CN111106777A - Motor control method, motor control device, motor controller, variable frequency driving device and storage medium - Google Patents
Motor control method, motor control device, motor controller, variable frequency driving device and storage medium Download PDFInfo
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- CN111106777A CN111106777A CN201911378216.0A CN201911378216A CN111106777A CN 111106777 A CN111106777 A CN 111106777A CN 201911378216 A CN201911378216 A CN 201911378216A CN 111106777 A CN111106777 A CN 111106777A
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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
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
Abstract
The embodiment of the invention relates to the technical field of asynchronous motor control, and discloses a motor control method, a motor control device, a controller, a variable frequency driving device and a storage medium. The method comprises the following steps: acquiring bus feedback voltage, and calculating to obtain a difference value between preset bus voltage and the bus feedback voltage; processing the difference value to obtain a bus voltage compensation coefficient; obtaining a torque current compensation value according to the bus voltage compensation coefficient; and performing non-speed vector control on the asynchronous motor according to the torque current compensation value. The embodiment of the invention has the advantages of lower cost, long service life, small volume and environmental protection.
Description
Technical Field
The invention relates to the technical field of asynchronous motor control, in particular to a motor control method, a motor control device, a controller, a variable frequency driving device and a storage medium.
Background
In a variable frequency drive of an electric motor, a bus capacitor is an indispensable device of a main loop. At present, the bus capacitor adopts an electrolytic capacitor, the cost of the electrolytic capacitor is high, and the service life of the electrolytic capacitor is gradually reduced along with the time. With the aggravation of market competition, in order to save cost, the service life of the selected bus capacitor is short, so that the service life of the variable-frequency driver is greatly reduced. In addition, the production of electrolytic capacitors causes significant environmental pollution, and the recovery of damaged electrolytic capacitors is also problematic.
Disclosure of Invention
The embodiment of the invention aims to provide a motor control method, a motor control device, a controller, a variable frequency driving device and a storage medium, so that a variable frequency driver is lower in cost, long in service life, small in size and beneficial to environmental protection.
In order to solve the above technical problem, an embodiment of the present invention provides a motor control method applied to a variable frequency driving apparatus, including:
acquiring bus feedback voltage, and calculating to obtain a difference value between preset bus voltage and the bus feedback voltage;
processing the difference value to obtain a bus voltage compensation coefficient;
obtaining a torque current compensation value according to the bus voltage compensation coefficient;
and carrying out non-speed vector control on the asynchronous motor according to the torque current compensation value.
An embodiment of the present invention also provides a motor control device, including:
the difference value calculation module is used for acquiring bus feedback voltage and calculating to obtain a difference value between preset bus voltage and the bus feedback voltage;
the coefficient calculation module is used for processing the difference value to obtain a bus voltage compensation coefficient;
the compensation value calculation module is used for obtaining a torque current compensation value according to the bus voltage compensation coefficient;
and the control module is used for carrying out non-speed vector control on the asynchronous motor according to the torque current compensation value.
An embodiment of the present invention also provides a motor controller including: a memory storing a computer program and a processor running the computer program to implement the motor control method as described above.
The embodiment of the invention also provides a variable frequency driving device, which comprises the motor controller and the main loop;
the main loop is electrically connected with the motor controller;
and the bus capacitor of the main loop is a thin film capacitor.
Embodiments of the present invention also provide a storage medium storing a computer-readable program for causing a computer to execute the motor control method as described above.
Compared with the prior art, the method and the device have the advantages that the bus feedback voltage is obtained, the difference value between the preset bus voltage and the bus feedback voltage is obtained through calculation, the difference value is processed to obtain the bus voltage compensation coefficient, the torque current compensation value is obtained according to the bus voltage compensation coefficient, and then the non-speed vector control of the asynchronous motor is carried out according to the torque current compensation value. When the capacitance value of the bus capacitor is small, the fluctuation of the bus voltage is large, the embodiment of the invention obtains the torque current compensation value in a software control mode, and carries out the non-speed vector control of the asynchronous motor according to the torque current compensation value, thereby effectively inhibiting the fluctuation of the output current caused by the fluctuation of the bus voltage, enabling the asynchronous motor to work stably, and further using a film capacitor and the like to replace an electrolytic capacitor, so that the variable frequency driving device has the advantages of lower cost, smaller volume, long service life and more contribution to environmental protection.
As an embodiment, the processing the difference to obtain a bus voltage compensation coefficient specifically includes:
performing a first proportional integration on the difference;
and carrying out amplitude limiting processing on the result of the first proportional integral to obtain the bus voltage compensation coefficient. Thereby making the output voltage more stable.
As an embodiment, the speed vector-free control of the asynchronous motor according to the torque current compensation value specifically includes:
calculating to obtain a reference torque current, and detecting the torque current of the asynchronous motor;
calculating to obtain the sum of the reference torque current and the torque current compensation value, and subtracting the detected torque current of the asynchronous motor to obtain the compensated torque current;
carrying out second proportional integral on the compensated torque current to obtain torque voltage;
calculating to obtain the excitation voltage of the asynchronous motor;
2/3 converting the torque voltage and the excitation voltage;
and performing space vector pulse width modulation on the converted voltage to obtain the input voltage of the asynchronous motor.
As an embodiment, before the 2/3 transformation of the torque voltage and the excitation voltage, the method further includes:
the torque voltage is compensated.
As an embodiment, before the 2/3 transformation of the torque voltage and the excitation voltage, the method further includes:
and compensating the excitation voltage.
As an embodiment, further comprising:
detecting a bus capacitor of the variable frequency driving device, determining whether an attenuation value of the bus capacitor reaches a preset threshold value, and if the attenuation value reaches the preset threshold value, updating a first proportional integral parameter according to a preset corresponding relation between a capacitance value of the bus capacitor and the first proportional integral parameter. Thereby further prolonging the service life.
Drawings
Fig. 1 is a flowchart of a motor control method according to a first embodiment of the present invention;
fig. 2 is a flowchart of calculation of a torque current compensation value according to a motor control method of the first embodiment of the present invention;
fig. 3 is a schematic view of a limiting process of a motor control method according to a first embodiment of the present invention;
fig. 4 is a schematic view of a no-speed vector control of the motor control method according to the first embodiment of the present invention;
fig. 5 is a schematic view of excitation voltage compensation of a motor control method according to a first embodiment of the present invention;
fig. 6 is a schematic view of torque voltage compensation of the motor control method according to the first embodiment of the present invention;
fig. 7 is a schematic structural diagram of a variable frequency driving apparatus according to a motor control method of a first embodiment of the present invention;
fig. 8 is a schematic structural view of a motor control device according to a second embodiment of the present invention;
fig. 9 is a schematic structural diagram of a motor controller according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments 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 invention in its various embodiments. However, the technical solution claimed in the present invention can be implemented without these technical details and various changes and modifications based on the following embodiments.
The first embodiment of the invention relates to a motor control method, which is applied to a variable-frequency driving device of an asynchronous motor. As shown in fig. 1, the method includes steps 101 to 104.
Step 101: and acquiring the bus feedback voltage, and calculating to obtain the difference value between the preset bus voltage and the bus feedback voltage.
Step 102: and processing the difference value to obtain a bus voltage compensation coefficient.
Step 103: and obtaining a torque current compensation value according to the bus voltage compensation coefficient.
Specifically, step 102 includes: performing a first proportional integration on the difference; and carrying out amplitude limiting processing on the result of the first proportional integration to obtain a bus voltage compensation coefficient.
The following describes steps 101 to 103 in detail with reference to fig. 2.
As shown in fig. 2, the preset bus voltage, that is, the given bus voltage Vdc _ Ref, is subtracted from the acquired bus feedback voltage Vdc _ FB, so as to obtain a difference value between the bus feedback voltage and the preset bus voltage, then the difference value is subjected to a first proportional integral, that is, PI operation, and then the operation result of the first proportional integral is subjected to amplitude limiting processing, so as to obtain a bus voltage compensation coefficient. It should be noted that the parameters Kp and Ki of the first proportional integral operation may be set according to the power of the variable frequency driving device, and are not described herein again.
As shown in fig. 3, when the operation result of the first proportional integration is subjected to the clipping process, if the first proportional integration result is smaller than 0, 0 is output after the clipping process, if the first proportional integration result is larger than 1, 1 is output after the clipping process, and if the first proportional integration result is larger than 0 and smaller than 1, the first proportional integration result is output.
In step 103, a torque current compensation value is obtained according to the bus voltage compensation coefficient, wherein IqMax is the maximum torque current value, IMax is the input current of the variable frequency drive device and the rated current of the variable frequency drive device, and Id is the detected exciting current. IqMax can be calculated by squaring the squared difference of filtered IMax and Id, and SQRT is the square root operation. The torque current compensation value is the product of the bus voltage compensation coefficient and IqMax.
Step 104: and performing non-speed vector control on the asynchronous motor according to the torque current compensation value.
Specifically, step 104 may include the steps of:
a1. calculating to obtain a reference torque current, and detecting the torque current of the asynchronous motor;
a2. calculating to obtain the sum of the reference torque current and the torque current compensation value, and subtracting the detected torque current of the asynchronous motor to obtain the compensated torque current;
a3. carrying out second proportional integral on the compensated torque current to obtain torque voltage;
a4. calculating to obtain the excitation voltage of the asynchronous motor;
a5. 2/3 transformation is performed on the torque voltage and the excitation voltage.
a6. And performing space vector pulse width modulation on the converted voltage to obtain the input voltage of the asynchronous motor.
Step 104 is described in detail below with reference to fig. 4.
The control command ω _ Ref of the Speed is differentiated from the angular Speed (ω _ Estimate) estimated by a Speed estimator (Speed Estimate Regulator), and then Speed adjustment is performed (i.e. the Speed Regulator performs proportional integral PI operation, also called Speed Regulator) to obtain a torque reference current (Iq _ Ref), wherein the Iq _ Ref and Iq (detected torque current) present a certain proportional relationship, and at this time, a torque current compensation value (the same as the torque current compensation value in step 103) obtained by adjusting the bus voltage through a bus voltage Regulator (also called DC _ bus Regulator) is added to the Iq _ Ref and then subtracted by Iq, and then proportional integral operation is performed through the Iq Regulator (also called Iq Regulator) to obtain a torque voltage Vq. The excitation reference current Id _ Ref of the asynchronous motor is obtained through calculation of a Flux linkage Calculator (Flux _ corrector), and after the Id _ Ref is different from the detected excitation current Id, proportional integral operation is carried out through an Id Regulator (Id Regulator) to obtain the excitation voltage Vd. And Vd and Vq are 2/3 transformed with an Angle (Theta) of rotor flux linkage orientation estimated by an Angle calculator (Angle calculator) to obtain three-phase input voltages Va, Vb and Vc for Space Vector Pulse Width Modulation (SVPWM) calculation. The three-phase input voltage is subjected to SVPWM operation, and is output to a motor after relevant dead-zone compensation is added. Wherein Id and Iq are obtained by 3/2 conversion of the input Current of the motor collected by a Current measurement collector (Current measurement) and Theta.
According to the embodiment of the invention, the torque current compensation value is compensated to the Iq generated by the speed ring, so that the torque fluctuation caused by the bus voltage fluctuation can be counteracted, the torque can be operated more stably, and meanwhile, the bus voltage is not overvoltage or undervoltage.
In some examples, before 2/3 transformation is performed on the torque voltage and the excitation voltage, the method may further include: the torque voltage is compensated, and the excitation voltage is compensated.
In order to stably operate the motor when the fluctuation of the bus voltage is relatively large, Vd and Vq in a DQ coordinate system need to be compensated.
As shown in fig. 5, Rs is a line resistance of the stator, Vdr _ com is a compensation voltage of the stator resistance, Idref is a reference value of d-axis current calculated by flux linkage, and Vdlf _ com is a value of voltage compensation for motor leakage inductance. Vd _ com is the compensated excitation voltage, and Vd _ com is the product of Rs, Idref, Vdr _ com minus Vdlf _ com.
As shown in fig. 6, Vqr _ com is the compensation voltage of the stator resistance, Iqfilt is the q-axis filter current, and Rs is the line resistance of the stator. Vq _ com is the compensated torque voltage, and is the product of Rs, Iqfilt, and Vqr _ com.
Vd _ com and Vq _ com are added to Vd, Vq, respectively, to compensate Vd, Vq.
Fig. 7 is a schematic diagram of a main circuit of a 75kW (kilowatt) variable frequency drive apparatus to which an embodiment of the present invention is applied. The bus capacitor of the main circuit can adopt a film capacitor, and the capacitance value of the film capacitor is 170uf (microfarad), while the existing bus capacitor generally needs to adopt an electrolytic capacitor with the capacitance value of 7000 uf. The inventor proves through practical verification that the waveforms of the output current and the bus voltage of the variable-frequency driving device are relatively sinusoidal when the load is 50% and the variable-frequency driving device is fully loaded, and the rotating speed of the asynchronous motor is stable.
In some examples, the method may further comprise: and detecting a bus capacitor of the variable frequency driving device, determining whether the attenuation value of the bus capacitor reaches a preset threshold value, and updating a first proportional integral parameter according to the corresponding relation between the preset capacitance value of the bus capacitor and the first proportional integral parameter if the attenuation value reaches the preset threshold value. The detection of the capacitance is well known to those skilled in the art and will not be described herein. Therefore, when the capacitance value of the film capacitor is greatly attenuated, for example, the attenuation is 70% of the original capacitance value, the parameter of the first proportional integral can be adjusted to be larger according to the corresponding relation between the preset capacitance value of the bus capacitor and the first proportional integral parameter, so that the motor can continuously and stably work through online adjustment. The corresponding relation between the preset capacitance value of the bus capacitor and the first proportional integral parameter can be obtained through practical verification.
Compared with the prior art, the embodiment of the invention obtains the torque current compensation value through a software control mode, and carries out non-speed vector control on the asynchronous motor according to the torque current compensation value, thereby effectively inhibiting the output current fluctuation caused by the voltage fluctuation of the bus, enabling the asynchronous motor to stably work, further using the film capacitor to replace an electrolytic capacitor of a main loop of the variable frequency driving device, and enabling the variable frequency driving device to have lower cost, smaller volume, long service life and more favorable for environmental protection.
Referring to fig. 8, a motor control device 800 according to a second embodiment of the present invention includes:
the difference value calculating module 801 is used for acquiring bus feedback voltage and calculating to obtain a difference value between preset bus voltage and the bus feedback voltage;
a coefficient calculating module 802, configured to process the difference to obtain a bus voltage compensation coefficient;
a compensation value calculation module 803, configured to obtain a torque current compensation value according to the bus voltage compensation coefficient;
and the control module 804 is used for performing non-speed vector control on the asynchronous motor according to the torque current compensation value.
Optionally, the coefficient calculating module 802 is further configured to perform a first proportional integration on the difference; and carrying out amplitude limiting processing on the result of the first proportional integral to obtain the bus voltage compensation coefficient. The control module 804 is further configured to:
calculating to obtain a reference torque current, and detecting the torque current of the asynchronous motor;
calculating to obtain the sum of the reference torque current and the torque current compensation value, and subtracting the detected torque current of the asynchronous motor to obtain the compensated torque current; carrying out second proportional integral on the compensated torque current to obtain torque voltage;
calculating to obtain the excitation voltage of the asynchronous motor;
2/3 converting the torque voltage and the excitation voltage;
and performing space vector pulse width modulation on the converted voltage to obtain the input voltage of the asynchronous motor.
Further, the control module 804 is further configured to compensate the torque voltage and the excitation voltage before 2/3 transformation of the torque voltage and the excitation voltage.
Preferably, the motor control apparatus 800 may further include:
the detection module is used for detecting the bus capacitance of the variable frequency driving device;
and the coefficient adjusting module is used for determining whether the attenuation value of the bus capacitor reaches a preset threshold value, and updating the parameter of the first proportional integral according to the preset corresponding relation between the capacitance value of the bus capacitor and the first proportional integral parameter if the attenuation value reaches the preset threshold value.
Compared with the prior art, the motor control device 800 obtains the torque current compensation value in a software control mode, and performs non-speed vector control on the asynchronous motor according to the torque current compensation value, so that output current fluctuation caused by bus voltage fluctuation can be effectively inhibited, the asynchronous motor can stably work, and a film capacitor can be used for replacing an electrolytic capacitor of a main loop of the variable frequency driving device, so that the variable frequency driving device has the advantages of lower cost, smaller volume, long service life and more environmental friendliness.
A third embodiment of the invention relates to a motor controller. As shown in fig. 9, the motor controller includes: a memory 902 and a processor 901;
wherein the memory 902 stores instructions executable by the at least one processor 901, the instructions being executed by the at least one processor 901 to implement the motor control method according to the first embodiment.
The motor controller includes one or more processors 901 and a memory 902, and one processor 901 is taken as an example in fig. 9. The processor 901 and the memory 902 may be connected by a bus or by other means, and fig. 9 illustrates the connection by the bus as an example. Memory 902, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 901 executes various functional applications and data processing of the device, i.e., implements the above-described motor control method, by running non-volatile software programs, instructions, and modules stored in the memory 902.
The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function. Further, the memory 902 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. One or more modules are stored in the memory 902 and, when executed by the one or more processors 901, perform the motor control method of any of the method embodiments described above.
The above-mentioned device can execute the method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method, and reference may be made to the method provided by the embodiment of the present invention for technical details that are not described in detail in the embodiment.
Compared with the prior art, the embodiment of the invention obtains the torque current compensation value through a software control mode, and carries out non-speed vector control on the asynchronous motor according to the torque current compensation value, thereby effectively inhibiting the output current fluctuation caused by the voltage fluctuation of the bus, enabling the asynchronous motor to stably work, further using the film capacitor to replace an electrolytic capacitor of a main loop of the variable frequency driving device, and enabling the variable frequency driving device to have lower cost, smaller volume, long service life and more favorable for environmental protection.
A fourth embodiment of the present invention relates to a variable frequency drive apparatus comprising a motor controller and a main circuit as described in the third embodiment; the main loop is electrically connected with the motor controller; and the bus capacitor of the main loop is a film capacitor.
Compared with the prior art, the embodiment of the invention obtains the torque current compensation value through a software control mode, and carries out non-speed vector control on the asynchronous motor according to the torque current compensation value, thereby effectively inhibiting the output current fluctuation caused by the voltage fluctuation of the bus, enabling the asynchronous motor to stably work, further using the film capacitor to replace an electrolytic capacitor of a main loop of the variable frequency driving device, and enabling the variable frequency driving device to have lower cost, smaller volume, long service life and more favorable for environmental protection.
A fifth embodiment of the invention relates to a non-volatile storage medium for storing a computer-readable program for causing a computer to perform some or all of the above method embodiments.
That is, those skilled in the art can understand that all or part of the steps in the method according to the above embodiments 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, etc.) or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. 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 characterized by being applied to a variable frequency driving device and comprising the following steps:
acquiring bus feedback voltage, and calculating to obtain a difference value between preset bus voltage and the bus feedback voltage;
processing the difference value to obtain a bus voltage compensation coefficient;
obtaining a torque current compensation value according to the bus voltage compensation coefficient;
and carrying out non-speed vector control on the asynchronous motor according to the torque current compensation value.
2. The motor control method according to claim 1, wherein the processing the difference to obtain a bus voltage compensation coefficient specifically comprises:
performing a first proportional integration on the difference;
and carrying out amplitude limiting processing on the result of the first proportional integral to obtain the bus voltage compensation coefficient.
3. The motor control method according to claim 1, wherein the speed vector-free control of the asynchronous motor is performed according to the torque current compensation value, and specifically comprises:
calculating to obtain a reference torque current, and detecting the torque current of the asynchronous motor;
calculating to obtain the sum of the reference torque current and the torque current compensation value, and subtracting the detected torque current of the asynchronous motor to obtain the compensated torque current;
carrying out second proportional integral on the compensated torque current to obtain torque voltage;
calculating to obtain the excitation voltage of the asynchronous motor;
2/3 converting the torque voltage and the excitation voltage;
and performing space vector pulse width modulation on the converted voltage to obtain the input voltage of the asynchronous motor.
4. The motor control method of claim 1, further comprising, prior to said 2/3 transforming said torque voltage and said field voltage:
the torque voltage is compensated.
5. The motor control method of claim 1, further comprising, prior to said 2/3 transforming said torque voltage and said field voltage:
and compensating the excitation voltage.
6. The motor control method according to claim 1, further comprising:
detecting a bus capacitor of the variable frequency driving device, determining whether an attenuation value of the bus capacitor reaches a preset threshold value, and if the attenuation value reaches the preset threshold value, updating a first proportional integral parameter according to a preset corresponding relation between a capacitance value of the bus capacitor and the first proportional integral parameter.
7. A motor control apparatus, comprising:
the difference value calculation module is used for acquiring bus feedback voltage and calculating to obtain a difference value between preset bus voltage and the bus feedback voltage;
the coefficient calculation module is used for processing the difference value to obtain a bus voltage compensation coefficient;
the compensation value calculation module is used for obtaining a torque current compensation value according to the bus voltage compensation coefficient;
and the control module is used for carrying out non-speed vector control on the asynchronous motor according to the torque current compensation value.
8. A motor controller, comprising: a memory storing a computer program and a processor running the computer program to implement the motor control method of any one of claims 1 to 6.
9. A variable frequency drive comprising a motor controller according to claim 8 and a main circuit;
the main loop is electrically connected with the motor controller;
and the bus capacitor of the main loop is a thin film capacitor.
10. A storage medium characterized by storing a computer-readable program for causing a computer to execute a motor control method according to any one of claims 1 to 6.
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| CN112737429A (en) * | 2020-12-24 | 2021-04-30 | 珠海格力节能环保制冷技术研究中心有限公司 | Motor and current compensation control method and device thereof, storage medium and processor |
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