CN113131824A - Current control method and device, storage medium, variable frequency speed regulation system and vehicle - Google Patents
Current control method and device, storage medium, variable frequency speed regulation system and vehicle Download PDFInfo
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- CN113131824A CN113131824A CN201911365654.3A CN201911365654A CN113131824A CN 113131824 A CN113131824 A CN 113131824A CN 201911365654 A CN201911365654 A CN 201911365654A CN 113131824 A CN113131824 A CN 113131824A
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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Abstract
The invention discloses a control method and a control device for motor current, a storage medium, a variable frequency speed control system and a vehicle, wherein the control method for the motor current comprises the following steps: acquiring target current, feedback current and feedback rotating speed of a motor; calculating to obtain a deviation current according to the target current and the feedback current, and calculating to obtain a current parameter according to the feedback rotating speed; generating an adjusting current according to the deviation current and the current parameter; and carrying out PI closed-loop regulation on the regulating current. The control method can reduce frequent change of the deviation current and improve the stability of the motor current, thereby reducing the risk of motor torque oscillation, increasing the anti-interference performance of the current regulator and reducing frequent action of the current regulator.
Description
Technical Field
The invention relates to the technical field of current control, in particular to a motor current control method, a computer readable storage medium, a motor current control device, a motor variable frequency speed control system and a vehicle.
Background
The current oscillation is a dangerous phenomenon in a motor control system, and the low-frequency low-amplitude oscillation can cause the oscillation of the torque of a motor, namely the motor output is unstable, so that the shaking of a vehicle driven by the motor is caused; high amplitude oscillations may cause sudden increases in current that may cause damage to the controller.
As is well known, ACR (Automatic Current Regulator) in a three-phase ac variable frequency speed control system is an indispensable part of a control algorithm. The ACR module has the characteristics that an input interface is easily interfered and software calling is frequent in a software program. In the related art, frequent actions of input signals are not processed, so that signals with small changes enter the ACR, and frequent operation of the ACR is possibly caused by small fluctuation when the motor operates at a high speed, so that oscillation risks are brought. Therefore, a policy method for reducing frequent ACR actions is urgently needed.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a method for controlling a motor current to reduce frequent variation of an offset current and improve stability of the motor current, thereby reducing risk of torque oscillation of the motor, increasing interference immunity of a current regulator, and reducing frequent operation of the current regulator.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the present invention is to provide a motor current control device.
The fourth purpose of the invention is to provide a variable frequency speed control system of the motor.
A fifth object of the invention is to propose a vehicle.
In order to achieve the above object, a first aspect of the present invention provides a method for controlling a motor current, comprising: acquiring target current, feedback current and feedback rotating speed of a motor; calculating to obtain a deviation current according to the target current and the feedback current, and calculating to obtain a current parameter according to the feedback rotating speed; generating an adjusting current according to the deviation current and the current parameter; and carrying out PI closed-loop regulation on the regulating current.
According to the control method of the motor current, the target current, the feedback current and the feedback rotating speed of the motor are firstly obtained, then the deviation current is obtained through calculation according to the obtained target current and the obtained feedback current, the current parameter is obtained through calculation according to the obtained feedback rotating speed, the regulating current is generated according to the calculated deviation current and the current parameter, and finally the regulating current is subjected to PI closed-loop regulation. Therefore, the control method can reduce frequent variation of the deviation current and improve the stability of the motor current, thereby reducing the risk of motor torque oscillation, increasing the anti-interference performance of the current regulator and reducing frequent action of the current regulator.
In addition, the control method of the motor current according to the above embodiment of the present invention may further have the following additional technical features:
in one embodiment of the present invention, the current parameter is calculated according to the following formula:
wherein e is0(ws) For feeding back the rotating speed wsCorresponding current parameter, wmaxIs the peak rotational speed, T, of the motorqIs the current torque of the motor, TqmaxAnd a is a deviation constant value which is the peak torque of the motor.
In one embodiment of the present invention, the generating the adjustment current according to the offset current and the current parameter comprises: judging whether the deviation current is larger than the current parameter or not; if the offset current is greater than the current parameter, taking the offset current as the regulating current; and if the deviation current is less than or equal to the current parameter, taking the value of 0 as the regulating current.
In one embodiment of the invention, the target currents comprise direct-axis target currents and quadrature-axis target currents, and the feedback currents comprise direct-axis feedback currents and quadrature-axis feedback currents.
To achieve the above object, a second aspect of the present invention provides a computer readable storage medium, wherein when being executed by a processor, the computer program implements the method for controlling a motor current according to the above embodiments.
According to the computer-readable storage medium of the embodiment of the invention, the control method of the motor current described in the embodiment can be realized by executing the program stored in the control method of the motor current corresponding to the embodiment, so that frequent change of the motor current can be reduced, the stability of the motor current can be improved, the risk of torque oscillation of the motor can be reduced, the anti-interference performance of the current regulator can be increased, and the frequent action of the current regulator can be reduced.
In order to achieve the above object, a third aspect of the present invention provides a control device for motor current, the control device including: the acquisition module is used for acquiring the target current, the feedback current and the feedback rotating speed of the motor; the calculation module is used for calculating to obtain a deviation current according to the target current and the feedback current and calculating to obtain a current parameter according to the feedback rotating speed; the generating module is used for generating an adjusting current according to the deviation current and the current parameter; and the adjusting module is used for carrying out PI closed-loop adjustment on the adjusting current.
According to the control device of the motor current, the target current, the feedback current and the feedback rotating speed of the motor are obtained through the obtaining module; then, calculating to obtain a deviation current according to the obtained target current and the feedback current by using a calculation module, and calculating to obtain a current parameter according to the feedback rotating speed; generating an adjusting current according to the calculated deviation current and the current parameter through a generating module; and finally, carrying out PI closed-loop regulation on the regulating current through a regulating module. Therefore, the control device can reduce frequent variation of the deviation current and improve the stability of the motor current, thereby reducing the risk of motor torque oscillation, increasing the anti-interference performance of the current regulator and reducing frequent actions of the current regulator.
In addition, the control device for motor current according to the above embodiment of the present invention may further have the following additional technical features:
in an embodiment of the present invention, the calculation module calculates the current parameter according to the following formula:
wherein e is0(ws) For feeding back the rotating speed wsCorresponding current parameter, wmaxIs the peak rotational speed, T, of the motorqIs the current torque of the electric machine,Tqmaxand a is a deviation constant value which is the peak torque of the motor.
In an embodiment of the present invention, the generating module is specifically configured to: judging whether the deviation current is larger than the current parameter or not; if the offset current is greater than the current parameter, taking the offset current as the regulating current; and if the deviation current is less than or equal to the current parameter, taking the value of 0 as the regulating current.
In order to achieve the above object, a fourth aspect of the present invention provides a variable frequency speed control system for a motor, where the variable frequency speed control system includes the control device for motor current described in the above embodiments.
According to the motor variable-frequency speed regulation system provided by the embodiment of the invention, the frequent change of the deviation current can be reduced and the stability of the motor current is improved through the motor current control device provided by the embodiment, so that the risk of motor torque oscillation is reduced, the anti-interference performance of the current regulator is increased, and the frequent action of the current regulator is reduced.
In order to achieve the above purpose, an embodiment of a fifth aspect of the invention provides a vehicle, which includes the variable frequency speed control system of the motor according to the above embodiment.
According to the vehicle provided by the embodiment of the invention, the frequency change of the deviation current can be reduced through the motor variable-frequency speed regulation system of the embodiment, the stability of the motor current is improved, the risk of motor torque oscillation is effectively reduced, and the vehicle motor can carry out variable-frequency speed regulation safely and stably.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of controlling motor current in an embodiment of the present invention;
FIG. 2 is a graphical illustration of a current parameter as a function of one embodiment of the present invention;
FIG. 3 is a control logic diagram for regulating current closed loop regulation according to an embodiment of the present invention;
fig. 4 is a block diagram of a motor current control apparatus according to an embodiment of the present invention;
FIG. 5 is a block diagram of a variable frequency speed control system of a motor according to an embodiment of the present invention;
fig. 6 is a block diagram of the structure of the vehicle of the embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a control method and device of motor current, a storage medium, a variable frequency speed control system and a vehicle according to an embodiment of the invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of a motor current control method according to an embodiment of the present invention.
As shown in fig. 1, the control method includes the steps of:
and S1, acquiring the target current, the feedback current and the feedback rotating speed of the motor.
Specifically, data acquisition is performed on the motor to be controlled, wherein the acquired data of the motor includes, but is not limited to, a target current (i.e., a given current input to the current regulator), a feedback current (i.e., an actual current), and a feedback rotational speed (i.e., an actual rotational speed) of the motor. According to the actual use condition, all data of the motor can be acquired simultaneously; it is also possible to acquire the data several times separately, for example when certain data of the motor is needed. In this embodiment, a method of simultaneously obtaining the target current, the feedback current, and the feedback rotational speed of the motor may be adopted.
The feedback current of the motor can be detected by the current sensor, and the feedback rotating speed of the motor can be acquired by the rotating speed sensor (such as a photoelectric encoder).
And S2, calculating to obtain a deviation current according to the target current and the feedback current, and calculating to obtain a current parameter according to the feedback rotating speed.
Specifically, after the data of the motor is obtained through step S1, the difference between the target current and the feedback current may be directly obtained, and the offset current may be calculated, and the current parameter of the motor may be calculated according to the feedback rotation speed.
In one example of the invention, the following may be expressed in terms of the formula:
calculating to obtain current parameters of the motor, wherein e0(ws) For feeding back the rotating speed wsCorresponding current parameter, wmaxAt peak rotational speed of the motor, TqIs the current torque of the motor, TqmaxThe peak torque of the motor is denoted by a, and a is a deviation constant.
Specifically, the influence of the rotating speed and the torque on the motor control is large by combining the actual load characteristic of the motor, the current parameter of the motor can be directly calculated through the rotating speed and the torque, and other factors with small influence can be ignored. If the precision requirement of the user on the current parameter is higher, other data such as loss, voltage and the like can be introduced to participate in calculation so as to improve the precision of the current parameter. In the formula of this example for calculating the current parameter, a is a deviation constant, which can be adjusted according to the actual usage of the motor.
And S3, generating a regulating current according to the deviation current and the current parameter.
Specifically, after the offset current and the current parameter of the motor are calculated through step S2, the adjustment current may be generated according to the offset current and the current parameter.
In an example of the present invention, step S2 specifically includes: judging whether the deviation current is larger than the current parameter or not; if the deviation current is larger than the current parameter, taking the deviation current as the regulating current; and if the deviation current is less than or equal to the current parameter, taking the value of 0 as the regulating current.
In particular, to avoid too frequent control actions, eliminating oscillations due to frequent actions, a control algorithm with dead zones may be introduced. Firstly, judging the sizes of the deviation current and the current parameter, and if the deviation current is greater than the current parameter, taking the deviation current as the regulating current; and if the deviation current is less than or equal to the current parameter, taking the value of 0 as the regulating current.
Specifically, it can be expressed by the following formula:
wherein e (k) is the bias current, and u (k) is the regulation current.
The current parameter is an adjustable parameter, which can be adjusted, as known from step S2. It should be noted that too small current parameters may cause too frequent control actions and may not achieve the purpose of stabilizing the controlled object; if the current parameter is too large, the motor will experience a large hysteresis. On the basis that the current parameters are fixed, the current parameters are designed into variable values which are converted according to the feedback rotating speed of the motor, and then the adjusting current is obtained according to the size relation between the deviation current and the current parameters. This reduces frequent variation in offset current and reduces frequent operation of the current regulator.
Alternatively, as shown in fig. 2, the function curve of the current parameter may be obtained by a point method or a linear interpolation method, wherein the specific value of the current parameter is slightly different for different operating conditions.
And S4, carrying out PI closed-loop regulation on the regulating current.
Specifically, after the regulated current of the motor is obtained through the control algorithm with the dead zone, PI closed-loop regulation may be performed on the regulated current, as shown in fig. 3, a specific regulation formula may be: i (K) ═ u (K) × Kp+KIJ | (K) dt, where i (K) is the output of the current regulator, u (K) is the regulated current, KpIs a proportionality coefficient, KIIs an integral coefficient. By the control method, frequent change of the offset current can be reduced, and stability of the motor current can be improvedThe risk of motor torque oscillation is effectively reduced, the anti-interference performance of the current regulator is increased, and the frequent action of the current regulator is reduced.
In one example of the present invention, the target currents include direct-axis target currents and quadrature-axis target currents, and the feedback currents include direct-axis feedback currents and quadrature-axis feedback currents.
Specifically, in the embodiment, when the motor is subjected to vector control, the vector control system may comprise a speed loop and a current loop, and d-axis current (namely, direct-axis current) and q-axis current (namely, quadrature-axis current) can be respectively controlled by two current regulators in the current loop. The control process is as follows: the target rotation speed of the motor is compared with the feedback rotation speed, and a quadrature axis target current is output through the speed regulator as a given current of the q-axis current regulator, and the given current of the d-axis current regulator may be 0. The current sampling obtains three-phase stator current of the motor, and d-axis feedback current and q-axis feedback current can be obtained after clark conversion and park are sequentially carried out and are respectively used as the input of a d-axis current regulator and a q-axis current regulator.
The formula of the control algorithm of the dead zone of the straight shaft is as follows:
the control algorithm formula of the dead zone of the quadrature axis is as follows:
optionally, a function eq0(ws) And ed0(ws) All can be
May be distinguished by a function eq0(ws) And ed0(ws) The corresponding deviation amount constants a may be different.
In summary, the control method for the motor current of the present invention can reduce frequent variation of the offset current through the algorithm with the dead zone, and improve the stability of the motor current, thereby effectively reducing the risk of motor torque oscillation, increasing the interference immunity of the current regulator, and reducing frequent actions of the current regulator.
Further, the present invention also proposes a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the control method of the motor current in the above-described embodiments.
When the computer program corresponding to the control method of the motor current stored in the computer readable storage medium is executed by the processor, the computer readable storage medium can reduce frequent variation of the offset current and improve the stability of the motor current, thereby effectively reducing the risk of torque oscillation of the motor, increasing the anti-interference performance of the current regulator and reducing frequent actions of the current regulator.
Fig. 4 is a block diagram of a motor current control device according to an embodiment of the present invention.
In this embodiment, as shown in fig. 4, the control device 100 for motor current includes: the device comprises an acquisition module 10, a calculation module 20, a generation module 30 and an adjustment module 40.
The obtaining module 10 is configured to obtain a target current, a feedback current, and a feedback rotation speed of the motor; the calculation module 20 is used for calculating to obtain a deviation current according to the target current and the feedback current, and calculating to obtain a current parameter according to the feedback rotating speed; the generating module 30 is configured to generate an adjusting current according to the deviation current and the current parameter; the regulation module 40 is used for PI closed-loop regulation of the regulation current.
Specifically, data acquisition is performed on the motor to be controlled, wherein the data acquired by the acquisition module 10 includes, but is not limited to, a target current (i.e., a given current input to the current regulator), a feedback current (i.e., an actual current), and a feedback rotation speed (i.e., an actual rotation speed) of the motor. According to the actual use condition, all data of the motor can be acquired simultaneously through the acquisition module 10; it is also possible to acquire the data several times separately, for example when certain data of the motor is needed. In this embodiment, the obtaining module 10 may obtain the target current, the feedback current, and the feedback rotation speed of the motor at the same time. The calculating module 20 then calculates the offset current and the current parameter according to the target current, the feedback current and the feedback rotation speed of the motor obtained by the obtaining module 10.
The feedback current of the motor can be detected by the current sensor, and the feedback rotating speed of the motor can be acquired by the rotating speed sensor (such as a photoelectric encoder).
In an example of the present invention, the calculating module 20 may directly perform a difference between the target current and the feedback current to calculate a deviation current; the current parameter can be calculated according to the following formula:
wherein e is0(ws) For feeding back the rotating speed wsCorresponding current parameter, wmaxAt peak rotational speed of the motor, TqIs the current torque of the motor, TqmaxThe peak torque of the motor is denoted by a, and a is a deviation constant.
Specifically, the influence of the rotating speed and the torque on the motor control is large by combining the actual load characteristic of the motor, the current parameter of the motor can be directly calculated through the rotating speed and the torque, and other factors with small influence can be ignored. Of course, if the accuracy requirement of the user on the current parameter is high, other data such as loss, voltage and the like can be introduced to participate in the calculation so as to improve the accuracy of the current parameter. In the formula of this example for calculating the current parameter, a is a deviation constant, which can be adjusted according to the actual usage of the motor.
After the calculating module 20 calculates the offset current and the current parameter, the generating module 30 may generate the adjustment current according to the offset current and the current parameter.
In an example of the present invention, the generating module 30 is specifically configured to: judging whether the deviation current is larger than the current parameter or not; if the deviation current is larger than the current parameter, taking the deviation current as the regulating current; and if the deviation current is less than or equal to the current parameter, taking the value of 0 as the regulating current.
In particular, to avoid too frequent control actions, eliminating oscillations due to frequent actions, a control algorithm with dead zones may be introduced. The generating module 30 firstly determines the magnitude of the deviation current and the current parameter, and if the deviation current is greater than the current parameter, the deviation current is used as the regulating current; and if the deviation current is less than or equal to the current parameter, taking the value of 0 as the regulating current. Specifically, it can be expressed by the following formula:
wherein e (k) is the bias current, and u (k) is the regulation current.
The current parameter is an adjustable parameter that can be adjusted. It should be noted that too small current parameters may cause too frequent control actions and may not achieve the purpose of stabilizing the controlled object; if the current parameter is too large, the motor will experience a large hysteresis. On the basis that the current parameters are fixed, the current parameters are designed into variable values which are converted according to the feedback rotating speed of the motor, and then the adjusting current is obtained according to the size relation between the deviation current and the current parameters. This reduces frequent variation in offset current and reduces frequent operation of the current regulator.
Alternatively, the function curve of the current parameter may be obtained by a point tracing method or a linear interpolation method, wherein the specific value of the current parameter is slightly different under different working conditions.
After the regulating current is generated by the generating module 30, the regulating current is PI closed-loop regulated by the regulating module 40.
Specifically, after the regulating current of the motor is obtained through the control algorithm with the dead zone, PI closed-loop regulation may be performed on the regulating current, and a specific regulation formula may be: i (K) ═ u (K) × Kp+KIJ | (K) dt, where i (K) is the output of the current regulator, u (K) is the regulated current, KpIs a proportionality coefficient, KIIs an integral coefficient. The control device can reduce frequent change of deviation current, improve stability of motor current, and effectively reduce electricityThe risk of machine torque oscillation increases the interference resistance of the current regulator and reduces the frequent action of the current regulator.
In one example of the present invention, the target currents include direct-axis target currents and quadrature-axis target currents, and the feedback currents include direct-axis feedback currents and quadrature-axis feedback currents.
Specifically, in the embodiment, when the motor is subjected to vector control, the vector control system may comprise a speed loop and a current loop, and d-axis current (namely, direct-axis current) and q-axis current (namely, quadrature-axis current) can be respectively controlled by two current regulators in the current loop. The control process is as follows: the target rotation speed of the motor is compared with the feedback rotation speed, and a quadrature axis target current is output through the speed regulator as a given current of the q-axis current regulator, and the given current of the d-axis current regulator may be 0. The current sampling obtains three-phase stator current of the motor, and d-axis feedback current and q-axis feedback current can be obtained after clark conversion and park are sequentially carried out and are respectively used as the input of a d-axis current regulator and a q-axis current regulator.
The formula of the control algorithm of the dead zone of the straight shaft is as follows:
the control algorithm formula of the dead zone of the quadrature axis is as follows:
optionally, a function eq0(ws) And ed0(ws) All can be
May be distinguished by a function eq0(ws) And ed0(ws) The corresponding deviation amount constants a may be different.
In summary, the control device for motor current of the present invention can reduce frequent variation of the offset current through the control algorithm with the dead zone, and improve the stability of the motor current, thereby effectively reducing the risk of oscillation, increasing the anti-interference performance of the current regulator, and reducing frequent actions of the current regulator.
Fig. 5 is a structural block diagram of a variable frequency speed control system of a motor according to an embodiment of the invention.
Further, the present invention also provides a variable frequency speed control system 1000 of a motor, as shown in fig. 5, the variable frequency speed control system 1000 of the motor includes the control device 100 of the motor current in the above embodiment.
According to the motor variable-frequency speed regulation system provided by the embodiment of the invention, the frequent change of the deviation current can be reduced through the control device of the motor current in the embodiment, the stability of the motor current is improved, the risk of oscillation is effectively reduced, the motor can carry out variable-frequency speed regulation safely and stably, and the frequent action of the current regulator is reduced.
Fig. 6 is a block diagram of the structure of the vehicle of the embodiment of the invention.
Further, the invention also provides a vehicle 2000, as shown in fig. 6, where the vehicle 2000 includes the variable frequency speed control system 1000 of the motor in the above embodiment.
According to the vehicle provided by the embodiment of the invention, the frequency change of the deviation current can be reduced through the motor variable-frequency speed regulation system of the embodiment, the stability of the motor current is improved, the risk of oscillation is effectively reduced, the vehicle motor can carry out variable-frequency speed regulation safely and stably, and the service life of the vehicle motor is prolonged.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail to reduce redundancy.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method of controlling motor current, the method comprising the steps of:
acquiring target current, feedback current and feedback rotating speed of a motor;
calculating to obtain a deviation current according to the target current and the feedback current, and calculating to obtain a current parameter according to the feedback rotating speed;
generating an adjusting current according to the deviation current and the current parameter;
and carrying out PI closed-loop regulation on the regulating current.
2. The method of controlling motor current according to claim 1, wherein the current parameter is calculated according to the following formula:
wherein e is0(ws) For feeding back the rotating speed wsCorresponding current parameter, wmaxIs the peak rotational speed, T, of the motorqIs said electricityCurrent torque of the machine, TqmaxAnd a is a deviation constant value which is the peak torque of the motor.
3. A method of controlling motor current according to claim 1 or 2, wherein said generating a regulating current based on said offset current and said current parameter comprises:
judging whether the deviation current is larger than the current parameter or not;
if the offset current is greater than the current parameter, taking the offset current as the regulating current;
and if the deviation current is less than or equal to the current parameter, taking the value of 0 as the regulating current.
4. The motor current control method of claim 1, wherein the target currents include direct-axis target currents and quadrature-axis target currents, and the feedback currents include direct-axis feedback currents and quadrature-axis feedback currents.
5. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for controlling a motor current according to any one of claims 1-4.
6. A control device of a motor current, characterized in that the control device comprises:
the acquisition module is used for acquiring the target current, the feedback current and the feedback rotating speed of the motor;
the calculation module is used for calculating to obtain a deviation current according to the target current and the feedback current and calculating to obtain a current parameter according to the feedback rotating speed;
the generating module is used for generating an adjusting current according to the deviation current and the current parameter;
and the adjusting module is used for carrying out PI closed-loop adjustment on the adjusting current.
7. The motor current control device of claim 6, wherein said calculation module calculates said current parameter according to the following equation:
wherein e is0(ws) For feeding back the rotating speed wsCorresponding current parameter, wmaxIs the peak rotational speed, T, of the motorqIs the current torque of the motor, TqmaxAnd a is a deviation constant value which is the peak torque of the motor.
8. The control device of motor current according to claim 6 or 7, characterized in that the generating module is specifically configured to:
judging whether the deviation current is larger than the current parameter or not;
if the offset current is greater than the current parameter, taking the offset current as the regulating current;
and if the deviation current is less than or equal to the current parameter, taking the value of 0 as the regulating current.
9. A variable frequency speed control system for an electric motor, comprising control means for the motor current according to any one of claims 6 to 8.
10. A vehicle comprising the variable frequency speed control system of the motor of claim 9.
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