CN112332732A - Motor control method and device - Google Patents

Motor control method and device Download PDF

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Publication number
CN112332732A
CN112332732A CN201910709636.6A CN201910709636A CN112332732A CN 112332732 A CN112332732 A CN 112332732A CN 201910709636 A CN201910709636 A CN 201910709636A CN 112332732 A CN112332732 A CN 112332732A
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motor
magnetic field
rotor magnetic
vector control
field position
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杨大成
梅文庆
丁晓帆
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CRRC Zhuzhou Institute Co Ltd
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CRRC Zhuzhou Institute Co Ltd
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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
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—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
    • 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
    • H02P21/04—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for very low speeds
    • 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
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • H02P21/08—Indirect field-oriented control; Rotor flux feed-forward control
    • 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
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • H02P21/10—Direct field-oriented control; Rotor flux feed-back control
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/05—Determination of the rotor position by using two different methods and/or motor models

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

Abstract

The application provides a motor control method, which comprises the steps of controlling a motor step by collecting the real-time rotating speed of the motor, and calculating the position parameter of a rotor magnetic field by using an indirect vector control algorithm when the motor is in a preset low-speed state; when the motor is in a preset high-speed state, calculating a rotor magnetic field position parameter by using a direct vector control algorithm; and inputting the rotor magnetic field position parameters into a motor vector control system to realize the control of the motor. The method combines two vector control algorithms, carries out step-by-step control on the motor with different rotating speeds, uses an indirect vector control algorithm for calculating the position parameter of the rotor magnetic field in a low-speed state, uses a direct vector control algorithm for calculating the position parameter of the rotor magnetic field in a high-speed state, and avoids errors generated by the two algorithms in the corresponding working state of the motor.

Description

Motor control method and device
Technical Field
The present disclosure relates to motor control technologies, and in particular, to a motor control method and device.
Background
The motor is widely applied to mechanical motion in various fields, such as vehicles, motors and the like, due to the existing mechanical characteristics of the motor.
The motor has a plurality of working parameters, and the working parameters of the motor are required to be acquired for realizing the control of the motor. For example, it is necessary to calculate a rotor magnetic field position parameter of the motor through an algorithm, and control the motor through the calculated rotor magnetic field position parameter.
Disclosure of Invention
In view of this, the present application provides a motor control method to accurately calculate a rotor magnetic field position parameter at low speed and high speed. In addition, the application also provides a motor control device used for ensuring the application and the realization of the method in practice.
In order to achieve the purpose, the technical scheme provided by the application is as follows:
in a first aspect, the present application provides a motor control method, including:
collecting the real-time rotating speed of a motor;
monitoring whether the real-time rotating speed enters a preset low-speed state or not;
if the real-time rotating speed enters the preset low-speed state, calculating the rotor magnetic field position parameters of the motor in each control period by using an indirect vector control algorithm;
monitoring whether the real-time rotating speed enters a preset high-speed state or not;
if the real-time rotating speed enters the preset high-speed state, calculating the rotor magnetic field position parameters of the motor in each control period by using a direct vector control algorithm;
and the rotor magnetic field position parameter of each control period is used for the motor vector control system to carry out vector control on the motor in the control period.
In a second aspect, the present application provides a motor control apparatus comprising:
the acquisition module is used for acquiring the real-time rotating speed of the motor;
the first monitoring module is used for monitoring whether the real-time rotating speed enters a preset low-speed state or not;
the first control module is used for calculating the rotor magnetic field position parameters of the motor in each control period by using an indirect vector control algorithm if the real-time rotating speed enters the preset low-speed state;
the second monitoring module is used for judging whether the real-time rotating speed enters a preset high-speed state or not;
the second control module is used for calculating the rotor magnetic field position parameters of the motor in each control period by using a direct vector control algorithm if the real-time rotating speed enters the preset high-speed state;
and the rotor magnetic field position parameter of each control period is used for the motor vector control system to carry out vector control on the motor in the control period.
In a third aspect, the present application provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the motor control method described above.
According to the technical scheme, the method for controlling the motor comprises the steps of collecting the real-time rotating speed of the motor, controlling the motor step by step, and calculating the position parameter of a rotor magnetic field by using an indirect vector control algorithm when the motor is in a preset low-speed state; when the motor is in a preset high-speed state, calculating a rotor magnetic field position parameter by using a direct vector control algorithm; and inputting the rotor magnetic field position parameters into a motor vector control system to realize the control of the motor. The method combines two vector control algorithms, carries out step-by-step control on the motor with different rotating speeds, uses an indirect vector control algorithm for calculating the position parameter of the rotor magnetic field in a low-speed state, uses a direct vector control algorithm for calculating the position parameter of the rotor magnetic field in a high-speed state, and avoids errors generated by the two algorithms in the corresponding working state of the motor.
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 introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of the present application for acquiring rotational speed at high speed;
FIG. 2 is a flow chart of a motor control method provided herein;
FIG. 3 is a block diagram of a motor vector control system provided herein;
FIG. 4 is a flow chart of another method of controlling a motor provided herein;
FIG. 5 is a flow chart of another method of controlling a motor provided herein;
fig. 6 is a block diagram of a motor control device according to the present application.
Detailed Description
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 only a part of the embodiments of the present application, 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 application.
In the prior art, motor control algorithms are divided into two categories: indirect vector control algorithms and direct vector control algorithms.
The indirect vector control algorithm acquires the rotating speed and integrates the sum of the rotating speed and the rotating difference to obtain the position parameter of the rotor magnetic field in the current period. When the motor works in a low-speed state, the algorithm is the most practical algorithm. The algorithm collects the rotating speed through a rotating speed sensor, see figure 1, WmFor the collected rotational speed, Wm0For the actual rotating speed, the rotating speed sensor has a time interval when acquiring data, and when the rotating speed changes too fast, the acquired rotating speed cannot be used for representing the current actual rotating speed. Therefore, the indirect vector control algorithm is not applicable when the motor is in a high-speed state.
The direct vector control algorithm is used for controlling the motor by acquiring working parameters (such as voltage, current and the like) of the motor, constructing a calculation model (such as a U-I model) according to the working parameters of the motor, calculating a stator flux linkage through the calculation model, further calculating a rotor flux linkage through a stator magnetic field, and calculating the rotor flux linkage to obtain a position parameter of the rotor magnetic field. When the motor is in a high-speed state, the calculation model constructed by the algorithm has high calculation precision, and the rotor magnetic field position parameter of the motor in the high-speed state can be accurately calculated. When the motor is in a low-speed state, the output voltage error is large, and therefore the rotor magnetic field position parameter calculated through the model is inaccurate.
To this end, the present application provides a motor control method, see fig. 2, comprising steps S201-S205.
S201: and collecting the real-time rotating speed of the motor.
The real-time rotating speed of the motor can be acquired through the rotating speed sensor. There are other implementations of acquiring the real-time rotational speed of the motor, which are not described in detail herein. And selecting an applicable algorithm according to the acquired real-time rotating speed of the motor for calculating the position parameter of the rotor magnetic field.
Specifically, the indirect vector control algorithm is used when the rotating speed is in a low speed state; the direct vector control algorithm is used in a high speed state. The switching mode of the two algorithms is realized by monitoring the rotating speed of the motor, and when the rotating speed of the motor meets the rotating speed threshold value of algorithm switching, algorithm switching is carried out. For example: the rated rotating speed is 3000 revolutions (corresponding to 80km/h), the highest rotating speed is 5000 revolutions (130km/h), the low-speed state is less than or equal to 30 percent of the rated rotating speed, namely 900 revolutions (corresponding to 0-24km/h), and the high-speed state is more than 30 percent of the rated rotating speed to the highest rotating speed. When the real-time rotating speed is less than 900 revolutions, the working state of the current motor is low speed, and under the condition, an indirect vector control algorithm is used for calculation; when the real-time rotating speed is larger than 900 revolutions, the algorithm needs to be switched to the direct vector, the current working state of the motor is high speed, and under the condition, the direct vector control algorithm is used for calculation.
The boundary between the low-speed state and the high-speed state may be defined bySetting by the supervisor, e.g. setting the double threshold ωmxAnd ωmsWhen the rotational speed is less than ωmsIf the rotating speed is in a low speed state, the rotating speed is in a low speed state; when the rotating speed is more than omegamsAnd is smaller than omegamxIf so, keeping the current state; if the rotating speed is greater than omegamxIt means that the rotational speed enters a high speed state.
S202: and monitoring whether the real-time rotating speed enters a preset low-speed state or not.
The preset low speed state is a preset rotation speed range. Alternatively, the preset low speed state refers to that the real-time speed is lower than a preset speed threshold, for example, the real-time speed is lower than the preset speed threshold, or the real-time speed is equal to or lower than the preset speed threshold. Wherein the speed threshold may be derived based on a nominal speed, for example: the preset low-speed state is 0-30% of rated rotation speed, and the rotation speed in the interval belongs to low speed.
Specifically, the rotation speed collected in step S201 is monitored in real time, and when the real-time rotation speed satisfies the preset low-speed state, step S203 is executed.
S203: and if the real-time rotating speed enters a preset low-speed state, calculating the position parameters of the rotor magnetic field of the motor in each control period by using an indirect vector control algorithm.
The indirect vector control algorithm is an algorithm taking indirect vector control as a main control strategy, and has the advantages of stable control, adjustable rotating speed, strong tracking capability, no overshoot of a system, quick start, short transition process and the like. In the specific control process, as long as one of the stator, the rotor or the air gap magnetic field of the motor can be kept unchanged all the time, the torque of the motor can be the same as that in steady-state operation, and the stability is achieved. One of the indirect vector control algorithms is a slip frequency vector control algorithm, which is a representative algorithm among the indirect control algorithms, and the algorithm calculates an integral of the sum of the rotor speed and the slip frequency as a formula:
θr＝∫(Pnωm+ωsl)dt (1)
determining a rotor magnetic field position parameter θrThe algorithm is the most practical one of the indirect vector algorithms.
Specifically, when the rotating speed of the motor is in a preset low-speed state, the position parameter of the rotor magnetic field in the current period of the motor is calculated by using an indirect vector control algorithm and is stored. And continuously calculating the rotor magnetic field position parameter of the next period in the mode, and updating the rotor magnetic field position parameter stored before into the rotor magnetic field position parameter obtained by calculation, wherein the updating period depends on the acquisition period of the rotating speed sensor for the rotating speed of the motor.
In one example, in the motor control method, the indirect vector control algorithm calculates the rotor magnetic field position parameter by: thetar＝∫(Pnωm+ωsl) dt; wherein, thetarAs a rotor field position parameter, PnThe number of pole pairs of the motor is shown; omegamIs the angular velocity of the sample; omegaslIs the slip frequency of the motor.
Specifically, the indirect vector control algorithm calculates the position parameter of the rotor magnetic field by the following specific steps:
in the above integral equation, PnIs the number of pole pairs, omegamFor real-time speed, omegaslIs the slip. To calculate the rotor field position parameter thetarThe slip ω needs to be adjustedslFor this purpose, the following equations are respectively found:
Figure BDA0002152554890000051
in the above formula, LmFor mutual inductance of the motor, TrAs the rotor time constant, | ψrI is the rotor flux linkage size, isq *Is the q-axis current. In this formula, LmAnd TrThe parameters pertaining to the motor are known quantities, so it is necessary to find isq *And | ψrI.e. | is complete.
To calculate isq *Can be based on the following equation:
Figure BDA0002152554890000052
in the above formula, TeIs the motor torque, PnIs the number of pole pairs, LmFor mutual inductance of the motor, LrIs the rotor inductance, isq *For q-axis current, | ψrAnd | is the rotor flux linkage size. In this formula, Te、Pn、LmAnd LrThe parameters pertaining to the motor are known quantities, so only | ψ needs to be foundrI.e. | is complete.
To calculate | ψrL may be according to the following equation:
Figure BDA0002152554890000053
in the above formula, | ψrL is the rotor flux linkage size, LmFor mutual inductance of the motor, TrIs the rotor time constant, isdIs the d-axis current. According to said formula calculating | psirThe position parameter theta of the rotor magnetic field can be calculated by combining the formular。
S204: and monitoring whether the real-time rotating speed enters a preset high-speed state or not.
It should be noted that the preset high-speed state is a rotation speed range set by a manager, for example: the preset high-speed state is more than 30% of rated rotating speed, and the rotating speeds in the interval belong to high speeds.
Specifically, the rotation speed collected in step S201 is monitored in real time, and when the real-time rotation speed satisfies a preset high-speed state, step S205 is executed.
S205: and if the real-time rotating speed enters a preset high-speed state, calculating the rotor magnetic field position parameters of the motor in each control period by using a direct vector control algorithm.
It should be noted that the direct vector control algorithm is based on detection of an actual position of magnetic flux, specifically, a calculation model is constructed, a motor stator flux linkage is obtained through calculation, and a rotor flux linkage is calculated according to the motor stator flux linkage, so that a rotor magnetic field position parameter is obtained. When the algorithm is used at low speed, there are many interferences due to the integrated circuit itself. When the motor is in a low-speed state, the output voltage is small and is easily covered by interference signals, so that the output voltage is inaccurate, and the subsequent calculation has serious errors. For the motor in the high-speed state, the output voltage is high, the interference signal is negligible, and therefore, the calculation in the high-speed state can be approximately regarded as an accurate value. Therefore, the algorithm is used to calculate the rotor field position parameter when the motor is at high speed.
Specifically, when the rotating speed of the motor is in a preset high-speed state, the position parameter of the rotor magnetic field in the current period of the motor is calculated by using a direct vector control algorithm and is stored. And continuing to calculate the rotor magnetic field position parameter of the next period in the mode, and updating the rotor magnetic field position parameter stored previously to the rotor magnetic field position parameter obtained by calculation, wherein the updating frequency depends on the frequency of the stator flux linkage output by the calculation model.
In one example, in the motor control method, the direct vector control algorithm calculates the rotor magnetic field position parameter by: thetar＝atan(ψrβ,ψrα) (ii) a Wherein, thetarAs a parameter of rotor field position, #rαIs the component of the rotor flux linkage in the alpha direction vector; psirβIs the component of the rotor flux linkage in the beta direction vector.
Specifically, the direct vector control algorithm calculates the position parameters of the rotor magnetic field by the following specific steps:
according to the formula:
θr＝atan(ψrβ,ψrα) (5)
the position parameter theta of the rotor magnetic field can be calculatedrPhi in the formularαAnd psirβIs rotor flux linkage psirThe components on the α and β axes of the coordinate system. Thus only the rotor flux linkage psi needs to be calculatedrAnd (4) finishing.
And calculate the rotor flux linkage psirCan be calculated according to the following formula:
ψr＝(Lr/Lm)*(ψs-σLsis) (6)
in the above formula, LrIs rotor inductance, LmFor mutual inductance, psi, of the motorsStator flux linkage, σ leakage inductance, LsIs the stator inductance and isIs the stator current. In this formula, Lr、Lm、σ、LsAnd isThe parameters pertaining to the machine are known quantities, so that only the stator flux linkage ψ needs to be foundsAnd (4) finishing.
To calculate the stator flux linkage psisCan be obtained by a calculation model. E.g. calculating psi by means of the U-I models：
The U-I model is formed by the formula:
us＝Rsis+dψs/dt (7)
created, U in the formulasFor the motor input voltage, RsIs stator resistance, isFor stator current, d ψsAnd/dt is the derivative of the stator flux linkage at time t. In this formula except for the stator flux linkage psisBesides, the other parameters are motor parameters which are known quantities, so that the stator flux linkage psi is obtaineds. Further combining the above formula, the rotor magnetic field position parameter θ can be obtainedr。
Wherein the stator flux linkage psi is calculated by a voltage modelsThe process is as follows:
determination of stator flux linkage psi by means of digital integrationsComponent ψ in a coordinate systemsαAnd psisβFurther calculate the stator flux linkage psis. Wherein the psi is calculatedsαAnd psisβThe formula of (1) is as follows:
ψsα(N)＝ψsα(N-1)+(usα-Rsisα)*dt (8)
ψsβ(N)＝ψsβ(N-1)+(usβ-Rsisβ)*dt (9)
it should be noted that the above-mentioned calculation module may be other calculation models besides the U-I model, and is not specifically described here.
The calculated rotor magnetic field position parameter of each control period aims to provide a motor vector control system to carry out vector control on a motor in the control period.
Fig. 3 is a schematic diagram of a motor vector control system. As shown in fig. 3, the motor vector control system includes: the motor comprises a total PI regulator, a first PI regulator, a second PI regulator, a Space Vector Pulse Width Modulation (SVPWM) module, an INV module, a three-phase asynchronous motor M, a current conversion module, a conversion module and other related structures.
Measuring rotor magnetic field position parameter thetarAfter being input into a conversion module of the motor vector control system, the conversion module is used for converting a rotor magnetic field position parameter thetarU to output the first PI regulatorsqIs converted into UsαU output from the second PI regulatorsdIs converted into UsβAnd will UsαAnd UsβOutputting the signal to an SVPWM module; after the SVPWM module processes the input value, generating a PWM (Pulse width modulation) wave; outputting the PWM wave to an INV module, and performing logic operation to obtain a current isaAnd isbWill current isαAnd isbAfter current conversion is carried out through a current conversion module, i is obtainedsαAnd isβThen i issαAnd isβAfter the input is converted by the conversion module, i is obtainedsdAnd isqI obtained by conversionsdAnd isqAnd the feedback signals are respectively fed back to the first PI regulator and the second PI regulator. When rotor magnetic field position parameter thetarWhen the motor vector control system changes, all the parameters in the corresponding motor vector control system can be adjusted accordingly, so that the motor control function is achieved.
According to the technical scheme, the method for controlling the motor comprises the steps of collecting the real-time rotating speed of the motor, controlling the motor step by step, and calculating the position parameter of a rotor magnetic field by using an indirect vector control algorithm when the motor is in a preset low-speed state; when the motor is in a preset high-speed state, calculating a rotor magnetic field position parameter by using a direct vector control algorithm; and inputting the rotor magnetic field position parameters into a motor vector control system to realize the control of the motor. The method combines two vector control algorithms, carries out step-by-step control on the motor with different rotating speeds, uses an indirect vector control algorithm for calculating the position parameter of the rotor magnetic field in a low-speed state, uses a direct vector control algorithm for calculating the position parameter of the rotor magnetic field in a high-speed state, and avoids errors generated by the two algorithms in the corresponding working state of the motor.
The motor control method provided by the application is assisted and controlled by an indirect vector control method and a direct vector control method, and when the motor uses one algorithm to calculate the position parameter of the rotor magnetic field, the calculation parameter in the other algorithm is initialized.
The initialization is to calculate the rotor magnetic field position parameter according to the algorithm in use, and then calculate the calculation parameter in another algorithm according to the rotor magnetic field position parameter calculated according to the algorithm in use. The method is to avoid the inconsistency of the rotor magnetic field positions corresponding to the two rotor magnetic field position parameters when the two algorithms are switched, namely to avoid the jump of the rotor magnetic field position parameters. When the position parameter of the rotor magnetic field jumps, the voltage phase of the motor suddenly changes, and the current distortion or the current overcurrent and other phenomena can be caused. Therefore, the calculated rotor magnetic field position parameters are used for calculating the calculation parameters in the idle algorithm, when the idle algorithm is used, the corresponding rotor magnetic field position parameters can be calculated according to the calculation parameters, and jump of the rotor magnetic field position parameters generated when the algorithm is switched cannot be caused.
In one example, the motor control method, after performing step S203: after calculating the rotor field position parameter of the motor during each control period using the indirect vector control algorithm, referring to fig. 4, the method further comprises:
s206: calculating initial parameters of a direct vector control algorithm in the current control period by using the rotor magnetic field position parameters in the current control period; the initial parameters include the components of the stator flux linkage in two direction vectors.
It should be noted that the direct vector control algorithm calculates the rotor magnetic field position parameter from the initial parameter. In order to ensure that the rotor magnetic field position parameter does not jump when the indirect vector control algorithm is switched to the direct vector control algorithm, the rotor magnetic field position parameter calculated by the indirect vector control algorithm needs to be input into the direct vector control algorithm for reverse calculation to obtain the initial parameter of the current control period, and each control period is updated with the initial parameter in this way.
Specifically, the calculation of the initial parameter of the direct vector control algorithm is the inverse operation of the calculation of the rotor magnetic field position parameter of the direct vector control algorithm, that is, the initial parameter is obtained according to the formulas (5) and (6). For example: firstly, according to the formula (5), the rotor magnetic linkage psirIs obtained according to the formula (6) and the rotor flux linkage psirDetermining stator flux linkage psisThe stator flux linkage psisIt is the initial parameter in the direct vector control algorithm.
In one example, the motor control method, after performing step S205: if the real-time rotating speed enters the preset high-speed state, after the position parameters of the rotor magnetic field of the motor in each control period are calculated by using a direct vector control algorithm, referring to fig. 5, the method further comprises the following steps:
s207: determining the position parameter of the rotor magnetic field in the current control period as the initial parameter of the indirect vector control algorithm in the current control period; the initial parameters include initial rotor field position parameters of the indirect vector control algorithm in slip and speed integration operations.
It should be noted that, since the indirect vector control algorithm is an integral operation of the sum of slip and rotation speed, the integral operation is shown in formula (1): thetar＝∫(Pnωm+ωsl) dt. The specific process may refer to step S103. It can be understood that, in each control period in the integral operation, the difference between the rotor magnetic field position parameter at the current moment and the rotor magnetic field position parameter at the previous moment needs to be calculated, however, after jumping to the indirect vector control algorithm, in the first control period, the rotor magnetic field at the previous moment does not existThe field position parameter and therefore needs to be initialized. For ease of description, this parameter may be referred to as the initial rotor field position parameter.
In order to ensure that the rotor magnetic field position parameter does not have the jumping condition when the direct vector control algorithm is switched to the indirect vector control algorithm, the rotor magnetic field position parameter theta calculated by the direct vector control algorithm is usedrAnd inputting the position parameter into an indirect vector control algorithm as an initial rotor magnetic field position parameter. After the initial rotor magnetic field position parameter is used to calculate the rotor magnetic field position parameter of the first control period, in the subsequent calculation period, the rotor magnetic field position parameter calculated in the previous control period can be used to perform integral operation at each control period moment to obtain the rotor magnetic field position parameter theta of each control periodr。
In summary, in the motor control method provided by the present application, the rotor magnetic field position parameter is calculated by collecting the real-time rotation speed of the motor and selectively providing a calculation algorithm according to the state of the rotation speed.
When the rotating speed of the motor is in a low-speed state, the indirect vector control algorithm can realize the advantages of stable control, adjustable rotating speed, strong tracking capability, no overshoot of a system, quick start, strong controllability, short transition process and the like, and particularly has more outstanding advantages in the slip frequency vector control algorithm in the indirect vector control method.
Therefore, in the motor control method provided by the application, when the real-time rotating speed of the motor is in a low-speed state, the slip frequency vector control algorithm in the indirect vector control algorithm is adopted to calculate the position parameter of the rotor magnetic field. When the rotating speed of the motor is in a high-speed state, the direct vector control algorithm has the advantages of high motor torque control precision, good dynamic performance, high response speed, no dependence on speed signals for torque control and the like.
Therefore, in the motor control method provided by the application, when the real-time rotating speed of the motor is in a high-speed state, the position parameter of the rotor magnetic field is calculated by adopting a direct vector control algorithm.
It should be noted that the two algorithms are independent from each other, in order to ensure the continuity of the rotor magnetic field position parameters when the motor works, the rotor magnetic field position parameters calculated by the algorithm in use need to be synchronized into an idle algorithm, the step is the initialization of the rotor magnetic field position parameters, and the initialization operation can avoid the phenomena of current/torque fluctuation, voltage phase mutation of the motor, current distortion, current overcurrent and the like caused by the jump of the rotor magnetic field position parameters after mode switching.
The present application provides a motor control device, see fig. 6, the device specifically includes: an acquisition module 601, a first monitoring module 602, a first control module 603, a second monitoring module 604, and a second control module 605. Wherein:
and the acquisition module 601 is used for acquiring the real-time rotating speed of the motor.
The first monitoring module 602 is configured to monitor whether the real-time rotation speed enters a preset low-speed state.
The first control module 603 is configured to calculate a rotor magnetic field position parameter of the motor in each control period by using an indirect vector control algorithm if the real-time rotation speed enters a preset low-speed state.
And a second monitoring module 604, configured to determine whether the real-time rotation speed enters a preset high-speed state.
And a second control module 605, configured to calculate a rotor magnetic field position parameter of the motor in each control period by using a direct vector control algorithm if the real-time rotation speed enters a preset high-speed state.
And the rotor magnetic field position parameter of each control period is used for the motor vector control system to carry out vector control on the motor in the control period.
According to the technical scheme, the motor control device is used for controlling the motor step by collecting the real-time rotating speed of the motor, and when the motor is in a preset low-speed state, calculating the position parameter of the rotor magnetic field by using an indirect vector control algorithm; when the motor is in a preset high-speed state, calculating a rotor magnetic field position parameter by using a direct vector control algorithm; and inputting the rotor magnetic field position parameters into a motor vector control system to realize the control of the motor. The device combines two vector control algorithms, carries out step-by-step control on the motor with different rotating speeds, uses an indirect vector control algorithm for calculating the position parameter of the rotor magnetic field in a low-speed state, uses a direct vector control algorithm for calculating the position parameter of the rotor magnetic field in a high-speed state, and avoids errors generated by the two algorithms in the corresponding working state of the motor.
In one example, the motor control device may further specifically include:
the first initial module is used for calculating initial parameters of the direct vector control algorithm in the current control period by using the rotor magnetic field position parameters in the current control period; the initial parameters include the components of the stator flux linkage in two direction vectors.
In one example, the motor control device may further specifically include:
the second initial module is used for determining the rotor magnetic field position parameter in the current control period as the initial parameter of the indirect vector control algorithm in the current control period; the initial parameters include initial rotor field position parameters of the indirect vector control algorithm in slip and speed integration operations.
In one example, the motor control device may further specifically include:
the first calculation module is used for calculating the position parameters of the rotor magnetic field in an indirect vector control algorithm mode: thetar＝∫(Pnωm+ωsl) dt; wherein, thetarAs a rotor field position parameter, PnThe number of pole pairs of the motor is shown; omegamIs the angular velocity of the sample; omegaslIs the slip frequency of the motor.
In one example, the motor control device may further specifically include:
the second calculation module is used for calculating the position parameters of the rotor magnetic field in a direct vector control algorithm mode: thetar＝atan(ψrβ,ψrα) (ii) a Wherein, thetarAs a parameter of rotor field position, #rαIs the component of the rotor flux linkage in the alpha direction vector; psirβVector of rotor flux linkage in beta directionThe component (c) above.
In addition, the present application also provides a storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the motor control method.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
It is further noted that, herein, 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 like elements in a process, method, article, or apparatus that comprises the same element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use 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 (11)

1. A motor control method, comprising:
collecting the real-time rotating speed of a motor;
monitoring whether the real-time rotating speed enters a preset low-speed state or not;
if the real-time rotating speed enters the preset low-speed state, calculating the rotor magnetic field position parameters of the motor in each control period by using an indirect vector control algorithm;
monitoring whether the real-time rotating speed enters a preset high-speed state or not;
if the real-time rotating speed enters the preset high-speed state, calculating the rotor magnetic field position parameters of the motor in each control period by using a direct vector control algorithm;
and the rotor magnetic field position parameter of each control period is used for the motor vector control system to carry out vector control on the motor in the control period.
2. The method of claim 1, wherein each time the rotor field position parameter of the motor in the current control period is calculated using the indirect vector control algorithm, further comprising:
calculating initial parameters of a direct vector control algorithm in the current control period by using the rotor magnetic field position parameters in the current control period; the initial parameters include the components of the stator flux linkage in two direction vectors.
3. The method of claim 1, wherein each time the rotor field position parameter of the motor is calculated using the direct vector control algorithm during a respective control period, further comprising:
determining the position parameter of the rotor magnetic field in the current control period as the initial parameter of the indirect vector control algorithm in the current control period; the initial parameters comprise initial rotor magnetic field position parameters of an indirect vector control algorithm in slip and speed integration operations.
4. The motor control method of claim 1, wherein the indirect vector control algorithm calculates the rotor field position parameter by:
θr＝∫(Pnωm+ωsl)dt；
wherein, thetarAs a rotor field position parameter, PnThe number of pole pairs of the motor is shown; omegamIs the angular velocity of the sample; omegaslIs the slip frequency of the motor.
5. The motor control method of claim 1, wherein the direct vector control algorithm calculates the rotor field position parameter by:
θr＝atan(ψrβ,ψrα)；
wherein, thetarAs a parameter of rotor field position, #rαIs the component of the rotor flux linkage in the alpha direction vector; psirβIs the component of the rotor flux linkage in the beta direction vector.
6. A motor control apparatus, comprising:
the acquisition module is used for acquiring the real-time rotating speed of the motor;
the first monitoring module is used for monitoring whether the real-time rotating speed enters a preset low-speed state or not;
the first control module is used for calculating the rotor magnetic field position parameters of the motor in each control period by using an indirect vector control algorithm if the real-time rotating speed enters the preset low-speed state;
the second monitoring module is used for judging whether the real-time rotating speed enters a preset high-speed state or not;
the second control module is used for calculating the rotor magnetic field position parameters of the motor in each control period by using a direct vector control algorithm if the real-time rotating speed enters the preset high-speed state;
and the rotor magnetic field position parameter of each control period is used for the motor vector control system to carry out vector control on the motor in the control period.
7. The motor control apparatus according to claim 6, further comprising:
the first initial module is used for calculating initial parameters of the direct vector control algorithm in the current control period by using the rotor magnetic field position parameters in the current control period; the initial parameters include the components of the stator flux linkage in two direction vectors.
8. The motor control apparatus according to claim 6, further comprising:
the second initial module is used for determining the rotor magnetic field position parameter in the current control period as the initial parameter of the indirect vector control algorithm in the current control period; the initial parameters comprise initial rotor magnetic field position parameters of an indirect vector control algorithm in slip and speed integration operations.
9. The motor control apparatus according to claim 6, further comprising:
the first calculation module is used for calculating the position parameters of the rotor magnetic field in an indirect vector control algorithm mode: thetar＝∫(Pnωm+ωsl) dt; wherein, thetarAs a rotor field position parameter, PnThe number of pole pairs of the motor is shown; omegamIs the angular velocity of the sample; omegaslIs the slip frequency of the motor.
10. The motor control apparatus according to claim 6, further comprising:
the second calculation module is used for calculating the position parameters of the rotor magnetic field in a direct vector control algorithm mode: thetar＝atan(ψrβ,ψrα) (ii) a Wherein, thetarAs a parameter of rotor field position, #rαIs the component of the rotor flux linkage in the alpha direction vector; psirβIs the component of the rotor flux linkage in the beta direction vector.
11. A storage medium having stored thereon a computer program, characterized in that the computer program, when being executed by a processor, implements a motor control method according to any one of claims 1-5.
CN201910709636.6A 2019-08-01 2019-08-01 Motor control method and device Pending CN112332732A (en)

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