CN114204859A - Motor control method, system, device and medium - Google Patents
Motor control method, system, device and medium Download PDFInfo
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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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- 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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
Abstract
The invention discloses a motor control method, a system, a device and a medium, in the scheme, the phase current of a motor is collected for multiple times in a driving period, and a driving module is controlled for multiple times based on the collected current. On one hand, the time delay of updating the operation instruction in the current loop in the prior art can be reduced, the time delay of the motor is reduced to a certain extent, the bandwidth of the current loop is improved, and on the other hand, the interference of preset frequency existing when the phase current of the motor is collected for many times can be inhibited.
Description
Technical Field
The present invention relates to the field of motors, and in particular, to a motor control method, system, apparatus, and medium.
Background
At present, when a servo motor is controlled, a current loop is the innermost loop in servo control, the bandwidth of the current loop directly influences the performance of the whole driver, and the time delay in the current loop is a key factor for restricting the lifting of the current loop. Specifically, the delay of the current loop mainly refers to a delay from current sampling to current loop operation and PWM (Pulse Width Modulation) update of the operation command, and a delay from command update to a real switching action point, and these delays result in a smaller bandwidth of the current loop, so that when the servo motor is controlled based on the current loop, the real-time performance of the control is lower, and the time for controlling the servo motor to complete the command is longer.
Disclosure of Invention
The invention aims to provide a motor control method, a system, a device and a medium, which can reduce the time delay of updating an operation instruction in a current loop in the prior art, reduce the time delay of a motor to a certain extent, improve the bandwidth of the current loop and inhibit the interference of preset frequency existing when the phase current of the motor is collected for many times.
In order to solve the above technical problem, the present invention provides a motor control method, applied to a driving system of a motor, where the driving system includes a driving module for driving the motor, and the method includes:
s11: in a driving period, collecting phase current of the motor for multiple times to obtain collected current;
s12: filtering current signals with preset frequency in the collected current to obtain the processed collected current;
s13: constructing a current observer based on a motor model to observe phase current of the motor to obtain observed current;
s14: extracting a current signal with the preset frequency from the observation current to obtain a processed observation current;
s15: and taking the sum of the processed observation current and the processed collected current as a feedback current, so that the current loop performs closed-loop control on the phase current of the motor based on the target current and the feedback current.
Preferably, the driving module is a three-phase bridge circuit;
the driving period is the action period of a switching tube in the three-phase bridge circuit;
the preset frequency is the frequency of a PWM signal for controlling the action of a switch tube in the three-phase bridge circuit.
Preferably, filtering a current signal with a preset frequency in the collected current to obtain a processed collected current, includes:
filtering the current signal with the preset frequency in the acquired current through a notch filter rate to obtain the processed acquired current;
the center frequency of the notch filter is the preset frequency.
Preferably, extracting the current signal with the preset frequency from the observed current to obtain a processed observed current, includes:
extracting a current signal of the preset frequency from the observation current through a band-pass filter;
the center frequency of the band-pass filter is the preset frequency.
Preferably, the S12 to the S15 include:
enabling the difference value of the collected current and the observed current to pass through a band-pass filter to obtain filtered current, wherein the center frequency of the band-pass filter is set as the preset frequency;
and taking the difference value of the collected current and the filtered current as the feedback current, so that the current loop performs closed-loop control on the phase current of the motor based on the target current and the feedback current.
Preferably, the feedback current comprises a d-axis feedback current and a q-axis feedback current;
causing the current loop to perform closed-loop control of phase current of the motor based on a target current and the feedback current, comprising:
the control current controller generates a d-axis voltage signal based on the target d-axis current and the d-axis feedback current, and generates a q-axis voltage signal based on the target q-axis current and the q-axis feedback current;
performing Park inverse transformation on the d-axis voltage signal to obtain a first voltage vector, and performing Park inverse transformation on the q-axis voltage signal to obtain a second voltage vector;
and performing voltage space vector pulse width modulation on the first voltage vector and the second voltage vector to obtain a PWM signal, so that the driving module drives the motor based on the PWM signal.
Preferably, in a driving cycle, the phase current of the motor is collected for a plurality of times, and after the collected current is obtained, the method further includes:
performing Clarke transformation and Park transformation on the acquired current to obtain d-axis acquired current and q-axis acquired current;
the S12 through S15 include:
filtering current signals with preset frequency in the d-axis collected current to obtain processed d-axis collected current, and filtering current signals with preset frequency in the q-axis collected current to obtain processed q-axis collected current;
constructing a current observer based on the motor model;
controlling the current observer to generate a d-axis observation current based on the d-axis collection current and the d-axis voltage signal, and to generate a q-axis observation current based on the q-axis collection current and the q-axis voltage signal;
extracting a current signal with a preset frequency from the d-axis observation current to obtain a processed d-axis observation current, and extracting a current signal with a preset frequency from the q-axis observation current to obtain a processed q-axis observation current;
adding the processed d-axis collected current and the processed d-axis observed current to obtain a d-axis feedback current, adding the processed q-axis collected current and the processed q-axis observed current to obtain a q-axis feedback current, and enabling the current loop to carry out closed-loop control on the phase current of the motor based on the target d-axis current, the d-axis feedback current, the target q-axis current and the q-axis feedback current.
In order to solve the above technical problem, the present invention further provides a motor control system applied to a driving system of a motor, where the driving system includes a driving module for driving the motor, and the method includes:
the acquisition unit is used for acquiring the phase current of the motor for multiple times in a driving period to obtain the acquired current;
the first filtering unit is used for filtering a current signal with a preset frequency in the collected current to obtain a processed collected current;
the observation unit is used for constructing a current observer based on a motor model so as to observe the phase current of the motor and obtain an observed current;
the second filtering unit is used for extracting the current signal with the preset frequency from the observation current to obtain the processed observation current;
and the closed-loop control unit is used for taking the sum of the processed observation current and the processed collected current as a feedback current so as to enable the current loop to carry out closed-loop control on the phase current of the motor based on the target current and the feedback current.
In order to solve the above technical problem, the present invention further provides a motor control device, including:
a memory for storing a computer program;
a processor for implementing the steps of the motor control method described above when executing a computer program.
In order to solve the above technical problem, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the motor control method described above.
In the scheme, in a driving period, phase current of a motor is collected for multiple times, and a driving module is controlled for multiple times based on the collected current. On one hand, the time delay of updating the operation instruction in the current loop in the prior art can be reduced, the time delay of the motor is reduced to a certain extent, the bandwidth of the current loop is improved, and on the other hand, the interference of preset frequency existing when the phase current of the motor is collected for many times can be inhibited.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of a motor control method according to the present invention;
FIG. 2 is a schematic diagram of a motor control system according to the present invention;
FIG. 3 is a schematic diagram of a current process provided by the present invention;
FIG. 4 is a schematic diagram of another current process provided by the present invention;
FIG. 5 is a block diagram of a motor control system according to the present invention;
fig. 6 is a block diagram of a motor control device according to the present invention.
Detailed Description
The core of the invention is to provide a motor control method, system, device and medium, which can reduce the delay of updating the operation instruction in the current loop in the prior art, reduce the delay time of the motor to a certain extent, improve the bandwidth of the current loop, and inhibit the interference of the preset frequency existing when the phase current of the motor is collected for many times.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
Referring to fig. 1, fig. 1 is a schematic flow chart of a motor control method applied to a driving system of a motor, where the driving system includes a driving module for driving the motor, and the method includes:
s11: in a driving period, collecting phase current of a motor for multiple times to obtain collected current;
because the phase current of the motor is collected once in a driving period, the time delay of a current loop is larger, and the performance of the whole driving system is lower. Therefore, in order to improve the performance of the driving system and reduce the time delay of the current loop, in the application, the phase current of the motor is collected for multiple times in one driving period so as to reduce the time delay from the current sampling to the current loop operation and the updating of the operation instruction to the motor.
It should be noted that, although the phase current of the motor is collected twice in each driving period, and the two operation instructions are updated, the delay of the current loop may also be reduced to a certain extent, but the existing delay is still relatively large, so that the number of times collected in the present application is relatively large, and the specific number of times is not limited herein.
S12: filtering current signals with preset frequency in the collected current to obtain the processed collected current;
considering that when the phase current of the motor is collected for multiple times in one driving period, during this period, there may be some interference signals with fixed frequency, which may cause inaccuracy of the collected current, for example, the collected current may be interfered by the driving module driving the motor.
In order to solve the technical problem, the current signal with the preset frequency in the collected current is filtered, at the moment, the current signal with the preset frequency is not included in the collected current after processing, the influence of the interference signal with the preset frequency on a driving system can be avoided, and the influence of the interference signal is reduced when the current control motor is collected in the subsequent current loop.
It should be noted that the preset frequency in the present application may be set according to actual situations, as long as the interference signal can be filtered.
As a preferred embodiment, the driving module is a three-phase bridge circuit;
the driving period is the action period of a switching tube in the three-phase bridge circuit;
the preset frequency is the frequency of a PWM signal for controlling the action of a switch tube in the three-phase bridge circuit.
Specifically, when the driving module is a three-phase bridge circuit, in one driving cycle, when the phase current of the motor is collected for multiple times, the action of the switching tube in the three-phase bridge circuit may cause interference to a loop of the current collection current of the phase current of the motor.
Therefore, the preset frequency in the present application is set to the frequency of the PWM signal for controlling the operation of the switching tube in the three-phase bridge circuit. At the moment, the current signal with the same frequency as the action frequency of the switching tube in the collected current can be filtered, and the interference caused by the action of the switching tube can be inhibited on the basis of reducing the time delay of the current loop.
S13: constructing a current observer based on a motor model to observe phase current of a motor to obtain observed current;
s14: extracting a current signal with a preset frequency from the observation current to obtain a processed observation current;
because the current signal with the preset frequency is filtered, the filtered current signal not only comprises the interference signal with the preset frequency, but also filters the acquisition current with the preset frequency, so that the acquired acquisition current is an incomplete acquisition signal, and the motor cannot be reliably driven and controlled based on the incomplete acquisition signal.
Therefore, the present application also needs to compensate the processed collecting current to obtain a complete collecting current, so as to perform reliable driving control on the motor in the following. Specifically, the compensation method for the collected current in the present application is as follows: and generating an observation current by using a current observer, extracting a current signal with a preset frequency from the observation current, and compensating the processed collected current to obtain a complete feedback current signal. (no interference signal exists in the observed current or the interference signal is less, so that the current signal with the preset frequency in the observed current is used for compensating the processed collected current, and the interference signal in the obtained complete feedback current is less).
S15: and taking the sum of the processed observation current and the processed collected current as a feedback current, and enabling the current loop to carry out closed-loop control on the phase current of the motor based on the target current and the feedback current.
The sum obtained by adding the processed observed current (i.e., the compensated current described above) and the processed collected current is used as the complete feedback current, and is fed back to the input end of the current loop, so that the current loop controls the motor based on the feedback current and the target current, and the output current of the motor is stabilized at the target current.
In summary, the method in the present application, on one hand, can reduce the delay of updating the operation instruction in the current loop in the prior art, reduce the delay time of the motor to a certain extent, improve the bandwidth of the current loop, and on the other hand, can suppress the interference of the preset frequency existing when the phase current of the motor is collected for many times.
On the basis of the above-described embodiment:
as a preferred embodiment, the filtering out a current signal with a preset frequency from the collected current to obtain a processed collected current includes:
filtering current signals with preset frequency in the collected current through a notch filter rate to obtain the processed collected current;
the center frequency of the notch filter is a preset frequency.
The present embodiment aims to provide a specific implementation manner for filtering a current signal with a preset frequency in a collected current, and specifically, the specific implementation manner may be, but is not limited to, implemented by a notch filter, where the notch filter may rapidly attenuate a signal at a certain frequency point, so as to achieve a filtering effect of blocking the signal with the frequency from passing through. In the present application, a current signal having a predetermined frequency is filtered, and thus the center frequency of the notch filter is set to the predetermined frequency.
The transfer function of the notch filter is:
of course, the manner of filtering the current signal with the preset frequency is not limited to the above example, and other implementations are also possible, as long as the current signal with the preset frequency can be filtered, and the present application is not particularly limited herein.
As a preferred embodiment, extracting a current signal with a preset frequency from the observed current to obtain a processed observed current includes:
extracting a current signal with a preset frequency from the observation current through a band-pass filter;
the center frequency of the band-pass filter is a preset frequency.
The present embodiment is directed to provide a specific implementation manner for extracting a current signal with a preset frequency from a collected current, and specifically, but not limited to, the implementation manner is implemented by a band-pass filter, where the band-pass filter can allow a signal in a specific frequency band to pass through and simultaneously shield signals in other frequency bands. In the present application, a current signal having a predetermined frequency is extracted, and thus the center frequency of the on-filter is set to the predetermined frequency.
Wherein, the transfer function of the band-pass filter is:
of course, the manner of extracting the current signal with the preset frequency is not limited to the above example, and other implementations may be adopted as long as the current signal with the preset frequency can be extracted, and the present application is not particularly limited herein.
As a preferred embodiment, S12 to S15 include:
the difference value of the collected current and the observed current passes through a band-pass filter to obtain filtered current, and the center frequency of the band-pass filter is set as a preset frequency;
and taking the difference value of the collected current and the filtered current as a feedback current, so that the current loop carries out closed-loop control on the phase current of the motor based on the target current and the feedback current.
The present embodiment is intended to provide another specific implementation manner for obtaining the feedback current, and the specific process is as above, and the essence is the same as that of obtaining the feedback current through the notch filter and the band pass filter described above, except that the specific implementation sequence and manner are different, and the notch filter is not needed, so that the cost is low.
As a preferred embodiment, the feedback current includes a d-axis feedback current and a q-axis feedback current;
the method for enabling a current loop to carry out closed-loop control on phase current of a motor based on target current and feedback current comprises the following steps:
the control current controller generates a d-axis voltage signal based on the target d-axis current and the d-axis feedback current, and generates a q-axis voltage signal based on the target q-axis current and the q-axis feedback current;
performing Park inverse transformation on the d-axis voltage signal to obtain a first voltage vector, and performing Park inverse transformation on the q-axis voltage signal to obtain a second voltage vector;
and performing voltage space vector pulse width modulation on the first voltage vector and the second voltage vector to obtain a PWM signal so that the driving module drives the motor based on the PWM signal.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating a motor control according to the present invention.
Considering that the current observer processes the direct current component, the feedback current obtained in the present application includes a d-axis feedback current and a q-axis feedback current, and at this time, in a specific process of closed-loop control, a d-axis voltage signal is generated according to a target d-axis current and the d-axis feedback current, a q-axis voltage signal is generated according to a target q-axis feedback current and the q-axis feedback current, then, a Park inverse transformation is performed on the q-axis voltage signal and the d-axis voltage signal, respectively, to obtain a first voltage vector U α and a second voltage vector U β, and then, voltage space vector modulation (SVPWM) is performed to obtain a PWM signal, which is output to a three-phase bridge circuit to drive the motor, thereby completing the closed-loop control.
Of course, the above is only one specific implementation manner for specifically obtaining the parameters, and the parameters may also be obtained in other manners, for example, the d-axis voltage signal and the q-axis voltage signal may be obtained by respectively performing Park inverse transformation on the first voltage vector and the second voltage vector, or by acquiring motor phase voltages and performing Clarke transformation and Park transformation. The specific implementation is not limited to the above examples, and the present application is not limited thereto.
As a preferred embodiment, after acquiring the phase current of the motor multiple times in a driving cycle and obtaining the acquired current, the method further includes:
performing Clarke transformation and Park transformation on the acquisition currents (Ia and Ib) to obtain d-axis acquisition currents and q-axis acquisition currents;
s12 to S15 include:
filtering current signals with preset frequency in the d-axis collected current to obtain processed d-axis collected current, and filtering current signals with preset frequency in the q-axis collected current to obtain processed q-axis collected current;
constructing a current observer based on the motor model;
the control current observer generates a d-axis observation current based on the d-axis acquisition current and the d-axis voltage signal, and generates a q-axis observation current based on the q-axis acquisition current and the q-axis voltage signal;
extracting a current signal with a preset frequency from the d-axis observation current to obtain a processed d-axis observation current, and extracting a current signal with a preset frequency from the q-axis observation current to obtain a processed q-axis observation current;
adding the processed d-axis collected current and the processed d-axis observation current to obtain d-axis feedback current, adding the q-axis collected current and the q-axis observation current to obtain q-axis feedback current, and enabling a current loop to perform closed-loop control on the phase current of the motor based on the target d-axis current, the d-axis feedback current, the target q-axis current and the q-axis feedback current.
Specifically, referring to fig. 3 and 4, fig. 3 is a schematic diagram of a current processing provided by the present invention, and fig. 4 is a schematic diagram of another current processing provided by the present invention.
The Notch Filter is a Notch Filter, the BPF is a band-pass Filter, the Id is d-axis collected current, the Iq is q-axis collected current, the Ud is d-axis voltage signal, the Uq is q-axis voltage signal, the Idobs is d-axis observed current, the Iqobs is q-axis observed current, the Idfdb is d-axis feedback current, and the IqFdb is q-axis feedback current.
In the current observer, the motor model is equivalent to:
where R, L are the components of the motor phase resistance and inductance on the d and q axes, respectively, and s is the complex frequency in the time domain.
Referring to fig. 5, fig. 5 is a block diagram of a motor control system applied to a driving system of a motor, where the driving system includes a driving module for driving the motor, and the method includes:
the acquisition unit 51 is used for acquiring phase currents of the motor for multiple times in a driving period to obtain acquired currents;
the first filtering unit 52 is configured to filter a current signal with a preset frequency in the collected current to obtain a processed collected current;
the observation unit 53 is configured to construct a current observer based on the motor model to observe the phase current of the motor to obtain an observed current;
the second filtering unit 54 is configured to extract a current signal with a preset frequency from the observed current to obtain a processed observed current;
and the closed-loop control unit 55 is configured to use a sum of the processed observed current and the processed collected current as a feedback current, so that the current loop performs closed-loop control on the phase current of the motor based on the target current and the feedback current.
For solving the above technical problem, the present application further provides a motor control system, and please refer to the above embodiments for the introduction of the motor control system, which is not described herein again.
Referring to fig. 6, fig. 6 is a block diagram of a motor control device provided in the present invention, the device includes:
a memory 61 for storing a computer program;
a processor 62 for implementing the steps of the above-described motor control method when executing a computer program.
For solving the above technical problem, the present application further provides a motor control device, and please refer to the above embodiments for the introduction of the motor control device, which is not described herein again.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned motor control method. For the introduction of the computer-readable storage medium, reference is made to the above embodiments, which are not repeated herein.
It is to be noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. 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 invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A motor control method applied to a drive system of a motor, the drive system including a drive module for driving the motor, the method comprising:
s11: in a driving period, collecting phase current of the motor for multiple times to obtain collected current;
s12: filtering current signals with preset frequency in the collected current to obtain the processed collected current;
s13: constructing a current observer based on a motor model to observe phase current of the motor to obtain observed current;
s14: extracting a current signal with the preset frequency from the observation current to obtain a processed observation current;
s15: and taking the sum of the processed observation current and the processed collected current as a feedback current, so that the current loop performs closed-loop control on the phase current of the motor based on the target current and the feedback current.
2. The motor control method of claim 1, wherein the driving module is a three-phase bridge circuit;
the driving period is the action period of a switching tube in the three-phase bridge circuit;
the preset frequency is the frequency of a PWM signal for controlling the action of a switch tube in the three-phase bridge circuit.
3. The motor control method of claim 1, wherein filtering a current signal of a preset frequency in the collected current to obtain a processed collected current comprises:
filtering the current signal with the preset frequency in the acquired current through a notch filter rate to obtain the processed acquired current;
the center frequency of the notch filter is the preset frequency.
4. The motor control method of claim 1, wherein extracting the current signal of the predetermined frequency from the observed current to obtain a processed observed current comprises:
extracting a current signal of the preset frequency from the observation current through a band-pass filter;
the center frequency of the band-pass filter is the preset frequency.
5. The motor control method of claim 1, wherein the S12 through S15 include:
enabling the difference value of the collected current and the observed current to pass through a band-pass filter to obtain filtered current, wherein the center frequency of the band-pass filter is set as the preset frequency;
and taking the difference value of the collected current and the filtered current as the feedback current, so that the current loop performs closed-loop control on the phase current of the motor based on the target current and the feedback current.
6. The motor control method according to any one of claims 1 to 5, wherein the feedback current includes a d-axis feedback current and a q-axis feedback current;
causing the current loop to perform closed-loop control of phase current of the motor based on a target current and the feedback current, comprising:
the control current controller generates a d-axis voltage signal based on the target d-axis current and the d-axis feedback current, and generates a q-axis voltage signal based on the target q-axis current and the q-axis feedback current;
performing Park inverse transformation on the d-axis voltage signal to obtain a first voltage vector, and performing Park inverse transformation on the q-axis voltage signal to obtain a second voltage vector;
and performing voltage space vector pulse width modulation on the first voltage vector and the second voltage vector to obtain a PWM signal, so that the driving module drives the motor based on the PWM signal.
7. The motor control method of claim 6, wherein the phase current of the motor is collected a plurality of times during a driving period, and after obtaining the collected current, further comprising:
performing Clarke transformation and Park transformation on the acquired current to obtain d-axis acquired current and q-axis acquired current;
the S12 through S15 include:
filtering current signals with preset frequency in the d-axis collected current to obtain processed d-axis collected current, and filtering current signals with preset frequency in the q-axis collected current to obtain processed q-axis collected current;
constructing a current observer based on the motor model;
controlling the current observer to generate a d-axis observation current based on the d-axis collection current and the d-axis voltage signal, and to generate a q-axis observation current based on the q-axis collection current and the q-axis voltage signal;
extracting a current signal with a preset frequency from the d-axis observation current to obtain a processed d-axis observation current, and extracting a current signal with a preset frequency from the q-axis observation current to obtain a processed q-axis observation current;
adding the processed d-axis collected current and the processed d-axis observed current to obtain a d-axis feedback current, adding the processed q-axis collected current and the processed q-axis observed current to obtain a q-axis feedback current, and enabling the current loop to carry out closed-loop control on the phase current of the motor based on the target d-axis current, the d-axis feedback current, the target q-axis current and the q-axis feedback current.
8. A motor control system for a drive system of a motor, the drive system including a drive module for driving the motor, the method comprising:
the acquisition unit is used for acquiring the phase current of the motor for multiple times in a driving period to obtain the acquired current;
the first filtering unit is used for filtering a current signal with a preset frequency in the collected current to obtain a processed collected current;
the observation unit is used for constructing a current observer based on a motor model so as to observe the phase current of the motor and obtain an observed current;
the second filtering unit is used for extracting the current signal with the preset frequency from the observation current to obtain the processed observation current;
and the closed-loop control unit is used for taking the sum of the processed observation current and the processed collected current as a feedback current so as to enable the current loop to carry out closed-loop control on the phase current of the motor based on the target current and the feedback current.
9. A motor control apparatus, comprising:
a memory for storing a computer program;
processor for implementing the steps of the motor control method according to any of claims 1-7 when executing a computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the motor control method according to any one of claims 1-7.
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