature axis current controls dc motor by the first direct-axis current, it is above-mentioned to passing through the
The process that one direct-axis current and the first quadrature axis current control dc motor is described in detail, herein no longer to passing through
The process that second direct-axis current and the second quadrature axis current control dc motor repeats.
It, will be current according to dc motor when the testing result of step 103 is no it should be noted that on the one hand
The quadrature axis current and direct-axis current that actual speed and rotating speed of target obtain are respectively defined as the second quadrature axis current and the second d-axis electricity
Stream；On the other hand, using the first quadrature axis current and the first direct-axis current as control current-controlled dc motor fortune in step 104
During the second duration of row, if DC bus-bar voltage does not reach the first duration continuously less than the time of voltage threshold, together
Sample will be respectively defined as according to the quadrature axis current and direct-axis current of the current actual speed of dc motor and rotating speed of target acquisition
Second quadrature axis current and the second direct-axis current.Since above-mentioned two aspect will not occur simultaneously, thus by two aspect according to direct current
The quadrature axis current and direct-axis current that the current actual speed of motor and rotating speed of target obtain be defined as the second quadrature axis current and
Second direct-axis current.
Below by taking the permanent magnet synchronous DC motor being applied in refrigerator as an example, to direct current provided in an embodiment of the present invention
Motivation control method is described in further detail, as shown in figure 3, this method may comprise steps of:
Step 301: presetting voltage threshold, the first duration and the second duration.
In an embodiment of the invention, according to the load of freezer compressor and power, determine that dc motor direct current is female
The minimum permission voltage of line, as voltage threshold, for example voltage threshold is set as 150V.The first duration is concurrently set as judgement
The critical duration that bus is under-voltage, and set the second duration as the duration that DC bus-bar voltage is lower than voltage threshold and reach the
Buffering duration after one duration, for example setting the first duration and the second duration is 100ms.
Step 302: determining dc motor the first quadrature axis current in normal operation and the first direct-axis current.
In an embodiment of the invention, in the switch step of dc motor, the rotating speed of target and reality of dc motor
Border revolving speed is identical, by carrying out PI adjusting to rotating speed of target and actual speed, obtains the first quadrature axis current；The first of acquisition is handed over
Shaft current is as Iq2Following formula two is substituted into, the I obtained will be calculatedd2As the first direct-axis current；
Formula two includes:
In closed loop phase, judge that DC bus-bar voltage does not reach first continuously less than the time of voltage threshold for upper one
Calculated second quadrature axis current and the second direct-axis current are identified as the first quadrature axis current and in the control period of duration
One direct-axis current.
Step 303: judging whether the DC bus-bar voltage of dc motor reaches continuously less than the time of voltage threshold
One duration, if so, step 304 is executed, it is no to then follow the steps 307.
In an embodiment of the invention, the DC bus-bar voltage of dc motor is detected, first determines whether direct current
Whether busbar voltage is less than the voltage threshold 150V set in step 301, if it is, further judging that DC bus-bar voltage is held
Whether the continuous time less than voltage threshold 150V reaches the first duration 100ms set in step 301.If above-mentioned two judgement
Result be to be, then execution step 304 correspondingly；If above-mentioned two result judged have one be it is no, correspondingly
Execute step 307.
Step 304: the first quadrature-axis voltage being obtained according to the first quadrature axis current, the first d-axis is obtained according to the first direct-axis current
Voltage.
In an embodiment of the invention, PI is carried out to the first quadrature axis current by the adjustment of field excitation parameter of dc motor
It adjusts, obtains corresponding first quadrature-axis voltage；PI is carried out to the first direct-axis current by the torque adjusting parameter of dc motor
It adjusts, obtains corresponding first direct-axis voltage.
Step 305: according to the first quadrature-axis voltage and the first direct-axis voltage, to the duty ratio of the switching tube group of dc motor
Control the second duration.
In an embodiment of the invention, split to 3 as shown in Fig. 2, according to the first quadrature-axis voltage and the first direct-axis voltage
The duty ratio for closing pipe group is controlled, and continues to control the time equal to the second duration 100ms set in step 301.
Step 306: judging in the second duration that switch tube group is controlled, DC bus-bar voltage is continuously less than voltage
Whether the time of threshold value reaches at the first time, if so, step 304 is executed, it is no to then follow the steps 307.
In an embodiment of the invention, it is controlled according to the first quadrature-axis voltage and the first direct-axis voltage switch tube group
In second duration 100ms of system, if DC bus-bar voltage is continuously less than voltage threshold 150V (i.e. continuously less than voltage threshold
Time reaches the first duration 100ms), 304 are thened follow the steps, if DC bus-bar voltage is not continuously less than voltage threshold
150V thens follow the steps 307.
Step 307: according to the current actual speed of dc motor and rotating speed of target, determining the second quadrature axis current and second
Direct-axis current.
In an embodiment of the invention, judging that time of the DC bus continuously less than voltage threshold does not reach first
After duration, PI adjusting is carried out using the current actual speed of dc motor and rotating speed of target as given value, obtains the second quadrature axis
Electric current.After obtaining the second quadrature axis current, by the second quadrature axis current Iq2It substitutes into following formula two and calculates the second direct-axis current of acquisition
Id2；
Second formula includes:
The concrete meaning of parameters, is discussed in detail in the above-described embodiments in above-mentioned formula two, no longer superfluous herein
It states.
Step 308: the second quadrature-axis voltage being obtained according to the second quadrature axis current, the second d-axis is obtained according to the second direct-axis current
Voltage.
In an embodiment of the invention, PI is carried out to the second quadrature axis current by the adjustment of field excitation parameter of dc motor
It adjusts, obtains corresponding second quadrature-axis voltage；PI is carried out to the second direct-axis current by the torque adjusting parameter of dc motor
It adjusts, obtains corresponding second direct-axis voltage.
Step 309: according to the second quadrature-axis voltage and the second direct-axis voltage, to the duty ratio of the switching tube group of dc motor
It is controlled.
In an embodiment of the invention, split to 3 as shown in Fig. 2, according to the second quadrature-axis voltage and the second direct-axis voltage
The duty ratio for closing pipe group is controlled, and control is input to the electric current of dc motor.
Step 310: the second quadrature axis current being determined as the first quadrature axis current, the second direct-axis current is determined as the first d-axis
Electric current, and execute step 303.
In an embodiment of the invention, determining time of the DC bus-bar voltage continuously less than voltage threshold less than first
After duration, the second quadrature axis current obtained will be calculated and the second direct-axis current is identified as the first quadrature axis current and the first d-axis
Step 303 is executed after electric current, starts the next control period controlled dc motor.
As shown in figure 4, the embodiment of the present invention has also passed through a kind of controller for DC electrical motor, comprising: default unit
401, assignment unit 402, detection unit 403 and control unit 404；
Default unit 401, for presetting voltage threshold, the first duration and the second duration；
Assignment unit 402, for determining the first quadrature axis current and first of dc motor in normal operation directly
Shaft current；
Detection unit 403, for detecting direct current drive according to the voltage threshold and the first duration that unit 401 is set is preset
Whether the DC bus-bar voltage of machine reaches the first duration continuously less than the time of voltage threshold；
Control unit 404, for the testing result according to detection unit 403, if so, assignment unit 402 first is handed over
As control electric current, control dc motor runs the second duration for shaft current and the first direct-axis current.
Optionally,
Control unit 404 is further used for the testing result according to detection unit 403, if not, according to dc motor
Current actual speed and rotating speed of target, determines the second quadrature axis current and the second direct-axis current, by the second quadrature axis current and second
Direct-axis current is as control electric current, control dc motor operation；
Assignment unit 402, the second quadrature axis current for being further used for determining control unit 404 are determined as the first quadrature axis
Electric current, the second direct-axis current that control unit is determined is determined as the first direct-axis current, and detection trigger unit 403 executes inspection
Whether the DC bus-bar voltage for surveying dc motor reaches the first duration continuously less than the time of voltage threshold.
Optionally, as shown in figure 5,
The controller for DC electrical motor can also include: judging unit 405；
Judging unit 405 is further used for during control unit 404 controls dc motor and runs the second duration,
Judge whether the DC bus-bar voltage of dc motor reaches the first duration continuously less than the time of voltage threshold；
Control unit 404, for the judging result according to judging unit 405, if so, by the first quadrature axis current and first
Direct-axis current runs the second duration as control electric current, control dc motor；If not, the reality current according to dc motor
Border revolving speed and rotating speed of target determine the second quadrature axis current and the second direct-axis current, by the second quadrature axis current and the second direct-axis current
As control electric current, control dc motor operation；
Assignment unit 402 is further used for the judging result of judging unit 405, if not, control unit is determined
The second quadrature axis current be determined as the first quadrature axis current, the second direct-axis current that control unit is determined is determined as the first d-axis
Electric current, and detection trigger unit 403 executes time of the DC bus-bar voltage continuously less than voltage threshold of detection dc motor
Whether first duration is reached.
Optionally,
Control unit includes can be with: receiving subelement, the first operation subelement and the second operation subelement；
Receiving subelement, for receiving externally input rotating speed of target；
First operation subelement, for according to the current electromagnetic parameter of dc motor and the actual angle of last moment frequency
Rate is calculated the phaselocked loop angular error of dc motor by following formula one, and phaselocked loop angular error and zero is used as and given
Definite value carries out proportion adjustment and integral adjustment, obtains actual speed；
Formula one includes:
Δ θ=Vd1-R·Id1+Lq1Iq1·ω
Wherein, Δ θ characterizes phaselocked loop angular error, Vd1The current practical direct-axis voltage of dc motor is characterized, R characterization is straight
The phase resistance of galvanic electricity motivation, Id1Characterize the current practical direct-axis current of dc motor, Lq1The current practical friendship of dc motor
Axle inductance, Iq1Characterize the current practical quadrature axis current of dc motor, the actual angle frequency of ω dc motor last moment；
Second operation subelement, rotating speed of target and actual speed for receiving receiving subelement as given value into
Row proportion adjustment and integral adjustment obtain the second quadrature axis current, and determine the second direct-axis current according to the second quadrature axis current.
Optionally,
Second operation subelement, for according to the current electromagnetic parameter of dc motor and the second quadrature axis current, by such as
Lower formula two calculates the second direct-axis current；
Formula two includes:
Wherein, Id2Characterize the second direct-axis current, Iq2Characterize the second quadrature axis current, Ld1The current reality of dc motor is straight
Axle inductance, Lq1The current practical axis inductor of dc motor, KECharacterize the current back EMF coefficient of dc motor.
Optionally,
Control unit is obtained for carrying out proportion adjustment and integral adjustment to the first quadrature axis current by adjustment of field excitation parameter
The first quadrature-axis voltage, and proportion adjustment and integral adjustment are carried out to the first direct-axis current by torque adjusting parameter, obtain the
One direct-axis voltage, and by the first quadrature-axis voltage and the first direct-axis voltage, to the duty ratio of the switching tube group of dc motor
It is controlled, to control the input current of dc motor.
Optionally,
Control unit is obtained for carrying out proportion adjustment and integral adjustment to the first quadrature axis current by adjustment of field excitation parameter
The second quadrature-axis voltage, and proportion adjustment and integral adjustment are carried out to the second direct-axis current by torque adjusting parameter, obtain the
Two direct-axis voltages, and according to the second quadrature-axis voltage and the second direct-axis voltage, to the duty ratio of the switching tube group of dc motor
It is controlled, to pass through the input current of control dc motor.
The contents such as the information exchange between each unit, implementation procedure in above-mentioned apparatus, due to implementing with the method for the present invention
Example is based on same design, and for details, please refer to the description in the embodiment of the method for the present invention, and details are not described herein again.
The embodiment of the invention also provides a kind of readable mediums, including execute instruction, when the processor of storage control is held
When executing instruction described in row, the storage control executes the controlling method for DC motor that above-mentioned each embodiment provides.
The embodiment of the invention also provides a kind of storage controls, comprising: processor, memory and bus；
The memory is executed instruction for storing, and the processor is connect with the memory by the bus, when
When the storage control is run, the processor executes the described of memory storage and executes instruction, so that the storage
The controlling method for DC motor that the above-mentioned each embodiment of controller provides.
In conclusion controlling method for DC motor and control device that each embodiment of the present invention provides, at least have
It is following the utility model has the advantages that
1, in embodiments of the present invention, the DC bus-bar voltage of dc motor is detected, if DC bus is electric
Pressure reaches preset first duration continuously less than the time of preset voltage threshold, illustrates that the DC bus of dc motor continues
In under-voltage condition, it may be possible to due to caused by dc motor power-off, in normal operation by dc motor at this time
The first quadrature axis current and the first direct-axis current as control electric current, control dc motor runs preset second duration.Such as
It is as caused by dc motor power-off, by the first quadrature axis current and the first direct-axis current to direct current that fruit DC bus is under-voltage
Motor is controlled, and the electric current of limitation input direct-current motor coil persistently increases, until will be with DC bus connected capacitors
The electric energy stored exhausts, and prevents the excessive rotor for leading to dc motor of input direct-current motor coil current from shaking, thus
It can reduce the probability that abnormal sound is issued when dc motor power-off.
2, in embodiments of the present invention, it is not less than preset voltage threshold in the DC bus-bar voltage of dc motor,
Or do not reach preset first duration continuously less than the time of voltage threshold, illustrate that DC bus-bar voltage is temporarily in normal
State determines the second quadrature axis current and the second d-axis electricity according to the current actual speed of dc motor and rotating speed of target at this time
Stream controls dc motor, inputs DC bus to dc motor according to the speed demand of dc motor corresponding
Electric current, guarantee the normal operation of dc motor.
3, in embodiments of the present invention, according to the first direct-axis current and the control dc motor operation of the first quadrature axis current
During second duration, if DC bus-bar voltage is weighed continuously less than the first duration that the duration of voltage threshold reaches again
Newly using the first quadrature axis current and the first direct-axis current as control the second duration of current-controlled dc motor running.Thus may be used
See, if the DC bus-bar voltage of dc motor continues continuously less than preset voltage threshold with DC bus-bar voltage just
The first quadrature axis current and the first direct-axis current in normal situation guarantee that input is straight as control current-controlled dc motor running
The electric current of galvanic electricity motivation is not too big, and the electric energy stored in uniform consumption and DC bus connected capacitors prevents dc motor
Abnormal sound is issued when power-off.In addition, DC bus-bar voltage is continuously less than preset voltage threshold, it may be possible to due to sampled signal error
Or caused by other reasons, continue using DC bus-bar voltage the first quadrature axis current under normal circumstances and the first direct-axis current as
Current-controlled dc motor running is controlled, guarantees the safety and reliability of dc motor.
4, in embodiments of the present invention, it is not less than preset voltage threshold in the DC bus-bar voltage of dc motor,
Or do not reach preset first duration continuously less than the time of voltage threshold, illustrate that DC bus-bar voltage is temporarily in normal
State determines the second quadrature axis current and the second d-axis electricity according to the current actual speed of dc motor and rotating speed of target at this time
Stream controls dc motor, inputs DC bus to dc motor according to the speed demand of dc motor corresponding
Electric current, guarantee the normal operation of dc motor.
5, the closed-loop control to dc motor in embodiments of the present invention, is formd, is guaranteed in real time to direct current
Motivation is controlled, and further reduced the probability that abnormal sound is issued when dc motor power-off.
It should be noted that, in this document, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment for including a series of elements not only includes those elements,
It but also including other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged
Except there is also other identical factors in the process, method, article or apparatus that includes the element.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
In the various media that can store program code such as disk.
Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. a kind of controlling method for DC motor, which is characterized in that setting voltage threshold, the first duration and the second duration are also wrapped
It includes:
Determine dc motor the first quadrature axis current in normal operation and the first direct-axis current；
Whether the DC bus-bar voltage for detecting the dc motor reaches described continuously less than the time of the voltage threshold
One duration；
When the DC bus-bar voltage reaches first duration continuously less than the time of the voltage threshold, by described first
Quadrature axis current and first direct-axis current control the dc motor and run second duration as control electric current；
After the control dc motor runs second duration, further comprise:
Judge that the direct current of the dc motor is female during the control dc motor runs second duration
Whether line voltage reaches first duration continuously less than the time of the voltage threshold；
If so, execute it is described will first quadrature axis current and first direct-axis current as controlling electric current, described in control
Dc motor runs second duration；
If not, determining the second quadrature axis current and second according to the current actual speed of the dc motor and rotating speed of target
Direct-axis current controls the dc motor using second quadrature axis current and second direct-axis current as control electric current
Operation；And second quadrature axis current and second direct-axis current are successively being determined as first quadrature axis current and described
After first direct-axis current, the DC bus-bar voltage of the detection dc motor is executed continuously less than the voltage threshold
Whether the time reaches first duration；Wherein, second duration is greater than or equal to first duration.
2. the method according to claim 1, wherein
Whether reach in the DC bus-bar voltage of the detection dc motor continuously less than the time of the voltage threshold
After first duration, further comprise:
If not, determining the second quadrature axis current and second according to the current actual speed of the dc motor and rotating speed of target
Direct-axis current controls the dc motor using second quadrature axis current and second direct-axis current as control electric current
Operation；And second quadrature axis current and second direct-axis current are successively being determined as first quadrature axis current and described
After first direct-axis current, the DC bus-bar voltage of the detection dc motor is executed continuously less than the voltage threshold
Whether the time reaches first duration.
3. method according to claim 1 or 2, which is characterized in that the reality current according to the dc motor
Revolving speed and rotating speed of target determine the second quadrature axis current and the second direct-axis current, comprising:
Receive the externally input rotating speed of target；
According to the actual angle frequency of the current electromagnetic parameter of the dc motor and last moment, counted by following formula one
The phaselocked loop angular error of the dc motor is calculated, and the phaselocked loop angular error and zero are subjected to ratio as given value
Adjusting and integral adjustment, obtain the actual speed；
Proportion adjustment and integral adjustment are carried out using the rotating speed of target and the actual speed as given value, obtains described second
Quadrature axis current, and second direct-axis current is determined according to second quadrature axis current；
The formula one includes:
Δ θ=Vd1-R·Id1+Lq1·Iq1·ω
Wherein, the Δ θ characterizes the phaselocked loop angular error, the Vd1Characterize the current practical d-axis of the dc motor
Voltage, the R characterize the phase resistance of the dc motor, the Id1Characterize the current practical d-axis electricity of the dc motor
Stream, the Lq1The current practical axis inductor of the dc motor, the Iq1Characterize the current reality of the dc motor
Quadrature axis current, the ω characterize the actual angle frequency of the dc motor last moment.
4. according to the method described in claim 3, it is characterized in that, described determine described second according to second quadrature axis current
Direct-axis current, comprising:
According to the current electromagnetic parameter of the dc motor and second quadrature axis current, calculated by following formula two described
Second direct-axis current；
The formula two includes:
Wherein, the Id2Characterize second direct-axis current, the Iq2Characterize second quadrature axis current, the Ld1It is described straight
The current practical d-axis inductance of galvanic electricity motivation, the Lq1The current practical axis inductor of the dc motor, the KECharacterization
The current back EMF coefficient of the dc motor.
5. method according to claim 1,2 or 4, which is characterized in that
It is described to be transported using first quadrature axis current and first direct-axis current as dc motor described in control current control
Row, comprising:
Proportion adjustment and integral adjustment are carried out to first quadrature axis current by adjustment of field excitation parameter, obtain the first quadrature axis electricity
Pressure；
Proportion adjustment and integral adjustment are carried out to first direct-axis current by torque adjusting parameter, obtain the first d-axis electricity
Pressure；
According to first quadrature-axis voltage and first direct-axis voltage, to the duty ratio of the switching tube group of the dc motor
It is controlled, to control the input current of the dc motor；
Alternatively,
It is described to be transported using second quadrature axis current and second direct-axis current as dc motor described in control current control
Row, comprising:
Proportion adjustment and integral adjustment are carried out to second quadrature axis current by adjustment of field excitation parameter, obtain the second quadrature axis electricity
Pressure；
Proportion adjustment and integral adjustment are carried out to second direct-axis current by torque adjusting parameter, obtain the second d-axis electricity
Pressure；
By second quadrature-axis voltage and second direct-axis voltage, to the duty ratio of the switching tube group of the dc motor
It is controlled, to pass through the input current for controlling the dc motor.
6. a kind of controller for DC electrical motor characterized by comprising default unit, assignment unit, detection unit and control
Unit；
The default unit, for presetting voltage threshold, the first duration and the second duration；
The assignment unit, for determining the first quadrature axis current and the first d-axis electricity of dc motor in normal operation
Stream；
The detection unit, the voltage threshold and first duration for being set according to the default unit, detects institute
Whether the DC bus-bar voltage for stating dc motor reaches first duration continuously less than the time of the voltage threshold；
Described control unit, for the testing result according to the detection unit, if so, the institute that the assignment unit is determined
The first quadrature axis current and first direct-axis current are stated as control electric current, when controlling dc motor operation described second
It is long；
Further comprise: judging unit；
The judging unit is further used for controlling the dc motor operation the second duration mistake in described control unit
Cheng Zhong, judges whether the DC bus-bar voltage of the dc motor reaches described continuously less than the time of the voltage threshold
One duration；
Described control unit, for the judging result according to the judging unit, if so, by first quadrature axis current and institute
The first direct-axis current is stated as control electric current, the dc motor is controlled and runs second duration；If not, according to described
The current actual speed of dc motor and rotating speed of target, determine the second quadrature axis current and the second direct-axis current, by described second
Quadrature axis current and second direct-axis current control the dc motor operation as control electric current；
The assignment unit, is further used for the judging result of the judging unit, if not, described control unit is determined
Second quadrature axis current out is determined as first quadrature axis current, second d-axis that described control unit is determined
Electric current is determined as first direct-axis current, and triggers the direct current that the detection unit executes the detection dc motor
Whether busbar voltage reaches first duration continuously less than the time of the voltage threshold.
7. device according to claim 6, which is characterized in that
Described control unit is further used for the testing result according to the detection unit, if not, according to the direct current drive
The current actual speed of machine and rotating speed of target, determine the second quadrature axis current and the second direct-axis current, by second quadrature axis current
With second direct-axis current as control electric current, the dc motor operation is controlled；
The assignment unit, second quadrature axis current for being further used for determining described control unit are determined as described
One quadrature axis current, second direct-axis current that described control unit is determined is determined as first direct-axis current, and touches
It sends out detection unit described and executes the DC bus-bar voltage of the detection dc motor continuously less than the voltage threshold
Whether the time reaches first duration.
8. device according to claim 6 or 7, which is characterized in that described control unit includes: receiving subelement, first
Operation subelement and the second operation subelement；
The receiving subelement, for receiving the externally input rotating speed of target；
The first operation subelement, for the actual corners according to the dc motor current electromagnetic parameter and last moment
Frequency is spent, the phaselocked loop angular error of the dc motor is calculated by following formula one, and the phaselocked loop angle is missed
Difference and zero obtains the actual speed as given value progress proportion adjustment and integral adjustment；
The formula one includes:
Δ θ=Vd1-R·Id1+Lq1·Iq1·ω
Wherein, the Δ θ characterizes the phaselocked loop angular error, the Vd1Characterize the current practical d-axis of the dc motor
Voltage, the R characterize the phase resistance of the dc motor, the Id1Characterize the current practical d-axis electricity of the dc motor
Stream, the Lq1The current practical axis inductor of the dc motor, the Iq1Characterize the current reality of the dc motor
Quadrature axis current, the ω characterize the actual angle frequency of the dc motor last moment；
The second operation subelement, the rotating speed of target and the actual speed for receiving the receiving subelement
Proportion adjustment and integral adjustment are carried out as given value, obtains second quadrature axis current, and according to second quadrature axis current
Determine second direct-axis current.
9. device according to claim 8, which is characterized in that
The second operation subelement, for according to the current electromagnetic parameter of the dc motor and second quadrature axis electricity
Stream, calculates second direct-axis current by following formula two；
The formula two includes:
Wherein, the Id2Characterize second direct-axis current, the Iq2Characterize second quadrature axis current, the Ld1It is described straight
The current practical d-axis inductance of galvanic electricity motivation, the Lq1The current practical axis inductor of the dc motor, the KECharacterization
The current back EMF coefficient of the dc motor.
10. according to device described in claim 6,7 or 9, which is characterized in that
Described control unit, for carrying out proportion adjustment and integrating to adjust to first quadrature axis current by adjustment of field excitation parameter
Section obtains the first quadrature-axis voltage, and carries out proportion adjustment and integral to first direct-axis current by torque adjusting parameter and adjust
Section obtains the first direct-axis voltage, and by first quadrature-axis voltage and first direct-axis voltage, to the direct current drive
The duty ratio of the switching tube group of machine is controlled, to control the input current of the dc motor；
Alternatively,
Described control unit, for carrying out proportion adjustment and integrating to adjust to second quadrature axis current by adjustment of field excitation parameter
Section obtains the second quadrature-axis voltage, and carries out proportion adjustment and integral to second direct-axis current by torque adjusting parameter and adjust
Section obtains the second direct-axis voltage, and according to second quadrature-axis voltage and second direct-axis voltage, to the direct current drive
The duty ratio of the switching tube group of machine is controlled, to pass through the input current for controlling the dc motor.
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