CN111245317A - Control method of motor, air conditioner and computer readable storage medium - Google Patents

Control method of motor, air conditioner and computer readable storage medium Download PDF

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Publication number
CN111245317A
CN111245317A CN201811436046.2A CN201811436046A CN111245317A CN 111245317 A CN111245317 A CN 111245317A CN 201811436046 A CN201811436046 A CN 201811436046A CN 111245317 A CN111245317 A CN 111245317A
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output power
current
value
axis
voltage
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Inventor
武文斌
任新杰
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Anhui Meizhi Precision Manufacturing Co Ltd
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Anhui Meizhi Precision Manufacturing Co Ltd
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Priority to CN201811436046.2A priority Critical patent/CN111245317A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • 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
    • 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
    • H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention provides a control method of a motor, an air conditioner and a computer readable storage medium, wherein the control method of the motor comprises the following steps: acquiring an output power reference value of the inverter; acquiring a first output power actual value of the inverter; calculating an output power compensation value of the inverter according to the output power reference value and the first output power actual value; and adjusting the first output power actual value according to the output power compensation value so as to adjust the output power of the inverter to a second output power actual value. The control method of the motor provided by the invention reduces the error between the reference value of the output power and the actual value of the output power, improves the power factor of the motor driving system, further obviously improves the performance of the motor, avoids the waste of energy, ensures that the compressor has higher efficiency, and improves the energy efficiency grade of the air conditioner.

Description

Control method of motor, air conditioner and computer readable storage medium
Technical Field
The invention relates to the technical field of compressors, in particular to a motor control method, an air conditioner and a computer readable storage medium.
Background
At present, an electrolytic capacitor is generally used in a compressor permanent magnet synchronous motor driving system to stabilize a direct current bus voltage so as to realize higher performance. However, the electrolytic capacitor not only increases the volume of the driver, but also generates additional loss, resulting in a decrease in reliability of the driving system. In order to solve the problem, in the related art, a film capacitor is usually used as a dc bus capacitor instead of an electrolytic capacitor, however, since the capacitance value of the film capacitor is only tens of microfarads, the capacitance value of the dc bus is significantly reduced, it is difficult to keep the dc bus voltage constant, and it is more difficult to improve the power factor of the motor driving system, thereby affecting the performance of the compressor.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of the invention proposes a method of controlling an electric machine.
A second aspect of the present invention provides an air conditioner.
A second aspect of the invention proposes a computer-readable storage medium.
In view of this, a first aspect of the present invention provides a control method of a motor, including: acquiring an output power reference value of the inverter; acquiring a first output power actual value of the inverter; calculating an output power compensation value of the inverter according to the output power reference value and the first output power actual value; and adjusting the first output power actual value according to the output power compensation value so as to adjust the output power of the inverter to a second output power actual value.
According to the control method of the motor, the output power compensation value is obtained by obtaining the output power reference value and the first output power actual value of the inverter, the first output power actual value is adjusted according to the output power compensation value, the output power of the inverter is adjusted to the second output power actual value, the error between the output power reference value and the output power actual value is reduced, the power factor of a motor driving system is improved, the performance of the motor is remarkably improved, the waste of energy is avoided, the compressor has higher efficiency, and the energy efficiency level of the air conditioner is improved.
In addition, the control method of the motor in the above technical solution provided by the present invention may further have the following additional technical features:
in the foregoing technical solution, preferably, the adjusting the first actual output power value according to the output power compensation value to adjust the output power of the inverter to the second actual output power value includes: and adjusting the reference value of the d-axis current and the reference value of the q-axis current according to the output power compensation value so as to adjust the output power of the inverter to a second output power actual value.
In the technical scheme, the output power of the inverter is adjusted to the second output power actual value from the first output power actual value by controlling the proportional resonant controller (PR controller), so that the error between the output power reference value and the output power actual value is reduced, the power factor of the motor driving system is improved, the performance of the motor is obviously improved, the waste of energy is avoided, the compressor has higher efficiency, and the energy efficiency grade of the air conditioner is improved. When the actual power of the inverter is regulated, the d-axis current and the q-axis current are regarded as a whole, and the d-axis current reference value and the q-axis current reference value are generated from the angle of controlling the output power of the inverter, so that the actual power of the inverter is regulated. The q axis is a quadrature axis or a torque axis of the motor, the d axis is a direct axis or a magnetic flux axis of the motor, and the d axis and the q axis form a rotating coordinate system.
In any of the above technical solutions, preferably, the adjusting the first actual output power value according to the output power compensation value to adjust the output power of the inverter to the second actual output power value includes: calculating the amplitude of the compensation voltage vector according to the output power compensation value; calculating a compensation voltage according to the amplitude of the compensation voltage vector; adjusting the output voltage of the inverter according to the compensation voltage so as to adjust the output power of the inverter to a second actual output power value; wherein the compensation voltage comprises a d-axis compensation voltage and a q-axis compensation voltage of the motor.
In the technical scheme, the amplitude of the compensation voltage vector is calculated according to the output power compensation value, the amplitude of the voltage vector is decomposed according to the directions of d-axis and q-axis current vectors to obtain two-axis compensation voltage components, the output voltage of the inverter is adjusted according to the d-axis and q-axis compensation voltages, the output power of the inverter is adjusted from a first output power actual value to a second output power actual value, the power factor of a motor driving system is improved, the performance of the motor is remarkably improved, the waste of energy is avoided, the compressor has higher efficiency, and the energy efficiency level of the air conditioner is improved. When the bandwidth of the current reference value current regulators of the d axis and the q axis is small compared with the fluctuation frequency, the current of the d axis and the current of the q axis are regulated, meanwhile, the voltage of the d axis and the voltage of the q axis are regulated, the regulation effect on the output power of the inverter can be obviously improved, and the power factor of the motor driving system is further improved.
In any of the above-described embodiments, preferably,
calculating the amplitude of the compensation voltage vector according to the output power compensation value specifically comprises the following steps:
Figure BDA0001883812670000031
calculating the compensation voltage according to the amplitude of the compensation voltage vector specifically comprises the following steps:
Figure BDA0001883812670000032
wherein the content of the first and second substances,
Figure BDA0001883812670000033
to compensate for the magnitude of the voltage vector, peIn order to output the power compensation value,
Figure BDA0001883812670000034
in the case of a dq-axis current vector,
Figure BDA0001883812670000035
the voltage is compensated for the d-axis,
Figure BDA0001883812670000036
for compensating the voltage for the q-axis, thetadqIs the angle between the d-axis and the dq-axis current vector.
In the technical scheme, the d-axis compensation voltage and the q-axis compensation voltage are calculated by calculating the amplitude of the compensation voltage vector and calculating the amplitude of the compensation voltage vector, so that the d-axis voltage and the q-axis voltage are adjusted.
In any of the above technical solutions, preferably, the obtaining of the output power reference value of the inverter specifically includes: acquiring a power grid voltage angular speed, an input voltage peak value, an incoming line current peak value and a direct current bus capacitor; and calculating the output power of the inverter according to the grid voltage angular speed, the input voltage peak value, the incoming line current peak value and the direct current bus capacitor.
In the technical scheme, the output power of the inverter is calculated by acquiring the angular speed of the voltage of the power grid, the peak value of the input voltage, the peak value of the incoming current and the capacitance of the direct-current bus.
In any of the above technical solutions, preferably, the obtaining of the first actual output power value of the inverter specifically includes: acquiring q-axis voltage of a motor, q-axis current of the motor, d-axis voltage of the motor and d-axis current of the motor; an actual value of the first output power is calculated from the q-axis voltage, the q-axis current, the d-axis voltage, and the d-axis current.
In the technical scheme, the actual value of the first output power is calculated by obtaining q-axis voltage of the motor, q-axis current of the motor, d-axis voltage of the motor and d-axis current of the motor.
In any of the above technical solutions, preferably, the method for controlling a motor further includes: acquiring direct current bus voltage; calculating a weak magnetic current reference value according to the direct current bus voltage, the d-axis current and the q-axis current; determining an actual value of the weak magnetic current according to the reference value of the weak magnetic current; and adjusting the d-axis current according to the actual value of the field weakening current.
In the technical scheme, after the output power of the inverter is adjusted to the second output power actual value, the d-axis current is adjusted, the weak magnetic current actual value is superposed on the d-axis current, and the virtual resistor in the circuit is equivalent to a current source connected in parallel to the load side, so that the negative impedance of the constant-power load is offset by increasing the positive impedance, the system stability is further enhanced, and the rotating speed range of the motor is enlarged.
In any of the above technical solutions, preferably, determining the actual value of the weak magnetic current according to the reference value of the weak magnetic current specifically includes: judging whether the flux-weakening current reference value is larger than or equal to the d-axis maximum torque current ratio current or not; when the reference value of the weak magnetic current is larger than or equal to the d-axis maximum torque current ratio current, the actual value of the weak magnetic current is the d-axis maximum torque current ratio current; when the reference value of the weak magnetic current is smaller than the d-axis maximum torque current ratio current, judging whether the reference value of the weak magnetic current is larger than the demagnetization current or not; when the reference value of the weak magnetic current is larger than the demagnetization current, the actual value of the weak magnetic current is the reference value of the weak magnetic current; and when the reference value of the weak magnetic current is less than or equal to the demagnetization current, the actual value of the weak magnetic current is the demagnetization current.
In the technical scheme, the reference value of the weak magnetic current is respectively compared with the maximum torque current ratio current of the d axis and the demagnetization current, so that the actual value of the weak magnetic current is accurately determined, the stability of the system is further enhanced, and the rotating speed range of the motor is enlarged.
A second aspect of the present invention provides an air conditioner comprising: a memory and a processor, the memory configured to store executable instructions; the processor is configured to execute the stored instructions to implement the control method of the motor according to any one of the above-mentioned technical solutions, and therefore, the air conditioner has all the advantages of the control method of the motor according to any one of the above-mentioned technical solutions.
A third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, the computer program, when being executed by a processor, implementing the method for controlling a motor according to any one of the above-mentioned technical solutions, and therefore the computer-readable storage medium has all the advantages of the method for controlling a motor according to any one of the above-mentioned technical solutions.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a flow chart of a control method of an electric machine according to an embodiment of the invention;
fig. 2 shows a flow chart of a control method of an electric machine according to another embodiment of the invention;
fig. 3 shows a flow chart of a control method of an electric machine according to a further embodiment of the invention;
fig. 4 shows a flow chart of a control method of an electric machine according to a further embodiment of the invention;
fig. 5 shows a flow chart of a control method of a motor according to a further embodiment of the invention;
fig. 6 shows a flow chart of a control method of a motor according to a further embodiment of the invention;
FIG. 7 shows a circuit schematic of a motor drive system according to an embodiment of the invention;
FIG. 8 shows a circuit schematic of an output power regulation module according to one embodiment of the present invention;
FIG. 9 illustrates a tracking waveform of an actual value of output power versus a reference value of output power according to one embodiment of the present invention;
FIG. 10 illustrates a waveform diagram of a power factor according to an embodiment of the invention;
fig. 11 illustrates a dc bus voltage waveform diagram without performing the control method of the motor according to the present invention;
fig. 12 illustrates a dc bus voltage waveform diagram for performing a control method of the motor according to the present invention, according to an embodiment of the present invention;
wherein, the correspondence between the reference numbers and the part names in fig. 7 and 8 is:
the device comprises a 10 one-way rectifying circuit, a 12 direct current bus, a 14 direct current bus capacitor, a 16 three-phase inverter circuit, a 18 motor, a 20SVPWM module, a 22Park conversion module, a 24Clarke conversion module, a 26Park inverse conversion module, a 28 rotor position observer, a 30 direct current bus voltage stabilization control module, a 32 speed controller, a 34 output power regulation module, a 36q axis current controller, a 38d axis current controller, a 40 weak magnetic current regulation module, a 42 motor current distribution module, a 44 output power compensation module and a 46 output power regulator.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A control method of a motor, an air conditioner, and a computer-readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 12.
In an embodiment of the first aspect of the present invention, as shown in fig. 1, the present invention provides a control method of a motor, including:
102, acquiring an output power reference value of an inverter;
104, acquiring a first output power actual value of the inverter;
step 106, calculating an output power compensation value of the inverter according to the output power reference value and the first output power actual value;
and step 108, adjusting the first actual output power value according to the output power compensation value so as to adjust the output power of the inverter to a second actual output power value.
According to the control method of the motor, the output power compensation value is obtained by obtaining the output power reference value and the first output power actual value of the inverter, the first output power actual value is adjusted according to the output power compensation value, the output power of the inverter is adjusted to the second output power actual value, the error between the output power reference value and the output power actual value is reduced, the power factor of a motor driving system is improved, the performance of the motor is remarkably improved, the waste of energy is avoided, the compressor has higher efficiency, and the energy efficiency level of the air conditioner is improved.
Specifically, as shown in fig. 9 and 10, fig. 9 is a waveform of the output power actual value and the output power reference value, the horizontal axis is time (unit: millisecond), the vertical axis is a relative value (per unit value, unit: pu) of the output power actual value and the output power reference value, fig. 10 is a waveform diagram of the power factor, the horizontal axis is time (unit: millisecond), and the vertical axis is the power factor, in this embodiment, the control method of the motor according to the present invention is executed at 100ms, and as can be seen from fig. 9 and 10, the control method of the motor according to the present invention can make the output power actual value track the output power reference value well and obtain a high power factor.
In one embodiment of the present invention, as shown in fig. 2, a control method of a motor includes:
step 202, acquiring an output power reference value of the inverter;
step 204, acquiring a first output power actual value of the inverter;
step 206, calculating an output power compensation value of the inverter according to the output power reference value and the first output power actual value;
and step 208, adjusting the reference value of the d-axis current and the reference value of the q-axis current according to the output power compensation value so as to adjust the output power of the inverter to a second output power actual value.
In the embodiment, the output power of the inverter is adjusted from the first output power actual value to the second output power actual value by controlling the proportional resonant controller (PR controller), so that the error between the output power reference value and the output power actual value is reduced, the power factor of the motor driving system is improved, the performance of the motor is obviously improved, the waste of energy is avoided, the compressor has higher efficiency, and the energy efficiency grade of the air conditioner is improved. When the actual power of the inverter is regulated, the d-axis current and the q-axis current are regarded as a whole, and the d-axis current reference value and the q-axis current reference value are generated from the angle of controlling the output power of the inverter, so that the actual power of the inverter is regulated. The q axis is a quadrature axis or a torque axis of the motor, the d axis is a direct axis or a magnetic flux axis of the motor, and the d axis and the q axis form a rotating coordinate system.
In particular, a proportional resonant controller is employed to regulate the inverter output power pinvA transfer function of
Figure BDA0001883812670000071
Wherein G isPRRepresenting the transfer function of a proportional resonant controller, KPAnd KRIs a gain constant, ωcTo cut-off frequency, ω0The frequency domain is obtained by converting the frequency domain by breeze and integration.
In one embodiment of the present invention, as shown in fig. 3, a control method of a motor includes:
step 302, acquiring an output power reference value of an inverter;
step 304, acquiring a first output power actual value of the inverter;
step 306, calculating an output power compensation value of the inverter according to the output power reference value and the first output power actual value;
step 308, calculating the amplitude of the compensation voltage vector according to the output power compensation value;
step 310, calculating a compensation voltage according to the amplitude of the compensation voltage vector;
step 312, adjusting the output voltage of the inverter according to the compensation voltage to adjust the output power of the inverter to a second actual output power value; wherein the compensation voltage comprises a d-axis compensation voltage and a q-axis compensation voltage of the motor.
In the embodiment, the amplitude of the compensation voltage vector is calculated according to the output power compensation value, the amplitude of the voltage vector is decomposed according to the directions of the d-axis current vector and the q-axis current vector to obtain two-axis compensation voltage components, the output voltage of the inverter is adjusted according to the d-axis compensation voltage and the q-axis compensation voltage, the output power of the inverter is adjusted from a first output power actual value to a second output power actual value, the power factor of a motor driving system is improved, the performance of the motor is obviously improved, the waste of energy is avoided, the compressor has higher efficiency, and the energy efficiency level of the air conditioner is improved.
In one embodiment of the present invention, as shown in fig. 4, a control method of a motor includes:
step 402, acquiring an output power reference value of an inverter;
step 404, acquiring a first actual output power value of the inverter;
step 406, calculating an output power compensation value of the inverter according to the output power reference value and the first output power actual value;
step 408, adjusting the reference value of the d-axis current and the reference value of the q-axis current according to the output power compensation value, and calculating the amplitude of the compensation voltage vector;
step 410, calculating a compensation voltage according to the amplitude of the compensation voltage vector;
step 412, adjusting the output voltage of the inverter according to the compensation voltage to adjust the output power of the inverter to a second actual output power value;
in the embodiment, when the bandwidth of the current regulators of the current reference values of the d axis and the q axis is small compared with the fluctuation frequency, the current of the d axis and the q axis is regulated, and the voltage of the d axis and the q axis is regulated, so that the regulation effect on the output power of the inverter can be obviously improved, and the power factor of the motor driving system is further improved.
In one embodiment of the present invention, the first and second electrodes are preferably,
calculating the amplitude of the compensation voltage vector according to the output power compensation value specifically comprises the following steps:
Figure BDA0001883812670000081
calculating the compensation voltage according to the amplitude of the compensation voltage vector specifically comprises the following steps:
Figure BDA0001883812670000082
wherein the content of the first and second substances,
Figure BDA0001883812670000083
to compensate for the magnitude of the voltage vector, peIn order to output the power compensation value,
Figure BDA0001883812670000084
in the case of a dq-axis current vector,
Figure BDA0001883812670000085
the voltage is compensated for the d-axis,
Figure BDA0001883812670000086
for compensating the voltage for the q-axis, thetadqIs the angle between the d-axis and the dq-axis current vector.
In particular, the amount of the solvent to be used,
Figure BDA0001883812670000087
wherein idIs the actual value of the d-axis current,qis the actual value of the q-axis current.
In this embodiment, the adjustment of the d-axis and q-axis voltages is achieved by calculating the magnitude of the compensation voltage vector and calculating the d-axis compensation voltage and the q-axis compensation voltage from the magnitude of the compensation voltage vector.
In an embodiment of the present invention, preferably, the obtaining of the output power reference value of the inverter specifically includes: acquiring a power grid voltage angular speed, an input voltage peak value, an incoming line current peak value and a direct current bus capacitor; and calculating the output power of the inverter according to the grid voltage angular speed, the input voltage peak value, the incoming line current peak value and the direct current bus capacitor.
In the embodiment, the output power of the inverter is calculated by acquiring the grid voltage angular velocity, the input voltage peak value, the incoming line current peak value and the direct current bus capacitor.
Specifically, the inverter output power reference value
Figure BDA0001883812670000091
Can be approximately expressed as:
Figure BDA0001883812670000092
wherein, ω isinThe grid voltage angular velocity is shown, and t is time; u shapeinIs the input voltage peak; cdcIs a DC bus capacitor.
Figure BDA0001883812670000093
Wherein: i isinIn order to obtain the peak value of the incoming current,
Figure BDA0001883812670000094
is a reference value of the electromagnetic torque.
In an embodiment of the present invention, preferably, the obtaining of the first actual output power value of the inverter specifically includes: acquiring q-axis voltage of a motor, q-axis current of the motor, d-axis voltage of the motor and d-axis current of the motor; an actual value of the first output power is calculated from the q-axis voltage, the q-axis current, the d-axis voltage, and the d-axis current.
In this embodiment, the actual value of the first output power is calculated by acquiring a q-axis voltage of the motor, a q-axis current of the motor, a d-axis voltage of the motor, and a d-axis current of the motor.
In particular, the actual value p of the first output power of the inverterinvBy voltage vector under synchronous rotating coordinate system
Figure BDA0001883812670000095
Sum current vector
Figure BDA0001883812670000096
Expressed as:
Figure BDA0001883812670000097
wherein u isdIs the d-axis actual voltage value, idIs the actual value of d-axis current, uqIs the actual voltage value of q-axis, iqIs the actual value of the q-axis current.
In particular, the amount of the solvent to be used,
Figure BDA0001883812670000098
in an embodiment of the present invention, as shown in fig. 5, the control method of the motor further includes:
step 502, obtaining an output power reference value of an inverter;
step 504, acquiring a first output power actual value of the inverter;
step 506, calculating an output power compensation value of the inverter according to the output power reference value and the first output power actual value;
step 508, adjusting the first actual output power value according to the output power compensation value to adjust the output power of the inverter to a second actual output power value;
step 510, acquiring direct current bus voltage;
step 512, calculating a weak magnetic current reference value according to the direct current bus voltage, the d-axis current and the q-axis current;
step 514, determining an actual value of the weak magnetic current according to the reference value of the weak magnetic current;
and step 516, adjusting the d-axis current according to the actual value of the weak magnetic current.
In this embodiment, after the output power of the inverter is adjusted to the second output power actual value, the d-axis current is adjusted, the weak magnetic current actual value is superimposed on the d-axis current, and the virtual resistor in the circuit is equivalent to a current source connected in parallel to the load side, so that the negative impedance of the constant-power load is offset by increasing the positive impedance, the system stability is further enhanced, and the rotation speed range of the motor is increased.
Specifically, the average value of the DC bus voltage
Figure BDA0001883812670000101
Modulo of the voltage vector of the motor
Figure BDA0001883812670000102
Making a difference:
Figure BDA0001883812670000103
after the correction of the weak magnetic current is generated after the adjustment of the weak magnetic current regulator
Figure BDA0001883812670000104
The expression is as follows:
Figure BDA0001883812670000105
wherein k is a voltage margin coefficient, generally 0.8 to 1.0,
Figure BDA0001883812670000106
is a reference value for the d-axis voltage,
Figure BDA0001883812670000107
is a reference value of q-axis voltage, KiFor weak magnetic control of the integral gain, sgn (·) is a sign function.
Specifically, as shown in fig. 11 and 12, fig. 11 is a graph of dc bus voltage waveform when the control method of the motor according to the present invention is not performed, where the horizontal axis represents time (unit: millisecond) and the vertical axis represents dc bus voltage value (unit: volt); fig. 12 is a graph of dc bus voltage waveform with time (unit: ms) on the horizontal axis and dc bus voltage value (unit: volt) on the vertical axis when the motor control method according to the present invention is performed; as can be seen from fig. 11 and 12, when the control method of the motor according to the present invention is performed, the fluctuation of the dc bus voltage is smaller and more stable, so that the system is more stable.
In an embodiment of the present invention, as shown in fig. 6, the control method of the motor further includes:
step 602, acquiring an output power reference value of an inverter;
step 604, obtaining a first actual output power value of the inverter;
step 606, calculating an output power compensation value of the inverter according to the output power reference value and the first output power actual value;
step 608, adjusting the first actual output power value according to the output power compensation value to adjust the output power of the inverter to the second actual output power value;
step 610, acquiring direct current bus voltage;
step 612, calculating a weak magnetic current reference value according to the direct current bus voltage, the d-axis current and the q-axis current;
step 614, judging whether the reference value of the flux weakening current is larger than or equal to the maximum torque current ratio current of the d axis;
step 616, when the reference value of the weak magnetic current is greater than or equal to the current of the d-axis maximum torque current ratio, the actual value of the weak magnetic current is the current of the d-axis maximum torque current ratio;
step 618, when the reference value of the weak magnetic current is smaller than the current of the d-axis maximum torque current ratio, judging whether the reference value of the weak magnetic current is larger than the demagnetization current;
step 620, when the reference value of the weak magnetic current is larger than the demagnetization current, the actual value of the weak magnetic current is the reference value of the weak magnetic current;
step 622, when the reference value of the weak magnetic current is less than or equal to the demagnetization current, the actual value of the weak magnetic current is the demagnetization current;
and step 624, adjusting the d-axis current according to the actual value of the field weakening current.
In the embodiment, the reference value of the weak magnetic current is respectively compared with the maximum torque current ratio current of the d axis and the demagnetization current, so that the actual value of the weak magnetic current is accurately determined, the stability of the system is further enhanced, and the rotating speed range of the motor is enlarged.
In particular, the actual value of the field weakening current
Figure BDA0001883812670000111
Comprises the following steps:
Figure BDA0001883812670000112
in the formula (I), the compound is shown in the specification,
Figure BDA0001883812670000113
for reference value of field weakening current, idemagIs the demagnetization current of the motor; i.e. imptaThe corresponding d-axis current is controlled for the maximum torque current ratio, expressed as:
Figure BDA0001883812670000121
wherein, KeIs the back electromotive constant of the motor, LdIs a d-axis inductor and is a direct-current inductor,qin order to be the q-axis inductance,
Figure BDA0001883812670000122
is a q-axis current reference value.
Specifically, as shown in fig. 7, the motor driving system includes a single-phase rectification circuit 10 and a three-phase inverter circuit 16, the single-phase rectification circuit 10 is connected in series with the three-phase inverter circuit 16, a dc bus capacitor is disposed on a dc bus 12, the three-phase inverter circuit 16 drives a motor 18, a controller output end of the motor driving system is connected to the three-phase inverter circuit 16 of the motor driving system, and the controller is composed of a speed controller 32, a d-axis current controller 38, a q-axis current controller 36, a rotor position observer 28, an output power adjusting module 34, a dc bus voltage stabilizing control module 30, a Park transformation (Park transformation) module 22, a Clarke transformation (Clarke transformation) module 24, a Park inverse transformation (Park inverse transformation) module 26, and a Space Vector Pulse Width Modulation (SVPWM) module 20.
Specifically, as shown in fig. 8, the output power adjustment module 34 includes an output power regulator 46, a motor current distribution module 42, an output power compensation module 44, and a field weakening current adjustment module 40.
In a second aspect embodiment of the present invention, the present invention provides an air conditioner comprising: a memory and a processor, the memory configured to store executable instructions; the processor is configured to execute the stored instructions to implement the control method of the motor according to any of the above embodiments, and therefore, the air conditioner has all the advantages of the control method of the motor according to any of the above embodiments.
In a third aspect of the present invention, the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the control method of the motor according to any one of the above embodiments, and therefore, has all the advantageous effects of the control method of the motor according to any one of the above embodiments.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A method of controlling a motor, comprising:
acquiring an output power reference value of the inverter;
acquiring a first output power actual value of the inverter;
calculating an output power compensation value of the inverter according to the output power reference value and the first output power actual value;
and adjusting the first actual output power value according to the output power compensation value so as to adjust the output power of the inverter to a second actual output power value.
2. The control method of the motor according to claim 1, wherein the adjusting the first output power actual value according to the output power compensation value to adjust the output power of the inverter to a second output power actual value includes:
and adjusting the reference value of the d-axis current and the reference value of the q-axis current according to the output power compensation value so as to adjust the output power of the inverter to a second output power actual value.
3. The control method of the motor according to claim 1, wherein the adjusting the first output power actual value according to the output power compensation value to adjust the output power of the inverter to a second output power actual value includes:
calculating the amplitude of a compensation voltage vector according to the output power compensation value;
calculating the compensation voltage according to the amplitude of the compensation voltage vector;
adjusting the output voltage of the inverter according to the compensation voltage so as to adjust the output power of the inverter to a second actual output power value;
wherein the compensation voltage includes a d-axis compensation voltage and a q-axis compensation voltage of the motor.
4. The control method of an electric motor according to claim 3,
the calculating of the amplitude of the compensation voltage vector according to the output power compensation value specifically includes:
Figure FDA0001883812660000011
the calculating the compensation voltage according to the amplitude of the compensation voltage vector specifically includes:
Figure FDA0001883812660000012
wherein the content of the first and second substances,
Figure FDA0001883812660000013
to compensate for the magnitude of the voltage vector, peIn order to output the power compensation value,
Figure FDA0001883812660000014
in the case of a dq-axis current vector,
Figure FDA0001883812660000021
the voltage is compensated for the d-axis,
Figure FDA0001883812660000022
for compensating the voltage for the q-axis, thetadqIs the angle between the d-axis and the dq-axis current vector.
5. The method according to claim 1, wherein the obtaining of the reference value of the output power of the inverter is specifically:
acquiring a power grid voltage angular speed, an input voltage peak value, an incoming line current peak value and a direct current bus capacitor;
and calculating the output power of the inverter according to the grid voltage angular speed, the input voltage peak value, the incoming line current peak value and the direct current bus capacitor.
6. The method according to claim 1, wherein the obtaining of the first actual value of the output power of the inverter is specifically:
acquiring q-axis voltage of the motor, q-axis current of the motor, d-axis voltage of the motor and d-axis current of the motor;
and calculating the actual value of the first output power according to the q-axis voltage, the q-axis current, the d-axis voltage and the d-axis current.
7. The control method of the motor according to any one of claims 1 to 6, characterized in that, after the adjusting the first output power actual value in accordance with the output power compensation value to adjust the output power of the inverter to a second output power actual value, the control method of the motor further comprises:
acquiring direct current bus voltage;
calculating a weak magnetic current reference value according to the direct current bus voltage, the d-axis current and the q-axis current;
determining an actual value of the weak magnetic current according to the reference value of the weak magnetic current;
and adjusting the d-axis current according to the actual value of the weak magnetic current.
8. The method according to claim 7, wherein the determining the actual value of the field weakening current based on the reference value of the field weakening current is specifically:
judging whether the flux weakening current reference value is larger than or equal to the d-axis maximum torque current ratio current or not;
when the reference value of the weak magnetic current is greater than or equal to the d-axis maximum torque current ratio current, the actual value of the weak magnetic current is the d-axis maximum torque current ratio current;
when the weak magnetic current reference value is smaller than the d-axis maximum torque current ratio current, judging whether the weak magnetic current reference value is larger than a demagnetization current or not;
when the weak magnetic current reference value is larger than the demagnetization current, the actual value of the weak magnetic current is the weak magnetic current reference value;
and when the weak magnetic current reference value is less than or equal to the demagnetization current, the actual weak magnetic current value is the demagnetization current.
9. An air conditioner, comprising:
a memory configured to store executable instructions;
a processor configured to execute stored instructions to implement a method of controlling an electric machine as claimed in any one of claims 1 to 8.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of controlling an electric machine according to any one of claims 1 to 8.
CN201811436046.2A 2018-11-28 2018-11-28 Control method of motor, air conditioner and computer readable storage medium Pending CN111245317A (en)

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