CN112039392B - Motor control method, device, equipment and computer readable medium - Google Patents
Motor control method, device, equipment and computer readable medium Download PDFInfo
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- CN112039392B CN112039392B CN202010920989.3A CN202010920989A CN112039392B CN 112039392 B CN112039392 B CN 112039392B CN 202010920989 A CN202010920989 A CN 202010920989A CN 112039392 B CN112039392 B CN 112039392B
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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
- H02P21/0085—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
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
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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
- H02P25/08—Reluctance motors
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Abstract
The application relates to a motor control method, a motor control device, motor control equipment and a computer readable medium. The method comprises the following steps: detecting a first voltage of a motor to be controlled, wherein the first voltage is used for representing the running state of the motor to be controlled; under the condition that the first voltage is detected to be larger than a voltage threshold value, constructing a target voltage scalar corresponding to a voltage vector of the first voltage, wherein the voltage threshold value is a critical voltage of the motor to be controlled entering a field weakening state; and controlling the motor to be controlled to operate by utilizing the target voltage scalar. The method and the device solve the problem that the flux linkage observation angle is inaccurate, ensure the high robustness of the synchronous reluctance motor in the high-speed weak magnetic area, and enable the synchronous reluctance motor to stably operate in the high-speed weak magnetic stage.
Description
Technical Field
The present application relates to the field of motor control technologies, and in particular, to a motor control method, apparatus, device, and computer readable medium.
Background
The Synchronous Reluctance Motor (SynRM for short) is a novel alternating current Motor which follows the principle of Reluctance minimum path closure and generates magnetic pull force (namely Reluctance torque) to drive the Motor to rotate through Reluctance change caused by a rotor at different positions, and has the advantages of simple structure, firmness and durability, high efficiency, wide speed regulation range, lower cost and the like. Compared with a permanent magnet synchronous motor, the synchronous reluctance motor has no permanent magnet, is low in cost and easy to weaken magnetism, and can be more suitable for high-speed operation. Therefore, the synchronous reluctance motor has good application prospect in the industrial fields of water pumps, fans and the like. How to stably operate a synchronous reluctance motor in a high-speed weak magnetic state has been a major research direction in the field.
At present, in the related art, a control strategy of a current flux linkage observation algorithm is generally adopted, and when a reluctance motor is in high-speed weak magnetic operation, a lead angle weak magnetic control strategy is generally combined. Lead angleThe flux weakening theory is to achieve the purpose of flux weakening and speed increasing by controlling the direct-axis current component in the stator. By d-axis current component and q-axis current component Id、IqWhen the flux weakening acceleration is needed, the rotating angle theta, namely theta + delta theta, is properly increased, the d-axis component can be increased, the air gap flux is weakened, and the purpose of flux weakening and speed expansion is achieved. The error of the voltage of the motor terminal and the voltage of the direct current side is detected, and the lead angle is adjusted through the operation of a proportional-integral controller. However, with the increase of the weak magnetic depth, the advance of the weak magnetic angle can cause the problem of inaccurate magnetic linkage observation angle, and the problem of incapability of tracking given current is also easily caused, so that the motor is stopped in a step-out manner. In the related technology, a table look-up method is combined with a weak magnetic regulator, and although the weak magnetic control strategy can ensure that the motor has good dynamic response in a high-speed weak magnetic area, the method is only suitable for the permanent magnet synchronous reluctance motor and is not suitable for the synchronous reluctance motor.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The application provides a motor control method, a motor control device, motor control equipment and a computer readable medium, and aims to solve the technical problem that a motor is in a high-speed weak magnetic state, and flux linkage observation angle is inaccurate, so that the motor is stopped in a volatile step mode.
According to an aspect of an embodiment of the present application, there is provided a motor control method including: detecting a first voltage of a motor to be controlled, wherein the first voltage is used for representing the running state of the motor to be controlled; under the condition that the first voltage is detected to be larger than a voltage threshold value, constructing a target voltage scalar corresponding to a voltage vector of the first voltage, wherein the voltage threshold value is a critical voltage of the motor to be controlled entering a field weakening state; and controlling the motor to be controlled to operate by utilizing the target voltage scalar.
Optionally, in a case where it is detected that the first voltage is greater than the voltage threshold, constructing a target voltage scalar corresponding to the voltage vector of the first voltage comprises: the method comprises the steps of obtaining a rotation angle of a rotor of a motor to be controlled at a first moment and a motor frequency at the first moment, wherein the first moment is the moment when a first voltage is detected to be larger than a voltage threshold; determining a scalar angle using the rotation angle and the motor frequency, the scalar angle being used to calculate a voltage scalar; acquiring a sine value and a cosine value of the scalar angle and an amplitude value of a voltage vector of the first voltage; and calculating the product of the amplitude value and the cosine value to obtain a first voltage scalar, and calculating the product of the amplitude value and the sine value to obtain a second voltage scalar, wherein the first voltage scalar is used for representing the voltage of an alpha axis, the second voltage scalar is used for representing the voltage of a beta axis, the alpha axis and the beta axis are coordinate axes in a static coordinate system, the alpha axis is vertical to the beta axis, and the target voltage scalar comprises the first voltage scalar and the second voltage scalar.
Optionally, the controlling the operation of the motor to be controlled by using the target voltage scalar comprises: and taking the first voltage scalar and the second voltage scalar as the input of a space vector pulse width modulation strategy to generate a pulse width modulation wave so as to adjust the motor rotating speed of the motor to be controlled by using the pulse width modulation wave.
Optionally, in the case that the first voltage is detected to be less than or equal to the voltage threshold, the method further includes controlling the motor to be controlled to operate as follows: determining a first stator flux linkage by adopting a current model under a rotating coordinate system, and determining a second stator flux linkage by adopting a voltage model under a static coordinate system, wherein the current model is generated under the static coordinate system, and the voltage model is generated under the rotating coordinate system; performing Clark transformation on the coordinate of the first stator flux linkage to obtain the first stator flux linkage in a static coordinate system; calculating the difference value of the first stator flux linkage and the second stator flux linkage under the static coordinate system to obtain flux linkage errors of the voltage model and the current model; adjusting the voltage model through a proportional-integral controller to eliminate flux linkage errors; and controlling the motor to be controlled based on the current model and the voltage model after the error elimination.
Optionally, the method further comprises: acquiring a first current under a rotating coordinate system through a three-phase current of a motor to be controlled; calculating a first actual voltage and a second actual voltage by using the first current, wherein the first actual voltage and the second actual voltage are voltage values under a static coordinate system; and taking the first actual voltage and the second actual voltage as the input of a space vector pulse width modulation strategy to generate a pulse width modulation wave so as to adjust the motor rotating speed of the motor to be controlled by using the pulse width modulation wave.
Optionally, the obtaining the first current in the rotating coordinate system through the three-phase current of the motor to be controlled includes: acquiring three-phase current; carrying out Clark transformation on the coordinates of the three-phase current to obtain the three-phase current under a static coordinate system; and carrying out park transformation on the coordinates of the three-phase current in the static coordinate system to obtain a first current in the rotating coordinate system.
Optionally, calculating the first actual voltage and the second actual voltage using the first current comprises: obtaining a target current obtained through a maximum torque-current ratio control strategy; calculating a current difference value between the first current and the target current; through the adjustment of a proportional-integral controller, a first transition voltage and a second transition voltage under a rotating coordinate system are obtained after the current difference value is eliminated, and the transition voltage represents the voltage obtained by the proportional-integral controller and before the voltage is converted into the voltage under a static coordinate system; and performing inverse park transformation on the first transition voltage and the second transition voltage to obtain a first actual voltage and a second actual voltage under a static coordinate system.
According to another aspect of embodiments of the present application, there is provided a motor control apparatus including: the voltage detection module is used for detecting a first voltage of the motor to be controlled, and the first voltage is used for representing the running state of the motor to be controlled; the voltage scalar constructing module is used for constructing a target voltage scalar corresponding to a voltage vector of the first voltage under the condition that the first voltage is detected to be greater than a voltage threshold, and the voltage threshold is a critical voltage of the motor to be controlled entering a field weakening state; and the motor control module is used for controlling the operation of the motor to be controlled by utilizing the target voltage scalar.
According to another aspect of the embodiments of the present application, there is provided a computer device, including a memory and a processor, where a computer program operable on the processor is stored in the memory, and the processor implements the steps of the method when executing the computer program.
According to another aspect of embodiments of the present application, there is also provided a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the above-mentioned method.
Compared with the related art, the technical scheme provided by the embodiment of the application has the following advantages:
the technical scheme includes that a first voltage of a motor to be controlled is detected, and the first voltage is used for representing the running state of the motor to be controlled; under the condition that the first voltage is detected to be larger than a voltage threshold value, constructing a target voltage scalar corresponding to a voltage vector of the first voltage, wherein the voltage threshold value is a critical voltage of the motor to be controlled entering a field weakening state; and controlling the motor to be controlled to operate by utilizing the target voltage scalar. The method and the device solve the problem that the flux linkage observation angle is inaccurate, ensure the high robustness of the synchronous reluctance motor in the high-speed weak magnetic area, and enable the synchronous reluctance motor to stably operate in the high-speed weak magnetic stage.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without any creative effort.
FIG. 1 is a schematic diagram of a hardware environment of an alternative motor control method according to an embodiment of the present application;
FIG. 2 is a flow chart of an alternative motor control method provided in accordance with an embodiment of the present application;
fig. 3 is a block diagram of an alternative motor control apparatus according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
In the related art, a control strategy of a current flux linkage observation algorithm is generally adopted, and when the reluctance motor is in high-speed flux weakening operation, a lead angle flux weakening control strategy is generally combined. The flux weakening theory of advance angle is to control the direct-axis current component in the stator to achieve the purpose of flux weakening and speed increasing. By d-axis current component and q-axis current component Id、IqWhen the flux weakening acceleration is needed, the rotating angle theta, namely theta + delta theta, is properly increased, the d-axis component can be increased, the air gap flux is weakened, and the purpose of flux weakening and speed expansion is achieved. The error of the voltage of the motor terminal and the voltage of the direct current side is detected, and the lead angle is adjusted through the operation of a proportional-integral controller. However, with the increase of the weak magnetic depth, the advance of the weak magnetic angle can cause the problem of inaccurate magnetic linkage observation angle, and the problem of incapability of tracking given current is also easily caused, so that the motor is stopped in a step-out manner. In the related technology, a table look-up method is combined with a weak magnetic regulator, and although the weak magnetic control strategy can ensure that the motor has good dynamic response in a high-speed weak magnetic area, the method is only suitable for the permanent magnet synchronous reluctance motor and is not suitable for the synchronous reluctance motor.
In order to solve the problems mentioned in the background, according to an aspect of embodiments of the present application, an embodiment of a motor control method is provided.
Alternatively, in the embodiment of the present application, the motor control method described above may be applied to a hardware environment formed by the terminal 101 and the server 103 as shown in fig. 1. As shown in fig. 1, a server 103 is connected to a terminal 101 through a network, which may be used to provide services for the terminal or a client installed on the terminal, and a database 105 may be provided on the server or separately from the server, and is used to provide data storage services for the server 103, and the network includes but is not limited to: a wide area network, a metropolitan area network, or a local area network, and the terminal 101 includes, but is not limited to, a motor control device, a computer, and the like.
A motor control method in the embodiment of the present application may be executed by the server 103, or may be executed by both the server 103 and the terminal 101, as shown in fig. 2, where the method may include the following steps:
step S202, detecting a first voltage of the motor to be controlled, wherein the first voltage is used for representing the running state of the motor to be controlled.
In the embodiment of the application, the motor to be controlled can be a synchronous reluctance motor, the synchronous reluctance motor does not have a permanent magnet, the cost is low, the flux weakening is easy, and the motor can be more suitable for high-speed operation. When the motor runs, induced electromotive force is generated in the winding, and the induced electromotive force is increased along with the increase of the rotating speed. If the input voltage cannot exceed the induced electromotive force, the current of the winding is reduced, the output electromagnetic torque is reduced, if a certain torque is kept at the moment, the input voltage is required to lead the induced electromotive force, and the weak magnetic control is required to realize the purpose. When the motor runs at a high speed in a weak magnetic state, if the flux linkage observation angle is inaccurate, and the stability is poor, the motor is easy to be out of step and shut down, so that the motor needs a more stable control strategy in the weak magnetic state.
In the embodiment of the application, firstly, the voltage of the motor, that is, the first voltage, may be detected in real time by the detection device and the induction device, and the voltage of the motor may represent the operation state of the motor, for example, when the voltage of the motor is less than or equal to the rated voltage or other voltage thresholds, the motor is not yet field-weakening, and when the voltage of the motor is higher than the rated voltage or other voltage thresholds, the motor enters the field-weakening state and operates at a high speed and an overload. The detection device and the induction device can be voltage sensors, voltage detectors and the like.
And step S204, under the condition that the first voltage is detected to be larger than a voltage threshold, constructing a target voltage scalar corresponding to a voltage vector of the first voltage, wherein the voltage threshold is a critical voltage of the motor to be controlled to enter a field weakening state.
In the embodiment of the present application, the voltage threshold may be a rated voltage, and preferably, 0.95 times of the rated voltage may be set as the voltage threshold, so as to reduce the risk of step-out shutdown during the motor speed-up process and in the high-speed operation state.
In the embodiment of the application, when the synchronous reluctance motor is in flux weakening operation, a voltage scalar can be constructed, and then the control strategy of the synchronous reluctance motor can be switched to be controlled by the vector control, and the vector control is switched to be controlled by the voltage scalar, so that the problem that the reluctance motor is not accurate enough in position observation in the deep flux weakening process can be solved, the high robustness of the synchronous reluctance motor in the high-speed flux weakening area operation is ensured, and the motor can stably operate in the high-speed overload stage.
And step S206, controlling the motor to be controlled to operate by using the target voltage scalar.
Optionally, the controlling the operation of the motor to be controlled by using the target voltage scalar comprises: and taking the first voltage scalar and the second voltage scalar as the input of a space vector pulse width modulation strategy to generate a pulse width modulation wave so as to adjust the motor rotating speed of the motor to be controlled by using the pulse width modulation wave.
In the embodiment of the application, the constructed target voltage scalar can be used as the input of a space vector pulse width modulation algorithm (SVPWM), and the space vector pulse width modulation algorithm is utilized to control the on and off of the switch tube of the inverter, so as to adjust the rotating speed of the motor. The space vector pulse width modulation algorithm takes an ideal flux linkage circle of a stator of a three-phase symmetrical motor as a reference standard when three-phase symmetrical sine-wave voltage is used for supplying power, and different switching modes of a three-phase inverter are properly switched, so that PWM waves are formed, an accurate flux linkage circle is tracked by a formed actual flux linkage vector, and the rotating speed of the motor is controlled. The motor can be ensured to stably operate in a weak magnetic state when being applied to the industrial fields of water pumps, fans, oil pumps and the like.
By adopting the technical scheme, the problem of inaccurate magnetic linkage observation angle can be solved, the high robustness of the synchronous reluctance motor in the high-speed weak magnetic area operation is ensured, and the synchronous reluctance motor can stably operate in the high-speed weak magnetic stage.
The present application provides a method of constructing a voltage scalar, which is described in detail below.
Alternatively, in the case that step S204 detects that the first voltage is greater than the voltage threshold, constructing the target voltage scalar corresponding to the voltage vector of the first voltage may include the steps of:
step 1, acquiring a rotation angle of a rotor of a motor to be controlled at a first moment and a motor frequency at the first moment, wherein the first moment is the moment when a first voltage is detected to be greater than a voltage threshold;
step 2, determining a scalar angle by using the rotation angle and the motor frequency, wherein the scalar angle is used for calculating a voltage scalar;
step 3, acquiring a sine value and a cosine value of the scalar angle and an amplitude value of a voltage vector of the first voltage;
and 4, calculating a product of the amplitude value and the cosine value to obtain a first voltage scalar, and calculating a product of the amplitude value and the sine value to obtain a second voltage scalar, wherein the first voltage scalar is used for representing the voltage of an alpha axis, the second voltage scalar is used for representing the voltage of a beta axis, the alpha axis and the beta axis are coordinate axes in a static coordinate system, the alpha axis is vertical to the beta axis, and the target voltage scalar comprises the first voltage scalar and the second voltage scalar.
In the embodiment of the application, the motor is controlled to operate in a vector control mode under the condition that the motor is not in a field weakening state, the motor can be switched to a standard value control mode under the condition that the motor enters the field weakening state, and the target voltage scalar is constructed to obtain the rotation angle theta of the rotor when the vector control is switched to the standard value control mode0And motor frequency f0This is also the time when the motor voltage is detected to be greater than the voltage threshold. By the formula theta ═ theta0+2πf0Calculating a scalar angle theta ', and then calculating the scalar angle theta' according to the formula Eα＝Escosθ′，Eβ＝Essin theta' determining a voltage E representing an alpha-axis componentαAnd a voltage E representing a beta-axis componentβI.e. the first voltage scalar and the second voltage scalar, wherein EsAmplitude of voltage vector as motor voltage。
First voltage scalar EαAnd a second voltage scalar EβThe voltage limiting condition is satisfied:
wherein, UdcThe value of the bus voltage is represented, k is a stability coefficient, and preferably, the coefficient k can be set to be 0.7-0.8 in order to prevent the motor from demagnetizing.
The present application further provides a method of controlling the operation of the motor before field weakening, which is described in detail below.
Optionally, in the case that the first voltage is detected to be less than or equal to the voltage threshold, the method further includes controlling the motor to be controlled to operate as follows:
step 1, determining a first stator flux linkage by adopting a current model under a rotating coordinate system, and determining a second stator flux linkage by adopting a voltage model under a static coordinate system, wherein the current model is generated under the static coordinate system, and the voltage model is generated under the rotating coordinate system;
step 2, carrying out Clark transformation on the coordinate of the first stator flux linkage to obtain the first stator flux linkage under a static coordinate system;
step 3, calculating the difference value of the first stator flux linkage and the second stator flux linkage under the static coordinate system to obtain flux linkage errors of the voltage model and the current model;
step 4, adjusting the voltage model through a proportional-integral controller to eliminate flux linkage errors;
and 5, controlling the motor to be controlled based on the current model and the voltage model after the error elimination.
In the embodiment of the present application, the expression of the current model may be:
wherein u isα、uβTo be quietStator voltage i in a stationary coordinate system (alpha-beta coordinate system)α、iβIs the current in a stationary coordinate system,. psiα、ψβIs the flux linkage component in the stationary coordinate system. Obtaining the first stator flux linkage by using a current model under a rotating coordinate system, and obtaining a flux linkage component psi under the static coordinate system through Clark transformation (Clark)α、ψβ，ψα、ψβNamely the first stator flux linkage in the above-mentioned static coordinate system, wherein RsIs the stator resistance value.
In the embodiment of the present application, the expression of the voltage model may be:
wherein id、iqIs the current in a rotating coordinate system (d-q coordinate system) (. psi.)d、ψqFor seeking the flux linkage component in a coordinate system, Ld、LqIs the shaft inductance.
The second stator flux linkage can be determined through a voltage model under a static coordinate system, the difference value of the first stator flux linkage and the second stator flux linkage is further calculated, flux linkage errors of a voltage model and a current model are obtained, the voltage model is subjected to feedback adjustment through a proportional integral controller (PI controller), the flux linkage errors are eliminated, and then the motor to be controlled can be controlled through the current model and the voltage model after the errors are eliminated.
Optionally, the flux linkage observation can be mainly completed by a current model at low speed, the stator flux linkage observation can be mainly completed by a voltage model at medium and high speed, and the smooth transition of the current model and the voltage model is realized by adjusting the PI parameter. Namely, the proportional coefficient in the PI parameter is larger at low speed, and the current model is taken as the main point at the moment; in the medium-high speed condition, the proportional coefficient and the integral coefficient in the PI parameter are small, and the voltage model is mainly used at the moment.
Optionally, the method for controlling the motor to operate before the field weakening may further include the steps of:
step 1, acquiring a first current under a rotating coordinate system through a three-phase current of a motor to be controlled;
step 2, calculating a first actual voltage and a second actual voltage by using the first current, wherein the first actual voltage and the second actual voltage are voltage values under a static coordinate system;
and 3, taking the first actual voltage and the second actual voltage as the input of a space vector pulse width modulation strategy, and generating a pulse width modulation wave so as to adjust the motor rotating speed of the motor to be controlled by using the pulse width modulation wave.
Optionally, the obtaining the first current in the rotating coordinate system through the three-phase current of the motor to be controlled may further include:
step 11, obtaining three-phase current;
step 12, carrying out Clark transformation on the coordinates of the three-phase current to obtain the three-phase current under a static coordinate system;
and step 13, carrying out park transformation on the coordinates of the three-phase current in the static coordinate system to obtain a first current in the rotating coordinate system.
Optionally, the calculating the first actual voltage and the second actual voltage by using the first current may further include:
step 21, obtaining a target current obtained through a maximum torque current ratio control strategy;
step 22, calculating a current difference value between the first current and the target current;
step 23, adjusting by the proportional integral controller to obtain a first transition voltage and a second transition voltage in the rotating coordinate system after eliminating the current difference, wherein the transition voltage represents a voltage obtained by the proportional integral controller and before being converted into a voltage in the stationary coordinate system;
and 24, performing inverse park transformation on the first transition voltage and the second transition voltage to obtain a first actual voltage and a second actual voltage under a static coordinate system.
In the embodiment of the application, the three-phase current i can be detected by the current sensora、ib、icI.e. the first current is subjected to Clark transformation to obtain a current i under a static coordinate systemα、iβThen obtaining the current i under the rotating coordinate system through Park transformationd、iq. Current id、iqFor given d and q axis currents
Comparing to obtain a current difference value, adjusting the current difference value through a PI (proportional integral) regulator to obtain d-axis and q-axis real-time voltages, wherein the d-axis and q-axis real-time voltages are the first transition voltage and the second transition voltage, and performing inverse Park conversion on the first transition voltage and the second transition voltage to obtain u-axis and u-axis real-time voltagesα、uβ。uα、uβNamely the first actual voltage and the second actual voltage. And finally, taking the first actual voltage and the second actual voltage as the input of a space vector pulse width modulation algorithm (SVPWM) to generate a pulse width modulation wave so as to adjust the motor rotating speed of the motor to be controlled by using the pulse width modulation wave.
Given d and q axis currents
Can be obtained in the following way:
estimating flux linkage psi by a voltage-current flux linkage observersAngle theta and rotational speed omega, will give rotational speed omegarefAnd obtaining a torque command input through PI regulation by making a difference with the feedback speed omega. Then obtaining d-q axis given current through optimal current distribution of maximum torque current ratio control (MTPA)
And
the technical scheme includes that a first voltage of a motor to be controlled is detected, and the first voltage is used for representing the running state of the motor to be controlled; under the condition that the first voltage is detected to be larger than a voltage threshold value, constructing a target voltage scalar corresponding to a voltage vector of the first voltage, wherein the voltage threshold value is a critical voltage of the motor to be controlled entering a field weakening state; and controlling the motor to be controlled to operate by utilizing the target voltage scalar. The method and the device solve the problem that the flux linkage observation angle is inaccurate, ensure the high robustness of the synchronous reluctance motor in the high-speed weak magnetic area, and enable the synchronous reluctance motor to stably operate in the high-speed weak magnetic stage.
According to still another aspect of an embodiment of the present application, as shown in fig. 3, there is provided a motor control apparatus including: the voltage detection module 301 is configured to detect a first voltage of the motor to be controlled, where the first voltage is used to indicate an operation state of the motor to be controlled; a voltage scalar quantity construction module 303, configured to construct a target voltage scalar quantity corresponding to a voltage vector of the first voltage when it is detected that the first voltage is greater than a voltage threshold value, where the voltage threshold value is a critical voltage at which the motor to be controlled enters a field weakening state; and the motor control module 305 is used for controlling the operation of the motor to be controlled by utilizing the target voltage scalar.
It should be noted that the voltage detection module 301 in this embodiment may be configured to execute step S202 in this embodiment, the voltage scalar construction module 303 in this embodiment may be configured to execute step S204 in this embodiment, and the motor control module 305 in this embodiment may be configured to execute step S206 in this embodiment.
It should be noted here that the modules described above are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above embodiments. It should be noted that the modules described above as a part of the apparatus may operate in a hardware environment as shown in fig. 1, and may be implemented by software or hardware.
Optionally, the voltage scalar construction module is further configured to: the method comprises the steps of obtaining a rotation angle of a rotor of a motor to be controlled at a first moment and a motor frequency at the first moment, wherein the first moment is the moment when a first voltage is detected to be larger than a voltage threshold; determining a scalar angle using the rotation angle and the motor frequency, the scalar angle being used to calculate a voltage scalar; acquiring a sine value and a cosine value of the scalar angle and an amplitude value of a voltage vector of the first voltage; and calculating the product of the amplitude value and the cosine value to obtain a first voltage scalar, and calculating the product of the amplitude value and the sine value to obtain a second voltage scalar, wherein the first voltage scalar is used for representing the voltage of an alpha axis, the second voltage scalar is used for representing the voltage of a beta axis, the alpha axis and the beta axis are coordinate axes in a static coordinate system, the alpha axis is vertical to the beta axis, and the target voltage scalar comprises the first voltage scalar and the second voltage scalar.
Optionally, the motor control module is further configured to: and taking the first voltage scalar and the second voltage scalar as the input of a space vector pulse width modulation strategy to generate a pulse width modulation wave so as to adjust the motor rotating speed of the motor to be controlled by using the pulse width modulation wave.
Optionally, the motor control apparatus further includes: the voltage and current flux linkage observation module is used for determining a first stator flux linkage by adopting a current model under a rotating coordinate system and determining a second stator flux linkage by adopting a voltage model under a static coordinate system, wherein the current model is generated under the static coordinate system, and the voltage model is generated under the rotating coordinate system; performing Clark transformation on the coordinate of the first stator flux linkage to obtain the first stator flux linkage in a static coordinate system; calculating the difference value of the first stator flux linkage and the second stator flux linkage under the static coordinate system to obtain flux linkage errors of the voltage model and the current model; adjusting the voltage model through a proportional-integral controller to eliminate flux linkage errors; and controlling the motor to be controlled based on the current model and the voltage model after the error elimination.
Optionally, the voltage-current flux linkage observation module is further configured to: acquiring a first current under a rotating coordinate system through a three-phase current of a motor to be controlled; calculating a first actual voltage and a second actual voltage by using the first current, wherein the first actual voltage and the second actual voltage are voltage values under a static coordinate system; and taking the first actual voltage and the second actual voltage as the input of a space vector pulse width modulation strategy to generate a pulse width modulation wave so as to adjust the motor rotating speed of the motor to be controlled by using the pulse width modulation wave.
Optionally, the voltage-current flux linkage observation module is further configured to: acquiring three-phase current; carrying out Clark transformation on the coordinates of the three-phase current to obtain the three-phase current under a static coordinate system; and carrying out park transformation on the coordinates of the three-phase current in the static coordinate system to obtain a first current in the rotating coordinate system.
Optionally, the voltage-current flux linkage observation module is further configured to: obtaining a target current obtained through a maximum torque-current ratio control strategy; calculating a current difference value between the first current and the target current; through the adjustment of a proportional-integral controller, a first transition voltage and a second transition voltage under a rotating coordinate system are obtained after the current difference value is eliminated, and the transition voltage represents the voltage obtained by the proportional-integral controller and before the voltage is converted into the voltage under a static coordinate system; and performing inverse park transformation on the first transition voltage and the second transition voltage to obtain a first actual voltage and a second actual voltage under a static coordinate system.
There is also provided, in accordance with yet another aspect of the embodiments of the present application, a computer device, including a memory and a processor, the memory having stored therein a computer program executable on the processor, the processor implementing the steps when executing the computer program.
The memory and the processor in the computer device communicate with each other through a communication bus and a communication interface. The communication bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
There is also provided, in accordance with yet another aspect of an embodiment of the present application, a computer-readable medium having non-volatile program code executable by a processor.
Optionally, in an embodiment of the present application, a computer readable medium is configured to store program code for the processor to perform the following steps:
detecting a first voltage of a motor to be controlled, wherein the first voltage is used for representing the running state of the motor to be controlled;
under the condition that the first voltage is detected to be larger than a voltage threshold value, constructing a target voltage scalar corresponding to a voltage vector of the first voltage, wherein the voltage threshold value is a critical voltage of the motor to be controlled entering a field weakening state;
and controlling the motor to be controlled to operate by utilizing the target voltage scalar.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.
When the embodiments of the present application are specifically implemented, reference may be made to the above embodiments, and corresponding technical effects are achieved.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the Processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented by means of units performing the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or make a contribution to the prior art, or may be implemented in the form of a software product stored in a storage medium and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk. It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, 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 process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A motor control method, comprising:
detecting a first voltage of a motor to be controlled, wherein the first voltage is used for representing the running state of the motor to be controlled;
under the condition that the first voltage is detected to be larger than a voltage threshold value, constructing a target voltage scalar corresponding to a voltage vector of the first voltage, wherein the voltage threshold value is a critical voltage of the motor to be controlled entering a field weakening state;
controlling the motor to be controlled to operate by utilizing the target voltage scalar;
the constructing a target voltage scalar corresponding to a voltage vector of the first voltage in the event that the first voltage is detected to be greater than a voltage threshold comprises:
acquiring a rotation angle of a rotor of the motor to be controlled at a first moment and a motor frequency of the motor at the first moment, wherein the first moment is a moment when the first voltage is detected to be greater than the voltage threshold;
determining a scalar angle using the rotation angle and the motor frequency, wherein the scalar angle is used to calculate a voltage scalar;
acquiring a sine value and a cosine value of the scalar angle and an amplitude value of the voltage vector of the first voltage;
and calculating a product of the amplitude value and the cosine value to obtain a first voltage scalar, and calculating a product of the amplitude value and the sine value to obtain a second voltage scalar, wherein the first voltage scalar is used for representing the voltage of an alpha axis, the second voltage scalar is used for representing the voltage of a beta axis, the alpha axis and the beta axis are coordinate axes in a static coordinate system, the alpha axis is perpendicular to the beta axis, and the target voltage scalar comprises the first voltage scalar and the second voltage scalar.
2. The method of claim 1, wherein controlling the operation of the motor to be controlled using the target voltage scalar comprises:
and taking the first voltage scalar and the second voltage scalar as the input of a space vector pulse width modulation strategy, and generating a pulse width modulation wave so as to adjust the motor rotating speed of the motor to be controlled by using the pulse width modulation wave.
3. The method of claim 1, wherein in the case that the first voltage is detected to be less than or equal to the voltage threshold, the method further comprises controlling the motor to be controlled to operate as follows:
determining a first stator flux linkage by using a current model under a rotating coordinate system, and determining a second stator flux linkage by using a voltage model under the static coordinate system, wherein the current model is generated under the static coordinate system, and the voltage model is generated under the rotating coordinate system;
performing Clark transformation on the coordinate of the first stator flux linkage to obtain the first stator flux linkage in the static coordinate system;
calculating a difference value between the first stator flux linkage and the second stator flux linkage under the static coordinate system to obtain flux linkage errors of the voltage model and the current model;
adjusting the voltage model by a proportional-integral controller to eliminate the flux linkage error;
and controlling the motor to be controlled based on the current model and the voltage model after the error is eliminated.
4. The method of claim 3, further comprising:
acquiring a first current under a rotating coordinate system through the three-phase current of the motor to be controlled;
calculating a first actual voltage and a second actual voltage by using the first current, wherein the first actual voltage and the second actual voltage are voltage values in the static coordinate system;
and taking the first actual voltage and the second actual voltage as the input of a space vector pulse width modulation strategy, and generating a pulse width modulation wave so as to adjust the motor rotating speed of the motor to be controlled by using the pulse width modulation wave.
5. The method of claim 4, wherein obtaining the first current in the rotating coordinate system from the three-phase currents of the motor to be controlled comprises:
acquiring the three-phase current;
performing Clark transformation on the coordinates of the three-phase current to obtain the three-phase current under the static coordinate system;
and performing park transformation on the coordinates of the three-phase current in the static coordinate system to obtain the first current in the rotating coordinate system.
6. The method of claim 4, wherein calculating a first actual voltage and a second actual voltage using the first current comprises:
obtaining a target current obtained through a maximum torque-current ratio control strategy;
calculating a current difference between the first current and the target current;
through the adjustment of the proportional-integral controller, a first transition voltage and a second transition voltage under the rotating coordinate system are obtained after the current difference value is eliminated, wherein the transition voltage represents the voltage obtained by the proportional-integral controller and before the voltage is converted into the voltage under the static coordinate system;
and performing inverse park transformation on the first transition voltage and the second transition voltage to obtain the first actual voltage and the second actual voltage in the static coordinate system.
7. A motor control apparatus, comprising:
the control device comprises a voltage detection module, a control module and a control module, wherein the voltage detection module is used for detecting a first voltage of a motor to be controlled, and the first voltage is used for representing the running state of the motor to be controlled;
the voltage scalar constructing module is used for constructing a target voltage scalar corresponding to a voltage vector of the first voltage under the condition that the first voltage is detected to be greater than a voltage threshold, wherein the voltage threshold is a critical voltage of the motor to be controlled entering a field weakening state;
the motor control module is used for controlling the motor to be controlled to operate by utilizing the target voltage scalar;
the voltage scalar construction module is specifically configured to:
acquiring a rotation angle of a rotor of the motor to be controlled at a first moment and a motor frequency of the motor at the first moment, wherein the first moment is a moment when the first voltage is detected to be greater than the voltage threshold;
determining a scalar angle using the rotation angle and the motor frequency, wherein the scalar angle is used to calculate a voltage scalar;
acquiring a sine value and a cosine value of the scalar angle and an amplitude value of the voltage vector of the first voltage;
and calculating a product of the amplitude value and the cosine value to obtain a first voltage scalar, and calculating a product of the amplitude value and the sine value to obtain a second voltage scalar, wherein the first voltage scalar is used for representing the voltage of an alpha axis, the second voltage scalar is used for representing the voltage of a beta axis, the alpha axis and the beta axis are coordinate axes in a static coordinate system, the alpha axis is perpendicular to the beta axis, and the target voltage scalar comprises the first voltage scalar and the second voltage scalar.
8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
9. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any of claims 1 to 6.
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