CN113346815B - Motor control method, device, terminal and storage medium - Google Patents

Motor control method, device, terminal and storage medium Download PDF

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Publication number
CN113346815B
CN113346815B CN202110655150.6A CN202110655150A CN113346815B CN 113346815 B CN113346815 B CN 113346815B CN 202110655150 A CN202110655150 A CN 202110655150A CN 113346815 B CN113346815 B CN 113346815B
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motor
signal
axis
current
vector angle
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CN113346815A (en
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孙天夫
李可
冯伟
梁嘉宁
李慧云
朱松龄
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/16—Estimation of constants, e.g. the rotor time constant
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or 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
    • H02P21/22—Current control, e.g. using a current control loop

Abstract

The application is applicable to the technical field of motor control, and provides a motor control method, a device, a terminal and a storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining motor parameters including d-axis voltage, q-axis voltage, d-axis current, q-axis current, d-axis inductance, mechanical angular speed of a rotor in the motor, stator resistance of the motor and pole pair number of permanent magnets in the motor, calculating to obtain a first-order partial derivative signal of motor torque to a current vector angle as an output signal according to the motor parameters, determining a target current vector angle of the motor based on the output signal, and controlling operation of the motor based on the target current vector angle. The scheme can ensure the state stability of the motor running at the optimal state running point.

Description

Motor control method, device, terminal and storage medium
Technical Field
The present application belongs to the technical field of motor control, and in particular, to a motor control method, apparatus, terminal and storage medium.
Background
Electric energy is used as a green energy, and in the current day when the new energy industry is developed, how to optimally control the motor and ensure that the motor can operate efficiently and stably is a crucial problem.
In the conventional motor optimization control, an important controlThe principle is that the motor torque TeThe first partial derivative of the current vector angle beta is zero (i.e., the current vector angle beta is zero)
Figure BDA0003112372900000011
) In time, the torque output by the motor can be maximized when the current amplitude is given. Therefore, a torque T to the motor is generally requiredeAnd extracting the first-order partial derivative of the current vector angle beta to control the relevant parameters to approach zero so as to ensure that the motor is in the optimal power output state.
In the existing motor control method, first-order partial derivative item information of torque to current vector angle is extracted mainly based on a virtual high-frequency signal injection mode
Figure BDA0003112372900000012
When the first-order partial derivative information is extracted, multiple cascaded filters (band pass and low pass) are generally needed for signal processing, so that the motor control system has a complex structure, a low dynamic response speed and severe overshoot when the working condition suddenly changes, which is not favorable for accurate and stable estimation of the optimal control state of the motor and is difficult to achieve the ideal operation state of the motor.
Disclosure of Invention
The embodiment of the application provides a motor control method, a motor control device, a motor control terminal and a storage medium, and aims to solve the problems that in the prior art, a motor control system is complex in structure, slow in dynamic response speed, serious in overshoot during sudden change of working conditions, not beneficial to accurate and stable estimation of the optimal control state of a motor, and difficult to achieve the ideal operation state of the motor.
A first aspect of an embodiment of the present application provides a motor control method, including:
obtaining motor parameters, wherein the motor parameters comprise: d-axis voltage, q-axis voltage, d-axis current, q-axis current, d-axis inductance of the motor, mechanical angular velocity of a rotor in the motor, stator resistance of the motor and pole pair number of permanent magnets in the motor;
according to the motor parameters, calculating to obtain a first-order partial derivative signal of the motor torque to the current vector angle as an output signal;
and determining a target current vector angle of the motor based on the output signal, and performing operation control on the motor based on the target current vector angle.
A second aspect of an embodiment of the present application provides a motor control apparatus, including:
the parameter acquisition module is used for acquiring motor parameters, and the motor parameters comprise: d-axis voltage, q-axis voltage, d-axis current, q-axis current, d-axis inductance of the motor, mechanical angular velocity of a rotor in the motor, stator resistance of the motor and pole pair number of permanent magnets in the motor;
the signal processing module is used for calculating to obtain a first-order partial derivative signal of the motor torque to the current vector angle as an output signal according to the motor parameters;
and the control module is used for determining a target current vector angle of the motor based on the output signal and controlling the operation of the motor based on the target current vector angle.
A third aspect of embodiments of the present application provides a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to the first aspect when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, performs the steps of the method according to the first aspect.
A fifth aspect of the present application provides a computer program product, which, when run on a terminal, causes the terminal to perform the steps of the method of the first aspect described above.
Therefore, in the embodiment of the application, motor parameters including d-axis voltage, q-axis voltage, d-axis current, q-axis current, d-axis inductance, mechanical angular velocity of a rotor in the motor, stator resistance of the motor and pole pair number of permanent magnets in the motor are obtained, a first-order partial derivative of motor torque to a current vector angle is obtained through direct calculation of the motor parameters and serves as an output signal, a filter is not needed in the whole process, calculation can be directly carried out, the optimal torque-current ratio of the motor can be determined under a simple motor control system structure, dynamic response speed is improved, overshoot phenomenon during sudden change of working conditions is avoided, and stability of the motor in operation in the best state is ensured.
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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 without creative efforts.
Fig. 1 is a first flowchart of a motor control method provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of input current provided by an embodiment of the present application;
FIG. 3 is a graph comparing the effects of the prior art method and the motor control method in the present application provided by the embodiment of the present application;
fig. 4 is a second flowchart of a motor control method provided in the embodiment of the present application;
fig. 5 is a flow chart for determining a target current vector angle according to an embodiment of the present disclosure;
fig. 6 is a structural diagram of a motor control device according to an embodiment of the present application;
fig. 7 is a block diagram of a terminal 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 is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further 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 this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" 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 ]".
In particular implementations, the terminals described in embodiments of the present application include, but are not limited to, other portable devices such as mobile phones, laptop computers, or tablet computers having touch sensitive surfaces (e.g., touch screen displays and/or touch pads). It should also be understood that in some embodiments, the device is not a portable communication device, but is a desktop computer having a touch-sensitive surface (e.g., a touch screen display and/or touchpad).
In the discussion that follows, a terminal that includes a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and/or joystick.
The terminal supports various applications, such as one or more of the following: a drawing application, a presentation application, a word processing application, a website creation application, a disc burning application, a spreadsheet application, a gaming application, a telephone application, a video conferencing application, an email application, an instant messaging application, an exercise support application, a photo management application, a digital camera application, a web browsing application, a digital music player application, and/or a digital video player application.
Various applications that may be executed on the terminal may use at least one common physical user interface device, such as a touch-sensitive surface. One or more functions of the touch-sensitive surface and corresponding information displayed on the terminal can be adjusted and/or changed between applications and/or within respective applications. In this way, a common physical architecture (e.g., touch-sensitive surface) of the terminal can support various applications with user interfaces that are intuitive and transparent to the user.
It should be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation to the implementation process of the embodiment of the present application.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Referring to fig. 1, fig. 1 is a first flowchart of a continuous learning method provided in an embodiment of the present application. As shown in fig. 1, a continuous learning method includes the steps of:
step 101, obtaining motor parameters.
The motor parameters include: d-axis voltage, q-axis voltage, d-axis current, q-axis current, d-axis inductance of the motor, mechanical angular velocity of a rotor in the motor, stator resistance of the motor, and pole pairs of permanent magnets in the motor.
And 102, calculating to obtain a first-order partial derivative signal of the motor torque to the current vector angle as an output signal according to the motor parameter.
The first partial derivative signal of the torque with respect to the current vector angle corresponds in particular to a signal value which is positively correlated with the first partial derivative of the torque with respect to the current vector angle, more particularly to a signal value which is proportional to the first partial derivative of the torque with respect to the current vector angle.
In the step, a first-order partial derivative signal of the motor torque to the current vector angle can be obtained in a numerical calculation mode through the acquired motor parameters, and a filter is not needed. In one specific implementation, a first order partial derivative signal of the motor torque versus the current vector angle is calculated as an output signal, for example by setting a model formula as follows:
Figure BDA0003112372900000061
wherein, OutNonA first partial derivative signal of motor torque to current vector angle; v. ofdIs the d-axis voltage; v. ofqIs the q-axis voltage; i.e. idIs the d-axis current; i.e. iqIs the q-axis current; l isdIs a d-axis inductor; omegamIs the mechanical angular velocity of the rotor; r is a stator resistor; p is the pole pair number of the permanent magnet; wherein id＝-Iasinβ，iq＝Iacosβ，IaIs the current amplitude and β is the current vector angle.
Wherein the model formula is obtained based on a model formula of a motor torque signal after injecting a virtual high-frequency signal into a current vector angle.
The virtual high-frequency signal may specifically be a small amplitude high-frequency signal component; and a virtual high-frequency signal is superposed on the current vector angle to increase the offset of the current vector angle and play a role in signal disturbance.
The model formula of the motor torque signal is defined as follows under a rotor coordinate system of the motor:
Figure BDA0003112372900000071
Figure BDA0003112372900000072
Figure BDA0003112372900000073
id＝-Iasinβ；iq＝Iacosβ； (11)
wherein v isdFor d-axis stator voltage, i, of the machinedFor d-axis stator current, v, of the machineqFor motor q-axis stator voltage, iqFor motor q-axis stator current, LdIs d-axis inductance, LqIs q-axis inductance, R is stator resistance, p is pole pair number of permanent magnet of motor, psimIs a permanent magnet flux linkage, IaIs the current amplitude, beta is the current vector angle, omegamIs the mechanical angular velocity of the rotor.
The above-mentioned model formula of the motor torque signal after injecting the virtual high-frequency signal into the current vector angle may be obtained by injecting the virtual high-frequency signal into the current vector angle on the basis of the motor model in the rotor coordinate system of the motor.
When the motor runs in a steady state, the differential terms in (8) and (9) are zero, and the rest terms are substituted into (10), so that the following terms can be obtained:
Figure BDA0003112372900000074
injecting a virtual high frequency signal into the motor torque equation (10), the virtual high frequency signal being expressed as:
Δβ＝Asin(ωht)； (13)
whereinA is the amplitude of the virtual high-frequency disturbance signal, omegahIs the frequency of the high frequency perturbation signal. The signal injected here is an offset Δ β of the current vector angle β. After adding this signal, (11) can be expressed as:
Figure BDA0003112372900000081
the calculated motor torque signal will then become a calculated torque signal with high frequency disturbances. The model formula of the motor torque signal after injecting the virtual high-frequency signal into the current vector angle is as follows:
Figure BDA0003112372900000082
the virtual high-frequency signal is, for example, a virtual high-frequency sinusoidal signal, and the motor torque signal is a virtual motor torque signal.
Likewise, when taylor expansion is performed on the left part of equation (15), the model formula is expressed as follows:
Figure BDA0003112372900000083
when the set model formula is obtained based on the model formula of the motor torque signal, the set model formula may be specifically based on a dc component term included in the model formula, that is, the set model formula is obtained based on the model formula of the motor torque signal
Figure BDA0003112372900000084
The first-order partial derivative signal of the motor torque to the current vector angle, namely Out, is extractedNon。
Alternatively, the model formula other than the motor torque in the motor model may be substituted into the model formula of the motor torque signal after signal injection, the function may be simplified by a trigonometric function, such as trigonometric function product and difference formula, and the derivation may be performed by the motor model formula to calculate the motor torque signal
Figure BDA0003112372900000085
Signal (first partial derivative of torque versus current vector angle). In the derivation process, the Taylor expansion formula (16) can be combined at the same time, because the coefficient in the formula (16) is
Figure BDA0003112372900000086
A direct component term of (2), i.e.
Figure BDA0003112372900000087
The term of the ratio of (a) to (b),
Figure BDA0003112372900000088
the direct current component term sin (ω) can be extracted by simplifying and deducing the formula (15) and the likeht) of the same kind, the coefficients of which are considered to be equivalent to
Figure BDA0003112372900000089
Obtaining a first-order partial derivative signal of motor torque to current vector angle, namely OutNon。
Correspondingly, as an alternative embodiment, before calculating the first-order partial derivative signal of the motor torque to the current vector angle as the output signal by setting a model formula according to the motor parameters, the set model formula is obtained by specifically performing the following steps:
injecting a virtual high-frequency signal into the current vector angle to obtain a d-axis current after signal injection and a q-axis current after signal injection:
Figure BDA0003112372900000091
wherein the content of the first and second substances,
Figure BDA0003112372900000092
for the d-axis current after the signal injection,
Figure BDA0003112372900000093
for q-axis after signal injectionCurrent, IaFor current amplitude, β is the current vector angle, Δ β is the injected virtual high frequency signal, Δ β ═ Asin (ω ═ Asin)ht), A is the amplitude of the virtual high-frequency signal, ωhIs the frequency of the virtual high frequency signal, t is time;
obtaining a model formula of an initial motor torque signal of a motor in a motor rotor coordinate system:
Figure BDA0003112372900000094
wherein, TeIs an initial motor torque signal; v. ofdIs the d-axis voltage of the motor; i.e. idIs d-axis current of the motor, id＝-Iasinβ；LdIs a d-axis inductance of the motor; v. ofqIs the q-axis voltage of the motor; i.e. iqIs the q-axis current of the motor, iq＝Iacos β; wherein, IaIs the current amplitude, beta is the current vector angle; l isqIs the q-axis inductance of the motor; r is the stator resistance of the motor; p is the pole pair number of the permanent magnet of the motor; omegamIs the mechanical angular velocity of the rotor in the motor; the model formula of the initial motor torque signal is a model formula of a motor torque signal before injection of the virtual high-frequency signal.
Substituting the d-axis current after signal injection and the q-axis current after signal injection into a model formula of an initial motor torque signal, and combining a trigonometric function formula to obtain a first model formula of the motor torque signal after signal injection:
Figure BDA0003112372900000095
wherein the content of the first and second substances,
Figure BDA0003112372900000096
Figure BDA0003112372900000101
the method comprises the following steps of (1) taking cos delta beta as 1, cos2 delta beta as 1 and sin delta beta as delta beta;
carrying out Taylor expansion on the left side of the first model formula to obtain a second model formula:
Figure BDA0003112372900000102
determining sin (omega) based on a first model formula and a second model formula through a coefficient analogy principle of the same termshCoefficient of t) term
Figure BDA0003112372900000103
And coefficient m2+n2+n3And equivalently, obtaining a set model formula:
Figure BDA0003112372900000104
the trigonometric function includes, for example: induction formulas, trigonometric sum formulas, product and difference formulas, etc.
The principle of coefficient analogy of the same terms specifically means: in the expressions of different forms with the same parameter (specifically, in the first model formula and the second model formula in the present embodiment), the coefficients of the same term can be regarded as equivalent in an analogy manner.
The method includes the steps of substituting d-axis current after signal injection and q-axis current after signal injection into a model formula of an initial motor torque signal, combining a trigonometric function formula, and obtaining a first model formula of the motor torque signal after signal injection, wherein the method includes the following steps:
substituting the d-axis current after signal injection and the q-axis current after signal injection into a model formula of an initial motor torque signal, and obtaining an expansion formula by using the model formula of a trigonometric function to the initial motor torque signal:
Figure BDA0003112372900000105
will be provided with
Figure BDA0003112372900000106
Assigned value of m1Will be provided with
Figure BDA0003112372900000107
Assigned value of m2Will be provided with
Figure BDA0003112372900000111
Assigned a value of n1Will be provided with
Figure BDA0003112372900000112
Assigned a value of n2Will be provided with
Figure BDA0003112372900000113
Figure BDA0003112372900000114
Assigned a value of n3And m is1、m2、n1、n2、n3Substituting into the expansion formula to obtain a simplified formula:
Figure BDA0003112372900000115
after the cos delta beta is taken as 1, the cos2 delta beta is taken as 1, and the sin delta beta is taken as delta beta, a first model formula of the motor torque signal after signal injection is obtained by a simplified formula:
Figure BDA0003112372900000116
in a specific implementation process, specifically, substituting (14) into (15), and expanding by using a trigonometric function formula, can be expressed as:
Figure BDA0003112372900000117
to simplify the calculation, combine (11) and (25), let:
Figure BDA0003112372900000118
Figure BDA0003112372900000119
Figure BDA00031123729000001110
Figure BDA00031123729000001111
Figure BDA00031123729000001112
substituting (26) to (30) into (25) can be simplified to obtain:
Figure BDA00031123729000001113
since the amplitude a of the injection signal Δ β in (13) is very small, it can be approximated that:
cosΔβ≈1cos2Δβ≈1sinΔβ≈Δβ； (32)
combinations (13), (31) and (32) having:
Figure BDA0003112372900000121
comparing (5) and (33), it is clear that the virtual torque signal
Figure BDA0003112372900000122
The first order partial derivative term for the current vector angle β is m2+n2+n3Namely:
Figure BDA0003112372900000123
the process gives the direct calculation of the sum by equation (34)
Figure BDA0003112372900000124
Proportional OutNonThe method of (1), in equation (25), shows the decomposition using trigonometric function transformation
Figure BDA0003112372900000125
The method of (2) gives an approximate simplification method in formula (32), and realizes the derivation process of formulas (25) - (34) to obtain the final set model formula.
The motor may be an in-line permanent magnet synchronous motor or other motor types.
And 103, determining a target current vector angle of the motor based on the output signal, and controlling the operation of the motor based on the target current vector angle.
Based on the output signal, a first-order partial derivative signal of the calculated motor torque to the current vector angle can be obtained, and at the moment, the motor torque T is utilizedeAnd determining a target value of the current vector angle beta according to the characteristic that the output torque of the motor is maximum when the first-order partial derivative of the current vector angle beta is zero, and implementing operation control on the motor through the target value to realize that the output torque of the motor is maximum when a current amplitude is given.
The process, essentially, is derived through a motor model formula to directly calculate based on motor parameters
Figure BDA0003112372900000126
The signal (the first partial derivative of the torque to the current vector angle) is set to 0, so that the motor works in the optimal state, and the torque output by the motor is maximum at the given current amplitude.
The process provides a motor control method based on rapid sine virtual signal injection aiming at the problems of the existing motor control method, realizes energy-saving control of the motor, improves the problems of complex structure, slow response speed and serious overshoot caused by sudden change of working conditions in the existing scheme, and has the advantages of simple structural design, high response speed, small overshoot and the like.
As shown in fig. 2 and 3, under the condition that the input current amplitudes are the same, the existing motor control method using cascaded filters to enable the motor to work at the optimal state operating point has a slow response speed and has obvious overshoot, whereas the motor control method in the present application has a fast response speed and very small overshoot.
The method realizes direct calculation by analyzing the existing motor control method based on virtual high-frequency disturbance injection and combining a motor model equation and a trigonometric function formula
Figure BDA0003112372900000131
And the partial derivative term is converged to zero by adjusting a system controller, so that the accurate estimation of the optimal state operating point of the motor is realized. Compared with the existing motor control mode based on the band-pass filter and the low-pass filter, the scheme can effectively improve the estimation speed, reduce the calculated amount and the complexity, and stably estimate the optimal state operating point under variable working conditions.
In the embodiment of the application, motor parameters including d-axis voltage, q-axis voltage, d-axis current, q-axis current, d-axis inductance, mechanical angular velocity of a rotor in the motor, stator resistance of the motor and pole pair number of permanent magnets in the motor are obtained, a first-order partial derivative of motor torque to a current vector angle is obtained through direct calculation of the motor parameters and serves as an output signal, a filter is not needed in the whole process, calculation can be directly carried out, the optimal torque-current ratio of the motor can be determined under a simple motor control system structure, dynamic response speed is improved, overshoot phenomenon when working condition mutation is avoided, and the state stability of the motor running at an optimal state running point is ensured.
The embodiment of the application also provides different implementation modes of the motor control method.
Referring to fig. 4, fig. 4 is a second flowchart of a motor control method provided in the embodiment of the present application. As shown in fig. 4, a motor control method includes the steps of:
step 401, obtaining motor parameters.
The motor parameters include: d-axis voltage, q-axis voltage, d-axis current, q-axis current, d-axis inductance of the motor, mechanical angular velocity of a rotor in the motor, stator resistance of the motor, and pole pairs of permanent magnets in the motor.
The implementation process of this step is the same as that of step 101 in the foregoing embodiment, and is not described here again.
And step 402, calculating to obtain a first-order partial derivative signal of the motor torque to the current vector angle as an output signal according to the motor parameters.
The implementation process of this step is the same as that of step 102 in the foregoing embodiment, and is not described here again.
And step 403, based on the output signal, determining a corresponding current phase advance angle when the first-order partial derivative signal of the torque to the current vector angle approaches zero as a target current vector angle of the motor.
In determining the target current vector angle, as shown in connection with fig. 5, the result Out may be calculated by equation (34) based on various motor parametersNonInputting into a controller 3 (the controller 3 can be a neural network, a fuzzy controller, a PI controller, a proportional-integral-derivative (PID) controller, an integrator, etc.), and adjusting the current vector angle by the controller 3 until OutNonGradually approaching zero. When OutNonApproaching zero time (i.e.
Figure BDA0003112372900000141
) The current vector angle outputted at this time is the optimal current vector angle betaref(i.e., the target current vector angle), the current vector angle at this time also corresponds to the optimum state operating point of the motor, and the motor can be ensured to stably operate in the optimum state without using a filter.
And step 404, calculating a d-axis current command and a q-axis current command of the motor based on the target current vector angle.
And performing coordinate conversion calculation to obtain a d-axis current command and a q-axis current command of the motor based on the target current vector angle.
Step 405, inputting the d-axis current command and the q-axis current command to the PI controller for decoupling generation of a d-axis voltage command and a q-axis voltage command.
A PI controller (proportional integral controller) is a linear controller that forms a control deviation from a given value and an actual output value, and linearly combines the proportion and integral of the deviation to form a control quantity to control a controlled object. And decoupling the d-axis current command and the q-axis current command through the PI controller to generate a d-axis voltage command and a q-axis voltage command.
And step 406, generating a voltage pulse signal based on the d-axis voltage command and the q-axis voltage command, and outputting the voltage pulse signal to an inverter for driving and controlling the motor.
When generating the voltage pulse signal based on the d-axis voltage command and the q-axis voltage command, the d-axis voltage command and the q-axis voltage command need to be subjected to data coordinate conversion, specifically, a two-phase rotating coordinate system d-q coordinate system is converted into a three-phase stationary coordinate system a-B-C coordinate system, so as to obtain the pulse signal after the voltage coordinate conversion, and the pulse signal is input to the inverter.
The inverter converts the stable direct current into alternating current with adjustable frequency and voltage, thereby driving the motor in a desired state.
In the embodiment, motor parameters including d-axis voltage, q-axis voltage, d-axis current, q-axis current, d-axis inductance, mechanical angular velocity of a rotor in the motor, stator resistance of the motor and pole pair number of permanent magnets in the motor are obtained, a first-order partial derivative of motor torque to a current vector angle is obtained through direct calculation of the motor parameters and serves as an output signal, a filter is not needed in the whole process, calculation can be directly performed, the optimal torque-current ratio of the motor can be determined under a simple motor control system structure, dynamic response speed is improved, overshoot phenomenon during sudden change of working conditions is avoided, and state stability of the motor running at an optimal state running point is ensured.
Referring to fig. 6, fig. 6 is a structural diagram of a motor control device according to an embodiment of the present application, and for convenience of description, only a part related to the embodiment of the present application is shown.
The motor control apparatus 600 includes:
a parameter obtaining module 601, configured to obtain a motor parameter, where the motor parameter includes: d-axis voltage, q-axis voltage, d-axis current, q-axis current, d-axis inductance of the motor, mechanical angular velocity of a rotor in the motor, stator resistance of the motor and pole pair number of permanent magnets in the motor;
the signal processing module 602 is configured to calculate, according to the motor parameter, a first-order partial derivative signal of a motor torque to a current vector angle as an output signal;
and a control module 603, configured to determine a target current vector angle of the motor based on the output signal, and perform operation control on the motor based on the target current vector angle.
Wherein, the signal processing module is specifically configured to:
according to the motor parameters, a first-order partial derivative signal of the motor torque to the current vector angle is calculated and obtained as an output signal through the following set model formula:
Figure BDA0003112372900000161
wherein, OutNonA first partial derivative signal of the motor torque to a current vector angle; v. ofdIs the d-axis voltage; v. ofqIs the q-axis voltage; i.e. idIs the d-axis current; i.e. iqIs the q-axis current; l isdIs the d-axis inductance; omegamIs the mechanical angular velocity of the rotor; r is the stator resistance; p is the number of pole pairs of the permanent magnet; wherein id＝-Iasinβ，iq＝Iacosβ，IaIs the current amplitude, β is the current vector angle; the set model formula is obtained based on a model formula of a motor torque signal after injecting a virtual high-frequency signal into a current vector angle.
Wherein, still include: a formula determination module to:
injecting a virtual high-frequency signal into the current vector angle to obtain a d-axis current after signal injection and a q-axis current after signal injection:
Figure BDA0003112372900000162
wherein the content of the first and second substances,
Figure BDA0003112372900000163
the d-axis current after injection for the signal,
Figure BDA0003112372900000164
for the q-axis current after the signal injection, IaFor current amplitude, β is the current vector angle, Δ β is the injected virtual high frequency signal, Δ β ═ Asin (ω)ht), A is the amplitude of the virtual high-frequency signal, omegahIs the frequency of the virtual high-frequency signal, t is time;
obtaining a model formula of an initial motor torque signal of the motor in a motor rotor coordinate system:
Figure BDA0003112372900000171
wherein, TeIs the initial motor torque signal; v. ofdIs the d-axis voltage of the motor; i.e. idIs d-axis current of the motor, id＝-Iasinβ；LdA d-axis inductance for the motor; v. ofqIs the q-axis voltage of the motor; i.e. iqIs the q-axis current, i, of the motorq＝Iacos β; wherein, IaIs the current amplitude, β is the current vector angle; l isqIs a q-axis inductance of the motor; r is the stator resistance of the motor; p is the number of pole pairs of the permanent magnets of the motor; omegamIs the mechanical angular velocity of the rotor in the machine;
substituting the d-axis current after the signal injection and the q-axis current after the signal injection into the model formula of the initial motor torque signal, and combining a trigonometric function formula to obtain a first model formula of the motor torque signal after the signal injection:
Figure BDA0003112372900000172
wherein the content of the first and second substances,
Figure BDA0003112372900000173
Figure BDA0003112372900000174
the method comprises the following steps of (1) taking cos delta beta as 1, cos2 delta beta as 1 and sin delta beta as delta beta;
carrying out Taylor expansion on the left side of the first model formula to obtain a second model formula:
Figure BDA0003112372900000175
determining sin (omega) based on the first model formula and the second model formula through a coefficient analogy principle of the same termshCoefficient of t) term
Figure BDA0003112372900000176
And coefficient m2+n2+n3And equivalently, obtaining the set model formula:
Figure BDA0003112372900000177
the formula determining module is further specifically configured to:
substituting the d-axis current after the signal injection and the q-axis current after the signal injection into the model formula of the initial motor torque signal, and then obtaining an expansion formula by using the model formula of the initial motor torque signal by using a trigonometric function:
Figure BDA0003112372900000181
will be provided with
Figure BDA0003112372900000182
Assigned value of m1Will be provided with
Figure BDA0003112372900000183
Assigned value of m2Will be provided with
Figure BDA0003112372900000184
Assigned a value of n1Will be provided with
Figure BDA0003112372900000185
Assigned a value of n2Will be provided with
Figure BDA0003112372900000186
Figure BDA0003112372900000187
Assigned a value of n3And mixing said m1、m2、n1、n2、n3Substituting the formula into the expansion formula to obtain a simplified formula:
Figure BDA0003112372900000188
after the cos delta beta is taken as 1, the cos2 delta beta is taken as 1, and the sin delta beta is taken as delta beta, the simplified formula is used for obtaining a first model formula of the motor torque signal after signal injection:
Figure BDA0003112372900000189
wherein, the control module is specifically used for:
and determining a corresponding current phase advance angle when the first-order partial derivative signal of the torque to the current vector angle approaches zero as a target current vector angle of the motor based on the output signal.
Wherein, the control module is further specifically configured to:
calculating a d-axis current command and a q-axis current command of the motor based on the target current vector angle;
inputting the d-axis current command and the q-axis current command into a PI controller for decoupling to generate a d-axis voltage command and a q-axis voltage command;
and generating a voltage pulse signal based on the d-axis voltage command and the q-axis voltage command and outputting the voltage pulse signal to an inverter for driving and controlling the motor.
The motor control device provided by the embodiment of the application can realize each process of the embodiment of the motor control method, can achieve the same technical effect, and is not repeated here for avoiding repetition.
Fig. 7 is a block diagram of a terminal according to an embodiment of the present application. As shown in the figure, the terminal 7 of this embodiment includes: at least one processor 70 (only one shown in fig. 7), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, the processor 70 implementing the steps in any of the various method embodiments described above when executing the computer program 72.
The terminal 7 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal 7 may include, but is not limited to, a processor 70, a memory 71. It will be appreciated by those skilled in the art that fig. 7 is only an example of a terminal 7 and does not constitute a limitation of the terminal 7, and that it may comprise more or less components than those shown, or some components may be combined, or different components, for example the terminal may further comprise input output devices, network access devices, buses, etc.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may be an internal storage unit of the terminal 7, such as a hard disk or a memory of the terminal 7. The memory 71 may also be an external storage device of the terminal 7, 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 provided on the terminal 7. Alternatively, the memory 71 may also include both an internal storage unit and an external storage device of the terminal 7. The memory 71 is used for storing the computer program and other programs and data required by the terminal. The memory 71 may also be used to temporarily store data that has been output or is to be output.
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. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
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/terminal and method may be implemented in other ways. For example, the above-described apparatus/terminal 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 implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. 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.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. 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 entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The present application realizes all or part of the processes in the method of the above embodiments, and may also be implemented by a computer program product, when the computer program product runs on a terminal, the steps in the above method embodiments may be implemented when the terminal executes the computer program product.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting 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:
obtaining motor parameters, wherein the motor parameters comprise: d-axis voltage, q-axis voltage, d-axis current, q-axis current, d-axis inductance of the motor, mechanical angular velocity of a rotor in the motor, stator resistance of the motor and pole pair number of permanent magnets in the motor;
according to the motor parameters, a first-order partial derivative signal of the motor torque to the current vector angle is calculated and obtained as an output signal through the following set model formula:
Figure FDA0003494530330000011
wherein, OutNonA first partial derivative signal of the motor torque to a current vector angle; v. ofdIs the d-axis voltage; v. ofqIs the q-axis voltage; i.e. idIs the d-axis current; i.e. iqIs the q-axis current; l isdIs the d-axis inductance; omegamIs the mechanical angular velocity of the rotor; r is the stator resistance; p is the number of pole pairs of the permanent magnet; wherein id＝-Iasinβ，iq＝Iacosβ，IaIs the current amplitude, β is the current vector angle; the set model formula is obtained based on a model formula of a motor torque signal after injecting a virtual high-frequency signal into a current vector angle;
and determining a target current vector angle of the motor based on the output signal, and performing operation control on the motor based on the target current vector angle.
2. The motor control method of claim 1, wherein before calculating a first partial derivative signal of motor torque versus current vector angle as an output signal based on the motor parameters by setting a model formula as follows, further comprising:
injecting a virtual high-frequency signal into the current vector angle to obtain a d-axis current after signal injection and a q-axis current after signal injection:
Figure FDA0003494530330000021
wherein the content of the first and second substances,
Figure FDA0003494530330000022
the d-axis current after injection for the signal,
Figure FDA0003494530330000023
for the q-axis current after the signal injection, IaFor current amplitude, β is the current vector angle, Δ β is the injected virtual high frequency signal, Δ β ═ Asin (ω)ht), A is the amplitude of the virtual high-frequency signal, omegahIs the frequency of the virtual high-frequency signal, t is time;
obtaining a model formula of an initial motor torque signal of the motor in a motor rotor coordinate system:
Figure FDA0003494530330000024
wherein, TeIs the initial motor torque signal; v. ofdIs the d-axis voltage of the motor; i.e. idIs d-axis current of the motor, id＝-Iasinβ；LdA d-axis inductance for the motor; v. ofqIs the q-axis voltage of the motor; i.e. iqIs the q-axis current, i, of the motorq＝Iacos β; wherein, IaIs the current amplitude, β is the current vector angle; l isqIs a q-axis inductance of the motor; r is the stator resistance of the motor; p is the number of pole pairs of the permanent magnets of the motor; omegamIs the mechanical angular velocity of the rotor in the machine;
substituting the d-axis current after the signal injection and the q-axis current after the signal injection into the model formula of the initial motor torque signal, and combining a trigonometric function formula to obtain a first model formula of the motor torque signal after the signal injection:
Figure FDA0003494530330000025
wherein the content of the first and second substances,
Figure FDA0003494530330000026
Figure FDA0003494530330000027
the method comprises the following steps of (1) taking cos delta beta as 1, cos2 delta beta as 1 and sin delta beta as delta beta;
carrying out Taylor expansion on the left side of the first model formula to obtain a second model formula:
Figure FDA0003494530330000028
determining sin (omega) based on the first model formula and the second model formula through a coefficient analogy principle of the same termshCoefficient of t) term
Figure FDA0003494530330000031
And coefficient m2+n2+n3And equivalently, obtaining the set model formula:
Figure FDA0003494530330000032
3. the method of claim 2, wherein the step of substituting the signal-injected d-axis current and the signal-injected q-axis current into the model formula of the initial motor torque signal and combining a trigonometric function formula to obtain a first model formula of the signal-injected motor torque signal comprises:
substituting the d-axis current after the signal injection and the q-axis current after the signal injection into the model formula of the initial motor torque signal, and then obtaining an expansion formula by using the model formula of the initial motor torque signal by using a trigonometric function:
Figure FDA0003494530330000033
will be provided with
Figure FDA0003494530330000034
Assigned value of m1Will be provided with
Figure FDA0003494530330000035
Assigned value of m2Will be provided with
Figure FDA0003494530330000036
Assigned a value of n1Will be provided with
Figure FDA0003494530330000037
Assigned a value of n2Will be provided with
Figure FDA0003494530330000038
Figure FDA0003494530330000039
Assigned a value of n3And mixing said m1、m2、n1、n2、n3Substituting the formula into the expansion formula to obtain a simplified formula:
Figure FDA00034945303300000310
after the cos delta beta is taken as 1, the cos2 delta beta is taken as 1, and the sin delta beta is taken as delta beta, the simplified formula is used for obtaining a first model formula of the motor torque signal after signal injection:
Figure FDA00034945303300000311
4. the motor control method of claim 1, wherein said determining a target current vector angle of the motor based on the output signal comprises:
and determining a corresponding current phase advance angle when the first-order partial derivative signal of the torque to the current vector angle approaches zero as a target current vector angle of the motor based on the output signal.
5. The motor control method according to claim 1, wherein said performing operation control of the motor based on the target current vector angle includes:
calculating a d-axis current command and a q-axis current command of the motor based on the target current vector angle;
inputting the d-axis current command and the q-axis current command into a PI controller for decoupling to generate a d-axis voltage command and a q-axis voltage command;
and generating a voltage pulse signal based on the d-axis voltage command and the q-axis voltage command and outputting the voltage pulse signal to an inverter for driving and controlling the motor.
6. A motor control apparatus, comprising:
the parameter acquisition module is used for acquiring motor parameters, and the motor parameters comprise: d-axis voltage, q-axis voltage, d-axis current, q-axis current, d-axis inductance of the motor, mechanical angular velocity of a rotor in the motor, stator resistance of the motor and pole pair number of permanent magnets in the motor;
the signal processing module is used for calculating to obtain a first-order partial derivative signal of the motor torque to the current vector angle as an output signal according to the motor parameters;
the control module is used for determining a target current vector angle of the motor based on the output signal and controlling the operation of the motor based on the target current vector angle;
the signal processing module is specifically configured to:
according to the motor parameters, a first-order partial derivative signal of the motor torque to the current vector angle is calculated and obtained as an output signal through the following set model formula:
Figure FDA0003494530330000041
wherein, OutNonA first partial derivative signal of the motor torque to a current vector angle; v. ofdIs the d-axis voltage; v. ofqIs the q-axis voltage; i.e. idIs the d-axis current; i.e. iqIs the q-axis current; l isdIs the d-axis inductance; omegamIs the mechanical angular velocity of the rotor; r is the stator resistance; p is the number of pole pairs of the permanent magnet; wherein id＝-Iasinβ，iq＝Iacosβ，IaIs the current amplitude, β is the current vector angle; the set model formula is obtained based on a model formula of a motor torque signal after injecting a virtual high-frequency signal into a current vector angle.
7. A terminal 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 steps of 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 steps of the method according to any one of claims 1 to 5.
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