CN111224595A - Motor control method and device for improving safety, compressor and air conditioner - Google Patents
Motor control method and device for improving safety, compressor and air conditioner Download PDFInfo
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- 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
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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
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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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
- 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
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Abstract
The invention discloses a motor control method and device for improving safety, a compressor and an air conditioner. Wherein, the method comprises the following steps: obtaining a first quadrature axis voltage output quantity based on the motor rotating speed; obtaining a second quadrature axis voltage output quantity based on the quadrature axis current of the motor; determining a final quadrature axis voltage output quantity according to the first quadrature axis voltage output quantity and the second quadrature axis voltage output quantity; and controlling the rotation parameters of the motor according to the final quadrature axis voltage output quantity and the final direct axis voltage output quantity. According to the invention, the condition that the output quantity of the quadrature axis voltage exceeds the safety threshold value due to disturbance of the motor load can be avoided, and the safety is improved.
Description
Technical Field
The invention relates to the technical field of electronic power, in particular to a motor control method and device for improving safety, a compressor and an air conditioner.
Background
The motor adopted by the air conditioner compressor in the current market is a permanent magnet synchronous motor, and the control strategy adopted by the permanent magnet synchronous motor is FOC magnetic field directional control. The current magnetic field directional control has good torque and flux linkage control precision, and can realize constant torque control, maximum torque current ratio control, weak magnetic control and the like by controlling d-axis current and q-axis current. Fig. 2 is a structural diagram of a conventional motor control device, and as shown in fig. 2, in the conventional magnetic field orientation control, a speed control loop and a current control loop are cascaded, so that a current-limiting protection link is lacked, the response is slow, and the safety is low.
Aiming at the problems that the magnetic field orientation method in the prior art is short of a current-limiting protection link and low in safety, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a motor control method and device for improving safety, a compressor and an air conditioner, and aims to solve the problems that a magnetic field orientation method in the prior art lacks a current-limiting protection link and is low in safety.
In order to solve the technical problem, the invention provides a motor control method for improving safety, wherein the method comprises the following steps:
obtaining a first quadrature axis voltage output quantity based on the motor rotating speed; obtaining a second quadrature axis voltage output quantity based on the quadrature axis current of the motor;
determining a final quadrature axis voltage output quantity according to the first quadrature axis voltage output quantity and the second quadrature axis voltage output quantity;
and controlling the rotation parameters of the motor according to the final quadrature axis voltage output quantity and the final direct axis voltage output quantity.
Further, obtaining a first quadrature axis voltage output quantity based on the motor speed comprises:
and performing PI operation according to the acquired first difference value of the rotating speed of the motor and the preset rotating speed to acquire a first quadrature axis voltage output quantity.
Further, obtaining a second quadrature axis voltage output quantity based on the quadrature axis current of the motor includes:
and performing PI operation according to the second difference value of the obtained quadrature axis current of the motor and the preset quadrature axis current to obtain a second quadrature axis voltage output quantity.
Further, before performing PI operation according to a second difference between the obtained quadrature axis current of the motor and the preset quadrature axis current, the method further includes:
carrying out CLARKE conversion on the three-phase current of the motor to obtain an β -axis current component and a beta-axis current component;
and carrying out PARK conversion on the α axis current component and the β -axis current component to obtain quadrature-axis current and direct-axis current.
Further, determining a final quadrature axis voltage output quantity according to the first quadrature axis voltage output quantity and the second quadrature axis voltage output quantity, including:
comparing the first quadrature axis voltage output quantity with the second quadrature axis voltage output quantity to obtain the minimum quantity of the first quadrature axis voltage output quantity and the second quadrature axis voltage output quantity;
determining the minimum amount as a final quadrature axis voltage output amount.
Further, controlling the rotation parameters of the motor according to the final quadrature axis voltage output quantity and the final direct axis voltage output quantity comprises:
converting the β axis voltage component and the beta-axis voltage component to obtain an inverter driving signal;
and controlling the rotation parameters of the motor according to the inverter driving signal and the power supply voltage signal.
And controlling the rotation parameters of the motor according to the three-phase voltage output quantity.
Further, before controlling the rotation parameters of the motor according to the final quadrature axis voltage output quantity and the final direct axis voltage output quantity, the method further includes:
and performing PI operation according to a third difference value of the direct-axis current of the motor and the preset direct-axis current to obtain the direct-axis voltage output quantity.
The invention also provides a motor control device for improving safety, which is used for implementing the motor control method for improving safety, and the device comprises:
the operation module is used for obtaining a first quadrature axis voltage output quantity based on the rotating speed of the motor; obtaining a second quadrature axis voltage output quantity based on the quadrature axis current of the motor;
the determining module is used for determining the final quadrature axis voltage output quantity according to the first quadrature axis voltage output quantity and the second quadrature axis voltage output quantity;
and the control module is used for controlling the rotation parameters of the motor according to the final quadrature axis voltage output quantity and the final direct axis voltage output quantity.
Further, the operation module comprises:
the first PI controller is used for carrying out PI operation according to a first difference value between the acquired motor rotating speed and a preset rotating speed to obtain a first quadrature axis voltage output quantity;
and the second PI controller is used for carrying out PI operation according to a second difference value of the obtained quadrature axis current of the motor and the preset quadrature axis current to obtain a second quadrature axis voltage output quantity.
Further, the determining module includes:
and the comparator is used for comparing the first quadrature axis voltage output quantity with the second quadrature axis voltage output quantity, acquiring the minimum quantity in the first quadrature axis voltage output quantity and the second quadrature axis voltage output quantity, and determining that the minimum quantity is the final quadrature axis voltage output quantity.
The invention also provides a compressor, which comprises a motor and the motor control device for improving the safety.
The invention also provides an air conditioner which comprises the compressor.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described safety-enhancing motor control method.
By applying the technical scheme of the invention, the first quadrature axis voltage output quantity is obtained based on the rotating speed of the motor, and the second quadrature axis voltage output quantity is obtained based on the quadrature axis current of the motor; determining a final quadrature axis voltage output quantity according to the first quadrature axis voltage output quantity and the second quadrature axis voltage output quantity; and controlling the rotation parameters of the motor according to the final quadrature axis voltage output quantity and the final direct axis voltage output quantity, so that the condition that the quadrature axis voltage output quantity exceeds a safety threshold value due to disturbance of a motor load is avoided, and the safety is improved.
Drawings
FIG. 1 is a flow chart of a motor control method according to an embodiment of the present invention;
fig. 2 is a structural view of a conventional motor control device;
fig. 3 is a structural view of a motor control apparatus according to an embodiment of the present invention;
fig. 4 is a structural view of a motor control apparatus according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that although the terms first, second, etc. may be used to describe the quadrature axis voltage output in the embodiments of the present invention, these quadrature axis voltage outputs should not be limited to these terms. These terms are used only to distinguish quadrature axis voltage outputs. For example, the first quadrature axis voltage output amount may also be referred to as a second quadrature axis voltage output amount, and similarly, the second quadrature axis voltage output amount may also be referred to as a first quadrature axis voltage output amount without departing from the scope of the embodiments of the present invention.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in the article or device in which the element is included.
Alternative embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Example 1
The present embodiment provides a motor control method for improving safety, and fig. 1 is a flowchart of a motor control method according to an embodiment of the present invention, as shown in fig. 1, the method includes:
s101, obtaining a first quadrature axis voltage output quantity Uq1 based on the motor speed; and obtaining a second quadrature axis voltage output quantity Uq2 based on the quadrature axis current of the motor.
In this embodiment, the first quadrature axis voltage output quantity Uq1 is obtained by the motor rotation speed Wr and the preset rotation speed WrRef, and the second quadrature axis voltage output quantity Uq2 is obtained by the quadrature axis current iq of the motor and the preset quadrature axis current iqRef, where it is to be noted that, in a specific implementation process, the first quadrature axis voltage output quantity Uq1 may be obtained based on the motor rotation speed first, or the second quadrature axis voltage output quantity Uq2 may be obtained based on the quadrature axis current of the motor first, and a sequence of executing the two sub-steps is not specifically limited.
S102, determining a final quadrature axis voltage output quantity Uq according to the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq 2.
In the embodiment, the final quadrature axis voltage output quantity Uq is determined according to the magnitudes of the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq2, so as to provide a control parameter for subsequent control.
S103, controlling the rotation parameters of the motor according to the final quadrature axis voltage output quantity Uq and the final direct axis voltage output quantity Ud, wherein the rotation parameters comprise the rotating speed and the torque of a rotor in the motor.
In the motor control method of the embodiment, a first quadrature axis voltage output quantity Uq1 is obtained based on the motor rotation speed Wr, and a second quadrature axis voltage output quantity Uq2 is obtained based on the quadrature axis current iq of the motor; determining a final quadrature axis voltage output quantity Uq according to the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq 2; the rotation parameters of the motor are controlled according to the final quadrature axis voltage output quantity Uq and the direct axis voltage output quantity Ud, and the method is different from the conventional control method in that the quadrature axis voltage output quantity Uq is generated only according to the motor rotating speed Wr, so that the conditions that the motor load is disturbed, the rotating speed fluctuation is overlarge, the quadrature axis voltage output quantity Uq exceeds a safety threshold value are avoided, and the safety is improved.
Example 2
In order to realize that the motor rotation speed Wr is based on obtaining the first quadrature axis voltage output quantity Uq1, in this embodiment, in terms of the technology of the above embodiment, the step S101 includes: and performing PI operation according to a first difference value | Wrr-WrRef | of the acquired motor rotating speed Wr and the preset rotating speed WrRef to obtain a first quadrature axis voltage output quantity Uq1, wherein the first difference value | Wrr-WrRef | represents that a smaller quantity is subtracted from a larger quantity in the motor rotating speed Wr and the preset rotating speed WrRef, and therefore the first difference value | Wrr-WrRef | is always a positive value.
Similarly, in order to obtain the second quadrature axis voltage output quantity Uq2 according to the quadrature axis current iq, the step S101 further includes: and performing PI operation according to a second difference | iq-iqRef | of the acquired motor quadrature axis current iq and the preset quadrature axis current iqRef to acquire a second quadrature axis voltage output quantity Uq2, wherein the third difference | id-idRef | represents that a smaller quantity is subtracted from a larger quantity in the quadrature axis current iq and the preset quadrature axis current iqRef, and therefore the second difference | iq-iqRef | is always a positive value.
because the initial sampling current of the motor is three-phase current ia, ib and ic, and the β axis current iq and the direct axis current id need to be acquired for realizing PI control, before PI operation is carried out according to a second difference | iq-iqRef | between the acquired β axis current iq and the preset β axis current iqRef of the motor, the method further comprises the steps of carrying out CLARKE conversion on the three-phase current ia, ib and ic of the motor according to a conversion formula to acquire an α axis current component i α and a beta axis current component i beta, carrying out PARK conversion on the α axis current component i α and the beta axis current component i beta to acquire the β axis current iq and the direct axis current id, carrying out PI operation according to a third difference | id-Refid | between the direct axis current id and the preset direct axis current idRef to acquire a direct axis voltage output quantity Ud, wherein the third difference | Refid-idd represents that the larger difference | in the direct axis current id and the preset direct axis current idRef subtracts the smaller third difference | Refid, so that the third difference | Refid-Refid always is a positive value.
After the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq2 are obtained by the above method, in order to obtain the final quadrature axis voltage output quantity Uq, the step S102 specifically includes: comparing the first quadrature axis voltage output quantity Uq1 with the second quadrature axis voltage output quantity Uq2 to obtain the minimum quantity of the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq 2; and determining the minimum quantity as a final quadrature axis voltage output quantity Uq, namely determining the final quadrature axis voltage output quantity Uq as Uq1 if Uq1 < Uq2, and determining the final quadrature axis voltage output quantity Uq as Uq2 if Uq2 < Uq 1. A small quantity is selected from the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq2 through the comparator to serve as the final quadrature axis voltage output quantity Uq, the quadrature axis voltage output quantity can be limited when the motor load is disturbed to cause overlarge fluctuation of the rotating speed, the quadrature axis voltage output quantity can be prevented from exceeding a safety threshold, and the safety of the motor is improved.
after the final quadrature axis voltage output quantity Uq is obtained through the method, the three-phase voltage output quantity is finally obtained through the direct axis voltage output quantity Ud obtained through the method and the rotation parameter of the motor is controlled through the transformation, and concretely, the step S103 comprises the steps of converting α axis voltage component V alpha and the β axis voltage component V β through an SVPWM module to obtain 6 PWM waveform signals serving as driving signals of an inverter to drive the inverter to work, and controlling the rotation parameter of the motor according to the driving signals of the inverter and the power supply voltage signal Vdc.
Example 3
The existing FOC control directly outputs the quadrature axis voltage output quantity through a speed outer ring to control the motor speed, so that the system is more sensitive, but a current-limiting protection link is lacked in a mode of cascade connection of the speed ring and a current ring, the response is slow, when the load of the motor generates disturbance, the speed can be changed violently, so that the quadrature axis voltage output quantity is changed violently, in order to prevent the quadrature axis voltage output quantity from exceeding the safety threshold of a power device and influencing the system safety, the embodiment provides a motor control method for improving the safety, and the method comprises the following steps:
s1, calculating a speed deviation | Wrr-WrRef | according to the real-time rotating speed Wr and the preset rotating speed WrRef of the permanent magnet synchronous motor detected by the speed sensor, and using the speed deviation | Wrr-WrRef | as the input quantity of the speed PI controller; and outputting a first quadrature axis voltage output quantity Uq1 according to the speed deviation | Wrr-WrRef |.
S2, the current sensor detects three-phase currents ia, ib and ic of the permanent magnet synchronous motor, α axis current component i alpha and β -axis current component i β are obtained through CLARKE conversion, the α axis current component i alpha and the β -axis current component i β are obtained through PARK conversion, direct-axis current id and quadrature-axis current iq are obtained, due to the fact that a direct-axis current set value idRef is 0, all current vectors are applied to a q axis, namely all currents of the motor are used for generating torque, and the motor torque is controlled through single quadrature-axis current iq.
And S3, taking the deviation | id-idRef | of the direct-axis current id and the direct-axis current set value idRef as the input quantity of the direct-axis current PI controller, and outputting a direct-axis voltage output quantity Ud according to | id-id (ref) |.
And S4, taking the deviation | iq-iqRef | of the quadrature axis current iq and the quadrature axis current set value iqRef as the input quantity of the quadrature axis current PI controller, and outputting a second quadrature axis voltage output quantity Uq2 according to the | iq-iqRef |.
And S5, comparing the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq2 through a voltage comparator, and outputting the minimum value between the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq2 as a final quadrature axis voltage output quantity Uq.
S6, subjecting the quadrature axis voltage output quantity Uq and the direct axis voltage output quantity Ud to PARK inverse transformation to obtain α axis voltage component V alpha and a β axis voltage component V β, transforming the V alpha and the V β through an SVPWM module to obtain 6 PWM waveform signals serving as driving signals of the three-phase inverter, and controlling the motor according to the driving signals and bus voltage Vdc of the three-phase inverter so as to realize the magnetic field orientation vector control of the permanent magnet synchronous motor.
The motor control method of the embodiment introduces a Uq comparison amplitude limiting link, and takes the minimum value of the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq2, so that the phenomenon that the Uq exceeds a safety threshold value due to disturbance of a motor load is avoided, and the safety performance of the control method under the load disturbance is improved.
Example 4
the present embodiment provides a safety-enhanced motor control apparatus for implementing the above safety-enhanced motor control method, fig. 2 shows that the existing motor control apparatus includes a CLARKE converter, a PARK converter, a speed PI controller, an alternating current PI controller, a direct current PI controller, a PARK inverter, an SVPWM module, and a three-phase inverter, the CLARKE converter converts three-phase current of a motor into α -axis current components i α and α 0-axis current components i α 1, the PARK converter converts α 2-axis current components i α and α 3-axis current components i β into direct current id and alternating current iq, the speed PI controller and the alternating current PI controller obtain alternating voltage output quantity Uq, the direct current controller obtain direct voltage output quantity Ud, the PARK inverter converts alternating current voltage Uq and direct voltage component Ud into α and β -axis voltage component V β, the svpi module converts V α and V β -axis voltage output quantity into 6 signals, the alternating current PI controller converts the alternating current component V α and d into a three-axis voltage output quantity V α and β, the alternating current PI controller drives the three-phase inverter to generate a three-phase current loop, thereby preventing a three-phase current loop from affecting a three-phase current output quantity output voltage, and a three-phase current loop driving system from a three-phase current limiting voltage output quantity.
Fig. 3 is a structural view of a motor control apparatus according to an embodiment of the present invention, and as shown in fig. 3, the present invention is different from the conventional motor control apparatus in that the motor control apparatus includes: the operation module 11 is used for obtaining a first quadrature axis voltage output quantity Uq1 based on the motor speed; and obtaining a second quadrature axis voltage output quantity Uq2 based on the quadrature axis current of the motor; a determining module 12, configured to determine a final quadrature axis voltage output quantity Uq according to the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq 2; and the control module 13 is configured to control the rotation parameter of the motor according to the final quadrature axis voltage output quantity Uq and the direct axis voltage output quantity Ud.
The motor control device of the embodiment obtains a first quadrature axis voltage output quantity Uq1 and a second quadrature axis voltage output quantity Uq2 through the operation module, determines a final quadrature axis voltage output quantity Uq according to the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq2 through the determination module, and further controls the rotation parameters of the motor through the control module.
Example 5
To further achieve the purpose of obtaining the first quadrature axis voltage output quantity Uq1 based on the motor speed, as shown in fig. 4, the operation module includes: the first PI controller 111 is specifically configured to perform PI operation according to a first difference | Wr-WrRef | between the acquired motor rotation speed Wr and a preset rotation speed WrRef to obtain a first quadrature axis voltage output quantity Uq1, where the first PI controller may be a speed PI controller in the prior art; similarly, in order to further realize that the second quadrature axis voltage output quantity Uq2 is obtained based on the quadrature axis current of the motor, the operation module further includes: the second PI controller 112 is specifically configured to perform PI operation according to a second difference | iq-iqRef | between the obtained quadrature axis current iq of the motor and the preset quadrature axis current iqRef, so as to obtain a second quadrature axis voltage output amount Uq2, where the second PI controller may be a quadrature axis current PI controller in the prior art.
Since the purpose of the present invention is to limit the final quadrature axis voltage output quantity Uq and avoid it exceeding the safety threshold of the power device, in order to achieve this purpose, as shown in fig. 4, on the basis of the above embodiment, the determining module 12 includes: the comparator 121 is configured to compare the magnitudes of the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq2, obtain a minimum quantity in the first quadrature axis voltage output quantity Uq1 and the second quadrature axis voltage output quantity Uq2, and determine that the minimum quantity is the final quadrature axis voltage output quantity Uq.
since the initial sampling current of the motor is the three-phase current ia, ib, ic, and the quadrature-axis current iq and the direct-axis current id need to be obtained for implementing PI control, as shown in fig. 4, on the basis of the above embodiment, the operation module further includes a first transformation unit 113 configured to perform CLARKE transformation on the three-phase current of the motor to obtain an α -axis current component i α and a β -axis current component i β, where the first transformation unit may be a CLARKE converter in the prior art, and a second transformation unit 114 configured to perform PARK transformation on the α -axis current component i α and the β -axis current component i β to obtain the quadrature-axis current iq and the direct-axis current id, where the second transformation unit may be a PARK converter in the prior art.
for the purpose of controlling the motor by three-phase voltage and converting the final quadrature axis voltage output quantity Uq and the direct axis voltage output quantity Ud into three-phase voltage, the control module 13 further includes a third transforming unit 131 for performing PARK inverse transformation on the final quadrature axis voltage output quantity Uq and the direct axis voltage output quantity Ud to obtain an α -axis voltage component V α and a β -axis voltage component V β, where the third transforming unit may adopt a PARK inverse transforming unit in the prior art, and a fourth transforming unit 132 for transforming the α -axis voltage component V α and the β -axis voltage component V β to obtain an inverter driving signal and controlling a rotation parameter of the motor based on the driving signal and a power supply voltage signal, where the fourth transforming unit may adopt an SVPWM module in the prior art.
Since the PARK inverse transformation needs to be performed based on the final quadrature axis voltage output quantity Uq and the direct axis voltage output quantity Ud, in order to obtain the direct axis voltage output quantity Ud, the operation module further includes: and the third PI controller 115 is configured to perform PI operation according to a third difference | id-idRef | between the direct-axis current id of the motor and the preset direct-axis current idRef, and obtain a direct-axis voltage output quantity Ud.
Example 6
The embodiment provides a compressor, which comprises a motor and a motor control device for improving the safety in the embodiment.
Example 7
The present embodiment provides an air conditioner including the compressor of embodiment 6. The motor load can be prevented from generating disturbance, the rotation speed is too large in fluctuation, and then the condition that the quadrature axis voltage output quantity exceeds a safety threshold is caused, the safety of the compressor is improved, and the reliability of the whole air conditioning system is improved.
Example 8
The present embodiment provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the above-described motor control method for improving safety.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. A method of controlling a motor, the method comprising:
obtaining a first quadrature axis voltage output quantity based on the motor rotating speed; obtaining a second quadrature axis voltage output quantity based on the quadrature axis current of the motor;
determining a final quadrature axis voltage output quantity according to the first quadrature axis voltage output quantity and the second quadrature axis voltage output quantity;
and controlling the rotation parameters of the motor according to the final quadrature axis voltage output quantity and the final direct axis voltage output quantity.
2. The method of claim 1, wherein obtaining a first quadrature axis voltage output based on motor speed comprises:
and performing PI operation according to the acquired first difference value of the rotating speed of the motor and the preset rotating speed to acquire a first quadrature axis voltage output quantity.
3. The method of claim 1, wherein obtaining a second quadrature axis voltage output based on quadrature axis current of the motor comprises:
and performing PI operation according to the second difference value of the obtained quadrature axis current of the motor and the preset quadrature axis current to obtain a second quadrature axis voltage output quantity.
4. The method of claim 3, wherein before performing the PI operation according to the second difference between the obtained quadrature axis current of the motor and the preset quadrature axis current, the method further comprises:
carrying out CLARKE conversion on the three-phase current of the motor to obtain an β -axis current component and a beta-axis current component;
and carrying out PARK conversion on the α axis current component and the β -axis current component to obtain quadrature-axis current and direct-axis current.
5. The method of claim 4, wherein before controlling the rotation parameters of the motor according to the final quadrature-axis voltage output and the direct-axis voltage output, the method further comprises:
and performing PI operation according to the third difference value of the direct-axis current and the preset direct-axis current to obtain the direct-axis voltage output quantity.
6. The method of claim 1, wherein determining a final quadrature axis voltage output based on the first quadrature axis voltage output and the second quadrature axis voltage output comprises:
comparing the first quadrature axis voltage output quantity with the second quadrature axis voltage output quantity to obtain the minimum quantity of the first quadrature axis voltage output quantity and the second quadrature axis voltage output quantity;
determining the minimum amount as a final quadrature axis voltage output amount.
7. The method of claim 1, wherein controlling the rotation parameters of the motor according to the final quadrature-axis voltage output and the direct-axis voltage output comprises:
performing PARK inverse transformation on the final quadrature axis voltage output quantity and the final direct axis voltage output quantity to obtain α axis voltage component and a beta axis voltage component;
converting the β axis voltage component and the beta-axis voltage component to obtain an inverter driving signal;
and controlling the rotation parameters of the motor according to the inverter driving signal and the power supply voltage signal.
8. A motor control apparatus for implementing the motor control method according to any one of claims 1 to 7, characterized in that the apparatus comprises:
the operation module is used for obtaining a first quadrature axis voltage output quantity based on the rotating speed of the motor; obtaining a second quadrature axis voltage output quantity based on the quadrature axis current of the motor;
the determining module is used for determining the final quadrature axis voltage output quantity according to the first quadrature axis voltage output quantity and the second quadrature axis voltage output quantity;
and the control module is used for controlling the rotation parameters of the motor according to the final quadrature axis voltage output quantity and the final direct axis voltage output quantity.
9. The apparatus of claim 8, wherein the computing module comprises:
the first PI controller is used for carrying out PI operation according to a first difference value between the acquired motor rotating speed and a preset rotating speed to obtain a first quadrature axis voltage output quantity;
and the second PI controller is used for carrying out PI operation according to a second difference value of the obtained quadrature axis current of the motor and the preset quadrature axis current to obtain a second quadrature axis voltage output quantity.
10. The apparatus of claim 8, wherein the determining module comprises:
and the comparator is used for comparing the first quadrature axis voltage output quantity with the second quadrature axis voltage output quantity, acquiring the minimum quantity in the first quadrature axis voltage output quantity and the second quadrature axis voltage output quantity, and determining that the minimum quantity is the final quadrature axis voltage output quantity.
11. A compressor comprising an electric motor, characterized by further comprising a motor control device according to any one of claims 8 to 10.
12. An air conditioner characterized by comprising the compressor of claim 11.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1 to 7.
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