CN112994576B - Motor control method and system and electronic equipment - Google Patents
Motor control method and system and electronic equipment Download PDFInfo
- Publication number
- CN112994576B CN112994576B CN201911307026.XA CN201911307026A CN112994576B CN 112994576 B CN112994576 B CN 112994576B CN 201911307026 A CN201911307026 A CN 201911307026A CN 112994576 B CN112994576 B CN 112994576B
- Authority
- CN
- China
- Prior art keywords
- phase modulation
- modulation
- duty ratio
- difference value
- 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
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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The embodiment of the application provides a motor control method, a motor control system and electronic equipment. The motor control method comprises the following steps: and calculating a duty ratio difference value of the three-phase modulation, switching the three-phase modulation into two-phase modulation when the duty ratio difference value is smaller than a first ratio threshold, and setting a current sampling mode as current sampling for the two-phase modulation. According to the motor control method disclosed by the embodiment of the specification, the feasibility of current sampling is improved, so that the controllability of the motor is improved.
Description
Technical Field
The present application relates to the field of motor control technologies, and in particular, to a motor control method, a motor control system, and an electronic device.
Background
In the practical application scenes of motor control, many application scenes do not have the condition of installing a position sensor, and aiming at the problem, a feasible application scheme is to sample the circuit current in the running process of the motor, reconstruct the three-phase current of the motor according to the sampling result, and perform vector operation by using the reconstructed three-phase current after the current reconstruction is completed, so as to obtain the position and the speed of the rotor of the motor. However, there are cases where current sampling or accurate current cannot be acquired, which affects the controllability of the motor.
Disclosure of Invention
The application provides a motor control method, a motor control system and electronic equipment, which are beneficial to improving the controllability of a motor.
An embodiment of the present specification provides
A motor control method, comprising:
a modulation state judgment step, which comprises judging the current motor control state;
when the current motor control state is three-phase modulation, executing a first modulation output step:
the first modulation output step includes:
judging whether a duty ratio difference smaller than a first ratio threshold exists in the three-phase modulation duty ratio difference;
when the duty ratio difference value smaller than the first ratio threshold value exists in the three-phase modulation duty ratio difference values, switching the three-phase modulation into two-phase modulation;
when the operation of switching the three-phase modulation to the two-phase modulation is performed, the current sampling mode is set to the current sampling for the two-phase modulation.
An embodiment of the present description also provides a motor control system including:
the modulation state judgment module is used for judging the current motor control state;
a modulation output module comprising:
the duty ratio comparison unit is used for judging whether a duty ratio difference value smaller than a first ratio threshold exists in the three-phase modulation duty ratio difference value or not when the modulation state judgment module judges that the current motor control state is three-phase modulation;
a modulation switching unit configured to switch the three-phase modulation to two-phase modulation by a first ratio threshold when there is a duty difference smaller than the first ratio threshold among the three-phase modulation duty differences;
a sampling mode conversion module for setting a current sampling mode to a current sampling for the two-phase modulation when the modulation switching unit switches the three-phase modulation to the two-phase modulation.
An embodiment of the present specification also provides an electronic device comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the electronic device to perform the above-mentioned method steps.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects: according to the motor control method disclosed by the embodiment of the specification, when the duty ratio difference value of three-phase modulation cannot meet the current sampling condition, the three-phase modulation is converted into two-phase modulation, so that the current sampling is executed in a two-phase modulation state, the feasibility of current sampling is improved, and the controllability of the motor is improved.
Drawings
FIG. 1 is a flow chart illustrating the execution of a method according to one embodiment of the present disclosure;
fig. 2 is a schematic diagram illustrating a layout structure of a three-phase modulation switch tube according to an embodiment of the present disclosure;
FIG. 3 is a flow chart illustrating the execution of a method according to an embodiment of the present disclosure;
FIG. 4 is a flow diagram illustrating a partial implementation of a method according to one embodiment of the present disclosure;
FIG. 5 is a flow diagram illustrating a partial implementation of a method according to one embodiment of the present disclosure;
FIG. 6 is a schematic block diagram of a system according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a portion of a system according to one embodiment of the present disclosure;
fig. 8 is a schematic diagram of a portion of a system according to an embodiment of the present disclosure.
Detailed Description
The terminology used in the description of the embodiments section of the present application is for the purpose of describing particular embodiments of the present application only and is not intended to be limiting of the present application.
In an embodiment of the present disclosure, a motor control method is provided to ensure that current sampling can be performed during a motor operation process, so as to improve controllability of a motor.
In an embodiment of the present specification, when the duty ratio difference value of the PWM three-phase modulation does not satisfy the time condition of current sampling, the three-phase modulation is converted into the two-phase modulation. Because the PWM three-phase modulation has three duty ratio difference values, when only one duty ratio difference value does not meet the time condition of current sampling, the possibility that the duty ratio difference value of the two-phase modulation meets the current sampling time is improved after the three-phase modulation is converted into the two-phase modulation.
For example, in an application scenario, the three duty cycles of the three-phase modulation are T1, T2, and T3, respectively. T1> T2> T3; the difference of the duty ratio is T12-T1-T2; t23 ═ T2-T3; t13 ═ T1-T3; the current sampling time condition is assumed to be that the duty ratio difference is not less than the ratio threshold t. Then, when the duty ratio difference values T12, T23, and T13 are smaller than T, the three-phase modulation cannot satisfy the current sampling condition. For example, if three-phase modulation is converted into two-phase modulation if T23< T is included in the duty difference value of the three-phase modulation, the duty is modulated into two phases (T1-T3) and (T2-T3). The difference in duty cycle for the two phases is T12, T12> T. In this situation, the current sampling can be directly performed without performing voltage translation, thereby avoiding affecting the driving performance of the motor.
According to the motor control method disclosed by the embodiment of the specification, when the duty ratio difference value of three-phase modulation cannot meet the current sampling condition, the three-phase modulation is converted into two-phase modulation, and further current sampling condition judgment is carried out, so that current sampling is carried out in a two-phase modulation state, on the premise of ensuring smooth current sampling, the execution frequency of duty ratio difference value adjustment operation is greatly reduced, accurate PMW control on the motor is ensured, and the controllability of the motor and the running stability of the motor are greatly improved.
Furthermore, after the three-phase modulation is converted into the two-phase modulation, even if the duty ratio difference of the two-phase modulation still does not meet the current sampling condition, because the current flowing through the sampling resistor in the two-phase modulation state is the equivalent current flowing through the two phases each time, the three-phase current does not need to be reconstructed by sampling twice according to the state of the switch tube, and only one current sampling is needed, so that the operation flow and the system complexity are greatly simplified.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
Fig. 1 is a flow chart illustrating an implementation of a method according to an embodiment of the present disclosure. In an embodiment of the present specification, as shown in fig. 1, a motor control method includes:
executing a first modulation output step when the current motor control state is three-phase modulation;
a first modulation output step including:
when the operation of switching the three-phase modulation to the two-phase modulation is performed, the current sampling mode is set to the current sampling for the two-phase modulation, step 130.
Further, in an embodiment of the present specification, the motor control method includes the following steps:
determining a current modulation state, and judging whether the current modulation state is three-phase modulation;
when three-phase modulation is adopted, the following steps are executed:
calculating three duty ratio values of the current three-phase modulation, wherein the three duty ratio values are defined as T1> -T2 > -T3, T12-T1-T2, and T23-T2-T3;
calculating a time threshold t capable of realizing current sampling;
when T23< T and/or T12< T, the three-phase modulation is switched to the two-phase modulation, the two-phase modulation after the switching of the modulation is output, and the current sampling mode is set to the current sampling for the two-phase modulation.
According to the motor control method disclosed by the embodiment of the specification, when the duty ratio difference value of three-phase modulation cannot meet the current sampling condition, the three-phase modulation is converted into two-phase modulation, and further current sampling condition judgment is carried out, so that current sampling is carried out in a two-phase modulation state, on the premise of ensuring smooth current sampling, the execution frequency of duty ratio difference value adjustment operation is greatly reduced, accurate PMW control on the motor is ensured, and the controllability of the motor and the running stability of the motor are greatly improved.
Specifically, in one embodiment of the present specification, in current sampling for two-phase modulation, a current sampling operation is performed once per current sampling period.
After the three-phase modulation is converted into the two-phase modulation, even if the duty ratio difference value of the two-phase modulation still does not meet the current sampling condition, because the current flowing through the sampling resistor in the two-phase modulation state each time is the equivalent current flowing through the two phases, the three-phase current does not need to be reconstructed by respectively sampling twice according to the state of the switching tube, and only one current sampling is needed, so that the operation flow and the system complexity are greatly simplified.
Further, in an embodiment of the present specification, the modulation state determining step is performed at the beginning of each current sampling period and corresponding subsequent steps are performed according to the result of the modulation state determining step. This ensures that the ideal current sampling can be realized to the maximum extent in each sampling period as much as possible.
Specifically, the duty ratio is a ratio of the energization time to the total time in one pulse cycle. In an embodiment of the present specification, the first ratio threshold t is a ratio of a dead time, a switching delay time, a sum of a loop delay time and an AD sampling delay time to one pulse period, and may be a ratio of a sum of the dead time and other times to a total time of one pulse cycle. When the duty ratio difference is greater than t, that is, the difference of the power-on time is greater than the dead time, the IGBT switching delay time, the sum of the loop delay time and the AD sampling delay time (or the sum of the above time and other times), and the air ratio difference is less than t, the effective sampling current cannot be detected.
Specifically, the switching delay time refers to a switching delay time of an Insulated Gate Bipolar Transistor (IGBT) in a three-phase inverter bridge.
Specifically, in an embodiment of the present specification, in the first ratio threshold calculation step:
the first ratio threshold is (dead time + switching delay time + analog-to-digital conversion sampling delay time)/single pulse period.
Further, in an embodiment of this specification, three-phase modulation means that only 3 of 6 IGBTs of an inverter bridge are in an on state at each time, 3 of the 6 IGBTs are in a closed state, and current flows through the 3 IGBTs in the on state. And two-phase modulation means that only two of 6 IGBTs are in an on state at each moment, and the other 4 IGBTs are in an off state, and current flows through the two turned-on IGBTs.
Fig. 2 is a schematic diagram of a layout structure of a three-phase modulation switching tube (IGBT) according to an embodiment of the present disclosure. Specifically, as shown in fig. 2, 201 to 206 represent six IGBT switches, 201 and 204 are U-phase upper and lower switches, 202 and 205 are V-phase upper and lower switches, and 203 and 206 are W-phase upper and lower switches, respectively.
Under three-phase modulation, the switching tube states of the inverter bridge in one electrical cycle are shown in table 1. One electrical cycle comprises 8 sub-cycles, with the IGBT switches switching in each sub-cycle.
TABLE 1
In one embodiment of the present description, the three-phase modulation is converted into 2-phase modulation, that is, all the IGBTs of a certain phase in each sub-period are turned off according to the driving condition without changing the inverter bridge structure shown in fig. 2.
Specifically, in an embodiment of the present specification, in the first modulation output step, the process of switching the three-phase modulation to the two-phase modulation includes:
determining the minimum duty ratio value of the three duty ratio values, and defining the minimum duty ratio value as a first duty ratio value;
and the duty ratio value of each phase of the three-phase modulation is reduced, and the value is reduced to be the first duty ratio value.
For example, in an application scenario according to an embodiment of the present specification, duty cycle values of UVW three phases are assumed to be Tu, Tv, Tw, respectively. Comparing the magnitudes of Tu, Tv and Tw to obtain one phase Tx (equal to one of Tu, Tv and Tw) with the smallest duty ratio, and subtracting the duty ratio Tx of the smallest phase from the three phases to obtain adjusted three-phase duty ratio values Tu1, Tv1 and Tw1(Tu 1-Tu-Tx; Tv 1-Tv-Tx; Tw 1-Tw-Tx). The duty cycle of the minimum phase is reduced to 0 by subtraction, so that only two phases have the duty cycle value. The duty cycle value becomes zero, i.e., is in the off state.
Specifically, in an embodiment of the present specification:
when the duty ratio Tu of the three-phase modulation is more than Tw and Tv is more than Tw:
the two-phase modulated U-phase voltage command is PWM _ U ═ PWM _ U + (PWM _ LOW-PWM _ w);
the two-phase modulated V-phase voltage command is PWM _ V ═ PWM _ V + (PWM _ LOW-PWM _ w);
the W-phase voltage command after the two-phase modulation is PWM _ W ═ PWM _ W + (PWM _ LOW-PWM _ W) ═ PWM _ LOW;
when the duty ratio Tu of the three-phase modulation is more than Tv and Tw is more than Tv:
the two-phase modulated U-phase voltage command is PWM _ U ═ PWM _ U + (PWM _ LOW-PWM _ v);
the two-phase modulated V-phase voltage command is PWM _ V ═ PWM _ V + (PWM _ LOW-PWM _ V) ═ PWM _ LOW;
the W-phase voltage command after the two-phase modulation is PWM _ W ═ PWM _ W + (PWM _ LOW-PWM _ v);
and when the duty ratio Tv of the three-phase modulation is more than Tu and Tw is more than Tu:
the two-phase modulated U-phase voltage command is PWM _ U ═ PWM _ U + (PWM _ LOW-PWM _ U) ═ PWM _ LOW;
the two-phase modulated V-phase voltage command is PWM _ V ═ PWM _ V + (PWM _ LOW-PWM _ u);
the W-phase voltage command after the two-phase modulation is PWM _ W ═ PWM _ W + (PWM _ LOW-PWM _ u).
Further, in an embodiment of the present specification, after switching the three-phase modulation to the two-phase modulation, the first modulation output step further includes:
judging whether the duty ratio difference value of the two-phase modulation after modulation switching is larger than or equal to a first ratio threshold value or not;
and when the duty ratio difference value of the two-phase modulation after modulation switching is larger than or equal to the first ratio threshold, outputting the two-phase modulation after modulation switching.
Further, considering that when the duty ratio difference adjustment operation is implemented by using a voltage translation method, the two-phase modulation is more advantageous than the three-phase modulation with respect to current sampling, in an embodiment of the present specification, even if the duty ratio difference obtained by converting the three-phase modulation into the two-phase modulation cannot directly satisfy the time threshold of current sampling, the three-phase modulation is also converted.
Specifically, in an embodiment of this specification, the first modulation output step further includes:
when the duty ratio difference value of the two-phase modulation after modulation switching is smaller than a first ratio threshold, performing duty ratio difference value adjustment operation on the duty ratio difference value of the two-phase modulation after modulation switching, and adjusting the duty ratio difference value of the two-phase modulation after modulation switching to be larger than or equal to the first ratio threshold;
and outputting the two-phase modulation after the duty ratio difference adjustment operation is executed.
Specifically, fig. 3 is a schematic diagram illustrating an execution flow of a method according to an embodiment of the present disclosure. In an embodiment of the present specification, as shown in fig. 3, a motor control method includes:
when the three-phase modulation is adopted, step 320 is executed;
when the modulation is not three-phase modulation, other motor control strategies are executed;
if yes, go to step 330;
if the determination is no, go to step 300;
when the duty ratio difference of the two-phase modulation after modulation switching is greater than or equal to the first ratio threshold, executing step 350;
when the difference value of the duty ratios of the two-phase modulation after modulation switching is smaller than the first ratio threshold, execute step 351;
351, performing duty ratio difference value adjustment operation on the duty ratio difference value of the two-phase modulation after modulation switching, and adjusting the duty ratio difference value of the two-phase modulation after modulation switching to be larger than or equal to a first ratio threshold value;
Specifically, in an embodiment of the present specification, a voltage translation is adopted to implement the duty ratio difference adjustment operation.
Specifically, in an embodiment of the present specification, the duty ratio difference adjustment operation is implemented by using one of the following schemes:
(1) the two phases are dislocated and displaced. That is, the duty cycle time (switching time of the switching tube) of one phase moves to the left, and the duty cycle time of the other phase moves in the opposite direction, so that the duty cycle difference value of the two phases can be larger than the threshold value t.
(2) Only one of the phases is shifted so that the PWM wave becomes in one-end alignment mode, not in the original center alignment mode (center symmetric mode), so that the difference in duty ratios of the two phases can be larger than the threshold value t.
Specifically, in an embodiment of the present specification, the duty cycle difference adjustment operation includes:
defining a first phase duty cycle value of the two-phase modulation after modulation switching as T21, a second phase duty cycle value as T22, and a first ratio threshold as T, wherein T21> T22, T21-T22 is Td, and Td < T;
adjusting the first phase duty ratio value of the two-phase modulation after modulation switching to T21+ T-Td;
the second phase duty value of the two-phase modulation after modulation switching is adjusted to T22+ Td-T.
Thus, the adjusted duty cycle difference is:
T21+t-Td-(T22+Td–t)＝2t-Td (2)。
in equation 2, since Td < t, 2t-Td > t is ensured that the adjusted duty cycle difference value can satisfy the time threshold for current sampling.
Further, in practical application scenarios, there are cases where the current motor control mode is bi-phase modulation. Fig. 4 is a flow diagram illustrating a partial execution of a method according to an embodiment of the present disclosure. In an embodiment of the present specification, as shown in fig. 4, the method includes:
a modulation state judgment step, namely judging the current motor control state, including;
when the current motor control state is judged to be the two-phase modulation, the following steps are executed:
Further, in an embodiment of the present specification, after step 410, the method further includes:
According to the method disclosed by the embodiment of the specification, the current sampling can be realized in the bi-phase modulation state, and the accurate control of the motor is ensured.
Further, considering that in the bi-phase modulation state, there is a possibility that it may be converted into a three-phase modulation satisfying the current sampling condition, in an embodiment of the present specification, the method further includes:
executing a second modulation step when the current motor control state is the two-phase modulation;
the second modulation step includes:
calculating the duty ratio value after the current two-phase modulation is converted into the three-phase modulation;
judging whether the duty ratio difference values after the current two-phase modulation is converted into the three-phase modulation are all larger than or equal to a first ratio threshold value;
when the duty ratio difference value after the current two-phase modulation is converted into the three-phase modulation is larger than or equal to a first ratio threshold, converting the current two-phase modulation into the three-phase modulation, and outputting the three-phase modulation;
when an operation of converting the present two-phase modulation into three-phase modulation is performed, the current sampling mode is set to current sampling for three-phase modulation.
Further, in an embodiment of this specification, after determining whether the duty ratio difference values after the current two-phase modulation is converted into the three-phase modulation are all greater than or equal to the first ratio threshold, the method further includes:
when a duty ratio difference value smaller than a first ratio threshold exists in the duty ratio difference values after the current two-phase modulation is converted into the three-phase modulation (namely, the result of judging whether the duty ratio difference values after the current two-phase modulation is converted into the three-phase modulation are both larger than or equal to the first ratio threshold is negative), judging whether the duty ratio difference value of the current two-phase modulation is smaller than the first ratio threshold;
when the current duty ratio difference value of the two-phase modulation is smaller than a first ratio threshold, carrying out duty ratio difference value adjustment operation on the current duty ratio difference value of the two-phase modulation, and adjusting the current duty ratio difference value of the two-phase modulation to be larger than or equal to the first ratio threshold;
outputting two-phase modulation after the duty ratio difference adjustment operation is executed;
and outputting the current two-phase modulation when the duty ratio difference value of the current two-phase modulation is larger than or equal to the first ratio threshold.
Specifically, fig. 5 is a schematic partial execution flow diagram of a method according to an embodiment of the present disclosure. In an embodiment of the present specification, as shown in fig. 5, the method includes:
when the current motor control state is bi-phase modulation, executing step 510;
if the determination at step 520 is yes, step 521 is executed;
when the determination at step 520 is no, step 522 is performed;
when the determination at step 522 is yes, step 540 is performed;
when the determination at step 522 is no, step 550 is performed;
According to the method disclosed by the embodiment of the specification, when the three-phase modulation meets the current sampling time threshold, the three-phase modulation is adopted or the current two-phase modulation is converted into the three-phase modulation, when the three-phase modulation does not meet the current sampling time threshold, the current three-phase modulation is converted into the two-phase modulation or the current two-phase modulation is maintained, on the premise that the current sampling is smoothly executed, the execution of voltage shift operation is reduced to the maximum extent, and the motor control precision is ensured.
Further, based on the motor control method in the embodiment of the present specification, an embodiment of the present specification further provides a motor control system. Fig. 6 is a schematic structural diagram of a system according to an embodiment of the present disclosure. As shown in fig. 6, in an embodiment of the present specification, a motor control system includes:
a modulation state judgment module 610 for judging the current motor control state;
a modulation output module 620, comprising:
a duty ratio comparison unit 621, configured to calculate a three-phase modulation duty ratio difference value when the modulation state determination module 610 determines that the current motor control state is three-phase modulation, and determine whether a duty ratio difference value smaller than the first ratio threshold exists in the duty ratio difference value;
a modulation switching unit 622 for switching the three-phase modulation into two-phase modulation when there is a duty ratio difference smaller than the first ratio threshold value among the duty ratio differences;
a sampling mode conversion module 630 for setting the current sampling mode to the current sampling for the two-phase modulation when the modulation switching unit switches the three-phase modulation to the two-phase modulation.
Fig. 7 is a schematic diagram of a portion of a system according to an embodiment of the present disclosure. In an embodiment of the present specification, as shown in fig. 7, the modulation output module 720 includes a duty ratio comparison unit 721, a modulation switching unit 722, a duty ratio difference determination unit 723, and a modulation output unit 724.
The duty ratio difference value judging unit 723 is configured to judge whether a duty ratio difference value of the two-phase modulation after modulation switching is greater than or equal to a first ratio threshold value when the modulation switching unit 722 switches the three-phase modulation to the two-phase modulation;
the modulation output unit 724 is configured to output the two-phase modulation after modulation switching when the duty ratio difference of the two-phase modulation after modulation switching is greater than or equal to the first ratio threshold.
Fig. 8 is a schematic diagram of a portion of a system according to an embodiment of the present disclosure. In an embodiment of the present specification, as shown in fig. 8, the modulation output module 820 includes a duty ratio comparison unit 821, a modulation switching unit 822, a duty ratio difference value determination unit 823, a modulation output unit 824, and a duty ratio difference value adjustment unit 825.
The duty ratio difference adjustment unit 825 is configured to, when the duty ratio difference of the two-phase modulation after modulation switching is smaller than the first ratio threshold, perform a duty ratio difference adjustment operation on the duty ratio difference of the two-phase modulation after modulation switching, and adjust the duty ratio difference of the two-phase modulation after modulation switching to be greater than or equal to the first ratio threshold;
the modulation output unit 824 is further configured to output the two-phase modulation after the duty ratio difference adjustment operation is performed.
The systems illustrated in fig. 6 to 8 may be used to implement the technical solution of the embodiment of the motor control method in an embodiment of the present specification, and reference may be further made to the related description in the embodiment of the method for implementing the principle and the technical effect.
Further, in an embodiment of the present specification, the system for instructing to install the client terminal device further includes other functional modules corresponding to the motor control method flow provided in the embodiment of the present specification, so as to implement the motor control method flow provided in the embodiment of the present specification.
In the description of the embodiments of the present specification, for convenience of description, the device/system is described by dividing functions into various modules/units, and the division of each module/unit is only a logical division, and the functions of each module/unit can be implemented in one or more pieces of software and/or hardware when the embodiments of the present specification are implemented.
Specifically, the apparatuses/systems provided in the embodiments of the present disclosure may be wholly or partially integrated into one physical entity or may be physically separated when actually implemented. For example, the detection module may be a separate processing element, or may be integrated into a chip of the electronic device. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
Based on the method proposed by the embodiments of the present specification, the embodiments of the present specification propose to further propose an electronic device comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the electronic device to perform the method steps described by the embodiments of the present specification.
Specifically, in an embodiment of the present disclosure, the electronic device may be a mobile terminal (a mobile phone, a tablet computer, a notebook computer), a local terminal (a personal/industrial computer), a cloud server, and the like. Wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed by the apparatus, cause the apparatus to perform the method steps of the embodiments of the present specification.
Further, the electronic device shown in one embodiment of the present specification may be a terminal device or a circuit device built in the terminal device. The apparatus may be used to perform functions/steps in methods provided by embodiments of the present description.
The embodiments described herein are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. Those of ordinary skill in the art will appreciate that the various elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of electronic hardware and computer software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is only for the specific embodiments of the present application, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.
Claims (12)
1. A motor control method, comprising:
a modulation state judgment step, which comprises judging the current motor control state;
executing a first modulation output step when the current motor control state is three-phase modulation;
the first modulation output step includes:
judging whether a duty ratio difference smaller than a first ratio threshold exists in the three-phase modulation duty ratio difference; the three-phase modulation duty ratio difference value comprises a non-negative difference value of every two of three duty ratios of three-phase modulation; the first ratio threshold is a time threshold capable of realizing current sampling;
when the duty ratio difference value smaller than the first ratio threshold value exists in the three-phase modulation duty ratio difference values, switching the three-phase modulation into two-phase modulation;
when the operation of switching the three-phase modulation to the two-phase modulation is performed, the current sampling mode is set to the current sampling for the two-phase modulation.
2. The method according to claim 1, wherein in the first modulation output step, the switching of the three-phase modulation into two-phase modulation includes:
determining the smallest of the three duty cycle values, defined as a first duty cycle value;
and reducing the duty ratio value of each phase of the three-phase modulation, wherein the reduced value is the first duty ratio value.
3. The method of claim 1, wherein after switching the three-phase modulation to two-phase modulation, the first modulation outputting step further comprises:
judging whether the duty ratio difference value of the two-phase modulation after modulation switching is larger than or equal to the first ratio threshold value or not; wherein the duty cycle difference of the two-phase modulation comprises a non-negative difference of the two duty cycles of the two-phase modulation;
and when the duty ratio difference value of the two-phase modulation after modulation switching is larger than or equal to the first ratio threshold, outputting the two-phase modulation after modulation switching.
4. The method according to claim 3, wherein after determining whether the difference between the duty ratios of the two-phase modulation after the modulation switching is greater than or equal to the first ratio threshold, the first modulation outputting step further includes:
when the duty ratio difference value of the two-phase modulation after modulation switching is smaller than the first ratio threshold, performing a duty ratio difference value adjustment operation on the duty ratio difference value of the two-phase modulation after modulation switching, and adjusting the duty ratio difference value of the two-phase modulation after modulation switching to be larger than or equal to the first ratio threshold;
and outputting the two-phase modulation after the duty ratio difference value adjustment operation is executed.
5. The method of claim 4, wherein the duty cycle difference adjustment operation comprises:
defining a first phase duty cycle value of the two-phase modulation after modulation switching to be T1, a second phase duty cycle value to be T2, and a first ratio threshold value to be T, wherein T1> T2, T1-T2 is Td, and Td < T;
adjusting the first phase duty ratio value of the two-phase modulation after the modulation switching to be T1+ T-Td;
and adjusting the second phase duty value of the two-phase modulation after the modulation switching to be T2+ Td-T.
6. The method according to any one of claims 1 to 5, further comprising:
executing a second modulation output step when the current motor control state is the two-phase modulation;
the second modulation output step includes:
judging whether the current duty ratio difference value of the two-phase modulation is smaller than the first ratio threshold value;
when the current duty ratio difference value of the two-phase modulation is smaller than the first ratio threshold, performing a duty ratio difference value adjustment operation on the current duty ratio difference value of the two-phase modulation, and adjusting the current duty ratio difference value of the two-phase modulation to be greater than or equal to the first ratio threshold;
and outputting the two-phase modulation after the duty ratio difference value adjustment operation is executed.
7. The method according to any one of claims 1 to 5, further comprising:
when the current motor control state is the two-phase modulation, the following steps are also executed;
calculating the current three-phase modulation duty ratio value after the two-phase modulation is converted into the three-phase modulation;
judging whether the current three-phase modulation duty ratio difference values after the two-phase modulation is converted into the three-phase modulation are all larger than or equal to the first ratio threshold value;
when the current two-phase modulation is converted into three-phase modulation, the duty ratio difference values of the three-phase modulation after the three-phase modulation are all larger than or equal to the first ratio threshold, the current two-phase modulation is converted into three-phase modulation, and the three-phase modulation is output;
setting a current sampling mode to current sampling for three-phase modulation when the operation of converting the present two-phase modulation into three-phase modulation is performed.
8. The method according to claim 7, wherein after the determining whether the current three-phase modulation duty cycle difference values after the conversion from the two-phase modulation to the three-phase modulation are both greater than or equal to the first ratio threshold, the method further comprises:
when the current two-phase modulation is converted into the three-phase modulation, and a duty ratio difference value smaller than the first ratio threshold exists in the three-phase modulation duty ratio difference value, judging whether the current two-phase modulation duty ratio difference value is smaller than the first ratio threshold;
when the current duty ratio difference value of the two-phase modulation is smaller than the first ratio threshold, performing duty ratio difference value adjustment operation on the current duty ratio difference value of the two-phase modulation, adjusting the current duty ratio difference value of the two-phase modulation to be larger than or equal to the first ratio threshold, and outputting the two-phase modulation after the duty ratio difference value adjustment operation is executed;
and outputting the current two-phase modulation when the duty ratio difference value of the current two-phase modulation is larger than or equal to the first ratio threshold.
9. A motor control system, comprising:
the modulation state judgment module is used for judging the current motor control state;
a modulation output module comprising:
the duty ratio comparison unit is used for judging whether a duty ratio difference value smaller than a first ratio threshold exists in the three-phase modulation duty ratio difference value or not when the modulation state judgment module judges that the current motor control state is three-phase modulation; the three-phase modulation duty ratio difference value comprises a non-negative difference value of every two of three duty ratios of three-phase modulation; the first ratio threshold is a time threshold capable of realizing current sampling;
a modulation switching unit configured to switch the three-phase modulation to two-phase modulation by a first ratio threshold when there is a duty difference smaller than the first ratio threshold among the three-phase modulation duty differences;
a sampling mode conversion module for setting a current sampling mode to a current sampling for the two-phase modulation when the modulation switching unit switches the three-phase modulation to the two-phase modulation.
10. The system of claim 9, wherein the modulation output module further comprises:
a duty ratio difference value judging unit configured to judge whether a duty ratio difference value of the two-phase modulation after modulation switching is greater than or equal to the first ratio threshold value when the modulation switching unit switches the three-phase modulation to the two-phase modulation; wherein the duty cycle difference of the two-phase modulation comprises a non-negative difference of the two duty cycles of the two-phase modulation;
and the modulation output unit is used for outputting the two-phase modulation after the modulation switching when the duty ratio difference value of the two-phase modulation after the modulation switching is larger than or equal to the first ratio threshold.
11. The system of claim 10, wherein:
the modulation output module further comprises a duty ratio difference value adjusting unit, wherein the duty ratio difference value adjusting unit is used for performing a duty ratio difference value adjusting operation on the duty ratio difference value of the two-phase modulation after the modulation switching when the duty ratio difference value of the two-phase modulation after the modulation switching is smaller than the first ratio threshold value, and adjusting the duty ratio difference value of the two-phase modulation after the modulation switching to be larger than or equal to the first ratio threshold value; wherein the duty cycle difference of the two-phase modulation comprises a non-negative difference of the two duty cycles of the two-phase modulation;
the modulation output unit is further configured to output the two-phase modulation after the duty ratio difference adjustment operation is performed.
12. An electronic device, characterized in that the electronic device comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the electronic device to perform the method steps of any of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911307026.XA CN112994576B (en) | 2019-12-18 | 2019-12-18 | Motor control method and system and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911307026.XA CN112994576B (en) | 2019-12-18 | 2019-12-18 | Motor control method and system and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112994576A CN112994576A (en) | 2021-06-18 |
| CN112994576B true CN112994576B (en) | 2022-08-16 |
Family
ID=76343744
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911307026.XA Active CN112994576B (en) | 2019-12-18 | 2019-12-18 | Motor control method and system and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112994576B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5650708A (en) * | 1992-12-08 | 1997-07-22 | Nippondenso Co., Ltd. | Inverter control apparatus using a two-phase modulation method |
| CN105577067A (en) * | 2015-12-29 | 2016-05-11 | 美的集团武汉制冷设备有限公司 | Air conditioner and space voltage vector modulation method and apparatus for compressor of air conditioner |
| CN105958889A (en) * | 2016-06-21 | 2016-09-21 | 广州视源电子科技股份有限公司 | Single-resistor current sampling method and system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2120323B1 (en) * | 2008-05-13 | 2010-03-10 | STMicroelectronics S.r.l. | Phase current measurements in a three phase inverter using a single common dc-link current sensor |
| JP6385691B2 (en) * | 2014-03-06 | 2018-09-05 | 株式会社東芝 | Motor control device and air conditioner |
| JP6699385B2 (en) * | 2016-06-17 | 2020-05-27 | 株式会社デンソー | Power converter |
-
2019
- 2019-12-18 CN CN201911307026.XA patent/CN112994576B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5650708A (en) * | 1992-12-08 | 1997-07-22 | Nippondenso Co., Ltd. | Inverter control apparatus using a two-phase modulation method |
| CN105577067A (en) * | 2015-12-29 | 2016-05-11 | 美的集团武汉制冷设备有限公司 | Air conditioner and space voltage vector modulation method and apparatus for compressor of air conditioner |
| CN105958889A (en) * | 2016-06-21 | 2016-09-21 | 广州视源电子科技股份有限公司 | Single-resistor current sampling method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112994576A (en) | 2021-06-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4682727B2 (en) | Motor drive device | |
| US9543851B2 (en) | Matrix converter | |
| JP5566635B2 (en) | Rotating machine control device | |
| JP5056817B2 (en) | Rotating machine control device | |
| Ramchand et al. | Improved switching frequency variation control of hysteresis controlled voltage source inverter-fed IM drives using current error space vector | |
| US9543868B2 (en) | Apparatus for controlling rotary electric machine | |
| CN106026724B (en) | Control device for power converter | |
| US8816618B2 (en) | Rotary machine control apparatus | |
| JP2012070469A (en) | Controller of rotary machine | |
| JP2010252433A (en) | Device for control of rotary machine | |
| CN105790664B (en) | Permanent magnet synchronous motor model predictive control method | |
| CN113708688B (en) | Permanent magnet motor vector-reduction model predictive control method | |
| CN108966683B (en) | Inverter control device | |
| KR101907368B1 (en) | Power control method and power control device | |
| CN112994576B (en) | Motor control method and system and electronic equipment | |
| Krim et al. | Hardware Implementation of a Predictive DTC-SVM with a Sliding Mode Observer of an Induction Motor on the FPGA | |
| Ellabban et al. | Predictive torque control of an induction motor fed by a bidirectional quasi Z-source inverter | |
| JP2015065797A (en) | Matrix converter | |
| CN110855169A (en) | Single-phase inverter model prediction control method without voltage sensor | |
| Ohiero et al. | A fast simulation model for a permanent magnet synchronous generator (PMSG) drive system | |
| KR102282444B1 (en) | A voltage synthesizing apparatus for reducing common mode voltage in three phase voltage source inverter | |
| WO2021210274A1 (en) | Power conversion system and method for controlling power conversion system | |
| JP2015012662A (en) | Inverter device | |
| US20230179086A1 (en) | Apparatus for enabling an inverter to switch between modes and a method of controlling same | |
| CN110545042B (en) | PWM rectifier control method and device |
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 | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220725 Address after: 310000 Building 1, No. 60, No. 21 street, Baiyang street, Qiantang District, Hangzhou City, Zhejiang Province Applicant after: Hangzhou lvneng new energy auto parts Co.,Ltd. Address before: 310018 Sanhua Industrial Park, no.289-2, No.12 street, Xiasha Economic Development Zone, Hangzhou City, Zhejiang Province Applicant before: HANGZHOU SANHUA RESEARCH INSTITUTE Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |