CN114123925A - Motor current control method, control device, motor system and storage medium - Google Patents
Motor current control method, control device, motor system and storage medium Download PDFInfo
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- CN114123925A CN114123925A CN202010867067.0A CN202010867067A CN114123925A CN 114123925 A CN114123925 A CN 114123925A CN 202010867067 A CN202010867067 A CN 202010867067A CN 114123925 A CN114123925 A CN 114123925A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000004590 computer program Methods 0.000 claims description 17
- 238000011084 recovery Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
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- 230000008094 contradictory effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/04—Single phase motors, e.g. capacitor motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
Abstract
The invention provides a current control method, a control device, a motor system and a storage medium of a motor, wherein the current control method of the motor comprises the following steps: acquiring a given voltage of the motor; compensating the given voltage according to a limit value, wherein the limit value is determined by the bus voltage of the motor driving device; and controlling the current of the motor according to the compensated given voltage. In the recovery process after the bus voltage of the motor driving device drops, the given voltage of the motor is compensated by using the limit value related to the bus voltage, so that the voltage utilization rate in the motor current control process is improved, the bus voltage can be fully used for rapidly recovering the motor current when the bus voltage of the motor driving device is recovered, and the total output torque is maintained to the maximum extent.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a current control method of a motor, a current control device of the motor, a motor system and a computer readable storage medium.
Background
The small-capacitance motor driver is a motor driver with low cost, small volume, long service life and high reliability, and has great application potential in the fields of compressors, fans, washing machines, food processors and the like. However, the small-capacitance motor driver has a small energy storage capacity of the bus, and when the output power of the motor is large, a large bus voltage drop is generated, and the current and the output torque of the motor drop along with the bus voltage drop, so that the normal operation of the motor is affected.
Disclosure of Invention
The invention mainly aims to provide a current control method of a motor, a current control device of the motor, a motor system and a computer readable storage medium, and aims to solve the problem that the current and the output torque of the motor drop along with the drop of the existing bus voltage, so that the normal operation of the motor is influenced.
In order to achieve the above object, the present invention provides a current control method for a motor, including: acquiring a given voltage of the motor; compensating the given voltage according to a limit value, wherein the limit value is determined by the bus voltage of the motor driving device; and controlling the current of the motor according to the compensated given voltage.
Further, the step of compensating the given voltage according to the limit value specifically includes: determining that the given voltage is equal to a limit value; the given voltage is compensated according to the limit value from the moment when the given voltage is equal to the limit value.
Further, the step of compensating the given voltage according to the limit value specifically includes: the given voltage is set to a limit value.
Further, after the step of determining that the given voltage is equal to the limit value, the method further includes: recording a given voltage equal to the limit value as a registered voltage; after the step of compensating the given voltage according to the limit value, the method further comprises the following steps: and determining to finish compensating the given voltage according to the limit value according to the registered voltage and the given voltage.
Further, according to the registered voltage and the given voltage, the step of ending the compensation of the given voltage according to the limit value is determined, and specifically comprises the following steps: integrating the difference value of the registered voltage and the given voltage in a first time period to obtain a first integral value, and integrating the difference value of the registered voltage and the given voltage in a second time period to obtain a second integral value, wherein the lower limit values of the first time period and the second time period are the time when the given voltage is determined to be equal to the limit value, the upper limit value of the first time period is a first preset time, the upper limit value of the second time period is a second preset time, and the first preset time and the second preset time are adjacent control times; acquiring a product of the first integral value and the second integral value; based on the product being less than 0, the compensation of the given voltage according to the limit value is ended.
Further, the given voltage includes a quadrature axis given voltage or a direct axis given voltage.
The present invention also provides a current control device of a motor, including: a memory storing a computer program; and a controller which implements the current control method of the motor when executing the computer program.
The invention also proposes a motor system comprising: a motor; a memory storing a computer program; and a controller which implements the current control method of the motor when executing the computer program.
Further, the motor system further includes: the motor driving device is connected with the controller and used for driving the motor according to the given voltage of the controller; and the voltage acquisition device is connected with the controller and is used for acquiring the bus voltage of the motor driving device.
The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, implements the current control method of the above-mentioned motor.
In the technical scheme of the invention, in the recovery process after the bus voltage of the motor driving device drops, the given voltage of the motor is compensated by using the limit value related to the bus voltage, so that the voltage utilization rate in the motor current control process is improved, the bus voltage can be fully utilized to quickly recover the motor current when the bus voltage of the motor driving device is recovered, and the total output torque is maintained to the maximum extent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 shows one of the flow diagrams of a current control method of an electric machine of an embodiment of the invention;
fig. 2 shows a second flow chart of a current control method of the motor according to an embodiment of the invention;
FIG. 3 shows a flow diagram of a method of current control for a small capacitance motor drive of one embodiment of the present invention;
fig. 4 shows a schematic block diagram of a current control device of the motor of one embodiment of the present invention;
FIG. 5 shows one of the schematic block diagrams of the electric motor system of one embodiment of the present invention;
fig. 6 shows a second schematic block diagram of the motor system of an embodiment of the invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 400 | Current control device for |
402 | |
| 404 | Processor with a memory having a plurality of |
500 | |
| 502 | |
504 | |
| 506 | |
508 | |
| 510 | Voltage acquisition device |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
An embodiment of the first aspect of the present invention provides a current control method for a motor, which is described in detail with reference to fig. 1 to 3.
Fig. 1 shows a flow chart of a current control method of a motor according to an embodiment of the present invention. The current control method comprises the following steps:
102, acquiring a given voltage of a motor;
104, compensating the given voltage according to a limiting value, wherein the limiting value is determined by the bus voltage of the motor driving device;
and 106, controlling the current of the motor according to the compensated given voltage.
In the embodiment, in the recovery process after the bus voltage of the motor driving device drops, the given voltage of the motor is compensated by using the limit value related to the bus voltage, so that the voltage utilization rate in the motor current control process is improved, the bus voltage can be fully used for quickly recovering the motor current when the bus voltage of the motor driving device recovers, and the total output torque is maintained to the maximum extent.
The limit value is a maximum value of the given voltage, and the limit value may include a physical limit of the motor driving device (i.e., a maximum terminal voltage output of the motor driving device) or an output limit of a current controller of the motor driving device (i.e., a maximum output voltage of the current controller), where the output of the current controller is the given voltage of the motor. The limit value is limited by the bus voltage of the current motor drive, that is, the physical limit of the motor drive is limited by the bus voltage of the current motor drive, and generally, the self output of the current controller is limited to the bus voltage
And (4) doubling.
It should be noted that the motor driving device in this embodiment is a small-capacitance motor driver.
Further, because the limit value is determined from the bus voltage, the limit value is a varying amount at the same time the bus voltage varies.
Further, the given voltage includes a quadrature axis given voltage or a direct axis given voltage.
In this embodiment, the current controller of the motor driving apparatus includes a quadrature-axis current controller whose output is a quadrature-axis set voltage and a direct-axis current controller whose output is a direct-axis set voltage. By compensating the quadrature axis set voltage and/or the direct axis set voltage, the quadrature axis current and the direct axis current of the motor can be recovered as quickly as possible while the bus voltage is recovered as the supply voltage rises.
Further, step 104, compensating the given voltage according to the limit value, specifically includes: determining that the given voltage is equal to a limit value; the given voltage is compensated according to the limit value from the moment when the given voltage is equal to the limit value.
Further, the step of compensating the given voltage according to the limit value specifically includes: the given voltage is set to a limit value.
In this embodiment, the given voltage after the time is set to the limit value from the time when the given voltage is equal to the limit value, that is, the given voltage is forcibly limited to be equal to the maximum value from the time after, so that the motor current can be recovered at the fastest speed.
Further, the step of compensating the given voltage according to the limit value from the time when the given voltage is equal to the limit value specifically includes: setting a saturation flag bit at the moment when the constant voltage is equal to the limit value; and under the condition that the saturation flag bit is set, compensating the given voltage according to the limit value.
In this embodiment, a saturation flag is additionally provided in each current controller of the motor drive apparatus. The saturation flag is set when the given voltage is equal to the limit value, and the given voltage is forced to be equal to the limit value when the saturation flag is set.
It should be noted that the saturation flag bits additionally provided in the quadrature-axis current controller and the direct-axis current controller are independent of each other.
Further, after the step of obtaining the given voltage of the motor, the method further comprises the following steps: based on the given voltage being less than the limit value, the current of the motor is controlled according to the given voltage. That is, the given voltage is not compensated for in the case where the given voltage is limited to the limit value, but the motor current is directly controlled.
Fig. 2 shows a flow chart of a current control method of the motor according to an embodiment of the present invention. The current control method comprises the following steps:
and 208, according to the registered voltage and the given voltage, determining to finish compensating the given voltage according to the limit value.
In this embodiment, it is determined whether compensation can be stopped based on the given voltage at the time equal to the limit value and the current given voltage, that is, whether the motor current has recovered with the bus voltage, and the forced setting of making the given voltage equal to the limit value can be cancelled after the recovery is determined, thereby avoiding the problem of excessive motor current caused by maintaining the given voltage at the maximum value all the time.
It should be noted that the sequence between step 206 and step 208 is not limited, that is, the current of the motor may be controlled by using the compensated given voltage, or the current of the motor may be controlled according to the compensated given voltage, that is, the uncompensated given voltage.
Further, in step 208, the step of determining to finish compensating the given voltage according to the limit value according to the registered voltage and the given voltage specifically includes: integrating the difference value of the registered voltage and the given voltage in a first time period to obtain a first integral value, and integrating the difference value of the registered voltage and the given voltage in a second time period to obtain a second integral value, wherein the lower limit values of the first time period and the second time period are the time when the given voltage is determined to be equal to the limit value, the upper limit value of the first time period is a first preset time, the upper limit value of the second time period is a second preset time, and the first preset time and the second preset time are adjacent control times; acquiring a product of the first integral value and the second integral value; based on the product being less than 0, the compensation of the given voltage according to the limit value is ended.
In this embodiment, the integration of the difference value of the registered voltage and the given voltage is started from the moment when the given voltage is equal to the limit value (i.e., the moment when the compensation is started), one integrated value corresponding to each control moment. The product of the integral values corresponding to two adjacent control moments is determined, and when the product is less than 0, indicating a zero crossing point of the integral value, the compensation can be stopped, so that the forced setting of making the given voltage equal to the limit value is cancelled, and the problem of overlarge motor current caused by keeping the given voltage at the maximum value all the time is avoided.
It should be noted that, the given voltage is set equal to the limit value at the beginning of the time when the given voltage is equal to the limit value, where the two "equal" means different meanings, the former "equal" means that the real value of the given voltage is equal to the limit value, the latter "equal" means that the value of the given voltage is forcibly set equal to the limit value, and if the actual value of the given voltage is not necessarily equal to the limit value (specifically, it should be less than or equal to the limit value). Further, since the limit value is changed according to the bus voltage, the given voltage is changed after forcibly setting the value of the given voltage equal to the limit value, so that there is a difference between the given voltage and the registered voltage recorded at the time when the given voltage is equal to the limit value.
In this embodiment, an auxiliary integrator with an initial value of 0, a saturation flag, and a current controller output value register are additionally provided in each current controller of the motor drive apparatus. In a motor driving device for FOC (Field Oriented Control) in a synchronous dq coordinate system, saturation flag bits additionally arranged in current controllers of a d axis and a q axis respectively are independent, and output value registers of the current controllers are independent.
In the motor driving device, the maximum terminal voltage output of the motor driving device is limited by the bus voltage of the current motor driving device, and the maximum output voltages of the d-axis and q-axis current controllers are all bus voltage
And multiplying the maximum terminal voltage output of the motor driving device or the highest output voltage of the current controller as the limit value of the output value of the current controller (the output value of the current controller is the given voltage). When the output value of the current controller reaches the limit value, the saturation flag bit is set. At the time when the d-axis or q-axis current controller saturation flag is set, the output value of the current controller is stored in the current controller output value register. And forcing the output value of the current controller to be equal to the limit value at the moment when the saturation flag bit of the current controller of the d axis or the q axis is set.
When the saturation flag bit of the current controller of the d-axis or q-axis is set, the auxiliary integrator additionally arranged in the current controller starts integrating the difference between the register value in the output value register of the current controller and the output value of the real current controller, and the output value of the real current controller is forced to be equal to the limit value. Then, the product of the output values of the auxiliary integrator of the current controller at two moments before and after is calculated to judge whether the zero-crossing point exists.
And when the saturation flag position of the current controller of the d axis or the q axis is set and the product of output values of an auxiliary integrator of the current controller at two moments before and after is less than 0, judging the zero crossing point of the integrator. And if the zero crossing point of the auxiliary integrator is judged, the saturation mark position of the current controller is set to be zero. When the saturation flag position is zero, the restriction that forces the output value of the current controller equal to the limit value is cancelled.
It should be noted that, when the saturation flag of the d-axis or q-axis current controller is set, the integral element and the proportional element of the current controller do not cut off the input, but the output of the integral element and the total output are clamped (i.e., output limited) according to the limit value. In this way, when the restriction that forces the output value of the current controller equal to the limit value is cancelled, smooth transition of the output value of the current controller is facilitated.
As a specific embodiment, taking a small-capacitance motor driver as an example, fig. 3 shows a flowchart of a current control method of a small-capacitance motor driver according to an embodiment of the present invention. The current control method comprises the following steps:
step 310, starting to integrate the difference value between the register value REG _ OUT in the output value register of the current controller and the output value V _ OUT of the current controller;
in step 316, the saturation flag SAT _ FLG is cleared and the output value V _ OUT of the current controller is set to the limit value V _ LIM.
In this embodiment, (1) in each current controller of the small-capacitance motor driver, an integrator whose initial value is 0, a saturation flag SAT _ FLG, and a current controller output value register are additionally provided. (2) When the output value V _ OUT of the current controller reaches the limit value V _ LIM, the saturation flag bit SAT _ FLG is set, the register value REG _ OUT in the output value register of the current controller is recorded as the output value V _ OUT of the current controller at the setting moment of the saturation flag bit SAT _ FLG, when the saturation flag bit SAT _ FLG is set, the current controller normally works, but the output value V _ OUT of the current controller is forcibly equal to the limit value V _ LIM, wherein the limit value V _ LIM comprises the physical limit of the small-capacitance motor driver or the output limit of the current controller. (3) And integrating the difference between the register value REG _ OUT in the output value register of the current controller and the output value V _ OUT of the real current controller by using an additionally arranged integrator, and calculating the product of integrator values at the two control moments before and after. (4) When the product of the integrator values at the two control times is less than 0, the saturation flag bit SAT _ FLG is set to zero, and the output value V _ OUT of the current controller is cancelled to be equal to the limit value V _ LIM.
In the above (1):
in a small-capacitance motor driver for FOC under a synchronous dq coordinate system, a saturation flag bit and a current controller output value register are additionally arranged in current controllers of a d axis and a q axis respectively. The two saturation flag bits are independent of each other, and the two current controller output value registers are independent of each other.
In the above (2):
1) in small capacitance motor drives, the maximum terminal voltage output of the motor drive (i.e., the physical limitations of the small capacitance motor drive) is limited by the magnitude of the bus voltage of the current motor drive. The highest output voltages of the d-axis and q-axis current controllers (i.e. the output limits of the current controllers themselves) are both bus voltages
And (4) doubling. When the output value V _ OUT of the current controller reaches the limit value V _ LIM, the saturation flag bit is set.
2) When the saturation flag SAT _ FLG of the current controller of the d-axis or q-axis is set, the output value V _ OUT of the current controller at that time is held in this current controller output value register.
3) When the saturation flag SAT _ FLG of the current controller of the d axis or the q axis is set, the integral link and the proportional link of the current controller do not cut off the input, but the output value V _ OUT of the current controller is clamped (namely output limitation) at the output of the integral link and the total output according to the limit value V _ LIM, and the output value V _ OUT of the current controller is forced to be equal to the limit value V _ LIM.
In the above (3):
1) when the saturation flag SAT _ FLG of the d-axis or q-axis current controller is set, the current controller starts integrating the difference between the register value REG _ OUT in the output value register of the current controller and the true output value V _ OUT of the current controller by using an additionally provided integrator.
2) When the saturation flag SAT _ FLG of the current controller of the d axis or the q axis is set, the product of output values of the integrator of the current controller at two moments before and after is calculated to judge whether the zero-crossing point exists.
In the above (4):
1) when the saturation flag SAT _ FLG of the current controller of the d axis or the q axis is set, if the product of output values of two moments before and after the integrator of the current controller is less than 0, the zero crossing point of the integrator is judged.
2) When the saturation flag SAT _ FLG of the current controller of the d axis or the q axis is set and the zero crossing point of the integrator is judged, the saturation flag SAT _ FLG of the current controller is set to zero.
3) When the saturation flag SAT _ FLG of the current controller of the d-axis or q-axis is set to zero, the restriction that the output value V _ OUT of the current controller is forcibly output as the limit value V _ LIM is cancelled.
The current control method for the small-capacitance motor driver provided by the embodiment can fully utilize the bus voltage to quickly recover the motor current when the bus voltage of the small-capacitance motor driver is recovered.
In the embodiment of the second aspect of the present invention, a current control device for a motor is provided, and fig. 4 shows a schematic block diagram of a current control device 400 for a motor according to an embodiment of the present invention. Wherein, the current control device 400 of the motor includes:
a memory 402, the memory 402 storing a computer program;
a processor 404, wherein the processor 404, when executing the computer program, implements the method for controlling the current of the motor according to the embodiment of the first aspect.
Wherein the memory 402 and the processor 404 may be connected by a bus or other means. The Processor 404 may include one or more Processing units, and the Processor 404 may be a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or the like.
In the current control apparatus 400 for the motor according to the present invention, the computer program is executed by the processor 404 to implement the steps of the current control method for the motor according to the above-mentioned first embodiment, so that the current control apparatus 400 for the motor includes all the advantages of the current control method for the motor according to the above-mentioned first embodiment.
In embodiments of the third aspect of the present invention, a motor system is provided, and fig. 5 shows a schematic block diagram of a motor system 500 according to an embodiment of the present invention. Wherein, this motor system 500 includes:
a motor 502;
a memory 504, the memory 504 storing a computer program;
a controller 506, the controller 506 implementing the method for controlling the current of the motor according to the embodiment of the first aspect when executing the computer program.
Further, as shown in fig. 6, the motor system further includes:
a motor driving device 508 connected to the controller 506, the motor driving device 508 being configured to drive the motor according to a given voltage of the controller 506;
and the voltage acquisition device 510 is connected with the controller 506, and the voltage acquisition device 510 is used for acquiring the bus voltage of the motor driving device 508.
Wherein the memory 504 and the controller 506 may be connected by a bus or other means. The controller 506 may include one or more processing units, and the controller 506 may be a central processing unit, a digital signal processor, an application specific integrated circuit, a field programmable gate array, or the like.
The present invention provides a motor system 500, wherein the computer program, when executed by the controller 506, implements the steps of the current control method of the motor according to the above-mentioned first embodiment, and therefore the motor system 500 includes all the advantages of the current control method of the motor according to the above-mentioned first embodiment.
An embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the current control method of the electric motor of the above-mentioned embodiment of the first aspect.
The present invention provides a computer readable storage medium, which when being executed by a processor implements the steps of the method for current control of an electric motor as described in the above-mentioned first aspect embodiment, and therefore comprises all the advantageous effects of the method for current control of an electric motor as described in the above-mentioned first aspect embodiment.
The computer-readable storage medium includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A current control method of a motor, comprising:
acquiring a given voltage of the motor;
compensating the given voltage according to a limit value, wherein the limit value is determined by a bus voltage of the motor driving device;
and controlling the current of the motor according to the compensated given voltage.
2. The method according to claim 1, wherein the step of compensating the given voltage according to a limit value comprises:
determining that the given voltage is equal to the limit value;
compensating the given voltage according to the limit value from a time when the given voltage is equal to the limit value.
3. The method according to claim 2, wherein the step of compensating the given voltage according to a limit value comprises:
setting the given voltage to the limit value.
4. The current control method of an electric motor according to claim 2, further comprising, after the step of determining that the given voltage is equal to the limit value:
recording the given voltage at the limit value as a registered voltage;
after the step of compensating the given voltage according to the limit value, the method further includes:
and determining to finish compensating the given voltage according to the limit value according to the registered voltage and the given voltage.
5. The method according to claim 4, wherein the step of determining to end the compensation of the given voltage according to the limit value based on the registered voltage and the given voltage comprises:
integrating the difference value of the registered voltage and the given voltage in a first time period to obtain a first integral value, and integrating the difference value of the registered voltage and the given voltage in a second time period to obtain a second integral value, wherein the lower limit values of the first time period and the second time period are the time when the given voltage is determined to be equal to the limit value, the upper limit value of the first time period is a first preset time, the upper limit value of the second time period is a second preset time, and the first preset time and the second preset time are adjacent control times;
acquiring a product of the first integrated value and the second integrated value;
and ending the compensation of the given voltage according to the limit value based on the product being less than 0.
6. The current control method of an electric motor according to any one of claims 1 to 5, wherein the given voltage includes a quadrature axis given voltage or a direct axis given voltage.
7. A current control device of a motor, characterized by comprising:
a memory storing a computer program;
a controller implementing a current control method of an electric machine according to any one of claims 1 to 6 when the computer program is executed.
8. An electric machine system, comprising:
a motor;
a memory storing a computer program;
a controller implementing a current control method of an electric machine according to any one of claims 1 to 6 when the computer program is executed.
9. The electric machine system according to claim 8, further comprising:
the motor driving device is connected with the controller and used for driving the motor according to the given voltage of the controller;
and the voltage acquisition device is connected with the controller and is used for acquiring the bus voltage of the motor driving device.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of current control of an electric machine according to any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010867067.0A CN114123925A (en) | 2020-08-26 | 2020-08-26 | Motor current control method, control device, motor system and storage medium |
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| CN202010867067.0A CN114123925A (en) | 2020-08-26 | 2020-08-26 | Motor current control method, control device, motor system and storage medium |
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| CN202010867067.0A Pending CN114123925A (en) | 2020-08-26 | 2020-08-26 | Motor current control method, control device, motor system and storage medium |
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|---|---|---|---|---|
| JPH08336300A (en) * | 1995-06-07 | 1996-12-17 | Fuji Electric Co Ltd | Driver for permanent type magnet synchronous motor |
| JPH11308900A (en) * | 1998-04-24 | 1999-11-05 | Kiyoshi Oishi | Ac motor velocity controller |
| KR20060022247A (en) * | 2005-11-25 | 2006-03-09 | 미쓰비시덴키 가부시키가이샤 | Controller of permanent magnet synchronous motor |
| US20080265809A1 (en) * | 2007-04-25 | 2008-10-30 | Hitachi Ltd | Field weakening control apparatus for permanent magnet motor and electric power steering using same |
| JP2016167946A (en) * | 2015-03-10 | 2016-09-15 | 東洋電機製造株式会社 | Current controller for ac motor |
| CN106788111A (en) * | 2016-11-28 | 2017-05-31 | 广东美芝制冷设备有限公司 | Electric machine control system and its DC bus-bar voltage compensation method, device |
| CN107896081A (en) * | 2017-11-27 | 2018-04-10 | 奥克斯空调股份有限公司 | Current control process and device, motor drive control method and device |
| CN110212831A (en) * | 2019-05-06 | 2019-09-06 | 南京理工大学 | Consider the IPMSM field weakening control method in the case of DC bus-bar voltage falls |
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2020
- 2020-08-26 CN CN202010867067.0A patent/CN114123925A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08336300A (en) * | 1995-06-07 | 1996-12-17 | Fuji Electric Co Ltd | Driver for permanent type magnet synchronous motor |
| JPH11308900A (en) * | 1998-04-24 | 1999-11-05 | Kiyoshi Oishi | Ac motor velocity controller |
| KR20060022247A (en) * | 2005-11-25 | 2006-03-09 | 미쓰비시덴키 가부시키가이샤 | Controller of permanent magnet synchronous motor |
| US20080265809A1 (en) * | 2007-04-25 | 2008-10-30 | Hitachi Ltd | Field weakening control apparatus for permanent magnet motor and electric power steering using same |
| JP2016167946A (en) * | 2015-03-10 | 2016-09-15 | 東洋電機製造株式会社 | Current controller for ac motor |
| CN106788111A (en) * | 2016-11-28 | 2017-05-31 | 广东美芝制冷设备有限公司 | Electric machine control system and its DC bus-bar voltage compensation method, device |
| CN107896081A (en) * | 2017-11-27 | 2018-04-10 | 奥克斯空调股份有限公司 | Current control process and device, motor drive control method and device |
| CN110212831A (en) * | 2019-05-06 | 2019-09-06 | 南京理工大学 | Consider the IPMSM field weakening control method in the case of DC bus-bar voltage falls |
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