CN114584034A - Motor control method and motor control device - Google Patents
Motor control method and motor control device Download PDFInfo
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- CN114584034A CN114584034A CN202011285799.5A CN202011285799A CN114584034A CN 114584034 A CN114584034 A CN 114584034A CN 202011285799 A CN202011285799 A CN 202011285799A CN 114584034 A CN114584034 A CN 114584034A
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- 238000010586 diagram Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
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- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a motor control method and a motor control device, comprising the following steps: obtaining a target rotating speed instruction and a motor rotating speed of a motor; generating a feedforward torque according to the target rotating speed instruction; generating a torque correction value according to the motor rotating speed and the target rotating speed instruction; and generating a target torque to control the motor according to the feedforward torque and the torque correction value.
Description
Technical Field
The present invention relates to a motor control method and a motor control device, and more particularly, to a motor control method and a motor control device capable of rapidly increasing a motor speed.
Background
The technology of electric vehicles is becoming mature, and most electric vehicles adopt a speed change mode with only a single file position because the motor of the electric vehicle can output a large torque (torque) at a low speed and the rotating speed of the motor has a wide working range. However, at low motor speeds, the efficiency of the operation of components of the electric drive system, such as the inverter, the motor, and the gearbox, is generally lower than at high motor speeds. And because the output torque of the permanent magnet synchronous motor commonly used by the electric automobile is gradually reduced under the high rotating speed, a gearbox with two-gear speed change or multi-gear speed change is a future trend for improving the overall efficiency of the electric drive system. In order to realize multi-gear transmission, how to provide a motor speed controller with fast response speed and high control accuracy has become one of the issues of common attention in the industry.
Disclosure of Invention
Objects of the invention
Therefore, an object of the present invention is to provide a motor control method and a motor control apparatus capable of rapidly increasing the rotation speed of a motor, so as to solve the above-mentioned problems.
(II) technical scheme
To solve the above problem, according to an aspect of the present invention, there is provided a motor control method including: obtaining a target rotating speed instruction and a motor rotating speed of a motor; generating a feedforward torque according to the target rotating speed instruction; generating a torque correction value according to the motor rotating speed and the target rotating speed instruction; and generating a target torque to control the motor according to the feedforward torque and the torque correction value.
Further, the obtaining the target rotational speed command includes: receiving an original target rotating speed instruction; and generating the target rotating speed instruction according to the torque limit value of the motor and the original target rotating speed instruction.
Further, the step of generating a feed forward torque based on the target rotational speed command includes: carrying out differential operation on the target rotating speed instruction to generate an acceleration instruction; and multiplying the acceleration command by a motor moment of inertia to produce the feed forward torque.
Further, the step of generating a torque correction value based on the motor speed and the target speed command may include: subtracting the target speed command from the motor speed to generate a speed error signal; and generating the torque correction value according to the rotation speed error signal.
Further, the step of generating a target torque to control the motor based on the feed-forward torque and the torque correction value includes: adding the feed-forward torque to the torque correction value to generate the target torque to control the motor.
According to another aspect of the present invention, there is provided a motor control apparatus for a motor, comprising: a target rotational speed generation device for outputting a target rotational speed instruction; the feedforward torque generating device is used for generating feedforward torque according to the target rotating speed instruction; a rotation speed sensor for detecting a motor rotation speed of the motor; the controller is used for generating a torque correction value according to the motor rotating speed and the target rotating speed instruction; and an adding device for generating a target torque according to the feedforward torque and the torque correction value to control the motor.
Further, the target rotating speed generating device receives an original target rotating speed instruction and generates the target rotating speed instruction according to a torque limit value of the motor and the original target rotating speed instruction.
Further, the target rotational speed generating device includes a slope limiting circuit, and after the target rotational speed generating device receives the original target rotational speed command, the slope limiting circuit generates the target rotational speed command according to the torque limit value of the motor and the original target rotational speed command.
Further, the feedforward torque generating device performs differential operation on the target rotating speed instruction to obtain an acceleration instruction, and multiplies the acceleration instruction by the rotational inertia of the motor to obtain the feedforward torque.
Further, the method also comprises the following steps: and the subtracting device is used for subtracting the target rotating speed instruction from the rotating speed of the motor to generate a rotating speed error signal, so that the controller generates the torque correction value according to the rotating speed error signal.
Further, the controller is a proportional-integral controller.
Further, the adding means adds the feedforward torque and the torque correction value to generate the target torque to control the motor.
Drawings
FIG. 1 is a schematic diagram of a motor system of an embodiment of the present invention;
fig. 2 is a schematic diagram of a motor control flow according to an embodiment of the present invention.
Reference numerals:
motor system
10 motor control device
102 target rotational speed generating device
1020 slope limiting circuit
104 feed-forward torque generating device
106 rotating speed sensor
108 controller
110 addition device
112 subtracting device
2, the process flow
20: motor
30 torque controller
S200, S202, S204, S206, S208, S210
Detailed Description
Certain terms are used throughout the description and following claims to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. In the present specification and the following claims, the difference in name is not used as the way of distinguishing the elements, but the difference in function of the elements is used as the criterion for distinguishing. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to.
In addition, the term "coupled" as used herein includes any direct and indirect electrical connection. Thus, if a first device couples to a second device, that connection may be through a direct electrical connection, or through an indirect electrical connection via other devices and connections.
Referring to fig. 1, fig. 1 is a schematic diagram of a motor system 1 according to an embodiment of the invention. The motor system 1 includes: motor control device 10, motor 20, and torque controller 30. The motor control device 10 is used to control the motor 20, so that the rotation speed can be rapidly increased. The motor control device 10 can generate the target torque, so that the torque controller 30 can control the operation of the motor 20 by generating the corresponding driving signal. The motor control device 10 includes a target rotation speed generating device 102, a feed-forward torque generating device 104, a rotation speed sensor 106, a controller 108, and an adding device 110. The target rotational speed generation means 102 is for outputting a target rotational speed command. The feedforward torque generating device 104 is coupled to the target rotation speed generating device 102 for generating a feedforward torque according to the target rotation speed command. The rotation speed sensor 106 is used for detecting the motor rotation speed of the motor 20. The controller 108 is configured to generate a torque correction value based on the motor speed and the target speed command.
Optionally, the Controller 108 is a Proportional-Integral Controller (P-I Controller), but not limited thereto.
The adder 110 is used for adding the feedforward torque and the torque correction value to generate the target torque to control the motor 20, so as to rapidly increase the rotation speed of the motor 20. The torque controller 30 generates a driving signal to control the motor 20 according to the target torque, so as to achieve the purpose of increasing the rotation speed rapidly.
Referring to fig. 2, the operation method of the motor system 1 can be summarized as a process 2, and referring to fig. 2, fig. 2 is a schematic diagram of the process 2 according to the embodiment of the invention. The process 2 comprises the following steps:
step S200: and starting.
Step S202: the target rotational speed command and the motor rotational speed of the motor 20 are acquired.
Step S204: a feed forward torque is generated based on the target speed command.
Step S206: and generating a torque correction value according to the motor rotating speed and the target rotating speed instruction.
Step S208: the target torque is generated based on the feed forward torque and the torque correction value to control the motor 20.
Step S210: and (6) ending.
According to the flow 2, in step S202, the target rotational speed generation means 102 is configured to output a target rotational speed command. The target rotational speed command is an original target rotational speed command related to the motor 20.
Optionally, the target rotation speed generating device 102 receives an original target rotation speed instruction and directly outputs the received original target rotation speed instruction as the target rotation speed instruction.
Optionally, the target rotational speed generating device 102 receives the original target rotational speed command and generates the target rotational speed command after performing shaping control or filtering on the original target rotational speed command, so that the feedforward torque generated by the feedforward torque generating device 104 is prevented from being greater than the actual motor torque capacity, and the overshoot problem can be reduced.
Optionally, the target speed generation device 102 further includes a slope limit circuit 1020. After the target rotational speed generation device 102 receives the original target rotational speed command, the slope limiting circuit 1020 generates the target rotational speed command according to the torque limit value of the motor 20 and the original target rotational speed command. The torque limit value is related to the torque capacity of the motor 20. Slope limiting circuit 1020 performs shaping control on the original target rotational speed command based on the torque limit value of motor 20, so that the torque of motor 20 generated by the rotational speed corresponding to the original target rotational speed command can be limited below the torque limit value to generate the corresponding target rotational speed command.
Alternatively, if the moment of inertia of the motor 20 is 0.04 kilogram force-square meter (Kgm)2) At least the motor 20 plus controller is required to be able to output a torque of 420 newton meters (Nm) for the fastest acceleration from 0 to 10000 revolutions per minute (rpm) in 0.1 seconds. In this case, if the torque limit value of the motor 20 is 420Nm, that is, the maximum output torque of the motor 20 is 420Nm, the slope limiting circuit 1020 needs to limit the acceleration of the motor speed to be within 100rpm/1 ms. That is, when the inertia moment of the motor 20 is 0.04Kgm2And a torque limit of 420Nm, the slope limit circuit 1020 may limit the rpm change in the original target rpm command to not more than 100rpm per millisecond to generate the corresponding target rpm command.
Alternatively, the slope limiting circuit 1020 may set the command segment of the original target rpm command having a slew rate change of more than 100rpm per millisecond time to a slew rate change of 100rpm per millisecond time to generate the corresponding target rpm command.
Optionally, the slope limiting circuit 1020 may filter out command segments of the original target RPM command where the RPM change exceeds 100rpm every millisecond to generate the corresponding target RPM command.
In step S204, the feedforward torque generating device 104 is coupled to the target rotation speed generating device 102 for generating a feedforward torque according to the target rotation speed command. The feedforward torque generating device 104 may perform a differential operation on the target rotational speed command to obtain an acceleration command, and multiply the acceleration command by the rotational inertia of the motor to obtain a feedforward torque.
In step S206, the controller 108 generates a torque correction value based on the motor speed and the target speed command.
Optionally, the motor control device 10 further comprises a subtracting device 112. The subtracting device 112 subtracts the motor speed from the target speed command to generate a speed error signal. The controller 108 receives the speed error signal and generates a torque correction value based on the speed error signal.
Optionally, the Controller 108 is a Proportional-Integral Controller (P-I Controller), and a transfer function of the Proportional-Integral Controller is shown in formula (1), and it can be known from the transfer function that the Proportional-Integral Controller is affected by a bandwidth of a frequency band, and when an input signal (a target rotation speed command) has a high frequency component, an output signal (a feedback rotation speed) cannot effectively follow.
Wherein, KpAs a proportional control parameter, KiFor the integral control parameter, J is the moment of inertia of the motor 20, and s is 2 pi f.
That is, when the torque correction value is directly outputted to the torque controller 30 by processing only using the proportional-integral controller, if the rotation speed error signal contains a high frequency component, the torque correction value cannot follow effectively, and the motor controlled by the torque correction value cannot increase the rotation speed quickly and accurately.
In step S208, the adder 110 adds the feedforward torque and the torque correction value to generate a target torque, and the torque controller 30 generates a corresponding driving signal according to the target torque to control the motor 20 to increase the rotation speed rapidly. For example, when the feedforward torque is introduced into the torque correction value by the adder 110, the transfer function is expressed by the following equation (2), and it can be understood from the equation (2) that the output signal (feedback rotational speed) accurately follows even when the input signal (target rotational speed command) has a high frequency component.
Wherein, KpAs a proportional control parameter, KiFor integral control parameters, J is the rotational inertia of motor 20,
s2 pi f is the moment of inertia corresponding to the feed forward torque.
That is, the motor control apparatus 10 of the present invention can accurately follow the rotation speed error signal by the target torque generated by adding the feedforward torque to the torque correction value when the rotation speed error signal includes a high frequency component, and can rapidly and accurately increase the rotation speed of the motor 20 controlled by the target torque.
Those skilled in the art may combine, modify or change the above-described embodiments according to the spirit of the present invention, without being limited thereto. All statements, steps, and/or processes as may be contained in the above description, including the suggested steps, may be implemented in hardware, software, firmware (i.e., a combination of hardware devices and computer instructions, wherein data in the hardware devices is read-only software data), electronic systems, or any combination thereof. Hardware includes analog, digital, and hybrid circuits (i.e., microcircuits, microchips, or silicon chips). The electronic system includes a system on chip (SoC), a System In Package (SiP), a computer on module (CoM), and a motor system 1. The process steps and embodiments of the present invention may be embodied in the form of program code or instructions that are stored in a computer-readable recording medium. The computer-readable recording medium includes a read-only Memory (ROM), a Flash Memory (Flash Memory), a random-access Memory (RAM), a Subscriber Identity Module (SIM), a hard disk, a floppy disk, or a compact disc read-only Memory (CD-ROM/DVD-ROM/BD-ROM), but is not limited thereto. The processor can be used for reading and executing the program codes or instructions stored in the computer readable medium to realize all the steps and functions.
In summary, the embodiment of the present invention controls the motor 20 by the target torque generated by the feedforward torque and the torque correction value, and the actual output rotation speed of the motor 20 can accurately reach and follow the originally required target rotation speed even when the rotation speed command has a high frequency component. In other words, the motor control apparatus 10 of the embodiment of the invention can rapidly and accurately increase the motor rotation speed to achieve the rotation speed control with fast response speed and high control accuracy.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A motor control method, comprising:
obtaining a target rotating speed instruction and a motor rotating speed of a motor;
generating a feedforward torque according to the target rotating speed instruction;
generating a torque correction value according to the motor rotating speed and the target rotating speed instruction; and
generating a target torque to control the motor according to the feedforward torque and the torque correction value.
2. The motor control method according to claim 1, wherein the obtaining the target rotation speed command includes:
receiving an original target rotating speed instruction; and
and generating the target rotating speed instruction according to the torque limit value of the motor and the original target rotating speed instruction.
3. The motor control method according to claim 1, wherein the step of generating a feed-forward torque in accordance with the target rotation speed command includes:
carrying out differential operation on the target rotating speed instruction to generate an acceleration instruction; and
multiplying the acceleration command by a motor moment of inertia to produce the feed forward torque.
4. The motor control method according to claim 1, wherein the step of generating a torque correction value based on the motor rotation speed and the target rotation speed command includes:
subtracting the target speed command from the motor speed to generate a speed error signal; and
and generating the torque correction value according to the rotating speed error signal.
5. The motor control method according to claim 1, wherein the step of generating a target torque to control the motor based on the feed-forward torque and the torque correction value includes:
adding the feed-forward torque to the torque correction value to generate the target torque to control the motor.
6. A motor control apparatus for a motor, comprising:
target rotation speed generating means for outputting a target rotation speed instruction;
the feedforward torque generating device is used for generating feedforward torque according to the target rotating speed instruction;
a rotation speed sensor for detecting a motor rotation speed of the motor;
the controller is used for generating a torque correction value according to the motor rotating speed and the target rotating speed instruction; and
and the adding device is used for generating a target torque according to the feedforward torque and the torque correction value so as to control the motor.
7. The motor control apparatus according to claim 6,
the target rotating speed generating device receives an original target rotating speed instruction and generates the target rotating speed instruction according to a torque limit value of the motor and the original target rotating speed instruction.
8. The motor control apparatus according to claim 7,
the target rotation speed generating means includes a slope limiting circuit,
after the target rotating speed generating device receives the original target rotating speed instruction, the slope limiting circuit generates the target rotating speed instruction according to the torque limiting value of the motor and the original target rotating speed instruction.
9. The motor control apparatus according to claim 6,
and the feedforward torque generating device performs differential operation on the target rotating speed instruction to obtain an acceleration instruction, and multiplies the acceleration instruction by the rotational inertia of the motor to obtain the feedforward torque.
10. The motor control apparatus according to claim 6, further comprising:
and the subtracting device is used for subtracting the target rotating speed instruction from the rotating speed of the motor to generate a rotating speed error signal, so that the controller generates the torque correction value according to the rotating speed error signal.
11. The motor control apparatus according to claim 6,
the controller is a proportional-integral controller.
12. The motor control apparatus according to claim 6,
the adding means adds the feedforward torque and the torque correction value to generate the target torque to control the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011285799.5A CN114584034A (en) | 2020-11-17 | 2020-11-17 | Motor control method and motor control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011285799.5A CN114584034A (en) | 2020-11-17 | 2020-11-17 | Motor control method and motor control device |
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| Publication Number | Publication Date |
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| CN114584034A true CN114584034A (en) | 2022-06-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011285799.5A Pending CN114584034A (en) | 2020-11-17 | 2020-11-17 | Motor control method and motor control device |
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- 2020-11-17 CN CN202011285799.5A patent/CN114584034A/en active Pending
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Country or region after: China Address after: No. 2 Gangcheng Road, Economic Development Zone, Nanjing City, Jiangsu Province, 210046 Applicant after: WEIRAN (NANJING) POWER TECHNOLOGY CO.,LTD. Address before: No.2 Gangcheng Road, Longtan Town, Qixia District, Nanjing City, Jiangsu Province, 210046 Applicant before: WEIRAN (NANJING) POWER TECHNOLOGY CO.,LTD. Country or region before: China |