CN110581678A - Motor control method, motor control device, electric equipment and storage medium - Google Patents
Motor control method, motor control device, electric equipment and storage medium Download PDFInfo
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- CN110581678A CN110581678A CN201910789400.8A CN201910789400A CN110581678A CN 110581678 A CN110581678 A CN 110581678A CN 201910789400 A CN201910789400 A CN 201910789400A CN 110581678 A CN110581678 A CN 110581678A
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
Abstract
The disclosure provides a motor control method and device, electric equipment and a storage medium, and relates to the technical field of motor control. The method comprises the following steps: the method comprises the steps of respectively obtaining q-axis specified current, d-axis specified current, q-axis actual current and d-axis actual current of a motor, determining q-axis current difference based on the q-axis specified current and the q-axis actual current, determining d-axis current difference based on the d-axis specified current and the d-axis actual current, respectively processing the q-axis current difference and the d-axis current difference based on a closed-loop transfer function to obtain q-axis voltage and d-axis voltage, wherein the closed-loop transfer function is determined according to a current control model, the current control model comprises a current regulator model, the current regulator model comprises a first inertia link for attenuating high-frequency interference signals, and the q-axis voltage and the d-axis voltage are used for indicating that A-phase voltage and B-phase voltage are input to the motor. When the closed-loop control is performed on the motor current, the interference of high-frequency signals can be reduced, and the stability of the control motor is improved.
Description
Technical Field
The present disclosure relates to the field of motor control technologies, and in particular, to a motor control method and apparatus, an electric device, and a storage medium.
Background
With the development of power electronic technology, motors have been widely applied to various electric devices, such as electric vehicles, and the like, and therefore, the control of the motors is more and more paid attention.
In the prior art, the current input to the motor may be closed-loop controlled by a closed-loop transfer function corresponding to a PI (Proportional Integral controller), where the model of the PI isWherein, KpAs a proportional link parameter, KiIs an integral link parameter, and s is a differential link.
However, in the process of performing closed-loop control on the motor current, no measures are taken for the high-frequency interference signal, so that the stability of motor control is low.
Disclosure of Invention
The present disclosure is directed to a motor control method, a motor control apparatus, an electric device, and a storage medium, which are used to reduce interference of high frequency signals and improve stability of motor control when a motor current is controlled in a closed loop manner.
In order to achieve the above purpose, the technical scheme adopted by the disclosure is as follows:
In a first aspect, the present disclosure presents a method of controlling a motor, the method comprising:
Respectively obtaining q-axis specified current, d-axis specified current, q-axis actual current and d-axis actual current of a motor, wherein the q-axis actual current and the d-axis actual current are obtained by conversion according to current A-phase current and current B-phase current input to the motor;
Determining a q-axis current difference based on the q-axis specified current and the q-axis actual current, and determining a d-axis current difference based on the d-axis specified current and the d-axis actual current;
The method comprises the steps that a q-axis current difference and a d-axis current difference are processed respectively on the basis of a closed-loop transfer function to obtain a q-axis voltage and a d-axis voltage, the closed-loop transfer function is determined according to a current control model, the current control model comprises a current regulator model, the current regulator model comprises a first inertia link, the first inertia link is used for attenuating a high-frequency interference signal, and the q-axis voltage and the d-axis voltage are used for indicating an A-phase voltage and a B-phase voltage which are input to a motor.
Optionally, the current regulator model further includes a proportional element, an integral element, and a first differential element connected in series with the first inertial element, where the first differential element is T0s +1, the proportion link is K, and the integral link is KK and T0for the regulator parameter, T0Is the time constant of the first differential element, and s is the second differential element.
Optionally, the current control model further includes a motor controller model and a motor model connected in series with the current regulator model, the motor controller model is a second inertia element, and the motor model is a third inertia element.
Optionally, the second inertial element isWherein, KcAnd TcAs a motor controller parameter, KcFor magnification of motor controller, Tcis the delay of the motor controller.
Optionally, the third inertial element comprisesWherein, Kmand TmAs a parameter of the motor, Km＝1/Rs，Tm＝Ld(q)/Rs，Ld(q)D-axis or q-axis inductances, R, of the stator of the machinesIs the motor stator resistance.
Optionally, the first inertia link isWherein, T1For the regulator parameter, T1Is the time constant of the first inertial link.
alternatively,T0＝Tm，Wherein, ω iscIn order to cut-off the frequency of the system,
In a second aspect, the present disclosure also proposes a motor control apparatus, the apparatus comprising:
The device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for respectively acquiring q-axis specified current, d-axis specified current, q-axis actual current and d-axis actual current of a motor, and the q-axis actual current and the d-axis actual current are obtained by conversion according to current A-phase current and current B-phase current input to the motor;
a determining module for determining a q-axis current difference based on the q-axis specified current and the q-axis actual current, and a d-axis current difference based on the d-axis specified current and the d-axis actual current;
the processing module is used for respectively processing the q-axis current difference and the d-axis current difference based on a closed-loop transfer function to obtain q-axis voltage and d-axis voltage, the closed-loop transfer function is determined according to a current control model, the current control model comprises a current regulator model, the current regulator model comprises a first inertia link, the first inertia link is used for attenuating a high-frequency interference signal, and the q-axis voltage and the d-axis voltage are used for indicating phase-A voltage and phase-B voltage input to the motor.
Optionally, the current regulator model further includes a proportional element, an integral element, and a first differential element connected in series with the first inertial element, wherein the first differential element is connected in series with the proportional elementThe first differential element is T0s +1, the proportion link is K, and the integral link is KK and T0For the regulator parameter, T0Is the time constant of the first differential element, and s is the second differential element.
Optionally, the current control model further includes a motor controller model and a motor model connected in series with the current regulator model, the motor controller model is a second inertia element, and the motor model is a third inertia element.
Optionally, the second inertial element isWherein, KcAnd TcAs motor controller parameter, Tcis the delay of the motor controller.
optionally, the third inertial element comprisesWherein, KmAnd TmAs a parameter of the motor, Km＝1/Rs，Tm＝Ld(q)/Rs，Ld(q)D-axis or q-axis inductances, R, of the stator of the machinesIs the motor stator resistance.
Optionally, the first inertia link isWherein, T1For the regulator parameter, T1Is the time constant of the first inertial link.
Alternatively,T0＝Tm，Wherein, ω iscFor system cutoffThe frequency of the radio frequency is set to be,
In a third aspect, the present disclosure also provides an electric device, including: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the electrically powered device is operated, the processor executing the machine-readable instructions to perform the steps of the method according to the first aspect.
In a fourth aspect, the present disclosure also proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect.
In the embodiment of the present disclosure, a q-axis specified current, a d-axis specified current, a q-axis actual current, and a d-axis actual current of a motor may be obtained respectively, a q-axis current difference may be determined based on the q-axis specified current and the q-axis actual current, a d-axis current difference may be determined based on the d-axis specified current and the d-axis actual current, and the q-axis current difference and the d-axis current difference may be processed by a closed-loop transfer function, so as to obtain a q-axis voltage and a d-axis voltage, where the q-axis voltage and the d-axis voltage may indicate an a-phase voltage and a B-phase voltage. The q-axis actual current and the d-axis actual current are obtained by conversion according to the current input to the motor, namely the phase A current and the phase B current, and the closed-loop transfer function is determined according to the current control model, wherein the current control model comprises a current regulator model which comprises a first inertia link for attenuating high-frequency interference signals, so that the interference of the high-frequency signals can be reduced when the motor current is subjected to closed-loop control, and the stability of controlling the motor is improved.
Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the disclosure. The objectives and other advantages of the disclosure may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
To more clearly illustrate the technical solutions of the present disclosure, the drawings needed for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present disclosure, and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 illustrates a schematic diagram of a motor control system provided by the present disclosure;
FIG. 2 illustrates a flow diagram of a motor control method provided by the present disclosure;
FIG. 3 illustrates a flow chart of a current control model design method provided by the present disclosure;
FIG. 4 illustrates a block diagram of a current control model provided by the present disclosure;
FIG. 5 illustrates a Bode diagram provided by the present disclosure;
FIG. 6 illustrates a functional block schematic diagram of a motor control apparatus provided by the present disclosure;
Fig. 7 shows a functional module schematic diagram of an electrically powered device provided by the present disclosure.
Detailed Description
The technical solution in the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the present disclosure.
it should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Before explaining the present disclosure in detail, an application scenario of the present disclosure will be described.
fig. 1 is a schematic diagram of a motor control system according to the present disclosure. The system comprises a PI 101, two current controllers 102, a Park inverter 103 and a PWM (Pulse Widt)h Modulation) modulator 104, inverter 105, PMSM (Permanent Magnet Synchronous Motor) 106, Clark converter 107, Park converter 108, and encoder 109. The PI 101 is used for closed-loop control of the angular frequency of the PMSM106, and can be specified according to a specified angular frequency ω*Determining the actual angular frequency omega to obtain a q-axis specified current iq *(ii) a The two current controllers 102 are respectively used for carrying out closed-loop control on the motor current of the q axis and the motor current of the d axis, and the current controller 102 corresponding to the q axis is used for controlling the motor current of the q axis according to the iq *And q-axis actual current iqDetermining to obtain a q-axis control voltage uqthe d-axis current controller 102 is based on id *And d-axis actual current idD-axis control voltage u is determinedd(ii) a The Park inverter 103 converts u according to an angle θ of a rotor of the PMSM106 with respect to a statorqAnd udTransforming from a rotating dq coordinate system to a stationary alpha beta coordinate system to obtain uαAnd uβ(ii) a PWM modulator 104 according to uαAnd uβControlling the inverter 105 to output a three-phase voltage u to the PMSM106Aand uB(ii) a Clark converter 107 according to uAAnd uBIs determined to obtain iAAnd iBAnd will iAAnd iBTransforming to a stationary alpha beta coordinate system to obtain iαAnd iβ(ii) a The Park converter converts i according to the angle θ of the rotor relative to the stator of PMSM106αAnd iβTransforming from a stationary alpha beta coordinate system to a rotating dq coordinate system to obtain iqAnd id(ii) a The encoder 109 detects the actual angular frequency ω of the PMSM106 and the angle θ of the rotor with respect to the stator, and feeds θ back to the Park inverter 103 and the Park inverter 108.
The d-axis current is a torque current component and can be used for controlling the torque; the d-axis current is an excitation current component and can be used to control the magnetic flux.
It should be noted that the PI 101, the current controller 102, the Park inverter 103, the PWM modulator 104, the Clark converter 107, and the Park converter 108 may be implemented by one or more devices with computing power, such as a processor.
It should be further noted that the present disclosure only uses the above fig. 1 as an example to describe an application scenario of the present disclosure, and in practical applications, the present disclosure may also be applied to other types of motor current control, such as an asynchronous motor, a dc motor, and the like.
Fig. 2 is a schematic flow chart of a motor control method according to the present disclosure. It should be noted that the motor control method described in the present disclosure is not limited by the specific sequence described in fig. 2 and below, and the execution subject of the method may be a computing device for executing the above-described operation related to the current controller 102. It should be understood that in other embodiments, the order of some steps in the motor control method according to the present disclosure may be interchanged according to actual needs, or some steps may be omitted or deleted. The flow shown in fig. 2 will be explained in detail below.
Step 201, a q-axis specified current, a d-axis specified current, a q-axis actual current and a d-axis actual current of the motor are respectively obtained.
And the q-axis actual current and the d-axis actual current are converted according to the A-phase current and the B-phase current currently input to the motor.
In order to make the actual q-axis current and the actual d-axis current provided to the motor as much as possible respectively consistent with the specified q-axis current and the specified d-axis current, the current input to the motor is subjected to closed-loop control, so that the stable operation of the motor is ensured, and the actual q-axis current, the actual d-axis current, the specified q-axis current and the specified d-axis current of the current motor can be obtained.
The q-axis specified current can be obtained by carrying out closed-loop control on the angular frequency of the motor.
The d-axis specified current can be obtained by setting in advance.
Of course, in practical applications, the d-axis specified current and the q-axis specified current may also be determined by other means, for example, by obtaining the corresponding d-axis specified current and q-axis specified current through a table look-up according to the angular frequency of the motor. The embodiment of the present disclosure does not specifically limit the manner of obtaining the d-axis specified current and the q-axis specified current.
The q-axis actual current and the d-axis actual current may be obtained by converting the a-phase current and the B-phase current input to the motor, such as in fig. 1 described above, the a-phase current and the B-phase current between the inverter 105 and the PMSM106 may be collected.
In step 202, a q-axis current difference is determined based on the q-axis specified current and the q-axis actual current, and a d-axis current difference is determined based on the d-axis specified current and the d-axis actual current.
To achieve closed loop control of the current input to the motor, a q-axis current difference and a d-axis current difference may be determined separately.
The difference between the q-axis specified current and the q-axis actual current may be determined as a q-axis current difference, and correspondingly, the difference between the d-axis specified current and the d-axis actual current may be determined as a d-axis current difference.
And 203, respectively processing the q-axis current difference and the d-axis current difference based on the closed-loop transfer function to obtain a q-axis voltage and a d-axis voltage.
The closed-loop transfer function is determined according to a current control model, the current control model comprises a current regulator model, the current regulator model comprises a first inertia link, the first inertia link is used for attenuating high-frequency interference signals, and q-axis voltage and d-axis voltage are used for indicating A-phase voltage and B-phase voltage input to the motor.
In order to suppress high-frequency interference signals and improve the stability of controlling the motor, the q-axis current difference and the d-axis current difference can be respectively processed through a closed-loop transfer function determined according to a current control model comprising a first inertia link, so that a q-axis voltage and a d-axis voltage are obtained.
The current control model may be a mathematical model for closed-loop control of the motor current that may account for mathematical relationships between the q-axis current and the q-axis voltage, and the d-axis current and the d-axis voltage. The current control model can be established by a user in advance.
The output of the inertial link does not scale with the input synchronously at the beginning, and the output cannot keep the scale with the input until the transition process is finished.
The method includes the steps that a corresponding closed-loop transfer function can be determined based on a current control model established in advance, q-axis current difference is processed through the closed-loop transfer function, the obtained result is q-axis voltage, d-axis current difference is processed through the closed-loop transfer function, and the obtained result is d-axis voltage. When the q-axis voltage and the d-axis voltage are determined, the a-phase voltage and the B-phase voltage input to the motor may be determined according to the q-axis voltage and the d-axis voltage.
In the embodiment of the present disclosure, a q-axis specified current, a d-axis specified current, a q-axis actual current, and a d-axis actual current of a motor may be obtained respectively, a q-axis current difference may be determined based on the q-axis specified current and the q-axis actual current, a d-axis current difference may be determined based on the d-axis specified current and the d-axis actual current, and the q-axis current difference and the d-axis current difference may be processed by a closed-loop transfer function, so as to obtain a q-axis voltage and a d-axis voltage, where the q-axis voltage and the d-axis voltage may indicate an a-phase voltage and a B-phase voltage. The q-axis actual current and the d-axis actual current are obtained by conversion according to the current input to the motor, namely the phase A current and the phase B current, and the closed-loop transfer function is determined according to the current control model, wherein the current control model comprises a current regulator model which comprises a first inertia link for attenuating high-frequency interference signals, so that the interference of the high-frequency signals can be reduced when the motor current is subjected to closed-loop control, and the stability of controlling the motor is improved.
Optionally, the current regulator model further includes a proportional element, an integral element, and a first differential element connected in series with the first inertial element. The proportional element is used to adjust the system gain.
The integral element is used for reducing the steady-state error of the system.
The first differential element can be used for eliminating the element with a larger time constant in the current control model.
Optionally, the proportional element is K, and the integral element is KThe first differential element is T0s +1, wherein K and T0For the regulator parameter, T0Is the first microThe time constant of the sub-element, s is the second differential element.
optionally, the current control model further comprises a motor controller model and a motor model in series with the current regulator model, the motor controller model being the second inertial element and the motor model being the third inertial element.
In order to further adjust the motor current according to the characteristics of the motor controller and the motor itself so as to further improve the stability of controlling the motor, the current control model further comprises a motor controller model and a motor model which are connected in series with the current regulator model.
The motor controller model corresponds to a motor controller and can be used for adjusting the motor current according to the characteristics of the motor controller.
The motor controller is used for controlling electric parameters such as current and voltage input to the motor, and may include the inverter in fig. 1.
Optionally, the second inertial element isWherein, KcAnd TcAs a motor controller parameter, KcFor magnification of motor controller, TcIs the delay of the motor controller.
Wherein, KcAnd TcCan be obtained by setting in advance.
Note that T iscMay be a time constant, such as a switching period.
The motor model corresponds to the motor and can be used for adjusting the motor current according to the characteristics of the motor.
Optionally, the third inertial element comprisesWherein, Kmand TmAs a parameter of the motor, Km＝1/Rs，Tm＝Ld(q)/Rs，Ld(q)d-axis or q-axis inductances, R, of the stator of the machinesIs the motor stator resistance.
Wherein, Km、Tm、Ld(q)And RsCan be obtained by setting in advance.
It should be noted that when the closed-loop transfer function is used for processing the d-axis current difference, that is, the current control model is used for controlling the d-axis current, Ld(q)May be the d-axis inductance of the motor stator; when the closed-loop transfer function is used for processing the q-axis current difference, i.e. the current control model is used for controlling the q-axis current, Ld(q)May be the q-axis inductance of the stator of the motor.
it should be further noted that, in practical applications, the motor controller model and the motor model may also include other more links, respectively.
Optionally, the first inertia link isWherein, T1For the regulator parameter, T1Is the time constant of the first inertial link.
Wherein, T1Can be obtained by setting in advance.
Alternatively,T0＝Tm，Wherein, ω iscIn order to cut-off the frequency of the system,
In order to facilitate offline tuning of regulator parameters in the current regulator model, the regulator parameters may be determined by motor controller parameters and motor parameters. For different motors, the parameters of the regulator can be quickly set only by determining the parameters of the motor controller and the parameters of the motor in advance, so that the universality is strong, the setting difficulty can be reduced, the requirements on debugging personnel are reduced, and the setting efficiency is improved.
It should be noted that, in the embodiments of the present disclosure, only K is used to describe the above proportional links, so as toThe integration is explained by T0s +1 explains the first differential element described above toThe first inertia element is explained tothe second inertia element is explained so as toIn practical applications, the proportional element, the integral element, the first differential element, the first inertial element and the third inertial element are not limited to the above examples.
Fig. 3 is a flowchart illustrating a method for designing a current control model according to the present disclosure.
In step 301, a current control model is created.
wherein, as shown in 4, the current control model may comprise a current regulator model, a motor controller model and a motor model connected in series, the current regulator model beingThe motor controller model isThe motor model is
Taking a motor model as an example, the motor model can be represented by the following formula 1 under the condition of neglecting the saturation, eddy current and reluctance loss of a motor core:
Wherein u isdAnd uqd-axis voltage and q-axis voltage, i, of the statordAnd iqD-axis current and q-axis current, R, of the stator of the motorsIs the motor stator resistance, LdAnd Lqd-axis inductance and q-axis inductance, omega, of the stator of the motor, respectivelyrRespectively electrical angular velocity,. psifIs the rotor magnet flux linkage.
After decoupling through current feedback, the motor model can be simplified into a motor model shown in the following formula 2:
Wherein, KmAnd TmAs a parameter of the motor, Km＝1/Rs，Tm＝Ld(q)/Rs，Ld(q)D-axis or q-axis inductances, R, of the stator of the machinesIs the motor stator resistance.
Therefore, when it is determined that the motor model as shown in the above equation 2 is obtained, the corresponding d-axis voltage and q-axis voltage may be determined according to the q-axis voltage, the q-axis current, and the mathematical relationships between the d-axis voltage and the d-axis current, and between the q-axis voltage and the q-axis current, which are expressed by the motor model.
It should be noted that the creation process and application manner of the current regulator model and the motor controller model may be similar to the motor model, and are not described in detail here.
Step 302, determining an open-loop transfer function of the current control model.
For the current control model shown in fig. 4, it can be determined that the open-loop transfer function corresponding to the current control model is shown in equation 3:
Since the zero point of the current regulator model can be cancelled with the pole of the larger time constant of the controlled object in the engineering design, T can be set0＝TmThus, equation 3 can be simplified to equation 4:
Due to TcUsually much less than T1And thus T can be ignoredcThus, equation 4 can be simplified to equation 5:
As the cut-off frequency of the system can be the maximum angular frequency, the quick response of the motor in the operable speed is ensured, namely omegac＝ωmax. And since the current control model has an amplitude of 1 at the system cut-off frequency, i.e.thereby can obtain
Wherein, ω ismaxAt maximum angular frequency, A (ω)c) The amplitude of the model at the system cutoff frequency is controlled by the current.
Step 303, determining a closed loop transfer function of the current control model according to the open loop transfer function of the current control model.
Wherein, the closed-loop transfer function of the current control model can be determined according to equation 5 as shown in equation 6 below:
Where φ(s) is the system closed loop transfer function, ωnNatural frequency in the standard form of the current control model; xi is a current control modelDamping ratio in standard form.
From the above equation 6, it can be seen that
Since the closed loop transfer function is a second-order system, in order to minimize the resonance of the second-order system and satisfy the dynamic performance, the optimal solution ξ of the damping coefficient is 0.707, and then the damping coefficient can be obtained
byAndCan obtainWherein the content of the first and second substances,
Then will beThe open-loop transfer function of the current control model can be obtained by substituting the formula 5.
fig. 5 is a bode diagram corresponding to the current control model shown in fig. 4. The bode plot may be determined based on the open loop transfer function shown in equation 5 above. As can be seen from FIG. 5, when the angular frequency of the motor is less than ω1When the angular frequency of the motor is larger than omega, the amplitude-frequency characteristic is-20 dB/dec1And the amplitude-frequency characteristic is-40 dB/dec, so that the middle frequency band keeps better system dynamic performance, the high frequency band is quickly attenuated, and the interference of high-frequency signals is reduced.
Fig. 6 is a schematic diagram of functional modules of a motor control apparatus 600 according to the present disclosure. It should be noted that the basic principle and the technical effects of the motor control apparatus 600 provided in the present embodiment are the same as those of the corresponding method embodiments described above, and for the sake of brief description, reference may be made to corresponding contents in the method embodiments for parts that are not mentioned in the present embodiment. The motor control apparatus 600 includes an acquisition module 601, a determination module 602, and a processing module 603.
An obtaining module 601, configured to obtain a q-axis specified current, a d-axis specified current, a q-axis actual current, and a d-axis actual current of a motor respectively, where the q-axis actual current and the d-axis actual current are obtained by converting according to a current input to the motor, i.e., an a-phase current and a B-phase current;
A determining module 602 for determining a q-axis current difference based on the q-axis specified current and the q-axis actual current, and determining a d-axis current difference based on the d-axis specified current and the d-axis actual current;
The processing module 603 is configured to process the q-axis current difference and the d-axis current difference respectively based on a closed-loop transfer function to obtain a q-axis voltage and a d-axis voltage, where the closed-loop transfer function is determined according to a current control model, the current control model includes a current regulator model, the current regulator model includes a first inertia link, the first inertia link is configured to attenuate a high-frequency interference signal, and the q-axis voltage and the d-axis voltage are configured to indicate an a-phase voltage and a B-phase voltage input to the motor.
Optionally, the current regulator model further includes a proportional element, an integral element, and a first differential element connected in series with the first inertial element, where the first differential element is T0s +1, the proportional element is K, the integral element isK and T0For the regulator parameter, T0S is the time constant of the first differential element and s is the second differential element.
optionally, the current control model further includes a motor controller model and a motor model connected in series with the current regulator model, the motor controller model being the second inertial element, the motor model being the third inertial element.
Optionally, the second inertiaThe links areWherein, Kcand Tcas a motor controller parameter, KcFor magnification of motor controller, TcIs the delay of the motor controller.
Optionally, the third inertial element comprisesWherein, Kmand TmAs a parameter of the motor, Km＝1/Rs，Tm＝Ld(q)/Rs，Ld(q)D-axis or q-axis inductances, R, of the stator of the machinesis the motor stator resistance.
optionally, the first inertia link isWherein, T1for the regulator parameter, T1Is the time constant of the first inertial element.
Alternatively,T0＝Tm，Wherein, ω iscin order to cut-off the frequency of the system,
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 7 is a schematic diagram of functional modules of an electric device according to the present disclosure. The electric device may include a processor 701, a storage medium 702 and a bus 703, the storage medium 702 stores machine-readable instructions executable by the processor 701, when the electric device is operated, the processor 501 and the storage medium 702 communicate through the bus 703, and the processor 701 executes the machine-readable instructions, so as to implement the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor when executed, so as to implement the above method embodiments.
in the several embodiments provided in the present disclosure, it should be understood that the above-described apparatus embodiments are merely illustrative, and the disclosed apparatus and method may be implemented in other ways. For example, the division of the unit is only a logical function division, and in actual implementation, there may be another division manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed, for example, each unit may be integrated into one processing unit, each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
it is noted that, in this document, 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.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (16)
1. a method of controlling a motor, the method comprising:
Respectively obtaining q-axis specified current, d-axis specified current, q-axis actual current and d-axis actual current of a motor, wherein the q-axis actual current and the d-axis actual current are obtained by conversion according to current A-phase current and current B-phase current input to the motor;
Determining a q-axis current difference based on the q-axis specified current and the q-axis actual current, and determining a d-axis current difference based on the d-axis specified current and the d-axis actual current;
The method comprises the steps that a q-axis current difference and a d-axis current difference are processed respectively on the basis of a closed-loop transfer function to obtain a q-axis voltage and a d-axis voltage, the closed-loop transfer function is determined according to a current control model, the current control model comprises a current regulator model, the current regulator model comprises a first inertia link, the first inertia link is used for attenuating a high-frequency interference signal, and the q-axis voltage and the d-axis voltage are used for indicating an A-phase voltage and a B-phase voltage which are input to a motor.
2. The method of claim 1, wherein the current regulator model further comprises a proportional element, an integral element, and a first derivative element in series with the first inertial element, wherein the first derivative element is T0s +1, the proportion link is K, and the integral link is KK and T0For the regulator parameter, T0Is the time constant of the first differential element, and s is the second differential element.
3. The method of claim 2, wherein the current control model further comprises a motor controller model and a motor model in series with the current regulator model, the motor controller model being a second inertial element and the motor model being a third inertial element.
4. The method of claim 3, wherein the second inertial element isWherein, KcAnd TcAs a motor controller parameter, KcFor magnification of motor controller, TcIs the delay of the motor controller.
5. The method of claim 4, wherein the third inertial element comprisesWherein, KmAnd TmAs a parameter of the motor, Km＝1/Rs，Tm＝Ld(q)/Rs，Ld(q)Of d-axis or q-axis inductances of stators of electric machinesFeeling of Rsis the motor stator resistance.
6. The method of claim 5, wherein the first inertial link isWherein, T1For the regulator parameter, T1is the time constant of the first inertial link.
7. The method of claim 6,T0＝Tm，Wherein, ω iscIn order to cut-off the frequency of the system,
8. A motor control apparatus, characterized in that the apparatus comprises:
The device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for respectively acquiring q-axis specified current, d-axis specified current, q-axis actual current and d-axis actual current of a motor, and the q-axis actual current and the d-axis actual current are obtained by conversion according to current A-phase current and current B-phase current input to the motor;
A determining module for determining a q-axis current difference based on the q-axis specified current and the q-axis actual current, and a d-axis current difference based on the d-axis specified current and the d-axis actual current;
The processing module is used for respectively processing the q-axis current difference and the d-axis current difference based on a closed-loop transfer function to obtain q-axis voltage and d-axis voltage, the closed-loop transfer function is determined according to a current control model, the current control model comprises a current regulator model, the current regulator model comprises a first inertia link, the first inertia link is used for attenuating a high-frequency interference signal, and the q-axis voltage and the d-axis voltage are used for indicating phase-A voltage and phase-B voltage input to the motor.
9. The apparatus of claim 8, wherein the current regulator model further comprises a proportional element, an integral element, and a first derivative element in series with the first inertial element, wherein the first derivative element is T0s +1, the proportion link is K, and the integral link is KK and T0For the regulator parameter, T0Is the time constant of the first differential element, and s is the second differential element.
10. The apparatus of claim 9 wherein the current control model further comprises a motor controller model and a motor model in series with the current regulator model, the motor controller model being a second inertial element and the motor model being a third inertial element.
11. the apparatus of claim 10, wherein the second inertial element isWherein, KcAnd TcAs a motor controller parameter, Kcfor magnification of motor controller, TcIs the delay of the motor controller.
12. the apparatus of claim 11, wherein said third inertial element comprisesWherein, KmAnd TmAs a parameter of the motor, Km＝1/Rs，Tm＝Ld(q)/Rs，Ld(q)D-axis or q-axis inductances, R, of the stator of the machinesIs the motor stator resistance.
13. The apparatus of claim 12, wherein the first inertial element isWherein, T1For the regulator parameter, T1is the time constant of the first inertial link.
14. The apparatus of claim 13,T0＝Tm，Wherein, ω iscIn order to cut-off the frequency of the system,
15. An electrically powered device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the electrically powered device is operated, the processor executing the machine-readable instructions to perform the steps of the method according to any one of claims 1 to 7.
16. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, is adapted to carry out the steps of the method according to any one of claims 1-7.
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| WO2022110555A1 (en) * | 2020-11-24 | 2022-06-02 | 潍柴动力股份有限公司 | Method and apparatus for suppressing torque ripple of permanent magnet synchronous motor |
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| US20170288588A1 (en) * | 2016-03-29 | 2017-10-05 | Mitsubishi Electric Corporation | Motor control device and motor control method |
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