CN113037170B - Motor control method and device and terminal equipment - Google Patents
Motor control method and device and terminal equipment Download PDFInfo
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- CN113037170B CN113037170B CN202110337972.XA CN202110337972A CN113037170B CN 113037170 B CN113037170 B CN 113037170B CN 202110337972 A CN202110337972 A CN 202110337972A CN 113037170 B CN113037170 B CN 113037170B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/04—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for very low speeds
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The application is suitable for the technical field of motor control, and provides a motor control method, a device and terminal equipment, wherein the motor control method comprises the following steps: determining a first current component of the first motor current under a two-phase static coordinate system alpha-beta, and determining an electrical angle compensation frequency according to the first current component and the first voltage component; determining a voltage compensation coefficient according to the first current component, the first voltage component and a preset disturbance signal; and determining a first target voltage component according to the preset voltage coefficient, the preset electrical angle frequency, the voltage compensation coefficient and the electrical angle compensation frequency. And determining a voltage compensation coefficient by injecting a preset disturbance signal, optimizing the amplitude of the first target voltage component, and improving the efficiency of the system. The motor control method provided by the embodiment has stronger robustness on the parameter change of the motor, and can be simultaneously applied to the high-speed and low-speed control of the salient pole synchronous motor and the non-salient pole synchronous motor.
Description
Technical Field
The application belongs to the technical field of motor control, and particularly relates to a motor control method, a motor control device and terminal equipment.
Background
The position sensorless control technology of the motor is the core technology in the field of motor control. For salient pole motors, because the rotor has saliency, the common method is to estimate the rotor speed at low speed by using a signal injection method and to estimate the rotor position at high speed by using a back electromotive force method or a model reference adaptive method. However, in the case of the surface-mount synchronous motor, since the rotor does not have saliency, it is difficult to realize the position-sensorless control at a low speed.
At present, a position-sensing-free control technology which can be commonly used for high-speed and low-speed operation of a salient pole synchronous motor (such as an embedded synchronous motor) and a non-salient pole synchronous motor (such as a surface-mounted synchronous motor) at the same time does not exist.
Disclosure of Invention
The embodiment of the application provides a motor control method, a motor control device and terminal equipment, and can solve the problem that the traditional position-sensorless control technology cannot be simultaneously suitable for high-speed and low-speed operation of a salient pole synchronous motor and a non-salient pole synchronous motor.
In a first aspect, an embodiment of the present application provides a motor control method, including:
determining a first current component of the first motor current under a two-phase static coordinate system alpha-beta, and determining an electrical angle compensation frequency according to the first current component and a first voltage component;
determining a voltage compensation coefficient according to the first current component, the first voltage component and a preset disturbance signal;
determining a first target voltage component according to a preset voltage coefficient, a preset electrical angle frequency, the voltage compensation coefficient and the electrical angle compensation frequency; wherein the first target voltage component is used to control motor rotation to determine a second motor current;
the first voltage component is a first target voltage component determined in a previous control period, and the first motor current is a second motor current in the previous control period.
In one possible implementation manner of the first aspect, the determining an electrical angle compensation frequency according to the first current component and the first voltage component includes:
calculating to obtain first motor power according to the first current component and the first voltage component;
filtering the first motor power to extract a disturbance component of the first motor power;
and adjusting the disturbance component to obtain the electrical angle compensation frequency.
In a possible implementation manner of the first aspect, the determining a voltage compensation coefficient according to the first current component, the first voltage component, and a preset disturbance signal includes:
determining a first angle from the first current component; the first angle is an included angle between a current vector of the first motor current and an alpha axis in the two-phase static coordinate system alpha-beta;
transforming the first current component and the first voltage component according to the first angle, and determining an estimated synchronous coordinate system D-Q, an estimated current of the first current component under the estimated synchronous coordinate system D-Q, and an estimated voltage of the first voltage component under the estimated synchronous coordinate system D-Q;
injecting the preset disturbance signal into a current angle or a D-axis current, and determining the voltage compensation coefficient based on the preset disturbance signal, the estimated current and the estimated voltage; the current angle is an included angle between the current vector and a Q axis in an estimated synchronous coordinate system D-Q, and the D axis current is a component current of the current vector in a D axis in the estimated synchronous coordinate system D-Q.
In a possible implementation manner of the first aspect, in a case that the preset disturbance signal is injected into a current angle, the determining the voltage compensation coefficient based on the preset disturbance signal, the estimated current, and the estimated voltage includes:
determining an estimated current angle, wherein the estimated current angle is obtained after the preset disturbance signal is injected into the current angle;
determining a second current component from the current vector and the estimated current angle;
performing Park inverse transformation on the second current component based on the first angle to determine a third current component;
calculating to obtain the power of the second motor according to the third current component and the estimated voltage;
and determining the voltage compensation coefficient according to the second motor power.
In a possible implementation manner of the first aspect, in a case that the preset disturbance signal is injected into a D-axis current, the determining the voltage compensation coefficient based on the preset disturbance signal, the estimated current, and the estimated voltage includes:
determining a high-frequency current component and a high-frequency voltage component of a preset disturbance signal in an estimated synchronous coordinate system D-Q;
determining a fourth current component from the high frequency current component and the estimated current, and a second voltage component from the high frequency voltage component and the estimated voltage;
calculating to obtain the second motor power according to the fourth current component and the second voltage component;
and determining the voltage compensation coefficient according to the second motor power.
In a possible implementation manner of the first aspect, the determining the voltage compensation coefficient according to the second motor power includes:
extracting a high-frequency power component in the second motor power;
and determining the voltage compensation coefficient according to the high-frequency power component.
In a possible implementation manner of the first aspect, the determining the first target voltage component according to a preset voltage coefficient, a preset electrical angle frequency, the voltage compensation coefficient, and the electrical angle compensation frequency includes:
determining a target voltage coefficient according to the preset voltage coefficient and the voltage compensation coefficient;
determining a target voltage amplitude according to the preset electrical angular frequency and the target voltage coefficient;
determining a target electrical angle according to the electrical angle compensation frequency and the preset electrical angle frequency;
determining the first target voltage component according to the target electrical angle and the target voltage amplitude.
In a second aspect, an embodiment of the present application provides a motor control apparatus, including:
the rotating speed tracking module is used for determining a first current component of a first motor current under a two-phase static coordinate system alpha-beta and determining an electrical angle compensation frequency according to the first current component and a first voltage component;
the coordinate adjusting module is used for determining a voltage compensation coefficient according to the first current component, the first voltage component and a preset disturbance signal;
the target voltage component determination module is used for determining a first target voltage component according to a preset voltage coefficient, a preset electrical angle frequency, the voltage compensation coefficient and the electrical angle compensation frequency; wherein the first target voltage component is used to control motor rotation to determine a second motor current;
the first voltage component is a first target voltage component determined in a previous control period, and the first motor current is a second motor current in the previous control period.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method of any one of the above first aspects when executing the computer program.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored, and the computer program, when executed by a processor, implements the method of any one of the first aspect.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method of any one of the above first aspects.
It is to be understood that, for the beneficial effects of the second aspect to the fifth aspect, reference may be made to the relevant description in the first aspect, and details are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that:
by calculating the electrical angle compensation frequency, the stability of the motor control system and the tracking of the rotating speed of the motor can be realized, and the oscillation of the motor control system is prevented. By injecting the preset disturbance signal and determining the voltage compensation coefficient according to the injected preset disturbance signal, the amplitude of the first target voltage component (the driving voltage of the motor) is optimized, and the efficiency of the system is effectively improved on the premise of ensuring the stability of a motor control system. When the working efficiency of the motor is optimal, the estimated synchronous coordinate system of the motor rotor and the actual synchronous coordinate system of the rotor can be automatically aligned, so that equivalent and accurate position-sensing-free control is realized. The motor control method provided by the embodiment has stronger robustness on the parameter change of the motor, and can be simultaneously applied to the high-speed and low-speed control of the salient pole synchronous motor and the non-salient pole synchronous motor.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a motor control method provided in an embodiment of the present application;
FIG. 2 is a vector diagram of a coordinate system provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of a motor control method provided by an embodiment of the present application;
fig. 4 is a schematic structural diagram of a motor control device provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in the specification of this application and the appended claims, the term "if" may be interpreted contextually as "when …" or "once" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless otherwise specifically stated.
Fig. 1 shows a schematic flowchart of a motor control method provided in an embodiment of the present application. Referring to fig. 1, the motor control method includes steps S101 to S103.
Step S101, determining a first current component of the first motor current under a two-phase static coordinate system alpha-beta, and determining an electrical angle compensation frequency according to the first current component and the first voltage component.
The first voltage component is a first target voltage component determined in a previous control period, and the first motor current is a second motor current in the previous control period.
Specifically, the first motor current is a current working current of the motor and can be acquired by a current acquisition device in the motor control system. After the first motor current is obtained, clark conversion is carried out on the first motor current to obtain a first current component of the first motor current under a two-phase static coordinate system alpha-beta. An electrical angle compensation frequency is then determined from the first current component and the first voltage component.
Illustratively, the method for determining the electrical angle compensation frequency includes steps S1011 to S1013.
In step S1011, a first motor power is calculated according to the first current component and the first voltage component.
Illustratively, the first motor current includes a current i a And current i b The first current component obtained after Clark transformation comprises a current i α And current i β . The first voltage component is a first target voltage component determined in the last control period, and the first voltage component comprises voltage
And voltage
The first motor power of the motor can be obtained according to a motor power calculation formula as follows:
wherein k is a coefficient and P is a first motor of the motorsPower, i α And i β As a result of the first current component,
and
is a first voltage component.
Step S1012, filtering the first motor power to extract a disturbance component of the first motor power.
Specifically, the first motor power may be filtered by the third filter to extract the disturbance component.
Illustratively, the third filter may be a band-pass filter, a low-pass filter, a high-pass filter, a notch filter, a neural network, a fuzzy controller, or the like.
And step S1013, the disturbance component is adjusted to obtain the electrical angle compensation frequency.
Specifically, the disturbance component represents the pulsation of the motor rotation speed, so that the disturbance component can be adjusted through the first adjuster, the electrical angle compensation frequency is obtained, the damping torque component is generated in the electromagnetic torque, and the purpose of offsetting the motor rotation speed pulsation to stabilize the motor control system is achieved.
For example, the first regulator may be a proportional regulator, a proportional-integral regulator, a differential regulator, a proportional-differential regulator, or the like.
And step S102, determining a voltage compensation coefficient according to the first current component, the first voltage component and a preset disturbance signal.
Specifically, an efficiency optimization operating point of the motor, that is, a minimum current amplitude point at which the motor outputs a required torque, may be obtained by injecting a preset disturbance signal. Therefore, the given amplitude of the constant voltage frequency ratio control voltage can be optimized by injecting the preset disturbance signal, the optimal voltage coefficient compensation coefficient is obtained, and the efficiency optimization and the coordinate modulation of the motor control system are realized.
It should be noted that the preset disturbance signal in the present application may be a real disturbance signal, and may also be a virtual disturbance signal.
For example, step S102 may include steps S1021 to S1023.
In step S1021, a first angle is determined according to the first current component.
Specifically, the first angle is an angle between a current vector of the first motor current and an α axis in the two-phase stationary coordinate system α - β.
In step S1022, the first current component and the first voltage component are transformed according to the first angle, and the estimated synchronous coordinate system D-Q, the estimated current of the first current component in the estimated synchronous coordinate system D-Q, and the estimated voltage of the first voltage component in the estimated synchronous coordinate system D-Q are determined.
In particular, the first current component i α 、i β According to a first angle theta i Carrying out Park conversion to obtain estimated current under an estimated synchronous coordinate system D-Q, wherein the estimated current comprises current i D And current i Q . Dividing the first voltage component
According to a first angle theta i Performing Park conversion to obtain estimated voltage under the estimated synchronous coordinate system D-Q, wherein the estimated voltage comprises voltage
And voltage
Estimating a synchronous coordinate system D-Q from a two-phase stationary coordinate system alpha-beta according to a first angle theta i The angle between the D axis in the synchronous coordinate system D-Q and the alpha axis in the two-phase static coordinate system alpha-beta is estimated to be a first angle theta i Estimating a first angle theta between the Q axis in the synchronous coordinate system D-Q and the beta axis in the two-phase stationary coordinate system alpha-beta i 。
As shown in FIG. 2, the angle between the estimated synchronous coordinate system D-Q and the stationary coordinate system α - β is determined as a first angle θ i . Estimating the included angle between the synchronous coordinate system D-Q and the actual synchronous coordinate system D-Q of the rotor as
Step S1023, injecting a preset disturbance signal into the current angle or the D-axis current, and determining a voltage compensation coefficient based on the preset disturbance signal, the estimated current and the estimated voltage; the current angle is an included angle between the current vector and a Q axis in the estimated synchronous coordinate system D-Q, and the D axis current is a component current of the current vector in a D axis in the estimated synchronous coordinate system D-Q.
Specifically, the present step provides two methods for injecting the preset disturbance signal into the current angle or the D-axis current, respectively. And by utilizing the injection of the preset disturbance signal, the calculated second motor power contains disturbance power caused by the preset disturbance signal.
For example, the step S1023 injects a preset disturbance signal into the current angle, and the method for determining the voltage compensation coefficient may include steps S10231 to S10235.
And S10231, determining an estimated current angle, wherein the estimated current angle is the current angle obtained after the preset disturbance signal is injected into the current angle.
Specifically, when the estimated synchronous coordinate system D-Q of the rotor of the motor coincides with the actual synchronous coordinate system D-Q of the rotor, the current vector I of the synchronous motor a And the MTPA current angle of the Q axis in the estimated synchronous coordinate system D-Q is sigma. The current angle sigma can be obtained by calculating according to the motor parameters through an MTPA formula, and when the motor is a non-salient pole motor, the current angle sigma is zero.
Injecting a preset disturbance signal into the current angle sigma to obtain an estimated current angle sigma h ：
σ h ＝σ+A sinω h t
Wherein σ h To estimate the current angle, σ is the current angle, A is the amplitude of the predetermined perturbation signal, ω h The frequency of the disturbing signal is preset.
In step S10232, a second current component is determined from the current vector and the estimated current angle.
In particular, the estimated current angle σ h As a current vector I a In a synchronous coordinate system D-Q with estimationThe included angle of the Q axis is determined according to the estimated current angle sigma h Sum current vector I a A second current component containing high frequency disturbances may be determined, the second current component comprising a current
And current
In step S10233, the Park inverse transformation is performed on the second current component based on the first angle, and the third current component is determined.
Specifically, based on the first angle θ i For the second current component
Carrying out Park inverse transformation to obtain a third current component containing preset disturbance signal disturbance, wherein the third current component comprises current
And current
In step S10234, the second motor power is calculated according to the third current component and the estimated voltage.
Specifically, the third current component
And estimating the voltage
Bring in toObtaining the power P of the second motor by a power calculation formula inj 。
Wherein k is coefficient, p is number of pole pairs of motor, omega m Is the motor speed, L d Is motor d-axis inductance, R is motor stator winding resistance,
and
to estimate the voltage, i Q And i D In order to estimate the current flow, the current,
and
is the second current component.
In step S10235, a voltage compensation coefficient is determined according to the second motor power.
In particular, the second motor power P inj According to the Taylor series expansion:
by applying a second motor power P inj The power signal output by the second filter is
The second filter may be a neural network or a band-pass filter. Then the power signal is summed with sin ω h t is multiplied to obtain a power signal
Power signal
Can be expressed as:
wherein K is a coefficient.
Will power signal
Input into a first filter, which outputs a power signal
The first filter may be a neural network, a fuzzy controller, a low-pass filter, or the like. Power signal
Is one and
proportional signal, power signal
After being input into the third regulator, the voltage compensation coefficient delta k can be obtained v The third regulator may be a neural network, an integrator, a PI regulator, a proportional regulator, or the like. If it is
Not equal to zero, the third regulator will continuously change the voltage compensation coefficient Δ k v Up to
Equal to zero.
Since the current angle σ is obtained from the MTPA calculation formula based on the motor parameter, it can be considered that the current angle σ is approximately equal to the accurate MTPA current angle. And then
Estimated current angle sigma corresponding to zero h Also the MTPA current angle, since there is only one MTPA current angle, the third regulator adjusts the voltage compensation coefficient ak v So that
The process of equaling zero is essentially the process of adjusting the estimated synchronous coordinate system D-Q. When the estimated synchronous coordinate system D-Q is coincident with the actual synchronous coordinate system D-Q of the rotor, the current vector I of the synchronous motor at the moment a The MTPA current angle of the Q axis in the D-Q synchronous coordinate system is estimated as a current vector I a The MTPA current angle of the q-axis in the coordinate system d-q is actually synchronized with the rotor.
In another embodiment, in step S1023, a preset disturbance signal is injected into the D-axis current, and the method for determining the voltage compensation coefficient may include steps S10236 to S10239.
In step S10236, the high-frequency current component and the high-frequency voltage component of the preset disturbance signal in the estimated synchronous coordinate system D-Q are determined.
Specifically, a predetermined disturbance signal is injected into the D-axis current, and the current i is estimated Q 、i D The high-frequency current component contained in (1) is:
wherein A is the amplitude of the preset disturbance signal, omega h For presetting the frequency, i, of the disturbance signal Dh And i Qh Is a high frequency current component.
For a non-salient pole motor, neglecting the resistance voltage drop of the motor under the estimation of a synchronous coordinate system D-Q, the calculation equation of the high-frequency voltage component is as follows:
wherein u is Dh And u Qh Is a high-frequency voltage component i Dh And i Qh Is a high-frequency current component, L s Is motor phase inductance, omega e For electrical angular frequencies, ρ is the differential operator.
Substituting the high frequency current component into the above equation if the estimated current i is Q 、i D By injecting a dummy signal, the high-frequency voltage component u Dh 、u Qh Comprises the following steps:
in step S10237, a fourth current component is determined based on the high-frequency current component and the estimated current, and a second voltage component is determined based on the high-frequency voltage component and the estimated voltage.
Specifically, a second voltage component is determined based on the high-frequency voltage component and the estimated voltage, the second voltage component
Comprises the following steps:
determining a fourth current component on the basis of the high-frequency current component and the estimated current, the fourth current component
Comprises the following steps:
and step S10238, calculating to obtain second motor power according to the fourth current component and the second voltage component.
Specifically, after the preset disturbance signal is injected, the obtained virtual electric power of the motor is the second motor power. Second motor power P inj The calculation formula of (2) is as follows:
wherein k is a coefficient of the number,
is the fourth current component of the current flowing through the first and second switching elements,
is the second voltage component.
Substituting the fourth current component and the second voltage component into the second motor power P inj In the calculation formula (2), it can be obtained that:
in step S10239, a voltage compensation coefficient is determined according to the second motor power.
In particular, when the second motor power P is determined inj (virtual electric power of the motor) the second motor power P needs to be analyzed inj The analysis is performed under the actual synchronous coordinate system d-q of the rotor. Estimating the current i after the injection of the predetermined disturbance signal D 、i Q The projections of the d axis and the q axis in the actual synchronous coordinate system d-q of the rotor are i respectively d 、i q ：
Under the actual synchronous coordinate system d-q of the rotor, the motor electric power P can be the motor parameter and the current i d 、i q Expressed as:
wherein k is a coefficient, R s For dynamo statorSub-resistance, Ψ f Is a permanent magnet flux linkage, L s Is motor phase inductance, omega e Electrical angular frequency.
Combining the formula, the second motor power P after the preset disturbance signal is injected can be deduced inj The specific information contained is:
in order to extract the second motor power P inj High frequency power component contained
The second motor power P may be adjusted by means of a second filter inj Extracting high-frequency power component, and extracting high-frequency power component
Comprises the following steps:
the second filter may be a neural network or a band-pass filter.
Then, the high frequency power component is converted into
And sin ω h Multiplying by t to obtain power
Comprises the following steps:
then supply power to
The signal is input into a first filter and then is output to a second filter,obtain power
Comprises the following steps:
by power
It can be seen that the information contained therein is
Are related to
Representing the phase difference between the estimated synchronous coordinate system D-Q and the actual synchronous coordinate system D-Q of the rotor, i.e. the current vector I a Phase difference with the q-axis in the actual synchronous coordinate system d-q of the rotor. To eliminate this phase difference, the power is adjusted by a third regulator
Regulating to obtain voltage compensation coefficient delta k v And the third regulator can be a neural network, a fuzzy controller, a PI controller and the like.
When power is supplied
And when the phase difference is zero, the phase difference between the estimated synchronous coordinate system D-Q and the actual synchronous coordinate system D-Q of the rotor is zero, namely the estimated synchronous coordinate system D-Q is coincident with the actual synchronous coordinate system D-Q of the rotor. At this time, the current vector I a And the motor operates at the maximum torque-current ratio, so that the current amplitude of the stator of the motor is reduced, and the aim of optimizing the control efficiency of the motor is fulfilled.
Step S103, determining a first target voltage component according to a preset voltage coefficient, a voltage compensation coefficient, an electrical angle compensation frequency and a preset electrical angle frequency; wherein the first target voltage component is used to control the motor rotation to determine the second motor current.
Illustratively, step S103 may specifically include step S1031 to step S1034.
And step S1031, determining a target voltage coefficient according to the preset voltage coefficient and the voltage compensation coefficient.
Specifically, the compensation coefficient Δ k is based on the voltage v And a preset voltage coefficient k v0 The target voltage coefficient k can be determined v Comprises the following steps:
k v ＝k v0 +Δk v
wherein the preset voltage coefficient k v0 Can be set according to actual needs.
Step S1032, determining a target voltage amplitude according to the preset electrical angular frequency and the target voltage coefficient.
Specifically, according to a target voltage coefficient k v And a predetermined electrical angular frequency omega e0 Determining a target voltage magnitude
Comprises the following steps:
wherein the electrical angular frequency ω is preset e0 Can be set according to actual needs.
Step S1033, a target electrical angle is determined according to the electrical angle compensation frequency and the preset electrical angle frequency.
In particular, the frequency Δ ω is compensated according to the electrical angle e And a predetermined electrical angular frequency omega e0 Calculating to obtain a target electrical angle omega e Comprises the following steps:
ω e ＝ω e0 -Δω e
step S1034, a first target voltage component is determined according to the target electrical angle and the target voltage amplitude.
Specifically, the target electrical angle ω e Inputting into a second regulator to obtain electricityAngle theta e The second regulator may be a neural network, an integrator, a PI controller, a fuzzy controller, etc.
Will electrical angle theta e With target voltage amplitude
Performing polar coordinate transformation to obtain a first target voltage component
Then according to the first target voltage component
And executing an SVPWM algorithm to output the duty ratio of each switching tube of the three-phase inverter, thereby realizing the control of the motor.
According to the motor control method provided by the embodiment of the application, the stability of the motor control system and the tracking of the rotating speed of the motor can be realized by calculating the electrical angle compensation frequency, and the motor control system is prevented from oscillating. By injecting the preset disturbance signal and determining the voltage compensation coefficient according to the injected preset disturbance signal, the amplitude of the first target voltage component (the driving voltage of the motor) is optimized, and the efficiency of the system is effectively improved on the premise of ensuring the stability of a motor control system. When the working efficiency of the motor is optimal, the estimated synchronous coordinate system of the motor rotor and the actual synchronous coordinate system of the rotor can be automatically aligned, so that equivalent and accurate position-sensing-free control is realized. The motor control method provided by the embodiment has stronger robustness to the change of motor parameters, and can be simultaneously applied to the high-speed and low-speed control of the salient pole synchronous motor and the non-salient pole synchronous motor.
In order to more clearly illustrate the working flow of the motor control method provided in the embodiments of the present application, a specific embodiment is described below, as shown in fig. 3.
Collecting a first motor current i a 、i b And a first voltage component
Applying a first motor current i a 、i b Clark conversion is carried out to obtain a first current component i α And i β . According to a first motor current i a 、i b And a first voltage component
Calculating to obtain first motor power P, extracting pulse component delta P in the first motor power P by using a third filter, and adjusting the pulse component delta P through a first adjuster to obtain electrical angle compensation frequency delta omega e 。
Injecting a preset disturbance signal through a preset disturbance signal injection module to obtain the power P of the second motor inj . Second motor power P is filtered by a second filter inj Filtering to obtain power signal
Will power signal
And sin omega h t is multiplied to obtain a power signal
The power signal is filtered by a first filter
Filtering to obtain power signal
Finally, the third regulator is used for power signal
Adjusting to obtain a voltage compensation coefficient delta k v 。
According to the voltage compensation coefficient Deltak v And a preset voltage coefficient k v0 Obtaining a target voltage coefficient k v . According to the target voltage coefficient k v And a predetermined electrical angular frequency omega e0 Obtaining a target voltage amplitude
Compensating for frequency Δ ω according to electrical angle e And a predetermined electrical angular frequency omega e0 Calculating to obtain a target electrical angle omega e . Using the second regulator to adjust the target electrical angle omega e Adjusted to obtain the electrical angle theta e . Will electrical angle theta e With target voltage amplitude
Performing polar coordinate transformation to obtain a first target voltage component
Then according to the first target voltage component
And executing an SVPWM algorithm to output the duty ratio of each switching tube of the three-phase inverter, thereby realizing the control of the motor. The first voltage component is a first target voltage component determined in a previous control period.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 4 shows a schematic structural diagram of a motor control apparatus provided in an embodiment of the present application, and the motor control apparatus includes a rotation speed tracking module 41, a coordinate adjustment module 42, and a target voltage component determination module 43.
The rotating speed tracking module 41 is configured to determine a first current component of the first motor current in a two-phase stationary coordinate system α - β, and determine an electrical angle compensation frequency according to the first current component and the first voltage component;
the coordinate adjusting module 42 is configured to determine a voltage compensation coefficient according to the first current component, the first voltage component and a preset disturbance signal;
a target voltage component determining module 43, configured to determine a first target voltage component according to a preset voltage coefficient, a preset electrical angle frequency, the voltage compensation coefficient, and the electrical angle compensation frequency; wherein the first target voltage component is used to control motor rotation to determine a second motor current;
the first voltage component is a first target voltage component determined in a previous control period, and the first motor current is a second motor current in the previous control period.
In one embodiment of the present application, the rotational speed tracking module 41 includes a first motor power determination unit, a disturbance component determination unit, and an electrical angle compensation frequency determination unit.
The first motor power determining unit is used for calculating first motor power according to the first current component and the first voltage component;
a disturbance component determination unit, configured to filter the first motor power to extract a disturbance component of the first motor power;
and the electrical angle compensation frequency determining unit is used for adjusting the disturbance component to obtain the electrical angle compensation frequency.
In one embodiment of the present application, the coordinate adjustment module 42 includes a first angle determination unit, an estimation unit, and a voltage compensation coefficient determination unit.
A first angle determination unit for determining a first angle from the first current component; the first angle is an included angle between a current vector of the first motor current and an alpha axis in an alpha-beta two-phase static coordinate system;
the estimation unit is used for transforming the first current component and the first voltage component according to the first angle and determining an estimated synchronous coordinate system D-Q, an estimated current of the first current component under the estimated synchronous coordinate system D-Q and an estimated voltage of the first voltage component under the estimated synchronous coordinate system D-Q;
a voltage compensation coefficient determination unit for injecting the preset disturbance signal into a current angle or a D-axis current, and determining the voltage compensation coefficient based on the preset disturbance signal, the estimated current, and the estimated voltage; the current angle is an included angle between the current vector and a Q axis in an estimated synchronous coordinate system D-Q, and the D axis current is a component current of the current vector in a D axis in the estimated synchronous coordinate system D-Q.
In one embodiment of the present application, in a case where the preset disturbance signal is injected into the current angle, the voltage compensation coefficient determination unit includes an estimated current angle determination unit, a second current component determination unit, a third current component determination unit, a second motor power determination unit, and a first voltage compensation coefficient determination subunit.
The estimated current angle determining unit is used for determining an estimated current angle, and the estimated current angle is obtained after the preset disturbance signal is injected into the current angle;
a second current component determination unit for determining a second current component from the current vector and the estimated current angle;
a third current component determining unit, configured to perform inverse Park transform on the second current component based on the first angle, and determine a third current component;
the second motor power determining unit is used for calculating to obtain second motor power according to the third current component and the estimated voltage;
and the first voltage compensation coefficient determining subunit is used for determining the voltage compensation coefficient according to the second motor power.
In one embodiment of the present application, in a case where the preset disturbance signal is injected into the D-axis current, the voltage compensation coefficient determination unit includes a high-frequency component determination unit, a second voltage component determination unit, a second motor power determination subunit, and a second voltage compensation coefficient determination unit.
The high-frequency component determining unit is used for determining a high-frequency current component and a high-frequency voltage component of a preset disturbance signal in the estimated synchronous coordinate system D-Q;
a second voltage component determination unit for determining a fourth current component from the high-frequency current component and the estimated current, and a second voltage component from the high-frequency voltage component and the estimated voltage;
the second motor power determining subunit is configured to calculate, according to the fourth current component and the second voltage component, the second motor power;
and the second voltage compensation coefficient determining unit is used for determining the voltage compensation coefficient according to the second motor power.
In one embodiment of the present application, the target voltage component determination module 43 includes a target voltage coefficient determination unit, a target voltage amplitude determination unit, a target electrical angle determination unit, and a first target voltage component determination unit.
The target voltage coefficient determining unit is used for determining a target voltage coefficient according to the preset voltage coefficient and the voltage compensation coefficient;
the target voltage amplitude determining unit is used for determining a target voltage amplitude according to the preset electrical angular frequency and the target voltage coefficient;
a target electrical angle determination unit for determining a target electrical angle according to the electrical angle compensation frequency and the preset electrical angle frequency;
a first target voltage component determination unit for determining the first target voltage component according to the target electrical angle and the target voltage amplitude.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
The motor control device shown in fig. 4 may be a software unit, a hardware unit, or a combination of software and hardware unit built in an existing terminal device, may be integrated into the terminal device as a separate pendant, or may exist as a separate terminal device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.
Fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 5, the terminal device 5 of this embodiment may include: at least one processor 51 (only one processor 51 is shown in fig. 5), a memory 52, and a computer program 53 stored in the memory 52 and operable on the at least one processor 51, wherein the processor 51 implements the steps of any of the above-mentioned method embodiments, such as the steps S101 to S103 in the embodiment shown in fig. 1, when executing the computer program 53. The processor 51, when executing the computer program 53, implements the functions of the various modules/units in the various device embodiments described above, such as the functions of the modules 41 to 43 shown in fig. 4.
Illustratively, the computer program 53 may be divided into one or more modules/units, which are stored in the memory 52 and executed by the processor 51 to carry out the invention. The one or more modules/units may be a series of instruction segments of the computer program 53 capable of performing specific functions, which are used to describe the execution process of the computer program 53 in the terminal device 5.
The terminal device 5 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device 5 may include, but is not limited to, a processor 51 and a memory 52. Those skilled in the art will appreciate that fig. 5 is only an example of the terminal device 5, and does not constitute a limitation to the terminal device 5, and may include more or less components than those shown, or may combine some components, or different components, and may further include, for example, an input/output device, a network access device, and the like.
The Processor 51 may be a Central Processing Unit (CPU), and the Processor 51 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 52 may in some embodiments be an internal storage unit of the terminal device 5, such as a hard disk or a memory of the terminal device 5. The memory 52 may also be an external storage device of the terminal device 5 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 5. Further, the memory 52 may also include both an internal storage unit and an external storage device of the terminal device 5. The memory 52 is used for storing an operating system, an application program, a Boot Loader (Boot Loader), data, and other programs, such as program codes of the computer program 53. The memory 52 may also be used to temporarily store data that has been output or is to be output.
The present application further provides a computer-readable storage medium, where a computer program 53 is stored, and when the computer program 53 is executed by the processor 51, the steps in the above-mentioned method embodiments may be implemented.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program 53 to instruct related hardware, where the computer program 53 can be stored in a computer readable storage medium, and when the computer program 53 is executed by the processor 51, the steps of the methods of the embodiments described above can be implemented. Wherein the computer program 53 comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or apparatus capable of carrying computer program code to a terminal device, recording medium, computer Memory, read-Only Memory (ROM), random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. 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.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. A motor control method, comprising:
determining a first current component of a first motor current under a two-phase static coordinate system alpha-beta, and determining an electrical angle compensation frequency according to the first current component and a first voltage component;
determining a voltage compensation coefficient according to the first current component, the first voltage component and a preset disturbance signal;
determining a first target voltage component according to a preset voltage coefficient, a preset electrical angle frequency, the voltage compensation coefficient and the electrical angle compensation frequency; wherein the first target voltage component is used to control motor rotation to determine a second motor current;
the first voltage component is a first target voltage component determined in a previous control period, and the first motor current is a second motor current in the previous control period;
said determining an electrical angle compensation frequency from said first current component and first voltage component comprising:
calculating to obtain first motor power according to the first current component and the first voltage component;
filtering the first motor power to extract a disturbance component of the first motor power;
adjusting the disturbance component to obtain the electrical angle compensation frequency;
the determining a voltage compensation coefficient according to the first current component, the first voltage component and a preset disturbance signal includes:
determining a first angle from the first current component; the first angle is an included angle between a current vector of the first motor current and an alpha axis in an alpha-beta two-phase static coordinate system;
transforming the first current component and the first voltage component according to the first angle, and determining an estimated synchronous coordinate system D-Q, an estimated current of the first current component under the estimated synchronous coordinate system D-Q, and an estimated voltage of the first voltage component under the estimated synchronous coordinate system D-Q;
injecting the preset disturbance signal into a current angle or a D-axis current, and determining the voltage compensation coefficient based on the preset disturbance signal, the estimated current and the estimated voltage; the current angle is an included angle between the current vector and a Q axis in an estimated synchronous coordinate system D-Q, and the D axis current is a component current of the current vector on a D axis in the estimated synchronous coordinate system D-Q.
2. The method of claim 1, wherein said determining the voltage compensation factor based on the predetermined perturbation signal, the estimated current, and the estimated voltage, with the predetermined perturbation signal injected into a current angle, comprises:
determining an estimated current angle, wherein the estimated current angle is obtained after the preset disturbance signal is injected into the current angle;
determining a second current component from the current vector and the estimated current angle;
performing Park inverse transformation on the second current component based on the first angle to determine a third current component;
calculating to obtain second motor power according to the third current component and the estimated voltage;
and determining the voltage compensation coefficient according to the second motor power.
3. The motor control method according to claim 1, wherein the determining the voltage compensation coefficient based on the preset disturbance signal, the estimated current, and the estimated voltage in a case where the preset disturbance signal is injected into a D-axis current includes:
determining a high-frequency current component and a high-frequency voltage component of a preset disturbance signal in an estimated synchronous coordinate system D-Q;
determining a fourth current component from the high frequency current component and the estimated current, and a second voltage component from the high frequency voltage component and the estimated voltage;
calculating to obtain second motor power according to the fourth current component and the second voltage component;
and determining the voltage compensation coefficient according to the second motor power.
4. A method according to claim 2 or 3, wherein said determining the voltage compensation factor from the second motor power comprises:
extracting a high-frequency power component in the second motor power;
and determining the voltage compensation coefficient according to the high-frequency power component.
5. The motor control method according to claim 1, wherein the determining the first target voltage component based on a preset voltage coefficient, a preset electrical angle frequency, the voltage compensation coefficient, and the electrical angle compensation frequency includes:
determining a target voltage coefficient according to the preset voltage coefficient and the voltage compensation coefficient;
determining a target voltage amplitude according to the preset electrical angular frequency and the target voltage coefficient;
determining a target electrical angle according to the electrical angle compensation frequency and the preset electrical angle frequency;
determining the first target voltage component according to the target electrical angle and the target voltage amplitude.
6. A motor control apparatus, comprising:
the rotating speed tracking module is used for determining a first current component of a first motor current under a two-phase static coordinate system alpha-beta and determining an electrical angle compensation frequency according to the first current component and a first voltage component;
the coordinate adjusting module is used for determining a voltage compensation coefficient according to the first current component, the first voltage component and a preset disturbance signal;
the target voltage component determination module is used for determining a first target voltage component according to a preset voltage coefficient, a preset electrical angle frequency, the voltage compensation coefficient and the electrical angle compensation frequency; wherein the first target voltage component is used to control motor rotation to determine a second motor current;
the first voltage component is a first target voltage component determined in a previous control period, and the first motor current is a second motor current in the previous control period;
the rotating speed tracking module comprises a first motor power determining unit, a disturbance component determining unit and an electrical angle compensation frequency determining unit;
the first motor power determining unit is used for calculating first motor power according to the first current component and the first voltage component;
a disturbance component determination unit, configured to filter the first motor power to extract a disturbance component of the first motor power;
the electrical angle compensation frequency determining unit is used for adjusting the disturbance component to obtain the electrical angle compensation frequency;
the coordinate adjusting module comprises a first angle determining unit, an estimating unit and a voltage compensation coefficient determining unit;
a first angle determination unit for determining a first angle from the first current component; the first angle is an included angle between a current vector of the first motor current and an alpha axis in an alpha-beta two-phase static coordinate system;
the estimation unit is used for transforming the first current component and the first voltage component according to the first angle and determining an estimated synchronous coordinate system D-Q, an estimated current of the first current component under the estimated synchronous coordinate system D-Q and an estimated voltage of the first voltage component under the estimated synchronous coordinate system D-Q;
a voltage compensation coefficient determination unit for injecting the preset disturbance signal into a current angle or a D-axis current, and determining the voltage compensation coefficient based on the preset disturbance signal, the estimated current, and the estimated voltage; the current angle is an included angle between the current vector and a Q axis in an estimated synchronous coordinate system D-Q, and the D axis current is a component current of the current vector on a D axis in the estimated synchronous coordinate system D-Q.
7. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 5 when executing the computer program.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 5.
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| CN114915224B (en) * | 2022-03-10 | 2023-01-24 | 四川大学 | MTPA control method based on self-adaptive virtual direct current signal injection method |
| CN115996007B (en) * | 2023-02-03 | 2023-08-22 | 北京中科昊芯科技有限公司 | Method and device for on-line identification of motor stator resistance and motor |
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