CN112671280A - High-frequency injection observation method, device, equipment and readable storage medium - Google Patents
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Abstract
The invention discloses a high-frequency injection observation method, which considers that in the phase current of a motor, the amplitude of a current component with the same frequency as the preset frequency of an injection pulse can be greatly changed under the influence of factors such as load carried by the motor, and the like, and the amplitude can exceed the requirement of an observation signal-to-noise ratio and aggravate the high-frequency vibration and electromagnetic noise of the motor when being greatly increased, so that the amplitude of the high-frequency current component can be stabilized near the preset target amplitude by controlling the amplitude of the injection pulse in a closed-loop control mode, the vibration intensity of the motor can be reduced, the electromagnetic noise can be reduced, the high-frequency loss of the motor can be reduced, and the user experience can be improved. The invention also discloses a high-frequency injection observation device, equipment and a computer readable storage medium, which have the same beneficial effects as the high-frequency injection observation method.
Description
Technical Field
The invention relates to the field of motor control, in particular to a high-frequency injection observation method, a high-frequency injection observation device, high-frequency injection observation equipment and a readable storage medium.
Background
In a synchronous motor (such as a permanent magnet synchronous motor or a synchronous reluctance motor) with a certain salient pole ratio, the observation of the rotating speed and the position of the motor during zero-low-speed operation can be realized by injecting high-frequency pulses, and further the control of a position-free sensor of the motor is realized.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a high-frequency injection observation method, which can reduce the vibration intensity of a motor and reduce electromagnetic noise on the basis of ensuring reliable observation of the rotating speed and the position, is favorable for reducing high-frequency loss and improving user experience; another object of the present invention is to provide a high-frequency injection observation apparatus, a device and a readable storage medium, which can reduce the vibration intensity of the motor and reduce the electromagnetic noise on the basis of ensuring reliable observation of the rotation speed and the position, and are beneficial to reducing the high-frequency loss and improving the user experience.
In order to solve the above technical problem, the present invention provides a high frequency injection observation method, including:
acquiring real-time amplitude of a current component with the same frequency as the preset frequency of an injection pulse in phase current of a target motor;
calculating the difference value between the real-time amplitude and a preset target amplitude;
and adjusting the amplitude of the injection pulse injected into the target motor according to the difference so as to enable the real-time amplitude of the current component to approach the preset target amplitude.
Preferably, the adjusting the amplitude of the injection pulse injected into the target motor according to the difference specifically includes:
determining a scaling ratio of the amplitude of the injection pulse injected into the target motor according to the difference value through a preset closed-loop control algorithm;
taking the product of the scaling and the preset calibration amplitude of the injection pulse as a target amplitude;
adjusting the amplitude of the injection pulse injected into the target motor to the target amplitude.
Preferably, the limit interval of the scaling is a preset minimum value to 1.
Preferably, the preset closed-loop control algorithm is a proportional-integral algorithm.
Preferably, the target motor is a permanent magnet synchronous motor.
Preferably, after calculating the difference between the real-time amplitude and the preset target amplitude, the high-frequency injection observation method further includes:
and controlling a prompter to prompt the difference value.
In order to solve the above technical problem, the present invention further provides a high frequency injection observation apparatus, including:
the acquisition module is used for acquiring the real-time amplitude of a current component with the same frequency as the preset frequency of the injection pulse in the phase current of the target motor;
the calculation module is used for calculating the difference value between the real-time amplitude and a preset target amplitude;
and the adjusting module is used for adjusting the amplitude of the injection pulse injected into the target motor according to the difference value so as to enable the real-time amplitude of the current component to approach the target amplitude.
Preferably, the high-frequency injection observation apparatus further includes:
and the control module is used for controlling the prompter to prompt the difference value.
In order to solve the above technical problem, the present invention further provides a high frequency injection observation apparatus, including:
a memory for storing a computer program;
a processor for implementing the steps of the high frequency injection observation method as described above when executing the computer program.
In order to solve the above technical problem, the present invention further provides a computer-readable storage medium, having a computer program stored thereon, where the computer program is executed by a processor to implement the steps of the high-frequency injection observation method as described above.
The invention provides a high-frequency injection observation method, which considers that in the phase current of a motor, the amplitude of a current component with the same frequency as the preset frequency of an injection pulse can be greatly changed under the influence of factors such as load carried by the motor, and the like, and the amplitude can exceed the requirement of an observation signal-to-noise ratio and aggravate the high-frequency vibration and electromagnetic noise of the motor when being greatly increased, so that the amplitude of the high-frequency current component can be stabilized near the preset target amplitude by controlling the amplitude of the injection pulse in a closed-loop control mode, the vibration intensity of the motor can be reduced, the electromagnetic noise can be reduced, the high-frequency loss of the motor can be reduced, and the user experience can be improved.
The invention also provides a high-frequency injection observation device, equipment and a computer readable storage medium, which have the same beneficial effects as the high-frequency injection observation method.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic flow chart of a high-frequency injection observation method according to the present invention;
FIG. 2 is a block diagram of a high frequency injection-based PMSM position sensorless vector control system provided by the present invention;
FIG. 3 is a schematic block diagram of signal demodulation and phase-locked loop implementation in high frequency injection observation;
FIG. 4 is a comparison graph of the present invention with conventional high frequency injection observation of rotational speed signal observations;
FIG. 5 is a comparison of position signal observations provided by the present invention compared to conventional high frequency injection observations;
FIG. 6 shows the V-phase current i of a high-frequency injection observation method according to the present inventionvThe feedback waveform of (1);
FIG. 7a is a schematic diagram of the amplitude of the injection frequency current harmonics in the phase current under full load operation when using conventional high frequency injection observation;
FIG. 7b is a schematic diagram of the amplitude of the injected frequency current harmonics in the phase current under full load operation when the high frequency injection observation method of the present application is employed;
FIG. 8 is a schematic structural diagram of a high-frequency injection observation device according to the present invention;
fig. 9 is a schematic structural diagram of a high-frequency injection observation device provided by the present invention.
Detailed Description
The core of the invention is to provide a high-frequency injection observation method, which can reduce the vibration intensity of the motor and reduce the electromagnetic noise on the basis of ensuring the reliable observation of the rotating speed and the position, and is beneficial to reducing the high-frequency loss and improving the user experience; the other core of the invention is to provide a high-frequency injection observation device, equipment and a readable storage medium, which can reduce the vibration intensity of a motor and reduce electromagnetic noise on the basis of ensuring reliable observation of the rotating speed and the position, and are beneficial to reducing high-frequency loss and improving user experience.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a high-frequency injection observation method provided by the present invention, the high-frequency injection observation apparatus includes:
step S1: acquiring real-time amplitude of a current component with the same frequency as the preset frequency of an injection pulse in phase current of a target motor;
specifically, in consideration of the technical problems in the background art, in combination with consideration that, in the phase current of the motor, the amplitude of the current component having the same frequency as the preset frequency of the injection pulse is influenced by factors such as a load carried by the motor to generate a large change, and when the amplitude is increased greatly, the requirement of the observation signal-to-noise ratio is exceeded, and the high-frequency vibration and the electromagnetic noise of the motor are aggravated at the same time, the present application intends to perform closed-loop control on the amplitude to stabilize the amplitude at the target amplitude.
Step S2: calculating the difference value between the real-time amplitude and a preset target amplitude;
specifically, in the closed-loop control, a difference between the real-time amplitude and a preset target amplitude needs to be calculated, so that the difference is used as a data basis for a subsequent step to adjust the control parameter.
Step S3: and adjusting the amplitude of the injection pulse injected into the target motor according to the difference so as to enable the real-time amplitude of the current component to approach the preset target amplitude.
Specifically, considering that the most direct way to adjust the high-frequency current component is to change the amplitude of the injection pulse, and the adjustment of the amplitude needs to satisfy the reliability of the observation of the rotating speed and the position and the smaller electromagnetic noise at the same time, in the embodiment of the present invention, the amplitude of the injection pulse injected into the target motor may be adjusted according to the difference value, so as to make the real-time amplitude of the current component approach the preset target amplitude.
Of course, in addition to the amplitude of the injection pulse, the closed-loop control algorithm in the embodiment of the present invention may also adjust the real-time amplitude of the current component by adjusting other control parameters, which is not limited herein.
Specifically, referring to fig. 2, fig. 2 is a block diagram of a high-frequency injection-based permanent magnet synchronous motor position sensorless vector control system provided in the present invention, wherein the high-frequency injection-based rotating speed and position observation is implemented by 5 parts, namely, pulse injection, signal demodulation, a phase-locked loop, current feedback filtering, and rotating speed feedback filtering. The square wave voltage pulse can be injected to the estimated magnetic pole axis when pulse injection is carried out
On the axis, the amplitude and period of the pulse are VpulAnd TpulThis injection mode is also called a pulse injection mode. FIG. 3 is a schematic block diagram of the implementation of signal demodulation and phase-locked loop in high frequency injection observation due to pulse injection in phase current i of the motorv，iwGenerating a high-frequency current signal, and applying the high-frequency current signal to the estimated rotor coordinate system
After extraction in the coordinate system, an error signal epsilon (delta theta) positively correlated with the rotor position estimation error delta theta can be obtained. After the error signal epsilon (delta theta) is sent into the phase-locked loop, the closed-loop regulating action of the phase-locked loop regulates the epsilon (delta theta) to 0 to realize the estimation of the rotating speed and the position of the rotor, and the estimation results are respectively
Specifically, the amplitude I of a high-frequency current (hereinafter referred to as an injection frequency current) having the same frequency as the injection pulse frequency in the phase currenthfThe signal-to-noise ratio in the observation process of the speed and the position of the motor is directly influenced, as shown in the formula (1). In the formula (1), IhfIs composed of
And the amplitude of the injection frequency current obtained in the coordinate system and xi are the inductance salient pole rate of the motor. Most documents for analyzing the signal-to-noise ratio of high-frequency injection are based on the formula (1), and only the injection pulse amplitude V is consideredpulAnd the influence of the saliency xi of the machine, i.e. VpulOr ξ is larger, the higher the signal-to-noise ratio.
In fact, during the actual operation of the machine, I is affectedhfAnother factor in amplitude is the high frequency current harmonics generated by PWM modulation. The study shows that in the spectral distribution of the phase current in the lower phase carried by the motor, at 0.5 times the carrier frequency fcAnd 0.25 times carrier frequency fcThere are significant nearby harmonic spikes that are generated by the discontinuous commutation behavior of the inverter, whose frequency is the same as the commonly chosen injection frequency (1000Hz, 2000Hz), and whose amplitude is equal to the amplitude Δ I of the commutation ripple in the phase currenthIs in direct proportion. By Delta I in the formula (2)hAccording to the analytic formula (2), the DC bus voltage VdcAnd carrier frequency fcWith a fixed modulation ratio M, or a decrease in winding inductance L, both increase Δ Ih. When the load of the motor is increased, the increase of the resistance-inductance voltage drop and the deepening of the magnetic saturation degree cause the increase of the modulation ratio M and the reduction of the winding inductance L to occur simultaneously, correspondingly, the high-frequency current harmonic amplitude of the frequency near the injection frequency is also increased, the electromagnetic noise in the same frequency band is increased, and the phenomenon is particularly obvious in the motor with smaller stator inductance.
The invention provides a high-frequency injection observation method, which considers that in the phase current of a motor, the amplitude of a current component with the same frequency as the preset frequency of an injection pulse can be greatly changed under the influence of factors such as load carried by the motor, and the like, and the amplitude can exceed the requirement of an observation signal-to-noise ratio and aggravate the high-frequency vibration and electromagnetic noise of the motor when being greatly increased, so that the amplitude of the high-frequency current component can be stabilized near the preset target amplitude by controlling the amplitude of the injection pulse in a closed-loop control mode, the vibration intensity of the motor can be reduced, the electromagnetic noise can be reduced, the high-frequency loss of the motor can be reduced, and the user experience can be improved.
On the basis of the above-described embodiment:
as a preferred embodiment, adjusting the amplitude of the injection pulse injected into the target motor according to the difference specifically includes:
determining the scaling of the amplitude of the injection pulse injected into the target motor according to the difference value through a preset closed-loop control algorithm;
taking the product of the scaling and the preset calibration amplitude of the injection pulse as a target amplitude;
the amplitude of the injection pulse injected into the target motor is adjusted to a target amplitude.
Specifically, the injection pulse amplitude can be adjusted quickly and accurately by scaling on the basis of the preset calibration amplitude.
Of course, besides the scaling manner, the amplitude of the injection pulse injected into the target motor may be adjusted according to the difference in other manners, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the limit interval of the scaling is a preset minimum value to 1.
Specifically, considering that if the scaling ratio is too small, the amplitude of the injection pulse is too small, so that normal observation of the rotation speed and the position of the motor cannot be guaranteed, and therefore the motor control cannot be performed, the preset minimum value of the scaling ratio needs to be limited, and if the scaling ratio is too large, the amplitude of the injection pulse is too large, so that the vibration of the motor is aggravated and the noise is too large, the embodiment of the present invention may limit the maximum value of the scaling ratio to 1.
The specific value of the preset minimum value may be set autonomously, for example, may be 10% of the rated voltage, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the preset closed-loop control algorithm is a proportional-integral algorithm.
Specifically, the proportional-integral algorithm has the advantages of simplicity in implementation, strong robustness and the like.
Of course, besides the proportional-integral algorithm, the preset closed-loop control algorithm may be of other various types, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the target motor is a permanent magnet synchronous motor.
Specifically, the permanent magnet synchronous motor has low energy consumption and high popularization rate.
Of course, besides the permanent magnet synchronous motor, the target motor may also be other types of synchronous motors with a certain saliency, such as a synchronous reluctance motor, and the like, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, after calculating the difference between the real-time amplitude and the preset target amplitude, the high-frequency injection observation method further includes:
and controlling a prompter to prompt the difference value.
Specifically, in order to facilitate a worker to visually acquire and analyze a difference value between the real-time amplitude value and the preset target amplitude value, in the embodiment of the invention, the prompting device can be controlled to prompt the difference value, so that the working efficiency can be improved.
In order to prompt a worker to overhaul a control program and take corresponding measures in time, the embodiment of the invention may further control an alarm to give an alarm when the difference is greater than a preset alarm value, considering that in some cases, the real-time amplitude may not be successfully controlled to be close to the target amplitude, and actually, the difference between the real-time amplitude and the preset target amplitude is very large, and if the difference is too large, the motor may generate too much electromagnetic noise or be out of control.
Specifically, the prompting device may be of various types, for example, a display, and the like, and the embodiment of the present invention is not limited herein.
The alarm may be of various types, such as a buzzer and the like, and the embodiment of the present invention is not limited herein.
In addition, for better explaining the embodiment of the present invention, please refer to fig. 4 to fig. 7, fig. 4 is a comparison graph of the rotational speed signal observation compared with the conventional high frequency injection observation provided by the present invention; FIG. 5 is a comparison of position signal observations provided by the present invention compared to conventional high frequency injection observations; FIG. 6 is a feedback waveform of a V-phase current iv of a high frequency injection observation method according to the present invention; FIG. 7a is a schematic diagram of the amplitude of the injection frequency current harmonics in the phase current under full load operation when using conventional high frequency injection observation; FIG. 7b is a schematic diagram of the amplitude of the injected frequency current harmonics in the phase current under full load operation when the high frequency injection observation method of the present application is employed; fig. 4-7 show the vector control results obtained by the above-mentioned high-frequency injection observation method, in which the frequency of the injected pulse is 1000Hz, the motor experiences the load change of no-load-60% rated load-100% rated load-20% rated load-no-load, the observation result of the rotation speed (fig. 4) and the observation result of the position (fig. 5) are always reliable by reasonably adjusting the relevant parameters in the scheme, the V-phase current of the 100% rated load section in fig. 6 is subjected to the spectrum analysis to obtain fig. 7(b), and compared with the spectrum of the full-load V-phase current under the constant injected pulse (fig. 7(a)), the comparison result shows that the amplitude of the injected frequency current is reduced by more than 2 times when the full-load operation is performed after the pulse adjustment, and the generated electromagnetic noise is obviously reduced.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a high-frequency injection observation apparatus according to the present invention, the high-frequency injection observation apparatus includes:
the acquisition module is used for acquiring the real-time amplitude of a current component with the same frequency as the preset frequency of the injection pulse in the phase current of the target motor;
the calculating module 1 is used for calculating a difference value between the real-time amplitude and a preset target amplitude;
and the adjusting module 2 is used for adjusting the amplitude of the injection pulse injected into the target motor according to the difference value so as to enable the real-time amplitude of the current component to approach the target amplitude.
As a preferred embodiment, the high-frequency injection observing apparatus further includes:
and the control module 3 is used for controlling the prompter to prompt the difference value.
For the introduction of the high-frequency injection observation device provided by the present invention, please refer to the introduction of the high-frequency injection observation method, which is not described herein again.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a high-frequency injection observation apparatus provided in the present invention, the high-frequency injection observation apparatus includes:
a memory 4 for storing a computer program;
a processor 5 for implementing the steps of the high frequency injection observation method as in the previous embodiments when executing the computer program.
For the introduction of the high-frequency injection observation device provided by the present invention, please refer to the introduction of the high-frequency injection observation method, which is not described herein again.
In order to solve the above technical problem, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the high-frequency injection observation method in the foregoing embodiment.
For the introduction of the computer-readable storage medium provided by the present invention, please refer to the introduction of the foregoing high-frequency injection observation method, and the embodiments of the present invention are not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should also be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. 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 invention. Thus, the present invention 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 (10)
1. A high frequency injection observation method, comprising:
acquiring real-time amplitude of a current component with the same frequency as the preset frequency of an injection pulse in phase current of a target motor;
calculating the difference value between the real-time amplitude and a preset target amplitude;
and adjusting the amplitude of the injection pulse injected into the target motor according to the difference so as to enable the real-time amplitude of the current component to approach the preset target amplitude.
2. The high-frequency injection observation method according to claim 1, wherein the adjusting the amplitude of the injection pulse injected into the target motor according to the difference is specifically:
determining a scaling ratio of the amplitude of the injection pulse injected into the target motor according to the difference value through a preset closed-loop control algorithm;
taking the product of the scaling and the preset calibration amplitude of the injection pulse as a target amplitude;
adjusting the amplitude of the injection pulse injected into the target motor to the target amplitude.
3. A high frequency injection observation method according to claim 2, wherein the limit interval of the scaling is a preset minimum value to 1.
4. The high-frequency injection observation method according to claim 1, wherein the preset closed-loop control algorithm is a proportional-integral algorithm.
5. The high-frequency injection observation method according to claim 1, wherein the target motor is a permanent magnet synchronous motor.
6. The high-frequency injection observation method according to any one of claims 1 to 5, wherein after calculating the difference between the real-time amplitude and a preset target amplitude, the high-frequency injection observation method further comprises:
and controlling a prompter to prompt the difference value.
7. A high-frequency injection observation apparatus, comprising:
the acquisition module is used for acquiring the real-time amplitude of a current component with the same frequency as the preset frequency of the injection pulse in the phase current of the target motor;
the calculation module is used for calculating the difference value between the real-time amplitude and a preset target amplitude;
and the adjusting module is used for adjusting the amplitude of the injection pulse injected into the target motor according to the difference value so as to enable the real-time amplitude of the current component to approach the target amplitude.
8. The high-frequency injection observation apparatus according to claim 7, further comprising:
and the control module is used for controlling the prompter to prompt the difference value.
9. A high frequency injection observation apparatus, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the high frequency injection observation method according to any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the high-frequency injection observation method according to any one of claims 1 to 6.
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| CN113381663A (en) * | 2021-07-08 | 2021-09-10 | 珠海格力电器股份有限公司 | Motor position determination method and device, motor, storage medium and processor |
| CN113381663B (en) * | 2021-07-08 | 2024-01-19 | 珠海格力电器股份有限公司 | Motor position determining method and device, motor, storage medium and processor |
| CN113659903A (en) * | 2021-07-28 | 2021-11-16 | 威灵（芜湖）电机制造有限公司 | Motor control method, motor control device, motor control system, and storage medium |
| CN113659903B (en) * | 2021-07-28 | 2024-01-30 | 威灵（芜湖）电机制造有限公司 | Motor control method, motor control device, control system and storage medium |
| CN115549539A (en) * | 2022-10-31 | 2022-12-30 | 佛山市尼博微电子有限公司 | Method and system for optimizing electromagnetic performance of motor |
| CN115833675A (en) * | 2022-11-03 | 2023-03-21 | 小米汽车科技有限公司 | Electromagnetic noise regulation and control method of motor, device electronic equipment and storage medium |
| CN115833675B (en) * | 2022-11-03 | 2023-09-05 | 小米汽车科技有限公司 | Electromagnetic noise regulation and control method and device for motor, electronic equipment and storage medium |
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