CN113315443A - Three-electric-system resonance point identification method, motor controller and storage medium - Google Patents

Three-electric-system resonance point identification method, motor controller and storage medium Download PDF

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CN113315443A
CN113315443A CN202110531753.5A CN202110531753A CN113315443A CN 113315443 A CN113315443 A CN 113315443A CN 202110531753 A CN202110531753 A CN 202110531753A CN 113315443 A CN113315443 A CN 113315443A
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frequency
bus voltage
voltage fluctuation
operating frequency
array
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CN113315443B (en
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安睿驰
李环平
刘兴亚
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Suzhou Huichuan United Power System Co Ltd
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Suzhou Huichuan United Power System Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention provides a three-electric-system resonance point identification method, a motor controller and a storage medium, wherein the method comprises the following steps: when a resonant frequency identification instruction is received, controlling a motor controller to operate at a plurality of different operating frequencies under the condition of outputting currents with the same amplitude; under each operating frequency, sampling the bus voltage of a direct current bus of the motor controller at a frequency greater than the current operating frequency, and acquiring a bus voltage fluctuation value under the current operating frequency according to a plurality of sampled bus voltages; and comparing the bus voltage fluctuation values under all the operating frequencies, and taking the operating frequency corresponding to the maximum bus voltage fluctuation value as the resonant frequency. The method can identify the resonant frequency of the three-electric-system without depending on other instruments, thereby reducing the time consumption and cost for identifying the resonant frequency of the three-electric-system and improving the usability of identifying the resonant frequency of the three-electric-system.

Description

Three-electric-system resonance point identification method, motor controller and storage medium
Technical Field
The invention relates to the field of motor control, in particular to a method, equipment and a storage medium for identifying a resonance point of a three-electric-system.
Background
With the rapid development of the new energy automobile industry, the functions of three electrical systems (namely, a strong electrical system including a power battery system, a whole automobile control system and a driving motor system) of a vehicle are increasingly complex. As shown in fig. 1, the three-electrical-system topology structure block diagram of the entire vehicle includes a battery 11, a strong-current wire harness 12, an electronic control unit 13 and a motor 14, wherein the battery 11 is used as a high-voltage power supply to provide driving energy for the entire vehicle; the strong electric wire harness 12 is connected with the battery 11 and the electronic control unit 13 to form a current loop; the electronic control unit 13 includes an inverter unit formed by semiconductor switching tubes, and the inverter unit can drive the motor 14 to convert electric energy into mechanical energy to drive the whole vehicle to run.
The implementation of most functions of a three-electrical system requires the acquisition of control characteristics of the entire vehicle system, where the most typical control characteristic is the system resonant frequency. For the topology of the three-electrical-system of the whole vehicle, the parasitic parameters of components and circuits (such as the internal resistance R of the battery) are consideredbatLine stray resistance RlineLine stray inductance LlineInternal resistance R of capacitorcEtc.), and the inverter unit of the electronic control unit 13 and the motor 14 are equivalent to an ideal current source Is, and an equivalent circuit model can be established as shown in fig. 2, wherein the impedance of the direct current bus and the battery branch circuit Is as follows (1):
Zbattery&line＝sLline+Rbat+Rline (1)
the impedance of the capacitance and parasitic parameter branch is the following formula (2):
Figure BDA0003067115100000011
the transfer function Gs of the final node voltage Us to the ideal current source Is given by equation (3):
Figure BDA0003067115100000021
due to the influences of device consistency and device aging degree of three electric systems of the electric automobile, resistance, capacitance and inductance in the circuit topology change, so that a system transfer function Gs changes, and a system resonant frequency shifts, so that the system resonant frequency needs to be identified again after the whole automobile runs for a period of time.
Currently, in the whole vehicle development process of an electric vehicle, acquiring the system resonant frequency requires testing the amplitude-frequency characteristics of a three-electrical system of the whole vehicle by using professional instruments, such as a power analyzer, an oscilloscope, a spectrum analyzer and the like, and then exporting the measured data for off-line processing, so as to calculate the system resonant frequency. However, the adoption of the scheme needs a lot of time for installing and dismantling the equipment and performing off-line processing on data, so that the time consumption is long, and the method can only be limited in the development process of the whole vehicle, namely the method is not suitable for the vehicles which are produced in batches and used.
Disclosure of Invention
The embodiment of the invention provides a method, equipment and a storage medium for identifying a three-electric-system resonance point, aiming at the problems that the resonance frequency of the three-electric-system of an electric automobile is troublesome to detect and is not suitable for vehicles which are produced and used in batches.
In order to solve the above technical problems, an embodiment of the present invention provides a method for identifying a resonant frequency of a three-electrical system, including:
when a resonant frequency identification instruction is received, controlling a motor controller to operate at a plurality of different operating frequencies under the condition of outputting currents with the same amplitude;
under each operating frequency, sampling the bus voltage of a direct current bus of the motor controller at a frequency greater than the current operating frequency, and acquiring a bus voltage fluctuation value under the current operating frequency according to a plurality of sampled bus voltages;
and comparing the bus voltage fluctuation values under all the operating frequencies, and taking the operating frequency corresponding to the maximum bus voltage fluctuation value as the resonant frequency.
As a further improvement of the present invention, the controlling the motor controller to operate at a plurality of different operating frequencies under the condition of outputting the same magnitude of current comprises:
setting a minimum operating frequency, a maximum operating frequency, a frequency change step length and a preset amplitude according to hardware parameters of the motor controller;
and respectively controlling the motor controller to operate at a plurality of different operating frequencies within the minimum operating frequency interval and the maximum operating frequency interval, and outputting current with the preset amplitude, wherein the plurality of different operating frequencies are sequentially spaced by the frequency change step length.
As a further improvement of the present invention, sampling the dc bus voltage of the motor controller at a frequency greater than the current operating frequency at each of the operating frequencies includes:
and under the current operating frequency, sampling the bus voltage of the direct-current bus by a control period double-time sampling method or a direct storage access sampling method to obtain a plurality of bus voltages.
As a further improvement of the present invention, the obtaining a bus voltage fluctuation value at a current operating frequency according to a plurality of bus voltages obtained by sampling includes:
comparing a plurality of bus voltages obtained by sampling the current running frequency to obtain a bus voltage maximum value and a bus voltage minimum value;
carrying out first-order low-pass filtering processing on the maximum value of the bus voltage and the minimum value of the bus voltage under the current operating frequency through a filter;
and obtaining the difference between the maximum value of the bus voltage and the minimum value of the bus voltage after filtering, and taking the difference as the fluctuation value of the bus voltage under the current operating frequency.
As a further improvement of the present invention, the comparing the bus voltage fluctuation values at all the operating frequencies, and using the operating frequency corresponding to the maximum bus voltage fluctuation value as the resonant frequency, includes:
forming a bus voltage fluctuation array according to the bus voltage fluctuation value under each operating frequency;
forming a sweep frequency array according to each operating frequency;
and aligning the bus voltage fluctuation array and the sweep frequency array, selecting the maximum bus voltage fluctuation value from the aligned bus voltage fluctuation array, and taking the operating frequency corresponding to the maximum bus voltage fluctuation value in the sweep frequency array as the resonant frequency.
As a further improvement of the present invention, the aligning the bus voltage fluctuation array and the sweep frequency array includes:
acquiring the frequency change rate of the operating frequency and the time constant of a filter in the process that the controller outputs the current with the same amplitude;
calculating a frequency difference corresponding to each bus voltage fluctuation value in the bus voltage fluctuation array according to the frequency change rate and the time constant of the filter;
and aligning the bus voltage fluctuation array and the sweep frequency array according to the frequency difference.
As a further improvement of the present invention, the calculating a frequency difference corresponding to each bus voltage fluctuation value in the bus voltage fluctuation array according to the frequency change rate and the time constant of the filter includes:
calculating the frequency difference corresponding to each bus voltage fluctuation value according to the following formula:
f2＝f1-3τ×S
wherein f is2Is the frequency difference, f, corresponding to each bus voltage fluctuation value1Is the launch frequency of the operating frequency, τ is the time constant of the filter, and S is the rate of change of the frequency of the operating frequency during the frequency sweep.
As a further improvement of the present invention, the aligning the bus voltage fluctuation array and the sweep frequency array according to the frequency difference includes:
acquiring the frequency difference between the wave sending frequency of each operating frequency in the frequency sweeping array and each voltage fluctuation value in the voltage fluctuation array;
adding the wave frequency of each operating frequency and the frequency difference to obtain an output frequency corresponding to each operating frequency;
and establishing a corresponding relation between the bus voltage fluctuation value and the operating frequency, wherein the wave generating frequency is equal to the output frequency or within an error range.
The embodiment of the invention also provides a motor controller, which comprises at least one processor and a memory which is in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of identification of a resonance point of a three electrical system as described above.
The embodiment of the invention also provides a computer-readable storage medium, which stores computer-executable instructions for enabling a computer to execute the method for identifying the resonance point of the three-electric system.
According to the method, the device and the storage medium for identifying the resonance point of the three-electric-system, the running frequency of the motor controller is controlled, the bus voltage is detected, the resonance frequency of the three-electric-system can be identified without depending on other instruments, time consumption and cost for identifying the resonance frequency of the three-electric-system are reduced, and the usability of identifying the resonance frequency of the three-electric-system is improved.
Drawings
FIG. 1 is a topological circuit diagram of a three-electric system of a whole electric vehicle;
FIG. 2 is an equivalent circuit diagram of a three-electric system of the whole electric vehicle;
FIG. 3 is a schematic flow chart illustrating a method for identifying a resonance point of a three-electrical-system according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a comparison of bus voltage fluctuation values at all operating frequencies in the method for identifying a resonance point of a three-electrical-system according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating a method for identifying resonance points of three electrical systems according to another embodiment of the present invention;
fig. 6 is a schematic diagram of a three-electrical-system resonance point identification apparatus according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention makes the motor controller to perform Pulse Width Modulation (PWM) control at a set operation frequency, so that the frequency spectrum of the current Is between the positive and negative electrode ports of the inverter unit mainly comprises fundamental wave and second harmonic, when different frequency components of the current Is flow in the equivalent circuit shown in figure 2, voltage Us components corresponding to the frequency can be obtained, wherein the direct current component of the voltage Us Is the average value of bus voltage, the harmonic component of the voltage Us corresponds to the fluctuation value of the bus voltage, and the amplitude-frequency characteristic of the transfer function Gs in the formula (3) can be obtained by measuring the amplitude of the harmonic component in the voltage Us, thereby obtaining the resonant frequency of the whole vehicle three-electric system in the frequency sweeping process.
Fig. 3 is a schematic flow chart of a method for identifying a resonant frequency of a three-electrical-system according to an embodiment of the present invention, which can be applied to a motor controller of an electric vehicle or other motor controllers including three-electrical-system (i.e., a power battery system, a vehicle control system, and a driving motor system). The method of this embodiment may be performed by a motor controller and includes the steps of:
step S31: and when receiving the resonant frequency identification command, controlling the motor controller to operate at a plurality of different operating frequencies under the condition of outputting the current with the same amplitude. I.e. the motor controller has output currents of the same magnitude when operating at a plurality of different operating frequencies.
The resonant frequency identification command may be input by a user through an input device (e.g., a keyboard or a touch screen) of the motor controller or a dedicated device (e.g., during the development of the electric vehicle), or may be generated periodically by the motor controller or a device where the motor controller is located (e.g., after the electric vehicle runs for a period of time or after related devices run for a period of time).
The plurality of operating frequencies cover a frequency range in which the motor controller operates normally, and the motor controller may operate for the same time at each operating frequency, for example, the operating time at each operating frequency may be one PWM cycle, for ease of subsequent operation. In one embodiment of the invention, the controllable electronic controller is operated at different operating frequencies in a frequency sweep mode.
Step S32: under each operating frequency, the bus voltage of a direct current bus of the motor controller is sampled at a frequency greater than the operating frequency, and the bus voltage fluctuation value under the current operating frequency is obtained according to a plurality of sampled bus voltages.
In this step, the dc bus voltage sampling may be performed in one of two typical ways: and controlling the periodic double sampling or fast storing the sampling through Direct Memory Access (DMA).
The above-mentioned double sampling of the control period means that one period enters into two interrupt service procedures when the motor controller generates the PWM signal, so that in one PWM control period, an Analog-to-digital converter (ADC) can be used to perform at least two signal samplings. The direct Memory Access means that the ADC is set to sample at a sampling rate much higher than the operating frequency of the motor controller, and directly store a sampling result in a Random Access Memory (RAM) without passing through a Micro Controller Unit (MCU) main core.
Because the frequency of the sampled direct current bus voltage is greater than the operating frequency of the motor controller, for each operating frequency, the sampled direct current bus voltage at least comprises a harmonic component of one period, and the bus voltage fluctuation value is the fluctuation value of the harmonic component.
Step S33: and comparing the bus voltage fluctuation values under all the operating frequencies, and taking the operating frequency corresponding to the maximum bus voltage fluctuation value as the resonant frequency.
Compared with the existing method, the method for identifying the resonant point of the three-electric-system can identify the resonant frequency of the three-electric-system by controlling the running frequency of the motor controller and detecting the bus voltage without depending on other instrument equipment, so that the time consumption and the cost for identifying the resonant frequency of the three-electric-system are reduced, and the usability of identifying the resonant frequency of the three-electric-system is improved.
In an embodiment of the present invention, as shown in fig. 4, in step S33, the operation frequency corresponding to the maximum bus voltage fluctuation value can be used as the resonant frequency by comparing the bus voltage fluctuation values at all operation frequencies in the following manner:
step S331: and forming a bus voltage fluctuation array according to the bus voltage fluctuation value under each operating frequency.
Specifically, when the bus voltage fluctuation value at a certain operation frequency is obtained in step S32, the bus voltage fluctuation value may be stored in a bus voltage fluctuation array, so that the bus voltage fluctuation array includes the bus voltage fluctuation values at all operation frequencies of the motor controller, and each operation frequency corresponds to one bus voltage fluctuation value.
Step S332: and forming a sweep frequency array according to each operating frequency.
The storage sequence of the operating frequency in the sweep frequency array is the same as the storage sequence of the bus voltage fluctuation value in the bus voltage fluctuation array;
step S333: and aligning the bus voltage fluctuation array and the sweep frequency array, selecting the maximum bus voltage fluctuation value from the aligned bus voltage fluctuation array, and taking the operating frequency corresponding to the maximum bus voltage fluctuation value in the sweep frequency array as the resonant frequency.
In an embodiment of the present invention, to improve the accuracy of the bus voltage fluctuation value obtained in step S32, the plurality of bus voltages obtained by sampling may be subjected to first-order low-pass filtering by a filter. Correspondingly, in order to compensate the phase delay of the first-order low-pass filter and ensure that the bus voltage fluctuation value in the bus voltage fluctuation array after alignment correctly corresponds to the operating frequency in the sweep frequency array, in step S33, the bus voltage fluctuation array and the sweep frequency array may be aligned in the following manner: firstly, acquiring the frequency change rate of the operating frequency and the time constant of a filter in the process of outputting current with the same amplitude by a motor controller; then, calculating the frequency difference corresponding to each bus voltage fluctuation value in the bus voltage fluctuation array according to the frequency change rate and the time constant of the filter; and finally, aligning the bus voltage fluctuation array and the sweep frequency array according to the frequency difference.
Specifically, the frequency difference corresponding to each bus voltage fluctuation value can be calculated by the following calculation formula (4):
f2＝f1-3τ×S (4)
wherein f is2Is the frequency difference, f, corresponding to the fluctuation value of each bus voltage1Is the launch frequency of the operating frequency, τ is the time constant of the filter, and S is the rate of change of the frequency of the operating frequency. Of course, in practical applications, the frequency difference corresponding to each bus voltage fluctuation value can be obtained through other calculation methods.
In addition, the bus voltage fluctuation array and the sweep frequency array can be aligned in the following way: firstly, acquiring the wave-sending frequency of each operating frequency in a frequency sweep array and the frequency difference of each voltage fluctuation value in a voltage fluctuation array; then adding the wave frequency of each operating frequency and the frequency difference to obtain an output frequency corresponding to each operating frequency; and finally, establishing a corresponding relation between the bus voltage fluctuation value and the running frequency, wherein the wave sending frequency is equal to the output frequency or within an error range.
Fig. 5 is a schematic flow chart of a method for identifying a resonant point of a three-electrical-system according to another embodiment of the invention. Likewise, the method may be applied to a motor controller of an electric vehicle, or other motor controllers that include three electrical systems (i.e., a power battery system, a vehicle control system, and a drive motor system). The method of the embodiment comprises the following steps:
step S51: and when receiving a resonant frequency identification instruction, setting a minimum operating frequency, a maximum operating frequency, a frequency change step length, a preset amplitude (namely the amplitude of the output current of the motor controller) and the like according to hardware parameters of the motor controller.
Similar to the embodiment of fig. 3, the resonant frequency identification command may be input by a user through an input device of the motor controller or a dedicated device, or may be periodically generated by the motor controller or a device in which the motor controller is located.
Step S52: and controlling the motor controller to operate at a plurality of different operating frequencies under the condition of outputting the current with the same amplitude. The initial value of the frequency set as described above may be the maximum operating frequency or the minimum operating frequency in step S51. Also, the motor controller may be operated at the set frequency for a period of time of one PWM cycle of the motor controller.
Step S53: and sampling the bus voltage of the direct current bus to obtain a plurality of bus voltages in the process that the motor controller operates at a set frequency.
In this step, the frequency of sampling the bus voltage of the dc bus needs to be greater than the operating frequency of the motor controller, and specifically, the dc bus voltage can be sampled in the following two typical ways: control periodic double sampling and fast memory sampling by direct memory access.
Step S54: and acquiring the maximum value and the minimum value of the bus voltage according to the plurality of bus voltages acquired by sampling the current operating frequency of the motor controller.
Step S55: and performing first-order low-pass filtering processing on the maximum value and the minimum value of the bus voltage under the current operating frequency through a filter.
Step S56: and obtaining the difference between the maximum value of the bus voltage and the minimum value of the bus voltage after filtering, and taking the difference as the fluctuation value of the bus voltage under the current operating frequency.
Step S57: adjusting the set frequency. Specifically, the originally set frequency may be adjusted by using the frequency change step length set in step S51, for example, when the initial value of the set frequency is the maximum operating frequency, the step may use the difference between the originally set frequency and the frequency change step length as the new set frequency; when the initial value of the set frequency is the minimum operating frequency, the step may use the sum of the originally set frequency and the frequency change step size as the new set frequency.
Step S58: and judging whether the adjusted set frequency exceeds the operation frequency range, namely whether the adjusted set frequency is greater than the maximum operation frequency set in the step S51 or less than the minimum operation frequency, if the adjusted set frequency exceeds the operation frequency range, executing the step S59, otherwise, returning to the step S52, and obtaining the bus voltage fluctuation value under the next set frequency.
Step S59: and comparing the bus voltage fluctuation values under all the operating frequencies, and taking the operating frequency corresponding to the maximum bus voltage fluctuation value as the resonant frequency.
The method of the embodiment can identify the resonant frequency of the three-electric-system without depending on other instruments, thereby reducing the time consumption and cost for identifying the resonant frequency of the three-electric-system and improving the usability of identifying the resonant frequency of the three-electric-system.
Embodiments of the present invention also provide a motor controller that may be located in a hybrid vehicle and control operation of a generator in the hybrid vehicle. The motor controller 6 of the present embodiment includes a memory 61 and a processor 62, wherein the memory 61 stores therein a computer program executable in the processor 62, and the processor 62 executes the computer program to implement the steps of the three-electrical-system resonant frequency identification method as described in the embodiments of fig. 3-5.
The motor controller in this embodiment and the method for identifying the resonant frequency of the three-electrical-system in the embodiment corresponding to fig. 3 to 5 belong to the same concept, and specific implementation processes thereof are described in detail in the corresponding method embodiments, and technical features in the method embodiments are correspondingly applicable in the apparatus embodiments, and are not described herein again.
An embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the method for identifying a resonance frequency of a three-electrical system as described above.
The computer-readable storage medium in this embodiment and the method for identifying the resonant frequency of the three-electrical-system in the embodiment corresponding to fig. 3 to 5 belong to the same concept, and specific implementation processes thereof are detailed in the corresponding method embodiments, and technical features in the method embodiments are correspondingly applicable in the apparatus embodiments, and are not described herein again.
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 its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
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 three-system resonant frequency identification method, motor controller and apparatus may be implemented in other ways.
All or part of the flow in the method of the embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and executed by a processor, to instruct related hardware to implement the steps of the embodiments of the methods. Wherein the computer program 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: any physical or interface switching device, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, software distribution medium, etc., capable of carrying said computer program code. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

Claims (10)

1. A method for identifying the resonant frequency of a three-electrical-system is characterized by comprising the following steps:
when a resonant frequency identification instruction is received, controlling a motor controller to operate at a plurality of different operating frequencies under the condition of outputting currents with the same amplitude;
under each operating frequency, sampling the bus voltage of a direct current bus of the motor controller at a frequency greater than the current operating frequency, and acquiring a bus voltage fluctuation value under the current operating frequency according to a plurality of sampled bus voltages;
and comparing the bus voltage fluctuation values under all the operating frequencies, and taking the operating frequency corresponding to the maximum bus voltage fluctuation value as the resonant frequency.
2. The identification method according to claim 1, wherein the controlling the motor controller to operate at a plurality of different operating frequencies under the condition of outputting the current with the same amplitude comprises:
setting a minimum operating frequency, a maximum operating frequency, a frequency change step length and a preset amplitude according to hardware parameters of the motor controller;
and respectively controlling the motor controller to operate at a plurality of different operating frequencies within the minimum operating frequency interval and the maximum operating frequency interval, and outputting current with the preset amplitude, wherein the plurality of different operating frequencies are sequentially spaced by the frequency change step length.
3. The identification method of claim 2, wherein said sampling the dc bus voltage of the motor controller at a frequency greater than a current operating frequency at each of the operating frequencies comprises:
and under the current operating frequency, sampling the bus voltage of the direct-current bus by a control period double-time sampling method or a direct storage access sampling method to obtain a plurality of bus voltages.
4. The identification method according to claim 1, wherein the obtaining of the fluctuation value of the bus voltage at the current operating frequency according to the plurality of sampled bus voltages comprises:
comparing a plurality of bus voltages obtained by sampling the current running frequency to obtain a bus voltage maximum value and a bus voltage minimum value;
carrying out first-order low-pass filtering processing on the maximum value of the bus voltage and the minimum value of the bus voltage under the current operating frequency through a filter;
and obtaining the difference between the maximum value of the bus voltage and the minimum value of the bus voltage after filtering, and taking the difference as the fluctuation value of the bus voltage under the current operating frequency.
5. The identification method according to claim 4, wherein the comparing the bus voltage fluctuation values at all the operating frequencies and using the operating frequency corresponding to the maximum bus voltage fluctuation value as the resonant frequency comprises:
forming a bus voltage fluctuation array according to the bus voltage fluctuation value under each operating frequency;
forming a sweep frequency array according to each operating frequency;
and aligning the bus voltage fluctuation array and the sweep frequency array, selecting the maximum bus voltage fluctuation value from the aligned bus voltage fluctuation array, and taking the operating frequency corresponding to the maximum bus voltage fluctuation value in the sweep frequency array as the resonant frequency.
6. The identification method of claim 5, wherein the aligning the bus voltage fluctuation array and the sweep frequency array comprises:
acquiring the frequency change rate of the operating frequency and the time constant of a filter in the process that the controller outputs the current with the same amplitude;
calculating a frequency difference corresponding to each bus voltage fluctuation value in the bus voltage fluctuation array according to the frequency change rate and the time constant of the filter;
and aligning the bus voltage fluctuation array and the sweep frequency array according to the frequency difference.
7. The identification method according to claim 6, wherein the calculating the frequency difference corresponding to each bus voltage fluctuation value in the bus voltage fluctuation array according to the frequency change rate and the time constant of the filter comprises:
calculating the frequency difference corresponding to each bus voltage fluctuation value according to the following formula:
f2＝f1-3τ×S
wherein f is2Is the frequency difference, f, corresponding to each bus voltage fluctuation value1Is the launch frequency of the operating frequency, τ is the time constant of the filter, and S is the rate of change of the frequency of the operating frequency during the frequency sweep.
8. The identification method of claim 6, wherein the aligning the bus voltage fluctuation array and the sweep frequency array according to the frequency difference comprises:
acquiring the frequency difference between the wave sending frequency of each operating frequency in the frequency sweeping array and each voltage fluctuation value in the voltage fluctuation array;
adding the wave frequency of each operating frequency and the frequency difference to obtain an output frequency corresponding to each operating frequency;
and establishing a corresponding relation between the bus voltage fluctuation value and the operating frequency, wherein the wave generating frequency is equal to the output frequency or within an error range.
9. A motor controller comprising at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of identification of a resonance point of a three electrical system as claimed in any one of claims 1 to 8.
10. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the method of identification of a resonance point of a three-electric system according to any one of claims 1 to 8.
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JPH01114373A (en) * 1987-10-27 1989-05-08 Mitsubishi Electric Corp Three-phase converter
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