CN112290841B - Permanent magnet synchronous motor control method and device, electronic equipment and storage medium - Google Patents
Permanent magnet synchronous motor control method and device, electronic equipment and storage medium Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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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
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The application provides a permanent magnet synchronous motor control method and device, electronic equipment and a storage medium, and belongs to the technical field of motor drive control. The method comprises the steps of obtaining an actually measured rotating speed value, a bus voltage value and an electric angular speed value; calculating a difference value between the actually measured rotating speed value and a preset rotating speed value to obtain a rotating speed difference value; when the actually measured rotating speed value is larger than or equal to the preset basic speed, inputting the rotating speed difference value into a first speed regulator to obtain a torque instruction; substituting the bus voltage value and the electric angular velocity value into a preset formula to obtain a K value; and searching current information corresponding to the torque command and the K value in a preset corresponding relation between the torque command and the K value and the current information, and controlling the motor through the current information. The current information searched by the method is suitable for the condition of bus voltage change, so that the finally obtained current information is more accurate.
Description
Technical Field
The present disclosure relates to the field of motor drive control technologies, and in particular, to a method and an apparatus for controlling a permanent magnet synchronous motor, an electronic device, and a storage medium.
Background
In recent years, in the field of household appliances, cost reduction is a trend of gradual development, and therefore, permanent magnet synchronous motors widely used in household appliances are also improved correspondingly. A bus capacitor in a traditional permanent magnet synchronous motor driving system adopts a large electrolytic capacitor, but the large electrolytic capacitor has the defects of short service life, large volume, high price and the like; the thin film capacitor has the advantages of long service life, small volume and low cost, and can be applied to a motor driving system instead of a large electrolytic capacitor. The bus non-electrolytic capacitor permanent magnet synchronous motor driving system using the film capacitor has the advantage of low cost, but the bus non-electrolytic system technology is still immature, and the problems of large output torque and large rotation speed fluctuation of the motor exist all the time, so that a control strategy capable of inhibiting the rotation speed and the rotation speed fluctuation of the motor needs to be researched.
The existing control strategy is realized by using a table look-up method for control when the rotating speed is large, wherein a data table used by the table look-up method is manufactured according to the fact that the bus voltage is unchanged, and the direct-axis current value and the quadrature-axis current value change along with the change of the electrical angular speed of the motor.
However, in the actual operation of the motor, when the rotation speed is high, the bus voltage varies, so that the direct-axis current value and the quadrature-axis current value obtained by the table lookup method are not accurate.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method for controlling a permanent magnet synchronous motor, so as to solve the problem that a direct axis current value and a quadrature axis current value obtained by using the existing lookup table method are inaccurate when a bus voltage fluctuates. The specific technical scheme is as follows:
in a first aspect, a method for controlling a permanent magnet synchronous motor is provided, the method comprising:
acquiring an actually measured rotating speed value, a bus voltage value and an electric angular speed value;
calculating a difference value between the actually measured rotating speed value and a preset rotating speed value to obtain a rotating speed difference value;
when the actually measured rotating speed value is larger than a preset basic speed, inputting the rotating speed difference value into a first speed regulator to obtain a torque instruction;
substituting the bus voltage value and the electric angular velocity value into a preset first formula to obtain a K value;
searching current information corresponding to a torque command and a K value in a preset corresponding relation between the torque command and the K value and the current information, wherein the current information comprises a direct-axis current value and a quadrature-axis current value;
and controlling the motor through the current information.
Optionally, the method further includes:
for each torque command in the torque command data set, combining the torque command with each K value in the K value data set one by one to obtain a plurality of data combinations containing the torque command and the K value;
for each data combination, substituting the torque command and the K value in the data combination into a preset second formula to obtain current information corresponding to each data combination, wherein the preset second formula is as follows:
Te＝1.5Pniq[id(Ld-Lq)+ψf]
K2＝(Lqiq)2+(Ldid+ψf)2
wherein Te is a torque command,
id is a direct-axis current value, iq is a quadrature-axis current value, Ld is stator direct-axis inductance, Lq is stator quadrature-axis inductance, psi f is a rotor flux linkage of the permanent magnet motor, and Pn is a pole pair number of the motor;
and manufacturing a corresponding relation table according to the data combination, the current information and the corresponding relation between the data combination and the current information.
Optionally, the controlling the motor through the current information includes:
calculating a weak magnetic current value according to the direct axis current value, the quadrature axis current value, the measured direct axis current value and the measured quadrature axis current value;
generating a weak magnetic current instruction by the sum of the weak magnetic current value and the direct-axis current value;
and controlling the motor through the weak magnetic current instruction.
Optionally, the calculating the weak magnetic current value according to the direct axis current value, the quadrature axis current value, the measured direct axis current value and the measured quadrature axis current value includes:
the measured direct-axis current value is differed from the measured direct-axis current value to obtain a direct-axis current difference value, and the measured quadrature-axis current value is differed from the quadrature-axis current value to obtain a quadrature-axis current difference value;
inputting the direct-axis current difference value and the quadrature-axis current difference value into a current controller, and outputting a direct-axis voltage value and a quadrature-axis voltage value;
substituting the direct axis voltage value and the quadrature axis voltage value into a conversion formula of a three-phase static coordinate system and a two-phase static coordinate system to obtain vector voltage;
inputting the vector voltage into a Space Vector Pulse Width Modulation (SVPWM) module, and calculating to obtain the action time of a zero vector;
and inputting the action time into a proportional integral regulator PIR and outputting the weak magnetic current value.
Optionally, the inputting the action time into a proportional-integral regulator PIR and outputting the weak magnetic current value includes:
adding the action time and a preset value to obtain a first value, wherein the preset value is a positive value;
inputting the first numerical value into a first amplitude limiter and outputting a second numerical value, wherein the second numerical value is less than or equal to zero;
inputting the second numerical value into the proportional integral regulator PIR and outputting a first current value;
and inputting the first current value into a second amplitude limiter, and outputting the weak magnetic current value, wherein the weak magnetic current value is smaller than a preset threshold value.
Optionally, before the vector voltage is input into the space vector pulse width modulation SVPWM module and the action time of the zero vector is calculated, the method further includes:
inputting the vector voltage into a third amplitude limiter to obtain an amplitude-limited vector voltage, wherein the amplitude-limited vector voltage is less than or equal to
UdcAnd (t) is the actually measured bus voltage value.
Optionally, the method further includes:
when the actually measured rotating speed value is smaller than or equal to a preset basic speed, inputting the rotating speed difference value into a second speed regulator to obtain a current amplitude value;
inputting the current amplitude to a maximum torque current ratio (MTPA) control module, and outputting current information;
and controlling the motor through the current information.
In a second aspect, there is provided a permanent magnet synchronous motor control apparatus, the apparatus comprising:
the acquisition module is used for acquiring an actually measured rotating speed value, a bus voltage value and an electric angular speed value;
the calculation module is used for calculating the difference value between the actually measured rotating speed value and a preset rotating speed value to obtain a rotating speed difference value;
the input module is used for inputting the rotating speed difference value into the first speed regulator to obtain a torque instruction when the actually measured rotating speed value is larger than a preset basic speed;
the obtaining module is used for substituting the bus voltage value and the electric angular velocity value into a preset first formula to obtain a K value;
the searching module is used for searching current information corresponding to a torque instruction and a K value in a preset corresponding relation between the torque instruction and the K value and the current information, wherein the current information comprises a direct-axis current value and a quadrature-axis current value;
and the control module is used for controlling the motor through the current information.
Optionally, the apparatus further comprises:
the combination module is used for combining the torque instruction and each K value in the K value data set one by one aiming at each torque instruction in the torque instruction data set to obtain a plurality of data combinations containing the torque instruction and the K value;
the current information obtaining module is used for substituting the torque instruction and the K value in each data combination into a preset second formula aiming at each data combination to obtain current information corresponding to each data combination, wherein the preset second formula is as follows:
Te＝1.5Pniq[id(Ld-Lq)+ψf]
K2＝(Lqiq)2+(Ldid+ψf)2
wherein Te is a torque command,
id is a direct-axis current value, iq is a quadrature-axis current value, Ld is stator direct-axis inductance, Lq is stator quadrature-axis inductance, psi f is a rotor flux linkage of the permanent magnet motor, and Pn is a pole pair number of the motor;
and the making module is used for making a corresponding relation table according to the data combination, the current information and the corresponding relation between the data combination and the current information.
Optionally, the control module includes:
the calculation submodule is used for calculating the weak magnetic current value according to the direct axis current value, the quadrature axis current value, the measured value of the direct axis current and the measured value of the quadrature axis current;
the generation submodule is used for generating a weak magnetic current instruction by the sum of the weak magnetic current value and the direct-axis current value;
and the control submodule is used for controlling the motor through the flux weakening current instruction.
Optionally, the calculation sub-module includes:
a calculating unit, configured to obtain a direct-axis current difference value by subtracting the measured direct-axis current value from the direct-axis current value, and obtain a quadrature-axis current difference value by subtracting the quadrature-axis current value from the quadrature-axis current value;
the input unit is used for inputting the direct-axis current difference value and the quadrature-axis current difference value into the current controller and outputting a direct-axis voltage value and a quadrature-axis voltage value;
the conversion unit is used for substituting the direct axis voltage value and the quadrature axis voltage value into a conversion formula of a three-phase static coordinate system and a two-phase static coordinate system to obtain vector voltage;
the zero vector calculation unit is used for inputting the vector voltage into the Space Vector Pulse Width Modulation (SVPWM) module and calculating the action time of the zero vector;
and the action time input unit is used for inputting the action time into the proportional integral regulator PIR and outputting the weak magnetic current value.
Optionally, the action time input unit includes:
the adding subunit is used for adding the action time and a preset value to obtain a first value, wherein the preset value is a positive value;
the first numerical value input subunit is used for inputting the first numerical value to a first amplitude limiter and outputting a second numerical value, wherein the second numerical value is less than or equal to zero;
a second numerical value input subunit, configured to input the second numerical value into the proportional-integral regulator PIR, and output a first current value;
and the first current value input subunit is used for inputting the first current value into the second amplitude limiter and outputting the weak magnetic current value, wherein the weak magnetic current value is smaller than a preset threshold value.
Optionally, the computation sub-module further includes:
a vector voltage input unit for inputting the vector voltage into a third amplitude limiter to obtain an amplitude-limited vector voltage, wherein the amplitude-limited vector voltage is less than or equal to
UdcAnd (t) is the actually measured bus voltage value.
Optionally, the apparatus further comprises:
the current amplitude obtaining module is used for inputting the rotating speed difference value into the second speed regulator to obtain a current amplitude when the actually measured rotating speed value is smaller than or equal to a preset basic speed;
the current amplitude input module is used for inputting the current amplitude to the MTPA control module and outputting current information;
and the control module is used for controlling the motor through the current information.
In a third aspect, an electronic device is provided, which includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of the first aspect when executing a program stored in the memory.
In a fourth aspect, a computer-readable storage medium is provided, having stored thereon a computer program which, when being executed by a processor, carries out the method steps of any of the first aspects.
In a fifth aspect, there is provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the above-described permanent magnet synchronous motor control methods.
The embodiment of the application has the following beneficial effects:
the embodiment of the application provides a permanent magnet synchronous motor control method, which comprises the following steps: acquiring an actually measured rotating speed value, a bus voltage value and an electric angular speed value; calculating a difference value between the actually measured rotating speed value and a preset rotating speed value to obtain a rotating speed difference value; when the actually measured rotating speed value is larger than or equal to the preset basic speed, inputting the rotating speed difference value into a first speed regulator to obtain a torque instruction; substituting the bus voltage value and the electric angular velocity value into a preset formula to obtain a K value; and searching current information corresponding to the torque command and the K value in a preset corresponding relation between the torque command and the K value and the current information, and controlling the motor through the current information.
Get the K value in the formula of predetermineeing with bus voltage value and electric angular velocity value substitution in this application, utilize the K value to seek current information in predetermined corresponding relation, when the bus voltage changes, because electric angular velocity also can corresponding change, so join the change condition of electric angular velocity and can restrain the K value and change, make the process of seeking current information no longer only rely on bus voltage, but rely on this variable of K value, consequently, the current information of seeking through this application is applicable to the condition that bus voltage changed, make the current information that finally obtains more accurate.
Of course, not all advantages described above need to be achieved at the same time in the practice of any one product or method of the present application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flowchart of a method for controlling a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 2 is another flowchart of a permanent magnet synchronous motor control method according to an embodiment of the present application;
fig. 3 is another flowchart of a control method for a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a permanent magnet synchronous motor control device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram illustrating a control principle of a permanent magnet synchronous motor according to an embodiment of the present application;
FIG. 7 is a motor torque diagram for an electroless system employing conventional vector control;
FIG. 8 is a motor speed diagram for an electroless system employing conventional vector control;
fig. 9 is a motor torque diagram of an electroless system obtained by using the permanent magnet synchronous motor control method provided in the embodiment of the present application;
fig. 10 is a motor torque diagram of an electroless system obtained by using the permanent magnet synchronous motor control method according to the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the actual operation process of the motor, when the rotating speed is high, the bus voltage is changed, and the direct axis current value and the quadrature axis current value obtained by the existing table look-up method are inaccurate. Therefore, the embodiment of the application provides a control method of a permanent magnet synchronous motor, which can be applied to a motor drive control system.
A detailed description will be given below, with reference to a specific embodiment, of a control method for a permanent magnet synchronous motor provided in an embodiment of the present application, as shown in fig. 1, the specific steps are as follows:
and S101, acquiring an actually measured rotating speed value, a bus voltage value and an electric angular speed value.
In the embodiment of the application, the actually measured rotating speed value, the bus voltage value and the electrical angular velocity value are values obtained by real-time measurement when the motor operates, and the motor control system can obtain the actually measured rotating speed value, the bus voltage value and the electrical angular velocity value when the motor operates in real time through the sensor.
And S102, calculating a difference value between the actually measured rotating speed value and the preset rotating speed value to obtain a rotating speed difference value.
In the embodiment of the present application, the preset rotation speed value is a preset rotation speed value. When the motor runs, a certain error is generated between the actually measured rotating speed value and the preset rotating speed value, in order to inhibit rotating speed fluctuation caused by the error, the difference value between the actually measured rotating speed value and the preset rotating speed value needs to be calculated to obtain a rotating speed difference value, and then the rotating speed difference value is used as feedback information to be input into a motor control system.
And S103, when the actually measured rotating speed value is larger than the preset basic speed, inputting the rotating speed difference value into the first speed regulator to obtain a torque instruction.
In the embodiment of the application, when the actually measured rotating speed value is greater than the preset base speed, the fluctuation of the bus voltage is large, the current information used for controlling the motor is searched by using the new table look-up method provided by the application, and the rotating speed difference value is input into the first speed regulator to obtain the torque instruction for subsequent table look-up.
And S104, substituting the bus voltage value and the electric angular velocity value into a preset formula to obtain a K value.
In the embodiment of the application, the bus voltage value and the electrical angular velocity value are substituted into the preset formula to obtain the K value, and the electrical angular velocity correspondingly fluctuates when the bus voltage fluctuates, so that the change condition of the electrical angular velocity is added to inhibit the K value from changing.
And S105, searching current information corresponding to the torque command and the K value in a preset corresponding relation between the torque command and the K value and the current information, wherein the current information comprises a direct-axis current value and a quadrature-axis current value.
In the embodiment of the application, a corresponding relation between a torque instruction and a K value and current information is preset, the corresponding relation can be stored in a table form, and the corresponding current information is searched according to the torque instruction and the K value, wherein the current information comprises a direct-axis current value and a quadrature-axis current value, and the direct-axis current value and the quadrature-axis current value are current components of the permanent magnet synchronous motor under a synchronous rotation coordinate system dq.
And S106, controlling the motor through the current information.
In the embodiment of the present application, the motor is controlled by the direct-axis current value and the quadrature-axis current value included in the current information.
In the embodiment of the application, the K value obtained by calculating the bus voltage and the electrical angular velocity is used for searching the current information, when the bus voltage changes, the electrical angular velocity also changes correspondingly, so that the change condition of the added electrical angular velocity can inhibit the change of the K value, the process of searching the current information does not only depend on the bus voltage, but also depends on the variable of the K value, therefore, the current information searched by the application is suitable for the condition of the change of the bus voltage, and the finally obtained current information is more accurate.
In another embodiment of the present application, as shown in fig. 2, the method for controlling a permanent magnet synchronous motor may further include the steps of:
s201, for each torque command in the torque command data set, combining the torque command with each K value in the K value data set one by one to obtain a plurality of data combinations including the torque command and the K value.
In the embodiment of the present application, the torque command data set includes all the possible generated torque commands, the K value data set includes all the possible generated K values, and for each torque command in the torque command data set, the torque command is combined with each K value in the K value data set one by one, and a plurality of data combinations including the torque command and the K value can be obtained.
Illustratively, the torque command data set is { a1, a2}, where a1, a2 are all torque commands that may be generated, and the K value data set { K1, K2, K3}, where K1, K2, K3 are all K values that may be generated, and for each torque command in the torque command data set, the torque command is combined with each K value in the K value data set one by one, and the resulting data combination comprising the torque command and the K value is: (a1, k1), (a1, k2), (a1, k3), (a2, k1), (a2, k2), (a2, k 3).
S202, substituting the torque command and the K value in the data combination into a preset formula aiming at each data combination to obtain current information corresponding to each data combination, wherein the preset formula is as follows:
Te＝1.5Pniq[id(Ld-Lq)+ψf]
K2＝(Lqiq)2+(Ldid+ψf)2
wherein Te is a torque command,
id is direct-axis current, iq is quadrature-axis current, Ld is stator direct-axis inductance, Lq is stator quadrature-axis inductance, psi f is a rotor flux linkage of the permanent magnet motor, and Pn is a pole pair number of the motor. Wherein,
udcmax is the maximum value of the bus voltage, and Udcmin is the minimum value of the bus voltage.
In the embodiment of the present application, the formula for transforming the three-phase stator current iabc of the motor from the physical abc coordinate system to the synchronous rotating coordinate system dq is as follows:
wherein: ia. ib and ic are three-phase stator currents of the motor.
The mathematical model of the permanent magnet synchronous motor under the synchronous rotating coordinate system dq is as follows:
stator voltage equation:
mechanical equation: t ise＝1.5Pniq[id(Ld-Lq)+ψf] (3)
Wherein: ud and uq are voltage components of the permanent magnet synchronous motor under a synchronous rotation coordinate system dq, wherein ud is direct-axis voltage, uq is quadrature-axis voltage, id and iq are current components of the permanent magnet synchronous motor under the synchronous rotation coordinate system dq, wherein id is a direct-axis current value, iq is a quadrature-axis current value, and R is resistance of a motor stator winding; ld and Lq are respectively a stator direct axis inductor and a stator quadrature axis inductor; omegaeIs the electrical angular velocity; psifIs a rotor flux linkage of a permanent magnet motor; pn is the number of machine pairs of the motor.
In a weak magnetic region, the rotating speed of the motor is high, the resistance R is small, and id and iq in the second term of the formula (1) are direct currents in a steady state, so that the derivative of the id and iq is zero; the two-end squares can be obtained by adding the two-end squares after the above formula is simplified:
for each data combination, the torque command and the K value in the data combination are substituted into the formula (3) and the formula (4), and the current information corresponding to each data combination can be obtained.
S203, a corresponding relation table is made according to the data combination, the current information and the corresponding relation between the data combination and the current information.
In the embodiment of the application, a corresponding relation table is manufactured according to the data combination, the current information and the corresponding relation between the data combination and the current information, wherein the corresponding relation table comprises the data combination and the current information which are in one-to-one correspondence.
In the embodiment of the application, the ratio K value of the bus voltage to the electrical angular velocity and the torque command are substituted into a preset formula to obtain corresponding current information, and a corresponding relation table is manufactured according to the data combination, the current information and the corresponding relation between the data combination and the current information. The corresponding relation table is manufactured through the embodiment of the application, data in the corresponding relation table are not obtained through bus voltage, but are obtained through the bus voltage and the electrical angular velocity ratio K value, when the bus voltage fluctuates, the electrical angular velocity also fluctuates, and therefore the K value fluctuation can be restrained, and the corresponding relation table manufactured through the application can adapt to the condition of bus voltage fluctuation.
In still another embodiment of the present application, the permanent magnet synchronous motor control method may further include the steps of:
calculating a weak magnetic current value according to the direct axis current value, the quadrature axis current value, the measured direct axis current value and the measured quadrature axis current value; generating a weak magnetic current instruction by the sum of the weak magnetic current value and the straight axis current value; and controlling the motor through a flux weakening current instruction.
In the embodiment of the present application, since the dc-side voltage of the inverter reaches the maximum value and then the current regulator is saturated, in order to obtain a wide speed regulation range, when the inverter operates at a high speed above the base speed, the constant-power speed regulation is realized, and the motor needs to be subjected to field weakening control. According to the direct axis current value, the quadrature axis current value, the measured value of the direct axis current and the measured value of the quadrature axis current, the weak magnetic current value is obtained through calculation, and the weak magnetic current instruction is generated by the sum of the weak magnetic current value and the direct axis current value; and carrying out flux weakening control on the motor through a flux weakening current instruction.
In still another embodiment of the present application, the permanent magnet synchronous motor control method may further include the steps of:
the measured value of the direct axis current is differed with the value of the direct axis current to obtain a difference value of the direct axis current, and the measured value of the quadrature axis current is differed with the value of the quadrature axis current to obtain a difference value of the quadrature axis current; inputting the direct-axis current difference value and the quadrature-axis current difference value into a current controller, and outputting a direct-axis voltage value ud and a quadrature-axis voltage value uq; substituting the direct axis voltage value ud and the quadrature axis voltage value uq into a conversion formula of a three-phase static coordinate system and a two-phase static coordinate system to obtain vector voltage; inputting the vector voltage into a Space Vector Pulse Width Modulation (SVPWM) module, and calculating to obtain the action time of a zero vector; and inputting the action time into a proportional integral regulator PIR and outputting the weak magnetic current value.
In the embodiment of the present application, the control system may obtain a direct-axis current difference value by subtracting the measured direct-axis current value from the direct-axis current value, and obtain a quadrature-axis current difference value by subtracting the quadrature-axis current value from the quadrature-axis current value; the direct-axis current difference value and the quadrature-axis current difference value are input into a current controller, and a direct-axis voltage value and a quadrature-axis voltage value can be output; substituting the direct axis voltage value and the quadrature axis voltage value into a conversion formula of a three-phase static coordinate system and a two-phase static coordinate system to obtain vector voltages Ualpha and Ubeta; wherein the conversion formula is:
wherein, thetaeIs the electrical angle of the motor rotor.
Inputting the vector voltages Ualpha and Ubeta into a Space Vector Pulse Width Modulation (SVPWM) module, and calculating the action time T0 of the zero vector; the operating time T0 is input to the proportional integral regulator PIR, and a field weakening current value is output.
According to the SVPWM principle, the vector voltages U alpha and U beta are formed by combining basic space vectors U1, U2 and a zero vector U0, the switching period of an inverter is Ts, the action time of the basic space vectors U1 and U2 is respectively T1 and T2, the action time of the zero vector U0 is T0, and Ts, T1, T2 and T0 satisfy the following relations: ts ═ T1+ T2+ T0. The on-time T0 of the zero vector U0 decreases as the magnitude of the stator voltage increases, and T0 approaches zero when the stator voltage reaches a maximum. When the amplitude of the vector voltage does not exceed the hexagonal boundary of the basic space voltage vector, the action time T0 of the zero vector U0 is more than 0; when the magnitude of the vector voltage exceeds the hexagonal boundary of the basic space voltage vector, the action time T0 of the zero vector U0 is less than 0; therefore, the action time T0 of the zero vector U0 can be used for adjusting and controlling the field weakening current.
In the embodiment of the application, motor parameters are not involved in the calculation of the weak magnetic current value, so that the method is insensitive to the change of the motor parameters and has robustness. And the operation process is simple and the calculation amount of the algorithm is small only according to the time T0 of the zero voltage vector quantity.
In another embodiment of the present application, as shown in fig. 3, the method for controlling a permanent magnet synchronous motor may further include the steps of:
s301, adding the action time and a preset value to obtain a first value, wherein the preset value is a positive value.
In the embodiment of the application, after the SVPWM module calculates the action time T0 of the zero vector U0 according to the vector voltages U α and U β, a positive value T0 is preset, the action time T0 is added to the positive value T0 to obtain a first value, and the positive value T0 is added to enable the action time T0 to be free from weak magnetic control when fluctuating in a small range. The positive value T0 may be preset according to experience or trial and error by a person skilled in the art.
S302, inputting the first value to the first limiter, and outputting a second value, where the second value is less than or equal to zero.
In the embodiment of the present application, the control system may input the first value to the first limiter and output the second value, where the second value is equal to or less than zero. Because the field weakening control is only required when the first value is less than zero, the first limiter can limit the first value when the first value is greater than zero, so that the output second value is equal to zero.
S303, the second value is input to the proportional integral regulator PIR, and the first current value is output.
In the embodiment of the present application, the control system may input the second value into the proportional-integral regulator PIR and output the first current value.
S304, inputting the first current value into a second amplitude limiter, and outputting a weak magnetic current value, wherein the weak magnetic current value is smaller than a preset threshold value.
In the embodiment of the present application, the first current output by the proportional-integral regulator PIR may be too large, so that the first current value needs to be input into the second amplitude limiter, so that the output weak magnetic current value is smaller than the preset threshold value, and the too large weak magnetic current value is avoided.
In the embodiment of the application, the action time passes through the first amplitude limiter, the proportional-integral regulator PIR and the second amplitude limiter, the weak magnetic current value is output, the first numerical value can be limited through the first amplitude limiter, the output second numerical value is enabled to be equal to zero, the output weak magnetic current value is enabled to be smaller than the preset threshold value through the second amplitude limiter, and irreversible demagnetization of the motor caused by overlarge weak magnetic current value is avoided.
In still another embodiment of the present application, the permanent magnet synchronous motor control method may further include the steps of:
inputting the vector voltage into a third amplitude limiter to obtain an amplitude-limited vector voltage, wherein the amplitude-limited vector voltage is less than or equal to
UdcAnd (t) is the actually measured bus voltage value.
In the embodiment of the application, because the bus voltage is always in a fluctuation state in the non-electrolysis system, the voltage which is applied to the end of the permanent magnet synchronous motor is also a fluctuation voltage
Therefore, the vector voltage is required to be inputted to the third limiter, and the vector voltages U α and U β are limited to be not more than
The current is prevented from being out of control because the vector voltages U alpha and U beta seriously exceed the hexagonal range of the voltage vector.
In still another embodiment of the present application, the permanent magnet synchronous motor control method may further include the steps of:
when the actually measured rotating speed value is smaller than or equal to the preset basic speed, inputting the rotating speed difference value into a second speed regulator to obtain a current amplitude value; inputting the current amplitude to a maximum torque-to-current ratio (MTPA) control module, and outputting current information; and controlling the motor through the current information.
In the embodiment of the application, in the non-electrolytic system, when the actually measured rotating speed value is less than or equal to the preset basic speed, the fluctuation of the bus voltage is small, and the bus voltage basically keeps a constant value. The maximum torque current ratio MTPA control method can be used for controlling, namely, the rotating speed difference value is input into the second speed regulator to obtain a current amplitude value; inputting the current amplitude to a maximum torque-to-current ratio (MTPA) control module, and outputting current information; and controlling the motor through the current information. Instead of the maximum torque current ratio MTPA control method, another general control method such as a d-0 control method may be adopted.
In the embodiment of the application, when the actually measured rotating speed value is less than or equal to the preset base speed, the motor is controlled by using the maximum torque-current ratio (MTPA) control method, so that the data storage capacity of the table look-up method in the application can be reduced.
The embodiment of the application provides a schematic control principle diagram of a permanent magnet synchronous motor, as shown in fig. 6, which specifically includes the following steps:
obtaining the actually measured rotating speed value n and the bus voltage value UdcAnd electrical angular velocity value omegae。
When the actually measured rotating speed value n is larger than the preset basic speed, current information is searched through a table look-up method, namely, the rotating speed difference value delta n is input into the first speed regulator ASR to obtain a torque instruction Te, and the bus voltage value U is useddcAnd electrical angular velocity value omegaeSubstituted into a predetermined formula to obtain
And searching current information, namely id and iq, corresponding to the torque command and the K value in a preset corresponding relation between the torque command Te and the K value and the current information.
When the actually measured rotating speed value n is smaller than or equal to the preset basic speed, searching current information through a maximum torque-to-current ratio (MTPA) control module, namely, inputting a rotating speed difference value delta n into a second speed regulator (ASR) to obtain a current amplitude value is; the is input to the maximum torque current ratio MTPA control module, and the current information, i.e., id and iq, is output.
And the measured direct-axis current id are differentiated to obtain a direct-axis current difference value delta id, and the measured quadrature-axis current iq and the quadrature-axis current value iq are differentiated to obtain a quadrature-axis current difference value delta iq.
Inputting the delta id and the delta iq into a current controller, and outputting a direct axis voltage value ud and a quadrature axis voltage value uq; substituting ud and uq into a conversion formula of a three-phase static coordinate system and a two-phase static coordinate system, namely dq-alpha beta conversion to obtain vector voltages Ualpha and Ubeta; and (4) adding the U alpha and the U beta into a Space Vector Pulse Width Modulation (SVPWM) module, and calculating to obtain the action time T0 of the zero vector.
Adding T0 to a preset value T0 to obtain a first value, wherein the preset value is a positive value; inputting the first value into the amplitude limiter 2 and outputting a second value; inputting the second numerical value into a proportional integral regulator PIR, and outputting a first current value; inputting the first current value into the amplitude limiter 1, and outputting a weak magnetic current value delta id; adding the delta id and the delta id to generate a weak magnetic current instruction; and controlling the motor through a flux weakening current instruction.
Fig. 7 and 8 are a motor torque diagram and a motor speed diagram of an electroless system using a conventional vector control, where the motor torque fluctuation amount is 0.31N · m and the motor speed fluctuation amount is 30rpm, and fig. 9 and 10 are a motor torque diagram and a motor speed diagram of an electroless system obtained using the scheme provided by the present application, where the motor torque fluctuation amount is 0.042N · m and the motor speed fluctuation amount is 10rpm, it can be seen that the scheme provided by the present application can reduce the motor torque fluctuation and the motor speed fluctuation.
In the embodiment of the application, the K value obtained by calculating the bus voltage and the electrical angular velocity is used for searching the current information, when the bus voltage changes, the electrical angular velocity also changes correspondingly, so that the change condition of the added electrical angular velocity can inhibit the change of the K value, the process of searching the current information does not only depend on the bus voltage, but also depends on the variable of the K value, therefore, the current information searched by the application is suitable for the condition of the change of the bus voltage, and the finally obtained current information is more accurate.
Based on the same technical concept, an embodiment of the present application further provides a permanent magnet synchronous motor control device, as shown in fig. 4, the device includes:
the obtaining module 401 is configured to obtain an actually measured rotation speed value, a bus voltage value, and an electrical angular velocity value;
a calculating module 402, configured to calculate a difference between the actual measured rotation speed value and a preset rotation speed value, so as to obtain a rotation speed difference;
an input module 403, configured to input the rotation speed difference into a first speed regulator to obtain a torque instruction when the actual measurement rotation speed value is greater than a preset base speed;
an obtaining module 404, configured to substitute the bus voltage value and the electrical angular velocity value into a preset first formula to obtain a K value;
a searching module 405, configured to search current information corresponding to a torque command and a K value in a preset correspondence relationship between the torque command and the K value and the current information, where the current information includes a direct-axis current value and a quadrature-axis current value;
and the control module is used for controlling the motor through the current information.
Optionally, the apparatus further comprises:
the combination module is used for combining the torque instruction and each K value in the K value data set one by one aiming at each torque instruction in the torque instruction data set to obtain a plurality of data combinations containing the torque instruction and the K value;
the current information obtaining module is used for substituting the torque instruction and the K value in each data combination into a preset second formula aiming at each data combination to obtain current information corresponding to each data combination, wherein the preset second formula is as follows:
Te＝1.5Pniq[id(Ld-Lq)+ψf]
K2＝(Lqiq)2+(Ldid+ψf)2
wherein Te is a torque command,
id is the direct current value, iq is the quadrature current value,ld is stator direct axis inductance, Lq is stator quadrature axis inductance, psi f is rotor flux linkage of the permanent magnet motor, and Pn is pole pair number of the motor;
and the making module is used for making a corresponding relation table according to the data combination, the current information and the corresponding relation between the data combination and the current information.
Optionally, the control module includes:
the calculation submodule is used for calculating the weak magnetic current value according to the direct axis current value, the quadrature axis current value, the measured value of the direct axis current and the measured value of the quadrature axis current;
the generation submodule is used for generating a weak magnetic current instruction by the sum of the weak magnetic current value and the direct-axis current value;
and the control submodule is used for controlling the motor through the flux weakening current instruction.
Optionally, the calculation sub-module includes:
a calculating unit, configured to obtain a direct-axis current difference value by subtracting the measured direct-axis current value from the direct-axis current value, and obtain a quadrature-axis current difference value by subtracting the quadrature-axis current value from the quadrature-axis current value;
the input unit is used for inputting the direct-axis current difference value and the quadrature-axis current difference value into the current controller and outputting a direct-axis voltage value and a quadrature-axis voltage value;
the conversion unit is used for substituting the direct axis voltage value and the quadrature axis voltage value into a conversion formula of a three-phase static coordinate system and a two-phase static coordinate system to obtain vector voltage;
the zero vector calculation unit is used for inputting the vector voltage into the Space Vector Pulse Width Modulation (SVPWM) module and calculating the action time of the zero vector;
and the action time input unit is used for inputting the action time into the proportional integral regulator PIR and outputting the weak magnetic current value.
Optionally, the action time input unit includes:
the adding subunit is used for adding the action time and a preset value to obtain a first value, wherein the preset value is a positive value;
the first numerical value input subunit is used for inputting the first numerical value to a first amplitude limiter and outputting a second numerical value, wherein the second numerical value is less than or equal to zero;
a second numerical value input subunit, configured to input the second numerical value into the proportional-integral regulator PIR, and output a first current value;
and the first current value input subunit is used for inputting the first current value into the second amplitude limiter and outputting the weak magnetic current value, wherein the weak magnetic current value is smaller than a preset threshold value.
Optionally, the computation sub-module further includes:
a vector voltage input unit for inputting the vector voltage into a third amplitude limiter to obtain an amplitude-limited vector voltage, wherein the amplitude-limited vector voltage is less than or equal to
UdcAnd (t) is the actually measured bus voltage value.
Optionally, the apparatus further comprises:
the current amplitude obtaining module is used for inputting the rotating speed difference value into the second speed regulator to obtain a current amplitude when the actually measured rotating speed value is smaller than or equal to a preset basic speed;
the current amplitude input module is used for inputting the current amplitude to the MTPA control module and outputting current information;
and the control module is used for controlling the motor through the current information.
In the embodiment of the application, the K value obtained by calculating the bus voltage and the electrical angular velocity is used for searching the current information, when the bus voltage changes, the electrical angular velocity also changes correspondingly, so that the change condition of the added electrical angular velocity can inhibit the change of the K value, the process of searching the current information does not only depend on the bus voltage, but also depends on the variable of the K value, therefore, the current information searched by the application is suitable for the condition of the change of the bus voltage, and the finally obtained current information is more accurate.
Based on the same technical concept, the embodiment of the present invention further provides an electronic device, as shown in fig. 5, including a processor 501, a communication interface 502, a memory 503 and a communication bus 504, where the processor 501, the communication interface 502 and the memory 503 complete mutual communication through the communication bus 504,
a memory 503 for storing a computer program;
the processor 501, when executing the program stored in the memory 503, implements the following steps:
acquiring an actually measured rotating speed value, a bus voltage value and an electric angular speed value;
calculating a difference value between the actually measured rotating speed value and a preset rotating speed value to obtain a rotating speed difference value;
when the actually measured rotating speed value is larger than a preset basic speed, inputting the rotating speed difference value into a first speed regulator to obtain a torque instruction;
substituting the bus voltage value and the electric angular velocity value into a preset first formula to obtain a K value;
searching current information corresponding to a torque command and a K value in a preset corresponding relation between the torque command and the K value and the current information, wherein the current information comprises a direct-axis current value and a quadrature-axis current value;
and controlling the motor through the current information.
The communication bus mentioned in the electronic device 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. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), 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, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
In yet another embodiment of the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any of the above-mentioned permanent magnet synchronous motor control methods.
In yet another embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the permanent magnet synchronous motor control methods of the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
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 method of controlling a permanent magnet synchronous motor, the method comprising:
acquiring an actually measured rotating speed value, a bus voltage value and an electric angular speed value;
calculating a difference value between the actually measured rotating speed value and a preset rotating speed value to obtain a rotating speed difference value;
when the actually measured rotating speed value is larger than a preset basic speed, inputting the rotating speed difference value into a first speed regulator to obtain a torque instruction;
substituting the bus voltage value and the electric angular velocity value into a preset first formula to obtain a K value;
searching current information corresponding to a torque command and a K value in a preset corresponding relation between the torque command and the K value and the current information, wherein the current information comprises a direct-axis current value and a quadrature-axis current value;
controlling the motor through the current information;
wherein the method further comprises:
for each torque command in the torque command data set, combining the torque command with each K value in the K value data set one by one to obtain a plurality of data combinations containing the torque command and the K value;
for each data combination, substituting the torque command and the K value in the data combination into a preset second formula to obtain current information corresponding to each data combination, wherein the preset second formula is as follows:
Te＝1.5Pniq[id(Ld-Lq)+ψf]
K2＝(Lqiq)2+(Ldid+ψf)2
wherein Te is a torque command,
udc is a bus voltage value, id is a direct-axis current value, iq is a quadrature-axis current value, Ld is stator direct-axis inductance, Lq is stator quadrature-axis inductance, psi f is a rotor flux linkage of the permanent magnet motor, and Pn is a pole pair number of the motor;
and manufacturing a corresponding relation table according to the data combination, the current information and the corresponding relation between the data combination and the current information.
2. The method of claim 1, wherein said controlling the motor via the current information comprises:
calculating a weak magnetic current value according to the direct axis current value, the quadrature axis current value, the measured direct axis current value and the measured quadrature axis current value;
generating a weak magnetic current instruction by the sum of the weak magnetic current value and the direct-axis current value;
and controlling the motor through the weak magnetic current instruction.
3. The method of claim 2, wherein the calculating the weak magnetic current value according to the direct axis current value, the quadrature axis current value, and the measured direct axis current value and the measured quadrature axis current value comprises:
the measured direct-axis current value is differed from the measured direct-axis current value to obtain a direct-axis current difference value, and the measured quadrature-axis current value is differed from the quadrature-axis current value to obtain a quadrature-axis current difference value;
inputting the direct-axis current difference value and the quadrature-axis current difference value into a current controller, and outputting a direct-axis voltage value and a quadrature-axis voltage value;
substituting the direct axis voltage value and the quadrature axis voltage value into a conversion formula of a three-phase static coordinate system and a two-phase static coordinate system to obtain vector voltage;
inputting the vector voltage into a Space Vector Pulse Width Modulation (SVPWM) module, and calculating to obtain the action time of a zero vector;
and inputting the action time into a proportional integral regulator PIR and outputting the weak magnetic current value.
4. The method of claim 3, wherein the inputting the action time into a proportional-integral regulator (PIR) and outputting the weak magnetic current value comprises:
adding the action time and a preset value to obtain a first value, wherein the preset value is a positive value;
inputting the first numerical value into a first amplitude limiter and outputting a second numerical value, wherein the second numerical value is less than or equal to zero;
inputting the second numerical value into the proportional integral regulator PIR and outputting a first current value;
and inputting the first current value into a second amplitude limiter, and outputting the weak magnetic current value, wherein the weak magnetic current value is smaller than a preset threshold value.
5. The method according to claim 3, wherein before inputting the vector voltage into a Space Vector Pulse Width Modulation (SVPWM) module and calculating the action time of the zero vector, the method further comprises:
inputting the vector voltage into a third amplitude limiter to obtain an amplitude-limited vector voltage, wherein the amplitude-limited vector voltage is less than or equal to
UdcAnd (t) is the actually measured bus voltage value.
6. The method of claim 1, further comprising:
when the actually measured rotating speed value is smaller than or equal to a preset basic speed, inputting the rotating speed difference value into a second speed regulator to obtain a current amplitude value;
inputting the current amplitude to a maximum torque current ratio (MTPA) control module, and outputting current information;
and controlling the motor through the current information.
7. A permanent magnet synchronous motor control apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring an actually measured rotating speed value, a bus voltage value and an electric angular speed value;
the calculation module is used for calculating the difference value between the actually measured rotating speed value and a preset rotating speed value to obtain a rotating speed difference value;
the input module is used for inputting the rotating speed difference value into the first speed regulator to obtain a torque instruction when the actually measured rotating speed value is larger than a preset basic speed;
the obtaining module is used for substituting the bus voltage value and the electric angular velocity value into a preset first formula to obtain a K value;
the searching module is used for searching current information corresponding to a torque instruction and a K value in a preset corresponding relation between the torque instruction and the K value and the current information, wherein the current information comprises a direct-axis current value and a quadrature-axis current value;
the control module is used for controlling the motor through the current information;
wherein the apparatus further comprises:
the combination module is used for combining the torque instruction and each K value in the K value data set one by one aiming at each torque instruction in the torque instruction data set to obtain a plurality of data combinations containing the torque instruction and the K value;
the current information obtaining module is used for substituting the torque instruction and the K value in each data combination into a preset second formula aiming at each data combination to obtain current information corresponding to each data combination, wherein the preset second formula is as follows:
Te＝1.5Pniq[id(Ld-Lq)+ψf]
K2＝(Lqiq)2+(Ldid+ψf)2
wherein Te is a torque command,
udc is a bus voltage value, id is a direct-axis current value, iq is a quadrature-axis current value, Ld is stator direct-axis inductance, Lq is stator quadrature-axis inductance, psi f is a rotor flux linkage of the permanent magnet motor, and Pn is a pole pair number of the motor;
and the making module is used for making a corresponding relation table according to the data combination, the current information and the corresponding relation between the data combination and the current information.
8. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1-6 when executing a program stored in the memory.
9. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 6.
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| CN114094899A (en) * | 2021-11-18 | 2022-02-25 | 苏州臻迪智能科技有限公司 | Motor control method, device and system |
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