CN114123925B - Current control method and device for motor, motor system and storage medium - Google Patents
Current control method and device for motor, motor system and storage medium Download PDFInfo
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- CN114123925B CN114123925B CN202010867067.0A CN202010867067A CN114123925B CN 114123925 B CN114123925 B CN 114123925B CN 202010867067 A CN202010867067 A CN 202010867067A CN 114123925 B CN114123925 B CN 114123925B
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- 238000004590 computer program Methods 0.000 claims description 18
- 238000011084 recovery Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
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- 238000004891 communication Methods 0.000 description 1
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- 238000004146 energy storage Methods 0.000 description 1
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Classifications
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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
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- Control Of Electric Motors In General (AREA)
- Control Of Ac Motors In General (AREA)
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 a 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. In the recovery process of the bus voltage of the motor driving device after dropping, the given voltage of the motor is compensated by utilizing 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 greatest extent.
Description
Technical Field
The present invention relates to the field of motor control technology, and in particular, to a current control method for a motor, a current control device for a motor, a motor system, and a computer readable storage medium.
Background
The motor driver with small capacitance 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 can generate larger bus voltage drop when the output power of the motor is larger due to smaller energy storage capacity of the bus, and the drop of the bus voltage can cause current and output torque of the motor to 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 current and output torque of the motor drop along with the current and output torque of the motor caused by the existing bus voltage drop, so that the normal operation of the motor is affected.
In order to achieve the above object, the present invention provides a current control method of a motor, including: acquiring a given voltage of a 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.
Further, the step of compensating the given voltage according to the limit value specifically includes: determining that the given voltage is equal to the limit value; starting from the moment when the given voltage is equal to the limit value, the given voltage is compensated according 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, further comprising: 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, it further comprises: and determining to end the compensation of the given voltage according to the limiting value according to the registered voltage and the given voltage.
Further, according to the registered voltage and the given voltage, determining to end the step of compensating the given voltage according to the limit value specifically includes: integrating the difference value between the registered voltage and the given voltage in a first time period to obtain a first integrated value, and integrating the difference value between the registered voltage and the given voltage in a second time period to obtain a second integrated 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; obtaining 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 an intersecting axis given voltage or a straight axis given voltage.
The invention also provides a current control device of the motor, which comprises: a memory storing a computer program; and the controller is used for realizing the current control method of the motor when executing the computer program.
The invention also proposes an electric motor system comprising: a motor; a memory storing a computer program; and the controller is used for realizing 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 is used for driving the motor according to a 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 provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned current control method of the 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 utilizing 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 recovers, and the total output torque is maintained to the greatest extent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 illustrates one of the flow diagrams of a method of controlling current of an electric motor according to one embodiment of the invention;
FIG. 2 shows a second flow chart of a method of controlling current in an electric motor according to an embodiment of the invention;
FIG. 3 shows a flow chart of a method of current control of a small capacitance motor driver according to one embodiment of the invention;
FIG. 4 shows a schematic block diagram of a current control device of an electric machine according to an embodiment of the invention;
FIG. 5 shows one of the schematic block diagrams of the motor system of one embodiment of the invention;
fig. 6 shows a second schematic block diagram of a motor system according to an embodiment of the invention.
Reference numerals illustrate:
| Reference numerals | Name of the name | Reference numerals | Name of the name |
| 400 | Current control device for motor | 402 | Memory device |
| 404 | Processor and method for controlling the same | 500 | Motor system |
| 502 | Motor with a motor housing | 504 | Memory device |
| 506 | Controller for controlling a power supply | 508 | Motor driving device |
| 510 | Voltage acquisition device |
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
An embodiment of the first aspect of the present invention proposes a current control method of an electric motor, and the current control method of the electric motor is described in detail with reference to fig. 1 to 3.
Fig. 1 shows a flow chart of a current control method of an electric machine according to an embodiment of the present invention. The current control method comprises the following steps:
102, acquiring a given voltage of a motor;
Step 104, 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 step 106, controlling the current of the motor according to the compensated given voltage.
In this 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 utilized to quickly recover 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 limiting value may include a physical limitation of the motor driving device (i.e., a maximum end voltage output of the motor driving device) or an output limitation of a current controller of the motor driving device (i.e., a maximum output voltage of the current controller), where an output of the current controller is a 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 in general, the self-output of the current controller is limited to the bus voltageMultiple times.
Note that, the motor driving device in this embodiment is a small-capacitance motor driver.
Further, since the limit value is determined according to the bus voltage, the limit value is also a varying amount while the bus voltage varies.
Further, the given voltage includes an intersecting axis given voltage or a straight axis given voltage.
In this embodiment, the current controller of the motor driving device includes a quadrature current controller whose output is a quadrature given voltage and a direct current controller whose output is a direct given voltage. By compensating for the quadrature axis given voltage and/or the direct axis given voltage, the quadrature axis current and the direct axis current of the motor can be recovered as soon as possible while the bus voltage recovers as the supply voltage rises.
Further, step 104, the step of compensating the given voltage according to the limit value specifically includes: determining that the given voltage is equal to the limit value; starting from the moment when the given voltage is equal to the limit value, the given voltage is compensated according 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 at which the given voltage is equal to the limit value, that is, the given voltage is forcedly limited to be equal to the maximum value from the time thereafter, so that the motor current can be recovered at the fastest speed.
Further, from the moment when the given voltage is equal to the limit value, the step of compensating the given voltage according to the limit value specifically includes: setting the saturation marker position at the moment when the fixed voltage is equal to the limit value; in the case of a saturation flag bit set, the given voltage is compensated according to the limit value.
In this embodiment, one saturation flag is additionally set in each current controller of the motor driving apparatus. When the given voltage is equal to the limit value, the saturation flag bit is set, and in the case of the saturation flag bit being set, the given voltage is forced to be equal to the limit value.
It should be noted that the saturation flag bits additionally set 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, it further includes: and controlling the current of the motor according to the given voltage based on the given voltage being less than the limit value. That is, in the case where the given voltage is limited to the limit value, the given voltage is not compensated, 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:
step 202, obtaining a given voltage of a motor;
Step 204, recording the given voltage at the moment when the given voltage is equal to the limit value as a registered voltage, and starting to set the given voltage as the limit value at the moment when the given voltage is equal to the limit value, wherein the limit value is determined by the bus voltage of the motor driving device;
step 206, controlling the current of the motor according to the given voltage;
Step 208, determining to end the compensation of the given voltage according to the limit value according to the registered voltage and the given voltage.
In this embodiment, it is determined whether compensation can be stopped or not, that is, whether the motor current has recovered with the bus voltage, based on the given voltage at the time equal to the limit value and the current given voltage, and forced setting for making the given voltage equal to the limit value can be canceled after determining recovery, thereby avoiding the problem of excessive motor current caused by maintaining the given voltage at the maximum value at all times.
It should be noted that the sequence between the step 206 and the 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, step 208, determining to end the step of compensating the given voltage according to the limit value according to the registered voltage and the given voltage, specifically includes: integrating the difference value between the registered voltage and the given voltage in a first time period to obtain a first integrated value, and integrating the difference value between the registered voltage and the given voltage in a second time period to obtain a second integrated 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; obtaining 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 difference between the registered voltage and the given voltage is integrated from the time when the given voltage is equal to the limit value (i.e., the time when compensation starts), one integrated value being associated with each control time. And determining the product of integral values corresponding to two adjacent control moments, and when the product is smaller than 0, indicating that the integral value crosses zero, determining that compensation can be stopped, so that forced setting for enabling the given voltage to be equal to a limit value is canceled, and avoiding the problem of overlarge motor current caused by always keeping the given voltage at the maximum value.
It should be noted that, starting at the moment when the given voltage is equal to the limit value, the given voltage is set equal to the limit value, where the two "equal" means that the actual value of the given voltage is equal to the limit value, and the second "equal" means that the value of the given voltage is forcedly set equal to the limit value, and if the forceful setting is not performed, the actual value of the given voltage is not necessarily equal to the limit value (in particular, 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 the value of the given voltage is forcibly set to be equal to the limit value, 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 bit, 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, magnetic field orientation control) under synchronous dq coordinate system, saturation flag bits additionally set in current controllers of d-axis and q-axis are independent of each other, and output value registers of the current controllers are independent of each other.
In the motor driving device, the maximum end voltage output of the motor driving device is limited by the bus voltage of the current motor driving device, and the highest output voltages of the current controllers of the d axis and the q axis are both the bus voltagesThe maximum terminal voltage output of the motor driving device or the highest output voltage of the current controller is taken as a limiting value of the output value of the current controller (the output value of the current controller is a given voltage). When the output value of the current controller reaches a limit value, the saturation flag bit is set. At the time when the current controller saturation flag bit of the d-axis or q-axis is set, the output value of the current controller is stored in this current controller output value register. Starting at the moment when the saturation flag of the current controller of the d-axis or q-axis is set, the output value of the current controller is forced to be equal to the limit value.
When the saturation flag bit of the current controller of the d-axis or the q-axis is set, an auxiliary integrator additionally arranged on the current controller starts to integrate the difference between the registered 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 the front and rear moments is calculated to judge whether the zero crossing point is generated.
And when the saturation flag bit of the current controller of the d-axis or the q-axis is set and the product of the output values of the auxiliary integrator of the current controller at the front moment and the rear moment is smaller than 0, judging the zero crossing point of the integrator. And if the zero crossing point of the auxiliary integrator is judged, the saturation flag position of the current controller is zero. When the saturation flag is zero, the limitation that the output value of the current controller is forcibly equal to the limit value is canceled.
When the saturation flag of the current controller on the d-axis or q-axis is set, the input is not cut off by the integrating link and the proportional link of the current controller, but the output and the total output of the integrating link are clamped according to the limiting value (i.e., output limiting). In this way, a smooth transition of the output value of the current controller is facilitated when the limitation of the output value of the current controller being forced to be equal to the limit value is cancelled.
As a specific embodiment, taking a small-capacitance motor driver as an example, fig. 3 shows a flow chart of a current control method of the small-capacitance motor driver according to an embodiment of the present invention. The current control method comprises the following steps:
step 302, obtaining an output value V_OUT of a current controller of a small-capacitance motor driver;
Step 304, judging whether the saturation flag bit SAT_FLG is equal to 1, if so, entering step 310, otherwise, entering step 306;
Step 306, judging whether the limit value v_lim is smaller than the output value v_out of the current controller, if yes, entering step 308, otherwise, ending;
Step 308, the saturation flag bit sat_flg is set to 1, and the output value v_out of the current controller at this time is recorded as the register value reg_out in the current controller output value register, and step 312 is entered;
step 310, starting to integrate 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 current controller;
step 312, setting the output value v_out of the current controller to the limit value v_lim;
Step 314, judging whether the product of the integral value at the nth control moment and the integral value at the n+1th control moment is smaller than 0, if so, entering step 316, otherwise, ending;
Step 316, the saturation flag bit 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 with an initial value of 0, a saturation flag bit 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, and when the saturation flag bit SAT_FLG is set, the current controller works normally, but the output value V_OUT of the current controller is forcedly 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 front control moment and the rear control moment. (4) When the product of the integrator values at the front and rear control moments is smaller than 0, the saturation flag bit SAT_FLG is set to zero, and the output value V_OUT of the current controller is forcedly equal to the limit value V_LIM.
In the above (1), the following is true:
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 a current controller of a d axis and a q axis respectively. The two saturation zone bits are mutually independent, and the two current controller output value registers are mutually independent.
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 the bus voltages Multiple times. 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 bit satflg 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 bit sat_flg of the current controller of the d-axis or q-axis is set, the integrating 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 (i.e. output limited) according to the limiting value v_lim at the output and the total output of the integrating link, so that the output value v_out of the current controller is forced to be equal to the limiting value v_lim.
In the above (3):
1) When the saturation flag bit sat_flg of the current controller of the d-axis or q-axis is set, the current controller starts integrating the difference between the registered value reg_out in the output value register of the current controller and the actual output value v_out of the current controller using an additionally provided integrator.
2) When the saturation flag bit SAT_FLG of the current controller of the d-axis or q-axis is set, the product of the output values of the integrator of the current controller at the front and rear moments is calculated to judge whether the zero crossing point is generated.
In the above (4):
1) When the saturation flag bit SAT_FLG of the current controller of the d axis or the q axis is set, if the product of the output values of the integrator of the current controller at the front moment and the rear moment is smaller than 0, the zero crossing point of the integrator is judged.
2) When the saturation flag bit 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 bit SAT_FLG of the current controller is set to zero.
3) When the saturation flag bit SAT_FLG of the current controller of the d-axis or q-axis is set to zero, the limitation that the output value V_OUT of the current controller is forcedly output as the limiting value V_LIM is canceled.
The current control method of the small-capacitance motor driver provided by the embodiment can fully utilize the bus voltage to quickly restore the motor current when the bus voltage of the small-capacitance motor driver is restored.
An embodiment of the second aspect of the present invention proposes a current control device for an electric motor, and fig. 4 shows a schematic block diagram of a current control device 400 for an electric motor according to an embodiment of the present invention. The current control device 400 of the motor includes:
a memory 402, the memory 402 storing a computer program;
the processor 404, when the processor 404 executes a computer program, implements the current control method 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 otherwise. The Processor 404 may include one or more processing units, and the Processor 404 may be a central processing unit (Central Processing Unit, CPU), a digital signal Processor (DIGITAL SIGNAL Processor, DSP), an Application SPECIFIC INTEGRATED Circuit (ASIC), a field programmable gate array (Field Programmable GATE ARRAY, FPGA), or the like.
The current control apparatus 400 for a motor according to the present invention implements the steps of the current control method for a motor according to the embodiment of the first aspect when the computer program is executed by the processor 404, so that the current control apparatus 400 for a motor includes all the advantages of the current control method for a motor according to the embodiment of the first aspect.
An embodiment of the third aspect of the present invention proposes an electrical machine system, fig. 5 shows a schematic block diagram of an electrical machine system 500 of an embodiment of the present invention. Wherein the motor system 500 comprises:
A motor 502;
a memory 504, the memory 504 storing a computer program;
and a controller 506, wherein the controller 506 implements the current control method 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, wherein the motor driving device 508 is used for driving 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 drive 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 steps of the current control method of the motor according to the embodiment of the first aspect are implemented by the computer program when executed by the controller 506, so that the motor system 500 includes all the advantages of the current control method of the motor according to the embodiment of the first aspect.
An embodiment of a fourth aspect of the present invention proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the current control method of the electric machine of the above-mentioned embodiment of the first aspect.
The present invention provides a computer readable storage medium, which when executed by a processor, implements the steps of the current control method of the motor as described above in the first aspect embodiment, and thus includes all the advantageous effects of the current control method of the motor as described above in the first aspect embodiment.
The computer-readable storage medium includes, among others, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the specification and drawings of the present invention or direct/indirect application in other related technical fields are included in the scope of the present invention.
Claims (6)
1. A current control method of an electric motor, comprising:
Acquiring a given voltage of the motor;
determining that the given voltage is equal to a limit value, wherein the limit value is determined by a bus voltage of the motor drive;
Starting from the moment when the given voltage is equal to the limit value, compensating the given voltage according to the limit value: setting the given voltage to the limit value; recording the given voltage when the given voltage is equal to the limit value as a registered voltage;
Controlling the current of the motor according to the compensated given voltage;
And determining to finish compensating the given voltage according to the limit value according to the registered voltage and the compensated given voltage: integrating the difference value between the registered voltage and the compensated given voltage in a first time period to obtain a first integral value, and integrating the difference value between the registered voltage and the compensated 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 all moments when the given voltage is determined to be equal to a limit value, the upper limit value of the first time period is a first preset moment, the upper limit value of the second time period is a second preset moment, and the first preset moment and the second preset moment are adjacent control moments; obtaining a product of the first integrated value and the second integrated value; and based on the product being less than 0, ending the compensation of the given voltage according to the limit value.
2. The method of current control of an electric machine according to claim 1, wherein the given voltage includes an intersecting-axis given voltage or a straight-axis given voltage.
3. A current control device of an electric motor, comprising:
a memory storing a computer program;
a controller which, when executing the computer program, implements the current control method of the motor according to claim 1 or 2.
4. An electric motor system, comprising:
A motor;
a memory storing a computer program;
a controller which, when executing the computer program, implements the current control method of the motor according to claim 1 or 2.
5. The electric machine system of claim 4, further comprising:
the motor driving device is connected with the controller and is used for driving the motor according to a given voltage of the controller;
And the voltage acquisition device is connected with the controller and is used for acquiring bus voltage of the motor driving device.
6. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the current control method of an electric machine as claimed in claim 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4654217B2 (en) * | 2007-04-25 | 2011-03-16 | 日立オートモティブシステムズ株式会社 | Field weakening control device for permanent magnet motor and electric power steering using the same |
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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 |
| 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 |
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| CN114123925A (en) | 2022-03-01 |
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