CN110932641A - Motor control method and device and electronic equipment - Google Patents
Motor control method and device and electronic equipment Download PDFInfo
- Publication number
- CN110932641A CN110932641A CN201911138795.1A CN201911138795A CN110932641A CN 110932641 A CN110932641 A CN 110932641A CN 201911138795 A CN201911138795 A CN 201911138795A CN 110932641 A CN110932641 A CN 110932641A
- Authority
- CN
- China
- Prior art keywords
- phase
- initial
- driving
- voltage
- converting
- 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.)
- Pending
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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to a motor control method, a motor control device and electronic equipment, and belongs to the technical field of automatic control, wherein the method comprises the following steps: acquiring three-phase winding current and real-time rotating speed of the motor; obtaining initial three-phase symmetrical sinusoidal driving voltage according to the three-phase winding current and the real-time rotating speed; converting the initial three-phase symmetrical sinusoidal driving voltage into a pulse driving signal through a pulse width modulation algorithm; driving a three-phase full-bridge inverter by using a pulse driving signal to obtain a target three-phase symmetrical sinusoidal driving voltage; and driving the motor by using the target three-phase symmetrical sinusoidal driving voltage. Through the scheme disclosed by the embodiment of the invention, the motor control scheme is simplified, the control precision is higher, and the motor runs smoothly.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to a motor control method and device and electronic equipment.
Background
The airborne air supercharging device is an important component of an airplane environment control system and is used for inflating and supplementing air for an airplane air energy system. The core equipment of the air supercharging device is an air compressor controller and an air compressor, and the controller controls the starting, stopping and rotating speed of a compressor motor according to the instruction of an upper computer, so that the functions of air inflation and air supplement of the device are realized.
The permanent magnet synchronous motor has the advantages of high torque/inertia ratio, high power density, high efficiency, high reliability and the like, and is widely applied to the fields of numerical control machines, industrial robots, electric automobiles, aerospace and the like, but parameters such as a magnetic chain, voltage, current, rotating speed, torque and the like have the characteristics of nonlinearity and strong coupling, so that the existing control scheme for the motor is complex and the control precision is low.
Therefore, the existing motor control method has the technical problems of complex control scheme and low control precision.
Disclosure of Invention
In order to solve the problem of motor control in the background art, the invention provides a motor control method, a motor control device and electronic equipment.
In a first aspect, an embodiment of the present invention provides a motor control method, including:
acquiring three-phase winding current and real-time rotating speed of the motor;
obtaining initial three-phase symmetrical sinusoidal driving voltage according to the three-phase winding current and the real-time rotating speed;
converting the initial three-phase symmetrical sinusoidal driving voltage into a pulse driving signal through a pulse width modulation algorithm;
driving a three-phase full-bridge inverter by using the pulse driving signal to obtain a target three-phase symmetrical sinusoidal driving voltage;
and driving the motor by using the target three-phase symmetrical sinusoidal driving voltage.
Optionally, the step of obtaining an initial three-phase symmetrical sinusoidal driving voltage according to the three-phase winding current and the real-time rotation speed includes:
converting the initial three-phase winding current into an initial two-phase orthogonal direct current component through coordinate transformation;
combining the real-time rotating speed, and converting the initial two-phase orthogonal direct current component into a target two-phase orthogonal voltage driving signal;
and converting the target two-phase orthogonal voltage driving signal into the initial three-phase symmetrical sinusoidal driving voltage through coordinate inverse transformation.
Optionally, the step of converting the initial three-phase symmetric sinusoidal driving voltage into a pulse driving signal by using a pulse width modulation algorithm includes:
and converting the initial three-phase symmetrical sinusoidal driving voltage into a sinusoidal pulse driving signal by a sinusoidal pulse width modulation algorithm.
Optionally, the step of converting the initial three-phase symmetric sinusoidal driving voltage into a sinusoidal pulse driving signal by a sinusoidal pulse width modulation algorithm includes:
and converting the initial three-phase symmetrical sine driving voltage into a sine pulse driving signal by using a symmetrical rule sampling algorithm.
Optionally, the step of converting the initial two-phase orthogonal dc component into a target two-phase orthogonal voltage driving signal in combination with the real-time rotation speed includes:
obtaining a rotating speed driving parameter according to the received speed adjusting instruction and the real-time rotating speed;
and obtaining the target two-phase orthogonal voltage driving signal by using the rotating speed driving parameter and the initial two-phase orthogonal direct current component.
Optionally, the step of obtaining an initial three-phase symmetrical sinusoidal driving voltage according to the three-phase winding current and the real-time rotation speed includes:
filtering the three-phase winding current and the real-time rotating speed;
and obtaining the initial three-phase symmetrical sinusoidal driving voltage according to the three-phase winding current after filtering and the real-time rotating speed.
Optionally, the step of converting the initial three-phase symmetric sinusoidal driving voltage into a pulse driving signal by using a pulse width modulation algorithm includes:
and converting the initial three-phase symmetrical sinusoidal driving voltage into a pulse driving signal by a space vector pulse width modulation algorithm.
In a second aspect, an embodiment of the present invention further provides a motor control apparatus, including:
the method comprises the following steps:
the acquisition module acquires three-phase winding current and real-time rotating speed of the motor;
the first conversion module is used for obtaining an initial three-phase symmetrical sinusoidal driving voltage according to the three-phase winding current and the real-time rotating speed;
the second conversion module is used for converting the initial three-phase symmetrical sinusoidal driving voltage into a pulse driving signal through a pulse width modulation algorithm;
the first driving module is used for driving the three-phase full-bridge inverter by using the pulse driving signal to obtain a target three-phase symmetrical sinusoidal driving voltage;
and the second driving module is used for driving the motor by utilizing the target three-phase symmetrical sinusoidal driving voltage.
Optionally, the first conversion module is configured to:
converting the initial three-phase winding current into an initial two-phase orthogonal direct current component through coordinate transformation;
combining the real-time rotating speed, and converting the initial two-phase orthogonal direct current component into a target two-phase orthogonal voltage driving signal;
and converting the target two-phase orthogonal voltage driving signal into the initial three-phase symmetrical sinusoidal driving voltage through coordinate inverse transformation.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
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 the motor control method of any of the preceding first aspects.
According to the motor control method provided by the embodiment of the disclosure, the three-phase winding current and the real-time rotating speed of the motor are obtained, the initial three-phase symmetrical sinusoidal driving voltage is obtained according to the three-phase winding current and the real-time rotating speed, the initial three-phase symmetrical sinusoidal driving voltage is converted into the pulse driving signal through the pulse width modulation algorithm, and the pulse driving signal is used for driving the three-phase full-bridge inverter, so that the target three-phase symmetrical sinusoidal driving voltage for driving the motor can be obtained. Through the scheme disclosed by the embodiment of the invention, the motor control scheme is simplified, the control precision is higher, and the motor runs smoothly.
Drawings
Fig. 1 is a schematic flow chart of a motor control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a rotating speed current double closed loop PID regulation according to the motor control method provided in the embodiment of the present invention;
fig. 3 is a specific schematic diagram of a rotating speed current double closed loop PID regulation according to the motor control method provided in the embodiment of the present invention;
fig. 4 is a schematic diagram of a symmetric rule sampling method according to a motor control method provided in an embodiment of the present invention;
FIG. 5 is a schematic diagram of SPWM signal generation according to the motor control method provided by the embodiment of the invention;
fig. 6 is a schematic flowchart of a permanent magnet synchronous motor control method based on SPWM modulation according to the motor control method provided in the embodiment of the present invention.
Detailed Description
Referring to fig. 1, a schematic flow chart of a motor control method according to an embodiment of the present invention is shown. As shown in fig. 1, the motor control method mainly includes:
s101, acquiring three-phase winding current and real-time rotating speed of a motor;
s102, obtaining an initial three-phase symmetrical sinusoidal driving voltage according to the three-phase winding current and the real-time rotating speed;
the motor control method provided by the embodiment of the disclosure is used for controlling and realizing motor control, especially controlling a permanent magnet synchronous motor. Three-phase driving voltage is obtained through a corresponding mathematical algorithm by taking three-phase winding current and real-time rotating speed of a motor as input, and is defined as initial three-phase symmetrical sinusoidal driving voltage.
Optionally, filtering processing may be performed on the three-phase winding current and the real-time rotation speed;
and obtaining the initial three-phase symmetrical sinusoidal driving voltage according to the three-phase winding current after filtering and the real-time rotating speed.
Optionally, the step of obtaining an initial three-phase symmetric sinusoidal driving voltage according to the three-phase winding current and the real-time rotation speed may include:
converting the initial three-phase winding current into an initial two-phase orthogonal direct current component through coordinate transformation;
combining the real-time rotating speed, and converting the initial two-phase orthogonal direct current component into a target two-phase orthogonal voltage driving signal;
and converting the target two-phase orthogonal voltage driving signal into the initial three-phase symmetrical sinusoidal driving voltage through coordinate inverse transformation.
Further, the converting the initial two-phase orthogonal dc component into the target two-phase orthogonal voltage driving signal in combination with the real-time rotation speed in the above step may include:
obtaining a rotating speed driving parameter according to the received speed adjusting instruction and the real-time rotating speed;
and obtaining the target two-phase orthogonal voltage driving signal by using the rotating speed driving parameter and the initial two-phase orthogonal direct current component.
Step S103, converting the initial three-phase symmetrical sinusoidal driving voltage into a pulse driving signal through a pulse width modulation algorithm;
and after the initial three-phase symmetrical sinusoidal driving voltage is obtained according to the steps, the initial three-phase symmetrical sinusoidal driving voltage is converted into a pulse driving signal by combining a pulse width modulation algorithm.
In specific implementation, the initial three-phase symmetrical sinusoidal driving voltage can be converted into a PWM Pulse driving signal by using a Pulse Width Modulation (PWM) algorithm. Considering that the PWM algorithm has a plurality of specific algorithms, the pulse driving signals obtained by different algorithms are slightly different.
In one embodiment, the converting the initial three-phase symmetric sinusoidal driving voltage into the pulse driving signal through the pulse width modulation algorithm in step S103 may include:
and converting the initial three-phase symmetrical Sinusoidal driving voltage into a Sinusoidal Pulse driving signal by a Sinusoidal Pulse Width Modulation (SPWM) algorithm.
Further, in order to further increase the calculation speed, the initial three-phase symmetrical sinusoidal driving voltage can be converted into an SPWM sinusoidal pulse driving signal by using a symmetrical rule sampling algorithm.
In another specific embodiment, the converting the initial three-phase symmetric sinusoidal driving voltage into the pulse driving signal through the pulse width modulation algorithm in step S103 may include:
and converting the initial three-phase symmetrical sine driving voltage into an SVPWM Pulse driving signal through a Space Vector Pulse Width Modulation (SVPWM for short) algorithm.
Step S104, driving a three-phase full-bridge inverter by using the pulse driving signal to obtain a target three-phase symmetrical sinusoidal driving voltage;
and step S105, driving the motor by using the target three-phase symmetrical sine driving voltage.
And driving the three-phase full-bridge inverter by the pulse driving signal obtained in the step, so as to obtain equivalent three-phase symmetrical sinusoidal driving voltage, which is defined as target three-phase symmetrical sinusoidal driving voltage. The target three-phase symmetric sinusoidal drive voltage can be used to drive the motor.
The above-described solution will be explained below in conjunction with a specific embodiment.
The method comprises the steps of collecting three-phase winding current and real-time rotating speed of a motor as input, converting the three-phase winding current into two-phase orthogonal direct current components by utilizing coordinate transformation and a corresponding mathematical calculation formula, combining the real-time rotating speed, converting into two-phase orthogonal voltage driving vector signals, and converting into initial three-phase symmetrical sine driving voltage through coordinate inverse transformation. And then, SPWM modulation chopping is generated by using a symmetrical rule sampling method, and the motor is driven to operate according to the target rotating speed.
The implementation mode mainly comprises three parts, namely physical quantity acquisition, mathematical calculation and SPWM modulation. The following are described separately.
1. Physical quantity collection
Due to the requirement of the electromagnetic property of airborne equipment, when the controller drives the motor, the motor is required to reach the target rotating speed, and the winding current of the motor is also required to be incapable of being changed violently, so that the rotating speed and current double closed-loop control method is adopted in the scheme of the invention on the basis of the control strategy, and the system can meet the requirement. In order to meet the requirement of double closed-loop control, a system acquires the current of a three-phase winding of a motor and the real-time rotating speed as system input. Meanwhile, in order to prevent the output oscillation of the whole system caused by the severe fluctuation of the variables acquired at a single time, the scheme of the invention respectively carries out 2-order mean filtering on the acquired current and the acquired rotating speed, and then carries out filtering on the three-phase winding current (i)A,iB,iC) And the rotational speed (wFB) are input to the mathematical computation section.
2. Mathematical calculations
The mathematical calculation of the invention relates to a Clark positive and negative conversion, a park positive and negative conversion and a rotating speed and current double closed loop PID algorithm.
Three-phase winding current (i) acquired by physical quantity acquisitionA,iB,iC) The invention utilizes Clark conversion and park conversion to convert winding current from three phases to two phases of standstill (α axes, β axes) and then to two phases of rotation (d axes, q axes) to complete control parameterDecoupling of the numbers. The specific mathematical operation formula is shown as formula 1 to formula 4, wherein iA,iB,iCFor the original three-phase winding current, iα,iβIs a two-phase quiescent current id,iqIs a two-phase rotating current, and the current is,
indicating the rotor position. The voltage conversion array used later is similar to the current conversion array and will not be described again.
a. Clark Positive and negative transformation (Clark/Clark)-1)
Forward transformation:
inverse transformation:
b. park forward and reverse conversion (Park/Park)-1)
Forward transformation:
inverse transformation:
the original three-dimensional variable is reduced to two dimensions after the mathematical transformation, and the d axis and the q axis belong to a rotating coordinate system, so that the d axis variable can be further fixed and only the q axis adjustment is carried out in the PID adjustment process, and the purpose of further reducing the dimensions is achieved.
Aiming at the requirement of airborne equipment on electromagnetic characteristics, the invention designs a rotating speed and current double closed loop PID control mode, as shown in figures 2 and 3. The rotating speed loop and the current loop both use a PID control mode and adopt standard proportional, integral and differential algorithms. WhereinThe rotation speed loop takes (target rotation speed wTG, feedback rotation speed wFB) as input, and takes q-axis target current iQ _ TG as output; the current loop comprises two directions of a d axis and a q axis, and the two directions are respectively (d axis feedback current i)d0), (q-axis feedback current iqiQ _ TG) as input and drive voltages (uD _ TG, uQ _ TG) for the d and q axes as outputs. Here, the d-axis direction target current iD _ TG is set to be a constant 0, and the adjustment target is only the q-axis target current iQ _ TG, so that the aforementioned dimension reduction of the controlled parameter is realized, and the control difficulty of the current loop is reduced.
The output of the double closed loop PID algorithm is the driving voltages (uD _ TG, uQ _ TG) of d and q axes, and after the inverse park transformation and the inverse Clark transformation are used, the three-phase winding driving voltages (uU _ TG, uV _ TG, uW _ TG) can be generated to be the final output of the mathematical calculation part.
3. SPWM modulation strategy
The three-phase winding driving voltages (uU _ TG, uV _ TG and uW _ TG) output by the mathematical computation part need to be modulated into switching pulse signals to drive the motor to run. The invention introduces sine wave pulse width modulation technology to carry out power conversion. The SPWM modulation method uses a sine wave with the same frequency as the expected output voltage wave as a modulation wave, uses an isosceles triangle wave with the frequency much higher than the expected wave as a carrier wave, and generates a control switch signal at the intersection point moment when the two waveforms are intersected, thereby generating a series of rectangular pulses with the same amplitude and the width proportional to the function value of the sine wave. Compared with the traditional three-phase six-state (PWM) modulation technology, the mode can drive the motor to run more smoothly, so that the current and voltage of the winding are oscillated less, and the electromagnetic property of the equipment is better.
The difficulty of SPWM is the determination of the intersection point of the modulation wave and the carrier wave, and the invention uses a symmetrical regular sampling method to solve the problem. The specific method is as shown in figure 4, in the figure, sine wave is driving voltage wave, sampling is carried out at the peak value of carrier wave, a vertical line is made to intersect modulation wave at a point D, a horizontal line is made to intersect at a point B, C after passing through the point D, the time of the two points B, C is used for approximating the time of intersection point of the two waveforms, so that switching signals are generated at the two points B, C, rectangular pulse chopping with equal amplitude and width proportional to the function value of the sine wave is finally output to the motor, and the motor is driven to work. The calculation speed obtained by adopting a symmetrical rule sampling method is higher, and the control efficiency is higher. Of course, a natural sampling method may be used, and is not limited.
The final generated initial three-phase winding driving voltage in the above steps is the sine wave to be modulated, the invention modulates the initial three-phase winding driving voltage by using a triangular carrier with the frequency of 10KHz, generates output rectangular pulse chopping waves according to the above symmetrical sampling method, and generates waveforms as shown in FIG. 5.
As shown in fig. 6, a specific real-time process is implemented, which includes the following steps:
1) collecting feedback current of a three-phase winding and real-time feedback rotating speed of a motor, and respectively carrying out 32-order filtering processing on the current and the rotating speed to obtain a filtered current mean value iA,iB,iCAnd a feedback speed average wFB;
2) feeding back a current i to a three-phase winding using a Clark transformationA,iB,iCThe two-phase stationary current is converted into a two-phase rotating current (d-axis feedback current i) by using a park conversion (α -axis feedback current, β -axis feedback current)dQ-axis feedback current iq)；
3) wFB and a target rotating speed wTG sent by an upper computer are input into a rotating speed ring for calculation, and a q-axis target current value iQ _ TG is output;
4) fix the d-axis target current iD _ TG value to 0, let idAnd iD _ TG, iqAnd iQ _ TG are respectively input into the current loop for calculation, and driving voltage values uD _ TG and uQ _ TG of d and q axes are output;
5) transforming uD _ TG and uQ _ TG into three-phase driving voltages uU _ TG, uV _ TG and uW _ TG by inverse park transformation and inverse Clark transformation;
6) and according to a symmetrical rule sampling method, calculating the voltage pulse duty ratio modulated by the SPWM through uU _ TG, uV _ TG and uW _ TG to generate chopping pulses.
The motor control scheme provided by the embodiment of the invention comprehensively considers the requirements of airborne equipment on electromagnetic characteristics and the complexity of the control problem of the permanent magnet synchronous motor, provides a permanent magnet synchronous motor control method based on SPWM modulation, and solves the control problem of the airborne servo motor. The embodiment of the invention has at least the following beneficial effects:
clark and park mathematical transformation is introduced, the control parameter dimension of a controlled object is reduced, and the adjusting control difficulty is simplified; the original three-phase winding current is converted into two-phase rotating current (d-axis current and q-axis current), then the purpose of simplifying PID regulation is achieved by fixing d-axis target current and only regulating q-axis current, and variables such as flux linkage, voltage, current, rotating speed, torque and the like of the motor are decoupled, so that control is simplified;
the rotating speed ring can enable the rotating speed of the motor to quickly reach a target value, and has the advantages of small overshoot, quick response time, no steady-state error and the like; the current loop enables the winding current to change stably in the rotating speed adjusting process, so that the condition of violent current oscillation is avoided, and the excellent electromagnetic property of the system is ensured; in addition, the invention adopts the SPWM strategy to modulate the three-phase driving voltage to generate pulse chopping, so that the controlled motor is controlled more smoothly and stably, and the integral electromagnetic property of the device is improved.
The adoption of the regulation mode of the rotating speed and the current double closed loop can ensure that the rotating speed response of the controlled motor is quick and the steady state does not have overshoot. In the processes of starting and stopping a motor, sudden load change, voltage disturbance and the like, the current changes stably, so that the influence on the safety of airborne equipment caused by large fluctuation is avoided;
the method has the advantages of small calculated amount, easy realization, fixed switching frequency, small harmonic component and the like.
In addition, an embodiment of the present invention further provides a motor control device, including:
the acquisition module acquires three-phase winding current and real-time rotating speed of the motor;
the first conversion module is used for obtaining an initial three-phase symmetrical sinusoidal driving voltage according to the three-phase winding current and the real-time rotating speed;
the second conversion module is used for converting the initial three-phase symmetrical sinusoidal driving voltage into a pulse driving signal through a pulse width modulation algorithm;
the first driving module is used for driving the three-phase full-bridge inverter by using the pulse driving signal to obtain a target three-phase symmetrical sinusoidal driving voltage;
and the second driving module is used for driving the motor by utilizing the target three-phase symmetrical sinusoidal driving voltage.
Of course, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
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 the motor control method provided by the foregoing method embodiments.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the scope of protection not disclosed should be dominated by the scope of protection claimed.
Claims (10)
1. A motor control method, comprising:
acquiring three-phase winding current and real-time rotating speed of the motor;
obtaining initial three-phase symmetrical sinusoidal driving voltage according to the three-phase winding current and the real-time rotating speed;
converting the initial three-phase symmetrical sinusoidal driving voltage into a pulse driving signal through a pulse width modulation algorithm;
driving a three-phase full-bridge inverter by using the pulse driving signal to obtain a target three-phase symmetrical sinusoidal driving voltage;
and driving the motor by using the target three-phase symmetrical sinusoidal driving voltage.
2. The method of claim 1, wherein said step of deriving an initial three-phase symmetric sinusoidal drive voltage from said three-phase winding current and said real-time rotational speed comprises:
converting the initial three-phase winding current into an initial two-phase orthogonal direct current component through coordinate transformation;
combining the real-time rotating speed, and converting the initial two-phase orthogonal direct current component into a target two-phase orthogonal voltage driving signal;
and converting the target two-phase orthogonal voltage driving signal into the initial three-phase symmetrical sinusoidal driving voltage through coordinate inverse transformation.
3. The method of claim 1 or 2, wherein the step of converting the initial three-phase symmetric sinusoidal drive voltage into a pulsed drive signal by a pulse width modulation algorithm comprises:
and converting the initial three-phase symmetrical sinusoidal driving voltage into a sinusoidal pulse driving signal by a sinusoidal pulse width modulation algorithm.
4. The method of claim 3, wherein said step of converting said initial three-phase symmetric sinusoidal drive voltage into a sinusoidal pulse drive signal by a sinusoidal pulse width modulation algorithm comprises:
and converting the initial three-phase symmetrical sine driving voltage into a sine pulse driving signal by using a symmetrical rule sampling algorithm.
5. The method of claim 3, wherein said step of converting said initial two-phase quadrature dc component to a target two-phase quadrature voltage drive signal in conjunction with said real-time rotational speed comprises:
obtaining a rotating speed driving parameter according to the received speed adjusting instruction and the real-time rotating speed;
and obtaining the target two-phase orthogonal voltage driving signal by using the rotating speed driving parameter and the initial two-phase orthogonal direct current component.
6. The method of claim 3, wherein said step of deriving an initial three-phase symmetric sinusoidal drive voltage from said three-phase winding current and said real-time rotational speed comprises:
filtering the three-phase winding current and the real-time rotating speed;
and obtaining the initial three-phase symmetrical sinusoidal driving voltage according to the three-phase winding current after filtering and the real-time rotating speed.
7. The method of claim 2, wherein said step of converting said initial three-phase symmetric sinusoidal drive voltage into a pulsed drive signal by a pulse width modulation algorithm comprises:
and converting the initial three-phase symmetrical sinusoidal driving voltage into a pulse driving signal by a space vector pulse width modulation algorithm.
8. A motor control apparatus, comprising:
the acquisition module acquires three-phase winding current and real-time rotating speed of the motor;
the first conversion module is used for obtaining an initial three-phase symmetrical sinusoidal driving voltage according to the three-phase winding current and the real-time rotating speed;
the second conversion module is used for converting the initial three-phase symmetrical sinusoidal driving voltage into a pulse driving signal through a pulse width modulation algorithm;
the first driving module is used for driving the three-phase full-bridge inverter by using the pulse driving signal to obtain a target three-phase symmetrical sinusoidal driving voltage;
and the second driving module is used for driving the motor by utilizing the target three-phase symmetrical sinusoidal driving voltage.
9. The apparatus of claim 8, wherein the first conversion module is configured to:
converting the initial three-phase winding current into an initial two-phase orthogonal direct current component through coordinate transformation;
combining the real-time rotating speed, and converting the initial two-phase orthogonal direct current component into a target two-phase orthogonal voltage driving signal;
and converting the target two-phase orthogonal voltage driving signal into the initial three-phase symmetrical sinusoidal driving voltage through coordinate inverse transformation.
10. An electronic device, 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 the motor control method of any of the preceding claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911138795.1A CN110932641A (en) | 2019-11-20 | 2019-11-20 | Motor control method and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911138795.1A CN110932641A (en) | 2019-11-20 | 2019-11-20 | Motor control method and device and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110932641A true CN110932641A (en) | 2020-03-27 |
Family
ID=69850370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911138795.1A Pending CN110932641A (en) | 2019-11-20 | 2019-11-20 | Motor control method and device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110932641A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102013859A (en) * | 2010-12-01 | 2011-04-13 | 北京奇峰聚能科技有限公司 | Control digital system for high-reliability energy storage flywheel dragging motor |
| CN102545740A (en) * | 2012-01-09 | 2012-07-04 | 南京航空航天大学 | Low-speed position sensorless control method for surface mounted permanent magnet synchronous motor |
| CN103414427A (en) * | 2013-08-12 | 2013-11-27 | 南京工程学院 | Brushless direct current motor control method |
| CN104639008A (en) * | 2013-11-08 | 2015-05-20 | Lg电子株式会社 | Motor driving apparatus and laundry treatment machine including the same |
| CN108521242A (en) * | 2018-04-11 | 2018-09-11 | 西安交通大学 | A kind of permanent magnet synchronous motor general-purpose control system and its control method |
| CN108832863A (en) * | 2018-06-20 | 2018-11-16 | 无锡信捷电气股份有限公司 | A kind of servo-system resonance suppressing method of double observers |
-
2019
- 2019-11-20 CN CN201911138795.1A patent/CN110932641A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102013859A (en) * | 2010-12-01 | 2011-04-13 | 北京奇峰聚能科技有限公司 | Control digital system for high-reliability energy storage flywheel dragging motor |
| CN102545740A (en) * | 2012-01-09 | 2012-07-04 | 南京航空航天大学 | Low-speed position sensorless control method for surface mounted permanent magnet synchronous motor |
| CN103414427A (en) * | 2013-08-12 | 2013-11-27 | 南京工程学院 | Brushless direct current motor control method |
| CN104639008A (en) * | 2013-11-08 | 2015-05-20 | Lg电子株式会社 | Motor driving apparatus and laundry treatment machine including the same |
| CN108521242A (en) * | 2018-04-11 | 2018-09-11 | 西安交通大学 | A kind of permanent magnet synchronous motor general-purpose control system and its control method |
| CN108832863A (en) * | 2018-06-20 | 2018-11-16 | 无锡信捷电气股份有限公司 | A kind of servo-system resonance suppressing method of double observers |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Rodríguez et al. | High-performance control strategies for electrical drives: An experimental assessment | |
| Thounthong et al. | Nonlinear differential flatness-based speed/torque control with state-observers of permanent magnet synchronous motor drives | |
| CN107623479B (en) | Fault-tolerant fault control method and device for motor | |
| CN107302330B (en) | A kind of durface mounted permanent magnet synchronous motor loss minimization controller method | |
| CN103746623B (en) | The maximum torque available field weakening control method of permanent magnetism direct drive wind group of motors | |
| CN103595310A (en) | Optimization and modulation method of duty ratios of five-bridge-arm voltage source inverter | |
| El-Gendy et al. | A sliding mode controller for a three phase induction motor | |
| CN105743330A (en) | Single support vector machine (SVM) simplified modulation algorithm of dual inverters | |
| Cai et al. | Model predictive current control for dual three-phase PMSM with hybrid voltage vector | |
| CN112448631A (en) | Permanent magnet synchronous motor field weakening control method and device based on overmodulation | |
| CN109600088B (en) | Harmonic current injection device and method of three-phase inverter | |
| WO2023284665A1 (en) | Motor control method, apparatus and system | |
| CN103532461B (en) | A kind of for steadily controlling the device that the little torque conditions of permagnetic synchronous motor low speed switches | |
| CN110932641A (en) | Motor control method and device and electronic equipment | |
| Wu et al. | Research on Direct Torque Control Based on RZVSVPWM of PMSM | |
| Takahashi et al. | High-performance inverter based on shaft acceleration torque for ac drives | |
| CN113141139B (en) | Five-closed-loop control method and system for double three-phase permanent magnet motor | |
| CN104901598A (en) | Motor drive device, motor drive method and motor | |
| CN108988720B (en) | Three-phase asynchronous motor controller based on slip automatic optimization and control method | |
| CN103904970A (en) | Method for controlling PWM converter on electric generator side of nine-phase permanent magnetic wind power generating system | |
| Bo-Wen et al. | Direct torque control for PMSM using active disturbance rejection control method | |
| Chen et al. | A new model predictive torque control strategy for permanent magnet synchronous hub motor of EVs | |
| Hemdani et al. | Design of a switching table for direct power control of a DFIG using sliding mode theory | |
| Yadav et al. | Controlling speed of a permanent magnet synchronous machine using closed loop control scheme | |
| CN113437916B (en) | Starting method and device of double-fed asynchronous motor control system |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200327 |
|
| RJ01 | Rejection of invention patent application after publication |