CN115001332A - Overmodulation processing method, overmodulation processing device, electronic device and storage medium - Google Patents

Overmodulation processing method, overmodulation processing device, electronic device and storage medium Download PDF

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Publication number
CN115001332A
CN115001332A CN202210660647.1A CN202210660647A CN115001332A CN 115001332 A CN115001332 A CN 115001332A CN 202210660647 A CN202210660647 A CN 202210660647A CN 115001332 A CN115001332 A CN 115001332A
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voltage
initial
overmodulation
determining
initial voltage
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贾琪
李帅
陈晓娇
李芝炳
师浩浩
侯克晗
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FAW Group Corp
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FAW Group Corp
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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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The embodiment of the invention discloses an overmodulation processing method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring an initial voltage output by a current regulator, and determining an initial voltage state of the initial voltage; under the condition that the initial voltage state is determined to be a transient saturation state, acquiring a preset adjusting angle, and determining a target voltage direction of the initial voltage in the overmodulation process based on the preset adjusting angle; and determining a limiting voltage of the initial voltage on a voltage hexagon circumcircle, and determining a target voltage output after overmodulation of the initial voltage is completed based on the limiting voltage. According to the technical scheme disclosed by the embodiment of the invention, the accuracy of the output result after overmodulation is improved by considering the condition that the voltage is in transient saturation, so that the dynamic responsiveness of a vehicle control system is improved.

Description

Overmodulation processing method, overmodulation processing device, electronic device and storage medium
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to an overmodulation processing method and apparatus, an electronic device, and a storage medium.
Background
The Permanent Magnet Synchronous Motor (PMSM) has the advantages of simple structure, small size, high efficiency, high power factor and the like. With the development of society, various industries have higher and higher requirements on the performance of the PMSM, for example, the pure electric vehicle/hybrid electric vehicle industry has higher requirements on the torque stability and the dynamic response of a motor and a driver. PMSM typically employs Field Oriented Control (FOC) to improve response speed. In FOC control, the dynamic response of the PI current regulator is very fast when its output voltage is not saturated. However, when the output voltage reaches the maximum voltage, the corresponding speed of the current regulator decreases, and in response to this problem, various overmodulation techniques have been used to improve the dynamic response of the PMSM.
At present, a partial overmodulation method adopts a method for improving the voltage utilization rate and fully utilizes a voltage hexagon near vertex region to obtain a larger range of basic voltage. In the implementation process of the overmodulation method, the expansion of the operation region under the steady state condition is facilitated, but the transient condition is not considered, so that the output result after overmodulation is inaccurate, and the dynamic response of the PMSM is reduced.
Disclosure of Invention
The invention provides an overmodulation processing method, an overmodulation processing device, electronic equipment and a storage medium, which are used for solving the problem that in the prior art, the dynamic responsiveness of a vehicle control system is reduced due to the fact that the transient supersaturation condition of output voltage is not considered, and improving the accuracy of an output result after overmodulation and improving the dynamic responsiveness of the vehicle control system by considering the transient saturation condition of the voltage.
In a first aspect, an embodiment of the present invention provides an overmodulation processing method, which includes:
acquiring an initial voltage output by a current regulator, and determining an initial voltage state of the initial voltage;
under the condition that the initial voltage state is determined to be a transient saturation state, acquiring a preset adjusting angle and a limiting voltage of the initial voltage on a circumscribed circle of a voltage hexagon, and determining a target voltage direction of the initial voltage in the overmodulation process based on the preset adjusting angle and the limiting voltage;
and acquiring the motor rotating speed and the motor rotating direction of the current motor, and determining the target voltage output after the initial voltage overmodulation is completed based on the motor rotating speed and the motor rotating direction.
Optionally, the preset adjustment angle is positively correlated with a voltage direction adjustment angle of the initial voltage in the overmodulation process;
correspondingly, the method for predetermining the angle value range of the preset adjusting angle in the overmodulation process comprises the following steps:
acquiring a current maximum running path in an overmodulation process, and determining an angle adjusting range of the voltage direction adjusting angle based on the current maximum running path;
and determining the angle value range of the preset adjusting angle in the overmodulation process based on the angle adjusting range of the voltage direction adjusting angle.
Optionally, the preset adjustment angle is a fixed value.
Optionally, the obtaining of the initial voltage output by the current regulator includes:
acquiring an initial regulating voltage output by a current regulator;
and carrying out coordinate transformation processing on the initial adjusting voltage to obtain the initial voltage of the initial adjusting voltage under a stator coordinate system.
Optionally, the method for determining the initial voltage state includes:
performing initial voltage output conversion processing on the initial voltage to obtain an initial output voltage of the initial voltage;
and if the output voltage amplitude of the initial output voltage is greater than the preset bus voltage amplitude, determining that the initial voltage state is a transient saturation state.
Optionally, the obtaining a preset adjustment angle and a limit voltage of the initial voltage on a circumscribed circle of a voltage hexagon, and determining a target voltage direction of the initial voltage in an overmodulation process based on the preset adjustment angle and the limit voltage, includes:
acquiring a limited voltage of an initial voltage on a circumscribed circle of a voltage hexagon, and determining a voltage difference value of the initial voltage and the limited voltage;
acquiring the acquired preset adjusting angle, and determining a target adjusting voltage of the initial voltage in the overmodulation process based on the preset adjusting angle and the voltage difference value;
and determining a voltage adjusting direction of the target adjusting voltage, and determining the voltage adjusting direction as a target voltage direction of the initial voltage in the overmodulation process.
Optionally, the determining, based on the motor rotation speed and the motor rotation direction, a target voltage output after the initial voltage overmodulation is completed includes:
and acquiring a preset adjusting function, adjusting the motor rotating speed, the motor rotating direction and the limiting voltage based on the adjusting function, and acquiring a target voltage amplitude output after overmodulation is completed.
In a second aspect, an embodiment of the present invention further provides a modulation processing apparatus, where the apparatus includes:
the initial voltage acquisition module is used for acquiring initial voltage output by the current regulator and determining the initial voltage state of the initial voltage;
the target voltage direction determining module is used for acquiring a preset adjusting angle and a limiting voltage of the initial voltage on a circumscribed circle of a voltage hexagon under the condition that the initial voltage state is determined to be a transient saturation state, and determining the target voltage direction of the initial voltage in the overmodulation process based on the preset adjusting angle and the limiting voltage;
and the target voltage determining module is used for acquiring the motor rotating speed and the motor rotating direction of the current motor and determining the target voltage output after the initial voltage overmodulation is completed based on the motor rotating speed and the motor rotating direction.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the overmodulation handling method according to any of the embodiments of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where computer instructions are stored, and the computer instructions are used for causing a processor to implement the overmodulation handling method according to any embodiment of the present invention when the computer instructions are executed.
According to the technical scheme of the embodiment of the invention, the voltage is in the transient saturation state, and the voltage direction of the initial voltage is modulated based on the preset adjusting angle under the condition that the voltage state output by the current regulator is determined to be in the transient saturation state, so that the target voltage output after overmodulation is obtained, the problem that the dynamic responsiveness of a vehicle control system is reduced due to the fact that the transient supersaturation state of the output voltage is not considered in the prior art is solved, the accuracy of the output result after overmodulation is improved, and the beneficial effect of the dynamic responsiveness of the vehicle control system is improved.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced 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 based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method of overmodulation handling according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an overmodulation handling method according to an embodiment of the present invention;
FIG. 3 is a flowchart of an overmodulation handling method according to a second embodiment of the present invention;
FIG. 4 is a graph showing the relationship between the voltage direction adjustment angle and the initial voltage according to the second embodiment of the present invention;
FIG. 5 is a graph showing the variation between the voltage direction adjustment angle and the initial voltage according to the second embodiment of the present invention;
FIG. 6 is a schematic diagram of a current running path according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram of an overmodulation handling device according to a third embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention;
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein.
Example one
Fig. 1 is a flowchart of an overmodulation handling method according to an embodiment of the present invention, which is applicable to an overmodulation handling situation of a vehicle controller, and the method may be implemented by an overmodulation handling device, which may be implemented in hardware and/or software, and which may be configured in the vehicle controller. In some other embodiments, when the voltage output by a current regulator in a vehicle control system is in a saturation state, the voltage needs to be input to an overmodulation module, and the corresponding overmodulation module modulates the input saturation voltage. In the modulation process, the saturation voltage in the steady state saturation state is mostly modulated, so that the overmodulation of the saturation voltage in the transient state saturation state is ignored, and the voltage output by the overmodulation module cannot quickly enable the vehicle control system to be in the stable state. In view of the above technical problems, the technical solution of the present embodiment provides an overmodulation processing method, which improves accuracy of an output result after overmodulation by considering a situation that a voltage is in transient saturation, thereby improving dynamic responsiveness of a vehicle control system. As shown in fig. 1, the method specifically includes:
s110, obtaining an initial voltage output by the current regulator, and determining an initial voltage state of the initial voltage.
In the embodiment of the present invention, the initial voltage may be understood as an initial input voltage that needs to be input into the overmodulation module; in order to facilitate the input of the initial voltage into the overmodulation module, the voltage output by the current regulator needs to be subjected to voltage conversion processing, that is, in other words, the initial voltage may be voltage data obtained after the voltage conversion processing is performed on the output voltage of the current regulator.
Alternatively, the method of obtaining the initial voltage of the output of the current regulator may include: obtaining an initial regulation voltage output by the current regulator; and carrying out coordinate transformation processing on the initial adjustment voltage to obtain the initial voltage of the initial adjustment voltage in a stator coordinate system.
It should be explained that the initial regulated voltage is the original voltage data output by the current regulator, and in order to determine whether the voltage output by the current regulator is in a saturation state, it needs to perform a voltage conversion process on it, so as to obtain the initial voltage of the initial regulated voltage output by the current regulator in the stator coordinate system.
Specifically, an initial regulated voltage of the output of the current regulator is obtained
Figure BDA0003690341840000061
And carrying out coordinate transformation on the stator to obtain the initial voltage transformed into the stator coordinate system
Figure BDA0003690341840000062
Further, an initial voltage state of the initial voltage is determined, and overmodulation processing is performed on the initial voltage based on the initial voltage state.
Optionally, in the technical scheme of this embodiment, the voltage state of the initial voltage is determined when the initial voltage is obtained.
Optionally, the method for determining the initial voltage state may include: carrying out initial voltage output conversion processing on the initial voltage to obtain an initial output voltage of the initial voltage; and if the output voltage amplitude of the initial output voltage is larger than the preset bus voltage amplitude, determining that the initial voltage state is a transient saturation state.
In particular, for the initial voltage
Figure BDA0003690341840000063
Performing voltage output conversion to obtain initial voltage
Figure BDA0003690341840000064
Corresponding initial output voltage
Figure BDA0003690341840000065
Further, acquiring a bus voltage V dc And determining the initial output voltage
Figure BDA0003690341840000066
And bus voltage V dc And determining whether the initial voltage is in a transient saturation state according to the voltage difference value. Illustratively, if the initial output voltage is
Figure BDA0003690341840000071
And bus voltage V dc The voltage difference between the voltage values of the first voltage and the second voltage is a positive value, which indicates that the initial voltage is currently in a transient saturation state, and of course, the above-mentioned method for determining the initial voltage state is only an optional implementation manner, and the initial voltage state of the initial voltage may also be specifically determined according to an actual situation, which is not limited in this implementation.
And S120, under the condition that the initial voltage state is determined to be the transient saturation state, acquiring a preset adjusting angle and a limiting voltage of the initial voltage on a circumscribed circle of a voltage hexagon, and determining the target voltage direction of the initial voltage in the overmodulation process based on the preset adjusting angle and the limiting voltage.
In the examples of the present invention, the initial voltage state of the initial voltage was determined based on the above-described embodiments. And acquiring a preset adjusting angle under the condition that the initial voltage state is determined to be a transient saturation state. It should be explained that the preset adjustment angle may be understood as an angle for adjusting the voltage direction of the initial voltage, so that the initial voltage is in an unsaturated state, thereby improving the stability of the system response. Specifically, in the overmodulation module, the initial voltage is modulated based on a preset adjusting angle, so that when the current in the system changes rapidly, the voltage direction of the initial voltage can be changed more rapidly by the system, the system is more rapid and stable, and the dynamic response of the system is accelerated. Optionally, the preset adjustment angle in this embodiment may be a fixed value, for example, a preset angle such as 45 degrees or 30 degrees.
In this embodiment, limiting the voltage may be understood as limiting the initial voltage to the voltage data on the circumscribed circle of the voltage hexagon based on the minimum phase error (abbreviated MPE) method; specifically, referring to FIG. 2, the initial voltage is
Figure BDA0003690341840000072
To convert an initial voltage
Figure BDA0003690341840000073
Limiting the voltage on a voltage hexagonal circumscribed circle, as shown, the radius of the circumscribed circle is
Figure BDA0003690341840000074
Thus, with an initial voltage and a radius of the circumscribed circle defining a defined voltage for the initial voltage, exemplary expressions for defining the defined voltage may include:
Figure BDA0003690341840000075
wherein the content of the first and second substances,
Figure BDA0003690341840000076
which represents a defined voltage that is to be applied,
Figure BDA0003690341840000077
a control value representing a defined voltage; v dc Representing the bus voltage.
Optionally, the method for determining the target voltage direction of the initial voltage in the overmodulation process based on the preset adjustment angle and the defined voltage may include: determining a voltage difference value between the initial voltage and the limited voltage, and determining a target regulating voltage of the initial voltage in the overmodulation process based on a preset regulating angle and the voltage difference value; a voltage regulation direction of the target regulation voltage is determined, and the voltage regulation direction is determined as a target voltage direction of the initial voltage during overmodulation.
In particular, the method comprises the following steps of,at the determination of the initial voltage
Figure BDA0003690341840000081
And limiting the voltage
Figure BDA0003690341840000082
On the basis of (1), determining an initial voltage
Figure BDA0003690341840000083
And limiting the voltage
Figure BDA0003690341840000084
The voltage difference value of (a) can be expressed as
Figure BDA0003690341840000085
In this embodiment, the determination
Figure BDA0003690341840000086
The expression (c) may include:
Figure BDA0003690341840000087
wherein the content of the first and second substances,
Figure BDA0003690341840000088
representing the initial voltage
Figure BDA0003690341840000089
And limiting the voltage
Figure BDA00036903418400000810
Voltage difference value of (V) dc Representing the bus voltage.
In this embodiment, the preset angle may be represented as α sh (ii) a Based on FIG. 2, α sh Can also be understood as
Figure BDA00036903418400000811
The angle of rotation of (c).
Further, the preset adjusting angle alpha is obtained sh Difference of sum voltage
Figure BDA00036903418400000812
Based on a predetermined function, the predetermined adjustment angle α sh Difference of sum voltage
Figure BDA00036903418400000813
And processing to obtain a target regulating voltage of the initial voltage in the overmodulation process. For example, determining the expression for the target regulated voltage may include:
Figure BDA00036903418400000814
wherein the content of the first and second substances,
Figure BDA00036903418400000815
representing the initial voltage
Figure BDA00036903418400000816
A target regulation voltage during overmodulation; in other words, it can also be expressed as
Figure BDA00036903418400000817
Offset alpha sh The target regulation voltage is obtained after that,
Figure BDA00036903418400000818
representing the initial voltage
Figure BDA00036903418400000819
And limiting the voltage
Figure BDA00036903418400000820
A difference voltage of sh Indicating a preset angle of adjustment, V dc Representing the bus voltage.
Further, a voltage regulation direction of the target regulation voltage is obtained, and the voltage regulation direction is determined as a target voltage direction of the initial voltage during the overmodulation.
S130, obtaining the motor rotating speed and the motor rotating direction of the current motor, and determining the target voltage output after the initial voltage overmodulation is completed based on the motor rotating speed and the motor rotating direction.
In the embodiment of the invention, the motor rotating speed and the motor rotating direction of the current motor are obtained, the motor rotating speed can be achieved clockwise or anticlockwise, and in the embodiment, the motor is preset to rotate anticlockwise; the motor rotation direction also includes counterclockwise and clockwise directions. Specifically, in this embodiment, the motor speed may be based on ω r Represents; the motor rotation direction can be expressed based on sgn, specifically, counterclockwise is negative, and vice versa.
Optionally, on the basis of obtaining the current motor speed and the current motor rotation direction of the motor, determining the target voltage output after the initial voltage overmodulation is completed based on the motor speed and the motor rotation direction may include: and acquiring a preset adjusting function, adjusting the rotating speed and the rotating direction of the motor and the limiting voltage based on the adjusting function, and acquiring a target voltage amplitude output after overmodulation is completed.
Specifically, the determining the target voltage amplitude may include:
Figure BDA0003690341840000091
wherein the content of the first and second substances,
Figure BDA0003690341840000092
representing the magnitude of a target voltage, AA () representing a magnitude adjustment function for limiting the target adjustment voltage during overmodulation on the voltage hexagon so that the magnitude of the voltage is in an unsaturated state, R () representing a coordinate adjustment function for adjusting the rotational speed and the rotational manner and the rotational angle of the motor,
Figure BDA0003690341840000093
representing the initial voltage
Figure BDA0003690341840000094
And limiting the voltage
Figure BDA0003690341840000095
The difference voltage of (c).
According to the technical scheme of the embodiment of the invention, the voltage is in the transient saturation state, and the voltage direction of the initial voltage is modulated based on the preset adjusting angle under the condition that the voltage state output by the current regulator is determined to be in the transient saturation state, so that the target voltage output after overmodulation is obtained, the problem that the dynamic responsiveness of a vehicle control system is reduced due to the fact that the transient supersaturation state of the output voltage is not considered in the prior art is solved, the accuracy of the output result after overmodulation is improved, and the beneficial effect of the dynamic responsiveness of the vehicle control system is improved.
Example two
Fig. 3 is a flowchart of an overmodulation processing method according to a second embodiment of the present invention, where the relationship between the present embodiment and the foregoing embodiments includes: before the initial voltage output by the current regulator is obtained, the angle value range of the preset regulating angle in the overmodulation process is determined in advance. As shown in fig. 3, the method includes:
s210, an angle value range of the preset adjusting angle in the overmodulation process is predetermined.
In the embodiment of the present invention, the voltage direction adjustment angle may be an angle between the initial voltage and a target voltage output after the overmodulation is completed, and with reference to fig. 2, if the rotation speed of the motor rotates counterclockwise, the voltage direction adjustment direction of the corresponding initial voltage in the overmodulation process is also counterclockwise.
Specifically, since the initial voltage is modulated based on the preset adjustment angle in the process of overmodulation, the voltage direction adjustment angle obtained after overmodulation is positively correlated with the preset adjustment angle.
FIG. 4 is a graph showing the relationship between the voltage direction adjustment angle and the initial voltage when the preset adjustment angle is 45 degrees, and based on FIG. 4, the voltage direction adjustment angle θ is determined regardless of the rotor position ad Are all positive values, but θ ad To be received
Figure BDA0003690341840000101
The size of (c).
Further, θ will be ad And
Figure BDA0003690341840000102
carrying out quantitative analysis, and obtaining the following expression according to the triangle principle as a figure; illustratively, the expression includes:
Figure BDA0003690341840000103
wherein the content of the first and second substances,
Figure BDA0003690341840000104
representing the initial voltage
Figure BDA0003690341840000105
Target regulation voltage during overmodulation, alpha sh Which represents a preset angle of adjustment of the angle,
Figure BDA0003690341840000106
representing the initial voltage
Figure BDA0003690341840000107
And limiting the voltage
Figure BDA0003690341840000108
Difference voltage of theta ad Indicating the voltage direction adjustment angle.
Further, theta is adjusted ad And
Figure BDA0003690341840000109
table for quantitative analysisThe expression is combined with an expression for determining the target regulated voltage to obtain a value for θ ad And
Figure BDA0003690341840000111
the expression of (1); the specific expression includes:
Figure BDA0003690341840000112
further, based on
Figure BDA0003690341840000113
The above expression may be rewritten as:
Figure BDA0003690341840000114
on the basis, the preset adjusting angle alpha is adjusted sh Set to different constants, accordingly, can obtain
Figure BDA0003690341840000115
Alpha is followed by ad The curve of the change is shown in fig. 5. Based on FIG. 5, it can be seen that
Figure BDA0003690341840000116
Exceed
Figure BDA0003690341840000117
When theta is greater than theta ad Followed by
Figure BDA0003690341840000118
Is increased when
Figure BDA0003690341840000119
Far greater than
Figure BDA00036903418400001110
When theta is greater than theta ad Gradually approaches to alpha sh . Thus alpha sh Can be taken as theta ad The upper boundary value of (1).
It should be noted that if θ ad Too large may result in more d-axis current overshoot, so in the process of overmodulating the initial voltage based on the preset adjustment angle, the angle value range of the preset adjustment angle needs to be limited.
On the basis of the above embodiment, the method for predetermining the angle value range of the preset adjustment angle in the overmodulation process includes: acquiring a current maximum running path in the overmodulation process, and determining an angle adjusting range of a voltage direction adjusting angle based on the current maximum running path; and determining an angle value range of the preset adjusting angle in the overmodulation process based on the angle adjusting range of the voltage direction adjusting angle.
In particular, as can be appreciated by reference to FIG. 6, an initial current corresponding to an initial regulated voltage output from a current regulator is illustrated
Figure BDA00036903418400001111
Target current corresponding to target voltage output after overmodulation is completed
Figure BDA00036903418400001112
The maximum current running path is formed, wherein the vertical line is an MTPA curve, the two transverse lines with different curvatures are running paths of target currents with different voltage direction adjusting angles, and overlarge theta can be seen ad (i.e., the travel path of the target current with a greater curvature of the voltage direction adjustment angle) results in a more inwardly recessed current travel path, which results in more d-axis current overshoot. It can be seen that α is too large sh The d-axis current overshoot is increased. Thus avoiding unnecessary d-axis current overshoot, α, in the future sh The value should not be too large. Therefore, the angle value range of the preset adjusting angle in the overmodulation process can be determined according to the angle adjusting range of the adjusting angle based on the voltage direction. Of course, the specific angle value range may be determined based on the correlation between the preset adjustment angle and the voltage direction adjustment angle of the initial voltage in the overmodulation process, and this embodiment is not limited to this.
And S220, acquiring an initial voltage output by the current regulator, and determining an initial voltage state of the initial voltage.
And S230, under the condition that the initial voltage state is determined to be the transient saturation state, acquiring a preset adjusting angle and a limiting voltage of the initial voltage on a circumscribed circle of a voltage hexagon, and determining the target voltage direction of the initial voltage in the overmodulation process based on the preset adjusting angle and the limiting voltage.
S240, obtaining the motor rotating speed and the motor rotating direction of the current motor, and determining the target voltage output after the initial voltage overmodulation is completed based on the motor rotating speed and the motor rotating direction.
According to the technical scheme of the embodiment of the invention, the angle value range of the preset adjusting angle is set based on the correlation between the adjusting angle of the voltage direction and the preset adjusting angle, the preset adjusting angle is determined in the range, and further, under the condition that the voltage state output by the current regulator is determined to be in the transient saturation state, the voltage direction of the initial voltage is modulated based on the preset adjusting angle so as to obtain the target voltage output after overmodulation is completed.
EXAMPLE III
Fig. 7 is a schematic structural diagram of an overmodulation processing apparatus according to a third embodiment of the present invention. As shown in fig. 7, the apparatus includes: an initial voltage acquisition module 310, a target voltage direction determination module 320, and a target voltage determination module 330; wherein the content of the first and second substances,
an initial voltage obtaining module 310, configured to obtain an initial voltage output by a current regulator, and determine an initial voltage state of the initial voltage;
a target voltage direction determining module 320, configured to, when it is determined that the initial voltage state is a transient saturation state, obtain a preset adjustment angle and a limit voltage of the initial voltage on a circumscribed circle of a voltage hexagon, and determine a target voltage direction of the initial voltage in an overmodulation process based on the preset adjustment angle and the limit voltage;
and a target voltage determining module 330, configured to obtain a motor rotation speed and a motor rotation direction of the current motor, and determine, based on the motor rotation speed and the motor rotation direction, a target voltage output after the initial voltage overmodulation is completed.
On the basis of the foregoing embodiments, optionally, the preset adjustment angle is positively correlated with a voltage direction adjustment angle of the initial voltage in the overmodulation process;
correspondingly, the device also comprises: an angle value range determining module, configured to determine in advance an angle value range of the preset adjustment angle in the overmodulation process;
wherein, the module is confirmed to the angle value range, includes:
the angle adjusting range determining unit is used for acquiring a current maximum running path in the overmodulation process and determining the angle adjusting range of the voltage direction adjusting angle based on the current maximum running path;
and the angle dereferencing range determining unit is used for determining the angle dereferencing range of the preset adjusting angle in the overmodulation process based on the angle adjusting range of the voltage direction adjusting angle.
On the basis of the above embodiments, optionally, the preset adjustment angle is a fixed value.
On the basis of the foregoing embodiments, optionally, the initial voltage obtaining module 310 includes:
an initial adjustment voltage acquisition unit for acquiring an initial adjustment voltage output by the current regulator;
and the initial voltage acquisition unit is used for carrying out coordinate transformation processing on the initial adjusting voltage to obtain the initial voltage of the initial adjusting voltage under a stator coordinate system.
On the basis of the foregoing embodiments, optionally, the initial voltage obtaining module 310 includes:
an initial output voltage obtaining unit, configured to perform initial voltage output conversion processing on the initial voltage to obtain an initial output voltage of the initial voltage;
and the initial voltage state determining unit is used for determining that the initial voltage state is a transient saturation state if the output voltage amplitude of the initial output voltage is greater than a preset bus voltage amplitude.
On the basis of the foregoing embodiments, optionally, the target voltage direction determining module 320 includes:
the limiting voltage acquisition unit is used for acquiring a limiting voltage of an initial voltage on a circumscribed circle of a voltage hexagon and determining a voltage difference value of the initial voltage and the limiting voltage;
the target adjusting voltage determining unit is used for acquiring the acquired preset adjusting angle and determining the target adjusting voltage of the initial voltage in the overmodulation process based on the preset adjusting angle and the voltage difference value;
and the target voltage direction determining unit is used for determining the voltage adjusting direction of the target adjusting voltage and determining the voltage adjusting direction as the target voltage direction of the initial voltage in the overmodulation process.
On the basis of the foregoing embodiments, optionally, the target voltage determining module 330 includes:
and the target voltage amplitude determining unit is used for acquiring a preset adjusting function, adjusting the motor rotating speed, the motor rotating direction and the limiting voltage based on the adjusting function and acquiring the target voltage amplitude output after overmodulation is completed.
The overmodulation processing device provided by the embodiment of the invention can execute the overmodulation processing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 8 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 8, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to the bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 executes the respective methods and processes described above, such as the overmodulation processing method.
In some embodiments, the overmodulation handling method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the overmodulation handling method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the overmodulation handling method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An overmodulation handling method comprising:
acquiring an initial voltage output by a current regulator, and determining an initial voltage state of the initial voltage;
under the condition that the initial voltage state is determined to be a transient saturation state, acquiring a preset adjusting angle and a limiting voltage of the initial voltage on a circumscribed circle of a voltage hexagon, and determining a target voltage direction of the initial voltage in the overmodulation process based on the preset adjusting angle and the limiting voltage;
and acquiring the motor rotating speed and the motor rotating direction of the current motor, and determining the target voltage output after the initial voltage overmodulation is completed based on the motor rotating speed and the motor rotating direction.
2. The method according to claim 1, wherein the preset adjustment angle is positively correlated with a voltage direction adjustment angle of the initial voltage during overmodulation;
correspondingly, the method for predetermining the angle value range of the preset adjusting angle in the overmodulation process comprises the following steps:
acquiring a current maximum running path in the overmodulation process, and determining an angle adjusting range of the voltage direction adjusting angle based on the current maximum running path;
and determining the angle value range of the preset adjusting angle in the overmodulation process based on the angle adjusting range of the voltage direction adjusting angle.
3. The method of claim 1, wherein the preset adjustment angle is a fixed value.
4. The method of claim 1, wherein the obtaining an initial voltage of a current regulator output comprises:
acquiring an initial regulating voltage output by a current regulator;
and carrying out coordinate transformation processing on the initial adjusting voltage to obtain the initial voltage of the initial adjusting voltage under a stator coordinate system.
5. The method of claim 1, wherein the method of determining the initial voltage state comprises:
performing initial voltage output conversion processing on the initial voltage to obtain an initial output voltage of the initial voltage;
and if the output voltage amplitude of the initial output voltage is greater than the preset bus voltage amplitude, determining that the initial voltage state is a transient saturation state.
6. The method of claim 1, wherein the obtaining a preset adjustment angle and a defined voltage of the initial voltage on a circumscribed circle of a voltage hexagon, and determining a target voltage direction of the initial voltage during overmodulation based on the preset adjustment angle and the defined voltage comprises:
acquiring a limited voltage of an initial voltage on a circumscribed circle of a voltage hexagon, and determining a voltage difference value of the initial voltage and the limited voltage;
acquiring the acquired preset adjusting angle, and determining a target adjusting voltage of the initial voltage in the overmodulation process based on the preset adjusting angle and the voltage difference value;
and determining a voltage adjusting direction of the target adjusting voltage, and determining the voltage adjusting direction as a target voltage direction of the initial voltage in the overmodulation process.
7. The method according to claim 1, wherein the determining a target voltage output after the initial voltage overmodulation is completed based on the motor speed and the motor rotational direction comprises:
and acquiring a preset adjusting function, adjusting the motor rotating speed, the motor rotating direction and the limiting voltage based on the adjusting function, and acquiring a target voltage amplitude output after overmodulation is completed.
8. An overmodulation processing apparatus comprising:
the initial voltage acquisition module is used for acquiring initial voltage output by the current regulator and determining the initial voltage state of the initial voltage;
the target voltage direction determining module is used for acquiring a preset adjusting angle and a limiting voltage of the initial voltage on a circumscribed circle of a voltage hexagon under the condition that the initial voltage state is determined to be a transient saturation state, and determining the target voltage direction of the initial voltage in the overmodulation process based on the preset adjusting angle and the limiting voltage;
and the target voltage determining module is used for acquiring the motor rotating speed and the motor rotating direction of the current motor and determining the target voltage output after the initial voltage overmodulation is completed based on the motor rotating speed and the motor rotating direction.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the overmodulation handling method according to any of claims 1 to 7.
10. A computer-readable storage medium storing computer instructions for causing a processor to implement the overmodulation handling method according to any of claims 1 to 7 when executed.
CN202210660647.1A 2022-06-13 2022-06-13 Overmodulation processing method, overmodulation processing device, electronic device and storage medium Pending CN115001332A (en)

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