CN110529979A - A kind of motor control method, device and air conditioner - Google Patents
A kind of motor control method, device and air conditioner Download PDFInfo
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- CN110529979A CN110529979A CN201910863907.3A CN201910863907A CN110529979A CN 110529979 A CN110529979 A CN 110529979A CN 201910863907 A CN201910863907 A CN 201910863907A CN 110529979 A CN110529979 A CN 110529979A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
- F24F11/46—Improving electric energy efficiency or saving
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
- F24F11/63—Electronic processing
- F24F11/64—Electronic processing using pre-stored data
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/88—Electrical aspects, e.g. circuits
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Abstract
The present invention provides a kind of motor control method, device and air conditioner, the motor control method includes: to obtain current quadrature axis current after detecting the current rotary speed instruction of the motor；Determine that d-axis compensates electric current according to the current quadrature axis current, wherein the d-axis compensation electric current is the current component that direction is negative；Electric current is compensated based on the d-axis, generates the current d-axis expectation electric current of the motor；The motor is controlled based on the current d-axis expectation electric current.The present invention can reduce air conditioning energy consumption loss.
Description
Technical field
The present invention relates to air conditioner motor control technology field, in particular to a kind of motor control method, device and
Air conditioner.
Background technique
Because air conditioner compressor motor winding coil has certain resistance, when electric current flows through winding coil, electric energy is converted into
Thermal energy generates power loss, this partition losses power occurs on winding coil, referred to as " copper loss ".
In compressor electric motor operating, it is passed through that electric current is bigger, the power thermal losses of generation is bigger, the copper loss of compressor
It is bigger, so that energy consumption of compressor loss is bigger.
Summary of the invention
Problems solved by the invention is the big technical problem of existing compressor electric motor copper loss.
To solve the above problems, the present invention provides a kind of motor control method, comprising:
After detecting the current rotary speed instruction of the motor, current quadrature axis current is obtained；
Determine that d-axis compensates electric current according to the current quadrature axis current, wherein the d-axis compensation electric current is that direction is
Negative current component；
Electric current is compensated based on the d-axis, generates the current d-axis expectation electric current of the motor；
The motor is controlled based on the current d-axis expectation electric current.
By obtaining current quadrature axis current after detecting the current rotary speed instruction of motor；According to the current friendship
Shaft current determines that d-axis compensates electric current, wherein d-axis compensation electric current is the current component that direction is negative；It is compensated based on the d-axis
Electric current generates the current d-axis expectation electric current of the motor；The motor is carried out based on the current d-axis expectation electric current
Control, because d-axis compensation electric current become larger with quadrature axis current due to become larger, it is larger in compressor load, be passed through electric current it is larger when, quadrature axis
Electric current becomes larger, and d-axis compensation electric current also becomes larger therewith, increases reluctance torque, and then under identical torque-demand, reduces input electricity
Stream, reduces input power, and realization adaptively reduces copper loss.
Optionally, described after detecting the current rotary speed instruction of the motor, the step of obtaining current quadrature axis current
Include: before
Obtain the current final goal revolving speed of the motor, actual speed and rotation speed change amount threshold value；
The current revolving speed is generated based on the current final goal revolving speed, actual speed and rotation speed change amount threshold value
Instruction.
It determines that motor is speed-raising or reduction of speed by current final goal revolving speed and actual speed, and passes through rotation speed change
The speed that threshold value limits motor speed change is measured, to avoid because of current final goal revolving speed corresponding current and currently practical electric current
Difference is excessive, avoids adverse effect caused by current break.
Optionally, described that institute is generated based on the current final goal revolving speed, actual speed and rotation speed change amount threshold value
The step of stating current rotary speed instruction include:
If the current final goal revolving speed is greater than the actual speed, it is based on the actual speed, generates revolving speed
The current rotary speed instruction increased, wherein revolving speed increase is equal to the rotation speed change amount threshold value；
If the current final goal revolving speed is less than the actual speed, it is based on the actual speed, generates revolving speed
The current rotary speed instruction reduced, wherein speed decrease is equal to the rotation speed change amount threshold value.
Through current final goal revolving speed compared with the size of actual speed, it may be determined that motor speed is to increase or subtract
It is small, meanwhile, it is limited by variable quantity of the rotation speed change amount threshold value to motor speed, current break is avoided normally to transport motor
Row causes adverse effect.
Optionally, it is wrapped after described the step of being controlled based on the current d-axis expectation electric current the motor
It includes:
After being spaced preset time period, returns and execute the current final goal revolving speed of the acquisition motor, practical turn
The step of speed and rotation speed change amount threshold value.
Realize motor from actual speed to the closed-loop control of final goal revolving speed.
Optionally, the current quadrature axis current is the currently practical quadrature axis current detected.
It can ensure that currently to the electric current of d-axis compensation, it is not too big always under the limitation of currently practical quadrature axis current,
It can avoid reducing sudden load change, the mutation of quadrature axis instruction current, the influence to motor is conducive to motor and operates stably.
Optionally, described to determine that d-axis compensates electric current according to the current quadrature axis current, wherein the d-axis compensation electricity
Stream be direction be negative current component the step of include:
Minimum current formula is obtained, is calculated according to the minimum current formula and the current quadrature axis current described in obtaining
D-axis compensates electric current, wherein the minimum current formula are as follows:
Id'=-k*Iq
Wherein, k is proportional gain value, and Id' is that the d-axis compensates electric current, and Iq is the current quadrature axis current.
It can ensure that currently to the electric current of d-axis compensation, always change under the limitation of quadrature axis current with quadrature axis current, in turn
With load variations, it can be achieved that adaptively adjusting according to motor load, and then determine that the d-axis under various load conditions compensates electric current,
Suitable current compensation is carried out to d-axis, while reducing copper loss as far as possible, is avoided because inadaptable with motor current load conditions
Adverse effect caused by and is conducive to motor and operates stably.
Optionally, 0 k≤0.6 <.Bad shadow caused by can avoid because of the excessive normal operation to motor of d-axis compensation electric current
It rings, guarantees that motor operates stably.
Optionally, described the step of electric current is compensated based on the d-axis, generates the motor current d-axis expectation electric current
Include:
Corresponding demand voltage is determined according to the current rotary speed instruction；
When the demand voltage is less than predeterminated voltage, d-axis instruction current is 0, is greater than or equal in the demand voltage
When predeterminated voltage, is calculated based on the current rotary speed instruction and obtain d-axis instruction current；
The sum of the d-axis instruction current and the d-axis compensation electric current d-axis current as the motor it is expected into electricity
Stream.
D-axis is all based on by the entire revolving speed section in motor and compensates electric current to d-axis progress current compensation, it can be ensured that whole
In a revolving speed section, all current reduction copper loss can be compensated by d-axis.
The present invention also proposes a kind of motor control assembly, comprising:
Acquiring unit is used for after detecting the current rotary speed instruction of the motor, obtains current quadrature axis current；
Computing unit is used to determine that d-axis compensates electric current according to the current quadrature axis current, wherein the d-axis is mended
Repaying electric current is the current component that direction is negative；
The computing unit is also used to compensate electric current based on the d-axis, generates the current d-axis expectation of the motor
Electric current；
Control unit is used to control the motor based on the current d-axis expectation electric current.
The present invention also proposes a kind of air conditioner, computer readable storage medium and processing including being stored with computer program
Device when the computer program is read and run by the processor, realizes motor control method as described above.
The present invention also proposes a kind of computer readable storage medium, and the computer-readable recording medium storage has computer
Program when the computer program is read out by the processor and runs, realizes motor control method as described above.
Detailed description of the invention
Fig. 1 is the flow diagram of one embodiment of motor control method of the present invention；
Fig. 2 is the flow diagram of another embodiment of motor control method of the present invention；
Fig. 3 is the embodiment schematic diagram after step S20 refinement；
Fig. 4 is the embodiment schematic diagram after step S50 refinement；
Fig. 5 is one embodiment schematic diagram of motor control assembly of the present invention；
Fig. 6 is the structural schematic diagram of one embodiment of the air condition of that present invention.
Description of symbols:
101- acquiring unit, 102- computing unit, 103- control unit, 201- computer readable storage medium, at 202-
Manage device.
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
It is of the invention for ease of understanding, description below is made first:
Compressor winding power loss are as follows: W=R × Iu2+R×Iv2+R×Iw2, wherein Iu, Iv, Iw are three-phase windings electricity
Stream.In motor control, usually by three-phase windings current equivalence at the stator current vector Is of rotation, Is is being decomposed into two just
Vertical component, i.e. the current component Id (direct-axis current) in generation magnetic field and the current component Iq (quadrature axis current) for generating torque are handed over,
By controlling the amplitude and phase of two components of Id, Iq respectively, the control to Is is realized, and then realize to three-phase windings electric current
Adjustment.Hereinafter, d axis is " d-axis ", and q axis is " quadrature axis ".
The present invention proposes a kind of motor control method.
Fig. 1 is the flow diagram of one embodiment of motor control method of the present invention.
The motor control method includes:
Step S30 obtains current quadrature axis current after detecting the current rotary speed instruction of the motor；
Rotary speed instruction is used to indicate motor rotating speed of target, controls in actual speed tracking/close rotary speed instruction of motor
Rotating speed of target, current rotary speed instruction refers under current time, directly control the instruction of motor current rotating speed.Can in real time or
Interval preset time detects current rotary speed instruction.
Optionally, current quadrature axis current is current quadrature axis instruction current, then, is detecting that the current revolving speed of motor refers to
After order, the quadrature axis instruction current obtained is calculated based on the current rotary speed instruction of motor.
Optionally, the current quadrature axis current is the currently practical quadrature axis current detected.Specifically, compressor is acquired
The currently practical three-phase windings electric current (Iu, Iv, Iw) of motor can be primarily based on formula (1) and carry out Clark to three-phase windings electric current
Transformation, finds out Iα、Iβ, then based on formula (2) to Iα、IβIt carries out Park transformation and acquires direct-axis current Id and quadrature axis current Iq,
In, the quadrature axis current Iq acquired is the currently practical quadrature axis current detected.
In compressor electric motor normal course of operation, currently practical three-phase windings electric current can be acquired in real time, in real time or be spaced
Preset duration carries out the calculating of quadrature axis current, can be stored, after calculating acquisition quadrature axis current to detect the electricity
After the current rotary speed instruction of machine, obtain current quadrature axis current, can also after detecting the current rotary speed instruction of the motor, then
Currently practical three-phase windings electric current is acquired, the currently practical quadrature axis current detected is calculated.
If determining that subsequent d-axis compensates electric current based on current quadrature axis instruction current, in fact it could happen that a kind of situation
It is that, because load variations are larger, current quadrature axis instruction current differs larger compared with current practical quadrature axis current, if load
Increase, then current quadrature axis instruction current is larger, and many beyond current practical quadrature axis current, then is based on quadrature axis instruction current
Calculating the d-axis compensation electric current obtained also can be larger, and it is excessive to may cause d-axis reverse current, causes motor desynchronizing.And pass through base
Subsequent d-axis compensation electric current is determined in the currently practical quadrature axis current detected, it can be ensured that the electric current that currently d-axis is compensated,
It is not too big always under the limitation of currently practical quadrature axis current, it can avoid reduction sudden load change, quadrature axis instruction current is dashed forward
Become, the influence to motor is conducive to motor and operates stably.
Step S40 determines that d-axis compensates electric current according to the current quadrature axis current, wherein the d-axis compensates electric current
The current component being negative for direction；
D-axis compensates electric current, refers to the Contrary compensation electric current being added on d-axis, reversely refers to that it be electric current is the electricity that direction is negative
Flow component, numerical value can behave as negative value.It, can be according to quadrature axis current according to predetermined manner after obtaining current quadrature axis current
It calculates and obtains d-axis compensation electric current, or d-axis is obtained according to quadrature axis current look-up table and compensates electric current.
In one embodiment, preset mapping table is obtained, the mapping table is inquired according to the current quadrature axis current,
It obtains d-axis corresponding with the current quadrature axis current and compensates electric current.
Wherein, preset mapping table can be as shown in the table, pair of storage quadrature axis current and d-axis compensation electric current Id'
It should be related to, by quadrature axis current, that is, can determine corresponding d-axis compensation electric current.
| Serial number | Quadrature axis current Iq | D-axis compensates electric current Id' |
| 1 | Iq1 | Id'1 |
| 2 | Iq2 | Id'2 |
| 3 | Iq3 | Id'3 |
| 4 | Iq4 | Id'4 |
| 5 | …… | …… |
Step S50 compensates electric current based on the d-axis, generates the current d-axis expectation electric current of the motor；
It is the Contrary compensation electric current being additionally added on d-axis that d-axis, which compensates electric current, in addition to this, based on current turn of motor
Speed instruction can calculate the d-axis instruction current that obtains and should be added on d-axis, compensate electric current according to d-axis and d-axis instruction current is common
Current d-axis expectation electric current is generated, optionally, current d-axis expectation electric current is that d-axis compensates electric current and d-axis instruction current
The sum of.
Step S60 controls the motor based on the current d-axis expectation electric current.
Actual direct-axis current/quadrature axis current is controlled, current d-axis expectation electric current/quadrature axis instruction current is tracked, is realized
Control to motor.
In internal permanent magnet synchronous motor (PMSM), since d axle inductance is less than q axle inductance, have it is reversed saliency,
If the value for making d shaft current be negative, reluctance torque become positive value from negative value, torque can be made to increase.
Specifically, the electromagnetic torque equation of PMSM are as follows: Te=1.5Pn [ψ * Iq+ (Ld-Lq) Id*Iq], according to Id=0
Control method, electromagnetic torque equation are as follows: Te=1.5Pn* ψ * Iq, if using the saliency of motor, Ld-Lq < 0, if then enabling motor
D axis flows through the current component that current direction is negative, and reluctance torque item " (Ld-Lq) Id*Iq " is positive, and the electromagnetism for increasing output turns
Square is realized under identical torque-demand, can reduce input current, reduces input power.
Wherein, Te is the electromagnetic torque of PMSM output；Pn is number of pole-pairs；ψ is rotor magnetic pole magnetic flux；Id, Iq are respectively d axis
Electric current (direct-axis current), q shaft current；Ld, Lq are respectively d axis, q axle inductance.
In addition, making d axis flow through great negative current in determination, to ensure not only to reduce as far as possible copper loss, but also not to motor
When interfering the adverse effect of normal operation, the embodiment of the present invention determines that d-axis compensates electric current according to quadrature axis current, may make
D-axis compensates the variation of current following quadrature axis current, and then carries out corresponding compensation with the variation of quadrature axis current and to direct-axis current,
Quadrature axis current absolute value is bigger, and d-axis compensation current absolute value is also bigger, and quadrature axis current absolute value is smaller, and d-axis compensates electric current
Absolute value also just it is smaller, and then avoid d-axis compensate for deficiency that electric current be fixed value when, to reduce copper loss or because d-axis compensation
Electric current is excessive and motor is caused to be unable to operate normally, it is ensured that d-axis compensation electric current is constantly in a zone of reasonableness.
By obtaining current quadrature axis current after detecting the current rotary speed instruction of motor；According to the current friendship
Shaft current determines that d-axis compensates electric current, wherein d-axis compensation electric current is the current component that direction is negative；It is compensated based on the d-axis
Electric current generates the current d-axis expectation electric current of the motor；The motor is carried out based on the current d-axis expectation electric current
Control, because d-axis compensation electric current become larger with quadrature axis current due to become larger, it is larger in compressor load, be passed through electric current it is larger when, quadrature axis
Electric current becomes larger, and d-axis compensation electric current also becomes larger therewith, increases reluctance torque, and then under identical torque-demand, reduces input electricity
Stream, reduces input power, and realization adaptively reduces copper loss.
Optionally, include: before step S30 in another embodiment of motor control method of the present invention such as Fig. 2
Step S10 obtains the current final goal revolving speed of the motor, actual speed and rotation speed change amount threshold value；
The current final goal revolving speed of motor refers to the motor target velocity that host computer is assigned, for example, the reality that motor is current
Revolving speed is 60 revolutions per seconds, and motor is mentioned 80 revolutions per seconds, and 80 revolutions per seconds here are that the current final goal of motor turns
Speed.
To avoid current/voltage mutation from causing the adverse effects such as step-out to motor, control is set in motor speed control
The rotation speed change amount in period, each control period is less than or equal to rotation speed change amount threshold value, for example, the actual speed that motor is current
It is 60 revolutions per seconds, is mentioned 80 revolutions per seconds, the rotation speed change amount in each control period is 1 revolutions per second, i.e., one control period is only
1 revolutions per second can be promoted.
Step S20, based on the current final goal revolving speed, actual speed and rotation speed change amount threshold value generate described in work as
Preceding rotary speed instruction.
Current rotary speed instruction refers to the rotary speed instruction being presently in the control period, for example, if turn in each control period
Fast variable quantity is 1 revolutions per second, during being based on 60 revolutions per seconds of speed-raisings, first control period corresponding revolving speed for 60-61 turns/
Second, then 61 revolutions per seconds are the current corresponding rotating speed of target of rotary speed instruction.
It determines that motor is speed-raising or reduction of speed by current final goal revolving speed and actual speed, and passes through rotation speed change
The speed that threshold value limits motor speed change is measured, to avoid because of current final goal revolving speed corresponding current and currently practical electric current
Difference is excessive, avoids adverse effect caused by current break.
It optionally, include: to return after being spaced preset time period and execute the step S10 after step S60.
Motor is controlled based on current d-axis expectation electric current, that is, completes the revolving speed control in a control period
Afterwards, it can return to and execute step S10, to continue the revolving speed control in next control period, and then realize that motor turns from practical
Speed arrives the closed-loop control of final goal revolving speed.Also, it redefines current final goal by each control period to turn
Speed, can detect the variation of final goal revolving speed in time, and make corresponding adjustment in turn, improve the response speed of motor.
Optionally, as Fig. 3, step S20 include:
Step S21 is based on the actual speed if the current final goal revolving speed is greater than the actual speed,
Generate the current rotary speed instruction that revolving speed increases, wherein revolving speed increase is equal to the rotation speed change amount threshold value；
If current final goal revolving speed is greater than actual speed, need to carry out the control raised speed/increased speed to motor,
It can then increase speed based on the actual rotational speed, it specifically can be by the sum of actual speed and rotation speed change amount threshold value, as current
The corresponding rotating speed of target of rotary speed instruction, and current rotary speed instruction is generated based on the rotating speed of target.
Step S22 is based on the actual speed if the current final goal revolving speed is less than the actual speed,
Generate the current rotary speed instruction that revolving speed reduces, wherein speed decrease is equal to the rotation speed change amount threshold value.
If current final goal revolving speed is less than actual speed, need to carry out the control of reduction of speed/reduction revolving speed to motor,
Then revolving speed can be reduced based on the actual rotational speed, it specifically can be by the difference of actual speed and rotation speed change amount threshold value, as current
The corresponding rotating speed of target of rotary speed instruction, and current rotary speed instruction is generated based on the rotating speed of target.
Through current final goal revolving speed compared with the size of actual speed, it may be determined that motor speed is to increase or subtract
It is small, meanwhile, it is limited by variable quantity of the rotation speed change amount threshold value to motor speed, current break is avoided normally to transport motor
Row causes adverse effect.
It optionally, include: to return after being spaced preset time period and execute the step S10 after step S60.It is being based on
Current d-axis expectation electric current controls motor, that is, after the revolving speed control for completing a control period, can return to and execute step
Rapid S10 to continue the revolving speed control in next control period, and then realizes motor from actual speed to final goal revolving speed
Closed-loop control.
Optionally, step S40 includes:
Minimum current formula is obtained, is calculated according to the minimum current formula and the current quadrature axis current described in obtaining
D-axis compensates electric current, wherein the minimum current formula are as follows:
Id'=-k*Iq
Wherein, k is proportional gain value, and Id' is that the d-axis compensates electric current, and Iq is the current quadrature axis current.
Wherein, after obtaining minimum current formula, proportional gain value k is obtained, k, Iq substitution minimum current formula are fallen into a trap
It calculates and obtains Id', wherein 0 k≤0.6 <.
By being based on above-mentioned minimum current formula, is calculated according to quadrature axis current and obtain d-axis compensation electric current, it can be ensured that is current
To d-axis compensation electric current, always change under the limitation of quadrature axis current with quadrature axis current, and then with load variations, it can be achieved that
It is adaptively adjusted according to motor load, and then determines that the d-axis under various load conditions compensates electric current, it is suitable to carry out to d-axis
Current compensation avoids adverse effect caused by due to being not suitable with motor current load conditions while reducing copper loss as far as possible,
Be conducive to motor to operate stably.In addition, k is limited in (0,0.6], it can avoid because electric current is excessive normally transports to motor for d-axis compensation
Adverse effect caused by row guarantees that motor operates stably.
Optionally, the proportional gain value k is after determining the revolving speed section that the motor is presently in, according to the ratio
Example yield value k and the corresponding relationship in the revolving speed section obtain, wherein different rotating speeds section corresponds to different proportional gain values.
The motor operation range of speeds can be divided into multiple sections, and different rotating speeds section can correspond to different proportion yield value k, true
After determining the revolving speed section that motor is presently in, the corresponding relationship of preset proportional gain value and revolving speed section can be inquired, is obtained
The current proportional gain value k of motor.Wherein, the revolving speed area that motor is presently in can be determined based on the current rotary speed instruction
Between.It, can be optimal in different revolving speed sections, experimental verification according to motor operation for the proportional gain value k in every speed section
When input power, the proportional gain value k in different sections is determined, it specifically can be by adjusting proportional gain value k, so that compressor is negative
Set torque changes, and by calculating compressor actual motion power P=Ud*id+Uq*iq, observes compressor under equal conditions
Operation power variation, compressor operation power reach minimum value when, determine the corresponding proportional gain of current minimum power
Value k.
Under different rotating speeds section, the proportional gain value between quadrature axis current compensates electric current from d-axis is different, because of different rotating speeds area
Between under, the differences such as motor operation load, different rotating speeds section corresponds to different proportional gain values, may make quadrature axis current and d-axis
The design factor (proportional gain value) compensated between electric current converts with operating load and is changed, and then determines under different rotating speeds section,
It more properly calculates d-axis and compensates electric current, more appropriate current compensation is carried out to d-axis.
Optionally, as Fig. 4, step S50 include:
Step S51 determines corresponding demand voltage according to the current rotary speed instruction；
Step S52, when the demand voltage is less than predeterminated voltage, d-axis instruction current is 0, big in the demand voltage
When predeterminated voltage, is calculated based on the current rotary speed instruction and obtain d-axis instruction current；
Different motor speeds, corresponding different demand voltage, (usually lower than preset rotation speed in certain revolving speed section
Revolving speed section), revolving speed is bigger, and demand voltage is bigger, at this point, demand voltage is always less than limiting voltage, the increase of revolving speed can lead to
The realization of increase voltage is crossed, without adding the reverse current for speedup in d-axis.And when exceeding the revolving speed section, demand voltage
Greater than limiting voltage, motor can not increase voltage for improving revolving speed, to further increase revolving speed, by d-axis plus anti-again
To electric current, the counter electromotive force of motor can be reduced, reduces resistance, and then promote revolving speed, can be calculated based on current rotary speed instruction straight
Axis instruction current, d-axis instruction current are also the reverse current component on d-axis, at this point, d-axis instruction current is negative value.
Direct-axis current is divided into two parts, and a part is to compensate electric current, another portion based on the d-axis for reducing copper loss consideration and being arranged
Dividing is the d-axis instruction current determined based on current rotary speed instruction.It, can be based on current after the current rotary speed instruction of determination
Rotary speed instruction obtain d-axis instruction current.
Step S53, by the d-axis instruction current and d-axis compensation the sum of electric current as the motor currently straight
Axis expectation electric current.
When demand voltage is greater than predeterminated voltage, electric moter voltage can not continue to increase, at this time, it may be necessary to have for improving motor
The d-axis instruction current of revolving speed, which is negative value, at this point, current d-axis expectation electric current is d-axis instruction current
The sum of electric current is compensated with d-axis, the two is added on d-axis jointly, common to realize the effect for improving revolving speed and reduction copper loss.
It is less than predeterminated voltage in demand voltage, without improving revolving speed by direct-axis current, thus is referred to based on current revolving speed
Enabling determining d-axis instruction current is 0, and the sum of d-axis instruction current and d-axis compensation electric current are equal to d-axis and compensate electric current, that is, In
Only have d-axis to compensate electric current on d-axis.
D-axis is all based on by the entire revolving speed section in motor and compensates electric current to d-axis progress current compensation, it can be ensured that whole
In a revolving speed section, all current reduction copper loss can be compensated by d-axis.
The present invention also proposes a kind of motor control assembly.
If Fig. 5 is one embodiment schematic diagram of motor control assembly of the present invention.
The motor control assembly includes:
Acquiring unit 101 is used for after detecting the current rotary speed instruction of the motor, obtains current quadrature axis electricity
Stream；
Computing unit 102 is used to determine that d-axis compensates electric current according to the current quadrature axis current, wherein described straight
Axis compensation electric current is the current component that direction is negative；
The computing unit 102 is also used to compensate electric current based on the d-axis, generates the motor current d-axis phase
Hope electric current；
Control unit 103 is used to control the motor based on the current d-axis expectation electric current.
Wherein, motor control assembly can be internal permanent magnet synchronous motor (PMSM).
Optionally, the acquiring unit 101 is also used to obtain the current final goal revolving speed of the motor, practical turn
Speed and rotation speed change amount threshold value；
The computing unit 102 is also used to based on current final goal revolving speed, actual speed and the rotation speed change
Amount threshold value generates the current rotary speed instruction.
Optionally, the computing unit 102 turns if being also used to the current final goal revolving speed greater than the reality
Speed is then based on the actual speed, generates the current rotary speed instruction that revolving speed increases, wherein revolving speed increase is equal to institute
State rotation speed change amount threshold value；If the current final goal revolving speed is less than the actual speed, it is based on the actual speed,
Generate the current rotary speed instruction that revolving speed reduces, wherein speed decrease is equal to the rotation speed change amount threshold value.
Optionally, the current quadrature axis current is the currently practical quadrature axis current detected.
Optionally, the computing unit 102, is also used to obtain minimum current formula, according to the minimum current formula
It is calculated with the current quadrature axis current and obtains the d-axis compensation electric current, wherein the minimum current formula are as follows:
Id'=-k*Iq
Wherein, k is proportional gain value, and Id' is that the d-axis compensates electric current, and Iq is the current quadrature axis current.
Optionally, the proportional gain value k is after determining the revolving speed section that the motor is presently in, according to the ratio
Example yield value k and the corresponding relationship in the revolving speed section obtain, wherein different rotating speeds section corresponds to different proportional gain values.
Optionally, 0 k≤0.6 <.
Optionally, the computing unit 102 is also used to determine corresponding demand electricity according to the current rotary speed instruction
Pressure；D-axis instruction current is obtained, the sum of the d-axis instruction current and d-axis compensation electric current is current as the motor
D-axis expectation electric current, wherein the demand voltage be less than the motor limiting voltage, and the demand voltage with it is described
When the difference of limiting voltage is greater than preset threshold, the d-axis instruction current is 0.
The present invention also proposes a kind of air conditioner.
Such as the structural schematic diagram that Fig. 6 is one embodiment of the air condition of that present invention.
Such as Fig. 6, the air conditioner includes the computer readable storage medium 201 and processor for being stored with computer program
202, when the computer program is read and run by the processor 202, realize motor control method as described above.
The present invention also proposes a kind of computer readable storage medium.
In one embodiment, the computer-readable recording medium storage has computer program, and the computer program is located
When reason device reads and runs, motor control method as described above is realized.
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (11)
1. a kind of motor control method characterized by comprising
After detecting the current rotary speed instruction of the motor, current quadrature axis current is obtained；
Determine that d-axis compensates electric current according to the current quadrature axis current, wherein the d-axis compensation electric current is what direction was negative
Current component；
Electric current is compensated based on the d-axis, generates the current d-axis expectation electric current of the motor；
The motor is controlled based on the current d-axis expectation electric current.
2. motor control method as described in claim 1, which is characterized in that described to detect the current revolving speed of the motor
After instruction, include: before the step of obtaining current quadrature axis current
Obtain the current final goal revolving speed of the motor, actual speed and rotation speed change amount threshold value；
The current revolving speed is generated based on the current final goal revolving speed, actual speed and rotation speed change amount threshold value to refer to
It enables.
3. motor control method as claimed in claim 2, which is characterized in that described to be turned based on the current final goal
Speed, actual speed and rotation speed change amount threshold value generate the step of current rotary speed instruction and include:
If the current final goal revolving speed is greater than the actual speed, it is based on the actual speed, revolving speed is generated and increases
The current rotary speed instruction, wherein revolving speed increase be equal to the rotation speed change amount threshold value；
If the current final goal revolving speed is less than the actual speed, it is based on the actual speed, revolving speed is generated and reduces
The current rotary speed instruction, wherein speed decrease be equal to the rotation speed change amount threshold value.
4. motor control method as claimed in claim 2 or claim 3, which is characterized in that described based on the current d-axis expectation
Include: after the step of electric current controls the motor
After being spaced preset time period, return execute it is described obtain the current final goal revolving speed of the motor, actual speed and
The step of rotation speed change amount threshold value.
5. motor control method as claimed in claim 2 or claim 3, which is characterized in that the current quadrature axis current is current real
The quadrature axis current that border detects.
6. motor control method as claimed any one in claims 1 to 3, which is characterized in that described according to described current
Quadrature axis current determines that d-axis compensates electric current, wherein d-axis compensation electric current be direction be negative current component the step of include:
Minimum current formula is obtained, calculates according to the minimum current formula and the current quadrature axis current and obtains the d-axis
Compensate electric current, wherein the minimum current formula are as follows:
Id'=-k*Iq
Wherein, k is proportional gain value, and Id' is that the d-axis compensates electric current, and Iq is the current quadrature axis current.
7. motor control method as claimed in claim 6, which is characterized in that 0 k≤0.6 <.
8. motor control method as claimed any one in claims 1 to 3, which is characterized in that described to be mended based on the d-axis
The step of repaying electric current, generating the motor current d-axis expectation electric current include:
Corresponding demand voltage is determined according to the current rotary speed instruction；
When the demand voltage is less than predeterminated voltage, d-axis instruction current is 0, is greater than or equal in the demand voltage default
When voltage, is calculated based on the current rotary speed instruction and obtain d-axis instruction current；
By the sum of the d-axis instruction current and the d-axis compensation electric current d-axis expectation electric current current as the motor.
9. a kind of motor control assembly characterized by comprising
Acquiring unit (101) is used for after detecting the current rotary speed instruction of the motor, obtains current quadrature axis current；
Computing unit (102) is used to determine that d-axis compensates electric current according to the current quadrature axis current, wherein the d-axis
Compensation electric current is the current component that direction is negative；
The computing unit (102) is also used to compensate electric current based on the d-axis, generates the current d-axis expectation of the motor
Electric current；
Control unit (103) is used to control the motor based on the current d-axis expectation electric current.
10. a kind of air conditioner, which is characterized in that including be stored with computer program computer readable storage medium (201) and
Processor (202) when the computer program is read and run by the processor (202), is realized as claim 1-8 is any
Motor control method described in.
11. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer journey
Sequence when the computer program is read out by the processor and runs, realizes such as the described in any item motor control sides claim 1-8
Method.
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