CN108809156B - Method, storage medium and device for controlling motor - Google Patents
Method, storage medium and device for controlling motor Download PDFInfo
- Publication number
- CN108809156B CN108809156B CN201810684466.6A CN201810684466A CN108809156B CN 108809156 B CN108809156 B CN 108809156B CN 201810684466 A CN201810684466 A CN 201810684466A CN 108809156 B CN108809156 B CN 108809156B
- Authority
- CN
- China
- Prior art keywords
- motor
- axis
- negative voltage
- voltage component
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
- H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor by short-circuit or resistive braking
Abstract
the invention relates to a method, a storage medium and equipment for controlling a motor, wherein the method comprises the following steps of (1) determining negative voltage components to be applied to an α shaft an β shaft of the motor, wherein the α shaft and the beta shaft are two-phase static shafts corresponding to a three-phase shaft of the motor, (2) calculating a pulse width modulation signal for controlling an inverter based on the negative voltage components, wherein the inverter is used for providing three-phase alternating current for the motor, (3) applying the pulse width modulation signal to the inverter, and (4) carrying out active short-circuit operation on the motor after preset time.
Description
Technical Field
The present invention relates to the field of motor control, and more particularly, to a method, a storage medium, and an apparatus for controlling a motor.
Background
As a main power source of the electric vehicle, when a motor control system fails, the motor needs to enter a safe state to ensure that the vehicle is controlled and does not cause injury to drivers and passengers. When the motor controller has hardware or software failure and the output of the motor is abnormal, it is very dangerous to output the braking torque or the driving torque. Therefore, in the electric vehicle, the motor is generally required to turn off the torque output after entering the safe state, so that the vehicle is in the freewheeling state, and therefore, the driver can drive the vehicle away from the lane to seek help.
Any complex insulated gate bipolar transistor IGBT operation may be unreliable in the event of a motor controller failure. In the functional safety development of the motor controller, the torque output of the motor is generally cut OFF by adopting an IGBT three-phase six-bridge full OFF mode or an active short circuit mode. The main disadvantages of active short-circuit operation are: during the switching of the active short circuit, a large transient current occurs, and after the steady state is reached, a certain braking torque is output.
Currently, the active short circuit is optimized by the following research: in patent CN107124124A published in 9.2017, a Jianjun proposes two active short-circuit channels, that is, a first active short-circuit channel and a second active short-circuit channel are respectively connected to different element groups, and an upper bridge or a lower bridge of a semiconductor switch tube is opened according to a channel where a fault element is located to actively short-circuit a three-phase stator winding of a motor. Before active short circuit, the rotating speed of the motor is reduced to be within the first threshold value rotating speed, so that the situation that the reverse withstand voltage of a semiconductor switching tube is too high is avoided; when the rotating speed of the motor is reduced to the second threshold value rotating speed, the motor enters a free stop state, the method can achieve the effects of good braking at high speed and preventing sudden change of braking torque at low speed, and the reliability of active short-circuit operation is improved, but the problem that the current generated at the moment of active short-circuit is very large is not involved.
In patent CN105262059A published in 2016 and 1 month, the active short-circuit protection circuit proposed in the past includes a control module and a logic circuit. The control module generates a driving enabling signal and a short circuit enabling signal, and the logic circuit enables the three-phase input line to be respectively in short circuit with the three-phase motor connected with the series nodes of the six power switch devices after receiving the corresponding signals, so that when the battery has faults of short circuit, overvoltage, overcurrent, overheating and the like, the three-phase motor can be no longer communicated with the battery through the short circuit, and the battery cannot be damaged by overvoltage even if the three-phase motor is dragged at high speed. This approach focuses on handling battery circuit faults by adding protection circuits without optimizing active short transient processes.
In patent CN105813882A published in 2016 and 7, bosch corporation proposed a method for gently changing the motor from normal operation to active short-circuiting, in which the control voltage of the motor is first adjusted down to a predetermined value in a defined manner, and then the phase terminals of the motor are short-circuited. This approach can avoid excessive overcurrent but requires knowledge of the motor rotor position.
In a word, an effective solution is not provided at present aiming at the problem that the transient current reduction of the motor active short circuit can be realized only based on the motor rotor position information in the prior art.
Disclosure of Invention
The present invention is directed to a method, a storage medium, and a device for controlling a motor to overcome the above-mentioned drawbacks of the prior art, so as to at least solve the technical problem that the transient current reduction of the active short circuit of the motor can only be realized based on the position information of the rotor of the motor.
The purpose of the invention can be realized by the following technical scheme:
according to an aspect of an embodiment of the present invention, there is provided a method for controlling a motor, the method including the steps of:
(1) determining negative voltage components to be applied to an α axis and a β axis of a motor, wherein the α axis and the β axis are two-phase static axes corresponding to a three-phase axis of the motor;
(2) calculating a pulse width modulation signal for controlling an inverter for supplying three-phase alternating current to the motor based on the negative voltage component;
(3) applying said pulse width modulated signal to said inverter;
(4) after a predetermined time, an active short-circuiting operation is performed on the motor.
Preferably, the negative voltage component in step (1) is specifically determined by:
(11) determining current components I of an electric machine in an alpha axis and β axisαAnd Iβ；
(12) The negative voltage component is obtained by:
Uα＝-Rv*Iα，
Uβ＝-Rv*Iβ，
wherein, Uαis a negative voltage component of the alpha axis, Uβis a negative voltage component of the beta axis, RvTo set the dummy resistance, the setting of the dummy resistance enables the current applied to the motor to be reduced to a predetermined value within a predetermined time.
Preferably, the virtual resistor passes throughObtaining the formula: obtaining the motor rotation speed omega, and obtaining the virtual resistance R through the following formulav：
Wherein L isdAnd LqThe inductance parameters of the d axis and the q axis of the motor are respectively, and k is the rate of the reduction of the resistance value of the virtual resistor along with time.
Preferably, the rate k at which the resistance value of the dummy resistor decreases with time is obtained by:
k＝me-σt，
wherein m and sigma are constant parameters, t is time, and e is a natural constant.
Preferably, the step (2) acquires a pulse width modulation signal for controlling the inverter by using an SVPWM (space vector pulse width modulation) method based on the negative voltage component.
According to another aspect of the embodiments of the present invention, there is provided an apparatus for controlling a motor, the apparatus including a processor and a memory, the memory being connected to the processor, the memory being configured to provide the processor with commands for processing the following processing steps:
(1) determining negative voltage components to be applied to an α axis and a β axis of a motor, wherein the α axis and the β axis are two-phase static axes corresponding to a three-phase axis of the motor;
(2) calculating a pulse width modulation signal for controlling an inverter for supplying three-phase alternating current to the motor based on the negative voltage component;
(3) applying said pulse width modulated signal to said inverter;
(4) after a predetermined time, an active short-circuiting operation is performed on the motor.
According to still another aspect of an embodiment of the present disclosure, there is provided an apparatus for controlling a motor, the apparatus including:
the negative voltage component calculation module is used for determining negative voltage components to be applied to an α shaft an β shaft of the motor, wherein the α shaft and the beta shaft are two-phase static shafts corresponding to a three-phase shaft of the motor;
a pulse width modulation signal calculation module: for calculating a pulse width modulation signal for controlling an inverter for supplying three-phase alternating current to the motor based on the negative voltage component;
a pulse width modulation signal application module: for applying said pulse width modulated signal to said inverter;
an active short circuit module: for performing an active short-circuit operation on said motor after a predetermined time.
Compared with the prior art, the invention has the following advantages: the invention is realized by applying a negative voltage component to the motor and particularly introducing an equivalent resistor, namely, a virtual resistor is equivalently added on the motor resistor, so that the aim of accurately and timely reducing the transient current in the motor active short circuit is fulfilled, the position information of the motor rotor is not required to be detected, and the technical problem that the transient current reduction of the motor active short circuit can be realized only based on the position information of the motor rotor at present is solved.
Drawings
Fig. 1 is a block flow diagram of a method for controlling a motor according to embodiment 1;
fig. 2 is α graph comparing α d-axis current response curve of α conventional simple active short circuit and an α -axis current response curve of α method for controlling α motor according to the present invention in example 1;
fig. 3 is a graph comparing a q-axis current response curve of a conventional simple active short circuit and a β -axis current response curve based on the method for controlling a motor of the present invention in example 1;
FIG. 4 is a block diagram schematically showing the construction of an apparatus for controlling a motor according to embodiment 2;
fig. 5 is a block diagram schematically illustrating the structure of an apparatus for controlling a motor according to embodiment 3.
In the figure, 400 is an apparatus for controlling a motor in embodiment 2, 401 is a processor, 402 is a memory, 500 is an apparatus for controlling a motor in embodiment 3, 501 is a negative voltage component calculation block, 502 is a pulse width modulation signal calculation block, 503 is a pulse width modulation signal application block, and 504 is an active short circuit block.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. Note that the following description of the embodiments is merely a substantial example, and the present invention is not intended to be limited to the application or the use thereof, and is not limited to the following embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
First, some terms or terms appearing in the description of the embodiments of the present application are applicable to the following explanations:
space vector pulse width modulation (SVPWM for short) takes an ideal flux linkage circle of a stator of a three-phase symmetrical motor as a reference standard when three-phase symmetrical sine-wave voltage is used for supplying power, and different switching modes of a three-phase inverter are properly switched to form PWM waves, so that the accurate flux linkage circle of the three-phase symmetrical motor is tracked by the formed actual flux linkage vector.
Example 1
As shown in fig. 1, a method for controlling a motor includes the steps of:
(1) determining negative voltage components to be applied to an α axis and a β axis of a motor, wherein the α axis and the β axis are two-phase static axes corresponding to a three-phase axis of the motor;
(2) calculating a pulse width modulation signal for controlling an inverter for supplying three-phase alternating current to the motor based on the negative voltage component;
(3) applying said pulse width modulated signal to said inverter;
(4) after a predetermined time, an active short-circuiting operation is performed on the motor.
It should be noted that, the mode of controlling the external voltage is selected to reduce the reason of the excessive transient current generated by the active short circuit of the motor:
firstly, by analyzing the instantaneous current of the traditional active short-circuit operation, the transient current is an elliptic spiral curve which is gradually converged under d and q axis coordinate systems, and the transient current of the traditional active short-circuit operation is far larger than the steady-state short-circuit current and the transient current is also far larger than the rated value of an Insulated Gate Bipolar Transistor (IGBT), so that the IGBT can be broken down by overcurrent. To prevent IGBT damage due to active short circuits, IGBT components that can withstand higher currents need to be used, which results in a significant increase in production costs, which is extremely cost-prohibitive in the field of industrial production. Therefore, it is important to find a method for reducing the transient current.
Secondly, analyzing the transient current of the active short circuit, after the short circuit, the d-axis and q-axis current response formulas of the motor can be approximately expressed as follows:
wherein i is the motor current, Ld、LqRepresenting the inductances in the d-and q-axes, respectively, omega being the motor speed, #fIs a magnetic chain, RsIs the motor resistance.
Therefore, as can be seen from the current expression in the active short-circuit state of the motor, after the active short-circuit state is entered, the response of the d-axis and q-axis currents mainly consists of two parts, namely a steady state part and a transient state part. The second term on the right side of the formula is a steady-state part and mainly depends on the parameters of the motor and the rotating speed of the motor. The first term on the right is the transient portion. The magnitude of the transient current amplitude mainly depends on the inductance and the resistance of the motor and the magnitude of the initial current entering the active short circuit moment; and the time constant formed by the resistance and the inductance of the motor jointly determines the convergence speed of the transient current amplitude.
in addition, in practical situations, the motor with a fault often cannot feed back position information, so that the motor cannot be controlled on d and q axes.
In summary, the resistance of the motor greatly affects the convergence rate and the steady-state value of the transient current amplitude during the active short circuit, so that the transient current can be quickly converged to a smaller value by increasing the resistance value. Based on the method, the transient current amplitude value during active short circuit is reduced by applying a negative control voltage component to the motor, and the method is equivalent to adding a virtual resistor on the basis of the motor resistance.
Therefore, when the motor is actively short-circuited, the method for controlling the motor according to the embodiment of the disclosure is equivalent to accessing a virtual resistor which enables the resistance of the motor to be increased in a short time by controlling the external voltage, and meanwhile, the control can be performed without depending on the position of the rotor of the motor, and the charging time of the bus capacitor is very short, so that the motor, the IGBT, the bus capacitor and other elements are not damaged due to overcurrent and overvoltage, thereby further improving the safety of the motor system.
Further, the negative voltage component in step (1) is specifically determined by the following method:
(11) determining current components I of an electric machine in an alpha axis and β axisαAnd Iβ；
(12) The negative voltage component is obtained by:
Uα＝-Rv*Iα，
Uβ＝-Rv*Iβ，
wherein, Uαis a negative voltage component of the alpha axis, Uβis a negative voltage component of the beta axis, RvThe setting of the virtual resistance enables the current applied to the motor to be reduced to a predetermined value within a predetermined time, and the setting of the virtual resistance enables the current applied to the motor to be reduced to a predetermined value within a predetermined time.
it should be noted that, the virtual resistance described herein is not a real existing resistance, but is equivalent to a resistance value added on the basis of the motor resistance after the negative voltage is applied to the motor, so as to achieve the effect of reducing the transient current generated by the active short circuit.
Therefore, the voltage component is controlled to be applied to the active short circuit of the motor, the reduction amplitude of the current in the active short circuit is controlled, and the purpose of protecting the motor is achieved.
Further, the virtual resistance is obtained by: obtaining the motor rotation speed omega, and obtaining the virtual resistance R through the following formulav：
Wherein L isdAnd LqThe inductance parameters of the d axis and the q axis of the motor are respectively, and k is the rate of the reduction of the resistance value of the virtual resistor along with time.
It should be noted that, in a state where the motor fails, the motor is actively short-circuited, and an appropriate virtual resistance value needs to be calculated according to the rotation speed of the motor at the previous time. Because the real-time rotating speed information of the motor cannot be obtained at a high probability in the motor fault state, the known rotating speed of the motor at the previous moment can be obtained, and the virtual resistance value can be calculated by using the known rotating speed of the motor at the previous moment.
In addition, since the resistance of the motor itself does not change, we are equivalent to a method of increasing the resistance value based on the motor resistance by controlling the external voltage. The invention switches in negative control voltage to the motor, which is equivalent to switching in a positive resistance in an inverter circuit, namely, artificially switching in a 'virtual resistance' to increase the resistance value of the original motor in a short time so as to inhibit overcurrent.
Therefore, the value of the virtual resistor is calculated based on the known motor rotating speed, and the purpose of obtaining the negative voltage component applied to the two-phase static coordinate system through the virtual resistor value is achieved.
Wherein a rate k at which the resistance value of the dummy resistance decreases with time is obtained by:
k＝me-σt，
wherein m and sigma are constant parameters, t is time, and e is a natural constant.
It should be noted that during the active short circuit and the applied voltage, the back emf charges the bus, and if the charging time is too long, the capacitor may break down. Therefore, the time for applying the control voltage is not too long, and the dummy resistance is required to be gradually reduced to zero in a short time. The values of m and sigma are selected according to actual conditions, so that the control of the time of the externally-applied control voltage can be realized by adjusting the values of m and sigma, and the aim of quickly reducing the current in the active short circuit is further fulfilled.
Further, the step (2) adopts an SVPWM (space vector pulse width modulation) method to obtain a pulse width modulation signal for controlling the inverter based on the negative voltage component.
It should be noted that, the SVPWM method utilizes the space vector of the negative voltage component to control the different switching modes of the inverter to switch properly, so as to generate three-phase Pulse Width Modulation (PWM) wave, and further generate sine wave power to be input into the active short circuit of the motor.
Thus, the purpose of converting the negative voltage component into three-phase alternating current is achieved by controlling the operation of the pulse width modulation signal of the inverter.
in summary, the specific method of the embodiment is to actively short-circuit the motor with a fault, and simultaneously provide negative control voltage components on the axes α and β of the motor according to the components of the current on the axes α and β, that is, add a virtual resistor virtually, the addition of the resistor can well inhibit transient current, so that the current can be converged to a smaller value rapidly, and the service life of the motor and the control circuit can be effectively improved by reducing the overcurrent, and thus the usability of the total system can be increased.
Based on the method flow, the effect of the invention is shown by simulating and calculating the 4-pole built-in permanent magnet synchronous motor. The selection of experimental working conditions mainly considers that under the actual condition, when the vehicle speed is higher, the danger caused by vehicle faults is larger, so that the selected rotating speed is 8000rpm, and the cut-in current i isd0is-300A, iq0For the case of 100A, the conventional simple active short circuit method and the active short circuit method with the added dummy resistor in the invention are respectively used for comparative study.
Firstly, a simulation model of a motor control system is established, and a traditional simple active short-circuit current curve and a current curve of a virtual resistance method are drawn through simulation so as to verify the effectiveness of the invention.
the simulation results are shown in fig. 2 and 3, wherein fig. 2 is a graph showing a comparison between a d-axis current response curve of a conventional simple active short circuit and an α -axis current response curve of the method for controlling a motor according to the present invention, and fig. 3 is a graph showing a comparison between a q-axis current response curve of a conventional simple active short circuit and a β -axis current response curve of a virtual resistance method according to the present invention, wherein i isd，iqAre the d-axis and q-axis currents i under the conventional simple active short-circuit condition, respectivelyd1、iq1the alpha and β axis currents, respectively, under active short-circuit conditions based on the method for controlling an electric machine of the invention.
It can be seen from the observation of fig. 2 and 3 that the transient current is a gradually converging elliptic spiral curve, and the transient current is much larger than the steady-state short-circuit current. Taking fig. 3 as an example, the steady-state current is about-500A, but the instantaneous current amplitude can reach more than-1500A, and the oscillation can be stabilized only after a long time (0.06 s). As can be seen from fig. 2, after the virtual resistance method is adopted, the current amplitude in the transient process is obviously reduced, and more significantly, the current is stabilized only after 0.01 s.
Therefore, the method can well reduce the current in the active short-circuit transient process, effectively protect the motor system and the IGBT, improve the safety of the system and achieve the expected purpose.
In the embodiment of the invention, the aim of accurately and rapidly reducing the transient current in the motor active circuit is achieved by applying the negative control voltage component to the motor, so that the technical effect of equivalently adding a virtual resistor on the motor resistor is realized, and the technical problem that the transient current reduction of the motor active short circuit can be realized only by needing the position information of the motor rotor is solved.
The present embodiment provides a storage medium for controlling a motor, including a program stored in the storage medium, which when executed by a processor performs the above-described method for controlling a motor.
Example 2
As shown in fig. 4, an apparatus 400 for controlling an electric motor comprises a processor 401 and a memory 402, the memory 402 being connected to the processor 401, the memory 402 being adapted to provide commands to the processor 401 to process the following process steps:
(1) determining negative voltage components to be applied to an α axis and a β axis of a motor, wherein the α axis and the β axis are two-phase static axes corresponding to a three-phase axis of the motor;
(2) calculating a pulse width modulation signal for controlling an inverter for supplying three-phase alternating current to the motor based on the negative voltage component;
(3) applying said pulse width modulated signal to said inverter;
(4) after a predetermined time, an active short-circuiting operation is performed on the motor.
The negative voltage component in the step (1) is specifically determined in the following way:
(11) determining current components I of an electric machine in an alpha axis and β axisαAnd Iβ；
(12) The negative voltage component is obtained by:
Uα＝-Rv*Iα，
Uβ＝-Rv*Iβ，
wherein, Uαis a negative voltage component of the alpha axis, Uβis a negative voltage component of the beta axis, RvTo set the dummy resistance, the setting of the dummy resistance enables the current applied to the motor to be reduced to a predetermined value within a predetermined time.
The virtual resistance is obtained by: obtaining the motor rotation speed omega, and obtaining the virtual resistance R through the following formulav：
Wherein L isdAnd LqThe inductance parameters of the d axis and the q axis of the motor are respectively, and k is the rate of the reduction of the resistance value of the virtual resistor along with time.
The rate k at which the resistance value of the dummy resistance decreases with time is obtained by:
k＝me-σt，
wherein m and sigma are constant parameters, t is time, and e is a natural constant.
And (2) acquiring a pulse width modulation signal for controlling the inverter by adopting an SVPWM (space vector pulse width modulation) method based on the negative voltage component.
Example 3
As shown in fig. 5, an apparatus 500 for controlling a motor includes:
a negative voltage component calculation module 501, configured to determine negative voltage components to be applied to an α axis and a β axis of a motor, where the α axis and the β axis are two-phase stationary axes corresponding to a three-phase axis of the motor;
the pwm signal calculation block 502: for calculating a pulse width modulation signal for controlling an inverter for supplying three-phase alternating current to the motor based on the negative voltage component;
the pulse width modulation signal application module 503: for applying said pulse width modulated signal to said inverter;
active short-circuiting module 504: for performing an active short-circuit operation on said motor after a predetermined time.
the negative voltage component calculation module 501 comprises a first sub-module for determining the negative voltage component in that the current components I of the motor in α axis and beta axes are determinedαAnd IβAnd obtaining a negative voltage component by:
Uα＝-Rv*Iα，
Uβ＝-Rv*Iβ，
wherein, Uαis a negative voltage component of the alpha axis, Uβis a negative voltage component of the beta axis, RvTo set the dummy resistance, the setting of the dummy resistance enables the current applied to the motor to be reduced to a predetermined value within a predetermined time.
Negative voltage component calculation modeBlock 501 also includes a second submodule for calculating a resistance value of the virtual resistance by: obtaining the motor rotation speed omega, and obtaining the virtual resistance R through the following formulav：
Wherein L isdAnd LqThe inductance parameters of the d axis and the q axis of the motor are respectively, and k is the rate of the reduction of the resistance value of the virtual resistor along with time.
In addition, the negative-going voltage component calculation module 501 further includes a third sub-module for calculating a rate k at which the virtual resistance decreases with time by:
k＝me-σt，
wherein m and sigma are constant parameters, t is time, and e is a natural constant.
The pulse width modulation signal application module 503 includes a space-appropriate amount pulse width modulation sub-module for calculating a pulse width modulation signal for controlling the inverter based on the negative voltage component according to a Space Vector Pulse Width Modulation (SVPWM) method.
Therefore, according to the technical scheme of the embodiment, the technical effect of equivalently adding a virtual resistor on the motor resistor is realized by applying a negative control voltage component to the motor, so that the purpose of accurately and rapidly reducing the transient current in the motor active circuit is achieved, and the technical problem of reducing the transient current of the motor active short circuit only by using the position information of the motor rotor is solved.
In the description of the present invention, it should be noted that the terms "first", "second", etc. are used to limit the components, and are only used for convenience to distinguish the corresponding components, and the terms have no special meaning if not stated otherwise, and therefore, should not be construed as limiting the scope of the present invention.
In addition, the above-mentioned serial numbers of the embodiments of the present application are merely for description, and do not represent the merits of the embodiments. In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A method for controlling an electric machine, characterized in that the method comprises the steps of:
(1) determining negative voltage components to be applied to an α axis and a β axis of a motor, wherein the α axis and the β axis are two-phase static axes corresponding to a three-phase axis of the motor;
(2) calculating a pulse width modulation signal for controlling an inverter for supplying three-phase alternating current to the motor based on the negative voltage component;
(3) applying said pulse width modulated signal to said inverter;
(4) after a predetermined time, performing an active short-circuit operation on the motor;
the negative voltage component in the step (1) is specifically determined in the following way:
(11) determining current components I of an electric machine in an alpha axis and β axisαAnd Iβ；
(12) The negative voltage component is obtained by:
Uα＝-Rv*Iα，
Uβ＝-Rv*Iβ，
wherein, Uαis a negative voltage component of the alpha axis, Uβis a negative voltage component of the beta axis, RvIs a set virtual resistance;
the virtual resistance is obtained by the following method: obtaining the motor rotation speed omega, and obtaining the virtual resistance R through the following formulav：
Wherein L isdAnd LqInductance parameters of a d axis and a q axis of the motor are respectively set, and k is the rate of reduction of the resistance value of the virtual resistor along with time;
the rate k at which the resistance value of the dummy resistor decreases with time is obtained by:
k＝me-σt，
wherein m and sigma are constant parameters, t is time, and e is a natural constant.
2. The method for controlling a motor according to claim 1, wherein the step (2) acquires the pulse width modulation signal for controlling the inverter using an SVPWM method based on the negative voltage component.
3. A storage medium for controlling a motor, comprising a program stored in the storage medium, wherein the method for controlling a motor according to any one of claims 1 to 2 is executed by a processor when the program is executed.
4. An apparatus for controlling an electric motor, the apparatus comprising a processor and a memory, the memory coupled to the processor, the memory configured to provide commands to the processor to perform the following process steps:
(1) determining negative voltage components to be applied to an α axis and a β axis of a motor, wherein the α axis and the β axis are two-phase static axes corresponding to a three-phase axis of the motor;
(2) calculating a pulse width modulation signal for controlling an inverter for supplying three-phase alternating current to the motor based on the negative voltage component;
(3) applying said pulse width modulated signal to said inverter;
(4) after a predetermined time, performing an active short-circuit operation on the motor;
the negative voltage component in the step (1) is specifically determined in the following way:
(11) determining current components I of an electric machine in an alpha axis and β axisαAnd Iβ；
(12) The negative voltage component is obtained by:
Uα＝-Rv*Iα，
Uβ＝-Rv*Iβ，
wherein, Uαis a negative voltage component of the alpha axis, Uβis a negative voltage component of the beta axis, RvIs a set virtual resistance;
the virtual resistance is obtained by the following method: obtaining the motor rotation speed omega, and obtaining the virtual resistance R through the following formulav：
Wherein L isdAnd LqInductance parameters of a d axis and a q axis of the motor are respectively set, and k is the rate of reduction of the resistance value of the virtual resistor along with time;
the rate k at which the resistance value of the dummy resistor decreases with time is obtained by:
k＝me-σt，
wherein m and sigma are constant parameters, t is time, and e is a natural constant.
5. An apparatus for controlling a motor, the apparatus comprising:
the negative voltage component calculation module is used for determining negative voltage components to be applied to an α shaft an β shaft of the motor, wherein the α shaft and the beta shaft are two-phase static shafts corresponding to a three-phase shaft of the motor;
a pulse width modulation signal calculation module: for calculating a pulse width modulation signal for controlling an inverter for supplying three-phase alternating current to the motor based on the negative voltage component;
a pulse width modulation signal application module: for applying said pulse width modulated signal to said inverter;
an active short circuit module: for performing an active short circuit operation on the motor after a predetermined time;
wherein, the negative voltage component calculation module comprises:
a current component determination submodule for determining current components I of the electric machine in the alpha and beta axesαAnd Iβ；
A virtual resistance obtaining submodule: the submodule obtains a virtual resistance R according to the following formulav：
Where ω is the motor speed, LdAnd LqInductance parameters of d axis and q axis of the motor respectively, k is the rate of the decrease of the resistance value of the virtual resistor along with time, and k is me-σtM and sigma are constant parameters, t is time, and e is a natural constant;
a negative voltage component acquisition submodule: the submodule obtains a negative voltage component according to the following equation:
Uα＝-Rv*Iα，
Uβ＝-Rv*Iβ，
wherein, Uαis a negative voltage component of the alpha axis, Uβis a negative voltage component of the beta axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810684466.6A CN108809156B (en) | 2018-06-28 | 2018-06-28 | Method, storage medium and device for controlling motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810684466.6A CN108809156B (en) | 2018-06-28 | 2018-06-28 | Method, storage medium and device for controlling motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108809156A CN108809156A (en) | 2018-11-13 |
| CN108809156B true CN108809156B (en) | 2020-06-02 |
Family
ID=64072611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810684466.6A Active CN108809156B (en) | 2018-06-28 | 2018-06-28 | Method, storage medium and device for controlling motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108809156B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110011278B (en) * | 2019-04-10 | 2021-09-03 | 广州小鹏汽车科技有限公司 | Motor short-circuit protection method and device |
| CN112615353B (en) * | 2020-12-04 | 2022-07-12 | 珠海格力电器股份有限公司 | Overvoltage protection method and device, electronic equipment and storage medium |
| CN112787568A (en) * | 2021-01-04 | 2021-05-11 | 无锡华宸控制技术有限公司 | Method for active short circuit control of motor |
| CN113296022B (en) * | 2021-05-31 | 2023-06-20 | 一巨自动化装备（上海）有限公司 | Real-time diagnosis method for active short-circuit state of motor |
| CN115118198B (en) * | 2022-07-25 | 2023-10-17 | 小米汽车科技有限公司 | Active short circuit method and circuit for motor controller, readable storage medium and chip |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1282138A (en) * | 1999-07-21 | 2001-01-31 | Lg电子株式会社 | Method and device for braking washing machine |
| CN1908285A (en) * | 2002-05-15 | 2007-02-07 | Lg电子株式会社 | Method of controlling motor-driven washing machine and control system for the same |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6536555B2 (en) * | 2016-12-19 | 2019-07-03 | 株式会社安川電機 | Motor control system and method for starting the same, and auxiliary device for motor control |
-
2018
- 2018-06-28 CN CN201810684466.6A patent/CN108809156B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1282138A (en) * | 1999-07-21 | 2001-01-31 | Lg电子株式会社 | Method and device for braking washing machine |
| CN1908285A (en) * | 2002-05-15 | 2007-02-07 | Lg电子株式会社 | Method of controlling motor-driven washing machine and control system for the same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108809156A (en) | 2018-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108809156B (en) | Method, storage medium and device for controlling motor | |
| US11177751B2 (en) | Motor controller, active short circuit thereof, and method for controlling active short via the same | |
| US7279862B1 (en) | Fault handling of inverter driven PM motor drives | |
| CN107124124B (en) | Active short circuit system and method for three-phase stator winding of motor | |
| US20190214933A1 (en) | Inventor control device | |
| US9310440B2 (en) | Disconnection detecting device for rotating electrical machine, method for detecting disconnection of rotating electrical machine | |
| JP2009232498A (en) | Motor control device | |
| US20130088096A1 (en) | Short-circuit protection method | |
| CN112217410B (en) | Fault-tolerant control method and system for open-circuit fault of three-level inverter | |
| CN106911275B (en) | Electric car method for controlling permanent magnet synchronous motor and control system | |
| CN110943665B (en) | Control method and system of direct-current magnetic modulation memory motor with out-of-control power generation fault protection | |
| CN102594248B (en) | Rotating machine controller | |
| JP6173516B1 (en) | Electric motor control apparatus and electric motor control method | |
| JPH09247805A (en) | Electric car controller | |
| JP2019062589A (en) | Motor control device and motor control method | |
| CN111769780B (en) | Control method and device of motor controller and automobile | |
| JP6342043B1 (en) | Electric motor control apparatus and electric motor control method | |
| CN115173780A (en) | Open-phase fault-tolerant control method for three-phase permanent magnet synchronous motor | |
| JP6203318B1 (en) | Electric motor control apparatus and electric motor control method | |
| CN114826094A (en) | Fault-tolerant operation method under PMSM turn-to-turn short circuit fault state | |
| JP6768753B2 (en) | Motor control device | |
| JP7205176B2 (en) | motor drive system | |
| Chandran et al. | Analytical investigation of DC link overvoltages during freewheeling for inverters in EV | |
| WO2024009671A1 (en) | Motor control device, motor control method, and motor control program | |
| US20230361705A1 (en) | Control apparatus for rotating electric machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |