CN114244236B - Motor control method and control system - Google Patents
Motor control method and control system Download PDFInfo
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- CN114244236B CN114244236B CN202111662909.XA CN202111662909A CN114244236B CN 114244236 B CN114244236 B CN 114244236B CN 202111662909 A CN202111662909 A CN 202111662909A CN 114244236 B CN114244236 B CN 114244236B
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 239000011159 matrix material Substances 0.000 claims abstract description 61
- 239000000498 cooling water Substances 0.000 claims abstract description 43
- 238000006243 chemical reaction Methods 0.000 claims description 17
- 230000008859 change Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 16
- 230000007423 decrease Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000001105 regulatory effect Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 230000009466 transformation Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000008707 rearrangement Effects 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a motor control method and a motor control system, wherein the method comprises the following steps: according to a motor temperature command, a motor rotating speed command and a cooling water temperature query signal matrix table of a motor at the current moment, corresponding target direct-axis current and target quadrature-axis current can be rapidly obtained; further, a first control parameter is obtained according to the motor temperature command and the actual temperature of the motor; and obtaining a second control parameter according to the motor rotating speed instruction and the actual rotating speed of the motor, adjusting the first control parameter according to the target straight-axis current, and adjusting the second control parameter according to the target quadrature-axis current, so that the permanent magnet synchronous motor can reach the target working state corresponding to the motor temperature instruction and the motor rotating speed instruction more quickly, and the motor control efficiency is improved. In addition, in the motor control method provided by the embodiment of the invention, any power source equipment such as a dynamometer, a transmission shaft and the like does not need to be additionally arranged, so that the motor control flow is simplified, and the motor control cost is reduced.
Description
Technical Field
The invention relates to the field of motor control, in particular to a motor control method and a motor control system.
Background
The permanent magnet synchronous motor is widely applied to the transportation fields of electric automobiles and the like according to the advantages of high power density, high power factor, high overload capacity and the like. Along with the gradual expansion of the application range of the permanent magnet synchronous motor, the working requirement on the motor is higher and higher, and the motor is required to work under different rotating speeds and temperature conditions aiming at different application scenes, in the existing permanent magnet synchronous motor control method, the adjustment of the rotating speed of the motor often requires a vehicle transmission shaft or a dynamometer to drive the motor to be tested to rotate; the motor temperature is usually regulated by using external equipment to heat and cool, and the control condition is strictly required. In addition, in the prior art, when the rotating speed and the temperature of the permanent magnet synchronous motor are controlled, a large amount of calculation is often needed, the calculation process is complicated, and the control on the rotating speed or the temperature of the motor cannot be realized rapidly.
Disclosure of Invention
The embodiment of the invention provides a motor control method and a motor control system, which are used for solving the problems of slower control process and severe requirements on control conditions of a permanent magnet synchronous motor in the prior art.
In a first aspect, an embodiment of the present invention provides a motor control method, including:
inquiring a signal matrix table according to a motor temperature command, a motor rotating speed command and cooling water temperature of a motor at the current moment to obtain corresponding target direct-axis current and target quadrature-axis current; the signal matrix table comprises input items and output items which are correspondingly arranged; the input items at least comprise a motor temperature instruction, a motor rotating speed instruction and a cooling water temperature; the output item at least comprises a direct axis current and a quadrature axis current;
acquiring a first control parameter according to a motor temperature instruction and the actual temperature of the motor; adjusting the first control parameter according to the target straight axis current to control the motor to work at a temperature value corresponding to the motor temperature instruction;
acquiring a second control parameter according to the motor rotating speed command and the actual rotating speed of the motor; and adjusting the second control parameter according to the target quadrature axis current so as to control the motor to work at a rotating speed value corresponding to the rotating speed instruction of the motor.
In a second aspect, an embodiment of the present invention provides a motor control system for executing the motor control method provided in any embodiment of the present invention, where the system includes:
the device comprises a temperature controller, a rotating speed controller, a current adjusting module, a storage unit, a coordinate conversion module and a driving plate;
the storage unit stores a signal matrix table;
the current adjusting module is electrically connected with the storage unit and is used for inquiring the signal matrix table according to a motor temperature instruction, a motor rotating speed instruction and cooling water temperature of the motor at the current moment to obtain corresponding target direct-axis current and target quadrature-axis current; the signal matrix table comprises input items and output items which are correspondingly arranged; the input items at least comprise a motor temperature instruction, a motor rotating speed instruction and a cooling water temperature; the output item at least comprises a direct axis current and a quadrature axis current;
the temperature controller is used for acquiring a first control parameter according to a motor temperature instruction and the actual temperature of the motor; the temperature controller is electrically connected with the current adjusting module and is used for adjusting the first control parameter according to the target straight-axis current so that the current adjusting module outputs the target straight-axis current to the coordinate conversion module; the coordinate conversion module is electrically connected with the driving plate so that the driving plate drives the motor to work at a temperature value corresponding to the motor temperature instruction;
the rotating speed controller is used for acquiring a second control parameter according to the motor rotating speed command and the actual rotating speed of the motor; the rotating speed controller is electrically connected with the current adjusting module and is used for adjusting the second control parameter according to the target quadrature axis current, so that the current adjusting module outputs the target quadrature axis current to the coordinate conversion module, and the driving plate drives the motor to work at a rotating speed value corresponding to the motor rotating speed instruction.
According to the invention, a signal matrix table is inquired according to a motor temperature instruction, a motor rotating speed instruction and a cooling water temperature of a motor at the current moment, so that corresponding target straight-axis current and target quadrature-axis current are rapidly obtained; acquiring a first control parameter according to a motor temperature instruction and the actual temperature of the motor; and obtaining a second control parameter according to the motor rotating speed command and the actual rotating speed of the motor, adjusting the first control parameter according to the target straight-axis current, and adjusting the second control parameter according to the target quadrature-axis current, so that the permanent magnet synchronous motor can reach a set working state more quickly, and the control efficiency is improved.
Drawings
Fig. 1 is a flowchart of a motor control method according to a first embodiment of the present invention;
FIG. 2 is a signal matrix table according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a current decision according to a first embodiment of the present invention;
fig. 4 is a flowchart of a motor control method according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a motor control system according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a motor control system according to a third embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
The first embodiment of the invention provides a motor control method which can be used for adjusting the working state of a motor to enable the motor to quickly reach the target working state. Fig. 1 is a flowchart of a motor control method according to a first embodiment of the present invention, where the method includes:
s110, inquiring a signal matrix table according to a motor temperature instruction, a motor rotating speed instruction and cooling water temperature of a motor at the current moment to obtain corresponding target direct-axis current and target quadrature-axis current; the signal matrix table comprises input items and output items which are correspondingly arranged; the input items at least comprise a motor temperature instruction, a motor rotating speed instruction and a cooling water temperature; the output term includes at least a direct current and an quadrature current.
Specifically, the motor temperature command of the motor at the current moment refers to a target working temperature to be reached by the motor to meet the motor control requirement; correspondingly, the motor rotating speed command refers to a target rotating speed command to be achieved by controlling the motor; the cooling water temperature refers to the current temperature of cooling water in a cooling water system for adjusting the working temperature of the motor. When the motor is controlled to work under a certain temperature command and a certain rotating speed command, the target direct-axis current and the target quadrature-axis current of the motor under the temperature command and the rotating speed command are required to be obtained, and then the motor controller is used for controlling the motor to work according to the obtained target direct-axis current and the obtained target quadrature-axis current.
Optionally, specific setting values of the motor temperature instruction and the motor rotation speed instruction are related to specific working states of the motor, and can be set by a person skilled in the art according to practical situations, which is not limited by the embodiment of the invention, and table 1 is a correspondence table between the motor temperature instruction and the motor rotation speed instruction in the high temperature and high humidity test provided in the first embodiment of the invention, as shown in table 1, and can be obtained by decomposing a plurality of groups of motor temperatures and motor rotation speed target values required by self-heating of the motor from the requirement of the high temperature and high humidity test of the motor, so that the plurality of groups of motor temperatures and rotation speed target values are used as the motor temperature instruction and the motor rotation speed instruction in the high temperature and high humidity test.
Table 1: correspondence table of motor temperature command and motor rotating speed command in high-temperature high-humidity test
| Motor temperature command (DEG C) | 90 | 100 | 110 | … | 130 | 140 |
| Motor rotation speed instruction (rpm) | 1000 | 2000 | 3000 | … | 12000 | 13000 |
In the motor control process, a motor temperature instruction, a motor rotating speed instruction and cooling water temperature CAN be sent to each module in a motor control system through a CAN bus by an upper computer, and the modules are used for controlling the motor to work under a target instruction after calculation.
In addition, the signal matrix table is an information chart containing a motor temperature command, a motor rotation speed command, a cooling water temperature, a target direct axis current and a target quadrature axis current. In the signal matrix table, a motor rotation speed command, a motor temperature command and a cooling water temperature are used as input items, and a target direct-axis current and a target quadrature-axis current are used as output items, namely, if the motor rotation speed command, the motor temperature command and the cooling water temperature are fixed, the obtained target direct-axis current and the obtained target quadrature-axis current can be correspondingly determined. It should be noted that, the signal matrix table provided by the embodiment of the present invention does not refer to a table, but rather refers to a corresponding relationship of the above parameters, and any chart capable of showing the corresponding relationship of the above parameters is within the protection scope of the technical solution of the embodiment of the present invention. Fig. 2 is a signal matrix table provided in the first embodiment of the present invention, where the signal matrix table reflects the correspondence between a motor temperature command, a motor rotation speed command, a cooling water temperature, a target direct-axis current and a target quadrature-axis current in the form of a three-dimensional coordinate system, and as can be seen from fig. 2, the motor rotation speed command, the motor temperature command and the cooling water temperature are determined, and the target direct-axis current and the target quadrature-axis current are also determined values. Fig. 2 is by way of example only and not by way of limitation of the signal matrix table.
The signal matrix table can be stored in the storage unit, and when the working state of the motor is regulated, the current regulating module inquires the signal matrix table according to the motor temperature instruction, the motor rotating speed instruction and the cooling water temperature of the motor at the current moment to obtain corresponding target direct-axis current and target quadrature-axis current.
According to the embodiment of the invention, the target direct-axis current and the target quadrature-axis current can be rapidly output according to the signal matrix table, the problem that a large amount of complex calculation is needed to obtain the target direct-axis current and the target quadrature-axis current in the prior art is solved, the motor can rapidly reach the target working state, and the working efficiency of the motor is improved.
S120, acquiring a first control parameter according to a motor temperature instruction and the actual temperature of the motor; and adjusting the first control parameter according to the target straight-axis current to control the motor to work at a temperature value corresponding to the motor temperature instruction.
Specifically, if the motor is required to work under the motor temperature command, the motor needs to be adjusted from the current actual temperature to a temperature value corresponding to the motor temperature command, and at this time, a first control parameter can be obtained according to the motor temperature command and the motor actual temperature, where the first control parameter refers to a related parameter for adjusting the current amplitude and the phase of the motor under the dq coordinate system, and terms such as the dq coordinate system, the direct axis current and the quadrature axis current are all common terms in the art, and the meanings of the terms are well known to those skilled in the art and are not explained herein.
Optionally, the actual motor temperature may be collected by a motor temperature detection module, where the motor temperature detection module may include a temperature sensor, and the motor temperature detection module collects the actual motor temperature and sends the actual motor temperature to a temperature controller, where the temperature controller obtains the first control parameter according to the motor temperature command and the actual motor temperature.
Optionally, after the actual temperature of the motor and the motor temperature command are obtained, the temperature controller may determine the first control parameter according to a proportional integral (Proportional Integral, PI) closed-loop control manner according to a difference value between the actual temperature of the motor and the motor temperature command, where PI closed-loop control is a conventional means in the art, and a specific calculation process may refer to any prior art, which is not described herein.
Further, the temperature controller adjusts the first control parameter according to the target direct-axis current so as to control the motor to work at the temperature corresponding to the motor temperature instruction.
Optionally, S120 may include:
acquiring a first variation trend of the direct-axis current-first control parameter;
and adjusting the first control parameter according to the first change trend and the target direct-axis current so that the motor works under the control of the target direct-axis current.
In the embodiment of the invention, the first control parameter is related to the direct-axis current, alternatively, the direct-axis current of the motor may have a proportional relationship with the first control parameter, or may have different proportional relationships in different changing stages of the first control parameter, and the first change trend of the direct-axis current-first control parameter may be obtained based on the relationship between the direct-axis current and the first control parameter.
Alternatively, the first trend may be: when the first control parameter increases, the direct-axis current increases in the negative d-axis direction; when the first control parameter decreases, the direct-axis current increases in the d-axis positive direction.
Fig. 3 is a schematic diagram of a current decision according to a first embodiment of the present invention. The d axis is the value range of the direct axis current of the motor, and the q axis is the value range of the quadrature axis current of the motor. When the first control parameter is increased, the current adjusting module decides that the direct-axis current is increased along the negative direction of the d-axis; when the first control parameter decreases, the current adjustment module decides that the direct-axis current increases in the d-axis positive direction.
When the temperature controller calculates the value of the first control parameter according to the actual temperature of the motor and the motor temperature command, the temperature controller can determine the adjustment trend of the target direct-axis current according to the relation between the first control parameter and the direct-axis current, thereby quickly adjusting the direct-axis current to the value of the target direct-axis current and controlling the motor to work according to the preset state.
Further, on the basis of the current decision shown in fig. 3, the first control parameter is further adjusted in combination with the target direct-axis current in the signal matrix table, so that the motor reaches the target direct-axis current more quickly. It can be understood that the first trend of the direct-axis current-first control parameter can only give the adjustment direction of the direct-axis current, and cannot give a specific increment of adjustment.
S130, acquiring a second control parameter according to a motor rotating speed command and an actual motor rotating speed; and adjusting a second control parameter according to the target quadrature axis current to control the motor to work at a rotating speed value corresponding to the rotating speed instruction of the motor.
Specifically, if the motor is required to work under the motor rotation speed command, the motor needs to be adjusted from the current actual rotation speed to a rotation speed value corresponding to the motor rotation speed command, and at this time, a second control parameter can be obtained according to the motor rotation speed command and the motor actual rotation speed, and the second control parameter is also a related parameter for adjusting the current amplitude and the phase of the motor under the dq coordinate system.
Alternatively, the actual rotational speed of the motor may be collected by a position and speed detection module, which may include a resolver. The position and speed detection module acquires the actual rotating speed of the motor and sends the actual rotating speed of the motor to the rotating speed controller, and the rotating speed controller acquires a second control parameter according to the rotating speed instruction of the motor and the actual rotating speed of the motor.
Optionally, after the actual rotation speed of the motor and the motor rotation speed command are obtained, the rotation speed controller may determine the second control parameter according to a proportional integral (Proportional Integral, PI) closed-loop control manner according to a difference value between the actual rotation speed of the motor and the motor rotation speed command, where PI closed-loop control is a conventional means in the art, and a specific calculation process may refer to any prior art and will not be repeated herein.
Further, the rotating speed controller adjusts the second control parameter according to the target quadrature current so as to control the motor to work at the rotating speed corresponding to the motor rotating speed instruction.
Optionally, S130 may include:
acquiring a second variation trend of the quadrature axis current-second control parameter;
and adjusting a second control parameter according to the second change trend and the target quadrature current so as to enable the motor to work under the control of the target quadrature current.
In the embodiment of the invention, the second control parameter is related to the quadrature axis current, alternatively, the quadrature axis current of the motor may have a proportional relationship with the second control parameter, or may have different proportional relationships in different changing stages of the second control parameter, and the second change trend of the quadrature axis current-the second control parameter may be obtained based on the relationship between the quadrature axis current and the second control parameter.
Alternatively, the second trend may be: when the second control parameter increases, the quadrature current increases in the q-axis positive direction; as the second control parameter decreases, the quadrature current increases in the q-axis negative direction.
Still referring to FIG. 3, when the second control parameter increases, the current adjustment module decides that the quadrature current increases in the q-axis positive direction; when the second control parameter decreases, the current adjustment module decides that the quadrature axis current increases in the q-axis negative direction.
Further, on the basis of the current decision shown in fig. 3, the second control parameter is further adjusted in combination with the target quadrature current in the signal matrix table, so that the motor reaches the target quadrature current more quickly. It can be understood that the second trend of the above-mentioned quadrature current-second control parameter can only give the adjusting direction of the quadrature current, but cannot give the specific increment of adjustment.
The current adjusting module sends the target direct-axis current and the target quadrature-axis current to the coordinate conversion module, the coordinate conversion module can comprise a Park conversion unit, a Clark conversion unit, a Park inverse conversion unit and a SVPMM unit, the units process the target direct-axis current and the target quadrature-axis current and send the processing results to the motor driving board, and the driving board controls the motor to work under a motor temperature instruction and a motor rotating speed instruction corresponding to the target direct-axis current and the target quadrature-axis current. The above units are conventional setting units in the field, and the specific working principle can refer to any prior art, and this embodiment is not described too much.
In the embodiment of the invention, the signal matrix table is queried according to the motor temperature command, the motor rotating speed command and the cooling water temperature of the motor at the current moment, so that the corresponding target direct-axis current and target quadrature-axis current can be rapidly obtained; further, a first control parameter is obtained according to the motor temperature command and the actual temperature of the motor; and obtaining a second control parameter according to the motor rotating speed instruction and the actual rotating speed of the motor, adjusting the first control parameter according to the target straight-axis current, and adjusting the second control parameter according to the target quadrature-axis current, so that the permanent magnet synchronous motor can reach the target working state corresponding to the motor temperature instruction and the motor rotating speed instruction more quickly, and the motor control efficiency is improved. In addition, in the motor control method provided by the embodiment of the invention, any power source equipment such as a dynamometer, a transmission shaft and the like does not need to be additionally arranged, so that the motor control flow is simplified, and the motor control cost is reduced.
Example two
Fig. 4 is a flowchart of a motor control method according to a second embodiment of the present invention, where the method is further refined based on the motor control method according to the foregoing embodiment, and referring to fig. 4, the method may include:
s210, according to a motor temperature command, a motor rotating speed command and cooling water temperature of the motor at the current moment, corresponding target direct axis current and target quadrature axis current are not obtained in the signal matrix table.
It is understood that the signal matrix table is gradually established during the motor control process, and in the initial stage of the motor control, less data information is stored in the signal matrix table, and all the target direct axis current and the target quadrature axis current corresponding to the motor temperature command, the motor rotation speed command and the cooling water temperature are not covered, and if the target direct axis current and the target quadrature axis current under a certain motor temperature command, the motor rotation speed command and the cooling water temperature are not found in the signal matrix table, S220 is executed.
And S220, continuously adjusting the first control parameter and the second control parameter according to the motor temperature command, the motor rotating speed command, the cooling water temperature, the actual motor temperature and the actual motor rotating speed of the motor at the current moment so as to adjust the direct-axis current and the quadrature-axis current.
As described in the first embodiment, the temperature controller may determine the first control parameter according to the difference between the current actual motor temperature and the motor temperature command by means of a proportional integral (Proportional Integral, PI) closed-loop control method, and then determine the change trend of the direct current by means of the direct current-the first change trend of the first control parameter, and gradually adjust the direct current on the basis of satisfying the first change trend, so that the difference between the actual motor temperature and the motor temperature command gradually approaches zero, and at this time, the actual motor temperature is equal to the motor temperature command, the motor is in a stable state, and the actual motor temperature no longer changes.
Similarly, the rotational speed controller can determine a second control parameter according to a difference value between the actual rotational speed of the motor and the rotational speed instruction of the motor through a proportional integral (Proportional Integral, PI) closed-loop control mode, and then determine a change trend of the quadrature axis current through a second change trend of the quadrature axis current-second control parameter, and gradually adjust the quadrature axis current on the basis of meeting the second change trend, so that the difference value between the actual rotational speed of the motor and the rotational speed instruction of the motor gradually tends to zero, and at the moment, the actual rotational speed of the motor is equal to the rotational speed instruction of the motor, the motor is in a stable state, and the actual rotational speed of the motor is not changed any more.
S230, acquiring a direct-axis current in a motor stable state as a target direct-axis current; and acquiring the quadrature current in the motor steady state as a target quadrature current.
In the adjusting process of the temperature controller and the rotation speed controller for the direct axis current and the quadrature axis current in S220, if the balance judging module judges that the motor reaches the stable state, the direct axis current corresponding to the motor in the stable state is recorded as the target direct axis current and the quadrature axis current is recorded as the target quadrature axis current.
Alternatively, the motor steady state may include:
in a first set time period, the temperature difference value between the temperature value corresponding to the motor temperature instruction and the actual temperature of the motor is smaller than or equal to the first temperature difference value;
and in the second set time period, the rotating speed difference value between the rotating speed value corresponding to the motor rotating speed command and the rotating speed of the motor is smaller than or equal to the first rotating speed difference value.
It can be understood that in the running process of the motor, certain errors exist among the actual working temperature and the working rotating speed of the motor and the working temperature and the rotating speed displayed by the current motor, so in the embodiment of the invention, if the temperature difference value corresponding to the actual temperature and the current motor temperature instruction of the motor is within a certain temperature threshold value, namely a first temperature difference value, in a first set time period, the motor can be considered to reach the working temperature corresponding to the current motor temperature instruction; similarly, in the second set period, if the difference between the actual rotation speed of the motor and the rotation speed corresponding to the current motor rotation speed command is within a certain rotation speed threshold, namely the first rotation speed difference, the motor can be considered to have reached the working rotation speed corresponding to the current motor rotation speed command. At this time, the motor can be considered to reach a steady state corresponding to the current motor temperature command and the rotational speed command.
Optionally, specific setting values of the first setting time period and the second setting time period may be set according to actual situations, and may be set to the same time period or different time periods.
Preferably, the first set time period and the second set time period are each greater than or equal to 1min; the first temperature difference is less than or equal to 1 ℃; the first rotational speed difference is less than or equal to 10r/min.
Specifically, preferably, within 1min, if the temperature difference between the actual temperature of the motor and the current motor temperature command is less than or equal to 1 ℃; and if the rotating speed difference value between the actual rotating speed of the motor and the current rotating speed instruction of the motor is smaller than or equal to 10r/min, the motor can be considered to reach a stable state.
The first set time period, the second set time period, the first temperature difference value and the first rotational speed difference value are set appropriately. The motor control method can ensure that the motor is stabilized at the current actual working temperature and the working rotating speed, ensure the accuracy of the acquired motor related parameters, and also improve the motor control efficiency as far as possible within the allowable error range.
S240, the motor temperature command, the motor rotating speed command and the cooling water temperature in the motor steady state are stored in a signal matrix table as input items, and the corresponding direct axis current and quadrature axis current are stored in the signal matrix table as output items.
When the balance state judging module judges that the motor reaches a stable state, the storage unit stores a motor temperature command, a motor rotating speed command, cooling water temperature, a direct axis current and an intersecting axis current corresponding to the stable state to form a signal matrix table, wherein the motor temperature command, the motor rotating speed command and the cooling water temperature are input items, the direct axis current and the intersecting axis current are output items, and the direct axis current and the intersecting axis current at the moment are target direct axis current and target intersecting axis current.
If at a certain moment, the motor needs to be controlled to work according to a motor temperature instruction and a motor rotating speed instruction stored in a certain signal matrix table, the current adjusting module can directly inquire the signal matrix table to obtain a target direct axis current and a target quadrature axis current.
In the embodiment of the invention, when the corresponding target direct-axis current and the target quadrature-axis current are not obtained in the signal matrix table according to the motor temperature command, the motor rotating speed command and the cooling water temperature of the motor at the current moment, the first control parameter and the second control parameter are continuously adjusted according to the motor temperature command, the motor rotating speed command, the cooling water temperature, the actual motor temperature and the actual motor rotating speed of the motor at the current moment, so that the direct-axis current and the quadrature-axis current are adjusted, and the motor is controlled to work according to the gradually adjusted direct-axis current and the gradually adjusted quadrature-axis current. The balance state judging module judges whether the motor reaches a stable state, if the motor reaches the stable state, relevant working parameters of the motor in the stable state are counted into the signal matrix table, the process is repeated continuously, the signal matrix table is updated continuously, the coverage range of the signal matrix table is wider, and when the motor needs to be controlled to work according to a motor temperature instruction and a motor rotating speed instruction stored in a certain signal matrix table, the current regulating module inquires the signal matrix table and rapidly outputs target straight-axis current and target quadrature-axis current, so that the control efficiency of the motor is further improved.
Example III
Based on the same conception, the embodiment of the invention also provides a motor control system. The system is used for executing the motor control method provided by any embodiment of the present invention, fig. 5 is a schematic structural diagram of a motor control system provided by a third embodiment of the present invention, as shown in fig. 5, where the system includes:
a temperature controller 310, a rotation speed controller 320, a current adjusting module 330, a storage unit 340, a coordinate conversion module 350, and a driving board 360;
the storage unit 340 stores a signal matrix table;
the current adjusting module 330 is electrically connected with the storage unit 340, and is configured to query a signal matrix table according to a motor temperature command, a motor rotation speed command and a cooling water temperature of the motor at the current moment, and obtain a corresponding target direct axis current and a corresponding target quadrature axis current; the signal matrix table comprises input items and output items which are correspondingly arranged; the input items at least comprise a motor temperature instruction, a motor rotating speed instruction and a cooling water temperature; the output items at least comprise direct axis current and quadrature axis current;
the temperature controller 310 is configured to obtain a first control parameter according to a motor temperature command and an actual motor temperature; the temperature controller 310 is electrically connected to the current adjustment module 330, and is configured to adjust the first control parameter according to the target direct current, so that the current adjustment module 330 outputs the target direct current to the coordinate conversion module 350; the coordinate conversion module 350 is electrically connected with the driving board 360, so that the driving board 360 drives the motor to work at a temperature value corresponding to the motor temperature instruction;
the rotation speed controller 320 is configured to obtain a second control parameter according to the motor rotation speed command and the actual rotation speed of the motor; the rotation speed controller 320 is electrically connected to the current adjustment module 330, and is configured to adjust the second control parameter according to the target quadrature current, so that the current adjustment module 330 outputs the target quadrature current to the coordinate conversion module 350, and the driving board 360 drives the motor to work at a rotation speed value corresponding to the motor rotation speed command.
Optionally, the motor control system may further include: the upper computer CAN send the motor temperature instruction, the motor rotating speed instruction and the cooling water temperature to each module in the motor control system through the CAN bus, and the modules control the motor to work under the target instruction after calculation.
It should be noted that, the signal matrix table provided by the embodiment of the present invention does not refer to a table, but rather is a correspondence relation between each parameter of the motor, and any chart capable of showing the correspondence relation between the parameters is within the protection scope of the technical solution of the embodiment of the present invention.
Optionally, the temperature controller 310 may specifically be configured to: and determining a first control parameter according to the difference value between the actual temperature of the motor and the motor temperature command through a proportional integral (Proportional Integral, PI) closed-loop control mode.
Optionally, the temperature controller 310 may further be configured to: acquiring a first variation trend of the direct-axis current-first control parameter; and adjusting the first control parameter according to the first change trend and the target direct-axis current so that the motor works under the control of the target direct-axis current.
Alternatively, the first trend may be: when the first control parameter increases, the direct-axis current increases in the negative d-axis direction; when the first control parameter decreases, the direct-axis current increases in the d-axis positive direction.
Optionally, the rotation speed controller 320 may further be configured to: acquiring a second variation trend of the quadrature axis current-second control parameter; and adjusting a second control parameter according to the second change trend and the target quadrature current so as to enable the motor to work under the control of the target quadrature current.
Optionally, the second trend is: when the second control parameter increases, the quadrature current increases in the q-axis positive direction; as the second control parameter decreases, the quadrature current increases in the q-axis negative direction.
Optionally, the current adjusting module 330 is further configured to adjust the direct-axis current and the quadrature-axis current according to the first control parameter output by the temperature controller 310 and the second control parameter output by the rotational speed controller 320 when the corresponding target direct-axis current and the target quadrature-axis current are not obtained in the signal matrix table according to the motor temperature command, the motor rotational speed command, and the cooling water temperature of the motor at the current time;
the current adjustment module 330 is further configured to obtain a direct current in a motor steady state as a target direct current, and obtain a quadrature current in the motor steady state as a target quadrature current;
the storage unit 340 is further configured to store the motor temperature command, the motor rotation speed command, and the cooling water temperature in the steady state of the motor as input items in the signal matrix table, and store the corresponding direct axis current and quadrature axis current as output items in the signal matrix table.
Fig. 6 is a schematic structural diagram of a motor control system according to a third embodiment of the present invention, where the motor control system shown in fig. 6 is further refined based on the control system shown in fig. 5, and specifically includes the following steps:
optionally, the motor control system may further include: a position and speed detection module 370 and a motor temperature detection module 380 disposed on the motor;
the position and speed detection module 370 is electrically connected to the rotational speed controller 320, and is configured to send the actual rotational speed of the motor to the rotational speed controller 320; the motor temperature detection module 380 is electrically connected to the temperature controller 310 for sending the actual temperature of the motor to the temperature controller 310.
The other ends of the position and speed detection module 370 and the motor temperature detection module 380 are connected with the motor, a rotary transformer can be included in the position and speed detection module 370, the position and speed detection module 370 analyzes the current actual rotation speed and the rotor position of the motor in real time according to signals of the rotary transformer, and the analyzed actual rotation speed of the motor is used as one of the inputs of the rotation speed controller 320. The other input of the rotational speed controller 320 is a motor rotational speed command. The rotational speed controller 320 determines a second control parameter of the motor by PI closed loop control based on a first difference between the motor rotational speed command and the actual rotational speed of the motor: the rotor position is entered as parameters of a Park transformation unit and a Park inverse transformation unit.
Optionally, the motor control system may further include: a balance status determination module 390;
the balance state judging module 390 is electrically connected with the temperature controller 310 and the rotation speed controller 320, and is used for judging whether the motor is in a stable state according to the motor temperature command and the actual motor temperature, and the motor rotation speed command and the actual motor rotation speed;
the balance status determination module 390 is electrically connected to the storage unit 340 for sending a storage flag to the storage unit 340 at the steady state of the motor.
Alternatively, the motor steady state may include:
in a first set time period, the temperature difference value between the temperature value corresponding to the motor temperature instruction and the actual temperature of the motor is smaller than or equal to the first temperature difference value; and in the second set time period, the rotating speed difference value between the rotating speed value corresponding to the motor rotating speed command and the rotating speed of the motor is smaller than or equal to the first rotating speed difference value.
Optionally, the first set time period and the second set time period are both greater than or equal to 1min; the first temperature difference is less than or equal to 1 ℃; the first rotational speed difference is less than or equal to 10r/min.
The balance state judging module 390 judges whether the motor reaches a stable state, if so, sends a storage flag signal to the storage unit 340, the storage unit 340 counts the relevant working parameters of the motor in the stable state into a signal matrix table, the process is repeated continuously, the signal matrix table is updated continuously, the coverage area of the signal matrix table is wider, when the motor needs to be controlled to work with a motor temperature instruction and a motor rotation speed instruction stored in a certain signal matrix table, the current regulating module 330 inquires the signal matrix table and outputs a target straight-axis current and a target quadrature-axis current rapidly, the motor control efficiency is further improved, and the modules can be arranged in a motor controller.
In the embodiment of the invention, the signal matrix table is queried according to the motor temperature command, the motor rotating speed command and the cooling water temperature of the motor at the current moment, so that the corresponding target direct-axis current and target quadrature-axis current can be rapidly obtained; further, a first control parameter is obtained according to the motor temperature command and the actual temperature of the motor; and obtaining a second control parameter according to the motor rotating speed instruction and the actual rotating speed of the motor, adjusting the first control parameter according to the target straight-axis current, and adjusting the second control parameter according to the target quadrature-axis current, so that the permanent magnet synchronous motor can reach the target working state corresponding to the motor temperature instruction and the motor rotating speed instruction more quickly, and the motor control efficiency is improved. In addition, in the motor control method provided by the embodiment of the invention, any power source equipment such as a dynamometer, a transmission shaft and the like does not need to be additionally arranged, so that the motor control flow is simplified, and the motor control cost is reduced.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. A motor control method, characterized by comprising:
inquiring a signal matrix table according to a motor temperature command, a motor rotating speed command and cooling water temperature of a motor at the current moment to obtain corresponding target direct-axis current and target quadrature-axis current; the signal matrix table comprises input items and output items which are correspondingly arranged; the input items at least comprise a motor temperature instruction, a motor rotating speed instruction and a cooling water temperature; the output item at least comprises a direct axis current and a quadrature axis current;
acquiring a first control parameter according to a motor temperature instruction and the actual temperature of the motor; adjusting the first control parameter according to the target straight axis current to control the motor to work at a temperature value corresponding to the motor temperature instruction;
acquiring a second control parameter according to the motor rotating speed command and the actual rotating speed of the motor; and adjusting the second control parameter according to the target quadrature axis current so as to control the motor to work at a rotating speed value corresponding to the rotating speed instruction of the motor.
2. The motor control method according to claim 1, wherein adjusting the first control parameter according to the target direct-axis current to control the motor to operate at a temperature value corresponding to the motor temperature command includes:
acquiring a first variation trend of the direct-axis current-first control parameter;
the first control parameter is adjusted according to the first change trend and the target direct-axis current, so that the motor works under the control of the target direct-axis current;
correspondingly, the second control parameter is adjusted according to the target quadrature current to control the motor to work at the rotating speed corresponding to the motor rotating speed command, and the method comprises the following steps:
acquiring a second variation trend of the quadrature axis current-second control parameter;
and adjusting the second control parameter according to the second change trend and the target quadrature current so as to enable the motor to work under the control of the target quadrature current.
3. The method for controlling a motor according to claim 2, wherein,
the first change trend is as follows: when the first control parameter increases, the direct current increases in the negative d-axis direction; when the first control parameter decreases, the direct-axis current increases in the d-axis positive direction;
the second change trend is as follows: when the second control parameter increases, the quadrature current increases in the q-axis positive direction; when the second control parameter decreases, the quadrature current increases in the q-axis negative direction.
4. The motor control method according to claim 1, characterized by further comprising:
according to the motor temperature command, the motor rotating speed command and the cooling water temperature of the motor at the current moment, the corresponding target direct-axis current and the corresponding target quadrature-axis current are not obtained in the signal matrix table;
continuously adjusting the first control parameter and the second control parameter according to a motor temperature instruction, a motor rotating speed instruction, a cooling water temperature, an actual motor temperature and an actual motor rotating speed of the motor at the current moment so as to adjust the direct axis current and the quadrature axis current;
acquiring a direct-axis current in a motor steady state as a target direct-axis current; acquiring the cross-axis current of the motor in a stable state as a target cross-axis current;
and storing a motor temperature instruction, a motor rotating speed instruction and cooling water temperature in a motor stable state as input items into the signal matrix table, and storing corresponding direct-axis current and quadrature-axis current into the signal matrix table as output items.
5. The motor control method according to claim 4, characterized in that the motor steady state includes:
in a first set time period, the temperature difference value between the temperature value corresponding to the motor temperature instruction and the actual temperature of the motor is smaller than or equal to the first temperature difference value;
and in the second set time period, the rotating speed difference value between the rotating speed value corresponding to the rotating speed instruction of the motor and the actual rotating speed of the motor is smaller than or equal to the first rotating speed difference value.
6. The motor control method according to claim 5, characterized in that the first set period of time and the second set period of time are each greater than or equal to 1min;
the first temperature difference is less than or equal to 1 ℃; the first rotational speed difference value is smaller than or equal to 10r/min.
7. A motor control system for performing the motor control method of any one of claims 1-6, the motor control system comprising: the device comprises a temperature controller, a rotating speed controller, a current adjusting module, a storage unit, a coordinate conversion module and a driving plate;
the storage unit stores a signal matrix table;
the current adjusting module is electrically connected with the storage unit and is used for inquiring the signal matrix table according to a motor temperature instruction, a motor rotating speed instruction and cooling water temperature of the motor at the current moment to obtain corresponding target direct-axis current and target quadrature-axis current; the signal matrix table comprises input items and output items which are correspondingly arranged; the input items at least comprise a motor temperature instruction, a motor rotating speed instruction and a cooling water temperature; the output item at least comprises a direct axis current and a quadrature axis current;
the temperature controller is used for acquiring a first control parameter according to a motor temperature instruction and the actual temperature of the motor; the temperature controller is electrically connected with the current adjusting module, and the current adjusting module is used for adjusting the first control parameter according to the target straight axis current; the current adjusting module is electrically connected with the coordinate conversion module; the coordinate conversion module is electrically connected with the driving plate so that the driving plate drives the motor to work at a temperature value corresponding to the motor temperature instruction;
the rotating speed controller is used for acquiring a second control parameter according to the motor rotating speed command and the actual rotating speed of the motor; the rotating speed controller is electrically connected with the current adjusting module, and the current adjusting module is used for adjusting the second control parameter according to the target quadrature axis current; the current adjusting module is electrically connected with the coordinate conversion module, and enables the driving plate to drive the motor to work at a rotating speed value corresponding to the rotating speed instruction of the motor.
8. The motor control system of claim 7 wherein,
the current adjusting module is further used for adjusting the direct-axis current and the quadrature-axis current according to the first control parameter output by the temperature controller and the second control parameter output by the rotating speed controller when the corresponding target direct-axis current and the corresponding target quadrature-axis current are not obtained in the signal matrix table according to the motor temperature command, the motor rotating speed command and the cooling water temperature of the motor at the current moment;
the current adjusting module is also used for acquiring the direct-axis current in the motor steady state as a target direct-axis current and acquiring the quadrature-axis current in the motor steady state as a target quadrature-axis current;
the storage unit is also used for storing a motor temperature instruction, a motor rotating speed instruction and cooling water temperature in a motor stable state as input items into the signal matrix table, and storing corresponding direct-axis current and quadrature-axis current as output items into the signal matrix table.
9. The motor control system of claim 8 further comprising: a balance state judging module;
the balance state judging module is respectively and electrically connected with the temperature controller and the rotating speed controller and is used for judging whether the motor is in a motor stable state or not according to the motor temperature instruction and the actual motor temperature and the motor rotating speed instruction and the actual motor rotating speed;
the balance state judging module is electrically connected with the storage unit and is used for sending a storage mark to the storage unit in the stable state of the motor.
10. The motor control system of claim 7 further comprising: the motor temperature detection module is arranged on the motor and used for detecting the position and the speed of the motor;
the position and speed detection module is electrically connected with the rotating speed controller and is used for sending the actual rotating speed of the motor to the rotating speed controller; the motor temperature detection module is electrically connected with the temperature controller and is used for sending the actual temperature of the motor to the temperature controller.
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| CN1741365A (en) * | 2002-12-26 | 2006-03-01 | 三电有限公司 | Motor control system |
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| CN112290845A (en) * | 2020-10-26 | 2021-01-29 | 中国第一汽车股份有限公司 | Motor control method and device, motor controller, motor system and storage medium |
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| ATE386362T1 (en) * | 2002-12-12 | 2008-03-15 | Matsushita Electric Ind Co Ltd | ENGINE CONTROL DEVICE |
| JP7155692B2 (en) * | 2018-07-13 | 2022-10-19 | 株式会社デンソー | Rotating electric machine control device |
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| CN1741365A (en) * | 2002-12-26 | 2006-03-01 | 三电有限公司 | Motor control system |
| CN108988701A (en) * | 2018-07-23 | 2018-12-11 | 中国海洋石油集团有限公司 | A kind of control device and method |
| CN109217755A (en) * | 2018-09-30 | 2019-01-15 | 深圳市英威腾电动汽车驱动技术有限公司 | The speed regulating method and its electric machine controller of electric car under speed control mode |
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