CN116404941B - Motor control method and device and readable storage medium - Google Patents

Motor control method and device and readable storage medium Download PDF

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Publication number
CN116404941B
CN116404941B CN202310673392.7A CN202310673392A CN116404941B CN 116404941 B CN116404941 B CN 116404941B CN 202310673392 A CN202310673392 A CN 202310673392A CN 116404941 B CN116404941 B CN 116404941B
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current
analog
phase motor
switching element
switching
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CN116404941A (en
Inventor
吴顺利
冯伟龙
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Contemporary Amperex Technology Co Ltd
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Contemporary Amperex Technology Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • 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
    • 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
    • H02M7/53871—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 with automatic control of output voltage or current
    • H02M7/53875—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 with automatic control of output voltage or current with analogue control of three-phase output
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The application provides a motor control method, a motor control device and a readable storage medium, and relates to the technical field of motor control. The method comprises the following steps: in the motor control process, N (N is 2 or 3) analog-digital converters are triggered simultaneously in the current switching period of the switching element to sample the current of the three-phase motor to obtain N current values, and in the next adjacent switching period, the switching element is controlled to act according to the N current values so as to control the three-phase motor to operate through a driving circuit. The N analog-digital converters act simultaneously in the current sampling process, so that the deviation between sampling moments of the acquired current values of the three-phase current is close to or equal to zero, the acquired current values can be used for representing the state of the three-phase motor more accurately, and the three-phase motor can have higher stability when the three-phase motor is controlled to operate according to the current values of the three-phase current.

Description

Motor control method and device and readable storage medium
Technical Field
The present disclosure relates to the field of motor control technologies, and in particular, to a motor control method, a motor control device, and a readable storage medium.
Background
Currently, a control system of a three-phase motor mainly comprises a controller, a driving circuit and the three-phase motor. The controller can sample three-phase current of the three-phase motor to obtain a current value, and control a switching element in the driving circuit to act according to the sampled current value so as to control the three-phase motor to operate through the driving circuit.
In the related art, in the process of sampling three-phase current, the controller may have deviation between sampling moments of the three-phase current, so that the current values of the three-phase current obtained by sampling may not be the current values at the same moment, and the state of the three-phase motor cannot be accurately represented. Thus, when the three-phase motor is controlled to operate according to the sampled current value, poor stability of the three-phase motor is caused.
Disclosure of Invention
The embodiment of the application provides a motor control method, a motor control device and a readable storage medium, which can enable deviation between sampling moments of current values of acquired three-phase currents to be close to or equal to zero, and are beneficial to improving stability of the three-phase motor.
In a first aspect, there is provided a motor control method, the method comprising:
triggering N analog-to-digital converters to sample the current of the three-phase motor to obtain N current values in the current switching period of the switching element, wherein the switching element is positioned in a driving circuit of the three-phase motor, each analog-to-digital converter samples one phase of current of the three-phase motor, and N is 2 or 3;
And in the next adjacent switching period, controlling the switching element to act according to the N current values so as to control the three-phase motor to operate through the driving circuit.
In the embodiment of the application, the N analog-digital converters act simultaneously in the current sampling process, so that the deviation between sampling moments of the acquired current values of the three-phase current is close to or equal to zero, the acquired current values of the three-phase current can accurately represent the state of the three-phase motor, and the three-phase motor can have higher stability when the three-phase motor is controlled to operate according to the current values of the three-phase current.
Meanwhile, in the control process of the three-phase motor, time deviation among current values of three-phase currents obtained through sampling is not required to be reduced through an algorithm, so that the calculated amount of the controller can be reduced, and the power consumption of the controller can be reduced.
In some embodiments, the triggering the N analog-to-digital converters to sample the current of the three-phase motor to obtain N current values simultaneously includes: and triggering the N analog-to-digital converters to sample the current of the three-phase motor at the first moment to obtain the N current values, wherein the first moment is positioned after the state switching moment of the switching element and is spaced from the state switching moment by a preset time length.
In the embodiment of the application, after the state of the switching element is switched, the N analog-to-digital converters are triggered to sample the current of the three-phase motor at intervals for a preset time, so that the current value of the three-phase motor when the three-phase motor reaches a stable state can be obtained, the current value which can accurately represent the state of the motor can be obtained, and the stability of the three-phase motor when the three-phase motor is controlled to run according to the current value can be improved.
In some embodiments, the state switching time is a time at which switching of the state of the switching element occurs for the first time within the current switching cycle.
In the embodiment of the application, the current of the three-phase motor is sampled at intervals of preset time length after the state of the switching element is switched for the first time, the analog-to-digital converter can be controlled to sample the current of the three-phase motor in the initial stage of the switching period, and the current sampling process can be simplified.
In some embodiments, the triggering the N analog-to-digital converters to sample the current of the three-phase motor at the first time to obtain the N current values includes: and triggering the N analog-to-digital converters to sample the current of the three-phase motor at the first time through a trigger wave to obtain the N current values, wherein the trigger wave is obtained after the reference wave of the switching element delays for the preset time length.
In the embodiment of the application, the trigger wave which can trigger the actions of the N analog-to-digital converters simultaneously is obtained through the reference wave of the delay switch element, the current of the three-phase motor is sampled simultaneously through the trigger wave which triggers the N analog-to-digital converters, the control process is simpler, the sampling time can be controlled accurately, the accuracy of current sampling can be improved, and the stability of the three-phase motor in the control process can be improved.
In some embodiments, the predetermined time period is greater than or equal to 30 microseconds.
When the preset duration t is greater than or equal to 30 microseconds, the N analog-to-digital converters can sample the current of the three-phase motor after the three-phase motor enters a stable state, so that the current value of the three-phase motor when the three-phase motor reaches the stable state can be obtained, and the stability of the three-phase motor in the control process can be improved.
In some embodiments, the preset duration is less than or equal to 50 microseconds.
When the preset duration t is less than or equal to 50 microseconds, the N analog-to-digital converters can sample the current of the three-phase motor in time after the switching element is switched in state, and timeliness and effectiveness of current sampling can be improved.
In some embodiments, the triggering the N analog-to-digital converters to sample the current of the three-phase motor to obtain N current values simultaneously includes: and triggering the N analog-digital converters to sample the current of the three-phase motor at the state switching moment of the switching element so as to obtain the N current values.
In the embodiment of the application, the N analog-to-digital converters are triggered to sample the current of the three-phase motor at the state switching moment of the switching element, so that the current sampling process can be simplified.
In some embodiments, the state switching time is a time at which switching of the state of the switching element occurs for the first time within the current switching cycle.
In the embodiment of the application, when the state of the switching element is switched for the first time, the current of the three-phase motor is sampled, the analog-to-digital converter can be controlled to sample the current of the three-phase motor at the starting time of the switching period, and the current sampling process can be simplified.
In some embodiments, the triggering the N analog-to-digital converters to sample the current of the three-phase motor at the state switching time of the switching element includes: and the N analog-digital converters are triggered simultaneously by the reference wave of the switching element to sample the current of the three-phase motor.
In the embodiment of the application, the reference wave of the switching element triggers the N analog-to-digital converters to sample the current of the three-phase motor at the same time, so that the control process is simpler, and the current sampling process can be simplified.
In a second aspect, there is provided a motor control apparatus, the apparatus comprising:
the triggering module is used for triggering N analog-to-digital converters to sample the current of the three-phase motor to obtain N current values in the current switching period of the switching element, the switching element is positioned in a driving circuit of the three-phase motor, each analog-to-digital converter samples one phase of current of the three-phase motor, and N is 2 or 3;
and the control module is used for controlling the switching element to act according to the N current values in the next adjacent switching period so as to control the three-phase motor to run through the driving circuit.
In some embodiments, the triggering module is specifically configured to trigger the N analog-to-digital converters to sample the current of the three-phase motor at a first time to obtain the N current values, where the first time is located after the state switching time of the switching element and is spaced from the state switching time by a preset time length.
In some embodiments, the state switching time is a time at which switching of the state of the switching element occurs for the first time within the current switching cycle.
In some embodiments, the triggering module is specifically configured to trigger the N analog-to-digital converters to sample the currents of the three-phase motor at the first time to obtain the N current values through a triggering wave, where the triggering wave is obtained after the reference wave of the switching element delays by the preset time period.
In some embodiments, the predetermined time period is greater than or equal to 30 microseconds.
In some embodiments, the preset duration is less than or equal to 50 microseconds.
In some embodiments, the triggering module is specifically configured to trigger the N analog-to-digital converters to sample the current of the three-phase motor at the state switching time of the switching element, so as to obtain the N current values.
In some embodiments, the state switching time is a time at which switching of the state of the switching element occurs for the first time within the current switching cycle.
In some embodiments, the triggering module is specifically configured to trigger the N analog-to-digital converters to sample the current of the three-phase motor at the same time through the reference wave of the switching element.
In a third aspect, there is provided a readable storage medium having stored thereon a computer program which, when run on a motor control device, causes the motor control device to perform the motor control method provided in the foregoing first aspect.
In a fourth aspect, there is provided a motor control apparatus including: a processor; a memory; and a computer program, wherein the computer program is stored in the memory, which when executed by the processor, causes the motor control apparatus to execute the motor control method provided in the foregoing first aspect.
In a fifth aspect, there is provided a computer program product comprising: computer program code which, when run on a motor control device, causes the motor control device to perform the motor control method provided in the first aspect.
In a sixth aspect, a chip is provided, including: and a processor for calling and running a computer program from the memory, so that the motor control device mounted with the chip performs the motor control method provided in the foregoing first aspect.
It will be appreciated that the motor control device provided in the second aspect, the fourth aspect, the readable storage medium provided in the third aspect, the computer program product provided in the fifth aspect, and the chip provided in the sixth aspect are all configured to perform the motor control method provided in the first aspect, and therefore, the advantages achieved by the method are referred to the advantages in the corresponding methods provided above, and are not repeated herein.
Drawings
Fig. 1 shows a schematic configuration of a motor control system in the related art.
Fig. 2 shows a timing chart of a motor control system in the related art.
Fig. 3 shows a flowchart of steps of a motor control method according to an embodiment of the present application.
Fig. 4 shows a schematic structural diagram of a motor control system according to an embodiment of the present application.
Fig. 5 shows a timing diagram of a motor control system according to an embodiment of the present application.
Fig. 6 shows a timing diagram of another motor control system provided by an embodiment of the present application.
Fig. 7 shows a timing diagram of another motor control system provided by an embodiment of the present application.
Fig. 8 shows a schematic structural diagram of another motor control system according to an embodiment of the present application.
Fig. 9 shows a schematic structural diagram of a motor control device according to an embodiment of the present application.
Fig. 10 shows a block diagram of a motor control device according to an embodiment of the present application.
Detailed Description
The technical solutions in the present application will be described below with reference to the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application.
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The term "comprises/comprising" when used herein is taken to specify the presence of stated features, integers, steps, operations, elements, and/or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise. The terms "first" and "second" are used below for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Fig. 1 shows a schematic configuration of a motor control system in the related art. As shown in fig. 1, the motor control system mainly includes a controller 11, a drive circuit 12, and a three-phase motor 13. The driving circuit 12 may be a three-phase bridge inverter circuit (may also be referred to as an inverter) including a first leg composed of a first switching element 121 and a second switching element 122, a second leg composed of a third switching element 123 and a fourth switching element 124, and a third leg composed of a fifth switching element 125 and a sixth switching element 126.
Among them, switching elements such as insulated gate bipolar transistors (insulated gate bipolar transistor, IGBTs) and insulated gate field effect transistors (metal oxide semiconductor, MOS) are not limited thereto. The first switching element 121, the third switching element 123, and the fifth switching element 125 may also be referred to as an upper arm of the driving circuit 12, one end of the upper arm being connected to the positive electrode of the dc power supply, and the other end being connected to the three-phase motor 13. The second switching element 122, the fourth switching element 124, and the sixth switching element 126 may also be referred to as a lower arm, one end of which is connected to the negative pole of the dc power supply, and the other end of which is connected to the three-phase motor 13.
The controller 11 may be a micro control unit (micro controller unit, MCU), the 6 output pins of the controller 11 are respectively connected to the control ends of a corresponding one of the switching elements in the driving circuit 12, and are used for outputting pulse width modulation (pulse width modulation, PWM) waves to the 6 switching elements so as to control the switching elements to be turned on or off, and the PWM waves output by the controller 11 to the switching elements may be referred to as control waves.
The controller 11 includes one or more analog-to-digital converters (analog to digital converter, ADC) therein, which can sample the analog signal to convert the analog signal to a digital signal. The analog-to-digital converter typically comprises a plurality of channels, each of which may be configured to correspond to one input pin of the controller 11, through which the 1-way analog signal is sampled.
In the related art, three-phase currents of the three-phase motor 13 are sampled mainly through 3 channels of 1 analog-to-digital converter included in the controller 11, respectively. As shown in fig. 1, the controller 11 includes a first analog-to-digital converter 111, and 3 channels of the first analog-to-digital converter 111 are configured as 3 input pins of the controller 11, where the 3 input pins are respectively connected to 3 lower bridge arms in the driving circuit 12. During operation of the three-phase motor, the 3 channels of the first analog-to-digital converter 111 sample a phase current of the three-phase motor 13, respectively, so that 3 current values of the three-phase current can be obtained by sampling.
Fig. 2 shows a timing chart of a motor control system in the related art. In fig. 2, the abscissa indicates time t and the ordinate indicates voltage U. The first curve 21, the second curve 22 and the third curve 23 are the three-phase voltages of the three-phase motor 13, respectively. In the control process of the three-phase motor, a reference wave 24 of a switching element is generated in the controller 11, the reference wave 24 is a PWM wave, the reference wave 24 is used for triggering 6 output pins to output control waves to the corresponding switching elements, the first control wave 25 is a control wave of a lower bridge arm, and the second control wave 26 is a control wave of an upper bridge arm.
Wherein the switching element is in an on state during a high level of the corresponding control wave and in an off state during a low level of the corresponding control wave, so that the reference wave 24 can control the switching element in the driving circuit 12 to be periodically turned on and off. The period T of the reference wave 24 is a switching period of the switching element, and in each switching period, the switching element is turned on and off first and then turned on first.
Meanwhile, the controller 11 outputs the reference wave 24 to the first analog-to-digital converter 111, and the first analog-to-digital converter 111 is triggered to sample 1 time in each switching period by the rising edge of the reference wave 24, so that the analog current flowing through the lower bridge arm is converted into a current value in a digital form, and the sampling of the three-phase current is realized.
When the analog-to-digital converter is triggered to sample the three-phase current due to the hardware of the analog-to-digital converter, the channels of the analog-to-digital converter sample the current at different moments, so that a larger time deviation exists between sampling moments of the channels in the analog-to-digital converter.
For example, when the first analog-to-digital converter 111 is triggered to start sampling the three-phase current by the rising edge of the reference wave 24, the 3 channels of the first analog-to-digital converter 111 may sample the three-phase current at the first sampling time t1 (the first sampling time is the starting time of the switching period), the second sampling time t2 and the third sampling time t3, so that the 3 current values of the three-phase current obtained by sampling are not the current values of the same time, and a large time deviation exists between the sampling times of the 3 current values, so that the current values of the three-phase current obtained by sampling cannot accurately represent the state of the three-phase motor 13, and thus, when the three-phase motor 13 is controlled to operate according to the current values of the three-phase current, the stability of the three-phase motor 13 is poor.
In order to solve the problem that sampling time of three-phase current is not uniform, the current value of the three-phase current obtained by sampling is usually corrected through an algorithm so as to reduce time deviation between the current values of the three-phase current, and the current value of the three-phase current obtained by sampling is identical to the current value obtained by sampling at the same time as much as possible. However, the algorithm has poor correction effect, and the time deviation between the corrected current values of the three-phase current still exists, so that the state of the three-phase motor cannot be accurately represented.
In order to solve the above technical problems, the embodiments of the present application provide a motor control method, in a motor control process, N (N is 2 or 3) analog-to-digital converters are triggered simultaneously in a current switching period of a switching element to sample a current of a three-phase motor, each analog-to-digital converter samples a phase current of the three-phase motor 13, and 3 current values of the three-phase current can be obtained by sampling, or a current value of another phase current is obtained by calculating through 2 current values after 2 current values of two-phase current are obtained by sampling. Then, the switching element is controlled to act according to 3 current values of the three-phase current in the next adjacent switching period, and the three-phase motor is controlled to operate through the driving circuit.
In the current sampling process, the N analog-digital converters act simultaneously, so that the deviation between sampling moments of the acquired current values of the three-phase currents is close to or equal to zero, the acquired current values of the three-phase currents can accurately represent the state of the three-phase motor, and the three-phase motor can have higher stability when the three-phase motor is controlled to operate according to the current values of the three-phase currents.
Compared with the mode of reducing the time deviation between the current values of the three-phase currents through an algorithm, the time deviation between the current values of the three-phase currents obtained through sampling can be accurately reduced. Meanwhile, in the control process of the three-phase motor, time deviation among current values of three-phase currents obtained through sampling is not required to be reduced through an algorithm, so that the calculated amount of the controller can be reduced, and the power consumption of the controller can be reduced.
Fig. 3 shows a flowchart of steps of a motor control method according to an embodiment of the present application. As shown in fig. 3, the method may be performed by a controller, including steps 31 and 32.
And step 31, triggering N analog-to-digital converters to sample the current of the three-phase motor in the current switching period of the switching element to obtain N current values.
The switching element is located in a driving circuit of the three-phase motor, and each analog-digital converter samples one phase of current of the three-phase motor, wherein N is 2 or 3.
Fig. 4 shows a schematic structural diagram of a motor control system according to an embodiment of the present application. As shown in fig. 4, the controller 11 includes a first analog-to-digital converter 111, a second analog-to-digital converter 112, and a third analog-to-digital converter 113, where an input pin corresponding to each analog-to-digital converter is connected to a lower bridge arm of the driving circuit 12.
In some embodiments, the controller 11 may trigger the N analog-to-digital converters to sample the current of the three-phase motor at the state switching time of the switching element at the same time, so as to obtain N current values. For example, during motor control, the controller 11 may output the reference wave 24 of the switching element to the analog-to-digital converters, and simultaneously trigger the N analog-to-digital converters to sample the current of the three-phase motor 13 through the reference wave 24.
Fig. 5 shows a timing diagram of a motor control system according to an embodiment of the present application. As shown in fig. 5, the controller 11 internally generates the reference wave 24, the reference wave 24 triggers level transitions of 3 output pins corresponding to the second switching element 122, the fourth switching element 124, and the sixth switching element 126 to generate the first control wave 25, and the reference wave 24 triggers level transitions of 3 output pins corresponding to the first switching element 121, the third switching element 123, and the fifth switching element 125 to generate the second control wave 26.
At the start time T4 in the current switching period T1, the first control wave 25 transitions to a low level, and the second switching element 122, the fourth switching element 124, and the sixth switching element 126 may be turned off. Meanwhile, at the start time t4, the second control wave 26 may turn on the first switching element 121, the third switching element 123, and the fifth switching element 125, so that the states of the switching elements in the driving circuit 12 are switched for the first time at the start time t 4.
At an intermediate time T5 in the current switching period T1, the first control wave 25 transitions to a high level, and the second switching element 122, the fourth switching element 124, and the sixth switching element 126 may be turned on. At the same time, the second control wave 26 jumps to a low level, and the first switching element 121, the third switching element 123, and the fifth switching element 125 can be turned off, so that the states of the switching elements in the driving circuit 12 are switched for the second time at the intermediate time t 5.
Also, the first control wave 25 and the second control wave 26 repeat the above-described flow in the next adjacent switching period T2, and the state of the switching element can be cyclically turned on and off in each switching period, so that the control of the three-phase motor 13 can be realized.
In the current switching period T1, the state of the switching element in the driving circuit 12 is switched for the first time at the start time T4, and is switched for the second time at the intermediate time T5, and the start time T4 and the intermediate time T5 may be referred to as state switching times of the switching element.
In some embodiments, the analog-to-digital converter may be configured to be triggered on a rising edge, and the current of the three-phase motor 13 may be sampled by the analog-to-digital converter triggered on the rising edge of the reference wave 24. As shown in fig. 5, when the analog-to-digital converter is triggered by a rising edge, after the reference wave 24 is input to the first analog-to-digital converter 111, the second analog-to-digital converter 112, and the third analog-to-digital converter 113, the first analog-to-digital converter 111, the second analog-to-digital converter 112, and the third analog-to-digital converter 113 may be triggered at the same time at the starting time t4 to sample, hold, quantify, and encode the current of the connected lower bridge arm, so as to complete one sampling of the three-phase current, and obtain the current value of each phase current.
When the analog-to-digital converters are triggered to sample the current of the three-phase motor 13 by the rising edge of the reference wave 24, the N analog-to-digital converters may be triggered to sample the current of the three-phase motor 13 at the same time when the state of the switching element is switched for the first time.
In the embodiment of the application, the N analog-to-digital converters are triggered to sample the current of the three-phase motor at the state switching moment of the switching element, so that the current sampling process can be simplified. When the state of the switching element is switched for the first time, the current of the three-phase motor is sampled, the analog-to-digital converter can be controlled to sample the current of the three-phase motor at the starting time of the switching period, and the current sampling process can be simplified.
In the embodiment of the application, the reference wave of the switching element triggers the N analog-to-digital converters to sample the current of the three-phase motor at the same time, so that the control process is simpler, and the current sampling process can be simplified.
In other embodiments, the analog-to-digital converter may be configured to be triggered on a falling edge, and the current of the three-phase motor 13 may be sampled by the falling edge of the reference wave 24. As shown in fig. 5, when the analog-to-digital converter is triggered by a falling edge, after the reference wave 24 is input to the first analog-to-digital converter 111, the second analog-to-digital converter 112 and the third analog-to-digital converter 113, the first analog-to-digital converter 111, the second analog-to-digital converter 112 and the third analog-to-digital converter 113 may be triggered simultaneously at an intermediate time t5 to sample, hold, quantify and encode the current of the connected lower bridge arm, so as to complete one sampling of the three-phase current and obtain the current value of each phase current.
When the analog-to-digital converters are triggered to sample the current of the three-phase motor 13 by the falling edge of the reference wave 24, the N analog-to-digital converters may be triggered to sample the current of the three-phase motor 13 when the state of the switching element is switched for the second time.
In practical applications, the reference wave 24 may trigger the 2 analog-to-digital converters in the controller 11 at the starting time t4 or the intermediate time t5 to sample two-phase currents in the three-phase current, so as to obtain 2 current values of the two-phase current of the three-phase motor 13.
In this embodiment, in the process of triggering N analog-to-digital converters to sample three-phase currents at the same time, in the case that the analog-to-digital converter includes a plurality of channels, the number of channels of the analog-to-digital converter corresponding to each phase of current is the same. For example, a first phase current of the three-phase currents may be sampled using a 2 nd channel of the first analog-to-digital converter 111, a second phase current of the three-phase currents may be sampled using a 2 nd channel of the second analog-to-digital converter 112, and a third phase current of the three-phase currents may be sampled using a 2 nd channel of the third analog-to-digital converter 113.
The N analog-digital converters sample the current by using the same channel, so that the deviation between sampling moments of different analog-digital converters can be reduced, the time deviation between sampling moments of N sampled current values can be reduced, and the stability of the three-phase motor is improved.
It will be appreciated that the analog to digital converters may also have only one channel, and that each analog to digital converter may directly sample one of the phases of the three phase motor when the analog to digital converter has only one channel.
And step 32, in the next adjacent switching period, controlling the switching element to act according to the N current values so as to control the three-phase motor to operate through the driving circuit.
In this embodiment, after sampling 3 current values of the three-phase current of the three-phase motor 13 in the current switching period T1, the controller 11 may adjust the duty ratio of the reference wave 24 in the next adjacent switching period T2 according to the 3 current values of the three-phase current, and may adjust the duty ratio of the 6 control waves in the next adjacent switching period T2 by adjusting the duty ratio of the reference wave 24, so as to adjust the on time of the upper bridge arm and the lower bridge arm of the driving circuit 12, and further may control the three-phase motor 13 to operate through the driving circuit 12.
It can be understood that, after the current value of the two-phase current of the three-phase motor 13 in the current switching period T1 is obtained by sampling, the controller 11 may calculate the current value of the other phase current according to the current value of the two-phase current, thereby obtaining 3 current values of the three-phase current of the three-phase motor 13 in the current switching period T1.
As shown in fig. 3, the controller 11 may execute steps 31 and 32 in a circulation manner, trigger 2 or 3 analog-to-digital converters simultaneously to sample current in the current switching period T1, obtain the current value of the three-phase current of the three-phase motor 13 in the current switching period T1, and control the switching elements in the driving circuit 12 to operate according to the obtained current value in the next adjacent switching period T2, so as to control the three-phase motor 13 to operate. The method for controlling the switching element to act according to the current value of the three-phase current can be specifically set according to the requirement.
Optionally, the step of simultaneously triggering the N analog-to-digital converters to sample the current of the three-phase motor to obtain N current values may include:
triggering N analog-digital converters to sample the current of the three-phase motor at the first moment to obtain N current values, wherein the first moment is positioned after the state switching moment of the switching element and is spaced from the state switching moment by a preset time length.
In some embodiments, the controller 11 may delay the reference wave of the switching element for a preset period to obtain a trigger wave, output the trigger wave to the N analog-to-digital converters, and trigger the N analog-to-digital converters to sample the current of the three-phase motor 13 at the first time by the trigger wave to obtain N current values.
Fig. 6 shows a timing diagram of another motor control system provided by an embodiment of the present application. As shown in fig. 6, after generating the reference wave 24, the controller 11 may delay the reference wave 24 by a preset length of time fatt to generate the trigger wave 27 while generating 6 paths of control waves by the reference wave 24. The rising edge of the trigger wave 27 is spaced from the rising edge of the reference wave 24 by a predetermined length of time fatt, and the rising edge (including both the rising edge and the falling edge) of the trigger wave 27 is spaced from the rising edge of the reference wave 24 by a predetermined length of time fatt.
In some embodiments, the analog-to-digital converter may be set to a rising edge trigger, by which the current of the three-phase motor 13 may be sampled. As shown in fig. 6, when the analog-to-digital converter is rising edge triggered, after the trigger wave 27 is input to the first analog-to-digital converter 111, the second analog-to-digital converter 112 and the third analog-to-digital converter 113, the first analog-to-digital converter 111, the second analog-to-digital converter 112 and the third analog-to-digital converter 113 can be triggered at the first time t6 to sample, hold, quantify and encode the current of the connected lower bridge arm, so as to complete one sampling of the three-phase current and obtain the current value of each phase current.
When the analog-to-digital converters are triggered to sample the current of the three-phase motor 13 by the rising edge of the trigger wave 27, the first time t6 is located after the start time t4 and is spaced from the start time t4 by a preset time period father, and the N analog-to-digital converters may be triggered to sample the current of the three-phase motor 13 at the first time t6 after the state of the switching element is switched for the first time.
Fig. 7 shows a timing diagram of another motor control system provided by an embodiment of the present application. As shown in fig. 7, the analog-to-digital converter may be set to a falling edge trigger, by which the current of the three-phase motor 13 may be sampled. As shown in fig. 7, when the analog-to-digital converter is a falling edge trigger, after the trigger wave 27 is input to the first analog-to-digital converter 111, the second analog-to-digital converter 112 and the third analog-to-digital converter 113, the first analog-to-digital converter 111, the second analog-to-digital converter 112 and the third analog-to-digital converter 113 can be triggered at the first time t6 to sample, hold, quantify and encode the current of the connected lower bridge arm, so as to complete one sampling of the three-phase current and obtain the current value of each phase current.
When the analog-to-digital converter is triggered to sample the current of the three-phase motor 13 by the falling edge of the trigger wave 27, the first time t6 is located after the intermediate time t5 and is spaced from the intermediate time t5 by the preset time period father, and the N analog-to-digital converters may be triggered to sample the current of the three-phase motor 13 at the first time t6 after the state of the switching element is switched for the second time.
In practical application, when the state of the switching element is just switched, the state of the three-phase motor 13 is not stable, the accuracy of the current value of the three-phase current obtained at this time is low, and the stability of the three-phase motor 13 is low when the three-phase motor 13 is controlled to operate according to the current value at this time. The size of the fatting time t can be adjusted according to actual requirements, so that after the three-phase motor 13 reaches stability, an analog-to-digital converter is triggered to sample and obtain the current value of the three-phase motor 13.
In the embodiment of the application, after the state of the switching element is switched, the N analog-to-digital converters are triggered to sample the current of the three-phase motor at intervals for a preset time, so that the current value of the three-phase motor when the three-phase motor reaches a stable state can be obtained, the current value which can accurately represent the state of the motor can be obtained, and the stability of the three-phase motor when the three-phase motor is controlled to run according to the current value can be improved.
The current of the three-phase motor is sampled at intervals of preset time after the state of the switching element is switched for the first time, the analog-to-digital converter can be controlled to sample the current of the three-phase motor at the initial stage of the switching period, and the current sampling process can be simplified.
In the embodiment of the application, the trigger wave which can trigger the actions of the N analog-to-digital converters simultaneously is obtained through the reference wave of the delay switch element, the current of the three-phase motor is sampled simultaneously through the trigger wave which triggers the N analog-to-digital converters, the control process is simpler, the sampling time can be controlled accurately, the accuracy of current sampling can be improved, and the stability of the three-phase motor in the control process can be improved.
In some embodiments, the preset length of time fatter is greater than or equal to 30 microseconds (μs). For example, the preset time period t may be 30 microseconds, 32 microseconds, 35 microseconds, 40 microseconds, 45 microseconds, 48 microseconds, etc., but is not limited thereto.
When the preset duration t is greater than or equal to 30 microseconds, the N analog-to-digital converters can sample the current of the three-phase motor after the three-phase motor enters a stable state, so that the current value of the three-phase motor when the three-phase motor reaches the stable state can be obtained, and the stability of the three-phase motor in the control process can be improved.
In some embodiments, the preset length of time fatter is less than or equal to 50 microseconds (μs). For example, the preset time period t may be 50 microseconds, 48 microseconds, 45 microseconds, 40 microseconds, etc., but is not limited thereto.
When the preset duration t is less than or equal to 50 microseconds, the N analog-to-digital converters can sample the current of the three-phase motor in time after the switching element is switched in state, and timeliness and effectiveness of current sampling can be improved.
Fig. 8 shows a schematic structural diagram of another motor control system according to an embodiment of the present application. As shown in fig. 8, the motor control system may further include a fourth analog-to-digital converter 14, a fifth analog-to-digital converter 15, and a sixth analog-to-digital converter 16, which are provided outside the controller 11.
One output pin of the controller 11 is connected to a trigger end of the fourth analog-to-digital converter 14, and is used for outputting a reference wave 24 or a trigger wave 27 to the fourth analog-to-digital converter 14, and one input pin of the controller 11 is connected to a communication end of the fourth analog-to-digital converter 14, and is used for obtaining a current value obtained by sampling by the fourth analog-to-digital converter 14. Similarly, the trigger and communication terminals of the fifth and sixth analog-to-digital converters 15 and 16 are connected to the controller 11, respectively.
In the process of sampling the current of the three-phase motor 13, after the controller 11 generates the reference wave 24, the reference wave 24 may be simultaneously output to the trigger terminals of the fourth analog-to-digital converter 14, the fifth analog-to-digital converter 15, and the sixth analog-to-digital converter 16 located outside the controller 11 to simultaneously trigger the fourth analog-to-digital converter 14, the fifth analog-to-digital converter 15, and the sixth analog-to-digital converter 16 to sample the three-phase current, resulting in 3 current values. After outputting the reference wave 24, the controller 11 may read the sampled current values from the fourth analog-to-digital converter 14, the fifth analog-to-digital converter 15, and the sixth analog-to-digital converter 16 through communication terminals of the fourth analog-to-digital converter 14, the fifth analog-to-digital converter 15, and the sixth analog-to-digital converter 16.
Alternatively, in the process of sampling the current of the three-phase motor 13, after the controller 11 generates the delay reference wave 24 to obtain the trigger wave 27, the trigger wave 27 may be simultaneously output to the trigger terminals of the fourth analog-to-digital converter 14, the fifth analog-to-digital converter 15, and the sixth analog-to-digital converter 16, so as to simultaneously trigger the fourth analog-to-digital converter 14, the fifth analog-to-digital converter 15, and the sixth analog-to-digital converter 16 to sample the three-phase current at the first time, thereby obtaining 3 current values. After the trigger wave 27 is output, the controller 11 may read the sampled current values from the fourth analog-to-digital converter 14, the fifth analog-to-digital converter 15, and the sixth analog-to-digital converter 16 through the communication terminals of the fourth analog-to-digital converter 14, the fifth analog-to-digital converter 15, and the sixth analog-to-digital converter 16.
Fig. 9 shows a schematic structural diagram of a motor control device according to an embodiment of the present application. As shown in fig. 9, the motor control device 9 includes a trigger module 91 and a control module 92.
The triggering module 91 is configured to trigger N analog-to-digital converters to sample currents of the three-phase motor to obtain N current values in a current switching period of the switching element, where the switching element is located in a driving circuit of the three-phase motor, and each analog-to-digital converter samples one phase of current of the three-phase motor, where N is 2 or 3;
The control module 92 is configured to control the switching elements to operate according to the N current values in the next adjacent switching cycle, so as to control the three-phase motor to operate through the driving circuit.
In some embodiments, the triggering module 91 is specifically configured to trigger the N analog-to-digital converters to sample the current of the three-phase motor to obtain N current values at a first time, where the first time is located after the state switching time of the switching element and is spaced from the state switching time by a preset period of time.
In some embodiments, the state switching instant is the instant at which the state of the switching element switches for the first time in the current switching cycle.
In some embodiments, the triggering module 91 is specifically configured to trigger the N analog-to-digital converters to sample the current of the three-phase motor at the first time to obtain N current values through a triggering wave, where the triggering wave is obtained after a reference wave of the switching element is delayed by a preset time period.
In some embodiments, the predetermined time period is greater than or equal to 30 microseconds.
In some embodiments, the preset duration is less than or equal to 50 microseconds.
In some embodiments, the triggering module 91 is specifically configured to trigger the N analog-to-digital converters to sample the current of the three-phase motor at the state switching time of the switching element, so as to obtain N current values.
In some embodiments, the state switching instant is the instant at which the state of the switching element switches for the first time in the current switching cycle.
In some embodiments, the triggering module 91 is specifically configured to trigger the N analog-to-digital converters to sample the current of the three-phase motor at the same time through the reference wave of the switching element.
Fig. 10 shows a block diagram of a motor control device according to an embodiment of the present application. As shown in fig. 10, the motor control apparatus 10 includes a processor 101 and a memory 102, which may be connected by one or more buses 104.
The motor control device 10 further comprises a computer program 103, the computer program 103 being stored in the memory 102, which computer program 103, when executed by the processor 101, causes the motor control device 10 to execute the motor control method shown in fig. 3 described above. All relevant contents of each step related to the above method embodiment may be cited to the functional description of the corresponding entity device, which is not described herein.
The present application also provides a readable storage medium comprising a computer program which, when run on a computer, causes the computer to perform the method provided by the method embodiments described above.
The present application also provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method provided by the method embodiments described above.
The embodiment of the application also provides a chip system, which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor is used for calling and running the computer program from the memory, so that a motor control device provided with the chip system executes the method provided by the embodiment of the method.
The chip system may include an input circuit or interface for transmitting information or data, and an output circuit or interface for receiving information or data, among other things.
It should be appreciated that in embodiments of the present application, the processor may be a central processing unit (central processing unit, CPU), the processor may also be other general purpose processors, digital signal processors (digital signal processor, DSP), application specific integrated circuits (application specific integrated circuit, ASIC), off-the-shelf programmable gate arrays (field programmable gate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It should also be appreciated that the memory in embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. The volatile memory may be random access memory (random access memory, RAM) which acts as an external cache. By way of example but not limitation, many forms of random access memory (random access memory, RAM) are available, such as Static RAM (SRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced Synchronous Dynamic Random Access Memory (ESDRAM), synchronous Link DRAM (SLDRAM), and direct memory bus RAM (DR RAM).
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (11)

1. A method of controlling an electric motor, the method comprising:
in the current switching period of a switching element, triggering N analog-to-digital converters to sample the current of a three-phase motor to obtain N current values, wherein the switching element is positioned in a driving circuit of the three-phase motor, each analog-to-digital converter is provided with a plurality of channels, each analog-to-digital converter samples one phase current of the three-phase motor through channels with the same channel number, and N is 2 or 3;
and in the next adjacent switching period, controlling the switching element to act according to the N current values so as to control the three-phase motor to operate through the driving circuit.
2. The method of claim 1, wherein simultaneously triggering the N analog-to-digital converters to sample the current of the three-phase motor to obtain N current values comprises:
And triggering the N analog-to-digital converters to sample the current of the three-phase motor at the first moment to obtain the N current values, wherein the first moment is positioned after the state switching moment of the switching element and is spaced from the state switching moment by a preset time length.
3. The method of claim 2, wherein the state switching time is a time at which switching of the state of the switching element occurs for the first time in the current switching cycle.
4. The method of claim 2, wherein simultaneously triggering the N analog-to-digital converters to sample the current of the three-phase motor at the first time to obtain the N current values comprises:
and triggering the N analog-to-digital converters to sample the current of the three-phase motor at the first time through a trigger wave to obtain the N current values, wherein the trigger wave is obtained after the reference wave of the switching element delays for the preset time length.
5. The method of claim 2, wherein the predetermined time period is greater than or equal to 30 microseconds.
6. The method of any one of claims 2-5, wherein the preset duration is less than or equal to 50 microseconds.
7. The method of claim 1, wherein simultaneously triggering the N analog-to-digital converters to sample the current of the three-phase motor to obtain N current values comprises:
And triggering the N analog-digital converters to sample the current of the three-phase motor at the state switching moment of the switching element so as to obtain the N current values.
8. The method of claim 7, wherein the state switching time is a time at which switching of the state of the switching element occurs for the first time in the current switching cycle.
9. The method according to claim 7 or 8, wherein simultaneously triggering the N analog-to-digital converters to sample the current of the three-phase motor at a state switching instant of the switching element comprises:
and the N analog-digital converters are triggered simultaneously by the reference wave of the switching element to sample the current of the three-phase motor.
10. A motor control device, the device comprising:
the triggering module is used for triggering N analog-to-digital converters to sample the current of the three-phase motor to obtain N current values in the current switching period of the switching element, the switching element is positioned in a driving circuit of the three-phase motor, each analog-to-digital converter is provided with a plurality of channels, each analog-to-digital converter samples one phase of current of the three-phase motor through channels with the same channel number, and N is 2 or 3;
And the control module is used for controlling the switching element to act according to the N current values in the next adjacent switching period so as to control the three-phase motor to run through the driving circuit.
11. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when run on a motor control device, causes the motor control device to perform the method according to any of claims 1-9.
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