CN109962649B - Motor control device and control method thereof - Google Patents
Motor control device and control method thereof Download PDFInfo
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- CN109962649B CN109962649B CN201910178227.8A CN201910178227A CN109962649B CN 109962649 B CN109962649 B CN 109962649B CN 201910178227 A CN201910178227 A CN 201910178227A CN 109962649 B CN109962649 B CN 109962649B
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
Abstract
The embodiment of the invention discloses a motor control device and a control method, which comprises the following steps: the driving circuit is used for obtaining three-phase output voltage according to the input voltage instruction and the stator angle so as to drive the motor; and the adjusting circuit is used for obtaining a lead angle according to the phase current signal flowing through the motor and the back electromotive force angle and adjusting the stator angle according to the lead angle so as to realize automatic in-phase change of the phase current signal and the back electromotive force signal and realize lead angle control in a wide working range.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a motor control device and a control method thereof.
Background
A Brushless Direct Current Motor (Brushless Direct Current Motor) is a low-power dc Motor that is electronically commutated. It is structurally equivalent to a reverse DC motor, the armature is placed on the stator, and the rotor is a permanent magnet. The armature winding of the three-phase winding is a multi-phase winding, generally three-phase, and can be connected into a star shape or a triangle shape. And each phase winding is respectively connected with a switching tube in the electronic commutator circuit.
The control methods of the brushless dc motor are generally classified into square wave control and sine wave control. The sine wave control has the advantages of small torque fluctuation and low noise, and comprises the following steps: lead angle adjustment, vector Control (FOC), Direct Torque Control (DTC), and the like.
Vector control and direct torque control need to be matched with a specific algorithm, and the efficiency of the direct current motor can be better optimized. However, vector control and direct torque control not only require a high-cost control chip to perform complex calculation control and debugging, but also require peripheral circuits to provide various samples such as voltage and current, and the control cost of the motor is increased.
The existing lead angle control modes mainly comprise two types: one is to use a fixed lead angle for control; the other is to perform a look-up angle control according to load voltage, rotation speed and the like. The two methods described above can only achieve optimum efficiency at fixed motor parameters, fixed load, and fixed rotational speed. However, in practical applications, the same motor needs to be matched with fan blades or fins with different sizes and shapes, and the motor needs to operate at different rotation speed points. Therefore, the conventional lead angle control method cannot meet the existing application requirements.
Therefore, it is necessary to improve the existing lead angle control method to provide a motor control method with a wide application range and low control cost.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a motor control apparatus and a motor control method, which can automatically implement in-phase change of a phase current signal and a back electromotive force signal, and implement lead angle control in a wide operating range.
According to a first aspect of embodiments of the present invention, there is provided a motor control apparatus including: the driving circuit is used for obtaining three-phase output voltage according to the input voltage instruction and the stator angle so as to drive the motor; and an adjusting circuit for obtaining a lead angle according to a phase current signal flowing through the motor and a back electromotive force angle, and adjusting the stator angle according to the lead angle so that the phase current signal and the back electromotive force signal change in phase.
Preferably, the adjusting circuit includes: an angle calculation unit for obtaining the back emf angle; and the lead angle calculation unit is used for obtaining the lead angle according to the phase current signal and the back electromotive force angle and adjusting the stator angle according to the lead angle.
Preferably, the lead angle calculation unit includes: the error calculation module is used for obtaining a first error according to the phase current signal and the counter potential angle; the filtering module is used for filtering the alternating current component in the first error to obtain a second error; the linear control module is used for obtaining the lead angle according to the second error; and the adding module is used for adding the lead angle and the counter potential angle to obtain the stator angle.
Preferably, the lead angle calculation unit further includes a module for performing a module operation on the stator angle.
Preferably, the first error Err1Comprises the following steps:
Err1＝I/2*[sin(2θu+Δθ)-sin(Δθ)]
wherein I is an amplitude value of the phase current, θ u is the back emf angle, and Δ θ is a phase difference between the phase current signal and the back emf signal.
Preferably, the second error Err2Comprises the following steps:
Err2＝-I/2*sin(Δθ)
where I is the magnitude value of the phase current and Δ θ is the phase difference between the phase current signal and the back emf signal.
Preferably, the linear control module is configured to adjust the second error such that Δ θ is 0.
Preferably, the linear control module comprises a PI controller.
Preferably, the phase current signal is selected from one of a u-phase current, a v-phase current, and a w-phase current.
Preferably, the phase current signal is selected from a u-phase current, and the stator angle θ s is θ u + θLAThe three-phase output voltage is respectively as follows:
Uu＝V*sin(θu+θLA)
Uv＝V*sin(θu+θLA+120°)
Uw＝V*sin(θu+θLA+240°)
where V is the input voltage command, θ u is the back emf angle, θLAIs the lead angle.
Preferably, the adjusting circuit further comprises a position sensor for providing feedback information to the angle calculating unit according to the rotor position of the motor, and the angle calculating unit obtains the counter electromotive force angle according to the feedback information.
Preferably, the position sensor comprises an electromagnetic position sensor, a magnetic position sensor or an optoelectronic position sensor.
Preferably, the driving circuit includes: the voltage generating unit is used for obtaining a three-phase voltage modulation signal according to the input voltage command and the stator angle; the pulse width modulation unit is used for obtaining a pulse width modulation signal according to the three-phase voltage modulation signal; and the power unit is used for obtaining the three-phase output voltage according to the pulse width modulation signal.
Preferably, the power unit is a three-phase inverter bridge.
According to a second aspect of the embodiments of the present invention, there is provided a motor control method including: obtaining three-phase output voltage according to the input voltage instruction and the stator angle so as to drive the motor; and obtaining a lead angle according to a phase current signal flowing through the motor and a back electromotive force angle, and adjusting the stator angle according to the lead angle so that the phase current signal and the back electromotive force signal change in phase.
Preferably, the obtaining a lead angle according to a phase current signal flowing through the motor and a back electromotive force angle, and the adjusting the stator angle according to the lead angle includes: obtaining a first error according to the phase current signal and the counter potential angle; filtering an alternating current component in the first error to obtain a second error; obtaining the lead angle according to the second error; and adding the lead angle and the angle of the back electromotive force to obtain the stator angle.
Preferably, the obtaining a lead angle according to a phase current signal flowing through the motor and a back electromotive force angle, and adjusting the stator angle according to the lead angle further includes: and carrying out modulus operation on the stator angle.
Preferably, the first error Err1Comprises the following steps:
Err1＝I/2*[sin(2θu+Δθ)-sin(Δθ)]
wherein I is an amplitude value of the phase current, θ u is the back emf angle, and Δ θ is a phase difference between the phase current signal and the back emf signal.
Preferably, the second error Err2Comprises the following steps:
Err2＝-I/2*sin(Δθ)
where I is the magnitude value of the phase current and Δ θ is the phase difference between the phase current signal and the back emf signal.
Preferably, the obtaining the lead angle according to the second error comprises: adjusting the second error such that the Δ θ is 0.
Preferably, the phase current signal is selected from one of a u-phase current, a v-phase current, and a w-phase current.
Preferably, the phase current signal is selected from a u-phase current, and the stator angle θ s is θ u + θLAThe three-phase output voltage is respectively as follows:
Uu＝V*sin(θu+θLA)
Uv＝V*sin(θu+θLA+120°)
Uw＝V*sin(θu+θLA+240°)
where V is the input voltage command, θ u is the back emf angle, θLAIs the lead angle.
Preferably, before obtaining the first error according to the phase current signal and the back-emf angle, the step further includes: and obtaining feedback information according to the position of the rotor of the motor, and obtaining the counter electromotive force angle according to the feedback information.
Preferably, the obtaining of the three-phase output voltage according to the input voltage command and the stator angle includes: obtaining a three-phase voltage modulation signal according to the input voltage command and the stator angle; obtaining a pulse width modulation signal according to the three-phase voltage modulation signal; and obtaining the three-phase output voltage according to the pulse width modulation signal.
The motor control device and the motor control method provided by the embodiment of the invention have the following beneficial effects.
The adjusting circuit obtains a lead angle according to a phase current signal flowing through the motor and a back electromotive force angle through an automatic lead angle calculating method, and adjusts a stator angle according to the lead angle, so that the phase current signal and the back electromotive force signal automatically realize in-phase change. The motor has the advantages of maximum output torque, maximum active power and maximum efficiency, and the noise of the motor is reduced. Meanwhile, the motor control device and the motor control method of the embodiment of the invention also realize lead angle control in a wide working range, so that the motor realizes optimal efficiency under different loads and different rotating speeds.
In addition, the lead angle control process of the motor control device and the control method of the embodiment of the invention is irrelevant to parameters such as resistance, inductance and the like in the motor, so the control device and the control method of the invention can be used for controlling the motors with different parameters, and the control cost of the motor is reduced; in addition, the control mode has simple operation and can be realized without adopting an expensive control chip, thereby further reducing the production cost.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings.
Fig. 1 is a schematic structural view showing a conventional motor control device;
fig. 2 is a schematic view showing waveforms of phase current and back electromotive force obtained according to a conventional motor control apparatus;
fig. 3 is a schematic structural view showing a motor control device according to a first embodiment of the present invention;
fig. 4 shows a lead angle adjustment vector diagram according to a first embodiment of the present invention;
fig. 5 is a schematic view showing waveforms of phase voltages, back-potentials, and phase currents according to a first embodiment of the present invention;
fig. 6 is a schematic structural diagram showing a lead angle calculation unit according to the first embodiment of the present invention;
FIG. 7 is a diagram illustrating the relationship between Δ θ and sin (Δ θ) according to the first embodiment of the present invention;
fig. 8 shows a flow chart of a motor control method according to a second embodiment of the present invention.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. Like elements in the various figures are denoted by like reference numerals. For purposes of clarity, the various features in the drawings are not necessarily drawn to scale. Moreover, certain well-known elements may not be shown in the figures.
In the following description, numerous specific details of the invention, such as structure, materials, dimensions, processing techniques and techniques of components, are set forth in order to provide a more thorough understanding of the invention. However, as will be understood by those skilled in the art, the present invention may be practiced without these specific details.
It should be understood that in the following description, a "circuit" refers to a conductive loop formed by at least one element or sub-circuit through an electrical or electromagnetic connection. When an element or circuit is referred to as being "connected to" another element or element/circuit is referred to as being "connected between" two nodes, it may be directly coupled or connected to the other element or intervening elements may be present, and the connection between the elements may be physical, logical, or a combination thereof. In contrast, when an element is referred to as being "directly coupled" or "directly connected" to another element, it is intended that there are no intervening elements present.
Fig. 1 is a schematic structural diagram of a conventional motor control device. As shown in fig. 1, the motor control apparatus includes a control circuit 110, a position sensor 120, and a power unit 130.
The motor 300 is, for example, a brushless dc motor, without brushes and commutators of a conventional dc motor, and therefore, the position sensor 120 needs to provide correct commutation information to the control circuit 110 through sensing the relative position relationship between the stator and the rotor of the motor 300, and the control circuit 110 provides a Pulse Width Modulation (PWM) signal to the power unit 130 according to the feedback information of the position sensor 120 to control the on and off of the electronic switches in the power unit 130, so that the current in the armature winding of the motor is sequentially commutated with the change of the rotor position to form a step-by-step rotating magnetic field in the air gap, and finally, the permanent magnet rotor is continuously driven to rotate.
The position sensor 120 includes an electromagnetic position sensor, a magnetic position sensor or a photoelectric position sensor, and is configured to detect a position of a rotor of the motor 300 during a movement process, convert a position signal of the rotor into an electrical signal, and provide correct commutation information for the control circuit 110.
The power unit 130 includes a full-bridge inverter or a half-bridge inverter, and as shown in fig. 1, the power unit 130 is a three-phase full-bridge inverter composed of electronic switches SW1-SW6 for converting a dc power source V into a dc power source VDCThe supplied direct current is converted into alternating current, and the on and off of the electronic switches SW1-SW6 are controlled, so that the on sequence and the on time of the three-phase alternating current are controlled to achieve the purposes of driving the rotating speed and the rotating direction of the motor 300.
The position signal output by the position sensor 120 carries an angle signal of the motor, and therefore the position signal output by the position sensor 120 is used as a reference phase. Assuming that the sine-wave phase voltage and the rotor back-emf have the same phase, the phase current lags the phase voltage by a certain angle, i.e., the power factor angle, because the motor is an inductive element. As shown in fig. 2, that is, the phase current will lag the back emf by a power factor angle Δ θ, so that the phase current and the back emf do not match well in phase, resulting in non-optimal motor output efficiency. In order for the motor to output at maximum efficiency, the phase voltage needs to be adjusted so that the power factor angle Δ θ is equal to 0 to synchronize the phase current and the back electromotive force. Therefore, how to provide an appropriate compensation angle to fit the phase difference between the back emf and the phase current becomes the key to the advance angle control.
Fig. 3 is a schematic structural diagram of a motor control device according to a first embodiment of the present invention. As shown in fig. 3, the motor control device 200 includes a drive circuit 210 and a regulation circuit 220. The driving circuit 210 is used for controlling the stator angle theta according to the input voltage command VctrlsObtain three-phase output voltage Uu、UvAnd UwThe motor 300 is driven, wherein the input voltage command Vctrl is a voltage signal equal to an amplitude value of a phase voltage to be output. The motor 300 is, for example, a brushless dc motor without the brushes and commutator of a conventional dc motor. The adjusting circuit 220 is used for adjusting the phase current signal Iu and the back electromotive force angle theta according to the current signal Iu flowing through the motor 300uObtaining a lead angle and adjusting the stator angle theta according to the lead anglesSo that said phase current signal Iu and said phase current signal IuThe back emf signal varies in phase.
Fig. 4 and 5 are schematic diagrams showing lead angle adjustment vector diagrams and waveforms of phase voltages, back-potentials, and phase currents, respectively, according to the first embodiment of the present invention. The advance angle adjustment according to the embodiment of the present invention will be described in detail below with reference to fig. 4 and 5.
As shown in FIG. 4, the phase voltage U and back-emf E when the rotor position signal is used as a reference and no lead angle adjustment is performed0Are in phase, and the phase voltage U and the counter potential E0All lead phase current i by a power factor angle
In order to improve the output torque and the voltage utilization rate of the motor, an advance angle α is given to the phase voltage, that is, the drive circuit 210 is advanced by the advance angle α based on the conduction angle required by the original control, and the phase voltage U and the phase current i become the positions shown by the dotted lines in fig. 4, that is, the positions of the phase voltage U 'and the phase current i'. As shown in FIG. 4, phase current i and back-emf E after lead angle adjustment0The phase angle between them is reduced, when the phase current i and the counter-potential E are reduced0Become the phase angle therebetween
And the active power of the electric machine 300 becomes:
wherein theta is the back electromotive force E after lead angle adjustment0And the phase angle between the phase current and the phase.
From the above formula, the counter potential E0The smaller the phase angle θ between the phase current and the active power is, the larger the torque of the motor 300 is, that is, the higher the energy utilization rate of the motor under the same load is. When the phase angle θ is equal to 0, an advance angle φ is given to the phase voltage U, the phase voltage U and the phase current i become the positions shown by the chain line in FIG. 4, i.e., the positions of the phase voltage U 'and the phase current i', and the back-emf E at this time0And phase electricityThe flow i "varies in phase as shown in fig. 5. Counter potential E0The phase current i' is changed in the same phase, so that the output torque of the motor is maximum, the active power is maximum, the efficiency of the motor is maximum, and the noise of the motor is reduced.
With continued reference to fig. 3, the driving circuit 210 includes a voltage generating unit 211, a pulse width modulation unit 212, and a power unit 213. The voltage generating unit 211 is used for generating a voltage according to an input voltage command Vctrl and a stator angle thetasAnd obtaining three-phase voltage modulation signals Ua, Ub and Uc. The pulse width modulation unit 212 is configured to obtain a pulse width modulation signal according to the three-phase voltage modulation signals Ua, Ub, and Uc. The power unit 213 is used for obtaining a three-phase output voltage U according to the pulse width modulation signalu、UvAnd UwTo drive the motor 300.
Wherein the power unit 213 comprises a three-phase inverter bridge. Illustratively, the power unit 213 is a three-phase inverter bridge composed of a plurality of electronic switches, and the pulse width modulation signal controls the on and off of the plurality of electronic switches, thereby controlling the three-phase output voltage Uu、UvAnd UwTo achieve the rotational speed and direction of rotation of the driving motor 300.
The adjustment circuit 220 includes a lead angle calculation unit 221 and an angle calculation unit 222. The angle calculation unit 222 is used for obtaining the back electromotive force angle thetau. The lead angle calculation unit 221 is used for calculating a lead angle according to the phase current signal Iu and the back-emf angle θuObtaining a lead angle and adjusting the stator angle theta according to the lead angles。
Illustratively, the adjusting circuit 220 further includes a position sensor 223, and the position sensor 223 provides feedback information to the angle calculating unit 222 through a relative position relationship between the stator and the rotor of the induction motor 300, wherein the feedback information may be an electric signal of a digital quantity or an analog quantity, and includes information of the position, the speed and the like of the rotor. The angle calculation unit 222 obtains the back emf angle θ according to the feedback informationu. The position sensor 223 includes an electromagnetic position sensor, a magnetic-sensing position sensor or a photoelectric position sensor, and is used for detecting the position of the rotor of the motor 300 during the movement process and generating a position signal of the rotorConverted into an electrical signal to be supplied to the angle calculation unit 222.
Further, the phase current signal is selected from one of a u-phase current, a v-phase current, and a w-phase current. The following description will be given taking a u-phase current signal as an example.
Fig. 6 is a schematic structural diagram of a lead angle calculation unit according to the first embodiment of the present invention. As shown in fig. 6, the lead angle calculation unit 221 includes an error calculation module 2211, a filtering module 2212, a linear control module 2213, an addition module 2214 and a modulus operation module 2215.
The error calculation module 2211 is used for calculating the angle theta according to the phase current signal Iu and the counter potential angle thetauObtain the first error Err1. First error Err1Comprises the following steps:
Err1＝Iu*cos(θu)＝I*sin(θu+Δθ)*cos(θu)
＝I/2*[sin(2θu+Δθ)-sin(Δθ)]
let Iu ═ I × sin (θ u + Δ θ) ×
Wherein Iu is an instantaneous value function of the phase current, I is an amplitude value of the phase current, θ u is the back emf angle, and Δ θ is a phase difference between the phase current signal and the back emf signal.
The first error Err1 includes two components, one is an ac component sin (2 θ u + Δ θ) having a frequency of 2 θ u, and the other is a dc component sin (Δ θ). The Filter module 2212 is, for example, a Low-Pass Filter (LPF) for filtering the first error Err1To obtain a second error Err2。
Second error Err2Comprises the following steps:
Err2＝-I/2*sin(Δθ)
where I is the magnitude value of the phase current and Δ θ is the phase difference between the phase current signal and the back emf signal.
As shown in FIG. 7, sin (Δ θ) is approximately equal to Δ θ when Δ θ is small. The linearity control module 2213 is used for determining the second error Err2Obtaining lead angle thetaLA. The linear control module 2213 is, for example, a PI Controller (Proportional Integral Controller), and the feedback of the linear control module 2213 isSecond error Err2Referring to 0, by setting the proportionality coefficient, the integral coefficient, the maximum and minimum amplitude limits, and the like in the linear control module 2213, the second error is equal to 0 in the steady state, that is, the phase difference Δ θ between the phase current signal and the counter potential signal is equal to 0. The operating principle of the PI controller is common knowledge of those skilled in the art, and is not described herein again.
The adding module 2214 is used for adding the lead angle thetaLAAngle theta with back-emfuThe sum is added to obtain the stator angle. The modulo operation module 2215 is configured to perform a modulo operation on the stator angle. The final stator angle θ s is:
θs＝(θu+θLA)％2π
wherein,% is modulus operation, mainly for limiting the stator angle theta s to [ 0-2 pi ], so as to facilitate subsequent calculation.
The final three-phase output voltage U obtained by the power unit 213 according to the pulse width modulation signalu、UvAnd UwRespectively as follows:
Uu＝V*sin(θu+θLA)
Uv＝V*sin(θu+θLA+120°)
Uw＝V*sin(θu+θLA+240°)
where V is the input voltage command, θ u is the back emf angle, θLAIs the lead angle.
Fig. 8 illustrates a motor control method provided according to a second embodiment of the present invention, and as shown in fig. 8, the motor control method includes the following steps.
In step S101, a three-phase output voltage is obtained according to the input voltage command and the stator angle to drive the motor.
Specifically, as shown in fig. 3, voltage generation section 211 generates a voltage according to input voltage command Vctrl and stator angle θsAnd obtaining three-phase voltage modulation signals Ua, Ub and Uc. The pulse width modulation unit 212 obtains a pulse width modulation signal from the three-phase voltage modulation signals Ua, Ub, and Uc. The power unit 213 obtains a three-phase output voltage U according to the pulse width modulation signalu、UvAnd UwTo drive the motor 300.
Wherein the power unit 213 comprises a three-phase inverter bridge. Illustratively, the power unit 213 is a three-phase full-bridge inverter composed of a plurality of electronic switches, and the pulse width modulation signal controls the on and off of the plurality of electronic switches, thereby controlling the three-phase output voltage Uu、UvAnd UwTo achieve the rotational speed and direction of rotation of the driving motor 300.
In step S102, a lead angle is obtained from a phase current signal flowing through the motor and a back electromotive force angle, and a stator angle is adjusted according to the lead angle so that the phase current signal and the back electromotive force signal change in phase.
Specifically, as shown in fig. 6, the error calculation module 2211 calculates the phase current signal Iu and the back-emf angle θ according to the phase current signal IuuObtain the first error Err1. First error Err1Comprises the following steps:
Err1＝Iu*cos(θu)＝I*sin(θu+Δθ)*cos(θu)
＝I/2*[sin(2θu+Δθ)-sin(Δθ)]
wherein Iu is an instantaneous value function of the phase current, I is an amplitude value of the phase current, θ u is the back emf angle, and Δ θ is a phase difference between the phase current signal and the back emf signal.
First error Err1The intermediate frequency transformer comprises two components, one is an alternating current component sin (2 theta u + delta theta) with the frequency of 2 theta u, and the other is a direct current component sin (delta theta). The Filter module 2212 is, for example, a Low-Pass Filter (LPF), and filters the first error Err1To obtain a second error Err2。
Second error Err2Comprises the following steps:
Err2＝-I/2*sin(Δθ)
where I is the magnitude value of the phase current and Δ θ is the phase difference between the phase current signal and the back emf signal.
The linear control module 2213 is, for example, a PI Controller (probabilistic Integral Controller). The feedback of the linear control module 2213 is the second error Err2Referring to 0, by setting the proportionality coefficient, the integral coefficient, the maximum and minimum amplitude limits, and the like in the linear control module 2213, the second error is equal to 0 in the steady state, that is, the phase difference Δ θ between the phase current signal and the counter potential signal is equal to 0. The operating principle of the PI controller is common knowledge of those skilled in the art, and is not described herein again.
The addition module 2214 adds the lead angle θLAAngle theta with back-emfu. The sum is added to obtain the stator angle. The modulo operation module 2215 performs modulo operation on the stator angle. Finally, a stator angle is obtained, and the stator angle theta s is as follows:
θs＝θu+θLA％2π
wherein,% is modulus operation, mainly for limiting the stator angle theta s to [ 0-2 pi ], so as to facilitate subsequent calculation.
The final three-phase output voltage U obtained by the power unit 213 according to the pulse width modulation signalu、UvAnd UwRespectively as follows:
Uu＝V*sin(θu+θLA)
Uv＝V*sin(θu+θLA+120°)
Uw＝V*sin(θu+θLA+240°)
where V is the input voltage command, θ u is the back emf angle, θLAIs the lead angle.
In summary, the motor control apparatus and the motor control method according to the embodiments of the present invention include a driving circuit and a regulating circuit. The adjusting circuit obtains a lead angle according to a phase current signal flowing through the motor and a back electromotive force angle through an automatic lead angle calculating method, and adjusts a stator angle according to the lead angle, so that the phase current signal and the back electromotive force signal automatically realize in-phase change. The motor has the advantages of maximum output torque, maximum active power and maximum efficiency, and the noise of the motor is reduced. Meanwhile, the motor control device and the motor control method of the embodiment of the invention also realize lead angle control in a wide working range, so that the motor realizes optimal efficiency under different loads and different rotating speeds.
In addition, the lead angle control process of the motor control device and the control method of the embodiment of the invention does not need parameters such as resistance, inductance and the like in the motor, so that the motors with different parameters can be controlled by one set of circuit, and the control cost of the motor is reduced; in addition, the control mode has simple operation and can be realized without adopting an expensive control chip, thereby further reducing the production cost.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
While embodiments in accordance with the invention have been described above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.
Claims (24)
1. A motor control device comprising:
the driving circuit is used for obtaining three-phase output voltage according to the input voltage instruction and the stator angle so as to drive the motor; and
the adjusting circuit is used for obtaining a first error according to a product of a phase current signal flowing through the motor and a cosine value of a counter electromotive force angle, filtering an alternating current component in the first error to obtain a second error, obtaining a lead angle according to the second error, and adjusting the stator angle according to the lead angle so that the phase current signal and the counter electromotive force signal change in phase.
2. The motor control device of claim 1, wherein the regulation circuit comprises:
an angle calculation unit for obtaining the back emf angle; and
and the lead angle calculation unit is used for obtaining the lead angle according to the phase current signal and the back electromotive force angle and adjusting the stator angle according to the lead angle.
3. The motor control device according to claim 2, wherein the lead angle calculation unit includes:
the error calculation module is used for obtaining the first error according to the product of the phase current signal and the cosine value of the counter potential angle;
the filtering module is used for filtering the alternating current component in the first error to obtain a second error;
the linear control module is used for obtaining the lead angle according to the second error; and
and the adding module is used for adding the lead angle and the back electromotive force angle to obtain the stator angle.
4. The motor control device according to claim 3, wherein the lead angle calculation unit further includes a modulo operation module configured to perform a modulo operation on the stator angle.
5. The motor control device according to claim 3, wherein the first error Err1Comprises the following steps:
Err1＝I/2*[sin(2θu+Δθ)-sin(Δθ)]
wherein I is an amplitude value of the phase current, θ u is the back emf angle, and Δ θ is a phase difference between the phase current signal and the back emf signal.
6. The motor control device according to claim 5, wherein the second error Err2Comprises the following steps:
Err2＝-I/2*sin(Δθ)
where I is the magnitude value of the phase current and Δ θ is the phase difference between the phase current signal and the back emf signal.
7. The motor control device of claim 6, wherein the linear control module is configured to adjust the second error such that Δ θ is 0.
8. The motor control device of claim 7, wherein the linear control module comprises a PI controller.
9. The motor control apparatus of claim 1, wherein the phase current signal is selected from one of a u-phase current, a v-phase current, and a w-phase current.
10. The motor control device of claim 9, wherein the phase current signal is selected from a u-phase current, the stator angle θ s ═ θ u + θLAThe three-phase output voltage is respectively as follows:
Uu＝V*sin(θu+θLA)
Uv＝V*sin(θu+θLA+120°)
Uw＝V*sin(θu+θLA+240°)
where V is the input voltage command, θ u is the back emf angle, θLAIs the lead angle.
11. The motor control device according to claim 2, wherein the adjustment circuit further includes a position sensor for providing feedback information to the angle calculation unit according to a rotor position of the motor, the angle calculation unit obtaining the back electromotive force angle according to the feedback information.
12. The motor control apparatus of claim 11, wherein the position sensor comprises an electromagnetic position sensor, a magnetically sensitive position sensor, or an electro-optical position sensor.
13. The motor control device according to claim 1, wherein the drive circuit includes:
the voltage generating unit is used for obtaining a three-phase voltage modulation signal according to the input voltage command and the stator angle;
the pulse width modulation unit is used for obtaining a pulse width modulation signal according to the three-phase voltage modulation signal; and
and the power unit is used for obtaining the three-phase output voltage according to the pulse width modulation signal.
14. The motor control apparatus of claim 13, wherein the power cell comprises a three-phase inverter bridge.
15. A motor control method comprising:
obtaining three-phase output voltage according to the input voltage instruction and the stator angle so as to drive the motor; and
the method comprises the steps of obtaining a first error according to the product of a phase current signal flowing through the motor and a cosine value of a back electromotive force angle, filtering an alternating current component in the first error to obtain a second error, obtaining a lead angle according to the second error, and adjusting the stator angle according to the lead angle to enable the phase current signal and the back electromotive force signal to change in phase.
16. The motor control method of claim 15, wherein said adjusting the stator angle according to the lead angle comprises:
adding the lead angle to the angle of the back electromotive force to obtain the stator angle.
17. The motor control method of claim 16, wherein said adjusting the stator angle according to the lead angle further comprises: and carrying out modulus operation on the stator angle.
18. The motor control method according to claim 16, wherein the first error Err1Comprises the following steps:
Err1＝I/2*[sin(2θu+Δθ)-sin(Δθ)]
wherein I is an amplitude value of the phase current, θ u is the back emf angle, and Δ θ is a phase difference between the phase current signal and the back emf signal.
19. The motor control method according to claim 18, wherein the second error Err2Comprises the following steps:
Err2＝-I/2*sin(Δθ)
where I is the magnitude value of the phase current and Δ θ is the phase difference between the phase current signal and the back emf signal.
20. The motor control method of claim 19, wherein said deriving the lead angle from the second error comprises: adjusting the second error such that the Δ θ is 0.
21. The motor control method of claim 15, wherein the phase current signal is selected from one of a u-phase current, a v-phase current, and a w-phase current.
22. The motor control method of claim 21, wherein the phase current signal is selected from a u-phase current, the stator angle θ s ═ θ u + θLAThe three-phase output voltage is respectively as follows:
Uu＝V*sin(θu+θLA)
Uv＝V*sin(θu+θLA+120°)
Uw＝V*sin(θu+θLA+240°)
where V is the input voltage command, θ u is the back emf angle, θLAIs the lead angle.
23. The motor control method of claim 16, wherein deriving a first error based on the phase current signal and the back-emf angle further comprises:
and obtaining feedback information according to the position of the rotor of the motor, and obtaining the counter electromotive force angle according to the feedback information.
24. The motor control method of claim 15, wherein said deriving a three-phase output voltage from the input voltage command and the stator angle comprises:
obtaining a three-phase voltage modulation signal according to the input voltage command and the stator angle;
obtaining a pulse width modulation signal according to the three-phase voltage modulation signal; and
and obtaining the three-phase output voltage according to the pulse width modulation signal.
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| TWI699959B (en) * | 2019-09-19 | 2020-07-21 | 茂達電子股份有限公司 | Motor driving device and method |
| CN113341763A (en) * | 2021-06-07 | 2021-09-03 | 华北电力大学 | Speed regulation simulation platform of direct-current motor |
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