CN107634689A - Dust catcher, motor and its constant-power control method, device - Google Patents
Dust catcher, motor and its constant-power control method, device Download PDFInfo
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- CN107634689A CN107634689A CN201710807059.5A CN201710807059A CN107634689A CN 107634689 A CN107634689 A CN 107634689A CN 201710807059 A CN201710807059 A CN 201710807059A CN 107634689 A CN107634689 A CN 107634689A
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Abstract
The invention discloses a kind of dust catcher, motor and its constant-power control method, device, the constant-power control method comprises the following steps：Obtain the DC bus-bar voltage of motor and the q shaft currents of motor；The q shaft current set-points of motor are obtained according to the power set-point of DC bus-bar voltage and motor；Obtain the current differential between q shaft currents set-point and q shaft currents；PI regulations are carried out to current differential to obtain the duty cycle signals for controlled motor, and power limitation control is carried out to motor according to duty cycle signals.This method is by being that torque current carries out PI controls to realize the power limitation control to motor to the q shaft currents of motor, hardware cost will not only be increased, and large-scale power adjusting and the effect of continuous control can be achieved without using position sensor, it can be effectively improved in production process simultaneously because of the control effect difference caused by such environmental effects the problem of, and it is versatile.
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of constant-power control method of motor, a kind of motor
Constant power control device, a kind of motor with the control device and a kind of dust catcher.
Background technology
At present, high speed and the brshless DC motor (Brushless Direct Current Motor, BLDC) of miniaturization
Application it is more and more extensive, especially in small-sized electric tool (such as hand-held vacuum cleaner) field.When small electrical is started building
When tool uses battery powered, cell voltage can be gradually reduced with the change of usage time, in order to enable a device to export
Constant power introduces power limitation control strategy, it is necessary to during cell voltage declines.
In correlation technique, the power limitation control of motor is realized by way of tabling look-up and changing advance angle and afterflow angle.Tool
Body, as depicted in figs. 1 and 2, the input voltage of motor, i.e. cell voltage are detected in real time, then according to input voltage by looking into
Table obtains the advance angle and afterflow angle needed for controlled motor, when the location update signal of Hall sensor comes temporarily, according to current
Once or previous position signalling come determine when output control voltage, when closing control voltage, so as to realize motor
Power limitation control.
But when using above-mentioned control mode, there will be following shortcoming：
(1) change of power and present speed, load condition have relation, fully rely on the pulse width of tables of data output
It is single discrete operating point, is not suitable for the continuous acute variation of load and speed, Spline smoothing easily occurs, cause to export
Power is pulsed；
(2) tables of data is drawn by testing of electric motors, and in process of production, motor is easily influenceed and caused by various environmental factors
Parameter is inconsistent, so as to cause function deviation so that the effect of Power Control is had a greatly reduced quality in actual use；
(3) there is certain lead limitation in advance angle control, external hall sensor can only be introduced in order to break through the limit
Position signalling solve, therefore the power controlled range of the brshless DC motor of position-sensor-free type is limited；
(4) when power of motor changes, it is necessary to change the advance angle stored in program and afterflow angle table, single machine
Corresponding single program, is unfavorable for the production management of heterogenous change.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.Therefore, the present invention
First purpose is to propose a kind of constant-power control method of motor, by being that torque current is carried out to the q shaft currents of motor
PI is controlled to realize the power limitation control to motor, will not only increase hardware cost, and be without using position sensor
Large-scale power adjusting and the effect of continuous control can be achieved, while can be effectively improved in production process because of environmental factor shadow
Caused by sound the problem of control effect difference, and it is versatile.
Second object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.The 3rd of the present invention
Individual purpose is to propose a kind of constant power control device of motor.Fourth object of the present invention is to propose a kind of motor.This
5th purpose of invention is to propose a kind of dust catcher.
To achieve the above object, first aspect present invention embodiment proposes a kind of constant-power control method of motor, bag
Include following steps：S1, obtain the DC bus-bar voltage of the motor and the q shaft currents of the motor；S2, it is female according to the direct current
The power set-point of line voltage and the motor obtains the q shaft current set-points of the motor；S3, obtain the q shaft currents to
Current differential between definite value and the q shaft currents；S4, it is described for controlling to obtain that PI regulations are carried out to the current differential
The duty cycle signals of motor, and power limitation control is carried out to the motor according to the duty cycle signals.
The constant-power control method of motor according to embodiments of the present invention, obtain the DC bus-bar voltage and motor of motor
Q shaft currents, then obtain the q shaft current set-points of motor according to the power set-point of DC bus-bar voltage and motor, and obtain q
Current differential between shaft current set-point and q shaft currents, and PI regulations are carried out to current differential and are used to control electricity to obtain
The duty cycle signals of machine, and power limitation control is carried out to the motor according to duty cycle signals.This method passes through the q axles to motor
Electric current is that torque current carries out PI controls to realize the power limitation control to motor, will not only increase hardware cost, Er Qiewu
It is that large-scale power adjusting and the effect of continuous control can be achieved that position sensor, which need to be used, while can be effectively improved production
During because of the control effect difference caused by such environmental effects the problem of, it is and versatile.
According to one embodiment of present invention, the step S2, including：By the power set-point of the motor divided by described
DC bus-bar voltage is to obtain the q shaft current set-points of the motor.
According to another embodiment of the invention, the step S2, including：Obtain motor described in a upper controlling cycle
Q shaft current set-points；The q shaft current set-points of motor according to the DC bus-bar voltage and a upper controlling cycle
Obtain the current power of the motor；Obtain the power difference between the power set-point of the motor and the current power；
PI regulations are carried out to the power difference to obtain the q shaft current set-points of motor described in current control period.
According to still another embodiment of the invention, the step S2, including：The q shaft currents are carried out at LPF
Reason, and according to the q shaft currents after low-pass filtering treatment and the current power of the DC bus-bar voltage acquisition motor；Obtain
Power difference between the power set-point of the motor and the current power；PI regulations are carried out to the power difference to obtain
Obtain the q shaft current set-points of motor described in current control period.
According to one embodiment of present invention, the step S2, in addition to：Low pass filtered is carried out to the DC bus-bar voltage
Ripple processing.
To achieve the above object, second aspect of the present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter, is stored thereon with computer program, and the computer program realizes above-mentioned method when being executed by processor.
The non-transitorycomputer readable storage medium of the embodiment of the present invention, by performing above-mentioned power limitation control side
Method, can be by being that torque current carries out PI controls to realize the power limitation control to motor to the q shaft currents of motor, not only not
Hardware cost can be increased, and be that large-scale power adjusting and the effect of continuous control can be achieved without using position sensor
Fruit, while can be effectively improved in production process because of the control effect difference caused by such environmental effects the problem of, and it is versatile.
To achieve the above object, the constant power control device for a kind of motor that third aspect present invention embodiment proposes, bag
Include：Busbar voltage acquisition module, for obtaining the DC bus-bar voltage of the motor；Q shaft current acquisition modules, for obtaining
State the q shaft currents of motor；Given value of current module, for being obtained according to the power set-point of the DC bus-bar voltage and the motor
Take the q shaft current set-points of the motor；Current deviation acquisition module, for obtaining the q shaft currents set-point and the q axles
Current differential between electric current；Current regulating module, it is used to control institute to obtain for carrying out the current differential PI regulations
State the duty cycle signals of motor；Control module, for carrying out power limitation control to the motor according to the duty cycle signals.
The constant power control device of motor according to embodiments of the present invention, motor is obtained by busbar voltage acquisition module
DC bus-bar voltage, and by q shaft currents acquisition module obtain motor q shaft currents, and by given value of current module according to
The power set-point of DC bus-bar voltage and motor obtains the q shaft current set-points of motor.Then, mould is obtained by current deviation
Block obtains the current differential between q shaft currents set-point and q shaft currents, and carries out PI to current differential by current regulating module
Regulation carries out perseverance according to duty cycle signals to obtain the duty cycle signals for controlled motor, and by control module to motor
Power Control.The device is by being that torque current carries out PI controls to realize the invariable power control to motor to the q shaft currents of motor
It system, will not only increase hardware cost, and large-scale power adjusting and company can be achieved without using position sensor
The effect of continuous control, while can be effectively improved in production process because of the control effect difference caused by such environmental effects the problem of, and
It is versatile.
According to one embodiment of present invention, the given value of current module includes：Divider, for by the work(of the motor
Rate set-point divided by the DC bus-bar voltage are to obtain the q shaft current set-points of the motor.
According to another embodiment of the invention, the given value of current module includes：First power acquisition module, for obtaining
The q shaft current set-points of motor described in a controlling cycle are taken, and according to the DC bus-bar voltage and a upper control
The q shaft currents set-point of motor described in cycle obtains the current power of the motor；First power deviation acquisition module, is used for
Obtain the power difference between the power set-point of the motor and the current power；First power conditioning module, for pair
The power difference carries out PI regulations to obtain the q shaft current set-points of motor described in current control period.
According to still another embodiment of the invention, the given value of current module includes：First filtering process module, for pair
The q shaft currents carry out low-pass filtering treatment；Second power acquisition module, for according to the q shaft currents after low-pass filtering treatment
The current power of the motor is obtained with the DC bus-bar voltage；Second power deviation acquisition module, for obtaining the electricity
Power difference between the power set-point of machine and the current power；Second power conditioning module, for the difference power
Value carries out PI regulations to obtain the q shaft current set-points of motor described in current control period.
According to one embodiment of present invention, the given value of current module also includes：Second filtering process module, for pair
The DC bus-bar voltage carries out low-pass filtering treatment.
To achieve the above object, fourth aspect present invention embodiment proposes a kind of motor, and it includes above-mentioned invariable power
Control device.
Motor according to embodiments of the present invention, by above-mentioned constant power control device, the q axles electricity to motor can be passed through
Stream is that torque current carries out PI controls to realize the power limitation control to motor, will not only increase hardware cost, and need not
The use of position sensor is that large-scale power adjusting and the effect of continuous control can be achieved, while can be effectively improved and produce
In journey because of the control effect difference caused by such environmental effects the problem of.
According to one embodiment of present invention, the motor is three-phase brushless dc motor.
To achieve the above object, fifth aspect present invention embodiment proposes a kind of dust catcher, and it includes above-mentioned motor.
Dust catcher according to embodiments of the present invention, by above-mentioned motor, output-constant operation can be realized.
Brief description of the drawings
Fig. 1 is to realize the schematic diagram of motor power limitation control in correlation technique by changing advance angle and afterflow angle；
Fig. 2 is the relation table between cell voltage in correlation technique, advance angle, afterflow angle and power output；
Fig. 3 a are the control system block diagrams of three-phase brushless dc motor according to an embodiment of the invention；
Fig. 3 b are the control system block diagrams of three-phase brushless dc motor according to an embodiment of the invention；
Fig. 4 is the flow chart of the constant-power control method of motor according to embodiments of the present invention；
Fig. 5 a are the block diagrams of the constant power control device of motor according to an embodiment of the invention；
Fig. 5 b are the block diagrams of the constant power control device of motor in accordance with another embodiment of the present invention；
Fig. 5 c are the block diagrams according to the constant power control device of the motor of another embodiment of the invention；
Fig. 6 is the flow chart of the constant-power control method of motor according to an embodiment of the invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below in conjunction with the accompanying drawings come the constant-power control method of the motor that describes to propose according to embodiments of the present invention, non-transitory
Computer-readable recording medium, the constant power control device of motor, motor and dust catcher with the control device.
In an embodiment of the present invention, motor can be three-phase brushless dc motor, the rotor of three-phase brushless dc motor
It can be made up of permanent magnet, its structure is at least one pair of magnetic pole, and stator can be made up of three-phase windings.
Fig. 3 a are the control system block diagrams of three-phase brushless dc motor according to an embodiment of the invention.Such as Fig. 3 a institutes
Show, the control system of three-phase brushless dc motor may include dc source 101 (such as battery), dc bus Support Capacitor 102 (such as
Big electrochemical capacitor), three-phase bridge 103, DC-bus voltage sampling circuit 104, lower bridge arm current sample circuit 105, motor side electricity
Press sample circuit 106 and MCU etc..
According to formula：
iu+iv+iw=0 (1)
As shown in above-mentioned formula (2), the three-phase output current instantaneous value i of the motor needed for coordinate transformu、ivAnd iwIt can lead to
The sampling of bridge arm current sample circuit 105 is crossed down to obtain.For example, bridge arm current sample circuit 105 includes two sampling resistors instantly
When, the wherein any two-phase output current instantaneous value for obtaining motor can be directly sampled, acquisition then can be calculated according to formula (1)
A remaining phase output current instantaneous value；Instantly when bridge arm current sample circuit 105 includes three sampling resistors, it can directly sample and obtain
Obtain the three-phase output current instantaneous value i of motoru、ivAnd iw.Then, the three-phase output current wink according to above-mentioned formula (2) to motor
Duration iu、ivAnd iwRotating Transition of Coordinate is carried out, to obtain the d shaft currents i under two-phase rest framedWith q shaft currents iq, its
In, d shaft currents idAlso referred to as exciting current, q shaft currents iqAlso referred to as torque current, θ are the rotor angle of motor, can be estimated by angle
Calculation is obtained.
When three-phase brushless dc motor is operated under rated speed, the equivalent excitation flowed through in the stator winding of motor is electric
Flow idMeet following formula (3)：
id≈0 (3)
Then now motor control can be by torque current iqIt is controlled.
In addition, power input to a machine refers to the power output of dc source, it is equal to the work(of dc bus Support Capacitor
Rate.Wherein, dc bus Support Capacitor plays a part of flat ripple supporting bus voltage in three-phase bridge ON operation, can be by straight
Busbar voltage sample circuit is flowed by DC bus-bar voltage VdcChange is sent in MCU.Because the DC bus current of motor meets formula
(4)：
Therefore, input power is that the power output of dc source meets following formula (5)：
Pin=Vdc*idc=Vdc*iq (5)
From above-mentioned formula (5) as can be seen that the power output P of dc sourceinWith DC bus-bar voltage VdcAnd dc bus
Electric current idcCorrelation, and DC bus current idcWith q shaft current instantaneous values iqIt is essentially identical, so in an embodiment of the present invention,
Q shaft current instantaneous values i can be passed throughqEquivalent DC bus current idcMethod realize the power limitation control to motor.
Fig. 4 is the flow chart of the constant-power control method of motor according to embodiments of the present invention.It is as shown in figure 4, of the invention
The constant-power control method of the motor of embodiment comprises the following steps：
S1, obtain the DC bus-bar voltage of motor and the q shaft currents of motor.
Specifically, as shown in Figure 3 a, it can be sampled and obtained by DC-bus voltage sampling circuit (such as resistor voltage divider circuit)
DC bus-bar voltage Vdc.Sampled by lower bridge arm current sample circuit 105 (such as at least two sampling resistors) and obtain voltage signal,
Then the voltage signal is converted into current signal to obtain the three-phase output current instantaneous value i of motoru、ivAnd iwIn it is any
Two-phase output current instantaneous value such as iu、iv, obtaining two-phase output current instantaneous value such as iu、ivAfterwards, first according to above-mentioned formula (1)
Calculate and obtain one phase output current instantaneous value i of residuew, while according to iu、ivAngle estimation is carried out to obtain the rotor angle of motor
θ, 3/2 coordinate transform is finally carried out according to above-mentioned formula (2) to obtain the q shaft currents i of motorq。
, wherein it is desired to explanation, can also obtain voltage by the sampling of output current sample circuit 107 shown in Fig. 3 b
Signal, the voltage signal is then converted into current signal to obtain the three-phase output current instantaneous value i of motoru、ivAnd iwIn
Any two-phase output current instantaneous value such as iu、iv.But increased compared to the electric current acquisition modes shown in Fig. 3 a, cost, because
The control of speed is originally intended to for lower bridge arm current sample circuit 105, and the present invention is extended and carries out Power Control, thus not
Hardware cost can additionally be increased, and the output current sample circuit 107 shown in Fig. 3 b does not have in original control system, so
Need additionally to increase current detecting hardware, thus cost can increased.
S2, the q shaft current set-points of motor are obtained according to the power set-point of DC bus-bar voltage and motor.
According to one embodiment of present invention, step S2 includes：By the power set-point divided by DC bus-bar voltage of motor
To obtain the q shaft current set-points of motor.
Specifically, as shown in Figure 5 a, DC bus-bar voltage V is being gotdcAfterwards, need to only carry out simple calculate can obtain
Obtain the q shaft current set-points i of motorq *, for example, the power set-point P by motor*Divided by DC bus-bar voltage VdcTo obtain motor
Q shaft current set-points iq *, then according to q shaft current set-points iq *Motor is controlled.
According to another embodiment of the invention, step S2 includes：The q shaft currents for obtaining motor in a upper controlling cycle are given
Definite value；The current power of motor is obtained according to the q shaft currents set-point of motor in DC bus-bar voltage and a upper controlling cycle；Obtain
Power difference between the power set-point and current power of power taking machine；PI regulations are carried out to power difference to obtain current control
The q shaft current set-points of motor in cycle.
Specifically, as shown in Figure 5 b, DC bus-bar voltage V is being gotdcAfterwards, by DC bus-bar voltage VdcWith it is upper
The q shaft current set-points i of motor in one controlling cycleq-1 *It is multiplied to obtain the current power P of motor, then calculates the work(of motor
Rate set-point P*Power difference △ P between current power P, and it is current to obtain that PI regulations are carried out to power difference △ P
The q shaft current set-points i of motor in controlling cycleq *, then according to q shaft current set-points iq *Motor is controlled.That is,
The q shaft current set-points i needed for controlled motor is obtained by the way of power ring PI regulationsq *。
According to still another embodiment of the invention, step S2 includes：To q shaft currents progress low-pass filtering treatment, and according to
Q shaft currents and DC bus-bar voltage after low-pass filtering treatment obtain the current power of motor；Obtain the power set-point of motor
Power difference between current power；PI regulations are carried out to power difference to obtain the q axles of motor in current control period electricity
Flow set-point.
Specifically, as shown in Figure 5 c, the q shaft currents i of motor is being gotqAfterwards, to q shaft currents iqCarry out low pass filtered
Ripple processing, then by the q shaft currents after low-pass filtering treatment and the DC bus-bar voltage V gotdcIt is multiplied to obtain motor
Current power P, then calculate the power set-point P of motor*Power difference △ P between current power P, and to the difference power
Value △ P carry out PI regulations to obtain the q shaft current set-points i of motor in current control periodq *, then given according to the q shaft currents
Definite value iq *Motor is controlled.That is, the q shaft current set-points needed for controlled motor are obtained by the way of power ring PI regulations
iq *。
Further, according to one embodiment of present invention, step S2 also includes：Low pass filtered is carried out to DC bus-bar voltage
Ripple processing.
That is, obtain DC bus-bar voltage V in samplingdcAfterwards, can be first to DC bus-bar voltage VdcCarry out low pass filtered
Ripple processing, as shown in Fig. 5 a- Fig. 5 c, then directly calculated according to the DC bus-bar voltage after low-pass filtering treatment and obtain motor
Q shaft current set-points iq *, or the q shaft current set-points i with motor in a upper controlling cycleq-1 *It is multiplied to obtain working as motor
Preceding power P, then power P I regulations are carried out to obtain the q shaft current set-points i of motorq *, or with the q axles after low-pass filtering treatment
Electric current is multiplied to obtain the current power P of motor, then carries out power P I regulations to obtain the q shaft current set-points i of motorq *, this
Sample can make it that Power Control is more stable, reduce the pulsation of power.
S3, obtain the current differential between q shaft currents set-point and q shaft currents.
S4, PI regulations are carried out to current differential to obtain the duty cycle signals for controlled motor, and believed according to dutycycle
Number to motor carry out power limitation control.
Specifically, as shown in Fig. 5 a- Fig. 5 c, by q shaft current set-points iq *With q shaft currents iqBetween current differential △
iq=iq *-iqThe margin of error as negative-feedback adjustment is sent in pi regulator, and output control pulse is adjusted by pi regulator
The signal of width, i.e. duty cycle signals Duty, then by PWM units according to duty cycle signals Duty output drive signals to three
Xiang Qiao, to carry out ON/OFF control to the switching tube of three-phase bridge, the voltage needed for final acquisition is supplied to three-phase brushless direct current
Motor, so as to be achieved with the power invariability regulatory function of DC bus current stability contorting.
Because the present invention carries out PI controls by way of the q shaft currents of detection, thus the effect of continuous control can be reached
Fruit, avoid what is pulsed in correlation technique by the power output for value wave zone of being tabled look-up caused by default advance angle and afterflow angle table
Problem, and table look-up schemes are compared to, Power Control is more stable, greatly reduces the pulsation of power；Simultaneously as PI is controlled
The introducing of system, there can be wider stable band domain characteristic by way of close loop negative feedback so that electric caused by production process
Influence of the machine Parameters variation to system is very low, simplifies the process for debugging of dispatching from the factory, improves production efficiency；And different machine
The control mode used between kind is consistent, thus without the i.e. achievable control to different machines of being modified to software, it is general
Property is strong.In addition, the detection of the three-phase output current instantaneous value of motor is originally intended to the speed control of motor, the present invention is expanded to
Power Control, do not increase hardware cost additionally, and large-scale invariable power can be achieved without using position sensor
Regulation.Further, since control process is fairly simple, thus can be achieved stable control effect using relatively inexpensive MCU, drop
Low production cost.
Further, Fig. 6 is the flow chart of the constant-power control method of motor according to an embodiment of the invention.Such as figure
Shown in 6, the constant-power control method of the motor comprises the following steps：
S101, control calculating processing.
S102, obtain DC bus-bar voltage VdcWith the three-phase output current instantaneous value i of motoruAnd iw。
S103, according to the three-phase output current instantaneous value i of motoruAnd iwEstimate the rotor angle of motor.
S104, according to iu、iw3/2 coordinate transform is carried out with θ to obtain q shaft currents iq。
S105, to DC bus-bar voltage VdcCarry out LPF processing (low-pass filtering treatment).
S106, DC bus-bar voltage and power set-point P after being handled according to LPF*Q shaft current set-points are calculated
iq *。
S107, to q shaft current set-points iq *With q shaft currents iqBetween current differential △ iqPI regulations are carried out, to obtain
Duty cycle signals Duty.
S108, PWM value is updated, i.e., according to duty cycle signals Duty output drive signals to three-phase bridge, motor operating.
In summary, the constant-power control method of motor according to embodiments of the present invention, the dc bus electricity of motor is obtained
The q shaft currents of pressure and motor, the q shaft currents that motor is then obtained according to the power set-point of DC bus-bar voltage and motor give
Value, and the current differential between q shaft currents set-point and q shaft currents is obtained, and PI regulations are carried out to current differential to obtain
Power limitation control is carried out to the motor for the duty cycle signals of controlled motor, and according to duty cycle signals.This method passes through
Q shaft currents to motor are that torque current carries out PI controls to realize the power limitation control to motor, will not only increase hardware
Cost, and be that large-scale power adjusting and the effect of continuous control can be achieved without using position sensor, while can
It is effectively improved in production process because of the control effect difference caused by such environmental effects the problem of, and it is versatile.
In addition, embodiments of the invention also proposed a kind of non-transitorycomputer readable storage medium, it is stored thereon with
Computer program, the computer program realize above-mentioned method when being executed by processor.
The non-transitorycomputer readable storage medium of the embodiment of the present invention, by performing above-mentioned power limitation control side
Method, can be by being that torque current carries out PI controls to realize the power limitation control to motor to the q shaft currents of motor, not only not
Hardware cost can be increased, and be that large-scale power adjusting and the effect of continuous control can be achieved without using position sensor
Fruit, while can be effectively improved in production process because of the control effect difference caused by such environmental effects the problem of, and it is versatile.
Fig. 5 a are the block diagrams of the constant power control device of motor according to an embodiment of the invention, and Fig. 5 b are roots
According to the block diagram of the constant power control device of the motor of another embodiment of the present invention, Fig. 5 c be according to the present invention another
The block diagram of the constant power control device of the motor of embodiment.As shown in Fig. 5 a- Fig. 5 c, the motor of the embodiment of the present invention
Constant power control device includes：Busbar voltage acquisition module 201, q shaft currents acquisition module 202, given value of current module 203, electricity
Flow deviation acquisition module 204, current regulating module 205 and control module 206.
Wherein, busbar voltage acquisition module 201 is used for the DC bus-bar voltage V for obtaining motordc；Q shaft current acquisition modules
The 202 q shaft currents i for obtaining motorq；Given value of current module 203 is used for according to DC bus-bar voltage VdcWith the power of motor
Set-point P*Obtain the q shaft current set-points i of motorq *；Current deviation acquisition module 204 is used to obtain q shaft current set-points iq *
With q shaft currents iqBetween current differential；Current regulating module 205 is used to carry out current differential PI regulations to obtain for controlling
The duty cycle signals Duty of motor processed；Control module 206 is used to carry out power limitation control to motor according to duty cycle signals Duty.
According to one embodiment of present invention, as shown in Figure 5 a, given value of current module 203 includes divider 2031, is used for
By the power set-point P of motor*Divided by DC bus-bar voltage VdcTo obtain the q shaft current set-points i of motorq *。
Specifically, as shown in Figure 5 a, when carrying out power limitation control to motor, q shaft currents acquisition module 202 passes through three
At least two sampling resistors sampling under phase bridge on bridge arm obtains voltage signal, and the voltage signal then is converted into current signal
To obtain the three-phase output current instantaneous value i of motoru、ivAnd iwIn any two-phase output current instantaneous value such as iu、iv.Obtaining
Two-phase output current instantaneous value such as iu、ivAfterwards, angle estimation block 2022 is according to iu、ivAnd the two-phase voltage V of motoruAnd VvEnter
Row angle estimates that to obtain the rotor angle of motor then coordinate transferring 2021 is according to iu、ivAnd the rotor angle of motor
Degree θ carries out 3/2 coordinate transform to obtain the q shaft currents i of motorq。
Meanwhile busbar voltage acquisition module 201 obtains dc bus by the voltage signal on sampling resistor bleeder circuit
Voltage Vdc, and getting DC bus-bar voltage VdcAfterwards, simply calculated by given value of current module 203, to obtain electricity
The q shaft current set-points i of machineq *, for example, by divider 2031 by the power set-point P of motor*Divided by DC bus-bar voltage Vdc
To obtain the q shaft current set-points i of motorq *.Then, deviation acquisition module 204 (such as subtracter) obtains q shaft current set-points
iq *With q shaft currents iqBetween current differential △ iq=iq *-iq, and by the △ iq=iq *-iqThe margin of error as negative-feedback adjustment
It is sent in current regulating module 205 (such as pi regulator), output control pulse width is adjusted by current regulating module 205
Signal, i.e. duty cycle signals Duty, then exported and driven according to duty cycle signals Duty by control module 206 (such as PWM units)
Dynamic signal is to three-phase bridge, and to carry out ON/OFF control to the switching tube of three-phase bridge, the voltage needed for final acquisition is supplied to three
Phase brushless DC motor, so as to be achieved with the power invariability regulatory function of DC bus current stability contorting.
According to another embodiment of the invention, as shown in Figure 5 b, given value of current module 203 includes：First power obtains
Module 2032, the first power deviation acquisition module 2033 and the first power conditioning module 2034, wherein, the first power acquisition module
The 2032 q shaft current set-points for obtaining motor in a controlling cycle, and according to DC bus-bar voltage and upper control week
The q shaft currents set-point of interim motor obtains the current power of motor；First power deviation acquisition module 2033 is used to obtain electricity
Power difference between the power set-point and current power of machine；First power conditioning module 2034 is used to carry out power difference
PI is adjusted to obtain the q shaft current set-points of motor in current control period.
Specifically, as shown in Figure 5 b, when carrying out power limitation control to motor, q shaft currents acquisition module 202 passes through three
At least two sampling resistors sampling under phase bridge on bridge arm obtains voltage signal, and the voltage signal then is converted into current signal
To obtain the three-phase output current instantaneous value i of motoru、ivAnd iwIn any two-phase output current instantaneous value such as iu、iv.Obtaining
Two-phase output current instantaneous value such as iu、ivAfterwards, angle estimation block 2022 is according to iu、ivAnd the two-phase voltage V of motoruAnd VvEnter
Row angle estimates that to obtain the rotor angle of motor then coordinate transferring 2021 is according to iu、ivAnd the rotor angle of motor
Degree θ carries out 3/2 coordinate transform to obtain the q shaft currents i of motorq。
Meanwhile busbar voltage acquisition module 201 obtains dc bus by the voltage signal on sampling resistor bleeder circuit
Voltage Vdc, and getting DC bus-bar voltage VdcAfterwards, by way of given value of current module 203 is using power ring PI regulations
Obtain the q shaft current set-points i needed for controlled motorq *.For example, the first power acquisition module in given value of current module 203
2032 by DC bus-bar voltage VdcWith the q shaft current set-points i of motor in a upper controlling cycleq-1 *It is multiplied to obtain motor
Current power P, the first power deviation acquisition module 2033 calculate the power set-point P of motor*With the power between current power P
Difference △ P, the first power conditioning module 2034 carry out PI regulations to power difference △ P to obtain motor in current control period
Q shaft current set-points iq *.Then, deviation acquisition module 204 (such as subtracter) obtains q shaft current set-points iq *With q shaft currents
iqBetween current differential △ iq=iq *-iq, and by the △ iq=iq *-iqThe margin of error as negative-feedback adjustment is sent to electric current
In adjustment module 205 (such as pi regulator), the signal of output control pulse width is adjusted by current regulating module 205, that is, is accounted for
Sky is than signal Duty, then by control module 206 (such as PWM units) according to duty cycle signals Duty output drive signals to three
Xiang Qiao, to carry out ON/OFF control to the switching tube of three-phase bridge, the voltage needed for final acquisition is supplied to three-phase brushless direct current
Motor, so as to be achieved with the power invariability regulatory function of DC bus current stability contorting.
According to still another embodiment of the invention, as shown in Figure 5 c, given value of current module 203 includes：First filtering process
Module 2035, the second power acquisition module 2036, the second power deviation acquisition module 2037 and the second power conditioning module 2038,
Wherein, the first filtering process module 2035 is used to carry out low-pass filtering treatment to q shaft currents；Second power acquisition module 2036 is used
Q shaft currents and DC bus-bar voltage after according to low-pass filtering treatment obtain the current power of motor；Second power deviation obtains
Modulus block 2037 is used to obtain the power difference between the power set-point of motor and current power；Second power conditioning module
2038 are used to carry out power difference PI regulations to obtain the q shaft current set-points of motor in current control period.
Specifically, as shown in Figure 5 c, when carrying out power limitation control to motor, q shaft currents acquisition module 202 passes through three
At least two sampling resistors sampling under phase bridge on bridge arm obtains voltage signal, and the voltage signal then is converted into current signal
To obtain the three-phase output current instantaneous value i of motoru、ivAnd iwIn any two-phase output current instantaneous value such as iu、iv.Obtaining
Two-phase output current instantaneous value such as iu、ivAfterwards, angle estimation block 2022 is according to iu、ivAnd the two-phase voltage V of motoruAnd VvEnter
Row angle estimates that to obtain the rotor angle of motor then coordinate transferring 2021 is according to iu、ivAnd the rotor angle of motor
Degree θ carries out 3/2 coordinate transform to obtain the q shaft currents i of motorq。
Meanwhile busbar voltage acquisition module 201 obtains dc bus by the voltage signal on sampling resistor bleeder circuit
Voltage Vdc, and getting DC bus-bar voltage VdcAfterwards, by way of given value of current module 203 is using power ring PI regulations
Obtain the q shaft current set-points i needed for controlled motorq *.For example, the first filtering process module in given value of current module 203
2035 (such as LPF wave filters) are to q shaft currents iqLow-pass filtering treatment is carried out, the second power acquisition module 2036 is by LPF
Q shaft currents after reason and the DC bus-bar voltage V gotdcIt is multiplied to obtain the current power P of motor, the second power deviation obtains
Modulus block 2037 calculates the power set-point P of motor*Power difference △ P between current power P, the second power conditioning module
2038 couples of power difference △ P carry out PI regulations to obtain the q shaft current set-points i of motor in current control periodq *.Then,
Deviation acquisition module 204 (such as subtracter) obtains q shaft current set-points iq *With q shaft currents iqBetween current differential △ iq=
iq *-iq, and by the △ iq=iq *-iqThe margin of error as negative-feedback adjustment is sent to current regulating module 205, and (such as PI is adjusted
Device) in, the signal of output control pulse width is adjusted by current regulating module 205, be i.e. duty cycle signals Duty, is then passed through
Control module 206 (such as PWM units) is according to duty cycle signals Duty output drive signals to three-phase bridge, with the switch to three-phase bridge
Pipe carries out ON/OFF control, and the voltage needed for final acquisition is supplied to three-phase brushless dc motor, straight so as to be achieved with
Flow the power invariability regulatory function of bus current stability contorting.
Further, according to one embodiment of present invention, given value of current module 203 also includes：Second filtering process mould
Block 2039, for carrying out low-pass filtering treatment to DC bus-bar voltage.
That is, obtain DC bus-bar voltage V in samplingdcAfterwards, can first (such as LPF of second filtering process module 2039
Wave filter) to DC bus-bar voltage VdcLow-pass filtering treatment is carried out, as shown in Fig. 5 a- Fig. 5 c, then according to low-pass filtering treatment
DC bus-bar voltage afterwards directly calculates the q shaft current set-points i for obtaining motorq *, or the q with motor in a upper controlling cycle
Shaft current set-point iq-1 *It is multiplied to obtain the current power P of motor, then carries out power P I regulations to obtain the q shaft currents of motor
Set-point iq *, or with the q shaft currents after low-pass filtering treatment it is multiplied to obtain the current power P of motor, then carry out power P I
Adjust to obtain the q shaft current set-points i of motorq *, can so make it that Power Control is more stable, reduce the arteries and veins of power
It is dynamic.
It should be noted that the details not disclosed in the constant power control device of the motor of the embodiment of the present invention, refer to
Details disclosed in the constant-power control method of the motor of the embodiment of the present invention, is specifically just no longer described in detail here.
The constant power control device of motor according to embodiments of the present invention, motor is obtained by busbar voltage acquisition module
DC bus-bar voltage, and by q shaft currents acquisition module obtain motor q shaft currents, and by given value of current module according to
The power set-point of DC bus-bar voltage and motor obtains the q shaft current set-points of motor.Then, mould is obtained by current deviation
Block obtains the current differential between q shaft currents set-point and q shaft currents, and carries out PI to current differential by current regulating module
Regulation carries out perseverance according to duty cycle signals to obtain the duty cycle signals for controlled motor, and by control module to motor
Power Control.The device is by being that torque current carries out PI controls to realize the invariable power control to motor to the q shaft currents of motor
It system, will not only increase hardware cost, and large-scale power adjusting and company can be achieved without using position sensor
The effect of continuous control, while can be effectively improved in production process because of the control effect difference caused by such environmental effects the problem of, and
It is versatile.
In addition, embodiments of the invention also proposed a kind of motor, it includes above-mentioned constant power control device.Wherein,
Motor can be three-phase brushless dc motor.
Motor according to embodiments of the present invention, by above-mentioned constant power control device, the q axles electricity to motor can be passed through
Stream is that torque current carries out PI controls to realize the power limitation control to motor, will not only increase hardware cost, and need not
The use of position sensor is that large-scale power adjusting and the effect of continuous control can be achieved, while can be effectively improved and produce
In journey because of the control effect difference caused by such environmental effects the problem of.
In addition, embodiments of the invention also proposed a kind of dust catcher, it includes above-mentioned motor.
Dust catcher according to embodiments of the present invention, by above-mentioned motor, output-constant operation can be realized.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, have suitable combinational logic gate circuit application specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In addition, in the description of the invention, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ",
" on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " clockwise ", " inverse time
The orientation or position relationship of the instruction such as pin ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or position relationship,
Be for only for ease of the description present invention and simplify description, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, limited unless otherwise clear and definite.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (14)
1. a kind of constant-power control method of motor, it is characterised in that comprise the following steps：
S1, obtain the DC bus-bar voltage of the motor and the q shaft currents of the motor；
S2, the q shaft current set-points of the motor are obtained according to the power set-point of the DC bus-bar voltage and the motor；
S3, obtain the current differential between the q shaft currents set-point and the q shaft currents；
S4, PI regulations are carried out to the current differential to obtain the duty cycle signals for controlling the motor, and according to described
Duty cycle signals carry out power limitation control to the motor.
2. the constant-power control method of motor as claimed in claim 1, it is characterised in that the step S2, including：
By the power set-point of the motor divided by the DC bus-bar voltage to obtain the q shaft current set-points of the motor.
3. the constant-power control method of motor as claimed in claim 1, it is characterised in that the step S2, including：
Obtain the q shaft current set-points of motor described in a upper controlling cycle；
The q shaft currents set-point of the motor according to the DC bus-bar voltage and a upper controlling cycle obtains the electricity
The current power of machine；
Obtain the power difference between the power set-point of the motor and the current power；
PI regulations are carried out to the power difference to obtain the q shaft current set-points of motor described in current control period.
4. the constant-power control method of motor as claimed in claim 1, it is characterised in that the step S2, including：
Low-pass filtering treatment is carried out to the q shaft currents, and according to the q shaft currents after low-pass filtering treatment and the dc bus
Voltage obtains the current power of the motor；
Obtain the power difference between the power set-point of the motor and the current power；
PI regulations are carried out to the power difference to obtain the q shaft current set-points of motor described in current control period.
5. the constant-power control method of the motor as any one of claim 2-4, it is characterised in that the step S2,
Also include：Low-pass filtering treatment is carried out to the DC bus-bar voltage.
6. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, it is characterised in that the calculating
The method as described in any in claim 1-5 is realized when machine program is executed by processor.
A kind of 7. constant power control device of motor, it is characterised in that including：
Busbar voltage acquisition module, for obtaining the DC bus-bar voltage of the motor；
Q shaft current acquisition modules, for obtaining the q shaft currents of the motor；
Given value of current module, for obtaining the motor according to the power set-point of the DC bus-bar voltage and the motor
Q shaft current set-points；
Current deviation acquisition module, for obtaining the current differential between the q shaft currents set-point and the q shaft currents；
Current regulating module, adjusted for carrying out PI to the current differential to obtain for controlling the dutycycle of the motor to believe
Number；
Control module, for carrying out power limitation control to the motor according to the duty cycle signals.
8. the constant power control device of motor as claimed in claim 7, it is characterised in that the given value of current module includes：
Divider, for the power set-point of the motor divided by the DC bus-bar voltage to be obtained into the q axles of the motor
Given value of current value.
9. the constant power control device of motor as claimed in claim 7, it is characterised in that the given value of current module includes：
First power acquisition module, for obtaining the q shaft current set-points of motor described in a upper controlling cycle, and according to described
The q shaft currents set-point of motor described in DC bus-bar voltage and a upper controlling cycle obtains the current work(of the motor
Rate；
First power deviation acquisition module, for obtaining the power between the power set-point of the motor and the current power
Difference；
First power conditioning module, adjusted for carrying out PI to the power difference to obtain motor described in current control period
Q shaft current set-points.
10. the constant power control device of motor as claimed in claim 7, it is characterised in that the given value of current module includes：
First filtering process module, for carrying out low-pass filtering treatment to the q shaft currents；
Second power acquisition module, for obtaining institute according to the q shaft currents after low-pass filtering treatment and the DC bus-bar voltage
State the current power of motor；
Second power deviation acquisition module, for obtaining the power between the power set-point of the motor and the current power
Difference；
Second power conditioning module, adjusted for carrying out PI to the power difference to obtain motor described in current control period
Q shaft current set-points.
11. the constant power control device of the motor as any one of claim 8-10, it is characterised in that the electric current is given
Cover half block also includes：
Second filtering process module, for carrying out low-pass filtering treatment to the DC bus-bar voltage.
12. a kind of motor, it is characterised in that including the constant power control device as any one of claim 7-11.
13. motor as claimed in claim 12, it is characterised in that the motor is three-phase brushless dc motor.
14. a kind of dust catcher, it is characterised in that including the motor as any one of claim 12-13.
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| CN201710807059.5A CN107634689A (en) | 2017-09-08 | 2017-09-08 | Dust catcher, motor and its constant-power control method, device |
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| CN201710807059.5A CN107634689A (en) | 2017-09-08 | 2017-09-08 | Dust catcher, motor and its constant-power control method, device |
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| CN108923717A (en) * | 2018-08-07 | 2018-11-30 | 珠海格力电器股份有限公司 | The method, apparatus that a kind of hand-held cleaners, motor and its power are quickly adjusted |
| CN110138311A (en) * | 2019-06-18 | 2019-08-16 | 宁波奥克斯电气股份有限公司 | A kind of compressor invariable power preheating control method, circuit and air conditioner |
| CN111262493A (en) * | 2020-02-18 | 2020-06-09 | 松下电器机电（中国）有限公司 | Constant-power dust collector and motor control method thereof |
| CN112003533A (en) * | 2020-08-03 | 2020-11-27 | 中国人民解放军海军工程大学 | Motor variable constant power control method and device based on V/F |
| CN112204875A (en) * | 2018-05-30 | 2021-01-08 | 三菱电机株式会社 | Permanent magnet synchronous motor and ventilation blower |
| CN112311286A (en) * | 2019-07-31 | 2021-02-02 | 北京金风科创风电设备有限公司 | Power control device and method of wind generating set |
| CN115001339A (en) * | 2022-06-14 | 2022-09-02 | 广州安捷制造有限公司 | Control method and device for constant input power of motor |
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| CN112204875A (en) * | 2018-05-30 | 2021-01-08 | 三菱电机株式会社 | Permanent magnet synchronous motor and ventilation blower |
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| CN110138311A (en) * | 2019-06-18 | 2019-08-16 | 宁波奥克斯电气股份有限公司 | A kind of compressor invariable power preheating control method, circuit and air conditioner |
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| CN112311286B (en) * | 2019-07-31 | 2023-06-30 | 北京金风科创风电设备有限公司 | Power control device and method for wind generating set |
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| CN112003533A (en) * | 2020-08-03 | 2020-11-27 | 中国人民解放军海军工程大学 | Motor variable constant power control method and device based on V/F |
| CN112003533B (en) * | 2020-08-03 | 2021-10-26 | 中国人民解放军海军工程大学 | Motor variable constant power control method and device based on V/F |
| CN115001339A (en) * | 2022-06-14 | 2022-09-02 | 广州安捷制造有限公司 | Control method and device for constant input power of motor |
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Application publication date: 20180126 |