CN116015138A - Motor control method and device, motor controller and permanent magnet synchronous motor - Google Patents
Motor control method and device, motor controller and permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention discloses a motor control method, a motor control device, a motor controller and a permanent magnet synchronous motor, wherein the motor control method comprises the following steps: determining a first bus average voltage of the motor in a previous period and a second bus average voltage of the motor in the previous period, and determining a bus prediction voltage of the motor in a next period according to the first bus average voltage and the second bus average voltage; determining a first d-axis control voltage and a first q-axis control voltage of the motor in a current period, and performing amplitude limiting treatment on the first d-axis control voltage and the first q-axis control voltage according to a bus prediction voltage to obtain a second d-axis control voltage and a second q-axis control voltage; performing coordinate conversion on the second d-axis control voltage and the second q-axis control voltage to obtain control voltages under a two-phase static coordinate system; and vector control is carried out on the motor according to the control voltage and the bus prediction voltage under the two-phase static coordinate system. The method reduces the influence of digital delay by predicting the bus voltage.
Description
Technical Field
The present disclosure relates to motor control technologies, and in particular, to a motor control method and apparatus, a motor controller, and a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has wide application in the fields of aerospace, new energy, household appliances and the like by virtue of the advantages of high efficiency, high power density, wide speed regulation range and the like. In practical applications, the driving control system of the permanent magnet motor is basically based on the design of a Micro Controller Unit (MCU), all the control is realized and executed through digital discretization, and the execution process in the digital controller is serial processing, so that digital delay is unavoidable. Wherein there is typically a delay of 1.5 times the sampling time from the current loop calculation of the control voltage to the inverter performing the voltage output.
In the current compensation scheme aiming at the current loop digital delay, the influence of bus voltage change on the current loop digital delay is rarely considered, but in the application scene of a small-capacity bus capacitor driver or a large power grid voltage fluctuation, the influence of the bus voltage on load fluctuation or network side voltage change cannot be ignored, so that the control of the current loop is influenced, and the performance of the whole control system is further influenced.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, a first object of the present invention is to provide a motor control method, which predicts a bus voltage to obtain a bus predicted voltage of a next period, wherein the bus predicted voltage is close to a bus voltage during actual control, and controls a motor based on the bus predicted voltage, so that the actual control voltage is close to an ideal control voltage of the next period, thereby reducing the influence of digital delay of a discretized digital controller and further improving the control performance of the motor.
A second object of the present invention is to propose a computer readable storage medium.
A third object of the present invention is to propose a motor controller.
A fourth object of the present invention is to provide a motor control device.
A fifth object of the present invention is to provide a permanent magnet synchronous motor.
To achieve the above object, according to an embodiment of a first aspect of the present invention, there is provided a motor control method including: determining a first bus average voltage of the motor in a previous period and a second bus average voltage of the motor in the previous period, and determining a bus prediction voltage of the motor in a next period according to the first bus average voltage and the second bus average voltage; determining a first d-axis control voltage and a first q-axis control voltage of the motor in a current period, and performing amplitude limiting treatment on the first d-axis control voltage and the first q-axis control voltage according to a bus prediction voltage to obtain a second d-axis control voltage and a second q-axis control voltage; performing coordinate conversion on the second d-axis control voltage and the second q-axis control voltage to obtain control voltages under a two-phase static coordinate system; and vector control is carried out on the motor according to the control voltage and the bus prediction voltage under the two-phase static coordinate system.
According to the motor control method, the first bus average voltage of the motor in the previous period and the second bus average voltage of the motor in the previous period are determined, the bus prediction voltage of the motor in the next period is determined according to the first bus average voltage and the second bus average voltage, the calculated control voltage is executed in the next period, the bus prediction voltage is close to the bus voltage in actual control, the first d-axis control voltage and the first q-axis control voltage of the motor in the current period are determined, the first d-axis control voltage and the first q-axis control voltage are subjected to amplitude limiting processing according to the bus prediction voltage, and the second d-axis control voltage and the second q-axis control voltage obtained according to the amplitude limiting of the bus prediction voltage can meet the actual control requirement of the next period, the control voltage under the two-phase static coordinate system is obtained through coordinate conversion of the second d-axis control voltage and the second q-axis control voltage, the actual control voltage is vector-controlled on the motor according to the control voltage under the two-phase static coordinate system, and the actual control voltage is discrete control based on the predicted control voltage under the two-phase static coordinate system, and the actual control voltage is further reduced in the digital control performance is further improved due to the fact that the actual control voltage is close to the actual control voltage of the bus is subjected to the ideal control voltage.
According to one embodiment of the invention, determining a bus predicted voltage of the motor in a next cycle from the first bus average voltage and the second bus average voltage includes: determining a voltage difference between the first bus average voltage and the second bus average voltage; and determining the bus predicted voltage of the motor in the next period according to the average voltage and the voltage difference value of the first bus.
According to one embodiment of the invention, the predicted bus voltage for the motor at the next cycle is calculated according to the following formula:
wherein V is dcp_k+1 For predicting voltage of bus, V dcave_k-1 For the first bus average voltage, +.>
For bus voltage estimation coefficient, V dcdlt Is the voltage difference.
According to one embodiment of the invention, the bus voltage estimation factor has a value in the range of 0-2.
According to one embodiment of the invention, determining a first bus average voltage of a last cycle of the motor and a second bus average voltage of the last cycle of the motor comprises: acquiring the bus voltage of the motor in the current period, the bus voltage of the motor in the last period and the bus voltage of the motor in the last period; and carrying out average value calculation on the bus voltage of the motor in the current period and the bus voltage of the motor in the last period to obtain a first bus average voltage, and carrying out average value calculation on the bus voltage of the motor in the last period and the bus voltage of the motor in the last period to obtain a second bus average voltage.
According to one embodiment of the invention, determining a first bus average voltage of a last cycle of the motor and a second bus average voltage of the last cycle of the motor comprises: and sampling the bus voltage at the carrier wave peak of each period to obtain a first bus average voltage and a second bus average voltage.
According to one embodiment of the invention, determining a first d-axis control voltage and a first q-axis control voltage of the motor at a current period includes: three-phase current of the motor is obtained, and coordinate conversion is carried out on the three-phase current to obtain d-axis current and q-axis current; and performing current adjustment according to the d-axis current and the d-axis given current to obtain a first d-axis control voltage, and performing current adjustment according to the q-axis current and the q-axis given current to obtain a first q-axis control voltage.
To achieve the above object, an embodiment according to a second aspect of the present invention proposes a computer-readable storage medium having stored thereon a motor control program which, when executed by a processor, implements the motor control method of any one of the foregoing embodiments.
According to the computer readable storage medium, the bus voltage of the next period is predicted by executing the computer program of the motor control method, the bus predicted voltage of the next period is obtained, the bus predicted voltage is close to the bus voltage in actual control, and the motor is controlled based on the bus predicted voltage, so that the actual control voltage is close to the ideal control voltage of the next period, the influence of digital delay of the discretized digital controller is reduced, and the control performance of the motor is further improved.
To achieve the above object, an embodiment according to a third aspect of the present invention provides a motor controller, including: the motor control method of any of the foregoing embodiments is implemented when the processor executes the program.
According to the motor controller provided by the embodiment of the invention, the computer program of the motor control method is executed by the processor, the bus voltage is predicted to obtain the bus predicted voltage of the next period, the bus predicted voltage is close to the bus voltage in actual control, and the motor is controlled based on the bus predicted voltage, so that the actual control voltage is close to the ideal control voltage of the next period, the influence of the digital delay of the discretized digital controller is reduced, and the control performance of the motor is further improved.
To achieve the above object, according to a fourth aspect of the present invention, there is provided a motor control device including: the prediction module is used for determining a first bus average voltage of the motor in a previous period and a second bus average voltage of the motor in the previous period, and determining a bus prediction voltage of the motor in a next period according to the first bus average voltage and the second bus average voltage; the amplitude limiting processing module is used for determining a first d-axis control voltage and a first q-axis control voltage of the motor in the current period, and carrying out amplitude limiting processing on the first d-axis control voltage and the first q-axis control voltage according to the bus prediction voltage to obtain a second d-axis control voltage and a second q-axis control voltage; the coordinate conversion module is used for carrying out coordinate conversion on the second d-axis control voltage and the second q-axis control voltage to obtain control voltages under a two-phase static coordinate system; and the control module is used for carrying out vector control on the motor according to the control voltage and the bus prediction voltage under the two-phase static coordinate system.
According to the motor control device provided by the embodiment of the invention, the first bus average voltage of the motor in the previous period and the second bus average voltage of the motor in the previous period are determined through the prediction module, the bus prediction voltage of the motor in the next period is determined according to the first bus average voltage and the second bus average voltage, and the calculated control voltage is executed in the next period.
To achieve the above object, according to a fifth aspect of the present invention, there is provided a permanent magnet synchronous motor comprising the aforementioned motor controller or the aforementioned motor control device.
According to the permanent magnet synchronous motor provided by the embodiment of the invention, the bus voltage is predicted to obtain the bus predicted voltage of the next period by adopting the motor controller or the motor control device, the bus predicted voltage is close to the bus voltage in actual control, and the motor is controlled based on the bus predicted voltage, so that the actual control voltage is close to the ideal control voltage of the next period, the influence of the digital delay of the discretization digital controller is reduced, and the control performance of the motor is further improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a timing diagram of current sampling and PWM updating in the related art;
FIG. 2 is a flow chart diagram of a current loop control algorithm according to one embodiment of the invention;
FIG. 3 is a flow chart of a motor control method according to one embodiment of the invention;
FIG. 4 is a timing diagram of current sampling and PWM updating according to one embodiment of the present invention;
FIG. 5 is a flow chart of a motor control method according to an embodiment of the present invention;
FIG. 6 is a system schematic diagram of a motor controller according to one embodiment of the invention;
fig. 7 is a schematic structural view of a motor control device according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
It should be noted that the present application was made by the inventor's knowledge and study of the following problems:
as shown in fig. 1, at t k Three-phase current i of time sampling motor a 、i b And i c And bus voltage V dc_k A current loop control algorithm is executed after the end of the current sampling, and then the PWM (Pulse Width Modulation ) signal is updated at the end point of each sampling period. Three-phase current i a 、i b And i c Obtaining the direct-axis current i through two-phase rotation coordinate transformation d And quadrature axis current i q Respectively calculating direct-axis current instructions
And quadrature axis current command->
With direct current i d And quadrature axis current i q And outputs a control voltage +.>
Control voltage->
Can be constrained by bus voltage, and the common voltage limiting value is k multiplied by V dc_k Where k is the amplitude limiting coefficient (usually +.>
Or 2/pi), the control voltage is obtained after the clipping module>
Control voltage->
Obtaining alpha-axis voltage by two-phase stationary coordinate transformation>
And beta-axis voltage>
Alpha-axis voltage +.>
Beta-axis voltage->
And bus voltage V dc_k Calculating duty cycle D k 。
The output clipping of the current regulator and the SVPWM algorithm use t when calculating the duty cycle k Instantaneous bus voltage V sampled at time dc_k Control voltage u k The calculation is performed according to formula (1), ideally the control voltage u k Should be at t k The control period in which the moment is located is executed:
wherein V is dc_k+1 At t k+1 Bus voltage at time.
However, t k The control voltage calculated at the moment is t k+1 The control period at the moment takes effect, so in practice, the control voltage uk+1 at the moment tk+1 is calculated according to formula (2):
from the above analysis, if the bus voltage Vdc remainsUnchanged, u k ＝u k+1 ＝V dc D k I.e. there is a digital delay between the ideal applied voltage and the actual applied voltage, which can be compensated by existing angle compensation or amplitude compensation schemes, e.g. angle θ, which inverse-transforms the voltage u Set to theta i +1.5ω r T s Or amplifying the current regulator output voltage by 2sin (ω) r T s /2)/ω r T s . However, in the application scenario that the small-capacity bus capacitor driver or the power grid voltage fluctuates greatly, the influence of the load fluctuation or the network side voltage change on the bus voltage cannot be ignored, and the change of the bus voltage mainly affects the output amplitude limitation of the current regulator and the calculation of the duty ratio by the SVPWM module in the current control.
The output clipping effect of the current regulator is manifested in:
if at t k Time control voltage
Trigger limit value kXV dc_k If at t k+1 The bus voltage of the control period at the moment is higher than t k The bus voltage of the control period at the moment is t k The control voltage calculated in the control period of the moment can satisfy t k+1 Voltage range at time, but t k The control voltage calculated in the control period at the moment is smaller, the control effect is poorer, and the current control performance is restricted.
Conversely, if at t k Time control voltage
Non-triggered limiting value kXV dc_k If at t k+1 The bus voltage of the control period at the moment is lower than t k The bus voltage of the control period at the moment is t k The calculated control voltage in the control period at the moment exceeds t k+1 The bus voltage at the moment also affects the current control performance.
The effect on the SVPWM algorithm in calculating the duty cycle is manifested in:
at t k By time of day by alpha-axis voltage
Beta-axis voltage->
And bus voltage V dc_k Calculating duty cycle D k If the bus voltage in the next period changes, the calculation result of the duty ratio and the calculation result of the control voltage are affected.
Based on the above, the embodiment of the invention provides a motor control method, a storage medium, a motor controller, a motor control device and a permanent magnet synchronous motor, wherein the bus voltage is predicted to obtain the bus predicted voltage of the next period, the bus predicted voltage is close to the bus voltage in actual control, and the motor is controlled based on the bus predicted voltage, so that the actual control voltage is close to the ideal control voltage of the next period, the influence of the digital delay of a discretized digital controller is reduced, and the control performance of the motor is further improved.
The motor control method, the storage medium, the motor controller, the motor control device, and the permanent magnet synchronous motor according to the embodiments of the present invention are described below with reference to the accompanying drawings.
FIG. 2 is a flow chart diagram of a current loop control algorithm according to one embodiment of the invention. As shown in fig. 2, the current loop control algorithm samples the three-phase current i of the motor a 、i b And i c Transforming the two-phase stationary coordinate system to obtain i α 、i β Then for i α 、i β Performing two-phase rotation coordinate system transformation to obtain a direct-axis current i d And quadrature axis current i q . Respectively calculating direct axis current commands
And quadrature axis current command->
With direct current i d And quadrature axis current i q Is then passed through a current regulator to output a control voltage +.>
Control voltage->
Will be subjected to bus voltage V dc_p Is subjected to a limiting module to obtain a control voltage +.>
Control voltage->
Obtaining alpha-axis voltage by two-phase stationary coordinate transformation>
And beta-axis voltage>
SVPWM module uses alpha-axis voltage +.>
Beta-axis voltage->
And bus voltage V dc_p And vector control is carried out on the motor.
Fig. 3 is a flow chart of a motor control method according to an embodiment of the present invention. As shown in fig. 3, the motor control method includes the steps of:
s101, determining a first bus average voltage of the motor in the previous period and a second bus average voltage of the motor in the previous period, and determining a bus prediction voltage of the motor in the next period according to the first bus average voltage and the second bus average voltage.
Specifically, as is clear from the above analysis, since the calculated control voltage is executed in the next cycle, it is necessary to predict the bus bar predicted voltage in the next cycle, which is close to the bus bar voltage at the time of actual control in the next cycle. According to the change rule of the average voltage of the first bus and the average voltage of the second bus, the bus prediction voltage of the next period can be predicted.
In some embodiments, determining a bus predicted voltage for the motor at a next cycle based on the first bus average voltage and the second bus average voltage includes: determining a voltage difference between the first bus average voltage and the second bus average voltage; and determining the bus predicted voltage of the motor in the next period according to the average voltage and the voltage difference value of the first bus.
Specifically, the voltage difference is calculated according to formula (3):
V dcdlt ＝V dcave_k-1 -V dcave_k-2 (3)
wherein V is dcave_k-1 For the average voltage of the first bus, V dcave_k-2 Is the average voltage of the second bus.
The change rule between the average voltage of the first bus and the average voltage of the second bus can be obtained according to the voltage difference value, so that the bus prediction voltage of the next period can be predicted according to the average voltage of the first bus and the voltage difference value.
In the above embodiment, by calculating the voltage difference between the first bus average voltage and the second bus average voltage, the change rule between the first bus average voltage and the second bus average voltage is obtained, and therefore, the bus predicted voltage of the next cycle can be predicted from the first bus average voltage and the voltage difference.
In some embodiments, the bus predicted voltage for the motor at the next cycle is calculated according to the following equation (4):
wherein V is dcp_k+1 For predicting voltage of bus, V dcave_k-1 For the average voltage of the first bus bar,
for bus voltage estimation coefficient, V dcdlt Is the voltage difference.
In some embodiments, the bus voltage estimation factor is in the range of 0-2.
It should be noted that the bus voltage estimation coefficient needs to be calibrated according to the actual situation, and the bus voltage estimation coefficient corresponding to each motor may be different.
In some embodiments, determining the first bus average voltage of the motor for the last cycle and the second bus average voltage of the motor for the last cycle comprises: acquiring the bus voltage of the motor in the current period, the bus voltage of the motor in the last period and the bus voltage of the motor in the last period; and carrying out average value calculation on the bus voltage of the motor in the current period and the bus voltage of the motor in the last period to obtain a first bus average voltage, and carrying out average value calculation on the bus voltage of the motor in the last period and the bus voltage of the motor in the last period to obtain a second bus average voltage.
Specifically, at t of the current period k Sampling bus voltage V at moment dc_k And t of the last period k-1 Sampling bus voltage V at moment dc_k-1 And t of the last cycle k-2 Sampling bus voltage V at moment dc_k-2 Then calculate the average voltage V of the first bus according to the formula (5) and the formula (6) dcave_k-1 And a second bus average voltage V dcace_k-2 。
In some embodiments, determining the first bus average voltage of the motor for the last cycle and the second bus average voltage of the motor for the last cycle comprises: and sampling the bus voltage at the carrier wave peak of each period to obtain a first bus average voltage and a second bus average voltage.
It can be appreciated that there are a variety of ways to obtain the average voltage of the first bus and the average voltage of the second bus: sampling the bus voltage at the wave trough of the carrier wave in each period by adopting a sampling time sequence shown in fig. 1, and then carrying out average value calculation by using the method to obtain a first bus average voltage and a second bus average voltage; the sampling time sequence shown in fig. 4 may also be adopted, where the carrier wave peak of each period samples the busbar voltage to directly obtain the first busbar average voltage and the second busbar average voltage, which is not limited herein.
For example, as shown in FIG. 4, at t k-1 The sampling period at the moment is taken as an example, namely the busbar voltage value sampled at the wave crest of the carrier wave
S102, as shown in FIG. 2, determining a first d-axis control voltage of the motor in the current period
And a first q-axis control voltage +.>
And predicting voltage V according to bus dcp_k+1 Control voltage for the first d-axis>
And a first q-axis control voltage +.>
Performing clipping processing to obtain a second d-axis control voltage +.>
And a second q-axis control voltage +.>
Specifically, the current loop algorithm calculates the first d-axis control after the end of the current period samplingVoltage (V)
And a first q-axis control voltage +.>
Predicting voltage V from bus dcp_k+1 The voltage limiting value k multiplied by V can be obtained dc_k Where k is the amplitude limiting coefficient (usually +.>
Or 2/pi) and then control the voltage +.o for the first d-axis using the voltage limiting value>
And a first q-axis control voltage +.>
And performing clipping processing. Since the voltage limiting value is the bus predicted voltage V according to the next cycle dcp_k+1 Obtained, the second d-axis control voltage +.>
And a second q-axis control voltage +.>
The actual control requirement of the next period can be met, and the current control performance is not affected.
In some embodiments, as shown in FIG. 2, a first d-axis control voltage of the motor at the current period is determined
And a first q-axis control voltage +.>
Comprising the following steps: acquiring three-phase current i of motor a 、i b And i c And for three-phase current i a 、i b And i c Coordinate conversion is carried out to obtain d-axis electricityStream i d And q-axis current i q The method comprises the steps of carrying out a first treatment on the surface of the According to d-axis current i d And d-axis given current +.>
Current regulation is performed to obtain a first d-axis control voltage +.>
And according to q-axis current i q And q-axis given current +.>
Current regulation is carried out to obtain a first q-axis control voltage
Specifically, three-phase current i a 、i b And i c Two-phase stationary coordinate system transformation is carried out to obtain alpha-axis current i α And beta-axis current i β Then for alpha-axis current i α And beta-axis current i β Performing two-phase rotation coordinate system transformation to obtain d-axis current i d And q-axis current i q . Calculating d-axis given currents (i.e. direct-axis current command) respectively
And q-axis given current (i.e. quadrature axis current command)/(quadrature axis current command)>
With d-axis current i d And q-axis current i q Then outputs a first d-axis control voltage through a current regulator>
And a first q-axis control voltage
S103, as shown in FIG. 2, controlling the voltage to the second d-axis
And a second q-axis control voltage +.>
Coordinate conversion is carried out to obtain the control voltage +.>
And->
That is, the voltage is controlled for the second d-axis
And a second q-axis control voltage +.>
Performing two-phase stationary coordinate system transformation to obtain control voltage +.>
And control voltage of beta-axis->
And S104, vector control is carried out on the motor according to the control voltage and the bus prediction voltage under the two-phase static coordinate system.
Specifically, the duty ratio is calculated from the control voltage and the bus predicted voltage in the two-phase stationary coordinate system, and then the control voltage is calculated by using the formula (7):
u k ＝V dcp_k+1 D k (7)
wherein u is k To control voltage, V dcp_k+1 For predicting the voltage of the bus, D k Is a duty cycle.
In the embodiment, the bus voltage of the next period is predicted to obtain the bus predicted voltage, the bus predicted voltage is close to the bus voltage in actual control, and the motor is controlled based on the bus predicted voltage, so that the actual control voltage is close to the ideal control voltage of the next period, the influence of digital delay of the discretized digital controller is reduced, and the control performance of the motor is further improved.
The technical scheme of the present application will be further described in detail below in conjunction with specific embodiments:
as shown in fig. 5, the motor control method includes the steps of:
s201, obtaining the bus voltage of the motor in the current period, the bus voltage of the motor in the last period and the bus voltage of the motor in the last period, calculating the first bus average voltage of the last period according to the bus voltage of the motor in the current period and the bus voltage of the motor in the last period, calculating the second bus average voltage of the last period according to the bus voltage of the motor in the last period and the bus voltage of the motor in the last period, and calculating the voltage difference between the first bus average voltage and the second bus average voltage.
S202, predicting bus prediction voltage of the next period according to the voltage difference and the first bus average voltage.
S203, three-phase current of the motor in the current period is obtained, coordinate conversion is carried out on the three-phase current, d-axis current and q-axis current are obtained, difference values of the d-axis given current and the q-axis given current and the d-axis current and the q-axis current are calculated respectively, and then a first d-axis control voltage and a first q-axis control voltage are output through a current regulator.
S204, calculating a voltage limiting value according to the predicted bus voltage, and performing limiting processing on the first d-axis control voltage and the first q-axis control voltage by using the voltage limiting value to obtain a second d-axis control voltage and a second q-axis control voltage.
S205, performing two-phase stationary coordinate system transformation on the second d-axis control voltage and the second q-axis control voltage to obtain an alpha-axis control voltage and a beta-axis control voltage, calculating a duty ratio according to the alpha-axis control voltage, the beta-axis control voltage and the bus prediction voltage, and performing vector control on the motor according to the duty ratio and the bus voltage prediction value.
In the above embodiment, the bus voltage prediction value of the next cycle is predicted according to the bus average voltage of the previous cycle and the previous cycle, the first d-axis control voltage and the first q-axis control voltage are subjected to the clipping processing based on the bus voltage prediction value, and the duty ratio is calculated based on the bus voltage prediction value, so that the actual control voltage generated according to the duty ratio and the bus voltage prediction value approaches the ideal control voltage of the next cycle, the influence of the digital delay of the discretized digital controller is reduced, and the control performance of the motor is further improved.
In summary, according to the motor control method of the embodiment of the present invention, the first d-axis control voltage and the first q-axis control voltage of the motor in the current period are determined, the bus voltage is predicted, the bus predicted voltage of the motor in the next period is obtained, and the calculated control voltage is executed in the next period.
Corresponding to the above-described embodiments, the embodiments of the present invention also provide a computer-readable storage medium having stored thereon a motor control program which, when executed by a processor, implements the motor control method of any of the foregoing embodiments.
According to the computer readable storage medium, the bus voltage of the next period is predicted by executing the computer program of the motor control method, the bus predicted voltage of the next period is obtained, the bus predicted voltage is close to the bus voltage in actual control, and the motor is controlled based on the bus predicted voltage, so that the actual control voltage is close to the ideal control voltage of the next period, the influence of digital delay of the discretized digital controller is reduced, and the control performance of the motor is further improved.
Corresponding to the above embodiment, the embodiment of the invention also provides a motor controller. As shown in fig. 6, the motor controller 100 includes: the motor control method of any of the foregoing embodiments is implemented by the memory 110, the processor 120, and a motor control program stored in the memory 110 and executable on the processor 120, when the processor 120 executes the program.
According to the motor controller provided by the embodiment of the invention, the computer program of the motor control method is executed by the processor, the bus voltage is predicted to obtain the bus predicted voltage of the next period, the bus predicted voltage is close to the bus voltage in actual control, and the motor is controlled based on the bus predicted voltage, so that the actual control voltage is close to the ideal control voltage of the next period, the influence of the digital delay of the discretized digital controller is reduced, and the control performance of the motor is further improved.
Corresponding to the above embodiment, the embodiment of the invention also provides a motor control device. As shown in fig. 7, the motor control device includes: a prediction module 10, a clipping processing module 20, a coordinate conversion module 30, and a control module 40.
The prediction module 10 is configured to determine a first bus average voltage of the motor in a previous cycle and a second bus average voltage of the motor in the previous cycle, and determine a bus predicted voltage of the motor in a next cycle according to the first bus average voltage and the second bus average voltage; the limiting processing module 20 is configured to determine a first d-axis control voltage and a first q-axis control voltage of the motor in a current period, and perform limiting processing on the first d-axis control voltage and the first q-axis control voltage according to a bus prediction voltage, so as to obtain a second d-axis control voltage and a second q-axis control voltage; the coordinate conversion module 30 is configured to perform coordinate conversion on the second d-axis control voltage and the second q-axis control voltage to obtain control voltages under a two-phase stationary coordinate system; the control module 40 is used for vector control of the motor according to the control voltage and the bus prediction voltage in the two-phase stationary coordinate system.
In some embodiments, prediction module 10 is further to: determining a voltage difference between the first bus average voltage and the second bus average voltage; and determining the bus predicted voltage of the motor in the next period according to the average voltage and the voltage difference value of the first bus.
In some embodiments, the bus predicted voltage for the motor at the next cycle is calculated according to the following formula:
wherein V is dcp_k+1 For predicting voltage of bus, V dcave_k-1 For the first bus average voltage, +.>
For bus voltage estimation coefficient, V dcdlt Is the voltage difference.
In some embodiments, the bus voltage estimation factor is in the range of 0-2.
In some embodiments, prediction module 10 is further to: acquiring the bus voltage of the motor in the current period, the bus voltage of the motor in the last period and the bus voltage of the motor in the last period; and carrying out average value calculation on the bus voltage of the motor in the current period and the bus voltage of the motor in the last period to obtain a first bus average voltage, and carrying out average value calculation on the bus voltage of the motor in the last period and the bus voltage of the motor in the last period to obtain a second bus average voltage.
In some embodiments, prediction module 10 is further to: and sampling the bus voltage at the carrier wave peak of each period to obtain a first bus average voltage and a second bus average voltage.
In some embodiments, the clipping processing module 20 is further configured to: three-phase current of the motor is obtained, and coordinate conversion is carried out on the three-phase current to obtain d-axis current and q-axis current; and performing current adjustment according to the d-axis current and the d-axis given current to obtain a first d-axis control voltage, and performing current adjustment according to the q-axis current and the q-axis given current to obtain a first q-axis control voltage.
It should be noted that, the specific implementation manner of the motor control device according to the embodiment of the present invention corresponds to the specific implementation manner of the motor control method according to the embodiment of the present invention, and will not be described herein.
According to the motor control device provided by the embodiment of the invention, the first bus average voltage of the motor in the previous period and the second bus average voltage of the motor in the previous period are determined through the prediction module, the bus prediction voltage of the motor in the next period is determined according to the first bus average voltage and the second bus average voltage, and the calculated control voltage is executed in the next period.
Corresponding to the above embodiment, the embodiment of the present invention further provides a permanent magnet synchronous motor, which includes the foregoing motor controller or the foregoing motor control device.
According to the permanent magnet synchronous motor provided by the embodiment of the invention, the bus voltage is predicted to obtain the bus predicted voltage of the next period by adopting the motor controller or the motor control device, the bus predicted voltage is close to the bus voltage in actual control, and the motor is controlled based on the bus predicted voltage, so that the actual control voltage is close to the ideal control voltage of the next period, the influence of the digital delay of the discretization digital controller is reduced, and the control performance of the motor is further improved.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first," "second," and the like, as used in embodiments of the present invention, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying any particular number of features in the present embodiment. Thus, a feature of an embodiment of the invention that is defined by terms such as "first," "second," etc., may explicitly or implicitly indicate that at least one such feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or more, for example, two, three, four, etc., unless explicitly defined otherwise in the embodiments.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (11)
1. A motor control method, characterized by comprising:
determining a first bus average voltage of a motor in a previous period and a second bus average voltage of the motor in the previous period, and determining a bus predicted voltage of the motor in a next period according to the first bus average voltage and the second bus average voltage;
determining a first d-axis control voltage and a first q-axis control voltage of the motor in a current period, and performing amplitude limiting treatment on the first d-axis control voltage and the first q-axis control voltage according to the bus prediction voltage to obtain a second d-axis control voltage and a second q-axis control voltage;
performing coordinate conversion on the second d-axis control voltage and the second q-axis control voltage to obtain control voltages under a two-phase static coordinate system;
and vector control is carried out on the motor according to the control voltage under the two-phase static coordinate system and the bus prediction voltage.
2. The method of claim 1, wherein determining a bus predicted voltage for the motor at a next cycle based on the first bus average voltage and the second bus average voltage comprises:
determining a voltage difference between the first bus average voltage and the second bus average voltage;
and determining the bus predicted voltage of the motor in the next period according to the first bus average voltage and the voltage difference value.
3. The method of claim 2, wherein the bus predicted voltage of the motor at the next cycle is calculated according to the following formula:
wherein V is dcp_k+1 Predicting voltage for the bus, V dcave_k-1 For the average voltage of the first bus bar,
estimating coefficients for bus voltage，V dcdlt Is the voltage difference.
4. A method according to claim 3, wherein the bus voltage estimation factor has a value in the range of 0-2.
5. The method of claim 1, wherein determining a first bus average voltage for the motor over a last period and a second bus average voltage for the motor over the last period comprises:
acquiring the bus voltage of the motor in the current period, the bus voltage of the motor in the last period and the bus voltage of the motor in the last period;
and carrying out average calculation on the bus voltage of the motor in the current period and the bus voltage of the motor in the last period to obtain the first bus average voltage, and carrying out average calculation on the bus voltage of the motor in the last period and the bus voltage of the motor in the last period to obtain the second bus average voltage.
6. The method of claim 1, wherein determining a first bus average voltage for the motor over a last period and a second bus average voltage for the motor over the last period comprises:
and sampling the bus voltage at the carrier wave peak of each period to obtain the first bus average voltage and the second bus average voltage.
7. The method of any of claims 1-6, wherein determining a first d-axis control voltage and a first q-axis control voltage of the motor at a current cycle comprises:
acquiring three-phase current of the motor, and performing coordinate transformation on the three-phase current to obtain d-axis current and q-axis current;
and carrying out current regulation according to the d-axis current and the d-axis given current to obtain the first d-axis control voltage, and carrying out current regulation according to the q-axis current and the q-axis given current to obtain the first q-axis control voltage.
8. A computer-readable storage medium, characterized in that a motor control program is stored thereon, which program, when executed by a processor, implements the motor control method according to any one of claims 1-7.
9. A motor controller, comprising: a memory, a processor and a motor control program stored on the memory and executable on the processor, the processor implementing the motor control method according to any one of claims 1-7 when executing the program.
10. A motor control apparatus, characterized by comprising:
the prediction module is used for determining a first bus average voltage of a motor in a previous period and a second bus average voltage of the motor in the previous period, and determining a bus predicted voltage of the motor in a next period according to the first bus average voltage and the second bus average voltage
The amplitude limiting processing module is used for determining a first d-axis control voltage and a first q-axis control voltage of the motor in the current period, and carrying out amplitude limiting processing on the first d-axis control voltage and the first q-axis control voltage according to the bus prediction voltage to obtain a second d-axis control voltage and a second q-axis control voltage;
the coordinate conversion module is used for carrying out coordinate conversion on the second d-axis control voltage and the second q-axis control voltage to obtain control voltages under a two-phase static coordinate system;
and the control module is used for carrying out vector control on the motor according to the control voltage under the two-phase static coordinate system and the bus prediction voltage.
11. A permanent magnet synchronous motor comprising a motor controller according to claim 9 or a motor control device according to claim 10.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116526915A (en) * | 2023-06-28 | 2023-08-01 | 上海灵动微电子股份有限公司 | Voltage amplitude limiting method and device for permanent magnet synchronous motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116526915A (en) * | 2023-06-28 | 2023-08-01 | 上海灵动微电子股份有限公司 | Voltage amplitude limiting method and device for permanent magnet synchronous motor |
| CN116526915B (en) * | 2023-06-28 | 2023-09-01 | 上海灵动微电子股份有限公司 | Voltage amplitude limiting method and device for permanent magnet synchronous motor |
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