CN115580191A

CN115580191A - Motor control method, device, equipment and storage medium

Info

Publication number: CN115580191A
Application number: CN202211400563.0A
Authority: CN
Inventors: 巩凤珺
Original assignee: Weichai Power Co Ltd; Weifang Weichai Power Technology Co Ltd
Current assignee: Weichai Power Co Ltd; Weifang Weichai Power Technology Co Ltd
Priority date: 2022-11-09
Filing date: 2022-11-09
Publication date: 2023-01-06

Abstract

The invention discloses a motor control method, a device, equipment and a storage medium, wherein the motor control method comprises the following steps: determining an inductance parameter decoupled with a resistance parameter by adopting a first model, and determining a resistance parameter decoupled with the inductance parameter by adopting a second model; acquiring a first current sampling value and a second current sampling value in a two-phase static coordinate system; determining a rotor position parameter by a sliding mode observer by adopting an inductance parameter, a resistance parameter, a first current sampling value, a second current sampling value, a first voltage control quantity and a second voltage control quantity; generating a voltage driving control quantity by adopting a rotor position parameter, a first current sampling value, a second current sampling value, a resistance parameter and an inductance parameter; and generating a motor control quantity for driving the motor to rotate by adopting a voltage drive control quantity and an SVPWM (space vector pulse width modulation) control method.

Description

Motor control method, device, equipment and storage medium

Technical Field

The present invention relates to motor technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a motor.

Background

The sliding-mode observer is an important model for realizing the motor control process, the sliding-mode observer algorithm acquires position information and speed information of a motor rotor by sampling system variables such as motor voltage and current in real time and combining motor parameter calculation, and then the position information and the speed information are substituted into a vector control flow to carry out double closed-loop control and coordinate transformation so as to realize accurate regulation of the motor rotating speed and the motor torque.

In order to improve the output precision of the sliding mode observer, accurate inverter output voltage and motor parameters are needed, and the error of the sliding mode observer mainly comes from two aspects: one is that in order to compensate dead time existing in the inverter control, when inverter input voltage is adopted to replace inverter output voltage to serve as data required by the operation of the sliding mode observer, due to the existence of nonlinearity of the inverter, deviation exists between the input voltage and the output voltage of the inverter, and therefore an error occurs in the sliding mode observer; secondly, the motor parameters can change along with the change of time and temperature, and the decoupling of the motor parameters is difficult to realize in the identification process, so that the identification precision of the motor parameters is low, and further, when the sliding mode observer operates based on the motor parameters with low precision, the output precision of the sliding mode observer is reduced.

In summary, the existence of the voltage deviation and the motor parameter deviation directly affects the estimation accuracy of the slip film observer, and further affects the steady state and dynamic performance of the motor control system.

Disclosure of Invention

The invention provides a motor control method, a motor control device, motor control equipment and a storage medium, and aims to improve the motor control precision.

In a first aspect, an embodiment of the present invention provides a motor control method, including:

determining an inductance parameter decoupled with a resistance parameter by adopting a first model, and determining a resistance parameter decoupled with the inductance parameter by adopting a second model;

acquiring a first current sampling value and a second current sampling value in a two-phase static coordinate system;

determining a rotor position parameter by adopting the inductance parameter, the resistance parameter, the first current sampling value, the second current sampling value, the first voltage control quantity and the second voltage control quantity through a sliding mode observer;

generating a voltage driving control quantity by adopting the rotor position parameter, the first current sampling value, the second current sampling value, the resistance parameter and the inductance parameter;

and generating a motor control quantity for driving the motor to rotate by adopting the voltage drive control quantity through an SVPWM control method.

Optionally, the method further includes: determining a rotor rotation speed parameter through a sliding mode observer;

determining the rotor position compensation amount by adopting the rotor rotating speed parameter, and determining a corrected rotor position parameter by adopting the rotor position parameter and the rotor position compensation amount;

and generating a voltage driving control quantity by adopting the corrected rotor position parameter, the first current sampling value, the second current sampling value and the resistance parameter.

Optionally, the method further includes: determining a voltage drive control compensation amount;

determining a corrected voltage drive control quantity by using the voltage drive control quantity and the voltage drive control compensation quantity;

and generating a motor control quantity for driving the motor to rotate by adopting the correction voltage drive control quantity through an SVPWM control method.

Optionally, the determining the voltage-driven control compensation amount includes:

establishing a third model by taking a first current parameter, a second current parameter, a resistance parameter, a flux linkage parameter, an inductance parameter and an angular velocity parameter in a two-phase rotating coordinate system as model parameters;

identifying a first current and a second current in a two-phase rotating coordinate system by adopting the third model;

and determining the voltage drive control compensation quantity through a compensation quantity meter by using the first current and the second current.

Optionally, determining the voltage driving control compensation amount through a compensation amount table by using the first current and the second current includes:

determining a first phase current, a second phase current and a third phase current in a three-phase coordinate system by using the first current and the second current;

and determining the voltage drive control compensation quantity by using the compensation quantity table according to signs of the first phase current, the second phase current and the third phase current.

Optionally, the third model adopts a kalman filtering model.

Optionally, the first model and the second model adopt a gradient correction model.

In a second aspect, an embodiment of the present invention further provides a motor control apparatus, including a motor control unit, where the motor control unit is configured to:

and generating a motor control quantity for driving the motor to rotate by adopting the voltage drive control quantity and an SVPWM control method.

In a third aspect, an embodiment of the present invention further provides an electronic device, including at least one processor, and a memory communicatively connected to the at least one processor;

the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform a motor control method according to an embodiment 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 enabling a processor to implement the motor control method according to the embodiment of the present invention when executed.

Compared with the prior art, the invention has the beneficial effects that: the invention provides a motor control method, which comprises the steps of setting a first model and a second model, independently determining an inductance parameter of a motor through the first model, independently determining a resistance parameter of the motor through the second model, decoupling the inductance parameter and the resistance parameter in a calculation process because the inductance parameter and the resistance parameter have no incidence relation, and accordingly reducing the difficulty in online identification of the inductance parameter and the resistance parameter, improving the online identification precision of the inductance parameter and the resistance parameter, and further improving the precision of a motor control quantity when subsequently determining the motor control quantity.

Drawings

FIG. 1 is a flowchart of a motor control method in an embodiment;

fig. 2 is a schematic diagram of an electronic device in the embodiment.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a flowchart of a motor control method in an embodiment, and referring to fig. 1, the embodiment proposes a motor control method including:

s101, determining inductance parameters decoupled with the resistance parameters by adopting a first model, and determining the resistance parameters decoupled with the inductance parameters by adopting a second model.

Exemplarily, in this embodiment, the resistance parameter represents a resistance parameter of the controlled motor, and the inductance reference represents an inductance parameter of the controlled motor;

the inductance value corresponding to the inductance parameter is expressed by the inductance parameter, and the resistance value corresponding to the resistance parameter is expressed by the resistance parameter.

Exemplarily, in the present embodiment, the inductance parameter and the resistance parameter are decoupled, and the adopted first model includes the inductance parameter and does not include the resistance parameter; the second model used contains the resistance parameter but not the inductance parameter.

For example, in the present embodiment, the types of the first model and the second model may be the same or different, for example, both the first model and the second model may adopt a gradient correction model;

alternatively, the first model may employ a gradient correction model, and the second model may employ a filter model such as a kalman filter model.

For example, taking the gradient correction model as an example for both the first model and the second model, the first model may take the following form:

h _l (k)＝[u _l (k-1),u _l (k-2),…,u _l (k-n)]

λ>0

0≤a≤2

in the above formula, [ theta ] _l Representing an inductance parameter, a, λ being constant terms, u _l Representing the input of the inductance equation, y _l Output quantity, g, representing inductance equation _i An impulse response is expressed in which the inductance equation is empirically constructed.

The second model may take the form:

h _r (k)＝[u _r (k-1),u _r (k-2),…,u _r (k-n)]

λ>0

0≤a≤2

in the above formula, θ _r Representing a resistance parameter, a, λ being constant terms, u _r Representing the input quantity, y, of the resistance equation _r Output quantity, g, representing resistance equation _i An impulse response is expressed in which the resistance equation is empirically constructed.

Illustratively, taking the first model as a gradient correction model and the second model as a kalman filter model, the first model may take the form of:

in the above, the definition of each item is the same as that of each item in the first model when the gradient correction model is used for both the first model and the second model.

The second model may take the form:

x(k)＝H ₁ x(k-1)+Q

y(k)＝H ₂ x(k)+W

y＝[i _d ,i _q ]

in the above formula, Q is a first noise covariance matrix, W is a second noise covariance matrix, Q and W are set empirically, and T _s Is a time period, R _s Is a resistance parameter, ω _e Is an angular velocity parameter, i, of the motor _d And i _q Is a current parameter in a two-phase rotating coordinate system, M is a constant term, the numerical value of the constant term is set according to experience,

representing the flux linkage parameters of the motor.

S102, acquiring a first current sampling value and a second current sampling value in a two-phase static coordinate system.

Exemplarily, in this embodiment, the first current sample value is denoted as i _α Denote the second current sample value as i _β ，i _α And i _β The method comprises the following steps:

sampling three-phase current of the motor, and recording the first phase current as i ₁ And the second phase current is denoted as i ₂ And the third phase current is recorded as i ₃ ；

Applying Clark transformation to convert the first phase current i ₁ Second phase current i ₂ Third phase current i ₃ Converting the current into a two-phase static coordinate system to form a first current sampling value i _α Sampling the second current value i _β 。

S103, determining a rotor position parameter by a sliding mode observer by adopting an inductance parameter, a resistance parameter, a first current sampling value, a second current sampling value, a first voltage control quantity and a second voltage control quantity.

For example, in the present embodiment, the sliding-mode observer may be in any model form in the prior art, for example, the following form may be adopted:

in the above-mentioned formula, the compound has the following structure,

representing stator current observation parameters, u, in a two-phase stationary frame _α 、u _β Represents a voltage control amount v in a two-phase stationary coordinate system _α 、v _β Representing the back-emf estimate, L, in a two-phase stationary frame _d Representing d-axis inductance in a two-phase rotating coordinate system.

For example, in this embodiment, after the inductance parameter determined in step S101 is subjected to coordinate transformation, L may be obtained _d And the method of coordinate transformation is the same as the prior art, and the specific process is not detailed.

In the present embodiment, for example, when the coordinate transformation is performed, the rotation angle is determined by the rotor position parameter determined in the present step (the rotor position parameter of the previous calculation cycle).

For example, in the present embodiment, the manner of determining the rotor position parameter by the sliding-mode observer is the same as that in the prior art, and the detailed process is not described in detail.

Illustratively, in this embodiment, u _α 、u _β The value of (d) is the same as the voltage drive control amount generated in step S104.

And S104, generating a voltage driving control quantity by adopting the rotor position parameter, the first current sampling value, the second current sampling value and the resistance parameter.

Illustratively, in the present embodiment, the voltage-drive control amount includes a first voltage-drive control amount U _α Second voltage drive control quantity U _β The process of generating the voltage drive control amount includes:

obtaining a first current sample value i _α And a second current sample value i _β Then, the first current sampling value i is converted by Park _α A second current sample value i _β Converting into two-phase rotating coordinate system to generate the first current reference i _d A second current reference i _q ；

Using a first current reference i _d A first current control reference quantity, and a first current control quantity i generated by a closed-loop control method _d1 ；

Using a second current reference i _q A second current control reference quantity, and a second current control quantity i is generated by a closed-loop control method _q1 ；

Using a first current control quantity i _d1 A second current control quantity i _q1 Generating a first voltage control quantity U by a voltage-current conversion formula _d A second voltage control value U _q ；

The first voltage control quantity U is converted by inverse Park _d A second voltage control value U _q Converting into two-phase rotating coordinate system to generate a first voltage driving control quantity U _α Second voltage drive control amount U _β 。

For example, in the present embodiment, when the Park conversion and the inverse Park conversion are performed, the rotation angle is determined by the rotor position parameter determined in step S103.

For example, in the present embodiment, the general form of the voltage-current conversion formula may be:

U＝f(R,L,i,e)

in the above formula, U represents a voltage parameter, R represents a resistance parameter, L represents an inductance parameter, i represents a current parameter, and e represents a back electromotive force parameter of the motor.

For example, in this embodiment, the resistance parameter may be the resistance parameter determined in step S101, and the inductance parameter may be the inductance parameter determined in step S101;

the value of the back electromotive force parameter can be obtained by v in step S103 _α 、v _β The determination may be determined, for example, by the following equation:

illustratively, in this embodiment, the first voltage drives the control quantity U _α Corresponding to u in step S103 _α Second voltage drive control amount U _β Corresponding to u in step S103 _β 。

And S105, adopting the voltage driving control quantity to generate a motor control quantity for driving the motor to rotate by an SVPWM control method.

In the present embodiment, the motor control amount includes three PWM waves for controlling the on/off of the specified switching tube in the three-phase inverter circuit (for driving the motor).

For example, in the present embodiment, the method of generating the motor control amount by the SVPWM control method using the voltage drive control is the same as the related art (i.e., by U) _α And U _β Determines the duration of time during which the PWM wave is at a high level in one period), the detailed procedure thereof will not be described in detail.

The embodiment provides a motor control method, which comprises the steps of setting a first model and a second model, determining inductance parameters of a motor through the first model, determining resistance parameters of the motor through the second model, decoupling the inductance parameters and the resistance parameters in a calculation process because the inductance parameters and the resistance parameters have no incidence relation, and reducing online identification difficulty of the inductance parameters and the resistance parameters and improving online identification precision of the inductance parameters and the resistance parameters based on the decoupling, so that the precision of motor control quantity can be improved when the motor control quantity is determined subsequently.

As an implementation, on the basis of the scheme shown in fig. 1, when determining the rotor position parameter by the sliding-mode observer, the method further compensates the rotor position parameter, and includes:

and determining a rotor rotating speed parameter through a sliding mode observer, determining a rotor position compensation amount by adopting the rotor rotating speed parameter, and determining a corrected rotor position parameter by adopting the rotor position parameter and the rotor position compensation amount.

For example, in a possible embodiment, taking the sliding mode observer model used in step S103 as an example, the rotor speed parameter can be determined as follows:

through the sliding-mode observer model, the back electromotive force estimation amount v in the sliding mode can be determined _α 、v _β At this time, the rotor rotation speed (angular velocity) parameter ω may be determined by:

in the above formula, the first and second carbon atoms are,

representing the flux linkage of the motor.

by the sliding-mode observer model, the estimated back electromotive force in the sliding mode can be determined

Estimating rotor angle

Based on the above parameters and the actual rotor position theta _e The following formula can be constructed:

when the adjustment is performed to enable the delta E to be approximately equal to 0, the estimation error of the estimated rotor angle is also considered to be 0, namely the estimated value of the rotor angle converges to the actual value of the rotor position, an orthogonal phase-locked loop can be constructed based on the formula, the output of the orthogonal phase-locked loop is set as the rotor rotating speed parameter omega, the integral of the rotor rotating speed parameter omega is set as the rotor position parameter, and the rotor rotating speed parameter omega is determined through the orthogonal phase-locked loop.

For example, in this embodiment, when the rotor position parameter is denoted as θ, the rotor position parameter can be compensated by the following equation:

θ _c ＝θ+k·ω·T _s

in the above formula, k is a coefficient, T _s Is a time period.

Illustratively, in the present scheme, a modified rotor position parameter θ is adopted _c And generating a voltage driving control quantity by the first current sampling value, the second current sampling value, the resistance parameter and the inductance parameter.

Specifically, in this embodiment, L is specified based on the contents of the embodiment shown in FIG. 1 _d Performing coordinate conversionThe remaining procedure is the same as that described in the scheme shown in fig. 1 except that the required rotation angle is determined by correcting the rotor position parameter when the Park conversion and the inverse Park conversion are performed.

On the basis of the beneficial effects of the scheme shown in fig. 1, the scheme compensates the rotor position parameter determined by the sliding-mode observer, can make up the phase difference between the rotor position parameter and the theoretical position to a certain extent, and further improves the precision of the motor control quantity.

As an implementation example, the generating of the voltage driving control amount based on the scheme shown in fig. 1 further includes:

and determining a voltage drive control compensation amount, and determining a corrected voltage drive control amount by using the voltage drive control amount and the voltage drive control compensation amount.

For example, in this scheme, the voltage driving control compensation amount includes a first voltage driving control compensation amount and a second voltage driving control compensation amount, and determining the voltage driving control compensation amount includes:

sampling the three phase current of the motor to obtain a first phase current (i) ₁ ) Second phase current (i) ₂ ) Third phase current (i) ₃ )；

And determining a first voltage driving control compensation amount and a second voltage driving control compensation amount by using the compensation gauge according to the signs of the first phase current, the second phase current and the third phase current.

For example, in the present embodiment, the compensation gauge is shown in table 1:

TABLE 1

In the above table,. DELTA.u _α Represents a first voltage drive control compensation amount for compensating the first voltage drive control amount U _α ，Δu _β Represents a second voltage drive control compensation amount for compensating the second voltage drive control amount U _β ，u _err Is determined by the following formula:

in the above formula, U _dc Representing bus voltage, T _d Indicating dead zone delay, T _on Indicating the turn-on delay, T, of switching devices in a three-phase inverter circuit _off And the turn-off delay of a switching device in the three-phase inverter circuit is shown.

Illustratively, in this aspect, the correction voltage drive control amount includes a first correction voltage drive control amount and a second correction voltage drive control amount.

The first correction voltage drive control amount is determined by the following equation:

U _{α_c} ＝U _α +Δu _α

the second correction voltage drive control amount is determined by the following equation:

U _{β_c} ＝U _β +Δu _β

on the basis of the scheme shown in fig. 1, in the scheme, the correction voltage drive control quantity is adopted, and the motor control quantity for driving the motor to rotate is generated through an SVPWM control method (namely, through U) _{α_c} And U _{β_c} Determining the duration of a period in which the PWM wave is specified to be at a high level);

first correction voltage drive control quantity U _{α_c} Corresponding to u in step S103 _α Second correction voltage drive control quantity U _{β_c} Corresponding to u in step S103 _β ；

Except the above, the rest of the process is the same as that correspondingly described in the scheme shown in fig. 1.

On the basis of the beneficial effects of the scheme shown in fig. 1, in the scheme, the voltage drive control quantity is compensated to generate the corrected voltage drive control quantity, and the PWM signal for driving the motor is determined by correcting the voltage drive control quantity, so that the problem that the actual motion state of the motor is not matched with the voltage drive control quantity due to the fact that a dead zone is arranged in the required PWM signal when the PWM signal is generated by the voltage drive control quantity can be avoided, namely, the actual motion state of the motor is deviated from the expected state, so as to improve the control precision of the motor.

Illustratively, in this solution, the voltage driving control compensation amount includes a first voltage driving control compensation amount and a second voltage driving control compensation amount, and determining the voltage driving control compensation amount includes:

identifying a first current and a second current in a two-phase rotating coordinate system by adopting a third model;

determining a first phase current, a second phase current and a third phase current in a three-phase coordinate system by adopting the first current and the second current;

and determining the voltage drive control compensation quantity by using the compensation quantity table according to the signs of the first phase current, the second phase current and the third phase current.

For example, in the present embodiment, the third model is a kalman filter model, and the third model may take the following form:

x(k)＝H ₃ x(k-1)+Q ₁

y(k)＝H ₂ x(k)+W ₁

y＝[i _d ,i _q ]

in the above formula, Q ₁ Is a third noise covariance matrix, W ₁ Is a fourth noise covariance matrix, T _s Is a time period, R _s Is a resistance parameter, ω _e Is an angular velocity parameter, i, of the motor _d Is a first current parameter, i _q Is a second current parameter, L is an inductance parameter,

representing the flux linkage parameters of the motor.

Illustratively, in this scheme, ω _e L may be determined by a sliding mode observer and L may be determined by the first model.

Exemplarily, in the scheme, the values of the first current parameter and the second current parameter, namely the first current and the second current, are determined through a third model;

converting the first current and the second current into a two-phase static coordinate system by adopting inverse Park to generate a first static current and a second static current;

converting the first static current and the second static current into a three-phase coordinate system by adopting inverse Clark conversion to generate a first phase current i ₁ Second phase current i ₂ Third phase current i ₃ 。

In the present embodiment, the compensation table is the same as table 1, and the meaning of each parameter in the table is the same as that described above.

According to the scheme, the estimated first current and second current are adopted to determine the first phase current, the second phase current and the third phase current, the voltage driving control compensation quantity is determined through the first phase current, the second phase current and the third phase current, and compared with the first phase current, the second phase current and the third phase current which are directly obtained through sampling, the voltage driving control compensation quantity is determined, the problem that the adopted phase current has large errors near a zero point and accordingly the determination of the voltage driving control compensation quantity is inaccurate can be solved.

In an embodiment, based on the scheme shown in fig. 1, the motor control method may include:

determining a rotor position parameter and a rotor rotating speed parameter by a sliding mode observer by adopting an inductance parameter, a resistance parameter, a first current sampling value, a second current sampling value, a first voltage control quantity and a second voltage control quantity;

determining rotor position compensation quantity by adopting a rotor rotating speed parameter, and determining a corrected rotor position parameter by adopting the rotor position parameter and the rotor position compensation quantity;

generating a voltage driving control quantity by adopting a corrected rotor position parameter, a first current sampling value, a second current sampling value and a resistance parameter;

identifying a first current and a second current in a two-phase rotating coordinate system by adopting a third model, determining a voltage drive control compensation quantity by adopting the first current and the second current and a compensation quantity meter

Determining a corrected voltage driving control quantity by adopting the voltage driving control quantity and the voltage driving control compensation quantity;

and generating a motor control quantity for driving the motor to rotate by adopting the correction voltage drive control quantity and an SVPWM control method.

Example two

This embodiment proposes a motor control device, including the motor control unit, the motor control unit is used for:

determining a rotor position parameter by a sliding mode observer by adopting an inductance parameter, a resistance parameter, a first current sampling value, a second current sampling value, a first voltage control quantity and a second voltage control quantity;

generating a voltage driving control quantity by adopting a rotor position parameter, a first current sampling value, a second current sampling value, a resistance parameter and an inductance parameter;

and generating a motor control quantity for driving the motor to rotate by adopting a voltage drive control quantity and an SVPWM (space vector pulse width modulation) control method.

For example, in this embodiment, the motor control unit may be specifically configured to implement any one of the motor control methods described in the first embodiment, and the working process and the beneficial effects thereof are the same as the corresponding contents described in the first embodiment, and are not described herein again.

EXAMPLE III

FIG. 2 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the present 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. 2, 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 may 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 may 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 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.

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 performs the various methods and processes described above, such as the motor control method.

In some embodiments, the motor control 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 motor control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the motor control 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 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 is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A motor control method, characterized by comprising:

2. The motor control method according to claim 1, further comprising: determining a rotor rotation speed parameter through a sliding mode observer;

determining rotor position compensation quantity by adopting the rotor rotating speed parameter, and determining corrected rotor position parameter by adopting the rotor position parameter and the rotor position compensation quantity;

3. The motor control method according to claim 1, further comprising: determining a voltage drive control compensation amount;

determining a corrected voltage driving control quantity by using the voltage driving control quantity and the voltage driving control compensation quantity;

4. The motor control method of claim 3, wherein determining the voltage drive control compensation amount comprises:

and determining the voltage drive control compensation amount through a compensation amount table by using the first current and the second current.

5. The motor control method of claim 4, wherein determining the voltage drive control compensation amount by a compensation amount table using the first current and the second current comprises:

6. The motor control method of claim 4, wherein the third model employs a Kalman filtering model.

7. The motor control method according to claim 1, wherein the first model and the second model use a gradient correction model.

8. A motor control apparatus, comprising a motor control unit configured to:

9. An electronic device comprising at least one processor, and a memory communicatively coupled to the at least one processor;

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the motor control method of any of claims 1-7.

10. A computer-readable storage medium storing computer instructions for causing a processor to implement the motor control method of any one of claims 1-7 when executed.