CN116317817A - Control method, device and storage medium - Google Patents

Control method, device and storage medium Download PDF

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Publication number
CN116317817A
CN116317817A CN202211088835.8A CN202211088835A CN116317817A CN 116317817 A CN116317817 A CN 116317817A CN 202211088835 A CN202211088835 A CN 202211088835A CN 116317817 A CN116317817 A CN 116317817A
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China
Prior art keywords
current
target
converter
preset
length
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Pending
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CN202211088835.8A
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Chinese (zh)
Inventor
周严鉴
杨雷
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Midea Group Co Ltd
Guangdong Midea White Goods Technology Innovation Center Co Ltd
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Midea Group Co Ltd
Guangdong Midea White Goods Technology Innovation Center Co Ltd
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Priority to CN202211088835.8A priority Critical patent/CN116317817A/en
Priority to PCT/CN2023/098313 priority patent/WO2024051227A1/en
Publication of CN116317817A publication Critical patent/CN116317817A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H02M1/088—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the simultaneous control of series or parallel connected semiconductor devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of DC power input into DC power output
    • H02M3/02—Conversion of DC power input into DC power output without intermediate conversion into AC
    • H02M3/04—Conversion of DC power input into DC power output without intermediate conversion into AC by static converters
    • H02M3/10—Conversion of DC power input into DC power output without intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of DC power input into DC power output without intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of DC power input into DC power output without intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
    • H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
    • H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)

Abstract

The embodiment of the application discloses a control method, which is used for controlling a BLDCM, and a driving circuit of the BLDCM comprises: a DC-DC converter and a three-phase inverter, comprising: acquiring a target value of a parameter to be controlled of the BLDCM, and respectively adjusting the current duty ratio of the DC-DC converter and the current conduction length of a switching tube of the three-phase inverter based on the target value to obtain the target duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter; wherein the current conduction length and the target conduction length are conduction lengths with respect to an electrical angle of the BLDCM, the DC-DC converter is controlled based on the target duty ratio, and the three-phase inverter is controlled based on the target conduction length to drive the BLDCM. The embodiment of the application also discloses a control device and a storage medium.

Description

Control method, device and storage medium
Technical Field
The present disclosure relates to the field of control technologies of brushless dc motors (Brushless Direct Current Motor, BLDCM), and in particular, to a control method, a control device, and a storage medium.
Background
Currently, the BLDCM generally adjusts the power/rotation speed of the motor by adjusting the PWM duty cycle, or adjusts the duty cycle of the buck circuit by PAM technology to achieve the similar effect of adjusting the PWM duty cycle in the BLDCM to control the input voltage of the inverter bridge for the purpose of adjusting the power/rotation speed of the motor, however, in the above scheme, the adjustment range of the power/rotation speed of the BLDCM is very limited.
Content of the application
Embodiments of the present application desire to provide a control method, apparatus, and storage medium, so as to solve the problem that the power/rotation speed adjustment range of the BLDCM in the related art is very limited.
The technical scheme of the application is realized as follows:
a control method for controlling a BLDCM, a hardware driver circuit of the BLDCM comprising: a DC-DC converter and a three-phase inverter, comprising:
acquiring a target value of a parameter to be controlled of the BLDCM;
based on the target value, respectively adjusting the current duty ratio of the DC-DC converter and the current conduction length of a switching tube of the three-phase inverter to obtain the target duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter; wherein the current conduction length and the target conduction length are conduction lengths relative to an electrical angle of the BLDCM;
the DC-DC converter is controlled based on the target duty ratio, and the three-phase inverter is controlled based on the target on-length to drive the BLDCM.
A control apparatus for controlling a BLDCM, a hardware driving circuit of the BLDCM comprising: a DC-DC converter and a three-phase inverter, comprising:
The acquisition module is used for acquiring a target value of the parameter to be controlled of the BLDCM;
the adjusting module is used for respectively adjusting the current duty ratio of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter based on the target value to obtain the target duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter; wherein the current-to-pass length and the target conduction length are conduction lengths relative to an electrical angle of the BLDCM;
and a control module for controlling the DC-DC converter based on the target duty cycle, and controlling the three-phase inverter based on the target conduction length to drive the BLDCM.
A control apparatus comprising:
a processor and a storage medium storing instructions executable by the processor, the storage medium performing operations in dependence upon the processor through a communication bus, the instructions, when executed by the processor, performing the control method of one or more embodiments described above.
A storage medium storing one or more programs executable by one or more processors to implement the control method of one or more embodiments described above.
The control method, device and storage medium provided by the embodiment of the application, the method is used for controlling the BLDCM, and a hardware driving circuit of the BLDCM comprises the following steps: a DC-DC converter and a three-phase inverter, comprising: acquiring a target value of a parameter to be controlled of the BLDCM, and respectively adjusting the current duty ratio of the DC-DC converter and the current conduction length of a switching tube of the three-phase inverter based on the target value to obtain the target duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter; wherein the current conduction length and the target conduction length are conduction lengths relative to an electrical angle of the BLDCM, the DC-DC converter is controlled based on the target duty ratio, and the three-phase inverter is controlled based on the target conduction length to drive the BLDCM; that is, in the embodiment of the present application, the current duty ratio of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter are respectively adjusted based on the obtained target value of the parameter to be controlled, so that the target duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter can be obtained, and the BLDCM is controlled based on the target duty ratio and the target conduction length of the switching tube, so that the parameter to be controlled of the BLDCM is more and more close to the target value, and here, the target value is used for adjusting not only the duty ratio of the DC-DC converter but also the conduction length of the switching tube of the three-phase inverter, so that the effective value of the phase current of the BLDCM can be further reduced after the output voltage of the DC-DC converter is minimized, thereby achieving the purpose of expanding the adjustment range of power/rotation speed, that is, the adjustment range of the power/rotation speed of the BLDCM is improved.
Drawings
Fig. 1 is a schematic flow chart of an alternative control method provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of an alternative control of a BLDCM according to an embodiment of the present application;
FIG. 3a is a schematic flow chart of an example I of an alternative control method according to an embodiment of the present application;
fig. 3b is a schematic flow chart of an example two of an alternative control method according to an embodiment of the present application;
FIG. 4a is a flowchart of an example one of an alternative control parameter provided in an embodiment of the present application;
FIG. 4b is a flowchart illustrating an example two of an alternative control parameter according to an embodiment of the present disclosure;
FIG. 5a is a schematic flow chart of an example III of an alternative control method according to an embodiment of the present application;
FIG. 5b is a flowchart illustrating an example four of an alternative control method according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of control parameters of an alternative BLDCM according to an embodiment of the present application;
FIG. 7 is a waveform diagram of phase currents of an alternative BLDCM according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an alternative control device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of another alternative control device according to an embodiment of the present application.
Detailed Description
For a better understanding of the objects, structures and functions of the present application, a control method, apparatus and storage medium of the present application are described in further detail below with reference to the accompanying drawings.
Embodiments of the present application provide a control method for controlling a BLDCM, a driving circuit of the BLDCM may include: fig. 1 is a schematic flow diagram of an alternative control method provided in an embodiment of the present application, and referring to fig. 1, the method may include:
s101: obtaining a target value of a parameter to be controlled of the BLDCM;
at present, a common high-speed motor control scheme is BLDCM control using PWM technology, especially BLDCM control driven at 120 degrees, however, since the conventional BLDCM control technology needs to adjust the rotation speed/power of a motor by adjusting the PWM duty ratio, which results in the PWM control frequency being far higher than the running frequency of the motor itself, when the rotation speed of the motor is very high, the PWM control frequency will be too high, which not only greatly increases the switching loss and cost of the inverter, but also requires the BLDCM control system to complete the calculation of control parameters in a shorter control period, thereby increasing the cost and software design difficulty of the micro control unit (Microcontroller Unit, MCU).
In order to solve the above-mentioned problem of conventional BLDCM control, a PAM (pulse amplitude adjustment) based high-speed motor control scheme is proposed, in which a DC-DC converter is added to the front end of an inverter bridge, and thus, the switching frequency of the inverter can be equal to the motor operating frequency in the PAM scheme, compared with the BLDCM control scheme, the control strategy controls the input voltage of the inverter bridge by adjusting the duty ratio of the DC-DC converter (to achieve the effect of similarly adjusting the PWM duty ratio in the BLDCM) so as to achieve the purpose of adjusting the rotation speed/power of the motor. Compared with the traditional BLDCM scheme, the inverter bridge loss and cost in the PAM scheme can be lower due to the lower switching frequency, the requirement on the computation capability of the MCU is lower, and the advantages can be more obvious along with the increase of the rotating speed of the motor, so the control scheme based on the PAM is applied to a plurality of ultra-high-speed motor systems.
However, since the front-end DC-DC converter circuit cannot reduce the output voltage (i.e., the inverter input voltage) to be small enough based on cost and size considerations, the motor system has very limited speed regulation capability in a small electric power section and high conduction loss.
In order to expand the speed/power regulation capability of the BLDCM, the embodiments of the present application provide a control method, first, a target value of a parameter to be controlled of the BLDCM is obtained, where the parameter to be controlled includes any one of the following: rotational speed of the BLDCM, power of the BLDCM; that is, the target rotational speed of the BLDCM or the target power of the BLDCM is obtained and the duty ratio of the DC-DC converter and the conduction length of the switching tube of the three-phase inverter are adjusted by using the target rotational speed or the target power as a target value, so that the rotational speed and the power of the BLDCM can be adjusted in a wide range.
S102: based on the target value, respectively adjusting the current duty ratio of the DC-DC converter and the current conduction length of a switching tube of the three-phase inverter to obtain the target duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter;
after the target value is obtained, the current duty ratio of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter can be adjusted based on the target value, wherein the current duty ratio of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter are stored locally and can be directly obtained.
Wherein the current conduction length and the target conduction length are conduction lengths relative to an electrical angle of the BLDCM; as can be seen, the state of the switching tube of the three-phase inverter is related to the electrical angle of the BLDCM, and for the BLDCM driven at 120 degrees, when the rotor is a pair of magnetic poles, the electrical angle is equal to the mechanical angle and is 360 degrees, in order to realize control of the BLDCM, the conduction length of the switching tube of the three-phase inverter is usually set to be the maximum value of 120, that is, the maximum conduction length of the switching tube is 120 degrees at the electrical angle of 360 degrees, and the switching tube is in the off state at the rest electrical angles; here, in order to control the BLDCM, the interval of the electrical angle corresponding to the conduction length of each switching tube in the three-phase inverter is generally different.
The current conducting length and the target conducting length comprise the current conducting length of each switching tube and the target conducting length of each switching tube.
In this way, the target duty ratio and the target on-length can be obtained based on the target value.
S103: the DC-DC converter is controlled based on the target duty cycle, and the three-phase inverter is controlled based on the target conduction length to drive the BLDCM.
After the target duty ratio and the target conduction length are obtained, the state of the switching tube in the DC-DC converter can be controlled by using the target duty ratio so that the duty ratio of the DC-DC converter is the target duty ratio, and the state of the switching tube in the three-phase inverter can be controlled by using the target conduction length so that the conduction length of the switching tube in the three-phase inverter is the target conduction length, so that the control of the rotating speed or the power of the BLDCM is realized, the rotating speed of the BLDCM is close to the target rotating speed, or the power of the BLDCM is close to the target power.
For the BLDCM start-up, in order to achieve the adjustment of the rotational speed of the BLDCM or the power of the BLDCM, in an alternative embodiment, the method further comprises:
acquiring the current voltage supplied by the DC-DC converter to the three-phase inverter;
Determining a target duty ratio of the DC-DC converter and a target conduction length of a switching tube in the three-phase inverter according to a target value and a current voltage based on a preset mapping relation;
it can be appreciated that when the BLDCM is just started, a preset mapping relationship may be pre-stored for the duty ratio of the DC-DC converter and the conduction length of the switching tube in the three-phase inverter, where the preset mapping relationship is a relationship that the parameter and the voltage to be controlled are mapped to the duty ratio and the conduction length, so that after the current voltage of the DC-DC converter supplied to the three-phase inverter is obtained, the corresponding duty ratio and conduction length can be found from the preset mapping relationship through the target value and the current voltage, that is, the target duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter.
That is, after the start of the BLDCM is completed, the target value and the current voltage supplied to the three-phase inverter by the DC-DC converter may be obtained through the map, and the target duty ratio of the DC-DC converter and the target on-length of the switching tube in the three-phase inverter may be mapped, so that the BLDCM is controlled to approach the target value based on the target duty ratio and the target on-length.
It should be noted that, here, the lead angle of the BLDCM may also be adjusted to control the rotation speed or the power of the BLDCM, so the preset mapping relationship may also be a relationship that the parameter to be controlled and the voltage are mapped to the duty ratio, the conduction length and the lead angle, and the target duty ratio, the target conduction length and the target lead angle may be obtained by using the mapping relationship.
In addition, after the BLDCM completes the start-up, in addition to utilizing the target value to obtain the target duty cycle and the target on-length, in an alternative embodiment, the method further includes:
and when the current voltage is smaller than a preset voltage threshold value, returning to execute the preset mapping relation, and determining the target duty ratio of the DC-DC converter and the target conduction length of a switching tube in the three-phase inverter according to the target value and the current voltage.
In practical application, the current voltage is reduced along with the use of the BLDCM, so as to prevent the control of the BLDCM by the reduction of the current voltage from being more suitable for the practical use situation of the BLDCM, wherein in the control of the BLDCM, the change of the current voltage is detected, and when the current voltage is smaller than a preset voltage threshold, the re-determination of the target duty ratio and the target conduction length based on the preset mapping relation is carried out; for the case that the current voltage is greater than or equal to the preset voltage threshold, the control of the BLDCM may be implemented by using S102 and S103 described above so as to be closer to the target value.
To enable a wide range of rotational speed/power adjustments to the BLDCM, in an alternative embodiment, S102 may include:
obtaining a measured value of a parameter to be controlled of the BLDCM, and calculating a difference value between the measured value and a target value;
when the difference value is positive and is larger than a preset threshold value, respectively adjusting the current duty ratio of the DC-DC converter and the current conduction length of a switching tube of the three-phase inverter based on the relation between the current duty ratio of the DC-DC converter and the preset first duty ratio threshold value to obtain the target duty ratio of the DC-DC converter and the target conduction length of the switching tube of the three-phase inverter;
when the difference value is a negative value and the absolute value of the difference value is larger than a preset threshold value, the current duty ratio of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter are respectively adjusted based on the relation between the current conduction length of the switching tube of the three-phase inverter and the preset conduction length threshold value, and the target duty ratio of the DC-DC converter and the target conduction length of the switching tube of the three-phase inverter are obtained.
It can be understood that, firstly, the measured value of the parameter to be controlled of the BLDCM is obtained, and after the difference between the target value and the measured value is calculated, if the absolute value of the difference is smaller than the preset threshold value, the current duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter are not adjusted, and the original parameter operation is maintained.
If the absolute value of the difference is greater than the preset threshold and the difference is positive, the current duty cycle and the current conduction length are adjusted based on the relation between the current duty cycle of the DC-DC converter and the preset first duty cycle threshold to obtain the target duty cycle and the target conduction length, wherein the preset first duty cycle threshold is smaller than the preset second duty cycle threshold.
If the absolute value of the difference is smaller than the preset threshold and the difference is a negative value, in order to adjust the duty cycle and the conducting length, the current duty cycle and the current conducting length are adjusted based on the relation between the current conducting length of the switching tube in the three-phase inverter and the preset conducting length threshold to obtain the target duty cycle and the target conducting length, where the preset conducting length threshold may be the maximum value of the conducting length, for example, for a BLDCM driven at 120 degrees, the preset conducting length threshold is 120 degrees.
For the case that the absolute value of the difference value is equal to the preset threshold value, the original duty cycle and the original conduction length can be maintained, classification can be carried out according to the positive and negative of the difference value, when the difference value is a positive value, the current duty cycle and the current conduction length are adjusted based on the relation between the current duty cycle of the DC-DC converter and the preset first duty cycle threshold value so as to obtain the target duty cycle and the target conduction length, and when the difference value is a negative value, the current duty cycle and the current conduction length are adjusted based on the relation between the current conduction length of the switching tube and the preset conduction length threshold value in the three-phase inverter so as to obtain the target duty cycle and the target conduction length, so that the adjustment of the duty cycle and the conduction length is realized, and the current duty cycle and the current conduction length can be adjusted in other manners.
In order to obtain the target duty cycle and the target conduction length based on the relation between the current duty cycle and the preset first duty cycle threshold value, in an alternative embodiment, based on the relation between the current duty cycle of the DC-DC converter and the preset first duty cycle threshold value, the current duty cycle of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter are respectively adjusted to obtain the target duty cycle of the DC-DC converter and the target conduction length of the switching tube of the three-phase inverter, which includes:
when the current duty cycle of the DC-DC converter is smaller than a preset first duty cycle threshold value, determining the difference between the current duty cycle of the DC-DC converter and a preset duty cycle step as a target duty cycle of the DC-DC converter;
when the current duty ratio of the DC-DC converter is larger than a preset first duty ratio threshold value, determining the difference between the current conduction length of the switching tube of the three-phase inverter and the preset conduction length step length as the target conduction length of the switching tube of the three-phase inverter.
Here, the size between the current duty cycle and the preset first duty cycle threshold is firstly determined, and when the current duty cycle is smaller than the preset first duty cycle threshold, the current duty cycle needs to be reduced to reduce power, wherein the target duty cycle can be obtained by reducing the current duty cycle by a preset duty cycle step, and of course, the current duty cycle can also be reduced by other manners to obtain the target duty cycle.
Through judgment, when the current duty ratio is greater than the preset first duty ratio threshold, the current duty ratio conducting length needs to be reduced to reduce power, wherein the target conducting length can be obtained by reducing the current conducting length by a preset conducting length step length, and the current conducting length can be reduced in other manners to obtain the target conducting length.
In addition, for the case where the current duty ratio is equal to the preset first duty ratio threshold, the case where the current duty ratio is smaller than the preset first duty ratio threshold may be adopted, or the case where the current duty ratio is larger than the preset first duty ratio threshold may be adopted, and here, the embodiment of the present application is not particularly limited thereto.
Further, to extend the adjustment range of the rotation speed/power, the lead angle of the BLDCM may be further adjusted, in an alternative embodiment, when the current duty cycle of the DC-DC converter is smaller than a preset duty cycle threshold, determining the difference between the current duty cycle of the DC-DC converter and the preset duty cycle step as the target duty cycle of the DC-DC converter includes:
when the current lead angle of the BLDCM is larger than a preset angle threshold, determining the difference between the current lead angle of the BLDCM and the preset lead angle step as a target lead angle of the BLDCM;
When the current lead angle of the BLDCM is smaller than a preset angle threshold and the current duty cycle of the DC-DC converter is smaller than a preset first duty cycle threshold, determining the difference between the current duty cycle of the DC-DC converter and the preset duty cycle step as the target duty cycle of the DC-DC converter.
In the process of adjusting the current duty ratio and the current conduction length, firstly judging the relation between the current lead angle of the BLDC and a preset angle threshold value, and after judging, when the current lead angle of the BLDCM is larger than the preset angle threshold value, reducing the current lead angle to reduce the power, wherein the target lead angle is obtained by reducing the current lead angle by a preset lead angle step length.
If the current lead angle of the BLDCM is determined to be smaller than the preset angle threshold, the relationship between the current duty cycle and the preset first duty cycle threshold time needs to be further determined, if the current duty cycle is smaller than the preset first duty cycle threshold time, the current duty cycle needs to be reduced, and the target duty cycle is obtained by reducing the current duty cycle by a preset duty cycle step.
For the case where the current lead angle is equal to the preset angle threshold, the above case of greater than or the above case of less than may be adopted for processing, which is not particularly limited in the embodiment of the present application.
In adjusting the lead angle of the BLDCM, in an alternative embodiment, when the current duty cycle of the DC-DC converter is greater than a preset first duty cycle threshold, determining the difference between the current on-length of the switching tube of the three-phase inverter and the preset on-length step as the target on-length of the switching tube of the three-phase inverter includes:
when the current lead angle of the BLDCM is smaller than a preset angle threshold and the current duty ratio of the DC-DC converter is larger than a preset first duty ratio threshold, determining the difference between the current conduction length of the switching tube of the three-phase inverter and the preset conduction length step length as the target conduction length of the switching tube of the three-phase inverter.
It can be appreciated that when the current lead angle is smaller than the preset angle threshold and the current duty cycle is larger than the preset first duty cycle threshold, the current conduction length needs to be smaller to reduce the power, and the current conduction length is reduced by a preset conduction length step length to obtain the target conduction length.
In addition, for the case where the current duty ratio is equal to the preset first duty ratio threshold, the processing may be performed with reference to the case of being smaller than or the processing may be performed with reference to the case of being larger than, and here, the embodiment of the present application is not particularly limited thereto.
In the adjustment of the current duty cycle and the current conduction length, in an alternative embodiment, based on a relation between the current conduction length of the switching tube of the three-phase inverter and a preset conduction length threshold, the adjustment of the current duty cycle of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter is performed respectively, to obtain a target duty cycle of the DC-DC converter or a target conduction length of the switching tube of the three-phase inverter, including:
when the current conduction length of the switching tube of the three-phase inverter is smaller than a preset conduction length threshold value, determining the sum of the current conduction length and the preset conduction length step length as the target conduction length of the switching tube of the three-phase inverter;
when the current conduction length of the switching tube of the three-phase inverter is equal to a preset conduction length threshold value and the current duty ratio of the DC-DC converter is smaller than a preset second duty ratio threshold value, determining the sum of the current duty ratio of the DC-DC converter and a preset duty ratio step length as the target duty ratio of the DC-DC converter.
It can be understood that, the magnitude relation between the current conduction length and the preset conduction length threshold is firstly determined, and when the current conduction length is smaller than the preset conduction length threshold, the current conduction length needs to be increased to increase the power, so that the current conduction length is added with the preset conduction length step length to obtain the target conduction length, and of course, the current conduction length can also be increased in other manners.
When the current on-length is equal to a preset on-length threshold, the magnitude relation between the current duty cycle and a preset second duty cycle needs to be further judged, when the current duty cycle is smaller than the preset second duty cycle threshold, the current duty cycle is increased to increase power, a mode of adding the preset duty cycle step to the current duty cycle can be adopted to obtain the target duty cycle, and of course, other modes of increasing the current duty cycle can be adopted.
Further, to expand the adjustment range of the rotation speed/power, an adjustment of the current lead angle of the BLDCM may be added, in an alternative embodiment, when the current on length of the switching tube of the three-phase inverter is equal to a preset on length threshold value and the current duty cycle of the DC-DC converter is smaller than a preset second duty cycle threshold value, determining the sum of the current duty cycle of the DC-DC converter and the preset duty cycle step as the target duty cycle of the DC-DC converter includes:
when the current conduction length of the switching tube of the three-phase inverter is equal to a preset conduction length threshold value and the current duty ratio of the DC-DC converter is equal to a preset second duty ratio threshold value, determining the sum of the current lead angle of the BLDCM and the preset lead angle step length as a target lead angle of the BLDCM;
When the current conduction length of the switching tube of the three-phase inverter is equal to a preset conduction length threshold value and the current duty ratio of the DC-DC converter is smaller than a preset second duty ratio threshold value, determining the sum of the current duty ratio of the DC-DC converter and a preset duty ratio step length as the target duty ratio of the DC-DC converter.
That is, when the current on-length is equal to the preset on-length threshold and the current duty cycle is equal to the preset second duty cycle threshold, the current lead angle needs to be increased to increase the power, and the current lead angle may be added with the preset lead angle step length, so as to obtain the target lead angle of the BLDCM, or of course, the current lead angle may be increased in other manners, which is not limited in particular herein.
When the current on-length is equal to the preset on-length threshold and the current duty cycle is smaller than the preset second duty cycle threshold, the current duty cycle needs to be increased, the preset duty cycle step length is added to the current duty cycle, so that the target duty cycle is obtained to increase the power, and of course, the current duty cycle can be increased in other manners.
The control method described in one or more of the above embodiments is described below by way of example.
Fig. 2 is a schematic diagram of an alternative control of a BLDCM according to an embodiment of the present application, and as shown in fig. 2, a hardware driving circuit of the BLDCM includes: the control parameter table and the speed/power closed loop control system are used for controlling the driving circuit to realize the control of the BLDCM.
The closed-loop control system comprises a current and voltage measuring module for calculating input power and a rotor position detecting module for estimating motor rotating speed.
In fig. 2, the main software module of the "control parameter table and speed/power closed-loop control system" receives and processes information such as target power (or target rotation speed), measured voltage, measured power, measured rotation speed, and rotor position to generate parameters such as duty ratio parameters (corresponding to the target duty ratio) of the DC-DC converter, on time (corresponding to the target on length) and lead angle (corresponding to the target lead angle) of the inverter bridge, and finally achieves the purpose of controlling the power (or rotation speed) of the motor.
Based on the structure of fig. 2 and the control policy, fig. 3a is a schematic flow chart of an example one of an alternative control method provided in an embodiment of the present application, and as shown in fig. 3a, the control method may include:
s3a01: starting up and accelerating;
s3a02: the starting process is completed;
s3a03: obtaining a target power value;
s3a04: setting initial control parameters by using a control parameter table;
s3a05: entering a control parameter setting cycle of the next control period; returning to execute S3a03 when a new target power instruction exists;
s3a06: after the shutdown instruction is obtained, shutdown is decelerated.
Based on the structure and the control strategy of fig. 2, fig. 3b is a schematic flow chart of an example two of an alternative control method provided in the embodiment of the present application, as shown in fig. 3b,
s3b01: starting up and accelerating;
s3b02: the starting process is completed;
s3b03: obtaining a target speed value;
s3b04: setting initial control parameters by using a control parameter table;
s3b05: entering a control parameter setting cycle of the next control period; returning to execute S3b03 when a new target speed command exists;
s3b06: after the shutdown instruction is obtained, shutdown is decelerated.
That is, the BLDCM accelerates after the start-up, acquires a target power value or a target speed value after the completion of the start-up process, sets initial control parameters using a control parameter table, i.e., obtains a duty ratio, a conduction length, and a lead angle from the control parameter table by means of table lookup using the target power value and the current voltage, or obtains a duty ratio, a conduction length, and a lead angle from the control parameter table by means of table lookup using the target speed value and the current voltage, controls a hardware driving circuit using the obtained duty ratio, conduction length, and lead angle upon entering the next control cycle, and performs setting of the duty ratio, the conduction length, and the lead angle upon returning to the new target power value or the new target speed value.
It should be noted that, fig. 3a and fig. 3b respectively show two start-up/run/shutdown processes based on power control and rotation speed control, after the initial start-up process is completed or after the system receives a new target power/target speed command, the system uses the control parameter table to look up the table to obtain the initial control parameter so as to achieve the purpose of quickly approaching the target power/rotation speed, and then the system enters the control parameter setting process for the next control period.
Wherein the control period is a period including at least one electrical angle or more than one electrical angle.
Based on the above-mentioned fig. 3a, fig. 4a is a schematic flow chart of an example one of an optional control parameter provided in the embodiment of the present application, and as shown in fig. 4a, output items of the control parameter table are a duty cycle of the DC-DC converter, a conduction length (which may be identified by a percentage) of a switching tube of the three-phase inverter, and a lead angle of the BLDCM. In the power control mode, the input items of the control parameter table are the target power and the present voltage, which is the DC-DC converter output voltage (input voltage of the three-phase inverter).
Based on the above-mentioned fig. 3b, fig. 4b is a schematic flow chart of an example two of an optional control parameter provided in the embodiment of the present application, and as shown in fig. 4b, output items of the control parameter table are a duty ratio of the DC-DC converter, a conduction length of a switching tube of the three-phase inverter, and a lead angle of the three-phase inverter. In the rotation speed control mode, the input items of the control parameter table are the target rotation speed and the current voltage, fig. 4 (b).
After the control parameters of the current control period are set, the system enters the control parameter setting flow of the next control period, and fig. 5a is a schematic flow diagram of an example three of an alternative control method provided in the embodiment of the present application, as shown in fig. 5a, where the control method may include:
s5a01: starting setting of control parameters of the next control period;
s5a02: acquiring a Hall signal, and updating speed information according to the latest acquired signal;
s5a03: acquiring target power and measured power, and calculating a power difference value (measured power slave-target power);
s5a04: determining if the power difference is greater than a preset threshold? If yes, executing S5a05, if no, executing S5a06;
s5a05: determine if the power difference is positive? If yes, executing S5a07; if not, executing S5a08;
s5a06: the next control period uses the same control parameters as the present control period, and S5a17 is executed.
S5a07: determine if the lead angle is the minimum value of the lead angle? If yes, executing S5a09; if not, executing S5a11;
s5a08: determine if the conduction length reaches 120? If yes, executing S5a10; if not, executing S5a16;
s5a09: is it determined whether the duty cycle reaches the lower limit of the duty cycle? If yes, executing S5a13; if not, executing S5a12;
S5a10: determining whether the duty cycle reaches the upper limit of the duty cycle? If yes, executing S5a14; if not, executing S5a15;
s5a11: in the next control cycle, the lead angle is decreased by a preset lead angle step, and S5a17 is performed.
S5a12: in the next control period, the duty cycle is decreased by a preset duty cycle step, and S5a17 is performed.
S5a13: in the next control period, the on-length is decreased by a preset on-length step, and S5a17 is performed.
S5a14: in the next control cycle, the lead angle is increased by a preset lead angle step, and S5a17 is performed.
S5a15: in the next control period, the duty cycle is raised by a preset duty cycle step, and S5a17 is performed.
S5a16: in the next control period, the on-length is increased by a preset on-length step, and S5a17 is performed.
S5a17: ending the setting of the control parameters.
Fig. 5b is a flowchart of an example four of an alternative control method provided in an embodiment of the present application, as shown in fig. 5b,
s5b01: starting setting of control parameters of the next control period;
s5b02: acquiring a Hall signal, and updating speed information according to the latest acquired signal;
s5b03: acquiring a target speed and an actual measured speed of a current motor, and calculating a power difference value (actual measured speed is from-target speed);
S5b04: judging whether the speed difference is greater than a preset threshold? If yes, executing S5b05, if no, executing S5b06;
s5b05: determine if the velocity difference is positive? If yes, executing S5b07; if not, executing S5b08;
s5b06: the next control period uses the same control parameters as the present control period, and S5b17 is executed.
S5b07: determine if the lead angle is the minimum value of the lead angle? If yes, executing S5b09; if not, executing S5b11;
s5b08: determine if the conduction length reaches 120? If yes, executing S5b10; if not, executing S5b16;
s5b09: is it determined whether the duty cycle reaches the lower limit of the duty cycle? If yes, executing S5b13; if not, executing S5b12;
s5b10: determining whether the duty cycle reaches the upper limit of the duty cycle? If yes, executing S5b14; if not, executing S5b15;
s5b11: in the next control cycle, the lead angle is decreased by a preset lead angle step, and S5b17 is performed.
S5b12: in the next control period, the duty cycle is decreased by a preset duty cycle step, and S5b17 is performed.
S5b13: in the next control period, the on-length is decreased by a preset on-length step, and S5b17 is performed.
S5b14: in the next control cycle, the lead angle is increased by a preset lead angle step, and S5b17 is performed.
S5b15: in the next control period, the duty cycle is raised by a preset duty cycle step, and S5b17 is performed.
S5b16: in the next control period, the on-length is increased by a preset on-length step, and S5b17 is performed.
S5b17: ending the setting of the control parameters.
As can be seen from the above-mentioned fig. 5a and fig. 5b, in order to reduce the system disturbance, when the difference between the target power or the target rotation speed and the measured power or the measured rotation speed is smaller than the set threshold, the current control parameter is used as the control parameter in the next control period, and the control parameter setting process is ended.
When the system judges that the difference value of the power or the rotating speed is positive and exceeds a threshold value, if the lead angle of the current BLDCM does not reach the minimum value of the preset lead angle, the system reduces a lead angle step length in the next control period and ends the control parameter setting flow; otherwise, if the lead angle of the current BLDCM has reached the minimum value of the preset lead angle, the system will continue to determine whether the duty cycle of the current DC-DC converter reaches the lower limit value of the preset duty cycle, if so, a preset duty cycle step is reduced in the next control period and the control parameter setting process is ended; otherwise, reducing a preset conducting length step length in the next control period and ending the control parameter setting flow.
When the system judges that the difference value of the power or the rotating speed is negative and exceeds a preset threshold value, if the current conduction length of the BLDCM does not reach the maximum value of the preset conduction length (120-degree electrical angle in 120-degree BLDCM control), the system increases a preset conduction length step length in the next control period and ends the control parameter setting flow; otherwise, if the current BLDCM conduction length reaches the preset conduction length maximum value, the system continuously judges whether the current DC-DC converter duty ratio reaches the preset duty ratio upper limit value, if so, a preset advance angle step is added in the next control period and the control parameter setting process is ended; otherwise, a preset duty ratio step length is added in the next control period, and the control parameter setting process is ended.
Fig. 6 is a schematic diagram of control parameters of an alternative BLDCM provided in this embodiment of the present application, as shown in fig. 6, the conduction lengths of the switching tube S1, the switching tube S2, the switching tube S3, the switching tube S4, the switching tube S5, and the switching tube S6 in electrical angles of 360 degrees, after the advance angle and the conduction length parameters of the BLDCM in the next control period are determined, the system predicts the back electromotive force zero-crossing point position in the next control period according to the speed and the rotor position signal in the next control period, and the control parameters set in advance conduct the corresponding switching tubes in the inverter bridge in advance, where the conduction length of each switching tube is less than or equal to 120 degrees.
Fig. 7 is a waveform diagram of a phase current of an alternative BLDCM provided in this embodiment of the present application, as shown in fig. 7, a dashed line is a waveform of a minimum current in a conventional PAM scheme, and a solid line is a waveform diagram of a minimum current after adjusting a conduction length, and it can be seen that, compared with conventional PAM control, the conduction length of a switching tube of a three-phase inverter is adjustable, which can further reduce an effective value of the phase current after an output voltage of a DC-DC converter is minimum, and the purpose of expanding a lower limit of a debug range has been reached, and the beneficial effect does not cause an increase in system cost or a decrease in efficiency.
It should be noted that, the adjustment and control of the control parameters may be achieved by using a proportional integral (Proportional Integral, PI) controller.
The control method provided by the embodiment of the application is used for controlling the BLDCM, and the hardware driving circuit of the BLDCM comprises the following steps: a DC-DC converter and a three-phase inverter, comprising: acquiring a target value of a parameter to be controlled of the BLDCM, and respectively adjusting the current duty ratio of the DC-DC converter and the current conduction length of a switching tube of the three-phase inverter based on the target value to obtain the target duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter; wherein the current conduction length and the target conduction length are conduction lengths relative to an electrical angle of the BLDCM, the DC-DC converter is controlled based on the target duty ratio, and the three-phase inverter is controlled based on the target conduction length to drive the BLDCM; that is, in the embodiment of the present application, the current duty ratio of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter are respectively adjusted based on the obtained target value of the parameter to be controlled, so that the target duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter can be obtained, and the BLDCM is controlled based on the target duty ratio and the target conduction length of the switching tube, so that the parameter to be controlled of the BLDCM is more and more close to the target value, and here, the target value is used for adjusting not only the duty ratio of the DC-DC converter but also the conduction length of the switching tube of the three-phase inverter, so that the effective value of the phase current of the BLDCM can be further reduced after the output voltage of the DC-DC converter is minimized, thereby achieving the purpose of expanding the adjustment range of power/rotation speed, that is, the adjustment range of the power/rotation speed of the BLDCM is improved.
Based on the same inventive concept, an embodiment of the present application provides a control device, and fig. 8 is a schematic structural diagram of an alternative control device provided in the embodiment of the present application, and referring to fig. 8, the control device includes: an acquisition module 81, an adjustment module 82 and a control module 83; wherein,,
an obtaining module 81, configured to obtain a target value of a parameter to be controlled of the BLDCM;
the adjusting module 82 is configured to adjust a current duty cycle of the DC-DC converter and a current conduction length of a switching tube of the three-phase inverter, respectively, based on the target value, to obtain a target duty cycle of the DC-DC converter and a target conduction length of the switching tube of the three-phase inverter; wherein the current conduction length and the target conduction length are conduction lengths relative to an electrical angle of the BLDCM;
a control module 83 for controlling the DC-DC converter based on the target duty ratio, and controlling the three-phase inverter based on the target on-length to drive the BLDCM.
In other embodiments of the present application, the parameters to be controlled include any one of the following:
rotational speed of the BLDCM, power of the BLDCM.
In other embodiments of the present application, the control device is further configured to:
acquiring the current voltage supplied by the DC-DC converter to the three-phase inverter;
determining a target duty ratio of the DC-DC converter and a target conduction length of a switching tube in the three-phase inverter according to a target value and a current voltage based on a preset mapping relation;
The preset mapping relation is a relation from the parameter to be controlled and the voltage to the duty ratio and the conduction length.
In other embodiments of the present application, the control device is further configured to:
and when the current voltage is smaller than a preset voltage threshold value, returning to execute the preset mapping relation, and determining the target duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter according to the target value and the current voltage.
In other embodiments of the present application, the adjustment module 82 is specifically configured to:
obtaining a measured value of a parameter to be controlled of the BLDCM, and calculating a difference value between the measured value and a target value;
when the difference value is positive and is larger than a preset threshold value, respectively adjusting the current duty ratio of the DC-DC converter and the current conduction length of a switching tube of the three-phase inverter based on the relation between the current duty ratio of the DC-DC converter and the preset first duty ratio threshold value to obtain the target duty ratio of the DC-DC converter and the target conduction length of the switching tube of the three-phase inverter;
when the difference value is a negative value and the absolute value of the difference value is larger than a preset threshold value, the current duty ratio of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter are respectively adjusted based on the relation between the current conduction length of the switching tube of the three-phase inverter and the preset conduction length threshold value, and the target duty ratio of the DC-DC converter and the target conduction length of the switching tube of the three-phase inverter are obtained.
In other embodiments of the present application, the adjusting module 82 adjusts the current duty cycle of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter based on the relationship between the current duty cycle of the DC-DC converter and the preset first duty cycle threshold, so as to obtain the target duty cycle of the DC-DC converter and the target conduction length of the switching tube of the three-phase inverter, including:
when the current duty cycle of the DC-DC converter is smaller than a preset first duty cycle threshold value, determining the difference between the current duty cycle of the DC-DC converter and a preset duty cycle step as a target duty cycle of the DC-DC converter;
when the current duty ratio of the DC-DC converter is larger than a preset first duty ratio threshold value, determining the difference between the current conduction length of the switching tube of the three-phase inverter and the preset conduction length step length as the target conduction length of the switching tube of the three-phase inverter.
In other embodiments of the present application, the adjusting module 82 determines, as the target duty cycle of the DC-DC converter, a difference between the current duty cycle of the DC-DC converter and a preset duty cycle step when the current duty cycle of the DC-DC converter is less than a preset duty cycle threshold, including:
when the current lead angle of the BLDCM is larger than a preset angle threshold, determining the difference between the current lead angle of the BLDCM and the preset lead angle step as a target lead angle of the BLDCM;
When the current lead angle of the BLDCM is smaller than a preset angle threshold and the current duty cycle of the DC-DC converter is smaller than a preset first duty cycle threshold, determining the difference between the current duty cycle of the DC-DC converter and the preset duty cycle step as the target duty cycle of the DC-DC converter.
In other embodiments of the present application, when the current duty cycle of the DC-DC converter is greater than the preset first duty cycle threshold, the adjusting module 82 determines the difference between the current on length of the switching tube of the three-phase inverter and the preset on length step to be the target on length of the switching tube of the three-phase inverter, including:
when the current lead angle of the BLDCM is smaller than a preset angle threshold and the current duty ratio of the DC-DC converter is larger than a preset first duty ratio threshold, determining the difference between the current conduction length of the switching tube of the three-phase inverter and the preset conduction length step length as the target conduction length of the switching tube of the three-phase inverter.
In other embodiments of the present application, the adjusting module 82 adjusts the current duty cycle of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter based on the relationship between the current conduction length of the switching tube of the three-phase inverter and the preset conduction length threshold, to obtain the target duty cycle of the DC-DC converter or the target conduction length of the switching tube of the three-phase inverter, including:
When the current conduction length of the switching tube of the three-phase inverter is smaller than a preset conduction length threshold value, determining the sum of the current conduction length and the preset conduction length step length as the target conduction length of the switching tube of the three-phase inverter;
when the current conduction length of the switching tube of the three-phase inverter is equal to a preset conduction length threshold value and the current duty ratio of the DC-DC converter is smaller than a preset second duty ratio threshold value, determining the sum of the current duty ratio of the DC-DC converter and a preset duty ratio step length as the target duty ratio of the DC-DC converter.
In other embodiments of the present application, when the current on length of the switching tube of the three-phase inverter is equal to a preset on length threshold and the current duty cycle of the DC-DC converter is smaller than a preset second duty cycle threshold, the adjusting module 82 determines the sum of the current duty cycle of the DC-DC converter and a preset duty cycle step as the target duty cycle of the DC-DC converter, including:
when the current conduction length of the switching tube of the three-phase inverter is equal to a preset conduction length threshold value and the current duty ratio of the DC-DC converter is equal to a preset second duty ratio threshold value, determining the sum of the current lead angle of the BLDCM and the preset lead angle step length as a target lead angle of the BLDCM;
When the current conduction length of the switching tube of the three-phase inverter is equal to a preset conduction length threshold value and the current duty ratio of the DC-DC converter is smaller than a preset second duty ratio threshold value, determining the sum of the current duty ratio of the DC-DC converter and a preset duty ratio step length as the target duty ratio of the DC-DC converter.
In practical applications, the acquiring module 81, the adjusting module 82 and the control module 83 may be implemented by a processor located on the control device, specifically, a central processing unit (CPU, central Processing Unit), a microprocessor (MPU, microprocessor Unit), a digital signal processor (DSP, digital Signal Processing) or a field programmable gate array (FPGA, field Programmable Gate Array).
Fig. 9 is a schematic structural diagram of an alternative control device provided in an embodiment of the present application, and as shown in fig. 9, an embodiment of the present application provides a control device 900, including:
a processor 91 and a storage medium 92 storing instructions executable by the processor 91, the storage medium 92 performing operations in dependence on the processor 91 through a communication bus 93, the instructions, when executed by the processor 91, performing the control method described in one or more embodiments above.
In practical use, the components in the terminal are coupled together via the communication bus 93. It is understood that the communication bus 93 is used to enable connected communication between these components. The communication bus 93 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration the various buses are labeled as communication bus 93 in fig. 9.
Embodiments of the present application provide a storage medium storing one or more programs executable by one or more processors to perform the control methods provided by the embodiments of the present application.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the present application.

Claims (13)

1. A control method for controlling a brushless dc motor, the hardware driving circuit of the brushless dc motor comprising: a DC-DC converter and a three-phase inverter, comprising:
acquiring a target value of a parameter to be controlled of the brushless direct current motor;
based on the target value, respectively adjusting the current duty ratio of the DC-DC converter and the current conduction length of a switching tube of the three-phase inverter to obtain the target duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter; wherein the current conduction length and the target conduction length are conduction lengths relative to an electrical angle of the brushless direct current motor;
The DC-DC converter is controlled based on the target duty ratio, and the three-phase inverter is controlled based on the target on-length to drive the brushless direct current motor.
2. The method according to claim 1, wherein the parameter to be controlled comprises any one of:
the rotating speed of the brushless direct current motor and the power of the brushless direct current motor.
3. The method according to claim 1, wherein the method further comprises:
acquiring the current voltage of the DC-DC converter supplied to the three-phase inverter;
determining a target duty ratio of the DC-DC converter and a target conduction length of a switching tube in the three-phase inverter according to the target value and the current voltage based on a preset mapping relation;
the preset mapping relation is a relation from the parameter to be controlled and the voltage to the duty ratio and the conduction length.
4. A method according to claim 3, characterized in that the method further comprises:
and when the current voltage is smaller than a preset voltage threshold, returning to execute the mapping relation based on the preset, and determining a target duty ratio of the DC-DC converter and a target conduction length of a switching tube in the three-phase inverter according to the target value and the current voltage.
5. The method according to claim 1, wherein the adjusting the current duty cycle of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter based on the target value to obtain the target duty cycle of the DC-DC converter and the target conduction length of the switching tube of the three-phase inverter, respectively, includes:
obtaining a measured value of a parameter to be controlled of the brushless direct current motor, and calculating a difference value between the measured value and the target value;
when the difference value is a positive value and is larger than a preset threshold value, respectively adjusting the current duty ratio of the DC-DC converter and the current conduction length of a switching tube of the three-phase inverter based on the relation between the current duty ratio of the DC-DC converter and the preset first duty ratio threshold value to obtain the target duty ratio of the DC-DC converter and the target conduction length of the switching tube of the three-phase inverter;
and when the difference value is a negative value and the absolute value of the difference value is larger than a preset threshold value, respectively adjusting the current duty ratio of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter based on the relation between the current conduction length of the switching tube of the three-phase inverter and the preset conduction length threshold value to obtain the target duty ratio of the DC-DC converter and the target conduction length of the switching tube of the three-phase inverter.
6. The method according to claim 5, wherein the adjusting the current duty cycle of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter based on the relationship between the current duty cycle of the DC-DC converter and the preset first duty cycle threshold value to obtain the target duty cycle of the DC-DC converter and the target conduction length of the switching tube of the three-phase inverter includes:
when the current duty cycle of the DC-DC converter is smaller than a preset first duty cycle threshold value, determining the difference between the current duty cycle of the DC-DC converter and a preset duty cycle step as a target duty cycle of the DC-DC converter;
and when the current duty ratio of the DC-DC converter is larger than a preset first duty ratio threshold value, determining the difference between the current conduction length of the switching tube of the three-phase inverter and the preset conduction length step length as the target conduction length of the switching tube of the three-phase inverter.
7. The method of claim 6, wherein determining the difference between the current duty cycle of the DC-DC converter and the preset duty cycle step when the current duty cycle of the DC-DC converter is less than a preset duty cycle threshold value as the target duty cycle of the DC-DC converter comprises:
When the current lead angle of the brushless direct current motor is larger than a preset angle threshold value, determining the difference between the current lead angle of the brushless direct current motor and the preset lead angle step length as a target lead angle of the brushless direct current motor;
and when the current lead angle of the brushless direct current motor is smaller than a preset angle threshold value and the current duty ratio of the DC-DC converter is smaller than a preset first duty ratio threshold value, determining the difference between the current duty ratio of the DC-DC converter and a preset duty ratio step length as the target duty ratio of the DC-DC converter.
8. The method of claim 7, wherein determining the difference between the current on-length of the switching tube of the three-phase inverter and the preset on-length step when the current duty cycle of the DC-DC converter is greater than a preset first duty cycle threshold value as the target on-length of the switching tube of the three-phase inverter comprises:
and when the current lead angle of the brushless direct current motor is smaller than a preset angle threshold value and the current duty ratio of the DC-DC converter is larger than a preset first duty ratio threshold value, determining the difference between the current conduction length of the switching tube of the three-phase inverter and the preset conduction length step length as the target conduction length of the switching tube of the three-phase inverter.
9. The method according to claim 5, wherein the adjusting the current duty cycle of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter based on the relationship between the current conduction length of the switching tube of the three-phase inverter and the preset conduction length threshold value, respectively, to obtain the target duty cycle of the DC-DC converter or the target conduction length of the switching tube of the three-phase inverter includes:
when the current conduction length of the switching tube of the three-phase inverter is smaller than a preset conduction length threshold value, determining the sum of the current conduction length and a preset conduction length step length as the target conduction length of the switching tube of the three-phase inverter;
and when the current conduction length of the switching tube of the three-phase inverter is equal to a preset conduction length threshold value and the current duty ratio of the DC-DC converter is smaller than a preset second duty ratio threshold value, determining the sum of the current duty ratio of the DC-DC converter and a preset duty ratio step length as the target duty ratio of the DC-DC converter.
10. The method of claim 9, wherein determining the current duty cycle of the DC-DC converter and the sum of the preset duty cycle steps as the target duty cycle of the DC-DC converter when the current on-length of the switching tubes of the three-phase inverter is equal to a preset on-length threshold and the current duty cycle of the DC-DC converter is less than a preset second duty cycle threshold comprises:
When the current conduction length of the switching tube of the three-phase inverter is equal to a preset conduction length threshold value and the current duty ratio of the DC-DC converter is equal to a preset second duty ratio threshold value, determining the sum of the current lead angle of the brushless direct current motor and the preset lead angle step length as a target lead angle of the brushless direct current motor;
and when the current conduction length of the switching tube of the three-phase inverter is equal to a preset conduction length threshold value and the current duty ratio of the DC-DC converter is smaller than a preset second duty ratio threshold value, determining the sum of the current duty ratio of the DC-DC converter and a preset duty ratio step length as the target duty ratio of the DC-DC converter.
11. A control device for controlling a brushless dc motor, the hardware driving circuit of the brushless dc motor comprising: a DC-DC converter and a three-phase inverter, comprising:
the acquisition module is used for acquiring a target value of a parameter to be controlled of the brushless direct current motor;
the adjusting module is used for respectively adjusting the current duty ratio of the DC-DC converter and the current conduction length of the switching tube of the three-phase inverter based on the target value to obtain the target duty ratio of the DC-DC converter and the target conduction length of the switching tube in the three-phase inverter; wherein the current conduction length and the target conduction length are conduction lengths relative to an electrical angle of the brushless direct current motor;
And the control module is used for controlling the DC-DC converter based on the target duty ratio and controlling the three-phase inverter based on the target conduction length so as to drive the brushless direct current motor.
12. A control apparatus, characterized by comprising:
a processor and a storage medium storing instructions executable by the processor, the storage medium performing operations in dependence on the processor through a communication bus, the instructions, when executed by the processor, performing the control method of any one of claims 1 to 10.
13. A storage medium storing one or more programs executable by one or more processors to implement the control method of any one of claims 1 to 10.
CN202211088835.8A 2022-09-07 2022-09-07 Control method, device and storage medium Pending CN116317817A (en)

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