CN110729934A - Motor control method, motor control device, and computer-readable storage medium - Google Patents
Motor control method, motor control device, and computer-readable storage medium Download PDFInfo
- Publication number
- CN110729934A CN110729934A CN201910943420.6A CN201910943420A CN110729934A CN 110729934 A CN110729934 A CN 110729934A CN 201910943420 A CN201910943420 A CN 201910943420A CN 110729934 A CN110729934 A CN 110729934A
- Authority
- CN
- China
- Prior art keywords
- ref
- motor control
- current
- axis
- obtaining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The invention relates to the field of motor control, in particular to a motor control method, a motor control device and a computer readable storage medium, wherein the motor control method comprises the following steps: obtaining initial d-axis exciting current i of motor control deviced1_ref(ii) a Obtaining d-axis excitation current regulating quantity delta id(ii) a Adjusting quantity delta i according to d-axis excitation currentdAnd id1_refObtaining a target exciting current id_ref(ii) a According to id2_refAnd id_refAdjusting q-axis torque current limiting value | iq_maxL to obtain a target torque current iq_ref(ii) a According to id_refAnd iq_refDriving the motor; wherein when the output voltage command of the motor control device is in the linear modulation region, Δ idEqual to zero, Δ i when the output voltage command of the motor control means is in the overmodulation regiondIs less than zero. The motor control method, the motor control device and the computer readable storage medium provided by the embodiment of the invention have the advantage of improving the torque output capacity of the motorAnd the speed-up process of the motor is accelerated.
Description
Technical Field
The present invention relates to the field of motor control, and in particular, to a motor control method, a motor control device, and a computer-readable storage medium.
Background
The embedded permanent magnet synchronous motor has the characteristics of high power density, small air gap magnetic circuit, suitability for high-speed operation and the like, can improve the speed regulation performance and the motor efficiency by utilizing the reluctance torque component, and is more and more widely applied to speed regulation driving systems with higher requirements, such as electric automobiles and the like. Applications such as drilling machines, servo drives, and rail trains require permanent magnet synchronous motors with high speed flux weakening capability and less acceleration time.
When the rotating speed of the motor is close to the basic speed, the counter electromotive force of the motor approaches the maximum output voltage of the inverter, if the rotating speed is continuously increased to be higher than the basic speed, the counter electromotive force cannot be offset by the output voltage of the inverter, and at the moment, the motor magnetic field is reduced to realize the operation above the basic speed, namely, the field weakening control is realized.
However, the inventor of the present invention finds that the field weakening control method of the motor in the prior art limits the torque output capability of the motor, so that the motor cannot reach the maximum torque output capability, and the speed raising process of the motor is slow, and the speed raising duration is long.
Disclosure of Invention
An object of embodiments of the present invention is to provide a motor control method, a motor control apparatus, and a computer-readable storage medium, which improve torque output capability of a motor and accelerate a speed-up process of the motor.
In order to solve the above technical problem, an embodiment of the present invention provides a motor control method applied to a motor control device, including: acquiring initial d-axis excitation current i of the motor control device under a two-phase rotating coordinate systemd1_ref(ii) a Obtaining d-axis excitation current regulating quantity delta i under two-phase rotating coordinate systemd(ii) a Adjusting quantity delta i according to the d-axis excitation currentdAnd the initial d-axis excitation current id1_refObtaining a target exciting current id_ref(ii) a According to the target exciting current id_refDriving the motor; wherein the d-axis excitation current adjustment amount Δ i is set when an output voltage command of the motor control device is in a linear modulation regiondEqual to zero, and the d-axis excitation current adjustment amount delta i is set when the output voltage command of the motor control device is in an overmodulation regiondIs less than zero.
An embodiment of the present invention also provides a motor control device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a motor control method as described above.
Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to implement the motor control method as described above when executed by a processor.
Compared with the prior art, the embodiment of the invention adjusts the quantity delta i according to the d-axis excitation currentdAnd initial d-axis excitation current id1_refObtaining a target exciting current id_ref(ii) a Because the output voltage instruction of the motor control device is in the linear modulation region, the d-axis excitation current regulating quantity delta idWhen the output voltage command of the motor control device is in the overmodulation region, the d-axis excitation current regulating quantity delta i is equal to zerodAnd the voltage is less than zero, so that the voltage of a nonlinear modulation area in the driving process of the motor is reasonably utilized, the voltage utilization rate of a direct current bus is improved, the torque output capacity of the motor is further improved, and the speed-up process of the motor is accelerated.
In addition, the d-axis excitation current adjustment amount Δ i in the two-phase rotating coordinate system is obtaineddThe method specifically comprises the following steps: acquiring an output voltage command u of an alpha axis under a two-phase static coordinate systemα_refAnd output voltage command u of beta axisβ_ref(ii) a For the uα_refAnd said uβ_refPerforming space vector pulse width modulation to obtain the current sectorTime of action t of two non-zero vectors1And t2And an operation time t after the overmodulation processing3And t4(ii) a Will the t3+t4And t1+t2The difference is input into a PI regulator for processing, and then the amplitude limiting processing is carried out to obtain the d-axis exciting current regulating quantity delta id. When the motor starts to start, the rotating speed of the motor is low, the output voltage command of the motor control device is in a linear modulation region, t3+t4＝t1+t2，t3+t4And t1+t2The difference is equal to zero, and after the PI regulator and the lower limit amplitude processing, the d-axis excitation current regulating quantity delta idIs equal to zero; with the rising of the rotation speed, the output voltage command of the motor control device enters an overmodulation region, at which time t3+t4＞t1+t2，t3+t4And t1+t2The difference of (d) is less than zero, and the d-axis excitation current regulating quantity delta i is processed by a PI regulator and a lower limit amplitudedIs also less than zero, thereby weakening the air gap field of the motor, leading the motor to enter a field weakening operation working state, and providing a specific d-axis excitation current regulating quantity delta idThe method of (1).
In addition, the quantity of regulation delta i is adjusted according to the d-axis exciting currentdAnd the initial d-axis excitation current id1_refObtaining a target exciting current id_refThe method specifically comprises the following steps: calculating the d-axis excitation current adjustment quantity delta idAnd the initial d-axis excitation current id1_refTaking the sum as a secondary excitation current id2_ref(ii) a For the secondary exciting current
Performing amplitude limiting processing to obtain the target exciting current
Lower limit amplitude i of the amplitude limiting processingd_min＝-λf/LdWherein L isdIs d-axis inductance, lambda, of an electric machinefIs a permanent magnet flux linkage.
In addition, the target excitation current id_refDriving the motor, specifically including: obtaining a target torque current iq_ref(ii) a According to the target exciting current id_refAnd the target torque current iq_refAnd driving the motor.
In addition, the target torque current i is obtainedq_refThe method specifically comprises the following steps: obtaining an initial q-axis torque current i of the motor control device under a two-phase rotating coordinate systemq1_ref(ii) a Obtaining a torque current limiting value | iq_maxL, |; according to the torque current limiting value | iq_maxI vs. the initial q-axis torque current iq1_refPerforming amplitude limiting processing to obtain the target torque current iq_ref。
In addition, the torque current limiting value | i is obtainedq_maxThe method specifically comprises the following steps: obtaining the target exciting currentAnd the secondary excitation current id2_refA difference of (d); processing the difference value by a PI regulator to obtain a primary torque current limiting value delta iq_max(ii) a Via a formula
Calculating to obtain the torque current limiting value | iq_maxL, wherein is_maxThe maximum output current allowed to pass by the motor control means. When the weak magnetic depth of the motor is shallow, the secondary exciting current id2_refGreater than the lower limit value, i.e.
Δ i adjusted in this case q_max0; as the motor speed further increases, the secondary exciting current id2_refLess than the lower limit value, the exciting current keeps the lower limit value unchanged, and the continuous exciting current in the deep weak magnetic region is avoidedThe motor speed is reduced, the maximum torque output is ensured, meanwhile, the motor is prevented from running to an unstable working point, and meanwhile, the maximum rotating speed at which the motor can run can be improved.
In addition, the initial q-axis torque current i of the motor control device under the two-phase rotating coordinate system is obtainedq1_refThe method specifically comprises the following steps: obtaining a target rotational speed omegae_refAnd a real-time rotational speed ω of the motor; obtaining the target rotation speed omegae_refAnd a rotational speed difference of the real-time rotational speed ω; adjusting the rotation speed difference through a PI (proportional integral) adjuster to obtain a torque instruction; controlling the torque command through a maximum torque current ratio to obtain the initial q-axis torque current iq1_ref。
In addition, the initial d-axis exciting current i of the motor control device under the two-phase rotating coordinate system is obtainedd1_refThe method specifically comprises the following steps: obtaining a target rotational speed omegae_refAnd a real-time rotational speed ω of the motor; obtaining the target rotation speed omegae_refAnd a rotational speed difference of the real-time rotational speed ω; adjusting the rotation speed difference through a PI (proportional integral) adjuster to obtain a torque instruction; controlling the torque instruction through a maximum torque current ratio to obtain the initial d-axis exciting current id1_ref。
Drawings
Fig. 1 is a flowchart of a motor control method according to a first embodiment of the present invention;
FIG. 2 is a diagram illustrating an initial d-axis excitation current i obtained in the motor control method according to the first embodiment of the present inventiond1_refSchematic diagram of (1);
FIG. 3 illustrates a method for obtaining a d-axis field current adjustment Δ i according to a motor control method provided in a first embodiment of the present inventiondSchematic diagram of (1);
fig. 4 is a schematic diagram of obtaining a target excitation current in a motor control method according to a first embodiment of the present invention;
fig. 5 is a flowchart of a motor control method according to a second embodiment of the present invention;
FIG. 6 shows a method for obtaining a target torque current in a motor control method according to a second embodiment of the present inventioniq_refSchematic diagram of (1);
FIG. 7 illustrates a method for obtaining a torque current limiting value | i in a motor control method according to a second embodiment of the present inventionq_maxA schematic diagram of |;
fig. 8 is a schematic diagram of driving a motor according to a target exciting current and a target torque current in a motor control method provided in a second embodiment of the present invention;
fig. 9 is a schematic structural diagram of a motor control device according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
A first embodiment of the present invention relates to a motor control method applied to a motor control device, as shown in fig. 1, including the steps of:
step S101: and acquiring initial d-axis exciting current of the motor control device under the two-phase rotating coordinate system.
Specifically, in this step, as shown in fig. 2, a preset target rotation speed ω of the motor is first obtainede_refAnd the real-time rotating speed omega of the motor, and solving the target rotating speed omegae_refSpeed difference (ω) from real-time speed ωe_ref- ω); will rotate speed difference (omega)e_refOmega) is regulated by a PI regulator (proportional integral regulator) to obtain a torque command, and the torque command is controlled by a maximum torque current ratio to obtain the initial d-axis excitation current id1_refAnd an initial q-axis torque current iq1_ref。
The PI regulator is a linear controller, and forms a control deviation according to a given value and an actual output value, and linearly combines the proportion and the integral of the deviation to form a control quantity to control a controlled object.
Step S102: and acquiring d-axis excitation current adjustment quantity under a two-phase rotating coordinate system.
Specifically, in this step, as shown in fig. 3, first, an output voltage command u of the α axis of the motor in the two-phase stationary coordinate system is obtainedα_refAnd output voltage command u of beta axisβ_refTo u, to uα_ref and uβ_refAnd performing space vector pulse width modulation, namely content in a dashed box in fig. 3, wherein a module 1 is used for calculating a non-zero vector action time part, and a module 2 is used for calculating a three-phase PWM driving signal duty ratio part according to the non-zero vector action time. Obtaining uα_ref and uβ_refAction time t of two non-zero vectors of current sector in space vector pulse width modulation process1And t2And the action time t after the overmodulation processing3And t4Is provided with Tfdb＝t1+t2、Tref＝t3+t4Will t3+t4And t1+t2Difference (T) ofref-Tfdb) Inputting the current into a PI regulator for processing, and then performing amplitude limiting processing to obtain d-axis excitation current regulating quantity delta idI.e. by
Δid＝Limit(Kp(Tref-Tfdb)+Ki∫(Tref-Tfdb)dt) In which K isp、KiIs a parameter of the PI regulator.
Step S103: and solving a target excitation current according to the d-axis excitation current regulating quantity and the initial d-axis excitation current.
Specifically, in this step, as shown in fig. 4, the d-axis field current adjustment amount Δ i is obtaineddAnd initial d-axis excitation current id1_refTaking the sum as a secondary excitation current id2_refI.e. id2_ref＝Δid+id1_ref(ii) a For secondary exciting current
Performing amplitude limiting processing to obtain the targetExcitation current, wherein the lower limit amplitude i of the limiting processd_min＝-λf/Ld，LdIs d-axis inductance, lambda, of an electric machinefIs a permanent magnet flux linkage.
Step S104: and driving the motor according to the target exciting current.
Compared with the prior art, the first embodiment of the invention adjusts the quantity delta i according to the d-axis excitation currentdAnd initial d-axis excitation current id1_refObtaining a target exciting current id_ref(ii) a Because the output voltage instruction of the motor control device is in the linear modulation region, the d-axis excitation current regulating quantity delta idWhen the output voltage command of the motor control device is in the overmodulation region, the d-axis excitation current regulating quantity delta i is equal to zerodAnd the voltage is less than zero, so that the voltage of a nonlinear modulation area in the driving process of the motor is reasonably utilized, the voltage utilization rate of a direct current bus is improved, the torque output capacity of the motor is further improved, and the speed-up process of the motor is accelerated.
A second embodiment of the present invention relates to a motor control method, as shown in fig. 5, including the steps of:
step S201: and acquiring initial d-axis exciting current of the motor control device under the two-phase rotating coordinate system.
Step S202: and acquiring d-axis excitation current adjustment quantity under a two-phase rotating coordinate system.
Step S203: and solving a target excitation current according to the d-axis excitation current regulating quantity and the initial d-axis excitation current.
Specifically, steps S201 to S203 in the second embodiment of the present invention are substantially the same as steps S101 to S103 in the first embodiment of the present invention, and may be specifically described according to the detailed description of the first embodiment, which is not repeated herein.
Step S204: a target torque current is calculated.
Specifically, in this step, the target torque current i is acquiredq_refSpecifically, as shown in fig. 6, first, the torque current limiter | iq_maxAccording to the torque current limiting value iq_maxFor the initial q-axis torque current i obtained in step S101q1_refPerforming amplitude limiting processing to obtain a target torque current iq_ref. Wherein a torque current limiting value | i is obtainedq_maxStep | as shown in fig. 7, first, a target exciting current is obtained
And secondary excitation current id2_refDifference of (2)Will be different value
The first-level torque current limiting value delta i is obtained through the processing of a PI regulatorq_max(ii) a Via a formula
Calculating to obtain a torque current limiting value | iq_maxL, wherein is_maxThe maximum output current allowed to pass by the motor control means.
Step S205: and driving the motor according to the target exciting current and the target torque current.
Specifically, in this step, as shown in fig. 8, a real-time d-axis current i of the motor in a two-phase rotating coordinate system is first obtaineddFind id_refAnd idDifference of (2)
Obtaining a target torque current iq_refAnd real-time q-axis current i of the motor under a two-phase rotating coordinate systemqFind iq_refAnd iqDifference of (2)
Will be provided withAnd
inputting into a current regulator, obtaining a d-axis voltage command u output by the current regulatord_refAnd a q-axis voltage command uq_refWill ud_refAnd uq_refCarrying out ipark transformation to obtain an alpha-axis voltage instruction u of the motor under a two-phase static coordinate systemα_refAnd beta axis voltage command uβ_refThen u is addedα_refAnd uβ_refThree-phase PWM driving signal duty ratio T output by space vector pulse width modulation modulea、Tb、TcAnd controlling the inverter motor. Current sensor collects three-phase current i of motora、ib、icObtaining the current i under the two-phase static coordinate system through clark transformationαAnd iβObtaining the current i under a two-phase rotating coordinate system by performing park transformationdAnd iqAs a feedback current.
Compared with the prior art, the motor control method provided by the second embodiment of the invention adjusts the quantity delta i according to the d-axis exciting currentdAnd initial d-axis excitation current id1_refObtaining a target exciting current id_ref(ii) a Because the output voltage instruction of the motor control device is in the linear modulation region, the d-axis excitation current regulating quantity delta idWhen the output voltage command of the motor control device is in the overmodulation region, the d-axis excitation current regulating quantity delta i is equal to zerodAnd the voltage is less than zero, so that the voltage of a nonlinear modulation area in the driving process of the motor is reasonably utilized, the voltage utilization rate of a direct current bus is improved, the torque output capacity of the motor is further improved, and the speed-up process of the motor is accelerated. In addition, the torque current command limit value is adjusted using the deviation before and after the field current command limit value, that is
When i isd_ref＞-λf/LdWhen the temperature of the water is higher than the set temperature,
when i isd_ref＝-λf/LdWhen the temperature of the water is higher than the set temperature,
in the acceleration process, the maximum torque output is ensured, meanwhile, the motor does not run to an unstable working point, and meanwhile, the maximum rotating speed of the motor capable of running can be increased.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the steps contain the same logical relationship, which is within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A third embodiment of the present invention relates to a motor control device, as shown in fig. 9, including: at least one processor 301; and a memory 302 communicatively coupled to the at least one processor 301; the memory 302 stores instructions executable by the at least one processor 301, and the instructions are executed by the at least one processor 301, so that the at least one processor 301 can execute the display method as described above.
Where the memory 302 and the processor 301 are coupled in a bus, the bus may comprise any number of interconnected buses and bridges, the buses coupling one or more of the various circuits of the processor 301 and the memory 302. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 301 is transmitted over a wireless medium through an antenna, which further receives the data and transmits the data to the processor 301.
The processor 301 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 302 may be used to store data used by processor 301 in performing operations.
A fourth embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A motor control method is applied to a motor control device and comprises the following steps:
acquiring initial d-axis excitation current i of the motor control device under a two-phase rotating coordinate systemd1_ref；
Obtaining d-axis excitation current regulating quantity delta i under two-phase rotating coordinate systemd；
Adjusting quantity delta i according to the d-axis excitation currentdAnd the initial d-axis excitation current id1_refObtaining a target exciting current id_ref；
According to the target exciting current id_refDriving the motor;
wherein the d-axis field excitation power is generated when an output voltage command of the motor control device is in a linear modulation regionFlow regulation Δ idEqual to zero, and the d-axis excitation current adjustment amount delta i is set when the output voltage command of the motor control device is in an overmodulation regiondIs less than zero.
2. The motor control method according to claim 1, wherein the d-axis field current adjustment amount Δ i in the two-phase rotation coordinate system is obtaineddThe method specifically comprises the following steps:
acquiring an output voltage command u of an alpha axis under a two-phase static coordinate systemα_refAnd output voltage command u of beta axisβ_ref；
For the uα_refAnd said uβ-refPerforming space vector pulse width modulation to obtain action time t of two non-zero vectors of the current sector1And t2And an operation time t after the overmodulation processing3And t4；
Will the t3+t4And t1+t2The difference is input into a PI regulator for processing, and then the amplitude limiting processing is carried out to obtain the d-axis exciting current regulating quantity delta id。
3. The motor control method according to claim 1, wherein the amount Δ i of adjustment is adjusted according to the d-axis excitation currentdAnd the initial d-axis excitation current id1_refObtaining a target exciting current id_refThe method specifically comprises the following steps:
calculating the d-axis excitation current adjustment quantity delta idAnd the initial d-axis excitation current id1_refTaking the sum as a secondary excitation current id2_ref；
For the secondary exciting currentPerforming amplitude limiting processing to obtain the target exciting current
Lower limit amplitude i of the amplitude limiting processingd_min＝-λf/LdWherein L isdIs d-axis inductance, lambda, of an electric machinefIs the permanent magnet flux linkage of the motor.
4. The motor control method according to claim 3, wherein the target excitation current i is set according to the target excitation currentd_refDriving the motor, specifically including:
obtaining a target torque current iq_ref；
According to the target exciting current id_refAnd the target torque current iq_refAnd driving the motor.
5. The motor control method according to claim 4, wherein the obtaining of the target torque current iq_refThe method specifically comprises the following steps:
obtaining an initial q-axis torque current i of the motor control device under a two-phase rotating coordinate systemq1_ref；
Obtaining a torque current limiting value | iq_max|；
According to the torque current limiting value | iq_maxI vs. the initial q-axis torque current iq1_refPerforming amplitude limiting processing to obtain the target torque current iq_ref。
6. The motor control method according to claim 5, wherein the obtaining of the torque current limit value | iq_maxThe method specifically comprises the following steps:
obtaining the target exciting currentAnd the secondary excitation current id2_refA difference of (d);
processing the difference value by a PI regulator to obtain a primary torque current limiting value delta iq_max；
Via a formula
Calculating to obtain the torque current limiting value | iq_maxL, wherein is_maxThe maximum output current allowed to pass by the motor control means.
7. The motor control method according to claim 5, wherein the obtaining of the initial q-axis torque current i of the motor control device in the two-phase rotational coordinate system is performedq1_refThe method specifically comprises the following steps:
obtaining a target rotational speed omegae_refAnd a real-time rotational speed ω of the motor;
obtaining the target rotation speed omegae_refAnd a rotational speed difference of the real-time rotational speed ω;
adjusting the rotation speed difference through a PI (proportional integral) adjuster to obtain a torque instruction;
controlling the torque command through a maximum torque current ratio to obtain the initial q-axis torque current iq1_ref。
8. The motor control method according to claim 1, wherein the obtaining of the initial d-axis excitation current i of the motor control device in the two-phase rotational coordinate system is performedd1_refThe method specifically comprises the following steps:
obtaining a target rotational speed omegae_refAnd a real-time rotational speed ω of the motor;
obtaining the target rotation speed omegae_refAnd a rotational speed difference of the real-time rotational speed ω;
adjusting the rotation speed difference through a PI (proportional integral) adjuster to obtain a torque instruction;
controlling the torque instruction through a maximum torque current ratio to obtain the initial d-axis exciting current id1_ref。
9. A motor control apparatus, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a motor control method according to any one of claims 1 to 8.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the motor control method of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910943420.6A CN110729934B (en) | 2019-09-30 | 2019-09-30 | Motor control method, motor control device, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910943420.6A CN110729934B (en) | 2019-09-30 | 2019-09-30 | Motor control method, motor control device, and computer-readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110729934A true CN110729934A (en) | 2020-01-24 |
| CN110729934B CN110729934B (en) | 2021-07-23 |
Family
ID=69218638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910943420.6A Active CN110729934B (en) | 2019-09-30 | 2019-09-30 | Motor control method, motor control device, and computer-readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110729934B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113381656A (en) * | 2021-06-10 | 2021-09-10 | 上海晟矽微电子股份有限公司 | Motor control method and device, motor and electric tool |
| CN113819623A (en) * | 2021-09-10 | 2021-12-21 | 青岛海尔空调器有限总公司 | Method and device for controlling operation of motor, air conditioner and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102098000A (en) * | 2011-01-27 | 2011-06-15 | 华中科技大学 | Weak magnetic speed regulating method for induction motor |
| CN103503307A (en) * | 2011-04-21 | 2014-01-08 | 日产自动车株式会社 | Control apparatus for motor and control method for motor |
| US20150137727A1 (en) * | 2012-01-16 | 2015-05-21 | Mitsubishi Electric Corporation | Motor control apparatus |
| CN104753418A (en) * | 2015-03-19 | 2015-07-01 | 浙江大学 | Voltage cutting method based weak magnet method for low-switch-loss open-winding permanent synchronizing motor system |
-
2019
- 2019-09-30 CN CN201910943420.6A patent/CN110729934B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102098000A (en) * | 2011-01-27 | 2011-06-15 | 华中科技大学 | Weak magnetic speed regulating method for induction motor |
| CN103503307A (en) * | 2011-04-21 | 2014-01-08 | 日产自动车株式会社 | Control apparatus for motor and control method for motor |
| US20150137727A1 (en) * | 2012-01-16 | 2015-05-21 | Mitsubishi Electric Corporation | Motor control apparatus |
| CN104753418A (en) * | 2015-03-19 | 2015-07-01 | 浙江大学 | Voltage cutting method based weak magnet method for low-switch-loss open-winding permanent synchronizing motor system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113381656A (en) * | 2021-06-10 | 2021-09-10 | 上海晟矽微电子股份有限公司 | Motor control method and device, motor and electric tool |
| CN113819623A (en) * | 2021-09-10 | 2021-12-21 | 青岛海尔空调器有限总公司 | Method and device for controlling operation of motor, air conditioner and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110729934B (en) | 2021-07-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9054623B2 (en) | Motor control device | |
| KR101209965B1 (en) | System and method for controlling torque of induction motor in electric vehicle | |
| JP5957704B2 (en) | Electric motor control device | |
| CN101969289B (en) | Gain adjustment for improving torque linearity of motor during working in field weakening zone | |
| WO2011122105A1 (en) | Control device for an electric motor drive device | |
| WO2011122104A1 (en) | Control device for an electric motor drive device | |
| CN110289792B (en) | Calibration method, control method and bench test control system of permanent magnet synchronous motor | |
| DE102012211315A1 (en) | Temperature compensation for improved field weakening accuracy | |
| US8779702B2 (en) | Motor control system implementing field weakening | |
| CN110729934B (en) | Motor control method, motor control device, and computer-readable storage medium | |
| CN108282122B (en) | High-dynamic-response flux-weakening speed-increasing method for permanent magnet synchronous motor | |
| CN107104621B (en) | Weak magnetic control method and device for running speed of alternating current motor | |
| CN107395078B (en) | Flux weakening control method for permanent magnet synchronous motor | |
| CN105099319A (en) | Apparatus for controlling induction machine | |
| JP4008724B2 (en) | Motor control device | |
| CN105656382A (en) | Method and device for controlling rotation speed and constant speed of motor | |
| KR20180112629A (en) | Method for weak field control of induction motor | |
| JP2009240040A (en) | Current control device | |
| CN113085552B (en) | Bus voltage control method and system of vehicle motor | |
| CN104953904A (en) | Field weakening control method and device for permanent magnet synchronous motor | |
| Lee et al. | Time optimal torque control and loss minimization in AC machines using deadbeat direct torque and flux control | |
| CN113497579B (en) | Operation control method, device, motor control system, motor and storage medium | |
| CN108494305A (en) | A kind of motor accelerating method, device, electron speed regulator and unmanned vehicle | |
| JP2018170912A (en) | Control device for rotary electric machine and control method of rotary electric machine | |
| CN111969920B (en) | Permanent magnet synchronous motor starting method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |