CN112422011B - Motor control method and system, computer readable storage medium and household appliance - Google Patents

Motor control method and system, computer readable storage medium and household appliance Download PDF

Info

Publication number
CN112422011B
CN112422011B CN201910786217.2A CN201910786217A CN112422011B CN 112422011 B CN112422011 B CN 112422011B CN 201910786217 A CN201910786217 A CN 201910786217A CN 112422011 B CN112422011 B CN 112422011B
Authority
CN
China
Prior art keywords
motor
actual
determining
flux linkage
phase current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910786217.2A
Other languages
Chinese (zh)
Other versions
CN112422011A (en
Inventor
刘锦泉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Midea Consumer Electric Manufacturing Co Ltd
Original Assignee
Guangdong Midea Consumer Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Midea Consumer Electric Manufacturing Co Ltd filed Critical Guangdong Midea Consumer Electric Manufacturing Co Ltd
Priority to CN201910786217.2A priority Critical patent/CN112422011B/en
Publication of CN112422011A publication Critical patent/CN112422011A/en
Application granted granted Critical
Publication of CN112422011B publication Critical patent/CN112422011B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P21/16—Estimation of constants, e.g. the rotor time constant
    • 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
    • H02P21/34—Arrangements for starting
    • 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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • 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
    • H02P6/20—Arrangements for starting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

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

Abstract

The invention provides a motor control method and system, a computer readable storage medium and a household appliance, wherein the motor control method comprises the following steps: determining phase current and phase voltage of the motor, and determining actual inductance parameters of the motor according to the phase current and the phase voltage; and determining flux linkage parameters of the motor according to the actual inductance parameters, the phase current and the rotor flux linkage information, and adjusting a driving signal of the motor according to the flux linkage parameters so as to control the motor through the driving signal. The method has the advantages that the actual inductance parameter of the motor is determined according to the phase current and the phase voltage of the motor, the flux linkage parameter of the motor is determined according to the actual inductance parameter, the stator flux linkage amplitude fluctuation caused by the difference between the actual inductance parameter and the factory-calibrated inductance parameter can be avoided, the stator flux linkage amplitude is controlled to be unchanged, the torque compensation during low-speed operation is favorably realized, the constant output torque of the motor is realized, the motor stalling phenomenon during low-speed operation is avoided, and the stability of the motor is improved.

Description

Motor control method and system, computer readable storage medium and household appliance
Technical Field
The invention relates to the technical field of motor control, in particular to a motor control method, a motor control system, a computer readable storage medium, a household appliance and an electric vehicle.
Background
Generally, inductance parameters of a motor are calibrated in production, but due to production process limitations, actual inductance parameters of a finished motor may deviate from calibrated values, and in a motor control process, the deviation of the inductance parameters can cause amplitude fluctuation of stator flux linkage, so that the motor is stalled and the like.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of the invention proposes a method of controlling an electric machine.
A second aspect of the invention proposes a control system of an electric machine.
A third aspect of the invention proposes a computer-readable storage medium.
A fourth aspect of the invention proposes a household appliance.
A fifth aspect of the invention proposes an electric vehicle.
In view of this, a first aspect of the present invention provides a control method of a motor, including: determining phase current and phase voltage of the motor, and determining actual inductance parameters of the motor according to the phase current and the phase voltage; and determining flux linkage parameters of the motor according to the actual inductance parameters, the phase current and the rotor flux linkage information, and adjusting driving signals of the motor according to the flux linkage parameters so as to control the motor through the driving signals.
In the technical scheme, when the motor is controlled to operate, the actual inductance parameter of the motor is determined according to the phase current and the phase voltage of the motor, the flux linkage parameter of the motor, specifically the stator flux linkage parameter, is determined according to the actual inductance parameter, the situation that the stator flux linkage amplitude fluctuates due to the difference between the actual inductance parameter and the factory-calibrated inductance parameter can be avoided, the stator flux linkage amplitude can be controlled to be unchanged, the torque compensation during low-speed operation is favorably realized, the constant output torque of the motor is realized, the motor stalling phenomenon during low-speed operation is avoided, and the stability of the motor is improved.
In addition, the control method of the motor in the above technical solution provided by the present invention may further have the following additional technical features:
in the above technical solution, further, the step of determining the phase current and the phase voltage of the motor specifically includes: the method comprises the steps of obtaining bus voltage of the motor, determining a zero crossing point signal of the bus voltage according to the bus voltage, and obtaining phase current and phase voltage based on the zero crossing point signal of the bus voltage.
In the technical scheme, the bus voltage of the motor is sampled, the phase current and the phase voltage of the motor can be accurately acquired at the moment of the bus voltage zero crossing point, and the actual inductance parameter of the motor can be accurately calculated through the phase current and the phase voltage.
In the above technical solution, further, the method for controlling a motor further includes: determining a zero-crossing signal of the drive signal, and applying a first compensation signal to the motor based on the zero-crossing signal of the drive signal.
In the technical scheme, in the process of starting the motor, when the driving signal of the motor crosses the zero point, the first compensation signal is injected into the driving signal and applied to the motor, so that the starting voltage of the motor can be effectively increased, the starting of the low-voltage motor is facilitated, the starting speed of the motor is increased, the problem of failed starting of the motor is avoided, the motor control effect is improved, and the stability and the reliability of the motor are improved.
In the above technical solution, further, the first compensation signal is a current signal, and a frequency range of the current signal is: 15kHz to 25 kHz.
In the technical scheme, a high-frequency current signal is used as a first compensation signal, so that the duty ratio of an original motor driving signal can be improved, the effect of increasing the starting voltage of the motor is realized, and the starting of the low-voltage motor is facilitated. The frequency range of the current signal as the first compensation signal is between 15kHz and 25kHz, and a good compensation effect can be obtained on the premise of ensuring the running reliability of the motor.
In the above technical solution, further, the method for controlling a motor further includes: determining the electric angle compensation quantity of the motor according to the phase current and the phase voltage; determining the actual electrical angle of the motor according to the electrical angle compensation quantity and the electrical angle estimation value of the motor; the rotor position of the motor is determined according to the actual electrical angle, and a driving signal is generated based on the rotor position.
In the technical scheme, the position of the rotor of the non-inductive motor needs to be estimated, and the corresponding driving signal is determined according to the position of the rotor. Wherein determining the rotor position requires estimating the electrical angle of the electrical machine. The estimated value of the electrical angle of the motor generally has deviation with the actual electrical angle, the compensation quantity of the electrical angle of the motor can be calculated according to the actual phase current and phase voltage of the motor, the estimated value of the electrical angle is compensated through the compensation quantity of the electrical angle to obtain the actual electrical angle of the motor, the actual electrical angle can be determined to obtain a position which is closer to a real rotor, a more appropriate driving signal is obtained, and the control effect of the motor can be effectively improved.
In the above technical solution, further, the method for controlling a motor further includes: determining no-load torque information of the motor in a no-load state, and acquiring first rotating speed information and second rotating speed information of the motor in a preset load state; and determining rotor flux linkage information according to the no-load torque information, the first rotating speed information and the second rotating speed information.
According to the technical scheme, when the motor is put into operation for the first time, the motor is controlled to be unloaded at first, and the unloaded torque of the motor during the first unloaded state is obtained. And then controlling the motor to operate at a preset torque. When the motor runs at a preset torque, the rotating speed of the motor can be gradually increased until a balanced stable rotating speed is reached, first rotating speed information at a first moment and second rotating speed information at a second moment in the acceleration process of the motor are respectively obtained, rotor flux linkage information of the motor can be obtained according to the first rotating speed information, the second rotating speed information and pre-obtained no-load torque information, flux linkage parameters of the motor are determined through the rotor flux linkage information, the obtained result is more accurate, the amplitude of the stator flux linkage of the motor is favorably controlled to be unchanged, torque compensation during low-speed running can be realized, the output torque of the motor is constant, the stalling phenomenon of the motor during low-speed running is avoided, and the stability of the motor is improved.
In the above technical solution, further, the method for controlling a motor further includes: acquiring actual rotating speed information of the motor, and generating a second compensation signal according to the actual rotating speed information and flux linkage parameters; and applying a second compensation signal to the motor to compensate the motor for torque.
In the technical scheme, the actual rotating speed information of the motor can be acquired in real time through the sliding mode observer or the speed observer, when deviation occurs between the actual rotating speed information and the set rotating speed, the torque compensation is carried out on the motor according to the actual rotating speed information and flux linkage parameters of the motor, the constant torque of the motor is ensured, the stability of the motor during low-speed operation is favorably improved, the motor stalling phenomenon during low-speed operation is avoided, and the stability and the reliability of the motor are improved.
In the above technical solution, further, the method for controlling a motor further includes: determining actual resistance parameters of the motor and a back electromotive force constant of the motor according to the phase current and the phase voltage; and adjusting the driving signal according to the actual inductance parameter, the actual resistance parameter and the back electromotive force constant.
In the technical scheme, due to the limitation of objective conditions such as a production process, deviation may occur between actual inductance parameters, resistance parameters and back electromotive force constants of the motor and a factory calibration value, and under the condition of deviation, if the motor is still controlled according to a driving signal corresponding to the calibration value, problems such as stator flux linkage amplitude fluctuation and the like are caused, and the operation effect of the motor is influenced. The actual phase current and the actual phase voltage are determined when the motor runs, the actual inductance parameter of the motor is determined according to the phase current and the line voltage, the actual resistance parameter is determined according to the phase voltage, the actual back electromotive force constant of the motor is further determined according to the actual inductance parameter and the actual resistance parameter, and the driving signal is adjusted according to the actual inductance parameter, the actual resistance parameter and the back electromotive force constant, so that the stator flux linkage amplitude of the motor can be kept constant, the rotation speed and torque fluctuation during the running of the motor is avoided, and the better motor control effect is obtained.
A second aspect of the present invention provides a control system of an electric motor, comprising: a memory configured to be adapted to store a computer program; a processor configured to execute a computer program to implement the control method of the motor provided in any of the above technical solutions, and therefore, the control system of the motor includes all the beneficial effects of the control method of the motor provided in any of the above technical solutions, which are not described herein again.
A third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for controlling a motor provided in any one of the above technical solutions, and therefore, the computer-readable storage medium includes all the advantages of the method for controlling a motor provided in any one of the above technical solutions, which are not described herein again.
A fourth aspect of the present invention provides a household appliance, which includes a motor and a control system of the motor provided in any one of the above technical solutions, and therefore, all the beneficial effects of the control system of the motor provided in any one of the above technical solutions are not described herein again.
Wherein, domestic appliance can include air supply arrangement, food processing apparatus etc. and food processing apparatus specifically includes mixer, cooking machine, broken wall machine and soybean milk machine etc..
A fifth aspect of the present invention provides an electric vehicle, which includes an electric motor and a control system for the electric motor provided in any one of the above technical solutions, and therefore, the electric vehicle includes all the beneficial effects of the control system for the electric motor provided in any one of the above technical solutions, which are not described herein again.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a flow chart of a control method of an electric machine according to an embodiment of the invention;
fig. 2 shows a flow chart of a control method of an electric machine according to another embodiment of the invention;
fig. 3 shows a flow chart of a control method of an electric machine according to a further embodiment of the invention;
fig. 4 shows a flow chart of a control method of an electric motor according to a further embodiment of the invention;
fig. 5 shows a flow chart of a control method of an electric motor according to a further embodiment of the invention;
fig. 6 shows a flow chart of a control method of a motor according to a further embodiment of the invention;
fig. 7 shows a flow chart of a control method of a motor according to a further embodiment of the invention;
FIG. 8 illustrates a control logic diagram of a control method of an electric machine according to one embodiment of the present invention;
fig. 9 shows a block diagram of a control system of a motor according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A control method of a motor, a control system of a motor, a computer-readable storage medium, a home appliance, and an electric vehicle provided according to some embodiments of the present invention are described below with reference to fig. 1 to 9.
The first embodiment is as follows:
as shown in fig. 1, an embodiment of the present invention provides a control method for a motor, where the control method specifically includes the following steps:
s102, determining phase current and phase voltage of the motor;
s104, determining actual inductance parameters of the motor according to the phase current and the phase voltage;
in S102 and S104, the actual inductance parameter of the motor may be determined according to the actual phase current and phase voltage of the motor during operation, so as to avoid the occurrence of deviation between the factory-calibrated inductance parameter of the motor and the actual inductance parameter due to objective factors such as a production process.
And S106, determining flux linkage parameters of the motor according to the actual inductance parameters, the phase current and the rotor flux linkage information, and adjusting driving signals of the motor according to the flux linkage parameters so as to control the motor through the driving signals.
In S106, flux linkage parameters of the motor are determined according to the actual inductance parameters, the phase current and the rotor flux linkage information, so that the amplitude of stator flux linkage of the motor is kept constant, torque compensation during low-speed operation is facilitated, the output torque of the motor is constant, and the control effect of the motor is improved so as to improve the running stability of the motor.
Further, as shown in fig. 2, the step of determining the phase current and the phase voltage of the motor specifically includes:
s202, acquiring the bus voltage of the motor;
s204, determining a zero crossing point signal of the bus voltage according to the bus voltage, and acquiring the phase current and the phase voltage based on the zero crossing point signal of the bus voltage.
In S204, at the time of the zero crossing of the bus voltage, the phase current and the phase voltage of the motor can be accurately obtained.
Further, as shown in fig. 3, the method for controlling a motor further includes:
s302, determining no-load torque information of the motor in a no-load state, and acquiring first rotating speed information and second rotating speed information of the motor in a preset load state;
in S302, the motor is controlled to be unloaded, the unloaded torque of the motor during the first unloading is obtained, and then the motor is controlled to operate at the preset torque. When the motor runs at a preset torque, the rotating speed of the motor is gradually increased until a balanced stable rotating speed is reached, and first rotating speed information at a first moment and second rotating speed information at a second moment in the motor acceleration process are respectively obtained.
And S304, determining rotor flux linkage information according to the no-load torque information, the first rotating speed information and the second rotating speed information.
In S304, rotor flux linkage information of the motor may be obtained according to the first rotational speed information, the second rotational speed information, and the pre-obtained no-load torque information, and flux linkage parameters of the motor may be determined according to the rotor flux linkage information, so that the obtained result is more accurate.
The flux linkage equation of the motor is specifically as follows:
Figure BDA0002178056240000061
Figure BDA0002178056240000062
wherein the content of the first and second substances,
Figure BDA0002178056240000063
is a direct-axis flux linkage of the motor,
Figure BDA0002178056240000064
is a quadrature-axis flux linkage of the motor, LdActual inductance of the motor's straight shaft, LqIs the actual inductance of the motor quadrature axis, idFor direct shaft current of the motor, iqIs the quadrature-axis current of the motor,
Figure BDA0002178056240000071
is a rotor flux linkage parameter.
In actual operation, the actual inductance parameter (L) of the machined，Lq) And rotor flux linkage information
Figure BDA0002178056240000072
Is a constant value, so that the amplitude of the stator flux linkage of the motor is actually subjected to the phase current (i)d，iq) Therefore, in the process of controlling the operation of the motor, the driving signal of the motor is dynamically adjusted according to the flux linkage parameters of the motor, so that the phase current of the motor is changed, the constant amplitude of the flux linkage of the stator of the motor can be controlled, and a better motor control effect is obtained.
Specifically, the actual inductance parameter of the motor is determined according to the phase current and the phase voltage of the motor, so that stator flux linkage amplitude fluctuation caused by a difference value between the actual inductance parameter and a factory-calibrated inductance parameter can be avoided, and further the stator flux linkage amplitude can be controlled to be unchanged.
The actual rotor flux linkage information of the motor is obtained according to the first rotating speed information, the second rotating speed information and the pre-obtained no-load torque information, and the fact that the flux linkage parameters which are finally determined are inaccurate due to the fact that a difference value exists between the actual rotor flux linkage information and a preset value can be avoided.
The method comprises the steps of determining actual inductance parameters of the motor according to phase currents and phase voltages of the motor, determining flux linkage parameters of the motor, specifically stator flux linkage parameters, according to the actual inductance parameters, avoiding stator flux linkage amplitude fluctuation caused by difference between the actual inductance parameters and factory-calibrated inductance parameters, further controlling the stator flux linkage amplitude to be unchanged, facilitating torque compensation during low-speed operation, achieving constant motor output torque, avoiding motor stalling during low-speed operation, and improving stability of the motor.
Example two:
as shown in fig. 4, the method for controlling a motor according to an embodiment of the present invention further includes:
s402, determining a zero crossing point signal of the driving signal;
and S404, applying a first compensation signal to the motor based on the zero crossing point signal of the driving signal.
Further, the first compensation signal is a current signal, and the frequency range of the current signal is: 15kHz to 25 kHz.
In the low-voltage motor (for example, a 12V to 48V dc motor), since power is supplied by a low-voltage device such as a battery, a power supply voltage may not reach a starting voltage of the motor when the motor is started, which may cause a failure in starting the motor.
In order to avoid the situation of motor starting failure, in the process of starting the motor, when the driving signal of the motor crosses zero, the first compensation signal is injected into the driving signal and applied to the motor, so that the starting voltage of the motor can be effectively increased.
For example, the driving signal of the motor is mostly a PWM (Pulse Width Modulation) signal. The voltage applied to the stator coil of the motor can be improved by increasing the duty ratio of the PWM signal, the adjustment capacity of the duty ratio of the PWM signal is limited, a high-frequency current signal is injected into the PWM signal when the PWM signal crosses the zero point (triggered by a falling edge), namely, the first compensation signal can effectively increase the voltage of the motor, so that the driving signal meets the starting voltage of the motor, the starting of a low-voltage motor is facilitated, the starting speed of the motor is improved, the problem of starting failure of the motor is avoided, the effect of motor control is improved, and the stability and the reliability of the motor are improved.
In some embodiments, the high-frequency current signal injected into the motor driving signal, i.e. the frequency range of the first compensation signal, is between 15kHz and 25kHz, so that a better compensation effect can be obtained on the premise of ensuring the operational reliability of the motor.
Preferably, the frequency of the first compensation signal is 20kHz, which can both prolong the service life of the switching circuit and achieve the starting effect of the motor.
Example three:
as shown in fig. 5, the method for controlling a motor according to an embodiment of the present invention further includes:
s502, determining the electric angle compensation quantity of the motor according to the phase current and the phase voltage;
s504, determining the actual electrical angle of the motor according to the electrical angle compensation quantity and the electrical angle estimation value of the motor;
in S502 and S504, a compensation amount of an electrical angle of the motor may be calculated according to the actual phase current and phase voltage of the motor, and the estimated electrical angle value is compensated by the compensation amount of the electrical angle to obtain an actual electrical angle of the motor, which may be determined to obtain a rotor position closer to the real position.
And S506, determining the rotor position of the motor according to the actual electrical angle, generating a driving signal based on the rotor position, and controlling the motor through the driving signal.
In S506, since the rotor position needs to be estimated for the non-induction motor, the corresponding drive signal is determined by the rotor position. Wherein determining the rotor position requires estimating the electrical angle of the electrical machine. And the deviation generally exists between the electrical angle estimated value of the motor and the actual electrical angle, the position of the rotor is determined through the compensated actual electrical angle, a more appropriate driving signal is obtained, and the control effect of the motor can be effectively improved.
The actual electrical angle of the motor can be determined to obtain a rotor position closer to the reality, and then a more appropriate driving signal is obtained, so that the control of the non-inductive motor (without a sensor to acquire the rotor position) is more accurate, and the control effect of the non-inductive motor can be effectively improved.
Example four:
as shown in fig. 6, the method for controlling a motor according to an embodiment of the present invention further includes:
s602, acquiring actual rotating speed information of the motor, and generating a second compensation signal according to the actual rotating speed information and flux linkage parameters;
in S602, the actual rotational speed information of the motor is obtained in real time, and compared with the set target rotational speed, and a second compensation signal is generated according to the comparison result and the flux linkage parameter of the electrode.
And S604, applying a second compensation signal to the motor to perform torque compensation on the motor.
In S604, the torque of the motor is compensated by the second compensation signal, so that the torque stability of the motor is improved and the output torque is constant.
The method comprises the steps of obtaining actual rotating speed information of the motor in real time through a slip film observer or a speed observer, compensating the torque of the motor according to the actual rotating speed information and flux linkage parameters of the motor when deviation occurs between the actual rotating speed information and the set rotating speed, guaranteeing the constant torque of the motor, being beneficial to improving the stability of the motor during low-speed operation, avoiding the stalling phenomenon of the motor during low-speed operation and improving the stability and the reliability of the motor.
For example, be applied to the unfixed motor of load such as broken wall machine, because the motor actual load is different along with the difference of material kind, quantity in the broken wall machine cup, consequently through the condition of invariable control curve control motor, the rotational speed of motor, torque can change along with the material changes, lead to broken wall machine work effect not good. Therefore, when the actual rotating speed information of the motor is lower than the target rotating speed, the load of the motor is larger than the load corresponding to the current control curve, the current injected into the stator coil is correspondingly increased at the moment, and torque compensation is performed, so that the constant torque of the motor is ensured, and the working effect of the wall breaking machine controlled by the motor control method provided by the invention is improved.
Example five:
as shown in fig. 7, the method for controlling a motor according to an embodiment of the present invention further includes:
s702, determining actual resistance parameters of the motor and a back electromotive force constant of the motor according to the phase current and the phase voltage;
and S704, adjusting the driving signal according to the actual inductance parameter, the actual resistance parameter and the back electromotive force constant.
Due to the limitation of objective conditions such as a production process, deviation may occur between actual inductance parameters, resistance parameters and back electromotive force constants of the motor and a factory calibration value, and under the condition of deviation, if the motor is still controlled according to a driving signal corresponding to the calibration value, problems such as stator flux linkage amplitude fluctuation and the like are caused, and the operation effect of the motor is influenced.
The actual phase current and the actual phase voltage are determined when the motor runs, the actual inductance parameter of the motor is determined according to the phase current and the line voltage, the actual resistance parameter is determined according to the phase voltage, the actual back electromotive force constant of the motor is further determined according to the actual inductance parameter and the actual resistance parameter, and the driving signal is adjusted according to the actual inductance parameter, the actual resistance parameter and the back electromotive force constant, so that the stator flux linkage amplitude of the motor can be kept constant, the rotation speed and torque fluctuation during the running of the motor is avoided, and the better motor control effect is obtained.
Example six:
in a complete embodiment of the present invention, the closed-loop control logic of the motor is as shown in fig. 8, wherein, after the motor is powered on and initialized, when the motor is started, high-frequency current is injected into the motor to pull up the starting voltage, which is beneficial to starting the low-voltage motor. After starting, phase current and phase voltage detection is carried out in real time, phase compensation is carried out based on the phase difference between the phase current and the phase voltage, and the position of the motor rotor is estimated through a slip film observer. After the position of the rotor is determined, the motor is controlled to run in an accelerated mode through a PI (Proportional Integral) adjusting module, the actual rotating speed of the rotor is identified through a speed observer, torque compensation is carried out according to the actual rotating speed, and closed-loop control is achieved.
When the motor is electrified for the first time, the motor is controlled to rotate in an idle load mode to obtain idle load torque, first rotating speed and second rotating speed of the motor at the first moment and the second moment under the drive of constant torque are obtained, and rotor flux linkage information is determined according to the idle load torque, the first rotating speed and the second rotating speed.
In this embodiment, the formula for determining the actual inductance of the motor is:
Lm＝(Kd×Un×1000)÷(2×P×Nn×In)
where Lm is the armature inductance (actual inductance parameter), KdFor the preset constants, Un is the rated voltage (phase voltage) of the motor, P is the number of pole pairs of the motor, In is the actual current (phase current) of the motor, and Nn is the number of turns of the stator winding of the motor.
Furthermore, in the motor control method according to the embodiment of the present invention, 4 important formulas are further included, which are a flux linkage formula, a voltage formula, an electromagnetic torque formula, and a motion formula.
Wherein, the magnetic linkage equation is as follows:
Figure BDA0002178056240000111
Figure BDA0002178056240000112
wherein the content of the first and second substances,
Figure BDA0002178056240000113
is a direct-axis flux linkage of the motor,
Figure BDA0002178056240000114
is a quadrature axis flux linkage of the motor, LdIs the actual inductance of the motor's straight shaft, LqIs the actual inductance of the motor quadrature axis, idFor direct shaft current of the motor, iqIs the quadrature-axis current of the motor,
Figure BDA0002178056240000115
is a rotor flux linkage parameter.
The voltage equation is:
ud＝Lddid÷dt-ωeLqiq+＝Rsid
Figure BDA0002178056240000116
wherein u isdIs the direct-axis voltage uqIs a quadrature axis voltage, LdIs the actual inductance of the motor's straight shaft, LqIs the actual inductance of the motor quadrature axis, idIs the direct axis current of the motor, iqIs the quadrature-axis current of the motor,
Figure BDA0002178056240000117
is a rotor flux linkage parameter.
The electromagnetic torque equation is:
Figure BDA0002178056240000118
wherein Te is electromagnetic torque, P is the pole pair number of the motor, iqIs the quadrature-axis current of the motor,
Figure BDA0002178056240000119
is a rotor flux linkage parameter.
The equation of motion is:
Figure BDA00021780562400001110
the control parameters of the motor are calculated and determined through the formula so as to generate corresponding motor driving signals, the motor can be controlled and operated more accurately according to the parameters and the running state of the motor, and a better motor control effect can be obtained.
Example seven:
as shown in fig. 9, an embodiment of the present invention provides a control system 900 of a motor, including: a memory 902, the memory 902 being configured to be adapted to store a computer program; a processor 904, the processor 904 being configured to be adapted to execute a computer program to implement the method of controlling the motor as provided in any of the embodiments described above.
The processor 904 obtains phase current and phase voltage of the motor through the sampling circuit, determines actual inductance parameters of the motor, determines flux linkage parameters of the motor, specifically stator flux linkage parameters, according to the actual inductance parameters, can avoid stator flux linkage amplitude fluctuation caused by difference between the actual inductance parameters and factory-calibrated inductance parameters, further can control the stator flux linkage amplitude to be unchanged, is beneficial to realizing torque compensation during low-speed operation, realizes constant motor output torque, avoids motor stall phenomenon during low-speed operation, and improves stability of the motor.
In the process of starting the motor, when a driving signal of the motor crosses a zero point, the processor 904 controls the high-frequency current compensation circuit to inject a first compensation signal into the driving signal and apply the first compensation signal to the motor, so that the starting voltage of the motor can be effectively increased, the starting of the low-voltage motor is facilitated, the starting speed of the motor is increased, the problem of starting failure of the motor is avoided, the effect of controlling the motor is improved, and the stability and the reliability of the motor are improved.
The processor 904 can calculate the electric angle compensation amount of the motor according to the actual phase current and phase voltage of the motor, and compensate the estimated value of the electric angle through the electric angle compensation amount to obtain the actual electric angle of the motor, and the actual electric angle can be determined to obtain a position closer to the real rotor position, so that a more appropriate driving signal is obtained, and the control effect of the motor can be effectively improved.
When the motor is put into operation for the first time, the processor 904 firstly controls the motor to be unloaded, and obtains the unloaded torque of the motor when the motor is unloaded for the first time. Processor 904 then controls the motor to operate at the preset torque. When the motor runs at a preset torque, the rotating speed of the motor can be gradually increased until a balanced stable rotating speed is reached, the processor 904 respectively acquires first rotating speed information at a first moment and second rotating speed information at a second moment in the acceleration process of the motor, rotor flux linkage information of the motor can be obtained according to the first rotating speed information, the second rotating speed information and pre-acquired no-load torque information, flux linkage parameters of the motor are determined through the rotor flux linkage information, the obtained result is more accurate, the amplitude of the stator flux linkage of the motor is favorably controlled to be unchanged, torque compensation during low-speed running can be realized, the output torque of the motor is constant, the motor stalling phenomenon during low-speed running is avoided, and the stability of the motor is improved.
The processor 904 obtains the actual rotating speed information of the motor in real time through the slip film observer or the speed observer, when deviation occurs between the actual rotating speed information and the set rotating speed, the processor 904 performs torque compensation on the motor according to the actual rotating speed information and flux linkage parameters of the motor, the constant torque of the motor is ensured, the stability of the motor during low-speed operation is favorably improved, the motor stalling phenomenon during low-speed operation is avoided, and the stability and the reliability of the motor are improved.
The processor 904 determines the actual phase current and phase voltage when the motor operates, determines the actual inductance parameter of the motor according to the phase current and the phase voltage, determines the actual resistance parameter according to the phase voltage, further calculates and determines the actual back electromotive force constant of the motor according to the actual inductance parameter and the actual resistance parameter, and adjusts the driving signal according to the actual inductance parameter, the actual resistance parameter and the back electromotive force constant, so that the stator flux linkage amplitude of the motor can be kept constant, the rotation speed and torque fluctuation when the motor operates can be avoided, and a better motor control effect can be obtained.
Example eight:
an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the control method for a motor as provided in any of the above embodiments, so that the computer-readable storage medium includes all the beneficial effects of the control method for a motor as provided in any of the above embodiments, and is not described herein again.
Example nine:
an embodiment of the present invention provides a household appliance, including a motor and a control system of the motor provided in any one of the above embodiments, so that all the beneficial effects of the control system of the motor provided in any one of the above embodiments are included in the household appliance, and are not described herein again.
Wherein, domestic appliance can include air supply arrangement, food processing apparatus etc. and food processing apparatus specifically includes mixer, cooking machine, broken wall machine, cook machine, cooking machine and soybean milk machine etc..
Example ten:
an embodiment of the present invention provides an air supply apparatus, including a motor and a control system for the motor provided in any of the above embodiments, so that the air supply apparatus includes all the beneficial effects of the control system for the motor provided in any of the above embodiments, which are not described herein again.
Example eleven:
an embodiment of the present invention provides a food processor, including a motor and a control system of the motor provided in any of the above embodiments, so that the food processor includes all the advantages of the control system of the motor provided in any of the above embodiments, which are not described herein again.
Example twelve:
embodiments of the present invention provide an electric vehicle, including a motor and a control system of the motor provided in any of the above embodiments, and therefore, the electric vehicle includes all the beneficial effects of the control system of the motor provided in any of the above embodiments, and details are not described herein again.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically defined, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the drawings, and are used only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "connected", "mounted", "fixed", and the like are to be construed broadly and may include, for example, fixed connections, detachable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. A control method of a motor, characterized by comprising:
determining phase current and phase voltage of the motor, and determining actual inductance parameters of the motor according to the phase current and the phase voltage;
determining flux linkage parameters of the motor according to the actual inductance parameters, the phase current and rotor flux linkage information, and adjusting driving signals of the motor according to the flux linkage parameters so as to control the motor through the driving signals;
determining no-load torque information of the motor in a no-load state, and acquiring first rotating speed information and second rotating speed information of the motor running under a preset torque;
and determining the rotor flux linkage information according to the no-load torque information, the first rotating speed information and the second rotating speed information.
2. The method according to claim 1, wherein the step of determining the phase current and the phase voltage of the motor specifically comprises:
obtaining the bus voltage of the motor, determining a zero crossing point signal of the bus voltage according to the bus voltage, and obtaining the phase current and the phase voltage based on the zero crossing point signal of the bus voltage.
3. The control method of the motor according to claim 2, further comprising:
determining a zero-crossing signal of the driving signal, and applying a first compensation signal to the motor based on the zero-crossing signal of the driving signal.
4. The method according to claim 3, wherein the first compensation signal is a current signal having a frequency range of: 15kHz to 25 kHz.
5. The control method of the motor according to claim 1, further comprising:
determining an electrical angle compensation quantity of the motor according to the phase current and the phase voltage;
determining the actual electrical angle of the motor according to the electrical angle compensation quantity and the electrical angle estimation value of the motor;
and determining the rotor position of the motor according to the actual electrical angle, and generating the driving signal based on the rotor position.
6. The control method of the motor according to claim 1, further comprising:
acquiring actual rotating speed information of the motor, and generating a second compensation signal according to the actual rotating speed information and the flux linkage parameter;
applying the second compensation signal to the motor to torque compensate the motor.
7. The control method of the motor according to any one of claims 1 to 5, characterized by further comprising:
determining actual resistance parameters of the motor and a back electromotive force constant of the motor according to the phase current and the phase voltage;
and adjusting the driving signal according to the actual inductance parameter, the actual resistance parameter and the back electromotive force constant.
8. A control system for an electric machine, comprising:
a memory configured to be suitable for storing a computer program;
a processor configured to be adapted to execute the computer program to implement:
the control method of the motor according to any one of claims 1 to 7.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of controlling an electric machine according to any one of claims 1 to 7.
10. A household appliance, characterized in that it comprises:
a motor;
a control system for an electric motor as claimed in claim 8.
11. An electric vehicle, characterized by comprising:
a motor;
a control system for an electric motor as claimed in claim 8.
CN201910786217.2A 2019-08-23 2019-08-23 Motor control method and system, computer readable storage medium and household appliance Active CN112422011B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910786217.2A CN112422011B (en) 2019-08-23 2019-08-23 Motor control method and system, computer readable storage medium and household appliance

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910786217.2A CN112422011B (en) 2019-08-23 2019-08-23 Motor control method and system, computer readable storage medium and household appliance

Publications (2)

Publication Number Publication Date
CN112422011A CN112422011A (en) 2021-02-26
CN112422011B true CN112422011B (en) 2022-07-08

Family

ID=74779847

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910786217.2A Active CN112422011B (en) 2019-08-23 2019-08-23 Motor control method and system, computer readable storage medium and household appliance

Country Status (1)

Country Link
CN (1) CN112422011B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102946227A (en) * 2012-10-26 2013-02-27 福州大学 Observation method and device for electromagnetic torque of salient pole type permanent-magnet brushless direct current motor
CN104393813A (en) * 2014-12-15 2015-03-04 常熟开关制造有限公司(原常熟开关厂） Method for measuring direct-axis inductance of permanent magnet synchronous motor
CN106160609A (en) * 2016-07-11 2016-11-23 南京航空航天大学 A kind of permanent magnetic brushless control method
CN106788058A (en) * 2016-12-22 2017-05-31 南京埃斯顿自动控制技术有限公司 A kind of dead time compensation control method of permagnetic synchronous motor
WO2017104871A1 (en) * 2015-12-18 2017-06-22 한양대학교 산학협력단 Device and method for estimating inductance of permanent magnet synchronous motor, and recording medium in which program for performing same method is recorded

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106169896B (en) * 2016-07-13 2018-10-02 阳光电源股份有限公司 The controller and rotor flux on-line amending method and apparatus of magneto alternator
CN107508503A (en) * 2017-09-07 2017-12-22 北京车和家信息技术有限公司 Motor torque modification method, Motor torque correcting device, motor and vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102946227A (en) * 2012-10-26 2013-02-27 福州大学 Observation method and device for electromagnetic torque of salient pole type permanent-magnet brushless direct current motor
CN104393813A (en) * 2014-12-15 2015-03-04 常熟开关制造有限公司(原常熟开关厂） Method for measuring direct-axis inductance of permanent magnet synchronous motor
WO2017104871A1 (en) * 2015-12-18 2017-06-22 한양대학교 산학협력단 Device and method for estimating inductance of permanent magnet synchronous motor, and recording medium in which program for performing same method is recorded
CN106160609A (en) * 2016-07-11 2016-11-23 南京航空航天大学 A kind of permanent magnetic brushless control method
CN106788058A (en) * 2016-12-22 2017-05-31 南京埃斯顿自动控制技术有限公司 A kind of dead time compensation control method of permagnetic synchronous motor

Also Published As

Publication number Publication date
CN112422011A (en) 2021-02-26

Similar Documents

Publication Publication Date Title
EP2678939B1 (en) Method and system for controlling an electrical motor with temperature compensation
EP2678937B1 (en) Method and system for controlling an electric motor with variable switching frequency at variable operating speeds
US7193387B1 (en) System and method for motor speed estimation using hybrid model reference adaptive system
US9724997B2 (en) Electric motor temperature compensation
US20120217912A1 (en) Method and system for calibrating rotor position offset of an electric motor
CN105471329B (en) Ac synchronous motor system torque impulse balance control method
JP2012170251A (en) Motor control device
EP2258043A1 (en) Sensorless control of salient-pole machines
US8796983B2 (en) Method and system for determining a position of a rotor of an electric motor with noise reduction
CN108347204B (en) Switching method, switching device, permanent magnet synchronous motor, storage medium and compressor
CN112422011B (en) Motor control method and system, computer readable storage medium and household appliance
EP3654520B1 (en) Motor driving apparatus
Jafari et al. Efficiency optimization of a sensorless V/f control method for PMSM
Hida et al. Novel sensorless control for pm synchronous motors based on maximum torque control frame
JP2002034281A (en) Motor-controlling device and air conditioner
WO2021138375A1 (en) Method for online direct estimation and compensation of flux and torque errors in electric drives
KR101302717B1 (en) Maximizing efficiency control of induction motor for ac forklift truck
JP2001204200A (en) Control method of permanent magnet type electric rotating machine
KR20230161602A (en) Motor and controlling method of the same
CN112422009A (en) Motor control device, method and system, household appliance and storage medium
Seshubabu et al. Comparison of Sensor and Sensor-less Vector Control Techniques for Induction Motor in EOT Crane Low Speed Applications
JP6290214B2 (en) Method and corresponding system for controlling a permanent magnet motor
CN111800047A (en) Method and device for measuring permanent magnet flux linkage of permanent magnet synchronous motor and motor control system
CN114744928A (en) Wide-speed-range flux-weakening control method for electro-magnetic doubly-salient motor
CN112415382A (en) Motor parameter determination device, method and system, household appliance and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant