CN117060812A - Motor control method, device, environment adjustment control system, equipment and medium - Google Patents
Motor control method, device, environment adjustment control system, equipment and medium Download PDFInfo
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- 238000011156 evaluation Methods 0.000 claims description 39
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Classifications
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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
-
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The application provides a motor control method, a motor control device, an environment adjustment control system, environment adjustment control equipment and a medium, and relates to the technical field of motor control. The method comprises the following steps: acquiring an actual working state parameter of a motor at a first moment and an environment monitoring parameter of an environment where environment regulating equipment is located at the first moment; according to various states and actual working state parameters of the inverter, calculating various predicted working state parameters of the motor at a second moment under various states respectively; determining the optimal state of the inverter according to the environment monitoring parameters at the first moment and various predicted working state parameters; and controlling the inverter according to the control parameters of the optimal state of the inverter so that the inverter drives the motor to drive the environment adjusting equipment to operate in the optimal state. The application can ensure that the working efficiency of the motor reaches the optimum, and the environmental parameters of the environment can also reach the optimum.
Description
Technical Field
The application relates to the technical field of motor control, in particular to a motor control method, a motor control device, an environment adjustment control system, environment adjustment control equipment and a medium.
Background
The environmental conditioning control system is used for adjusting environmental parameters such as temperature, humidity and the like in the environment, the environmental conditioning control system is rapidly developing towards intelligentization, integration and functional diversification, and many environmental conditioning control systems are provided with environmental monitoring sensors so as to monitor the environment to obtain monitoring parameters.
Under the condition, the environment adjusting control system not only needs to ensure that the working efficiency of the environment adjusting control system is optimal, but also expects the environment parameters of the environment to be optimal, namely the environment adjusting control system faces the problem of multi-objective optimization.
In the prior art, only the optimal working efficiency of the motor in the environment adjustment control system is considered, but the optimal environmental parameters of the environment where the motor is controlled are not considered.
Disclosure of Invention
The application aims to provide a motor control method, a motor control device, an environment adjustment control system, environment adjustment control equipment and a medium, aiming at the defects in the prior art, so that the working efficiency of a motor is ensured to be optimal, and the environmental parameters of the environment can be also optimal.
In order to achieve the above purpose, the technical scheme adopted by the embodiment of the application is as follows:
In a first aspect, an embodiment of the present application provides a motor control method, which is applied to a controller in an environmental conditioning control system, where the environmental conditioning control system further includes: an inverter, a motor, and an environmental conditioning apparatus, the method comprising:
acquiring an actual working state parameter of the motor at a first moment and an environment monitoring parameter of an environment where the environment adjusting equipment is located at the first moment;
according to various states of the inverter and the actual working state parameters, calculating various predicted working state parameters of the motor at a second moment under the various states respectively;
determining an optimal state of the inverter according to the environment monitoring parameters at the first moment and the plurality of predicted working state parameters;
and controlling the inverter according to the control parameters of the optimal state of the inverter, so that the inverter drives the motor to drive the environment regulating equipment to operate in the optimal state.
Optionally, the calculating, according to the multiple states of the inverter and the actual working state parameters, multiple predicted working state parameters of the motor at the second moment in the multiple states respectively includes:
Respectively calculating the direct-axis voltage and the quadrature-axis voltage corresponding to various states of the inverter and the motor rotor angle of the motor at the first moment;
and respectively calculating various predicted working state parameters at the second moment according to the direct-axis voltage and the quadrature-axis voltage corresponding to the various states and the three-phase current of the motor at the first moment.
Optionally, the determining the optimal state of the inverter according to the environmental monitoring parameter at the first moment and the plurality of predicted operating state parameters includes:
calculating a reference working state parameter of the motor according to the environment monitoring parameter;
calculating value evaluation parameters of the multiple states according to the reference working state parameters and the multiple prediction working state parameters;
and determining the optimal state according to the value evaluation parameters of the multiple states.
Optionally, the calculating the reference working state parameter of the motor according to the environment monitoring parameter includes:
and calculating the rotating speed of the reference motor according to the environment monitoring parameter and the target environment parameter.
Optionally, the calculating the reference motor rotation speed according to the environment monitoring parameter and the target environment parameter includes:
Calculating a plurality of environment adjustment parameters according to the plurality of environment monitoring parameters and target environment parameters corresponding to the plurality of environment monitoring parameters;
and weighting the plurality of environment adjustment parameters, and calculating the rotating speed of the reference motor.
Optionally, each predicted operating state parameter includes: predicting motor rotation speed, predicting motor direct current and predicting motor current amplitude, calculating value evaluation parameters of the multiple states according to the reference working state parameters and the multiple predicting working state parameters, including:
and calculating a value evaluation parameter of each state according to the reference motor rotating speed, the predicted motor straight-axis current, the reference motor straight-axis current, the predicted motor current amplitude and the reference motor current amplitude.
In a second aspect, an embodiment of the present application further provides a motor control device, which is applied to a controller in an environment adjustment control system, where the environment adjustment control system further includes: inverter, motor and environmental conditioning equipment, the device includes:
the data acquisition module is used for acquiring actual working state parameters of the motor at a first moment and environment monitoring parameters of the environment where the environment adjusting equipment is located at the first moment;
The data calculation module is used for calculating various predicted working state parameters of the motor at a second moment under the various states according to the various states of the inverter and the actual working state parameters;
the state determining module is used for determining the optimal state of the inverter according to the environment monitoring parameters at the first moment and the plurality of predicted working state parameters;
and the driving control module is used for controlling the inverter according to the control parameters of the optimal state of the inverter so that the inverter drives the motor to drive the environment regulating equipment to operate in the optimal state.
Optionally, the data calculating module is specifically configured to calculate, according to multiple states of the inverter and a motor rotor angle of the motor at a first moment, a direct axis voltage and a quadrature axis voltage corresponding to the multiple states respectively; and respectively calculating various predicted working state parameters at the second moment according to the direct-axis voltage and the quadrature-axis voltage corresponding to the various states and the three-phase current of the motor at the first moment.
Optionally, the state determining module includes:
the state parameter calculation unit is used for calculating a reference working state parameter of the motor according to the environment monitoring parameter;
An evaluation parameter calculation unit for calculating a value evaluation parameter of the plurality of states according to the reference operating state parameter and the plurality of predicted operating state parameters;
and the state determining unit is used for determining the optimal state according to the value evaluation parameters of the multiple states.
Optionally, the state parameter calculating unit is specifically configured to calculate the reference motor rotation speed according to the environment monitoring parameter and the target environment parameter.
Optionally, the state parameter calculating unit is specifically configured to calculate a plurality of environmental adjustment parameters according to a plurality of environmental monitoring parameters and target environmental parameters corresponding to the plurality of environmental monitoring parameters; and weighting the plurality of environment adjustment parameters, and calculating the rotating speed of the reference motor.
Optionally, each predicted operating state parameter includes: the evaluation parameter calculation unit is specifically configured to calculate a value evaluation parameter of each state according to the reference motor speed, the predicted motor direct-axis current, the reference motor direct-axis current, the predicted motor current amplitude and the reference motor current amplitude.
In a third aspect, an embodiment of the present application further provides an environmental conditioning control system, including: the system comprises a controller, an inverter, a motor and environment adjusting equipment;
the controller is respectively connected with the inverter and the motor, the inverter is also connected with the motor, the motor is connected with the environment adjusting device, and the controller is used for executing the steps of the motor control method according to any one of the first aspect, so that the inverter drives the motor to drive the environment adjusting device to operate in an optimal state.
In a fourth aspect, an embodiment of the present application further provides a controller, including: a processor, a storage medium and a bus, the storage medium storing program instructions executable by the processor, the processor and the storage medium communicating via the bus when the controller is running, the processor executing the program instructions to perform the steps of the motor control method according to any one of the first aspect.
In a fifth aspect, embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, performs the steps of the motor control method according to any one of the first aspects.
The beneficial effects of the application are as follows:
according to the motor control method, the device, the environment regulation control system, the equipment and the medium, various predicted working state parameters of the motor at the second moment are predicted according to various states of the inverter and actual working state parameters of the motor, and the optimal state of the inverter at the second moment is determined according to the environment monitoring parameters and the various predicted working state parameters, so that the motor is driven to drive the environment regulation equipment to operate under the optimal state by controlling the inverter, multi-objective optimization of the environment regulation equipment is realized, and the working efficiency of the motor and the environment regulation parameters of the environment where the environment regulation equipment is located are both guaranteed to be optimal.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of an environmental conditioning control system according to an embodiment of the present application;
Fig. 2 is a schematic flow chart of a motor control method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an inverter according to an embodiment of the present application;
fig. 4 is a schematic diagram of an inverter voltage vector according to an embodiment of the present application;
fig. 5 is a second schematic flow chart of a motor control method according to an embodiment of the present application;
fig. 6 is a schematic flow chart III of a motor control method according to an embodiment of the present application;
fig. 7 is a flow chart diagram of a motor control method according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a motor control device according to an embodiment of the present application;
fig. 9 is a schematic diagram of a controller according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Furthermore, the terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
Before describing the motor control method, the motor control device, the controller and the storage medium provided by the application, in order to better understand the application, an environment adjustment control system to which the application is applied is described below.
Referring to fig. 1, an architecture diagram of an environmental conditioning control system according to an embodiment of the present application is shown in fig. 1, where the environmental conditioning control system includes: the system comprises a controller, an inverter, a motor, environment adjusting equipment and an environment monitoring sensor. The inverter is a three-phase two-level inverter, the motor is a permanent magnet synchronous motor, the inverter is connected with the motor, and the environment adjusting equipment and the environment monitoring sensor are necessarily arranged in an environment needing to be subjected to environment adjustment.
The controller is connected with the motor and used for acquiring actual working state parameters of the motor at a first moment, and the controller is also connected with the environment monitoring sensor and used for acquiring environment monitoring parameters of the environment where the environment regulating equipment is located at the first moment.
The controller adopts a prediction algorithm model, calculates a plurality of predicted working state parameters of the motor at a second moment in a plurality of states of the inverter according to the plurality of states of the inverter and the actual working state parameters of the motor, and also adopts a value evaluation function to determine the optimal state of the inverter according to the environment monitoring parameters and the plurality of predicted working state parameters so as to control the switching state of the inverter according to the control parameters corresponding to the optimal state of the inverter, so that the inverter drives the motor to rotate in the optimal state to drive the environment regulating equipment to operate.
In some embodiments, as shown in fig. 1, the environmental conditioning control system further comprises: and the position sensor is connected with the motor and is used for monitoring the motor rotating speed and the motor rotor angle.
In some examples, if no position sensor is included in the environmental conditioning control system, a position observer, such as a position encoder, may also be included.
The controller is composed of a control module, a voltage vector reconstruction module and a coordinate conversion module, wherein the input end of the voltage vector reconstruction module is connected with the inverter and the position sensor and is used for acquiring the DC bus voltage of the inverter and the motor rotor angle monitored by the position sensor so as to calculate the DC axis voltage and the quadrature axis voltage corresponding to various states of the inverter according to the DC bus voltage and the electronic rotor angle.
The input end of the coordinate conversion module is connected with the motor and the position sensor and is used for acquiring three-phase current of the motor and motor rotor angles monitored by the position sensor so as to perform coordinate conversion on the three-phase current of the motor under a three-phase static coordinate system according to the motor rotor angles and obtain direct-axis current and quadrature-axis current under a two-phase rotating coordinate system.
The control module is respectively connected with the voltage vector reconstruction module, the coordinate conversion module and the environment monitoring sensor to acquire the direct-axis voltage, the quadrature-axis voltage, the direct-axis current, the quadrature-axis current and the environment monitoring parameters of the motor at the first moment, so as to calculate the actual working state parameters of the motor at the first moment according to the direct-axis voltage, the quadrature-axis voltage, the direct-axis current and the quadrature-axis current at the first moment.
The environment adjusting device can be intelligent, integrated and function-diversified fans, air purifiers, air humidifiers, dehumidifiers, warm air blowers, fresh air systems, cooling fans, spraying machines, air conditioners, ventilator blowers and other devices, and the environment adjusting device has diversified functions, and the types of corresponding environment monitoring sensors are different.
A specific implementation manner of the motor control method applied to the controller in the above-described environment adjustment control system is described below with reference to the embodiments.
Referring to fig. 2, a first flowchart of a motor control method according to an embodiment of the present application is shown in fig. 2, and the method may include:
s10: the method comprises the steps of obtaining actual working state parameters of a motor at a first moment and environment monitoring parameters of an environment where environment adjusting equipment is located at the first moment.
In this embodiment, the actual operating state parameters of the motor at the first moment include: motor rotor angle theta at first moment and DC bus voltage U of inverter dc Three-phase current i of motor under three-phase static coordinate system a 、i b 、i c 。
The environmental monitoring parameters of the environment in which the environmental conditioning device is located at the first moment are collected by the environmental monitoring sensor, the collected environmental monitoring parameters being determined by the type of the environmental monitoring sensor, more specifically by the function of the environmental conditioning device, for example, may comprise: ambient temperature, ambient humidity, PM2.5, PM10, sulfur dioxide concentration, nitrogen dioxide concentration, carbon monoxide concentration, ozone concentration. Still further, it may further include: special environmental parameters such as environmental noise, environmental heat radiation, etc.
S20: and respectively calculating various predicted working state parameters of the motor at the second moment under various states according to various states and actual working state parameters of the inverter.
In this embodiment, the various states of the inverter are the switching states of each bridge arm of the inverter, please refer to fig. 3, which is a schematic structural diagram of the inverter provided in the embodiment of the present application, as shown in fig. 3, the inverter is composed of three bridge arms, each bridge arm includes an upper switching tube and a lower switching tube, and only one switching tube is conducted on each bridge arm at the same time, so that the inverter has eight switching states in total, and each switching state corresponds to one voltage vector.
Referring to fig. 4, a schematic diagram of voltage vectors of an inverter according to an embodiment of the present application is shown in fig. 4, in which among 8 switch states, voltage vectors corresponding to 6 switch states are effective voltage vectors, voltage vectors corresponding to 2 switch states are zero voltage vectors, effective voltage vectors are defined as V1, V2, V3, V4, V5 and V6, and zero voltage vectors are defined as V7.
Fig. 3 shows the current flow of the inverter when the switching tubes S1, S4, S6 are on, and the current flow when the other switching tubes are on can also be deduced, which is not shown here by way of illustration.
As can be seen from fig. 3 and 4, V1 (100) represents the effective voltage vector applied to the motor M at this time as V1 when the switching transistors S1, S4, S6 are turned on. By analogy, V2 (110) represents the effective voltage vector applied to the motor M at this time as V2 when the switching transistors S1, S3, S6 are turned on; v3 (010) represents the effective voltage vector applied to the motor M at this time when the switching transistors S2, S3, S6 are turned on as V3; v4 (011) denotes the effective voltage vector acting on the motor M at this time being V4 when the switching transistors S2, S3, S5 are turned on; v5 (001) represents the effective voltage vector applied to the motor M at this time when the switching transistors S2, S4, S5 are turned on as V5; v6 (101) indicates that when the switching transistors S1, S4, S5 are turned on, the effective voltage vector applied to the motor M at this time is V6.
According to the multiple switch states of the inverter, determining the voltage vector output by the inverter in each switch state, and according to the voltage vector of each switch state and the actual working state parameter at the first moment, predicting the working state of the motor at the second moment by adopting a discrete prediction model of the permanent magnet synchronous motor to obtain multiple prediction working state parameters corresponding to the multiple switch states.
S30: and determining the optimal state of the inverter according to the environment monitoring parameters at the first moment and various predicted working state parameters.
In this embodiment, according to the environmental monitoring parameter and the plurality of predicted operating state parameters at the first moment, when the environmental adjusting device calculates each predicted operating state parameter, the operating efficiency when the environmental monitoring parameter reaches the preset environmental standard parameter is calculated, and according to the operating efficiency corresponding to the plurality of predicted operating state parameters, the optimal predicted operating state parameter is determined, so as to determine that the state of the inverter corresponding to the optimal predicted operating state parameter is the optimal state.
S40: and controlling the inverter according to the control parameters of the optimal state of the inverter so that the inverter drives the motor to drive the environment adjusting equipment to operate in the optimal state.
In this embodiment, the control parameter in the optimal state is used to indicate the switching tube conducted on each bridge arm of the inverter, and according to the control parameter in the optimal state, the conduction and the tube section of the switching tube on each bridge arm of the inverter are controlled, so that the inverter drives the motor to work in the optimal state, and the motor band-pass environment adjusting device runs until the working efficiency of the motor reaches the optimal, and the environmental parameters of the environment where the motor is located can also reach the optimal.
In some embodiments, since the working efficiency and the environmental parameters of the motor cannot be controlled to be optimal after the working state of the inverter is predicted and adjusted once, a rolling time domain control strategy is required to be adopted to continuously calculate the optimal state of the inverter in a plurality of moments so as to ensure that the working efficiency and the environmental parameters of the motor can be optimal after the adjustment in a plurality of continuous moments.
According to the motor control method provided by the embodiment, various predicted working state parameters of the motor at the second moment are predicted according to various states of the inverter and actual working state parameters of the motor, and the optimal state of the inverter at the second moment is determined according to the environment monitoring parameters and the various predicted working state parameters, so that the motor is driven to drive the environment adjusting device to operate under the optimal state by controlling the inverter, multi-objective optimizing of the environment adjusting device is realized, and the working efficiency of the motor and the environment adjusting parameters of the environment where the environment adjusting device is located are both guaranteed to be optimal.
One possible implementation of the above calculation of the plurality of predicted operating state parameters is described below in connection with the embodiments.
Referring to fig. 5, a second flow chart of the motor control method according to the embodiment of the present application is shown in fig. 5, in which the step S20 calculates, according to various states and actual operating state parameters of the inverter, various predicted operating state parameters of the motor at a second time in the various states, respectively, and the process may include:
s21: and respectively calculating the direct-axis voltage and the quadrature-axis voltage corresponding to the multiple states according to the multiple states of the inverter and the motor rotor angle of the motor at the first moment.
In this embodiment, the switching states of the three arms of the inverter are defined as Sa, sb, sc, respectively, and the switching state set of the inverter is vx= [ Sa, sb, sc ]] T Wherein Sa, sb and Sc are 1, which means that the upper switching tube of the corresponding bridge arm is conducted, sa, sb and Sc are 0, which means that the lower switching tube of the corresponding bridge arm is conducted.
According to various states of the inverter, the motor rotor angle theta of the motor at the first moment and the DC bus voltage U of the inverter dc Respectively calculating the direct-axis voltages u corresponding to various states d And quadrature axis voltage u q 。
Illustratively, a direct axis voltage u d And quadrature axis voltage u q The calculation formula of (2) can be expressed as:
s22: and respectively calculating various predicted working state parameters at the second moment according to the direct-axis voltage and the quadrature-axis voltage corresponding to the various states and the three-phase current of the motor at the first moment.
In this embodiment, according to the three-phase current of the motor in the three-phase stationary coordinate system at the first moment, the direct current i in the two-phase rotating coordinate system is obtained through coordinate conversion d (k) And quadrature axis current i q (k) According to the direct-axis voltage u in a plurality of states d And quadrature axis voltage u q Direct axis current i at first moment d (k) And quadrature axis current i q (k) And calculating a plurality of predicted operating state parameters at a second moment by the electronic rotor angle theta, wherein each predicted operating state parameter comprises: direct axis current i of motor at second moment d (k+1), motor rotation speed n r (k+1) and motor current magnitude I (k+1).
By way of example, the formula for calculating the predicted operating state parameter may be expressed as:
I(k+1)＝(i d (k+1) 2 +i q (k+1) 2 ) 0.5 (7)
wherein k represents a first time, k+1 represents a second time, T s For regulating control period of control system for environment, L s Stator inductance of permanent magnet synchronous motor f Is the permanent magnet flux linkage of the permanent magnet synchronous motor, R s Is the stator resistance omega of the permanent magnet synchronous motor e The electric angular velocity of the motor rotor is J is rotational inertia, B is friction coefficient and T e Is electromagnetic torque, T L For load torque, P n Is the pole pair number of the permanent magnet synchronous motor.
For example, the electrical angular velocity ω of the electronic rotor may be calculated by deriving the motor rotor angle θ e (k) According to the angle theta of the motor rotor and the quadrature current i q (k) Calculating the load torque T L (k)。
And in each control period of the environment regulation control system, obtaining a predicted working state parameter corresponding to each switch state by traversing the motor rotating speed, the direct-axis current, the quadrature-axis current and the motor current amplitude corresponding to each switch state in the switch state set of the inverter.
One possible implementation of the above determination of the optimal state of the inverter is described below with reference to the embodiments.
Referring to fig. 6, a third flow chart of the motor control method according to the embodiment of the present application, as shown in fig. 6, the step of determining the optimal state of the inverter according to the environmental monitoring parameter and the plurality of predicted operating state parameters at the first time S30 may include:
s31: and calculating a reference working state parameter of the motor according to the environment monitoring parameter.
In this embodiment, since the motor drives the environment adjusting device to work to adjust various parameters of the environment where the environment adjusting device is located, in order to optimize the environmental parameters of the environment where the environment adjusting device is located, the reference working state parameters corresponding to the motor need to be determined.
In some embodiments, the reference operating state parameter of the motor may be calculated based on a difference between the environmental monitoring parameter and a preset environmental standard parameter.
S32: and calculating the value evaluation parameters of the various states according to the reference working state parameters and the various predicted working state parameters.
In the present embodiment, the square difference of the reference operating state parameter and each of the predicted operating state parameters is calculated as the value evaluation parameter for each state.
In some embodiments, the limit working state parameter of the motor is used as a constraint condition, and if the predicted working state parameter is greater than the limit working state parameter, the value evaluation parameter corresponding to the state is determined to be an invalid value evaluation parameter.
S33: and determining the optimal state according to the value evaluation parameters of the various states.
In this embodiment, according to the value evaluation parameters of the multiple states, it is determined that the switching state corresponding to the minimum value evaluation parameter is the optimal switching state of the inverter at the second moment.
According to the motor control method provided by the embodiment, the reference working state parameter of the motor is calculated based on the environment monitoring parameter, so that the value evaluation parameters of various states are calculated according to the reference working state parameter and various predicted working state parameters, the switching state corresponding to the minimum value evaluation parameter is determined to be the optimal switching state of the inverter at the second moment, and the environment parameter of the environment where the environment regulating equipment is located can be guaranteed to be optimal when the motor drives the environment regulating equipment to work.
In one possible implementation manner, the calculating the reference operating state parameter of the motor according to the environmental monitoring parameter S31 may include:
and calculating the rotating speed of the reference motor according to the environment monitoring parameter and the target environment parameter.
In this embodiment, taking the environment adjusting device as a fan as an example, the air volume of the fan is in direct proportion to the rotational speed of the motor, the air pressure is in direct proportion to the square of the rotational speed of the motor, the power of the motor shaft is in direct proportion to the square of the rotational speed of the motor, and the air volume and the air pressure can directly influence the environmental temperature, the environmental humidity and various air quality parameters of the environment where the fan is located, therefore, the control of the air volume, the air pressure and the power of the fan can be realized by determining the optimal rotational speed of the motor, and the environmental temperature, the environmental humidity and the various air quality parameters of the environment where the fan is located can be optimized.
Based on this, with the preset environmental standard parameter as the target and environmental parameter, the reference motor rotation speed is calculated from the difference between the environmental monitoring parameter and the target environmental parameter.
In a possible implementation manner, please refer to fig. 7, which is a flow chart diagram of a motor control method provided by an embodiment of the present application, as shown in fig. 7, the calculating the reference motor rotation speed according to the environmental monitoring parameter and the target environmental parameter may include:
s311: and calculating a plurality of environment adjustment parameters according to the plurality of environment monitoring parameters and the target environment parameters corresponding to the plurality of environment monitoring parameters.
S312: and weighting a plurality of environment adjustment parameters, and calculating the rotating speed of the reference motor.
In this embodiment, if the environmental conditioning apparatus has a diversified function, the environmental conditioning control system includes a plurality of environmental monitoring sensors, each of which is used for monitoring an environmental parameter, for example, the fresh air system needs to adjust not only the temperature and humidity in the environment, but also the air quality of the environment, such as PM2.5, and the plurality of environmental monitoring parameters include: the temperature, the humidity and the air quality, and each environment monitoring parameter has a corresponding target environment parameter, wherein the target environment parameter can be obtained by customizing the environment adjusting equipment by a user or can be a default environment parameter of the environment adjusting equipment.
The formula for calculating the environmental adjustment parameter corresponding to each environmental monitoring parameter can be expressed as:
wherein x is an environmental monitoring parameter, y is a target environmental parameter corresponding to the environmental monitoring parameter, and k 1 、k 2 And k 3 An adjustment coefficient that is a f-function.
And after the environment adjustment parameters corresponding to the environment monitoring parameters are obtained through calculation, weighting the environment adjustment parameters, and taking the weighted result as the rotating speed of the reference motor.
For example, the formula for calculating the reference motor speed may be expressed as:
F(x n ,y n )＝z 1 f(x 1 ,y 1 )+z 2 f(x 2 ,y 2 )+...+z n f(x n ,y n ) (9)
wherein z is 1 、z 2 ……z 0 The weight coefficient corresponding to each environmental monitoring parameter can be set according to the requirement, and the embodiment is not limited to this.
According to the motor control method provided by the embodiment, the plurality of environment adjustment parameters are calculated according to the plurality of environment monitoring parameters and the target environment parameters corresponding to the plurality of environment monitoring parameters, and the reference motor rotating speed is calculated by weighting the plurality of environment adjustment parameters, so that the parameter adjustment of the environment where the environment adjustment device is located can be optimized after the optimal state of the inverter is determined according to the reference motor rotating speed.
In one possible implementation, each predicted operating state parameter includes: predicting the motor rotation speed, predicting the motor direct current and predicting the motor current amplitude, wherein the step S32 calculates the value evaluation parameters of various states according to the reference operating state parameters and various predicted operating state parameters, and the method may include:
And calculating the value evaluation parameter of each state according to the reference motor rotating speed, the predicted motor direct-axis current, the reference motor direct-axis current, the predicted motor current amplitude and the reference motor current amplitude.
In an embodiment, the difference between the motor speeds is calculated from the reference motor speed and the predicted motor speed, the difference between the direct current is calculated from the predicted motor direct current and the reference motor direct current, and the value evaluation parameter is constrained from the predicted motor current amplitude and the reference motor current amplitude, the predicted motor speed and the maximum motor speed, the reference motor current amplitude being the maximum current amplitude of the motor, and if the predicted motor current amplitude is greater than the reference motor current amplitude, or the predicted motor speed is greater than the maximum motor speed, the value evaluation parameter for the state is the invalid value evaluation parameter.
By way of example, the calculation formula of the value evaluation parameter may be expressed as:
g＝λ 1 (F(ESP*,ESP)-n r ) 2 +λ 2 (i d *-i d ) 2 +K(I,I max )+K(n r ,n rmax ) (10)
wherein ESP is * For the target environmental parameter, ESP is an environmental monitoring parameter, F (ESP * ESP) represents the reference motor speed, n r For predicting motor speed at the second moment, n rmax For maximum motor rotation, i d * For reference motor direct current, i d For the predicted motor direct-axis current at the second moment, I is the predicted motor current amplitude at the second moment, I max For reference to dynamo-electricThe flow magnitudes, λ1 and λ2 are the weighting coefficients of the cost assessment function.
Wherein K is a constraint function, and the calculation formula thereof can be expressed as:
according to the motor control method provided by the embodiment, the value evaluation parameters of each state are calculated according to the reference motor rotating speed, the predicted motor straight-axis current, the reference motor straight-axis current, the predicted motor current amplitude and the reference motor current amplitude, so that the optimal value evaluation parameters are determined to correspond to the optimal states, the inverter drives the motor to drive the environment adjusting equipment to operate in the optimal states, the optimal control of a plurality of targets such as the environment parameters, the motor rotating speed, the motor straight-axis current and the like is realized, the working efficiency of the motor is ensured to be optimal, and the environment parameters of the environment can be also optimal.
With reference to the above embodiments, a specific implementation procedure of the motor control method of the present application will be described below.
Specifically, a position sensor or a position encoder is adopted to obtain the motor rotor angle theta at the current moment, and a current sensor is adopted to obtain three-phase current i of the motor under a three-phase static coordinate system a 、i b 、i c Sampling the DC bus voltage U of the inverter at the current moment through a voltage sensor dc According to the switch state set vx= [ Sa, sb, sc ] of the inverter] T Motor rotor angle θ, and dc bus voltage U dc Calculating the direct-axis voltage u corresponding to the current moment of various switch states of the inverter by adopting the formula (1) d (k) And quadrature axis voltage u q (k) The direct-axis current i of the motor at the current moment is obtained by carrying out coordinate transformation on the three-phase current of the motor d (k) And quadrature axis current i q (k) The direct-axis voltage u at the current moment in each switching state d (k) Voltage u of quadrature axis q (k) Current i of straight axis d (k) And quadrature axis current i q (k) As a model of discrete predictions of an electric machineA set of input quantities.
Adopting the discrete prediction model formed by the formula (2) -formula (7) to make the direct-axis voltage u of each switch state at the current moment d (k) Voltage u of quadrature axis q (k) Current i of straight axis d (k) And quadrature axis current i q (k) And respectively carrying into each formula to output a plurality of predicted value sets of the motor at the next moment, wherein each predicted value set corresponds to each switch state, and each predicted value set comprises: motor rotation speed n of motor at next moment r (k+1), motor current amplitude I (k+1) of the motor at the next moment, and direct axis current I of the motor at the next moment d (k+1)。
Acquiring a plurality of environmental monitoring parameters (x) of a current time acquired by a plurality of environmental monitoring sensors in an environmental conditioning control system 1 ，x 2 ，……，x n ) The plurality of environmental monitoring parameters have corresponding reference environmental parameters (y 1 ，y 2 ，……，y n ) Based on each environment monitoring parameter x i And corresponding reference environmental parameter y i Calculating each environment monitoring parameter x by using the formula (8) i Corresponding environmental regulation parameters f (x i ，y i ) Calculating to obtain the reference motor rotating speed n by adopting the formula (9) according to the environment regulation parameters corresponding to the environment monitoring parameters r *。
According to the reference motor speed n r * Motor rotation speed n of motor at next moment r (k+1), maximum motor rotation speed n rmax Direct current i of motor at next moment d (k+1), reference motor direct current i d * Motor current amplitude I (k+1) of motor at next moment, reference motor current amplitude I max And calculating a value evaluation parameter corresponding to a predicted value of the motor at the next moment in each switching state by adopting the formula (10) and the formula (11), so that the switching state corresponding to the value evaluation parameter with the minimum value evaluation parameter of the predicted values corresponding to various switching states is taken as the optimal switching state of the inverter at the next moment, and the inverter is controlled to work in the optimal working state to drive the motor to rotate at the next moment to drive the environment adjusting equipment to work.
By adopting a rolling time domain control strategy and through optimizing control of the working state of the inverter at a plurality of moments, the motor rotating speed, the motor current and the environmental parameters of the environment where the motor current are positioned of the environment adjusting equipment can be guaranteed to be optimal after the moments, the constraint condition is utilized to prevent the working state of the motor from exceeding a safety threshold, and the safety of the motor is guaranteed.
On the basis of the method embodiment, the embodiment of the application also provides a motor control device, which is applied to a controller in an environment adjustment control system, and the environment adjustment control system further comprises: inverter, motor and environment conditioning equipment. Referring to fig. 8, a schematic structural diagram of a motor control device according to an embodiment of the present application is shown in fig. 8, where the device may include:
the data acquisition module 10 is used for acquiring the actual working state parameters of the motor at the first moment and the environment monitoring parameters of the environment where the environment regulating equipment is located at the first moment;
the data calculation module 20 is configured to calculate, according to the various states and the actual operating state parameters of the inverter, various predicted operating state parameters of the motor at the second moment in the various states;
a state determining module 30, configured to determine an optimal state of the inverter according to the environmental monitoring parameter and the plurality of predicted operating state parameters at the first moment;
the driving control module 40 is configured to control the inverter according to a control parameter of an optimal state of the inverter, so that the inverter drives the motor to drive the environmental conditioning device to operate in the optimal state.
Optionally, the data calculating module 20 is specifically configured to calculate, according to a plurality of states of the inverter and a motor rotor angle of the motor at the first moment, a direct axis voltage and a quadrature axis voltage corresponding to the plurality of states respectively; and respectively calculating various predicted working state parameters at the second moment according to the direct-axis voltage and the quadrature-axis voltage corresponding to the various states and the three-phase current of the motor at the first moment.
Optionally, the state determining module 30 includes:
the state parameter calculation unit is used for calculating a reference working state parameter of the motor according to the environment monitoring parameter;
the evaluation parameter calculation unit is used for calculating value evaluation parameters of various states according to the reference working state parameters and various predicted working state parameters;
and the state determining unit is used for determining the optimal state according to the value evaluation parameters of the multiple states.
Optionally, the state parameter calculating unit is specifically configured to calculate the reference motor rotation speed according to the environmental monitoring parameter and the target environmental parameter.
Optionally, the state parameter calculation unit is specifically configured to calculate a plurality of environmental adjustment parameters according to the plurality of environmental monitoring parameters and target environmental parameters corresponding to the plurality of environmental monitoring parameters; and weighting a plurality of environment adjustment parameters, and calculating the rotating speed of the reference motor.
Optionally, each predicted operating state parameter includes: the evaluation parameter calculation unit is specifically used for calculating the value evaluation parameter of each state according to the reference motor speed, the predicted motor direct current, the reference motor direct current, the predicted motor current amplitude and the reference motor current amplitude.
The foregoing apparatus is used for executing the method provided in the foregoing embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
The above modules may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASICs), or one or more microprocessors, or one or more field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGAs), etc. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Referring to fig. 9, a schematic diagram of a controller according to an embodiment of the application is provided, where the controller 100 includes: processor 101, storage medium 102, and bus, storage medium 102 stores program instructions executable by processor 101, and when controller 100 is running, processor 101 communicates with storage medium 102 via the bus, and processor 101 executes the program instructions to perform the method embodiments as described above. The specific implementation manner and the technical effect are similar, and are not repeated here.
Optionally, the present invention further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor performs the above-mentioned method embodiments.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method 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 the embodiments of the present invention 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 integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform some of the steps of the methods according to the embodiments of the invention. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
The foregoing is merely illustrative of embodiments of the present invention, and the present invention is not limited thereto, and any changes or substitutions can be easily made by those skilled in the art within the technical scope of the present invention, and the present invention is intended to be covered by the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. A motor control method, characterized by being applied to a controller in an environment-conditioning control system, the environment-conditioning control system further comprising: an inverter, a motor, and an environmental conditioning apparatus, the method comprising:
acquiring an actual working state parameter of the motor at a first moment and an environment monitoring parameter of an environment where the environment adjusting equipment is located at the first moment;
according to various states of the inverter and the actual working state parameters, calculating various predicted working state parameters of the motor at a second moment under the various states respectively;
determining an optimal state of the inverter according to the environment monitoring parameters at the first moment and the plurality of predicted working state parameters;
and controlling the inverter according to the control parameters of the optimal state of the inverter, so that the inverter drives the motor to drive the environment regulating equipment to operate in the optimal state.
2. The method of claim 1, wherein said calculating a plurality of predicted operating state parameters of said motor at a second time in said plurality of states based on said plurality of states of said inverter and said actual operating state parameters, respectively, comprises:
Respectively calculating the direct-axis voltage and the quadrature-axis voltage corresponding to various states of the inverter and the motor rotor angle of the motor at the first moment;
and respectively calculating various predicted working state parameters at the second moment according to the direct-axis voltage and the quadrature-axis voltage corresponding to the various states and the three-phase current of the motor at the first moment.
3. The method of claim 1, wherein said determining an optimal state of the inverter based on the environmental monitoring parameter at the first time and the plurality of predicted operating state parameters comprises:
calculating a reference working state parameter of the motor according to the environment monitoring parameter;
calculating value evaluation parameters of the multiple states according to the reference working state parameters and the multiple prediction working state parameters;
and determining the optimal state according to the value evaluation parameters of the multiple states.
4. A method according to claim 3, wherein said calculating a reference operating state parameter of said motor from said environmental monitoring parameter comprises:
and calculating the rotating speed of the reference motor according to the environment monitoring parameter and the target environment parameter.
5. The method of claim 4, wherein said calculating said reference motor speed based on said environmental monitoring parameter and a target environmental parameter comprises:
calculating a plurality of environment adjustment parameters according to the plurality of environment monitoring parameters and target environment parameters corresponding to the plurality of environment monitoring parameters;
and weighting the plurality of environment adjustment parameters, and calculating the rotating speed of the reference motor.
6. The method of claim 4, wherein each predicted operating state parameter comprises: predicting motor rotation speed, predicting motor direct current and predicting motor current amplitude, calculating value evaluation parameters of the multiple states according to the reference working state parameters and the multiple predicting working state parameters, including:
and calculating a value evaluation parameter of each state according to the reference motor rotating speed, the predicted motor straight-axis current, the reference motor straight-axis current, the predicted motor current amplitude and the reference motor current amplitude.
7. A motor control device characterized by being applied to a controller in an environment adjustment control system, the environment adjustment control system further comprising: inverter, motor and environmental conditioning equipment, the device includes:
The data acquisition module is used for acquiring actual working state parameters of the motor at a first moment and environment monitoring parameters of the environment where the environment adjusting equipment is located at the first moment;
the data calculation module is used for calculating various predicted working state parameters of the motor at a second moment under the various states according to the various states of the inverter and the actual working state parameters;
the state determining module is used for determining the optimal state of the inverter according to the environment monitoring parameters at the first moment and the plurality of predicted working state parameters;
and the driving control module is used for controlling the inverter according to the control parameters of the optimal state of the inverter so that the inverter drives the motor to drive the environment regulating equipment to operate in the optimal state.
8. An environmental conditioning control system, the environmental conditioning control system comprising: the system comprises a controller, an inverter, a motor and environment adjusting equipment;
wherein the controller is respectively connected with the inverter and the motor, the inverter is also connected with the motor, the motor is connected with the environment adjusting device, and the controller is used for executing the steps of the motor control method according to any one of the claims 1 to 6, so that the inverter drives the motor to drive the environment adjusting device to operate under the optimal state.
9. A controller, comprising: a processor, a storage medium and a bus, the storage medium storing program instructions executable by the processor, the processor and the storage medium communicating via the bus when the controller is running, the processor executing the program instructions to perform the steps of the motor control method according to any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the motor control method according to any one of claims 1 to 6.
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| CN117691918B (en) * | 2024-02-02 | 2024-04-30 | 广东凌霄泵业股份有限公司 | Control method and system for swimming pool pump motor |
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