CN107733320A - A kind of motor control method, device, storage medium and motor - Google Patents
A kind of motor control method, device, storage medium and motor Download PDFInfo
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- CN107733320A CN107733320A CN201710807422.3A CN201710807422A CN107733320A CN 107733320 A CN107733320 A CN 107733320A CN 201710807422 A CN201710807422 A CN 201710807422A CN 107733320 A CN107733320 A CN 107733320A
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- motor
- rotor angle
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- speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention provides a kind of motor control method, device, storage medium and motor, and methods described includes：Obtain the current rotating speed of the motor；Rotor angle reconstruct is carried out according to the rotating speed that the rotor angle of upper controlling cycle control motor institute foundation and the motor are current, to obtain the current reconstruct rotor angle of the motor；The angular deviation of the current detection rotor angle of the motor that is detected according to reconstruct rotor angle and the sensor, it is determined that controlling the motor according to the reconstruct rotor angle or the detection rotor angle.Scheme provided by the invention can solve the problem that sensor is interfered, influences the problem of motor control performance, improve the Ability of Resisting Disturbance of system control.
Description
Technical field
The present invention relates to control field, more particularly to a kind of motor control method, device, storage medium and motor.
Background technology
The operation of electric vehicle drives main motor with motor car wheel operating to realize generally by electric machine controller, because
This, the control performance of electric machine controller directly decides high efficiency, security, reliability and the comfortableness of vehicle operation.It is and electric
Machine controller, which carries out rotating speed and direct torque to main motor, to be needed to obtain the angle and rotating speed of rotor in real time, in electric car
In, the acquisition of angle of rotor of motor and speed is realized by sensors such as rotary transformer or encoders.Motor control
The quality of performance depends greatly on the acquisition situation of the position angle of rotor, and rotary transformer, encoder etc. pass
Sensor is frequently subjected to disturb in transmission of angle and rate signal, can cause current of electric distortion (as shown in figure 5, believing for angle
Current of electric distorted waveform when breath is interfered), it can so make motor control degradation, so as to influence the operation of vehicle
High efficiency and comfortableness, the safe and reliable operation of vehicle is even influenceed when serious.
The content of the invention
The defects of it is a primary object of the present invention to overcome above-mentioned prior art, there is provided a kind of motor control method, device,
Storage medium and motor, with solution, sensor is interfered in transmission of angle and rate signal in the prior art, makes motor control
The problem of degradation processed.
One aspect of the present invention provides a kind of motor control method, including：Obtain the current rotating speed of the motor；According to upper
The rotating speed that the rotor angle and the motor of one controlling cycle control motor institute foundation are current carries out rotor angle reconstruct, with
Obtain the current reconstruct rotor angle of the motor；Worked as according to the reconstruct rotor angle and the motor that sensor detects
The angular deviation of preceding detection rotor angle, it is determined that according to the reconstruct rotor angle or the detection rotor angle control institute
State motor.
Alternatively, the current rotating speed of the motor is obtained, including：Obtain the predetermined quantity institute that sensor is consecutively detected
State the transient speed of motor；Determine that the motor is current according to the transient speed of the predetermined quantity of the acquisition motor to turn
Speed.
Alternatively, the current rotating speed of the motor is determined according to the transient speed of the predetermined quantity of the acquisition motor,
Including：Reject maximum instantaneous rotating speed in the transient speed of the predetermined quantity motor and/or minimum transient speed and/
Or abnormal transient speed；Remaining transient speed after being rejected in the transient speed of the predetermined quantity motor is carried out pre-
Fixed calculation process, to obtain the current rotating speed of the motor.
Alternatively, remaining transient speed after being rejected in the transient speed of the predetermined quantity motor is carried out pre-
Fixed calculation process, to obtain the current rotating speed of the motor, including：According to the remaining transient speed, a most young waiter in a wineshop or an inn is utilized
Multiplication calculates the current rotating speed of the motor.
Alternatively, remaining transient speed after being rejected in the transient speed of the predetermined quantity motor is carried out pre-
Fixed calculation process, to obtain the current rotating speed of the motor, including：Average value processing is carried out to the remaining transient speed,
Using the average of the remaining transient speed rotating speed current as the motor.
Alternatively, current turn of the rotor angle and the motor of motor institute foundation is controlled according to a upper controlling cycle
Speed carries out rotor angle reconstruct, including：Rotor angle, the motor of motor institute foundation are controlled according to a upper controlling cycle
Current rotating speed and the duration of controlling cycle, obtain the current reconstruct rotor angle of the motor.
Alternatively, the current detection rotor angle of the motor that is detected according to reconstruct rotor angle and the sensor
Angular deviation, it is determined that control the motor according to the reconstruct rotor angle or the detection rotor angle, including：Judge
Whether the absolute value of the angular deviation reaches predetermined threshold；If the absolute value of the angular deviation reaches the predetermined threshold,
The motor is then controlled according to the reconstruct rotor angle；If the absolute value of the angular deviation is not up to the predetermined threshold,
The motor is then controlled according to the detection rotor angle.
Alternatively, the product of the current rotating speed of the motor equal to predetermined ratio and the duration of controlling cycle.
Another aspect of the present invention provides a kind of motor control assembly, including：Acquiring unit, it is current for obtaining the motor
Rotating speed；Reconfiguration unit, rotor angle and the motor for controlling motor institute foundation according to a upper controlling cycle are worked as
Preceding rotating speed carries out rotor angle reconstruct, to obtain the current reconstruct rotor angle of the motor；Control unit, for according to institute
The angular deviation of the current detection rotor angle of the motor that reconstruct rotor angle and sensor detect is stated, it is determined that according to institute
State reconstruct rotor angle or the detection rotor angle controls the motor.
Alternatively, the acquiring unit, including：Rotating speed acquiring unit, it is predetermined for obtain that sensor is consecutively detected
The transient speed of the quantity motor；Rotating speed determining unit, for the instantaneous of the predetermined quantity motor according to acquisition
Rotating speed determines the current rotating speed of the motor.
Alternatively, the rotating speed determining unit, including：Subelement is rejected, for rejecting the predetermined quantity electricity
Maximum instantaneous rotating speed and/or minimum transient speed and/or abnormal transient speed in the transient speed of machine；Subelement is handled, is used
Remaining transient speed carries out predetermined calculation process after being rejected in the transient speed to the predetermined quantity motor,
To obtain the current rotating speed of the motor.
Alternatively, the processing subelement is further used for：Least square method is utilized according to the remaining transient speed
Calculate the current rotating speed of the motor.
Alternatively, the processing subelement is further used for：Average value processing is carried out to the remaining transient speed, by institute
State the average of the remaining transient speed rotating speed current as the motor.
Alternatively, the reconfiguration unit is further used for：Turning for motor institute foundation is controlled according to a upper controlling cycle
The duration of the current rotating speed of subangle, the motor and controlling cycle, obtain the current reconstruct rotor angle of the motor.
Alternatively, described control unit is further used for：Judge whether the exhausted angle value of the angular deviation reaches predetermined threshold
Value；If the exhausted angle value of the angular deviation reaches the predetermined threshold, the motor is controlled according to the reconstruct rotor angle；
If the exhausted angle value of the angular deviation is not up to the predetermined threshold, the motor is controlled according to the detection rotor angle.
Alternatively, the predetermined threshold is equal to the current rotating speed of the motor of predetermined ratio and the duration of controlling cycle
Product.
Another aspect of the invention provides a kind of computer-readable recording medium, is stored thereon with computer program, described
The step of foregoing any methods described is realized when program is executed by processor.
Further aspect of the present invention provides a kind of motor, including processor, memory and storage on a memory can be
The computer program run on processor, the step of realizing foregoing any methods described during the computing device described program.
Further aspect of the present invention provides a kind of motor, including foregoing any described motor control assembly.
Technique according to the invention scheme, according to the rotor angle of upper controlling cycle controlled motor institute foundation and currently
Motor speed carries out rotor angle reconstruct, so as to which the current detection of the motor detected according to reconstruct rotor angle and sensor turns
The angular deviation of subangle, it is determined that controlling the motor according to the reconstruct rotor angle or the detection rotor angle.And
And the present invention carries out noise eliminating by the rotary speed information obtained to sensor and average value processing obtains the rotating speed of motor, according to
Handle the rotor angle reconstruct real time motor rotor angle of the controlled motor of obtained rotating speed and a upper controlling cycle.According to this hair
Bright technical scheme, when the detection rotor angle deviation for reconstructing rotor angle and sensor acquisition is larger, use reconstruct rotor
Angle is controlled, and can solve the problem that electric machine controller is interfered in the sensor performance such as rotary transformer or encoder, influenceed
The problem of motor control performance, the Ability of Resisting Disturbance of system control is improved, ensure the motor-driven equipment operation such as electric vehicle
High efficiency and security reliability.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, forms the part of the present invention, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the method schematic diagram of an embodiment of motor control method provided by the invention；
Fig. 2 is the flow chart according to the step of the acquisition motor of the embodiment of the invention current rotating speed；
Fig. 3 is to determine the electricity according to the predetermined quantity transient speed according to acquisition of the embodiment of the invention
The flow chart of the step of machine current rotating speed；
Fig. 4 is the control principle schematic diagram of double closed-loop control system according to embodiments of the present invention；
Current of electric distorted waveform figure when Fig. 5 is interfered for angle information；
Fig. 6 is to use the motor current waveform figure after technical solution of the present invention；
Fig. 7 is the method schematic diagram of a specific embodiment of motor control method provided by the invention；
Fig. 8 is the structural representation of an embodiment of motor control assembly provided by the invention；
Fig. 9 is the structural representation according to the acquiring unit of the embodiment of the invention；
Figure 10 is the structural representation according to the rotating speed determining unit of the embodiment of the invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
Technical solution of the present invention is clearly and completely described corresponding accompanying drawing.Obviously, described embodiment is only the present invention one
Section Example, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out under the premise of creative work the every other embodiment obtained, belong to the scope of protection of the invention.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so as to embodiments of the invention described herein can with except illustrating herein or
Order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit clearly listed, but may include not list clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
Fig. 1 is the method schematic diagram of an embodiment of motor control method provided by the invention.
As shown in figure 1, according to one embodiment of present invention, the motor control method comprises at least step S110, step
Rapid S120 and step S130.
Step S110, obtain the current rotating speed of the motor.
Fig. 2 is the flow chart according to the step of the acquisition motor of the embodiment of the invention current rotating speed,
As shown in Fig. 2 step S110 can specifically include step S111 and step S112.
Step S111, obtain the transient speed for the predetermined quantity motor that sensor is consecutively detected.
For example, continuously read the transient speed value ω of 20 speed probe transmission1、ω2、…、ω20。
Step S112, determine that the motor is current according to the transient speed of the predetermined quantity of the acquisition motor and turn
Speed.
Fig. 3 is to determine the electricity according to the predetermined quantity transient speed according to acquisition of the embodiment of the invention
The flow chart of the step of machine current rotating speed.As shown in figure 3, step S112 can include step S1121 and step S1122.
Step S1121, reject maximum instantaneous rotating speed in the transient speed of the predetermined quantity motor and/or most
Small transient speed and/or abnormal transient speed.
For example, reject the transient speed value ω of the above-mentioned 20 speed probes transmission continuously read1、ω2、…、ω20In
Maximum instantaneous rotating speed and minimum transient speed；Or reject above-mentioned the instantaneous of 20 speed probes transmission continuously read and turn
Fast value ω1、ω2、…、ω20In maximum instantaneous rotating speed, minimum transient speed and abnormal transient speed.
Step S1122, remaining transient speed after being rejected in the transient speed of the predetermined quantity motor is entered
The predetermined calculation process of row, to obtain the current rotating speed of the motor.
In a kind of embodiment, according to the remaining transient speed, the electricity is calculated using least square method
The current rotating speed of machine.
Specifically, it is as follows to construct least square normal equation：
Wherein, ω1、ω2、…、ωkTo reject maximum instantaneous rotating speed and/or minimum transient speed and/or instantaneous turn of exception
Remaining k transient speed after speed, ω are the current rotating speed of the motor.
By remaining k transient speed ω1、ω2、…、ωkCalculation process is carried out by above-mentioned least square normal equation (1),
Minimum is found, its corresponding rotating speed and be the current rotational speed omega of the motor.
Specifically, the maximum (top) speed and minimum speed in remaining k transient speed are obtained, by the minimum speed gradually
Cumulative desired speed interval obtains cumulative rear rotating speed, by the minimum speed and tired every time until being added to the maximum (top) speed
Add the obtained cumulative rotating speed rotating speed (as ω bring) current as the motor afterwards, bring least square normal equation into respectively
(1) in, using the rotating speed brought into when the obtaining minimum rotating speed current as the motor.
In another embodiment, average value processing is carried out to the remaining transient speed, will be described remaining
The average of the transient speed rotating speed current as the motor.
For example, remaining transient speed after being rejected in the transient speed of the predetermined quantity motor is asked count it is flat
Average, obtained rotating speed average value is as the rotating speed current as the motor.
Step S120, current according to the rotor angle of upper controlling cycle control motor institute foundation and the motor
Rotating speed carries out rotor angle reconstruct, to obtain the current reconstruct rotor angle of the motor.
Specifically, control the rotor angle of motor institute foundation, the motor are current to turn according to a upper controlling cycle
The duration of speed and controlling cycle, obtains the current reconstruct rotor angle of the motor.
In a kind of embodiment, the rotor angle of motor institute foundation is controlled according to a upper controlling cycle
The current rotational speed omega of the motor, and the duration Ts of controlling cycle, current reconstruct is reconstructed by following formula (2) and turned
Subangle value
Step S130, the current detection rotor angle of the motor that is detected according to reconstruct rotor angle and the sensor
The angular deviation of degree, it is determined that controlling the motor according to the reconstruct rotor angle or the detection rotor angle.
The reconstruct rotor angle that will first obtainThe current detection rotor angle of the motor that detects with sensork
It is compared, to obtain the reconstruct rotor angleThe current detection rotor angle of the motor that detects with sensork
Angular deviation Δ θ, further according to it is described reconstruct rotor angle with it is described detection rotor angle angular deviation Δ θ, it is determined that basis
The reconstruct rotor angleOr the detection rotor anglekControl the motor.
Specifically, judge whether the absolute value of the angular deviation reaches predetermined threshold；If the exhausted degree of the angular deviation
Value reaches the predetermined threshold, then controls the motor according to the reconstruct rotor angle；If the exhausted angle value of the angular deviation
Not up to described predetermined threshold, then the motor is controlled according to the detection rotor angle.
In a kind of embodiment, the predetermined threshold rotating speed current equal to the motor of predetermined ratio and control
The product of the duration in cycle processed.For example, the predetermined ratio, for example, 5%, i.e., described predetermined threshold is taken as (ω Ts)
5%.When the obtained reconstruct rotor angle of reconstructWith the rotor angle of real sensor detectionkAngular deviation Δ θ it is exhausted
To value | Δ θ | when reaching predetermined threshold (| Δ θ | >=predetermined threshold), the rotor angle value of current motor controlUsing the reconstruct
Rotor angleWhen the obtained reconstruct rotor angle of reconstructThe angle, θ obtained with real sensorkAngular deviation Δ θ
Absolute value when being not up to predetermined threshold, the rotor angle value of current motor controlThe detection for detecting to obtain using sensor turns
Subangle θk。
The rotor angle for currently controlling the motor is determinedUse it in electric machine control system, with two close cycles control
Exemplified by electric machine control system processed, control principle can be as shown in figure 4, Fig. 4 be double closed-loop control system according to embodiments of the present invention
Control principle schematic diagram.By the rotor angle of above-mentioned determinationImitated applied to control well in the control system, is achieved
Fruit, essentially eliminate the current anomaly phenomenon caused by motor position sensor is disturbed.Using the technology of the present invention current of electric
It may be referred to shown in Fig. 6, Fig. 6 is to use the motor current waveform figure after technical solution of the present invention.
To become apparent from the description present invention, motor control method provided by the invention is retouched with a specific embodiment below
State.Fig. 7 is the method schematic diagram of a specific embodiment of motor control method provided by the invention.
Step S210, the continuous transient speed value ω for reading 20 sensor detections1、ω2、…、ω20。
Step S220, reject the maximum instantaneous tachometer value in the transient speed value of reading and minimum transient speed value.
Step S230, least square normal equation is constructed to remaining transient speed value.
Step S240, the minimum of the least square normal equation of construction is asked for, as current rotational speed omega.
Step S250, according to the rotor angle of current rotational speed omega and upper controlling cycle controlled motorConstruct motor
Current reconstruct rotor angle
Step S260, calculate reconstruct rotor angleWith the detection rotor angle of sensor transmissionskAngular deviation Δ θ.
Step S270, judge the absolute value of the angular deviation Δ θ | Δ θ | whether reach predetermined threshold.If so, then perform
Step S280, if it is not, then performing step S290.
Step S280, if angular deviation Δ θ exhausted angle value | Δ θ | reach predetermined threshold, according to reconstruct rotor angle
Control the motor.
Step S290, if angular deviation Δ θ exhausted angle value | Δ θ | the not up to predetermined threshold, according to the detection
Rotor anglekControl the motor.
Fig. 8 is the structural representation of an embodiment of motor control assembly provided by the invention.As shown in figure 8, the electricity
Machine control device 100 includes：Acquiring unit 110, reconfiguration unit 120 and control unit 130.
Acquiring unit 110 is used to obtain the current rotating speed of the motor；Reconfiguration unit 120 is used for according to a upper controlling cycle
The rotor angle of motor institute foundation and the rotating speed progress rotor angle reconstruct that the motor is current are controlled, to obtain the electricity
The current reconstruct rotor angle of machine；Control unit 130 is used for according to detecting the reconstruct rotor angle and sensor
The angular deviation of the current detection rotor angle of motor, it is determined that according to the reconstruct rotor angle or the detection rotor angle
Control the motor.
Fig. 9 is the structural representation according to the acquiring unit of the embodiment of the invention.In a kind of specific embodiment party
In formula, the acquiring unit 110 includes rotating speed acquiring unit 111 and rotating speed determining unit 112.
The rotating speed acquiring unit 111, the wink for the predetermined quantity motor being consecutively detected for obtaining sensor
When rotating speed；Rotating speed determining unit 112, the transient speed for the predetermined quantity motor according to acquisition determine the motor
Current rotating speed.
Figure 10 is the structural representation according to the rotating speed determining unit of the embodiment of the invention.As shown in Figure 10,
The rotating speed determining unit 112 includes rejecting subelement 1121 and processing subelement 1122.
The maximum instantaneous that subelement 1121 is used to reject in the transient speed of the predetermined quantity motor is rejected to turn
Fast and/or minimum transient speed and/or abnormal transient speed.For example, reject subelement 1121 reject it is above-mentioned continuously read 20
The transient speed value ω of individual speed probe transmission1、ω2、…、ω20In maximum instantaneous rotating speed and minimum transient speed；Or
Reject the transient speed value ω of the above-mentioned 20 speed probes transmission continuously read1、ω2、…、ω20In maximum instantaneous turn
Fast, minimum transient speed and abnormal transient speed.
Handle subelement 1122 and be used in the transient speed to the predetermined quantity motor after rejecting remaining wink
When rotating speed carry out predetermined calculation process, to obtain the current rotating speed of the motor.
In a kind of embodiment, processing subelement 1122 utilizes a most young waiter in a wineshop or an inn according to the remaining transient speed
Multiplication calculates the current rotating speed of the motor；
Specifically, it is as follows to construct least square normal equation：
Wherein, ω1、ω2、…、ωkTo reject maximum instantaneous rotating speed and/or minimum transient speed and/or instantaneous turn of exception
Remaining k transient speed after speed, ω are the current rotating speed of the motor.
By remaining k transient speed ω1、ω2、…、ωkCalculation process is carried out by above-mentioned least square normal equation (1),
Minimum is found, its corresponding rotating speed and be the current rotational speed omega of the motor.
Specifically, the maximum (top) speed and minimum speed in remaining k transient speed are obtained, by the minimum speed gradually
Cumulative desired speed interval obtains cumulative rear rotating speed, by the minimum speed and tired every time until being added to the maximum (top) speed
Add the obtained cumulative rotating speed rotating speed (as ω bring) current as the motor afterwards, bring least square normal equation into respectively
(1) in, using the rotating speed brought into when the obtaining minimum rotating speed current as the motor.
In another embodiment, processing subelement 1122 is carried out at average to the remaining transient speed
Reason, using the average of the remaining transient speed rotating speed current as the motor.
For example, remaining transient speed after being rejected in the transient speed of the predetermined quantity motor is asked count it is flat
Average, obtained rotating speed average value is as the rotating speed current as the motor.
The reconfiguration unit can specifically control the rotor angle, described of motor institute foundation according to a upper controlling cycle
The duration of the current rotating speed of motor and controlling cycle, obtain the current reconstruct rotor angle of the motor.
In a kind of embodiment, the rotor angle of motor institute foundation is controlled according to a upper controlling cycle
The current rotational speed omega of the motor, and the duration Ts of controlling cycle, current reconstruct is reconstructed by following formula (2) and turned
Subangle value
The reconstruct rotor angle that described control unit 130 will first obtainThe motor that detects with sensor is current
Detect rotor anglekIt is compared, to obtain the reconstruct rotor angleThe motor that detects with sensor is current
Detect rotor anglekAngular deviation Δ θ, further according to it is described reconstruct rotor angle with it is described detect rotor angle angle it is inclined
Difference, it is determined that controlling the motor according to the reconstruct rotor angle or the detection rotor angle.
Specifically, described control unit 130 judges whether the exhausted angle value of the angular deviation reaches predetermined threshold；It is if described
The exhausted angle value of angular deviation reaches the predetermined threshold, then controls the motor according to the reconstruct rotor angle；If the angle
The exhausted angle value of degree deviation is not up to the predetermined threshold, then controls the motor according to the detection rotor angle.
In a kind of embodiment, the predetermined threshold rotating speed current equal to the motor of predetermined ratio and control
The product of the duration in cycle processed.For example, the predetermined ratio, for example, 5%, i.e., described predetermined threshold is taken as (ω Ts)
5%.When the obtained reconstruct rotor angle of reconstructWith the angle, θ of real sensor detectionkAngular deviation Δ θ absolute value
When reaching predetermined threshold, the rotor angle value of current motor controlUsing the reconstruct rotor angleWhen obtaining for reconstruct
Reconstruct rotor angleThe angle, θ obtained with real sensorkAngular deviation Δ θ absolute value when being not up to predetermined threshold,
The rotor angle value of current motor controlThe detection rotor angle for detecting to obtain using sensork。
The rotor angle for currently controlling the motor is determinedUse it in electric machine control system, with two close cycles control
Exemplified by electric machine control system processed, control principle can be as shown in figure 4, rotor angle by above-mentioned determinationApplied to the control system
In, good control effect is achieved, essentially eliminates the current anomaly phenomenon caused by motor position sensor is disturbed.
The present invention also provides a kind of computer-readable recording medium corresponding to above-mentioned motor control method, is stored thereon with
Computer program, the step of foregoing any motor control method is realized when described program is executed by processor.
The present invention also provides a kind of motor corresponding to above-mentioned motor control method, including processor, memory and deposits
Store up the computer program that can run on a processor on a memory, realize during the computing device described program foregoing any
The step of motor control method.
The present invention also provides a kind of motor corresponding to above-mentioned motor control assembly, including foregoing any described motor control
Device processed.
Accordingly, scheme provided by the invention is according to the rotor angle of upper controlling cycle controlled motor institute foundation and current
Motor speed carries out rotor angle reconstruct, so as to which the current detection of the motor detected according to reconstruct rotor angle and sensor turns
The angular deviation of subangle, it is determined that controlling the motor according to the reconstruct rotor angle or the detection rotor angle.And
And the present invention carries out noise eliminating by the rotary speed information obtained to sensor and average value processing obtains the rotating speed of motor, according to
Handle the rotor angle reconstruct real time motor rotor angle of the controlled motor of obtained rotating speed and a upper controlling cycle.According to this hair
Bright technical scheme, when the detection rotor angle deviation for reconstructing rotor angle and sensor acquisition is larger, use reconstruct rotor
Angle is controlled, and can solve the problem that electric machine controller is interfered in the sensor performance such as rotary transformer or encoder, influenceed
The problem of motor control performance, the Ability of Resisting Disturbance of system control is improved, ensure the motor-driven equipment operation such as electric vehicle
High efficiency and security reliability.
Function described herein can be implemented in hardware, by the software of computing device, firmware or its any combinations.
If implement in the software by computing device, then computer can be stored in using function as one or more instructions or code
Transmitted on readable media or via computer-readable media.Other examples and embodiment will in of the invention and appended right
Ask in the scope and spirit of book.For example, be attributed to the property of software, function described above can be used by processor,
Hardware, firmware, hardwired appoint the software implementation that the combination of whichever performs in these.In addition, each functional unit can integrate
In a processing unit or unit is individually physically present, can also two or more units be integrated in
In one unit.
In several embodiments provided herein, it should be understood that disclosed technology contents, others can be passed through
Mode is realized.Wherein, device embodiment described above is only schematical, such as the division of the unit, Ke Yiwei
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
Connect, can be electrical or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, as control fill
The part put can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are causing a computer
Equipment (can be personal computer, server or network equipment etc.) perform each embodiment methods described of the present invention whole or
Part steps.And foregoing storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can be with store program codes
Medium.
Embodiments of the invention are the foregoing is only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should be included within scope of the presently claimed invention.
Claims (19)
- A kind of 1. motor control method, it is characterised in that including：Obtain the current rotating speed of the motor；Rotor is carried out according to the rotating speed that the rotor angle of upper controlling cycle control motor institute foundation and the motor are current Angle reconstructs, to obtain the current reconstruct rotor angle of the motor；The angular deviation of the current detection rotor angle of the motor that is detected according to reconstruct rotor angle and the sensor, It is determined that the motor is controlled according to the reconstruct rotor angle or the detection rotor angle.
- 2. according to the method for claim 1, it is characterised in that the current rotating speed of the motor is obtained, including：Obtain the transient speed for the predetermined quantity motor that sensor is consecutively detected；The current rotating speed of the motor is determined according to the transient speed of the predetermined quantity of the acquisition motor.
- 3. according to the method for claim 2, it is characterised in that instantaneous according to the predetermined quantity of the acquisition motor turns Speed determines the current rotating speed of the motor, including：Reject maximum instantaneous rotating speed in the transient speed of the predetermined quantity motor and/or minimum transient speed and/ Or abnormal transient speed；Remaining transient speed after being rejected in the transient speed of the predetermined quantity motor is carried out at predetermined computing Reason, to obtain the current rotating speed of the motor.
- 4. according to the method for claim 3, it is characterised in that in the transient speed of the predetermined quantity motor Remaining transient speed carries out predetermined calculation process after rejecting, to obtain the current rotating speed of the motor, including：According to the remaining transient speed, the current rotating speed of the motor is calculated using least square method.
- 5. according to the method for claim 3, it is characterised in that in the transient speed of the predetermined quantity motor Remaining transient speed carries out predetermined calculation process after rejecting, to obtain the current rotating speed of the motor, including：Average value processing is carried out to the remaining transient speed, worked as the average of the remaining transient speed as the motor Preceding rotating speed.
- 6. according to the method described in claim any one of 1-5, it is characterised in that control the motor according to a upper controlling cycle The rotating speed that the rotor angle and the motor of institute's foundation are current carries out rotor angle reconstruct, including：The current rotating speed of rotor angle, the motor of motor institute foundation and control are controlled according to a upper controlling cycle The duration in cycle, obtain the current reconstruct rotor angle of the motor.
- 7. according to the method described in claim any one of 1-6, it is characterised in that according to the reconstruct rotor angle and sensor The angular deviation of the detection rotor angle of the motor detected currently, it is determined that according to the reconstruct rotor angle or described Detect rotor angle and control the motor, including：Judge whether the absolute value of the angular deviation reaches predetermined threshold；If the absolute value of the angular deviation reaches the predetermined threshold, the electricity is controlled according to the reconstruct rotor angle Machine；If the absolute value of the angular deviation is not up to the predetermined threshold, the electricity is controlled according to the detection rotor angle Machine.
- 8. according to the method for claim 7, it is characterised in that the current rotating speed of the motor equal to predetermined ratio With the product of the duration of controlling cycle.
- A kind of 9. motor control assembly, it is characterised in that including：Acquiring unit, the rotating speed current for obtaining the motor；Reconfiguration unit, current for the rotor angle according to upper controlling cycle control motor institute foundation and the motor Rotating speed carries out rotor angle reconstruct, to obtain the current reconstruct rotor angle of the motor；Control unit, the current detection rotor angle of the motor for being detected according to reconstruct rotor angle and the sensor The angular deviation of degree, it is determined that controlling the motor according to the reconstruct rotor angle or the detection rotor angle.
- 10. device according to claim 9, it is characterised in that the acquiring unit, including：Rotating speed acquiring unit, the transient speed for the predetermined quantity motor being consecutively detected for obtaining sensor；Rotating speed determining unit, transient speed for the predetermined quantity motor according to acquisition determine that the motor is current Rotating speed.
- 11. device according to claim 10, it is characterised in that the rotating speed determining unit, including：Reject subelement, maximum instantaneous rotating speed in transient speed for rejecting the predetermined quantity motor and/or Minimum transient speed and/or abnormal transient speed；Subelement is handled, is entered for remaining transient speed after being rejected in the transient speed to the predetermined quantity motor The predetermined calculation process of row, to obtain the current rotating speed of the motor.
- 12. device according to claim 11, it is characterised in that the processing subelement is further used for：According to the remaining transient speed, the current rotating speed of the motor is calculated using least square method.
- 13. device according to claim 11, it is characterised in that the processing subelement is further used for：Average value processing is carried out to the remaining transient speed, worked as the average of the remaining transient speed as the motor Preceding rotating speed.
- 14. according to the device described in claim any one of 9-13, it is characterised in that the reconfiguration unit is further used for：The current rotating speed of rotor angle, the motor of motor institute foundation and control are controlled according to a upper controlling cycle The duration in cycle, obtain the current reconstruct rotor angle of the motor.
- 15. according to the device described in claim any one of 9-14, it is characterised in that described control unit is further used for：Judge whether the exhausted angle value of the angular deviation reaches predetermined threshold；If the exhausted angle value of the angular deviation reaches the predetermined threshold, the electricity is controlled according to the reconstruct rotor angle Machine；If the exhausted angle value of the angular deviation is not up to the predetermined threshold, the electricity is controlled according to the detection rotor angle Machine.
- 16. device according to claim 15, it is characterised in that the predetermined threshold is equal to the motor of predetermined ratio Current rotating speed and the product of the duration of controlling cycle.
- 17. a kind of computer-readable recording medium, it is characterised in that be stored thereon with computer program, described program is processed Device realizes the step of claim 1-8 any methods describeds when performing.
- 18. a kind of motor, including the computer journey that processor, memory and storage can be run on a processor on a memory Sequence, the step of claim 1-8 any methods describeds are realized during the computing device described program.
- 19. a kind of motor, including the motor control assembly as described in claim 9-16 is any.
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| CN201710807422.3A CN107733320A (en) | 2017-09-08 | 2017-09-08 | A kind of motor control method, device, storage medium and motor |
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| CN201710807422.3A CN107733320A (en) | 2017-09-08 | 2017-09-08 | A kind of motor control method, device, storage medium and motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108900130A (en) * | 2018-07-31 | 2018-11-27 | 珠海格力电器股份有限公司 | A kind of motor position angle processing method, device and motor driver |
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| CN1861443A (en) * | 2005-05-12 | 2006-11-15 | 比亚迪股份有限公司 | Motor controlling method |
| CN101997466A (en) * | 2009-08-14 | 2011-03-30 | 通用汽车环球科技运作公司 | Estimating rotor angular position and velocity and verifying accuracy of position sensor outputs |
| CN102291084A (en) * | 2011-08-16 | 2011-12-21 | 深圳市英威腾交通技术有限公司 | Control method, device and system of inverter |
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| CN1861443A (en) * | 2005-05-12 | 2006-11-15 | 比亚迪股份有限公司 | Motor controlling method |
| CN101997466A (en) * | 2009-08-14 | 2011-03-30 | 通用汽车环球科技运作公司 | Estimating rotor angular position and velocity and verifying accuracy of position sensor outputs |
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