CN112751516A - Motor rotating speed control method and device based on subdivision prediction - Google Patents
Motor rotating speed control method and device based on subdivision prediction Download PDFInfo
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- CN112751516A CN112751516A CN202011211668.2A CN202011211668A CN112751516A CN 112751516 A CN112751516 A CN 112751516A CN 202011211668 A CN202011211668 A CN 202011211668A CN 112751516 A CN112751516 A CN 112751516A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0086—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for high speeds, e.g. above nominal speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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Abstract
The invention discloses a motor rotating speed control method and a device based on subdivision prediction, belonging to the field of motor control and comprising the following steps: before a preset wave sending period, obtaining a real-time voltage amplitude according to the real-time D-axis current instruction, the real-time Q-axis current instruction and the current; acquiring the angle of a motor rotor, the current rotating speed and the current period, and performing multiple subdivision prediction to obtain multiple rotor angle prediction values; obtaining a plurality of pulse width modulation duty ratio instructions according to the voltage amplitude and the plurality of rotor angle predicted values; generating a plurality of predicted pulse width modulation waveforms according to the plurality of pulse width modulation duty ratio instructions; and in the next wave-emitting period, a plurality of pulse width modulation waveforms are sequentially sent to act on the motor. The invention has the beneficial effects that: through multiple times of prediction, a plurality of PWM waveforms are output in the next wave sending period, which is equivalent to that one period is subjected to N times of subdivision control, the control frequency is improved, the control times at the highest rotating speed are increased, and the high-speed effective control is realized.
Description
Technical Field
The invention relates to the field of motor control, in particular to a motor rotating speed control method based on subdivision prediction.
Background
The current motor development trend is high speed, the highest rotating speed of the motor is continuously improved, the position of a motor rotor and three-phase current are generally sampled in the current software control period by the existing motor control strategy, and the control quantity required to be output in the next control period and the corresponding duty ratio of PWM (pulse width modulation) are calculated. And outputting the next control period according to the PWM duty ratio calculated in the previous period, and simultaneously calculating the next PWM duty ratio instruction. Reciprocating in this way, the motor control is realized.
At present, the control period of software is generally limited by the fact that the computing capacity of a control chip cannot be improved, and because the control period is fixed, when the rotating speed of a motor is continuously increased, the control times corresponding to one motor rotating period are continuously reduced, and when the control times of each rotating period are too low, the control is out of control. In the existing scheme, the control quantity output in the next wave-sending period is predicted once, only one PWM waveform is output in the next wave-sending control period, and the control capability in a high-speed state is poor.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a motor rotating speed control method based on subdivision prediction, which comprises the following steps:
step S1, collecting a real-time D-axis current instruction, a real-time Q-axis current instruction and a current of the motor before a preset wave sending period, and obtaining a real-time voltage amplitude according to the real-time D-axis current instruction, the real-time Q-axis current instruction and the current;
step S2, carrying out multiple subdivision prediction on the collected motor rotor angle, the current rotating speed and the current period to obtain multiple rotor angle predicted values;
step S3, calculating to obtain a plurality of pulse width modulation duty ratio instructions according to the voltage amplitude and the plurality of rotor angle predicted values;
step S4, generating a plurality of predicted pulse width modulation waveforms according to the plurality of pulse width modulation duty ratio commands;
step S5, in the next wave-emitting period, sequentially emitting the pulse width modulation waveforms to act on the motor, and then returning to step S1;
wherein the step S1 and the step S2 are performed simultaneously.
Preferably, in step S2, according to the collected rotor angle of the motor, the current rotation speed, and the current period, a preset subdivision target N is combined to predict the motor N times:
predicting to obtain a first rotor angle predicted value corresponding to the middle moment of the first predicted waveform;
predicting to obtain a second rotor angle predicted value corresponding to the middle moment of the second predicted waveform;
predicting to obtain an Nth rotor angle predicted value corresponding to the Nth predicted waveform middle moment;
wherein N is a positive integer.
Preferably, each of the predicted rotor angle values corresponds to one of the pulse width modulation duty cycle commands;
and predicting pulse width modulation duty ratio commands corresponding to the middle time of the first predicted waveform, the middle time of the second predicted waveform and the middle time of the Nth predicted waveform respectively according to the first rotor angle predicted value, the second rotor angle predicted value and the N rotor angle predicted values.
Preferably, in step S4, each pulse width modulation duty cycle command corresponds to one pulse width modulation waveform;
predicting to obtain a first predicted waveform, a second predicted waveform and an Nth predicted waveform according to pulse width modulation duty ratio instructions of the first predicted waveform middle moment, the second predicted waveform middle moment and the Nth predicted waveform middle moment;
and in the next wave-emitting period, the first predicted waveform, the second predicted waveform and the Nth predicted waveform are sequentially sent to act on the motor.
A motor control device, the control device comprising:
the voltage instruction module is used for calculating to obtain a voltage amplitude according to a D-axis current instruction, a Q-axis current instruction and the current of the motor;
the prediction module is used for predicting and obtaining rotor angles corresponding to the pulse width modulation intermediate moments of different subdivision targets;
the calculation module is connected with the voltage instruction module and the prediction module and is used for respectively calculating duty ratio instructions corresponding to a plurality of pulse width modulation waveforms according to the voltage amplitude and the predicted angles corresponding to the plurality of pulse width modulation intermediate points;
and the pulse width modulation module is connected with the calculation module and is used for outputting a pulse width modulation waveform to act on the motor.
Preferably, the subdivision prediction module performs multiple predictions according to the motor rotor angle, the current rotation speed and the current period by combining a preset subdivision target to obtain multiple predicted values of the rotor angle.
Preferably, the pulse width modulation module further comprises a timing submodule, configured to delay sending the generated pulse width modulation waveform;
and in the next wave-emitting period, the pulse width modulation module sequentially outputs the first predicted waveform, the second predicted waveform and the Nth predicted waveform through the timing submodule.
The technical scheme of the invention has the beneficial effects that:
the motor rotating speed control method and the motor rotating speed control device based on subdivision prediction have the advantages that multiple times of prediction are carried out, multiple PWM waveforms are sequentially output in the next wave sending period, namely N times of subdivision control is carried out on one period, the control frequency is improved, the control times at the highest rotating speed are greatly improved, and effective control at high speed is achieved.
Drawings
FIG. 1 is a flow chart of a method for controlling the rotational speed of a motor according to a preferred embodiment of the present invention;
FIG. 2 is a block diagram of a method for controlling the rotational speed of a motor according to a preferred embodiment of the present invention
FIG. 3 is a waveform diagram of a conventional scheme in a preferred embodiment of the present invention;
FIG. 4 is a PWM waveform diagram divided by 2 times according to the preferred embodiment of the present invention;
FIG. 5 is a PWM waveform diagram divided by 3 times according to the preferred embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The invention comprises a motor rotating speed control method and a control device based on subdivision prediction, as shown in figures 1 to 5, the control method comprises the following steps:
step S1, collecting a real-time D-axis current instruction, a real-time Q-axis current instruction and a current of the motor before a preset wave sending period, and obtaining a real-time voltage amplitude according to the real-time D-axis current instruction, the real-time Q-axis current instruction and the current;
step S2, collecting the rotor angle, the current rotating speed and the current period of the motor, and performing multiple subdivision prediction to obtain multiple rotor angle prediction values;
step S3, calculating to obtain a plurality of pulse width modulation duty ratio instructions according to the voltage amplitude and the plurality of rotor angle predicted values;
step S4, generating a plurality of predicted pulse width modulation waveforms according to the plurality of pulse width modulation duty ratio commands;
step S5, in the next wave-emitting period, sequentially emitting the pulse width modulation waveforms to act on the motor, and then returning to step S1;
wherein the step S1 and the step S2 are performed simultaneously.
Specifically, in a preferred embodiment, the technical scheme does not need to collect the angle and the current of the motor rotor for multiple times in one software period, only needs to collect the angle and the current of the motor rotor for one time, predicts the angle and the current of the motor rotor for multiple times according to the collected angle and current of the motor rotor to obtain multiple predicted waveforms, and outputs N pulse width modulation periods according to a time sequence in one software period, so that the control times of the motor are increased.
Further, in step S2, according to the collected rotor angle, current rotation speed, and current period of the motor, N predictions are performed on the motor by combining a preset subdivision target N:
predicting to obtain a first rotor angle predicted value corresponding to the middle moment of the first predicted waveform;
predicting to obtain a second rotor angle predicted value corresponding to the middle moment of the second predicted waveform;
predicting to obtain an Nth rotor angle predicted value corresponding to the middle moment of the Nth predicted waveform;
wherein N is a positive integer.
Further, each rotor angle predicted value corresponds to a pulse width modulation duty ratio command;
and predicting pulse width modulation duty ratio commands corresponding to the middle time of the first predicted waveform, the middle time of the second predicted waveform and the middle time of the Nth predicted waveform respectively according to the first rotor angle predicted value, the second rotor angle predicted value and the N rotor angle predicted values.
Further, in step S4, each pwm duty cycle command corresponds to a pwm waveform;
respectively predicting to obtain a first predicted waveform, a second predicted waveform and an Nth predicted waveform according to pulse width modulation duty ratio instructions of the first predicted waveform middle time, the second predicted waveform middle time and the Nth predicted waveform middle time;
and in the next wave-emitting period, sequentially sending a first predicted waveform, a second predicted waveform and an Nth predicted waveform to act on the motor.
Further, a motor control device, the control device comprising:
the voltage instruction module 2 is used for calculating to obtain a voltage amplitude according to a D-axis current instruction, a Q-axis current instruction and the current of the motor;
the prediction module 1 is used for predicting and obtaining rotor angles corresponding to pulse width modulation intermediate moments of different subdivision targets;
the calculating module 3 is connected with the voltage instruction module 2 and the predicting module 1 and is used for respectively calculating duty ratio instructions corresponding to a plurality of pulse width modulation waveforms according to the voltage amplitude and the predicted angles corresponding to the plurality of pulse width modulation intermediate points;
and the pulse width modulation module 4 is connected with the calculation module 3 and is used for outputting pulse width modulation waveforms to act on the motor.
Specifically, the control device includes:
the voltage instruction module 2 is used for calculating to obtain a voltage amplitude according to a D-axis current instruction, a Q-axis current instruction and the current of the motor;
the prediction module 1 is used for predicting and obtaining rotor angles corresponding to pulse width modulation intermediate moments of different subdivision targets;
the calculating module 3 is used for respectively calculating duty ratio instructions corresponding to a plurality of pulse width modulation waveforms according to the voltage amplitude and the predicted angles corresponding to the plurality of pulse width modulation intermediate points;
and the pulse width modulation module 4 is used for outputting a pulse width modulation waveform to act on the motor.
Furthermore, the prediction module 1 performs multiple predictions according to the rotor angle of the motor, the current rotating speed and the current period by combining a preset subdivision target to obtain multiple predicted values of the rotor angle.
Further, the pulse width modulation module 4 further includes a timing submodule 41, configured to delay and send the generated pulse width modulation waveform;
in the next pulse-generating period, the pulse width modulation module 4 sequentially outputs the first predicted waveform, the second predicted waveform and the nth predicted waveform by timing.
Specifically, in a preferred embodiment, the pulse width modulation module 4 further includes a timing sub-module 41 for delaying the transmission of the generated pulse width modulation waveform;
the pulse width modulation module 4 generates a first predicted waveform, a second predicted waveform and an nth predicted waveform according to the duty ratio instructions corresponding to the plurality of pulse width modulation waveforms of the calculation module 3, and sequentially transmits the first predicted waveform, the second predicted waveform and the nth predicted waveform in a next transmit cycle at a timing by the timing submodule 41.
Specifically, in a preferred embodiment of the present invention, in the next wave-emitting period, the pulse width modulation module 4 outputs N pulse width modulation waveforms (N is a positive integer), which is equivalent to performing subdivision control on the next wave-emitting period N times, so as to increase the frequency of motor control, and realize effective control on the motor at a high speed.
Specifically, in a preferred embodiment, as shown in fig. 4, the motor is sub-divided for 2 times, and the specific control method includes:
step S1: before a preset wave sending period, acquiring a D-axis current instruction, a Q-axis current instruction and the current of the motor to obtain a voltage amplitude;
step S2: carrying out subdivision prediction for 2 times on the collected motor rotor angle, the current rotating speed and the current period to obtain a first rotor angle predicted value corresponding to the middle moment of a first predicted waveform and a second rotor angle predicted value corresponding to the middle moment of a second predicted waveform;
step S3: according to the voltage amplitude, the first rotor angle predicted value and the second rotor angle predicted value, respectively calculating to obtain a pulse width modulation duty ratio instruction corresponding to the middle moment of the first predicted waveform and a pulse width modulation duty ratio instruction corresponding to the middle moment of the second predicted waveform;
step S4: and generating a first predicted waveform and a second predicted waveform according to the predicted pulse width modulation duty ratio instruction, and outputting the first predicted waveform and the second predicted waveform in sequence by the pulse width modulation module 4 in the next wave generation period to act on the motor.
Specifically, in a preferred embodiment, as shown in fig. 5, the motor is sub-divided for 3 times, and the specific control method includes:
step S1: before a preset wave sending period, acquiring a D-axis current instruction, a Q-axis current instruction and the current of the motor to obtain a voltage amplitude;
step S2: carrying out subdivision prediction for 3 times on the collected motor rotor angle, the current rotating speed and the current period to obtain a first rotor angle predicted value corresponding to the middle moment of the first prediction waveform, a second rotor angle predicted value corresponding to the middle moment of the second prediction waveform and a third rotor angle predicted value corresponding to the middle moment of the third prediction waveform;
step S3: according to the voltage amplitude value, the first rotor angle predicted value, the second rotor angle predicted value and the third rotor angle predicted value, respectively calculating to obtain a pulse width modulation duty ratio instruction corresponding to the middle moment of the first predicted waveform, a pulse width modulation duty ratio instruction corresponding to the middle moment of the second predicted waveform and a pulse width modulation duty ratio instruction corresponding to the middle moment of the third predicted waveform;
step S4: and generating a first predicted waveform, a second predicted waveform and a third predicted waveform according to the predicted pulse width modulation duty ratio instruction, and outputting the first predicted waveform, the second predicted waveform and the third predicted waveform in sequence by the pulse width modulation module 4 in the next wave sending period to act on the motor.
The technical scheme of the invention has the beneficial effects that:
the motor rotating speed control method and the motor rotating speed control device based on subdivision prediction output a plurality of PWM waveforms in the next wave generation period by carrying out multiple times of prediction, which is equivalent to carrying out N times of subdivision control on one period, thereby improving the control frequency, greatly increasing the control times under the highest rotating speed and realizing the effective control under high speed.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (7)
1. A motor speed control method based on subdivision prediction is characterized by comprising the following steps:
step S1, collecting a real-time D-axis current instruction, a real-time Q-axis current instruction and a current of the motor before a preset wave sending period, and obtaining a real-time voltage amplitude according to the real-time D-axis current instruction, the real-time Q-axis current instruction and the current;
step S2, collecting the rotor angle, the current rotating speed and the current period of the motor, and performing multiple subdivision prediction to obtain multiple rotor angle prediction values;
step S3, calculating to obtain a plurality of pulse width modulation duty ratio instructions according to the voltage amplitude and the plurality of rotor angle predicted values;
step S4, generating a plurality of predicted pulse width modulation waveforms according to the plurality of pulse width modulation duty ratio commands;
step S5, in the next wave-emitting period, sequentially emitting the pulse width modulation waveforms to act on the motor, and then returning to step S1;
wherein the step S1 and the step S2 are performed simultaneously.
2. The method as claimed in claim 1, wherein in step S2, the motor is predicted N times according to the collected rotor angle, the current speed and the current period of the motor and in combination with a preset subdivision target N:
predicting to obtain a first rotor angle predicted value corresponding to the middle moment of the first predicted waveform;
predicting to obtain a second rotor angle predicted value corresponding to the middle moment of the second predicted waveform;
predicting to obtain an Nth rotor angle predicted value corresponding to the Nth predicted waveform middle moment;
wherein N is a positive integer.
3. The method of claim 2, wherein each of the predicted rotor angle values corresponds to a pulse width modulation duty cycle command;
and predicting pulse width modulation duty ratio commands corresponding to the middle time of the first predicted waveform, the middle time of the second predicted waveform and the middle time of the Nth predicted waveform respectively according to the first rotor angle predicted value, the second rotor angle predicted value and the N rotor angle predicted values.
4. The method as claimed in claim 2, wherein in step S4, each of the pwm duty commands corresponds to one of the pwm waveforms;
predicting to obtain a first predicted waveform, a second predicted waveform and an Nth predicted waveform according to pulse width modulation duty ratio instructions of the first predicted waveform middle moment, the second predicted waveform middle moment and the Nth predicted waveform middle moment;
and in the next wave-emitting period, the first predicted waveform, the second predicted waveform and the Nth predicted waveform are sequentially sent to act on the motor.
5. A motor control device applied to the motor rotation speed control method according to any one of claims 1 to 4, characterized in that the control device comprises:
the voltage instruction module is used for calculating to obtain a voltage amplitude according to a D-axis current instruction, a Q-axis current instruction and the current of the motor;
the prediction module is used for predicting and obtaining rotor angles corresponding to the pulse width modulation intermediate moments of different subdivision targets;
the calculation module is connected with the voltage instruction module and the prediction module and is used for respectively calculating duty ratio instructions corresponding to a plurality of pulse width modulation waveforms according to the voltage amplitude and the predicted angles corresponding to the plurality of pulse width modulation intermediate points;
and the pulse width modulation module is connected with the calculation module and is used for outputting a pulse width modulation waveform to act on the motor.
6. The device for controlling the rotating speed of the motor according to claim 5, wherein the subdivision prediction module performs multiple predictions to obtain multiple predicted values of the rotor angle according to the rotor angle of the motor, the current rotating speed and the current period in combination with a preset subdivision target.
7. The motor speed control apparatus of claim 5 wherein the pulse width modulation module further comprises a timing submodule for delaying transmission of the generated pulse width modulated waveform;
and in the next wave-emitting period, the pulse width modulation module sequentially outputs the first predicted waveform, the second predicted waveform and the Nth predicted waveform through the timing submodule.
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| CN115882761A (en) * | 2022-10-12 | 2023-03-31 | 天津先楫半导体科技有限公司 | Motor control method, device, chip, storage medium and system |
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