CN109039206B - Traction motor control system, control method, and computer-readable storage medium - Google Patents
Traction motor control system, control method, and computer-readable storage medium Download PDFInfo
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- CN109039206B CN109039206B CN201810968773.7A CN201810968773A CN109039206B CN 109039206 B CN109039206 B CN 109039206B CN 201810968773 A CN201810968773 A CN 201810968773A CN 109039206 B CN109039206 B CN 109039206B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
Abstract
The invention provides a traction motor control system, a control method and a computer readable storage medium. Wherein: the current sampling unit is used for sampling the three-phase alternating current output by the three-phase inverter unit; the position feedback unit is used for obtaining the actual electrical angular velocity of the motor; the voltage amplitude control unit is used for obtaining an output voltage amplitude; the voltage phase angle control unit is used for obtaining an output voltage phase angle; the pulse wave adjusting unit generates a pulse width modulation signal; the three-phase inverter unit outputs three-phase alternating current to the traction motor. The invention has simple and reliable structure through voltage amplitude control and voltage phase angle control, can fully utilize the direct current voltage of the motor, and can solve the problem of unsatisfactory system control effect caused by alternating current-direct current coupling of the motor under high-speed weak magnetic control.
Description
Technical Field
The present invention relates to the field of motor control, and more particularly, to a traction motor control system, a control method, and a computer-readable storage medium.
Background
The rail transit has the advantages of large carrying capacity, high speed, safe operation, energy conservation, no influence of ground traffic and the like, and makes important contributions in the aspects of optimizing urban space structures, relieving congestion of existing urban public traffic and the like. The traction motor control system is developed for years and gradually moves to the market, the application range in China is continuously expanded, however, higher requirements are provided on the aspects of safety, reliability, stability and the like, wherein the control performance of a high-speed weak magnetic area of a motor is one of important performance and safety factors of a whole vehicle system.
A traditional motor flux weakening control algorithm is based on rotor magnetic field directional control, a direct-axis current pi regulator and a quadrature-axis current pi regulator are respectively used for controlling currents id and iq, an output voltage is limited by a voltage limit ellipse, a flux weakening area capable of running on a dq coordinate plane is gradually reduced along with the increase of the rotating speed of a motor, coupling between the two current regulators is strengthened, and the pi regulation is easy to saturate to influence the performance of the motor, even the system cannot stably run.
Disclosure of Invention
The invention aims to solve the technical problem of providing a novel traction motor control system, a control method and a computer readable storage medium aiming at the problem that the system control effect is not ideal due to the fact that the motor controls the AC-DC axis current coupling at high speed and weak magnetism.
The technical solution of the present invention for solving the above technical problems is to provide a traction motor control system, which includes a voltage amplitude control unit, a voltage phase angle control unit, a current sampling unit, a position feedback unit, a pulse wave adjustment unit, and a three-phase inverter unit, wherein:
the current sampling unit is used for sampling the three-phase alternating current output by the three-phase inverter unit and obtaining a d-axis component and a q-axis component of feedback current according to the three-phase alternating current;
the position feedback unit is used for calculating and obtaining the actual electric angular speed of the motor according to the position angle of the magnetic field of the rotor of the traction motor;
the voltage amplitude control unit is used for obtaining an output voltage amplitude according to the actual electric angular speed of the motor, the d-axis current given value, the q-axis current given value and the d-axis component of the feedback current;
the voltage phase angle control unit is used for obtaining an output voltage phase angle according to the q-axis current given value, the q-axis component of the feedback current, the actual electric angular speed of the traction motor and the position angle of the magnetic field of the rotor of the traction motor;
the pulse wave adjusting unit generates a pulse width modulation signal according to the output voltage amplitude and the output voltage phase angle;
and the three-phase inverter unit outputs three-phase alternating current to the traction motor according to the pulse width modulation signal.
In the traction motor control system according to the present invention, the voltage amplitude control unit includes a first PI regulator and a feedforward voltage calculating subunit, wherein: the first PI regulator is used for obtaining a compensation voltage amplitude according to the d-axis current given value and the d-axis component of the feedback current; the feedforward voltage calculating subunit is used for calculating a feedforward voltage amplitude according to the actual electrical angular velocity of the motor and the given value of the q-axis current; the output voltage amplitude is the sum of the compensation voltage amplitude and the feedforward voltage amplitude.
In the traction motor control system according to the present invention, the feed-forward voltage calculation subunit calculates the feed-forward voltage amplitude Usw0 by the following calculation formula:
wherein Ud is a d-axis feedforward voltage, and Ud ═ ω ═ Lq ═ iq _ ref; uq is a q-axis feedforward voltage, and Uq ═ ω ψ f; omega is the actual electrical angular velocity of the motor, Lq is q-axis inductance, iq _ ref is a q-axis current given value, and psi f is a permanent magnet flux linkage of the traction motor rotor.
In the traction motor control system of the present invention, the voltage phase angle control unit includes a second PI regulator and an included angle calculation subunit, wherein: the second PI regulator is used for obtaining a phase compensation angle according to the q-axis current given value and the q-axis component of the feedback current; the included angle calculating subunit is used for calculating a phase adjusting angle according to the phase compensation angle and the actual electrical angular speed of the motor; and the phase angle of the output voltage is the sum of the phase adjusting angle and the position angle of the magnetic field of the traction motor rotor.
In the traction motor control system according to the present invention, the first PI regulator limits the amplitude of the generated compensation voltage to 0 to k × Usmax, and
udc is the DC bus voltage of the three-phase inverter unit, 0<k<1。
In the traction motor control system of the invention, the second PI regulator limits the generated phase compensation angle to-90 ° to 90 °.
The invention also provides a traction motor control method, wherein the traction motor is driven to run, and the method comprises the following steps:
obtaining a d-axis component and a q-axis component of feedback current according to three-phase alternating current output by the three-phase inverter unit, and calculating to obtain the actual electrical angular velocity of the motor according to the position angle of the rotor magnetic field of the traction motor;
obtaining an output voltage amplitude according to the actual electrical angular velocity of the motor, the d-axis current set value, the q-axis current set value and the d-axis component of the feedback current;
obtaining an output voltage phase angle according to the q-axis current given value, the q-axis component of the feedback current, the actual electric angular speed of the traction motor and the position angle of the magnetic field of the rotor of the traction motor;
and generating a pulse width modulation signal according to the output voltage amplitude and the output voltage phase angle, and controlling the three-phase inverter unit to output three-phase alternating current to the traction motor through the pulse width modulation signal.
In the traction motor control method according to the present invention, the obtaining an output voltage amplitude according to the actual electrical angular velocity of the motor, the d-axis current set value, the q-axis current set value, and the d-axis component of the feedback current includes:
obtaining a compensation voltage amplitude according to the d-axis current given value and the d-axis component of the feedback current;
calculating a feed forward voltage amplitude according to the actual electrical angular velocity of the motor and the given value of the q-axis current;
and taking the sum of the compensation voltage amplitude and the feedforward voltage amplitude as the output voltage amplitude.
In the traction motor control method of the present invention, the feed-forward voltage amplitude Usw0 is calculated by the following calculation formula:
wherein Ud is a d-axis feedforward voltage, and Ud ═ ω ═ Lq ═ iq _ ref; uq is a q-axis feedforward voltage, and Uq ═ ω ψ f; omega is the actual electrical angular velocity of the motor, Lq is q-axis inductance, iq _ ref is a q-axis current given value, and psi f is a permanent magnet flux linkage of the traction motor rotor.
In the method for controlling a traction motor according to the present invention, obtaining an output voltage phase angle according to the q-axis current set value, the q-axis component of the feedback current, the actual electrical angular velocity of the traction motor, and the traction motor rotor magnetic field position angle includes:
obtaining a phase compensation angle according to the q-axis current given value and the q-axis component of the feedback current;
calculating a phase adjustment angle according to the phase compensation angle and the actual electrical angular velocity of the motor;
and taking the sum of the phase adjustment angle and the position angle of the magnetic field of the traction motor rotor as the phase angle of the output voltage.
The invention also provides a traction motor control system, which comprises a memory and a processor, wherein the memory is stored with a computer program capable of running on the processor, and the processor executes the computer program to realize the steps of the traction motor control method.
The invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the traction motor control method as described above.
The traction motor control system, the control method and the computer readable storage medium have the advantages that the structure is simple and reliable through voltage amplitude control and voltage phase angle control, the direct current voltage of the motor can be fully utilized, and the problem of non-ideal system control effect caused by the fact that the alternating current and direct current coupling is controlled by the high-speed weak magnetism of the motor can be solved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a traction motor control system of the present invention;
FIG. 2 is a schematic flow chart diagram of an embodiment of a traction motor control method of the present invention;
fig. 3 is a schematic diagram of another embodiment of the traction motor control system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the schematic diagram of an embodiment of the traction motor control system of the present invention is applicable to high-speed flux weakening control of a motor, and the motor control system includes a voltage amplitude control unit 1, a voltage phase angle control unit 2, a current sampling unit 3, a position feedback unit 4, a pulse wave adjusting unit 5, and a three-phase inverter unit 6, where:
the current sampling unit 3 is used for sampling the three-phase alternating currents ia, ib and ic output by the three-phase inverter unit 6 and obtaining a d-axis component id and a q-axis component iq of the feedback current according to the three-phase alternating currents ia, ib and ic;
specifically, three-phase alternating currents ia, ib, and ic output by the three-phase inverter unit 6 are sampled, and α β stationary coordinate system currents i α and i β are obtained through Clark transformation, as shown in formula (1):
and then, converting the currents i alpha and i beta of the stationary coordinate system into a dq rotating coordinate system through Park conversion to obtain feedback currents id and iq, wherein the feedback currents id and iq are shown in a formula (2):
the influence of stator resistance is neglected when the motor is in high-speed weak magnetic operation, and output voltage is limited by voltage limit ellipse, as shown in formula 3:
wherein Ld, Lq, ψ f, Usmax are d axle inductance, q axle inductance respectively, rotor permanent magnetism flux linkage, maximum output voltage, the relation between maximum output voltage Usmax and direct current bus voltage Udc is as shown in formula 4:
the traction motor control system of the embodiment can keep the output of the maximum voltage Usmax in the output voltage amplitude of the high-speed weak magnetic area, can fully utilize the direct-current bus voltage Udc of the motor, and improves the efficiency and the loading capacity of the motor.
The position feedback unit 4 is used for calculating and obtaining the actual electric angular velocity omega of the motor according to the position angle theta of the magnetic field of the traction motor rotor; specifically, the traction motor 41 detects a motor rotor magnetic field position angle θ from the position sensor 42, and performs a differential operation 43 on the motor rotor magnetic field position angle θ to obtain an actual electrical angular velocity ω of the motor.
The voltage amplitude control unit 1 is used for obtaining an output voltage amplitude Usw according to the actual electrical angular speed omega of the motor, the d-axis current given value id _ ref, the q-axis current given value iq _ ref and the d-axis component id of the feedback current. The voltage amplitude control unit 1 may specifically include a first PI regulator 11 and a feedforward voltage calculation subunit 12, where: the first PI regulator 11 is used for obtaining a compensation voltage amplitude Ucomp according to a d-axis current given value id _ ref and a d-axis component id of a feedback current; limiting the generated compensation voltage amplitude Ucomp to 0-k × Usmax by the first PI regulator
Udc is the DC bus voltage of the three-phase inverter unit, 0<k<1。
The feedforward voltage calculating subunit 12 is configured to calculate a feedforward voltage amplitude Usw0 according to the actual electrical angular velocity ω of the motor and the q-axis current given value iq _ ref; calculating the feed-forward voltage magnitude Usw0 by the following calculation:
wherein Ud is a d-axis feedforward voltage, and Ud ═ ω ═ Lq ═ iq _ ref; uq is a q-axis feedforward voltage, and Uq ═ ω ψ f; omega is the actual electrical angular velocity of the motor, Lq is q-axis inductance, iq _ ref is a q-axis current given value, and psi f is a permanent magnet flux linkage of the traction motor rotor.
The output voltage amplitude Usw is the sum of the compensation voltage amplitude Ucomp and the feedforward voltage amplitude Usw 0:
Usw＝Ucomp+Usw0 (6)
the output voltage amplitude Usw clipping is:
0≤Usw≤Us max (7)
the voltage phase angle control unit 2 is used for obtaining an output voltage phase angle theta _ etha according to a q-axis current given value iq _ ref, a q-axis component iq of a feedback current, an actual electric angular speed omega of the traction motor and a rotor magnetic field position angle theta of the traction motor;
the voltage phase angle control unit 2 includes a second PI regulator 21 and an included angle calculation subunit 22, where: the second PI regulator 21 is used for obtaining a phase compensation angle theta _ beta according to a q-axis current given value iq _ ref and a q-axis component iq of the feedback current, and the second PI regulator 21 limits the generated phase compensation angle theta _ beta to-90 degrees;
the included angle calculation subunit 22 is configured to calculate a phase adjustment angle θ _ alfa according to the phase compensation angle θ _ beta and the actual electrical angular velocity ω of the motor; the relation is shown in formula (8):
the output voltage phase angle theta _ etha is the sum of the phase adjustment angle theta _ alfa and the traction motor rotor magnetic field position angle theta:
θ_etha＝θ_alfa+θ (9)
the pulse wave adjusting unit 5 generates a pulse width modulation signal according to the output voltage amplitude Usw and the output voltage phase angle theta _ etha; the three-phase inverter unit 6 outputs three-phase ac power to the traction motor 41 according to the pulse width modulation signal, thereby achieving the purpose of controlling the traction motor 41.
The traction motor control system has the advantages of simple and reliable structure, independence on motor parameters, deep field weakening, full utilization of direct-current voltage of the motor and the like; the problem of unsatisfactory system control effect caused by alternating-direct axis current coupling of high-speed weak magnetic control of the motor can be solved, and the method is suitable for weak magnetic control of the permanent magnet synchronous motor in a high-speed area of rail transit.
As shown in fig. 2, the present invention also provides a traction motor control method, in which a traction motor 41 is driven to operate, wherein a control system includes a voltage amplitude control unit 1, a voltage phase angle control unit 2, a current sampling unit 3, a position feedback unit 4, a pulse wave adjusting unit 5, and a three-phase inverter unit 6, the traction motor control method including the steps of:
step S11: obtaining d-axis component id and q-axis component iq of feedback current according to three-phase alternating currents ia, ib and ic output by the three-phase inverter unit 6, and calculating to obtain actual electric angular velocity omega of the motor according to a rotor magnetic field position angle theta of the traction motor;
step S12: obtaining an output voltage amplitude Usw according to the actual electrical angular speed omega of the motor, a d-axis current given value id _ ref, a q-axis current given value iq _ ref and a d-axis component id of feedback current; the method comprises the following steps:
obtaining a compensation voltage amplitude Ucomp according to a d-axis current given value id _ ref and a d-axis component id of the feedback current;
calculating a feed-forward voltage amplitude Usw0 according to the actual electrical angular velocity omega of the motor and the given value iq _ ref of the q-axis current, wherein the feed-forward voltage amplitude Usw0 is obtained by calculating according to the following calculation formula (10):
wherein Ud is a d-axis feedforward voltage, and Ud ═ ω ═ Lq ═ iq _ ref; uq is a q-axis feedforward voltage, and Uq ═ ω ψ f; omega is the actual electrical angular velocity of the motor, Lq is q-axis inductance, iq _ ref is a q-axis current given value, and psi f is a permanent magnet flux linkage of the traction motor rotor.
Taking the sum of the compensation voltage amplitude Ucomp and the feedforward voltage amplitude Usw0 as the output voltage amplitude Usw, as calculated by equation (11):
Usw＝Ucomp+Usw0 (11)
step S13: obtaining an output voltage phase angle theta _ etha according to a q-axis current given value iq _ ref, a q-axis component iq of a feedback current, an actual electric angular speed omega of a traction motor and a traction motor rotor magnetic field position angle theta; the method comprises the following steps:
obtaining a phase compensation angle theta _ beta according to a q-axis current given value iq _ ref and a q-axis component iq of the feedback current;
calculating a phase adjustment angle theta _ alfa according to the phase compensation angle theta _ beta and the actual electric angular velocity omega of the motor; as calculated in equation (12):
taking the sum of the phase adjustment angle theta _ alfa and the position angle theta of the magnetic field of the traction motor rotor as an output voltage phase angle; as calculated in equation (13):
θ_etha＝θ_alfa+θ (13)
step S14: and generating a pulse width modulation signal according to the output voltage amplitude Usw and the output voltage phase angle theta _ etha, and controlling the three-phase inverter unit 6 to output three-phase alternating current to the traction motor 41 through the pulse width modulation signal.
As shown in fig. 3, the present invention further provides a traction motor control system, which is applicable to a traction motor controller, and which includes a memory 31 and a processor 32, and a computer program that can be run on the processor 32 is stored in the memory 31, and the processor 32 implements the steps of the traction motor control method as described above when executing the computer program. The traction motor control system in this embodiment is the same as the traction motor control method in the embodiment corresponding to fig. 2, and the specific implementation process thereof is described in detail in the corresponding method embodiment, and the technical features in the method embodiment are correspondingly applicable in this apparatus embodiment, and are not described herein again.
The invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the traction motor control method as described above.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (12)
1. A traction motor control system that is operated by a drive, characterized by comprising a voltage amplitude control unit, a voltage phase angle control unit, a current sampling unit, a position feedback unit, a pulse wave adjustment unit, and a three-phase inverter unit, wherein:
the current sampling unit is used for sampling the three-phase alternating current output by the three-phase inverter unit and obtaining a d-axis component and a q-axis component of feedback current according to the three-phase alternating current;
the position feedback unit is used for calculating and obtaining the actual electric angular speed of the motor according to the position angle of the magnetic field of the rotor of the traction motor;
the voltage amplitude control unit is used for obtaining an output voltage amplitude according to the actual electric angular speed of the motor, the d-axis current given value, the q-axis current given value and the d-axis component of the feedback current;
the voltage phase angle control unit is used for obtaining an output voltage phase angle according to the q-axis current given value, the q-axis component of the feedback current, the actual electric angular speed of the traction motor and the position angle of the magnetic field of the rotor of the traction motor;
the pulse wave adjusting unit generates a pulse width modulation signal according to the output voltage amplitude and the output voltage phase angle;
and the three-phase inverter unit outputs three-phase alternating current to the traction motor according to the pulse width modulation signal.
2. The traction motor control system of claim 1, wherein the voltage magnitude control unit comprises a first PI regulator and a feed forward voltage calculation subunit, wherein: the first PI regulator is used for obtaining a compensation voltage amplitude according to the d-axis current given value and the d-axis component of the feedback current; the feedforward voltage calculating subunit is used for calculating a feedforward voltage amplitude according to the actual electrical angular velocity of the motor and the given value of the q-axis current; the output voltage amplitude is the sum of the compensation voltage amplitude and the feedforward voltage amplitude.
3. The traction motor control system of claim 2, wherein the feed forward voltage calculation subunit calculates the feed forward voltage magnitude Usw0 by:
wherein Ud is a d-axis feedforward voltage, and Ud ═ ω ═ Lq ═ iq _ ref; uq is a q-axis feedforward voltage, and Uq ═ ω ψ f; omega is the actual electrical angular velocity of the motor, Lq is q-axis inductance, iq _ ref is a q-axis current given value, and psi f is a permanent magnet flux linkage of the traction motor rotor.
4. The traction motor control system according to claim 1, wherein the voltage phase angle control unit comprises a second PI regulator and an angle calculation subunit, wherein: the second PI regulator is used for obtaining a phase compensation angle according to the q-axis current given value and the q-axis component of the feedback current; the included angle calculating subunit is used for calculating a phase adjusting angle according to the phase compensation angle and the actual electrical angular speed of the motor; and the phase angle of the output voltage is the sum of the phase adjusting angle and the position angle of the magnetic field of the traction motor rotor.
5. The traction motor control system of claim 2, wherein the first PI regulator limits the magnitude of the generated compensation voltage to 0-k x Usmax, and wherein
Udc is the DC bus voltage of the three-phase inverter unit, 0<k<1。
6. The traction motor control system according to claim 4, wherein the second PI regulator limits the generated phase compensation angle to-90 ° to 90 °.
7. A traction motor control method, the traction motor being operated by a drive, comprising:
obtaining a d-axis component and a q-axis component of a feedback current according to three-phase alternating current output by a three-phase inverter unit, and calculating to obtain the actual electrical angular velocity of the motor according to the position angle of the rotor magnetic field of the traction motor;
obtaining an output voltage amplitude according to the actual electrical angular velocity of the motor, the d-axis current set value, the q-axis current set value and the d-axis component of the feedback current;
obtaining an output voltage phase angle according to the q-axis current given value, the q-axis component of the feedback current, the actual electric angular speed of the traction motor and the position angle of the magnetic field of the rotor of the traction motor;
and generating a pulse width modulation signal according to the output voltage amplitude and the output voltage phase angle, and controlling the three-phase inverter unit to output three-phase alternating current to the traction motor through the pulse width modulation signal.
8. The traction motor control method according to claim 7, wherein the obtaining an output voltage magnitude from the motor actual electrical angular velocity, a d-axis current setpoint, a q-axis current setpoint, and a d-axis component of the feedback current comprises:
obtaining a compensation voltage amplitude according to the d-axis current given value and the d-axis component of the feedback current;
calculating a feed forward voltage amplitude according to the actual electrical angular velocity of the motor and the given value of the q-axis current;
and taking the sum of the compensation voltage amplitude and the feedforward voltage amplitude as the output voltage amplitude.
9. The traction motor control method according to claim 8, wherein the feed-forward voltage magnitude Usw0 is calculated by the following calculation equation:
wherein Ud is a d-axis feedforward voltage, and Ud ═ ω ═ Lq ═ iq _ ref; uq is a q-axis feedforward voltage, and Uq ═ ω ψ f; omega is the actual electrical angular velocity of the motor, Lq is q-axis inductance, iq _ ref is a q-axis current given value, and psi f is a permanent magnet flux linkage of the traction motor rotor.
10. The traction motor control method of claim 7, wherein said obtaining an output voltage phase angle from said q-axis current setpoint, a q-axis component of a feedback current, a traction motor actual electrical angular velocity, and a traction motor rotor field position angle comprises:
obtaining a phase compensation angle according to the q-axis current given value and the q-axis component of the feedback current;
calculating a phase adjustment angle according to the phase compensation angle and the actual electrical angular velocity of the motor;
and taking the sum of the phase adjustment angle and the position angle of the magnetic field of the traction motor rotor as the phase angle of the output voltage.
11. A traction motor control system comprising a memory and a processor, the memory having stored therein a computer program operable on the processor, the processor when executing the computer program implementing the steps of the traction motor control method according to any one of claims 7 to 10.
12. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the traction motor control method according to any one of claims 7 to 10.
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