CN107425778B - Motor control method and device, air conditioner and storage medium - Google Patents
Motor control method and device, air conditioner and storage medium Download PDFInfo
- Publication number
- CN107425778B CN107425778B CN201710615434.6A CN201710615434A CN107425778B CN 107425778 B CN107425778 B CN 107425778B CN 201710615434 A CN201710615434 A CN 201710615434A CN 107425778 B CN107425778 B CN 107425778B
- Authority
- CN
- China
- Prior art keywords
- harmonic
- current
- motor
- sin
- cos
- 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.)
- Active
Links
Images
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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a control method and a control device of a motor, an air conditioner and a storage medium, wherein the method comprises the following steps: acquiring component proportion coefficients of fifth harmonic and seventh harmonic of motor induction voltage; setting the component proportion coefficients of fifth harmonic and seventh harmonic in the motor induction voltage as h5、h7And k5、k7(ii) a Calculating the current working current of the motor and calculating the fifth harmonic current and the seventh harmonic current of the motor according to the component proportion coefficients of the fifth harmonic and the seventh harmonic in the induced voltage of the motor; setting the component proportion coefficients of the fifth harmonic and the seventh harmonic in the motor current as q respectively5、q7And d5、d7Wherein q is5＝h7、d5＝k7、q7＝h5、d7＝k5(ii) a And superposing the fifth harmonic current and the seventh harmonic current to the current working current and outputting the current working current to the motor. The technical scheme of the invention reduces the vibration and noise of the motor.
Description
Technical Field
The invention relates to the technical field of air conditioners, in particular to a motor control method and device, an air conditioner and a storage medium.
Background
The motor is an important component of the fan in the air conditioner, and in the running process of the motor, the motor generates vibration and noise due to reasons of fluctuation of load, distortion of variable frequency current, distortion of induced voltage, poor balance degree of motor assembly, small rigidity of motor installation and the like.
Comfort improvement is one of the directions of technical development of the variable frequency air conditioning system, and improvement of comfort and enhancement of user experience are important means for improving product competitiveness.
The method for inhibiting the vibration caused by the distortion of the induced voltage in the prior art is to optimize the design of a motor, absorb the shock from the structural aspect and reduce the harmonic content of the induced voltage. This technical approach is costly and shock absorbing measures have certain limitations.
Disclosure of Invention
The invention mainly aims to provide a motor control method, aiming at reducing vibration and noise of a motor.
In order to achieve the above object, the present invention provides a motor control method, including:
acquiring component proportion coefficients of fifth harmonic and seventh harmonic of motor induction voltage; setting the component proportion coefficients of fifth harmonic and seventh harmonic in the current motor induction voltage as h5、h7And k5、k7；
Calculating the current working current of the motor and calculating the proportion coefficient of the fifth harmonic current and the seventh harmonic current of the motor according to the proportion coefficient of the fifth harmonic and the seventh harmonic in the induced voltage of the motor; setting the component proportion coefficients of the fifth harmonic and the seventh harmonic in the motor current as q respectively5、q7And d5、d7Let q stand for5＝h7、d5＝k7、q7＝h5、d7＝k5；
And according to the proportional coefficients of the fifth harmonic current and the seventh harmonic current, superposing the fifth harmonic current and the seventh harmonic current to the current working current and outputting the current working current to the motor.
Preferably, the step of calculating the fifth harmonic current and the seventh harmonic current of the motor according to the component proportion coefficients of the fifth harmonic and the seventh harmonic in the induced voltage of the motor includes:
obtaining a three-phase work function of the motor according to the harmonic voltage function and the harmonic current function;
and making the sixth harmonic component of the three-phase work function of the motor be zero, and obtaining the relationship between the component proportion coefficients of the fifth harmonic and the seventh harmonic in the voltage and the component proportion coefficients of the fifth harmonic and the seventh harmonic in the current of the motor.
Preferably, the harmonic voltage function is:
the harmonic voltage function is:
Eku(t)＝Em(sinωt+h5sin5ωt+k5cos5ωt+h7sin7ωt+k7cos7ωt)；
Ekv(t)＝Em(sin(ωt-120°)+h5sin(5ωt-120°)+k5cos(5ωt-120°)+h7sin(7ωt-120°)+k7cos(7ωt-120°))
Ekw(t)＝Em(sin(ωt-240°)+h5sin(5ωt-240°)+k5cos(5ωt-240°)+h7sin(7ωt-240°)+k7cos(7ωt-240°))
the harmonic current function is:
Iku(t)＝Im(sinωt+q5sin5ωt+d5cos5ωt+q7sin7ωt+d7cos7ωt)；
Ikv(t)＝Im(sin(ωt-120°)+q5sin(5ωt-120°)+d5cos(5ωt-120°)+q7sin(7ωt-120°)+d7cos(7ωt-120°))；
Ikw(t)＝Im(sin(ωt-240°)+q5sin(5(ωt-240°))+d5cos5((ωt-240°))+q7sin(7ωt-240°)+d7cos(7ωt-240°))
where ω is the angular velocity of the motor, t is the time variable, EmIs the maximum voltage value, ImIs the maximum current value.
Preferably, the step of obtaining the relationship between the component proportionality coefficients of the fifth harmonic and the seventh harmonic in the voltage and the component proportionality coefficients of the fifth harmonic and the seventh harmonic in the motor current by setting the sixth harmonic component of the three-phase work function of the motor to zero includes:
obtaining W by arranging three-phase work function of motorku+v+w(t)＝3×Em×Im/2×{f(0)+f(6)+f(12)}；
Wherein f (0) is 1+ h5q5+k5d5+h7q7+k7d7；
f(6)＝(k5-k7+d5-d7)sin 6ωt+(-h5+h7-q5+q7)cos 6ωt；
f(12)＝(h5d7+k5q7+k5d7+h7d5+k7q5+k7d5)sin 12ωt-(h5q7+h7q5)cos12wt；
Order (k)5-k7+d5-d7) 0 and (-h)5+h7-q5+q7) And when the component proportion coefficient of the fifth harmonic and the seventh harmonic in the voltage is equal to 0, obtaining the component proportion coefficient relation of the fifth harmonic and the seventh harmonic in the motor current.
Preferably, a fifth harmonic current and a seventh harmonic current are superimposed in the present operating current using the following formulas:
I＝Im(sinωt+q5sin5ωt+d5cos5ωt+q7sin7ωt+d7cos7ωt)；
the invention provides a frequency conversion device, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, the following steps are executed:
acquiring component proportion coefficients of fifth harmonic and seventh harmonic of the working voltage of the motor; setting the component proportion coefficients of fifth harmonic and seventh harmonic in the current motor working voltage as h5、h7And k5、k7，
Calculating the current working current of the motor and calculating the proportion coefficients of the fifth harmonic current and the seventh harmonic current of the motor according to the proportion coefficients of the fifth harmonic and the seventh harmonic in the working voltage of the motor; setting the component proportion coefficients of the fifth harmonic and the seventh harmonic in the motor current as q respectively5、q7And d5、d7Let q stand for5＝h7、d5＝k7、q7＝h5、d7＝k5；
And according to the proportional coefficients of the fifth harmonic current and the seventh harmonic current, superposing the fifth harmonic current and the seventh harmonic current to the current working current and outputting the current working current to the motor.
Preferably, the computer program, when executed by the processor, superimposes a fifth harmonic current and a seventh harmonic current in the present operating current using the following formulas:
I＝Im(sinωt+q5sin5ωt+d5cos5ωt+q7sin7ωt+d7cos7ωt)。
the invention provides an air conditioner, which comprises the frequency conversion device, wherein the frequency conversion device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and when the computer program is executed by the processor, the following steps are executed:
acquiring component proportion coefficients of fifth harmonic and seventh harmonic of the working voltage of the motor; setting the component proportion coefficients of fifth harmonic and seventh harmonic in the current motor working voltage as h5、h7And k5、k7；
Calculating the current working current of the motor and calculating the fifth harmonic current and the seventh harmonic current of the motor according to the component proportion coefficients of the fifth harmonic and the seventh harmonic in the working voltage of the motor; setting the component proportion coefficients of the fifth harmonic and the seventh harmonic in the motor current as q respectively5、q7And d5、d7Let q stand for5＝h7、d5＝k7、q7＝h5、d7＝k5；
And superposing the fifth harmonic current and the seventh harmonic current to the current working current and outputting the current working current to the motor.
The invention also proposes a storage medium having stored thereon a motor control program which, when executed by a processor, implements the steps of the motor control method as described above.
According to the technical scheme, the fifth harmonic current and the seventh harmonic current with the proportionality coefficients being the difference value of the fifth and seventh proportionality coefficients of the induction voltage are injected into the motor, so that the sixth ripple torque component caused by the fifth harmonic voltage and the seventh harmonic voltage due to the motor is zero, and the purpose of eliminating the vibration and the noise of the motor is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a flowchart of a motor control method according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a motor control method.
In an embodiment of the present invention, as shown in fig. 1, the motor control method includes:
s100, acquiring component proportion coefficients of fifth harmonic and seventh harmonic of motor induction voltage; setting the component proportion coefficients of fifth harmonic and seventh harmonic in the current motor induction voltage as h5、h7And k5、k7；
S200, calculating the current working current of the motor, and calculating the proportion coefficient of the fifth harmonic current and the seventh harmonic current of the motor according to the proportion coefficient of the fifth harmonic and the seventh harmonic in the induced voltage of the motor; setting the component proportion coefficients of the fifth harmonic and the seventh harmonic in the motor current as q respectively5、q7And d5、d7Let q stand for5＝h7、d5＝k7、q7＝h5、d7＝k5；
And S300, according to the proportion coefficient of the fifth harmonic current and the seventh harmonic current, superposing the fifth harmonic current and the seventh harmonic current to the current working current and outputting the current working current to the motor. In this embodiment, the motor is a three-phase motor.
It should be noted that the motor control method in this embodiment is applied to a variable frequency air conditioner. In engineering practice, the fan motor for the variable frequency air conditioner is generally a three-phase 8-pole 12-slot motor, and has the following characteristics: 1. the multiples of the 3 rd harmonic do not generate torque ripple; 2. the fifth and seventh harmonic components generate 6 times frequency vibration of the fundamental wave, and the eleventh and thirteenth harmonic components generate twelve times frequency vibration; 3. the magnitude of the vibration torque is inversely proportional to the number of harmonics. However, the vibration and noise of the motor are mainly fifth harmonic and seventh harmonic, and the influence of higher harmonic can be ignored.
According to the technical scheme, the fifth harmonic current and the seventh harmonic current with the proportionality coefficients being the difference value of the fifth and seventh proportionality coefficients of the induction voltage are injected into the motor, so that the sixth ripple torque component caused by the fifth harmonic voltage and the seventh harmonic voltage due to the motor is zero, and the purpose of eliminating the vibration and the noise of the motor is achieved.
Specifically, the "calculating the proportion coefficient of the fifth harmonic current and the seventh harmonic current of the motor according to the proportion coefficient of the fifth harmonic and the seventh harmonic in the induced voltage of the motor" includes:
obtaining a three-phase work function of the motor according to the harmonic voltage function and the harmonic current function;
and making the sixth harmonic component of the three-phase work function of the motor be zero to obtain the component proportion coefficient relation between the fifth harmonic and the seventh harmonic in the voltage and the fifth harmonic and the seventh harmonic in the motor current.
Specifically, the harmonic voltage function is:
the harmonic voltage function is:
Eku(t)＝Em(sinωt+h5sin5ωt+k5cos5ωt+h7sin7ωt+k7cos7ωt)；
Ekv(t)＝Em(sin(ωt-120°)+h5sin(5ωt-120°)+k5cos(5ωt-120°)+h7sin(7ωt-120°)+k7cos(7ωt-120°))
Ekw(t)＝Em(sin(ωt-240°)+h5sin(5ωt-240°)+k5cos(5ωt-240°)+h7sin(7ωt-240°)+k7cos(7ωt-240°))
the harmonic current function is:
Iku(t)＝Im(sinωt+q5sin5ωt+d5cos5ωt+q7sin7ωt+d7cos7ωt)；
Ikv(t)＝Im(sin(ωt-120°)+q5sin(5ωt-120°)+d5cos(5ωt-120°)+q7sin(7ωt-120°)+d7cos(7ωt-120°))；
Ikw(t)＝Im(sin(ωt-240°)+q5sin(5(ωt-240°))+d5cos5((ωt-240°))+q7sin(7ωt-240°)+d7cos(7ωt-240°))
the three-phase work function of the motor is as follows: wku + v + w (t) Eku(t)×Iku(t)+Ekv(t)×Ikv(t)+Ekw(t)×Ikw(t)；
Where ω is the angular velocity of the motor, t is the time variable, EmIs the maximum voltage value, ImIs the maximum current value.
Specifically, the step of obtaining the relationship between the component proportionality coefficients of the fifth harmonic and the seventh harmonic in the voltage and the component proportionality coefficients of the fifth harmonic and the seventh harmonic in the motor current by setting the sixth harmonic component of the three-phase work function of the motor to be zero includes:
obtaining W by arranging three-phase work function of motorku+v+w(t)＝3×Em×Im/2×{f(0)+f(6)+f(12)}；
Wherein the content of the first and second substances,
f(0)＝1+h5q5+k5d5+h7q7+k7d7；
f(6)＝(k5-k7+d5-d7)sin 6ωt+(-h5+h7-q5+q7)cos 6ωt；
f(12)＝(h5d7+k5q7+k5d7+h7d5+k7q5+k7d5)sin 12ωt-(h5q7+h7q5)cos12ωt；
order (k)5-k7+d5-d7) 0 and (-h)5+h7-q5+q7)＝0，And obtaining the relationship between the component proportion coefficients of the fifth harmonic and the seventh harmonic in the voltage and the component proportion coefficients of the fifth harmonic and the seventh harmonic in the set motor current.
Specifically, a fifth harmonic current and a seventh harmonic current are superimposed on the current operating current by using the following formulas:
I＝Im(sinωt+q5sin5ωt+d5cos5ωt+q7sin7ωt+d7cos7 ω t). Where I represents the current operating current. I ismIs the maximum current value.
In summary, the technical scheme of the invention is further described:
the following description of the theoretical formula for the vibration generated by the motor:
the formula of the induced voltage in the motor is as follows: e ═ n · d (Φ)/dt- - - (1);
where n is the number of turns of the winding and Φ is the flux linkage. The motor speed is set to N rps]Then angular velocity ωNThe formula 2 is as follows:
ωN＝2·π·P/2·N＝π·P·N [rad/sec]----- (2)
the maximum value of the magnetic flux is set to phim. The time function Φ (t) of the interlinkage magnetic flux Φ is obtained as expression 3.
Φ(t)＝Φm·sinωNt[Wb]------(3)
The time function E (t) of the induced voltage can be obtained by substituting the formula 3 into the formula 1.
E(t)＝n·d{Φ(t)}/dt＝n·ωN·Φm·cosωNt＝Em·cosωNt------(4)
Maximum value E of E (t)mThe formula 5 is obtained.
Em＝n·π·P·N·Φm[V]------(5)
From the formula 5, the induced voltage EmComprises N number of winding turns, P number of poles, N number of rotation speed, and phi flux of interlinkagemThe product of (a).
Let the time function of the motor current be Im(t), the phases of the current and the induced voltage are set to be the same. The motor d-axis current is controlled to 0 amps using vector control. 1-phase production of electric machinesWork Wm(t) is expressed by formula 6:
Wm(t)＝Em(t)×Im(t)[W]------(6)
equation 7 represents the function of the power motor:
Wm＝ωN·Tm[W]------(7)
thus, a time function T of the torque is obtainedm(t)：。
Tm(t)＝Wm(t)/ωN[Nm]------(8)
From equations 6 and 7, the time function of torque can also be expressed in equation 9:
Tm(t)＝Em(t)·Im(t)/ωN[Nm]------(9)
equations 10 and 11 are expressions of motor voltage and current with harmonics:
Eu(t)＝EmsinωNt[V]------(10)
Iu(t)＝ ImsinωNt [A]------ (11)
obtaining a motor U-phase work-doing expression: wu (t) ═
Eu(t)×Iu(t)＝(EmIm/2)2sin2ωNt＝(EmIm/2)[1-cos(2ωNt)][W]------(12)
Similarly, the power of the V phase and the W phase of the motor is respectively as follows:
Wv(t)＝Ev(t)×Iv(t)＝(EmIm/2)2sin2(ωNt-120°)＝(EmIm/2)[1-cos2(ωNt-120°)][W]------(13)
Ww(t)＝Ew(t)×Iw(t)＝(EmIm/2)2sin2(ωNt+120°)＝(EmIm/2)[1-cos2(ωNt+120°)][W]------(14)
the work W summed up by the motor 3u+v+wIs the formula 15:
Wu+v+w(t)＝Wu(t)+Wv(t)+Ww(t)＝(EmIm/2)[3-{cos(2ωNt)+cos(2ωNt-240°)+cos(2ωNt+240°)}＝(3/2)EmIm[W]------(15)
when the induced voltage of the motor is distorted, the induced voltage of the harmonic wave is expressed by the formula 16 as a function of time, wherein h5、h7And k5、k7The ratio of the 5 th harmonic component to the 7 th harmonic component assuming that the fundamental wave is 100%:
Eku(t)＝Em(sinωt+h5sin5ωt+k5cos5ωt+h7sin7ωt+k7cos7ωt)------(16)
equation 17 represents the motor current as a function of time in the presence of harmonics, where q5、q7And d5、d7The ratio of the 5 th harmonic component to the 7 th harmonic component assuming that the fundamental wave is 100%:
Iku(t)＝Im(sinωt+q5sin5ωt+d5cos5ωt+q7sin7ωt+d7cos7ωt)[A]------(17)
the work power of 1 phase (U phase) is 18 formula:
Wku(t)＝Eku(t)×Iku(t)[W]------(18)
the formula for the 3-phase work is:
Wku+v+w(t)＝Wu(t)+Wv(t)+Ww(t)＝3×Em×Im/2×{f(0)+f(6)+f(12)}[W]------(19)
wherein expressions 20, 21, and 22 respectively represent expressions defined by f (0), f (6), and f (12):
f(0)＝1+h5q5+k5d5+h7q7+k7d7------(20)
f(6)＝(k5-k7+d5-d7)sin 6ωt+(-h5+h7-q5+q7)cos 6ωt------(21)
f(12)＝(h5d7+k5q7+k5d7+h7d5+k7q5+k7d5)sin 12ωt-(h5q7+h7q5)cos12ωt------(22)
where f (0) is a direct current term, and torque ripple is not generated. f (6) is a pulsating component of 6 times the frequency, which causes the motor to vibrate; f (12) is a pulsating component of 12 times the frequency, which causes the motor to vibrate. Here, f (6) is referred to as 6f vibration, f (12) is referred to as 12f vibration, and other frequency terms do not exist.
k5-k7+d5-d7＝0------(23)
-h5+h7-q5+q7＝0------(24)
f (6) in formula sin6 omegaNt and cos6 ωNIf the terms of t are zero, the 6f vibration disappears. That is, it suffices that expressions 23 and 24 are simultaneously established.
Solution (1): q. q.s5＝-h5、d5＝-k5、q7＝-h7、d7＝-k7；
Solution (2): q. q.s5＝h7、d5＝k7、q7＝h5、d7＝k5；
Solution (3): q. q.s5＝h5-h7、d5＝-k5+k7、q7＝d7＝0；
Solution (4): q. q.s5＝d5＝0、q7＝h5-h7、d7＝k5-k7。
Wherein the special solution is:
Iu(t)＝Imsinωt(1+q6sin 6ωt+d6cos 6ωt)
f(6)＝(k5-k7+q6)sin 6ωt+(-h5+h7+d6)cos 6ωt
the special solution is q6＝-k5+k7、d6＝h5-h7
Therefore, when the motor is controlled, the component proportion coefficients of the fifth harmonic and the seventh harmonic of the induced voltage of the motor are stored in the controller of the frequency converter in advance, and the current output to the motor is calculated by the relational expression obtained by solving (1), (2), (3) and (4) or by the special solution, and the current includes the fifth harmonic current and the seventh harmonic current obtained by modulation. Therefore, vibration and noise generated by induction voltage harmonic waves during the operation of the motor are basically eliminated, and the performance of the motor is improved.
Based on the above motor control method, the present invention provides a frequency conversion apparatus, where the frequency conversion apparatus includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the frequency conversion apparatus runs the following steps:
acquiring component proportion coefficients of fifth harmonic and seventh harmonic of motor induction voltage; respectively setting the component proportion coefficients of fifth harmonic and seventh harmonic in the current motor induction voltage as h5、h7And k5、k7；
Calculating the current working current of the motor and calculating the fifth harmonic current and the seventh harmonic current of the motor according to the component proportion coefficients of the fifth harmonic and the seventh harmonic in the induced voltage of the motor; respectively setting the component proportion coefficients of the fifth harmonic and the seventh harmonic in the motor current as q5、q7And d5、d7Let q stand for5＝-h5、d5＝-k5、q7＝-h7、d7＝-k7；
And superposing the fifth harmonic current and the seventh harmonic current in the current working current and outputting the current working current and the seventh harmonic current to the motor.
Specifically, when executed by the processor, the computer program superimposes a fifth harmonic current and a seventh harmonic current on the current operating current using the following formulas:
Im＝Im(sinωt+q5sin5ωt+d5cos5ωt+q7sin7ωt+d7cos7ωt)。
the present invention further provides an air conditioner, which includes the above inverter, and the specific structure of the inverter refers to the above embodiments, and since the air conditioner employs all the technical solutions of all the above embodiments, the air conditioner at least has all the beneficial effects brought by the technical solutions of the above embodiments, and details are not repeated herein.
The invention also proposes a storage medium having stored thereon a motor control program which, when executed by a processor, implements the steps of the motor control method as described above.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention essentially or contributing to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes several instructions for enabling a terminal device (which may be a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. A motor control method is applied to a three-phase alternating current motor, and comprises the following steps:
acquiring component proportion coefficients of fifth harmonic and seventh harmonic of motor induction voltage, and setting the component proportion coefficients of the fifth harmonic and the seventh harmonic in the current motor induction voltage as h5、h7And k5、k7；
Calculating the current working current of the motor, calculating the proportion coefficients of the fifth harmonic current and the seventh harmonic current of the motor according to the proportion coefficients of the fifth harmonic and the seventh harmonic in the induced voltage of the motor, setting the proportion coefficients of the fifth harmonic and the seventh harmonic in the current of the motor to be q5, q7, d5 and d7 respectively, and enabling q to be q5＝h7、d5＝k7、q7＝h5、d7＝k5；
According to the proportion coefficient of the fifth harmonic current and the seventh harmonic current, the fifth harmonic current and the seventh harmonic current are superposed to the current working current and output to the motor;
wherein, the step of calculating the fifth harmonic current and the seventh harmonic current of the motor according to the component proportion coefficients of the fifth harmonic and the seventh harmonic in the motor induction voltage comprises the following steps:
obtaining a three-phase work function of the motor according to the harmonic voltage function and the harmonic current function;
making the sixth harmonic component of the three-phase work function of the motor be zero, and obtaining the component proportion coefficient relation of fifth harmonic and seventh harmonic in the voltage and the component proportion coefficient relation of fifth harmonic and seventh harmonic in the set motor current;
wherein the content of the first and second substances,
the harmonic voltage function is:
Eku(t)＝Em(sinωt+h5sin5ωt+k5cos5ωt+h7sin7ωt+k7cos7ωt)；
Ekv(t)＝Em(sin(ωt-120°)+h5sin(5ωt-120°)+k5cos(5ωt-120°)+h7sin(7ωt-120°)+k7cos(7ωt-120°))
Ekw(t)＝Em(sin(ωt-240°)+h5sin(5ωt-240°)+k5cos(5ωt-240°)+h7sin(7ωt-240°)+k7cos(7ωt-240°))
the harmonic current function is:
Iku(t)＝Im(sinωt+q5sin5ωt+d5cos5ωt+q7sin7ωt+d7cos7ωt)；
Ikv(t)＝Im(sin(ωt-120°)+q5sin(5ωt-120°)+d5cos(5ωt-120°)+q7sin(7ωt-120°)+d7cos(7ωt-120°))；
Ikw(t)＝Im(sin(ωt-240°)+q5sin(5ωt-240°)+d5cos(5ωt-240°)+q7sin(7ωt-240°)+d7cos(7ωt-240°))
the three-phase work function of the motor is as follows:
Wku+v+w(t)＝Eku(t)×Iku(t)+Ekv(t)×Ikv(t)+Ekw(t)×Ikw(t)；
where ω is the angular velocity of the motor, t is the time variable, EmIs the maximum voltage value, ImIs the maximum current value;
the step of obtaining the relationship between the component proportionality coefficients of the fifth harmonic and the seventh harmonic in the voltage and the component proportionality coefficients of the fifth harmonic and the seventh harmonic in the set motor current comprises the following steps:
obtaining W by arranging three-phase work function of motorku+v+w(t)＝3×Em×Im/2 × { f (0) + f (6) + f (12) }, wherein f (0) ═ 1+ h5q5+k5d5+h7q7+k7d7；
f(6)＝(k5-k7+d5-d7)sin 6ωt+(-h5+h7-q5+q7)cos 6ωt；
f(12)＝(h5d7+k5q7+k5d7+h7d5+k7q5+k7d5)sin 12ωt-(h5q7+h7q5)cos12ωt；
Order (k)5-k7+d5-d7) 0 and (-h)5+h7-q5+q7) Obtaining the component proportion coefficient of fifth harmonic and seventh harmonic in the voltage and the five in the set motor current as 0The component proportion coefficient relation of subharmonic and seventh harmonic.
2. The motor control method of claim 1, wherein a fifth harmonic current and a seventh harmonic current are superimposed in the present operating current using the following formulas:
I＝Im(sinωt+q5sin5ωt+d5cos5ωt+q7sin7ωt+d7cos7ωt)。
3. a frequency conversion apparatus, comprising a memory, a processor, and a computer program stored in the memory and executed on the processor, wherein the computer program, when executed by the processor, performs the steps of:
acquiring component proportion coefficients of fifth harmonic and seventh harmonic of motor induction voltage, and setting the component proportion coefficients of the fifth harmonic and the seventh harmonic in the current motor induction voltage as h5、h7And k5、k7；
Calculating the current working current of the motor, calculating the proportion coefficients of the fifth harmonic current and the seventh harmonic current of the motor according to the proportion coefficients of the fifth harmonic and the seventh harmonic in the induced voltage of the motor, and setting the proportion coefficients of the fifth harmonic and the seventh harmonic in the current of the motor as q respectively5、q7And d5、d7Let q stand for5＝h7、d5＝k7、q7＝h5、d7＝k5；
According to the proportion coefficient of the fifth harmonic current and the seventh harmonic current, the fifth harmonic current and the seventh harmonic current are superposed to the current working current and output to the motor;
wherein, the step of calculating the fifth harmonic current and the seventh harmonic current of the motor according to the component proportion coefficients of the fifth harmonic and the seventh harmonic in the motor induction voltage comprises the following steps:
obtaining a three-phase work function of the motor according to the harmonic voltage function and the harmonic current function;
making the sixth harmonic component of the three-phase work function of the motor be zero, and obtaining the component proportion coefficient relation of fifth harmonic and seventh harmonic in the voltage and the component proportion coefficient relation of fifth harmonic and seventh harmonic in the set motor current;
wherein the content of the first and second substances,
the harmonic voltage function is:
Eku(t)＝Em(sinωt+h5sin5ωt+k5cos5ωt+h7sin7ωt+k7cos7ωt)；
Ekv(t)＝Em(sin(ωt-120°)+h5sin(5ωt-120°)+k5cos(5ωt-120°)+h7sin(7ωt-120°)+k7cos(7ωt-120°))
Ekw(t)＝Em(sin(ωt-240°)+h5sin(5ωt-240°)+k5cos(5ωt-240°)+h7sin(7ωt-240°)+k7cos(7ωt-240°))
the harmonic current function is:
Iku(t)＝Im(sinωt+q5sin5ωt+d5cos5ωt+q7sin7ωt+d7cos7ωt)；
Ikv(t)＝Im(sin(ωt-120°)+q5sin(5ωt-120°)+d5cos(5ωt-120°)+q7sin(7ωt-120°)+d7cos(7ωt-120°))；
Ikw(t)＝Im(sin(ωt-240°)+q5sin(5ωt-240°)+d5cos(5ωt-240°)+q7sin(7ωt-240°)+d7cos(7ωt-240°))
the three-phase work function of the motor is as follows:
Wku+v+w(t)＝Eku(t)×Iku(t)+Ekv(t)×Ikv(t)+Ekw(t)×Ikw(t)；
where ω is the angular velocity of the motor, t is the time variable, EmIs the maximum voltage value, ImIs the maximum current value;
the step of obtaining the relationship between the component proportionality coefficients of the fifth harmonic and the seventh harmonic in the voltage and the component proportionality coefficients of the fifth harmonic and the seventh harmonic in the set motor current comprises the following steps:
obtaining W by arranging three-phase work function of motorku+v+w(t)＝3×Em×Im/2 × { f (0) + f (6) + f (12) }, wherein f (0) ═ 1+ h5q5+k5d5+h7q7+k7d7；
f(6)＝(k5-k7+d5-d7)sin 6ωt+(-h5+h7-q5+q7)cos 6ωt；
f(12)＝(h5d7+k5q7+k5d7+h7d5+k7q5+k7d5)sin 12ωt-(h5q7+h7q5)cos12ωt；
Order (k)5-k7+d5-d7) 0 and (-h)5+h7-q5+q7) When the component proportion coefficients of the fifth harmonic and the seventh harmonic in the voltage are 0, the component proportion coefficient relation of the fifth harmonic and the seventh harmonic in the set motor current is obtained.
4. The frequency conversion apparatus of claim 3, wherein the computer program, when executed by the processor, superimposes a fifth harmonic current and a seventh harmonic current in the present operating current using the following equations:
I＝Im(sinωt+q5sin5ωt+d5cos5ωt+q7sin7ωt+d7cos7ωt)。
5. an air conditioner characterized in that the air conditioner comprises the inverter apparatus according to any one of claims 3 to 4.
6. A storage medium, characterized in that the storage medium has stored thereon a motor control program which, when executed by a processor, implements the steps of the motor control method according to any one of claims 1 to 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710615434.6A CN107425778B (en) | 2017-07-24 | 2017-07-24 | Motor control method and device, air conditioner and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710615434.6A CN107425778B (en) | 2017-07-24 | 2017-07-24 | Motor control method and device, air conditioner and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107425778A CN107425778A (en) | 2017-12-01 |
| CN107425778B true CN107425778B (en) | 2020-07-03 |
Family
ID=60430589
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710615434.6A Active CN107425778B (en) | 2017-07-24 | 2017-07-24 | Motor control method and device, air conditioner and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107425778B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105048912A (en) * | 2015-07-29 | 2015-11-11 | 北京天诚同创电气有限公司 | Noise reduction voltage obtaining method, noise reduction method and noise reduction device of synchronous wind driven generator |
| CN105071717A (en) * | 2015-08-13 | 2015-11-18 | 河海大学 | Method for restraining torque ripple of surface-mounted permanent magnet synchronous motor by use of current harmonic waves |
| CN105337283A (en) * | 2015-12-11 | 2016-02-17 | 北京天诚同创电气有限公司 | Method, device, controller and system for reducing vibration and noise of motor |
-
2017
- 2017-07-24 CN CN201710615434.6A patent/CN107425778B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105048912A (en) * | 2015-07-29 | 2015-11-11 | 北京天诚同创电气有限公司 | Noise reduction voltage obtaining method, noise reduction method and noise reduction device of synchronous wind driven generator |
| CN105071717A (en) * | 2015-08-13 | 2015-11-18 | 河海大学 | Method for restraining torque ripple of surface-mounted permanent magnet synchronous motor by use of current harmonic waves |
| CN105337283A (en) * | 2015-12-11 | 2016-02-17 | 北京天诚同创电气有限公司 | Method, device, controller and system for reducing vibration and noise of motor |
Non-Patent Citations (4)
| Title |
|---|
| Design of currents to reduce torque ripple in brushless permanent magnet motors;J.Y. Hung等;《IEE Proceedings B - Electric Power Applications》;19930731;第140卷(第4期);第260-266页 * |
| 一种抑制非理想反电势的BLDC电机转矩脉动的方法;肖伟等;《电工电能新技术》;20070123;第26卷(第1期);第51-54页 * |
| 无刷直流电动机的转矩脉动控制技术;王海峰等;《微特电机》;20021228(第6期);第36-39页 * |
| 永磁无刷直流电机转矩波动及其抑制的探讨;刘文等;《西安交通大学学报》;19971020;第31卷(第10期);第12-16页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107425778A (en) | 2017-12-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9143081B2 (en) | Motor control system having bandwidth compensation | |
| JP6279211B2 (en) | Control device for synchronous motor for electric vehicle | |
| JP6657418B2 (en) | Optimal torque ripple reduction by current shaping | |
| CN107332488A (en) | A kind of suppressing method of harmonic current, device, equipment and storage medium | |
| JP6206767B2 (en) | Motor control device and generator control device | |
| JP6115392B2 (en) | Motor control device | |
| CN115336165A (en) | Motor control device | |
| JP3064671B2 (en) | Control circuit of power converter | |
| CN107241048B (en) | Motor control method and device, air conditioner and storage medium | |
| CN107453675B (en) | Motor control method and device, air conditioner and storage medium | |
| JPH1189297A (en) | Power converting device | |
| CN107425778B (en) | Motor control method and device, air conditioner and storage medium | |
| CN107425779B (en) | Motor control method and device, air conditioner and storage medium | |
| CN107517030B (en) | Motor control system, motor vibration suppression method and device thereof and air conditioner | |
| JP7090812B2 (en) | Control device for AC rotary electric machine and electric power steering device | |
| JP6400231B2 (en) | Control device for rotating electrical machine | |
| KR101878090B1 (en) | Method and system for controlling motor | |
| CN109196773B (en) | Motor control device and control method | |
| US11837979B2 (en) | Electric motor control device and electric power steering apparatus using the same | |
| JP5755342B2 (en) | Motor drive system | |
| JP3277138B2 (en) | Power converter | |
| JP4724078B2 (en) | Electric motor control device | |
| US20230402953A1 (en) | Motor control device, electro-mechanical integrated unit, hybrid system, and electric power steering system | |
| JP2023158899A (en) | Control method for electric motor and control device for electric motor | |
| JP7067522B2 (en) | Inverter device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |