CN117559879A - Motor carrier slope adjusting method, device, equipment and medium - Google Patents
Motor carrier slope adjusting method, device, equipment and medium Download PDFInfo
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a method, a device, equipment and a medium for regulating carrier slope of a motor, which comprise the following steps: acquiring the actual rotating speed and the actual torque of a target motor; according to the actual rotating speed, the actual torque and the corresponding relation between the rotating speed, the torque and the carrier frequency, determining the actual carrier frequency change state of the target motor in the current carrier period, and determining the actual carrier frequency corresponding to the actual rotating speed and the actual torque; determining a target slope of a loaded carrier in a current carrier period according to an actual carrier frequency change state, an actual carrier frequency, a target random number, a preset frequency fluctuation threshold and an actual carrier amplitude of the current carrier period; and controlling the target motor to load the carrier wave according to the target slope in the current carrier wave period. The invention can randomly change the carrier slope, reduce the frequency of the output voltage generating higher harmonic at the carrier frequency and integer multiple thereof, further reduce electromagnetic noise and interference and improve the running performance of the target motor.
Description
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to a method, an apparatus, a device, and a medium for adjusting a carrier slope of a motor.
Background
In order to alleviate the energy crisis of non-renewable resources, new energy automobiles are rapidly developed. New energy automobiles are usually powered by motors, such as asynchronous motors, permanent magnet synchronous motors, and the like.
However, when the motor is controlled using conventional SVPWM (Space Vector Pulse Width Modulation, voltage space vector modulation) techniques, the output voltage may generate a large number of higher harmonics at the carrier frequency and integer multiples thereof, thereby bringing about a large amount of electromagnetic noise and interference, affecting the electromagnetic compatibility of the system. Therefore, how to reduce the interference of the harmonic wave to the motor is a problem to be solved.
Disclosure of Invention
According to the method, the device, the equipment and the medium for adjusting the carrier slope of the motor, the technical problem that output voltage can generate a large number of higher harmonics at the carrier frequency and the integral multiple frequency thereof when the SVPWM is used for controlling the motor in the prior art is solved, the probability that the output voltage generates the higher harmonics at the carrier frequency and the integral multiple frequency thereof is reduced, and then the technical effect of interference of the harmonics to the motor is reduced.
In a first aspect, the present application provides a method for adjusting a carrier slope of a motor, the method comprising:
acquiring the actual rotating speed and the actual torque of a target motor;
according to the actual rotating speed, the actual torque and the corresponding relation between the rotating speed, the torque and the carrier frequency, determining the actual carrier frequency change state of the target motor in the current carrier period, and determining the actual carrier frequency corresponding to the actual rotating speed and the actual torque;
determining a target slope of a loaded carrier in a current carrier period according to an actual carrier frequency change state, an actual carrier frequency, a target random number, a preset frequency fluctuation threshold and an actual carrier amplitude of the current carrier period;
and controlling the target motor to load the carrier wave according to the target slope in the current carrier wave period.
Further, determining the target slope of the loaded carrier in the current carrier period according to the actual carrier frequency variation state, the actual carrier frequency, the target random number, the preset frequency fluctuation threshold value and the actual carrier amplitude of the current carrier period, including:
when the actual carrier frequency change state is a carrier frequency change state, determining a first period length of a current carrier period according to an actual carrier frequency, a target random number and a preset frequency fluctuation threshold value;
and determining a target slope of the loaded carrier in the current carrier period according to the first period length, the target random number and the actual carrier amplitude.
Further, determining the target slope of the loaded carrier in the current carrier period according to the actual carrier frequency variation state, the actual carrier frequency, the target random number, the preset frequency fluctuation threshold value and the actual carrier amplitude of the current carrier period, including:
when the actual carrier frequency change state is a fixed carrier frequency state, determining a second period length of the current carrier period according to the actual carrier frequency of the current carrier period;
and determining a target slope of the loaded carrier in the current carrier period according to the second period length, the target random number and the actual carrier amplitude.
Further, in the process of controlling the target motor to load the carrier according to the target slope in the current carrier period, the method further comprises the following steps:
determining an actual carrier ratio according to the actual carrier frequency of the target motor and the motor frequency of the target motor;
determining a target carrier frequency of a current carrier period according to an actual carrier frequency change state, an actual carrier frequency, a target random number and a preset frequency fluctuation threshold;
determining a target carrier ratio according to the target carrier frequency and the motor frequency;
determining a target adjustment parameter of a current loop of a target motor according to the change characteristics between the actual carrier ratio and the target carrier ratio;
the control current loop operates according to the target adjustment parameter in the current carrier period.
Further, determining a target adjustment parameter of a current loop of the target motor according to a change characteristic between the actual carrier ratio and the target carrier ratio, including:
when the target carrier ratio is larger than the actual carrier ratio, reducing the proportional-integral parameter of the current loop, and taking the reduced proportional-integral parameter as a target adjustment parameter;
when the target carrier ratio is smaller than the actual carrier ratio, the proportional-integral parameter of the current loop is increased, and the increased proportional-integral parameter is used as a target adjustment parameter.
Further, when the target motor is controlled to load the carrier according to the target slope in the current carrier period, the method further comprises:
the clock signal frequency of the control target motor is kept synchronous with the carrier frequency.
Further, the method for generating the target random number comprises the following steps:
and randomly generating a target random number according to the clock signal frequency of the target motor.
In a second aspect, the present application provides a carrier slope adjustment device for a motor, the device comprising:
the acquisition module is used for acquiring the actual rotating speed and the actual torque of the target motor;
the actual carrier frequency determining module is used for determining the actual carrier frequency change state of the target motor in the current carrier period according to the actual rotating speed, the actual torque, the corresponding relation between the rotating speed, the torque and the carrier frequency, and determining the actual carrier frequency corresponding to the actual rotating speed and the actual torque;
the target slope determining module is used for determining a target slope of a loaded carrier in a current carrier period according to an actual carrier frequency change state, an actual carrier frequency, a target random number, a preset frequency fluctuation threshold value and an actual carrier amplitude of the current carrier period;
and the control module is used for controlling the target motor to load the carrier wave according to the target slope in the current carrier wave period.
Further, the target slope determination module is configured to:
when the actual carrier frequency change state is a carrier frequency change state, determining a first period length of a current carrier period according to an actual carrier frequency, a target random number and a preset frequency fluctuation threshold value;
and determining a target slope of the loaded carrier in the current carrier period according to the first period length, the target random number and the actual carrier amplitude.
Further, the target slope determination module is configured to:
when the actual carrier frequency change state is a fixed carrier frequency state, determining a second period length of the current carrier period according to the actual carrier frequency of the current carrier period;
and determining a target slope of the loaded carrier in the current carrier period according to the second period length, the target random number and the actual carrier amplitude.
Further, the device also comprises a current loop adjustment module for:
in the process of controlling a target motor to load a carrier wave according to a target slope in a current carrier wave period, determining an actual carrier wave ratio according to an actual carrier wave frequency of the target motor and a motor frequency of the target motor;
determining a target carrier frequency of a current carrier period according to an actual carrier frequency change state, an actual carrier frequency, a target random number and a preset frequency fluctuation threshold;
determining a target carrier ratio according to the target carrier frequency and the motor frequency;
determining a target adjustment parameter of a current loop of a target motor according to the change characteristics between the actual carrier ratio and the target carrier ratio;
the control current loop operates according to the target adjustment parameter in the current carrier period.
Further, the current loop adjustment module is used for:
when the target carrier ratio is larger than the actual carrier ratio, reducing the proportional-integral parameter of the current loop, and taking the reduced proportional-integral parameter as a target adjustment parameter;
when the target carrier ratio is smaller than the actual carrier ratio, the proportional-integral parameter of the current loop is increased, and the increased proportional-integral parameter is used as a target adjustment parameter.
Further, the control module is further configured to:
and when the control target motor loads the carrier wave according to the target slope in the current carrier wave period, the clock signal frequency of the control target motor is kept synchronous with the carrier wave frequency.
Further, the device also comprises a random number generation module for:
and randomly generating a target random number according to the clock signal frequency of the target motor.
In a third aspect, the present application provides an electronic device, including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute to implement a motor carrier slope adjustment method as provided in the first aspect.
In a fourth aspect, the present application provides a non-transitory computer readable storage medium, which when executed by a processor of an electronic device, causes the electronic device to perform a method of implementing a motor carrier slope adjustment as provided in the first aspect.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
according to the embodiment, the actual carrier frequency change state of the target motor in the current carrier period is determined according to the actual rotating speed and the actual torque of the target motor, the actual carrier frequency corresponding to the actual rotating speed and the actual torque is determined, the target slope of the loaded carrier in the current carrier period is further determined according to the actual carrier frequency change state, the actual carrier frequency, the target random number, the preset frequency fluctuation threshold value and the actual carrier amplitude of the current carrier period, so that the target motor loads the carrier according to the target slope in the current carrier period, the purpose of randomly changing the carrier slope is achieved, the frequency of the output voltage for generating higher harmonics at the carrier frequency and the integral multiple thereof is reduced, electromagnetic noise and interference are further reduced, and the running performance of the target motor is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for adjusting carrier slope of a motor provided in the present application;
fig. 2 is a schematic diagram of three sets of triangular waves in a carrier wave provided in the present application;
FIG. 3 is a schematic diagram of two triangular waves with different loading frequencies provided by the present application;
FIG. 4 is a graph having k 1 And k 2 Carrier loading schematic of slope;
FIG. 5 is a graph with k 3 And k 4 Carrier loading schematic of slope;
fig. 6 is a schematic structural diagram of a motor carrier slope adjustment device provided in the present application;
fig. 7 is a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
The embodiment of the application solves the technical problem that when the SVPWM is utilized to control the motor in the prior art, the output voltage can generate a large number of higher harmonics at the carrier frequency and the integral multiple frequency thereof.
The technical scheme of the embodiment of the application aims to solve the technical problems, and the overall thought is as follows:
a method for adjusting carrier slope of a motor, the method comprising: acquiring the actual rotating speed and the actual torque of a target motor; according to the actual rotating speed, the actual torque and the corresponding relation between the rotating speed, the torque and the carrier frequency, determining the actual carrier frequency change state of the target motor in the current carrier period, and determining the actual carrier frequency corresponding to the actual rotating speed and the actual torque; determining a target slope of a loaded carrier in a current carrier period according to an actual carrier frequency change state, an actual carrier frequency, a target random number, a preset frequency fluctuation threshold and an actual carrier amplitude of the current carrier period; and controlling the target motor to load the carrier wave according to the target slope in the current carrier wave period.
According to the embodiment, the actual carrier frequency change state of the target motor in the current carrier period is determined according to the actual rotating speed and the actual torque of the target motor, the actual carrier frequency corresponding to the actual rotating speed and the actual torque is determined, the target slope of the loaded carrier in the current carrier period is further determined according to the actual carrier frequency change state, the actual carrier frequency, the target random number, the preset frequency fluctuation threshold value and the actual carrier amplitude of the current carrier period, so that the target motor loads the carrier according to the target slope in the current carrier period, the purpose of randomly changing the carrier slope is achieved, the frequency of the output voltage for generating higher harmonics at the carrier frequency and the integral multiple thereof is reduced, electromagnetic noise and interference are further reduced, and the running performance of the target motor is improved.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
First, the term "and/or" appearing herein is merely an association relationship describing associated objects, 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.
In order to solve the above technical problems, the present embodiment provides a method for adjusting a carrier slope of a motor as shown in fig. 1, which includes steps S11 to S14.
Step S11, obtaining the actual rotating speed and the actual torque of a target motor;
step S12, determining an actual carrier frequency change state of the target motor in the current carrier period according to the actual rotating speed, the actual torque and the corresponding relation among the rotating speed, the torque and the carrier frequency, and determining the actual carrier frequency corresponding to the actual rotating speed and the actual torque;
step S13, determining a target slope of a loaded carrier in a current carrier period according to an actual carrier frequency change state, an actual carrier frequency, a target random number, a preset frequency fluctuation threshold value and an actual carrier amplitude of the current carrier period;
and S14, controlling the target motor to load the carrier wave according to the target slope in the current carrier wave period.
With respect to step S11, the actual rotational speed and the actual torque of the target motor are acquired.
The target motor can be determined according to the motor actually used by the new energy automobile. The target motor may be a synchronous motor, such as a permanent magnet synchronous motor, or an asynchronous motor, etc.
In the process of controlling the target motor by using the SVPWM technology, the actual rotation speed and the actual torque of the target motor are detected. The actual rotation speed and the actual torque may be instantaneous values at the current time or average values within a preset time period including the current time, and may specifically be selected according to actual situations.
Regarding step S12, according to the actual rotational speed, the actual torque, and the correspondence between the rotational speed, the torque, and the carrier frequency, the actual carrier frequency change state of the target motor in the current carrier period is determined, and the actual carrier frequency corresponding to the actual rotational speed and the actual torque is determined.
The corresponding relation between the rotating speed, the torque and the carrier frequency refers to the one-to-one corresponding relation among the rotating speed value, the torque value and the carrier frequency. The corresponding relation among the rotating speed, the torque and the carrier frequency can be obtained in a calibrated mode. The corresponding relation between the rotating speed, the torque and the carrier frequency can be represented by a three-dimensional curved surface graph or a table, and the specific form can be selected according to actual conditions.
As shown in table 1, the correspondence between the rotational speed, torque, and carrier frequency is represented by a table format, where n1, n2, n3 represent rotational speeds, M1, M2, M3 represent torques, CF11, CF12, CF13, CF21, and the like represent carrier frequencies.
TABLE 1
Based on the actual rotational speed and the actual torque obtained in step S11, an actual carrier frequency corresponding to the actual rotational speed and the actual torque may be determined by querying a correspondence between the rotational speed, the torque, and the carrier frequency.
Further, in the correspondence between the rotation speed, the torque and the carrier frequency, the carrier frequency change state of the motor in the current stage can be determined according to the state of whether the carrier frequency changes along with the change of the rotation speed and the torque. The carrier frequency change state may include a change carrier frequency state and a fixed carrier frequency state. The variable carrier frequency state refers to a state that the carrier frequency changes along with the change of the rotating speed and the torque; the fixed carrier frequency state refers to a state in which the carrier frequency remains unchanged with changes in rotational speed and torque.
According to the actual rotation speed and the actual torque obtained in the step S11, the corresponding relation among the rotation speed, the torque and the carrier frequency can be queried to determine whether the actual carrier frequency change state of the current carrier period belongs to a variable carrier frequency state or a fixed carrier frequency state.
Regarding step S13, a target slope of the loaded carrier in the current carrier period is determined according to the actual carrier frequency variation status, the actual carrier frequency, the target random number, the preset frequency fluctuation threshold, and the actual carrier amplitude of the current carrier period.
The carrier wave is typically a triangular wave, and each triangular wave in the carrier wave is formed by connecting two line segments with different slopes, as shown in fig. 2, which is a schematic diagram of three groups of triangular waves in a certain carrier wave. When the slope of each line segment in the triangular wave changes, the loading frequency of the characterization carrier wave changes, as shown in fig. 3, the triangular wave with two different loading frequencies is obtained.
The inventor finds that the probability of generating higher harmonic at the carrier frequency and the integral multiple frequency of the carrier frequency can be reduced by changing the loading frequency of the carrier, namely by changing the loading slope of the triangular wave in the carrier, so that electromagnetic noise is reduced, and the negative influence of the electromagnetic noise on the operation of a motor is reduced. The specific way to change the loading frequency of the carrier wave provided by the inventors is as follows:
based on the different states of the actual carrier frequency variation, the target slope of the loaded carrier in the current carrier period can be determined in different manners. When the actual carrier frequency change state is a carrier frequency change state, step S1301-step S1302 can be adopted to determine the target slope of the loaded carrier in the current carrier period; when the actual carrier frequency change state is a fixed carrier frequency state, steps S1311-S1312 may be employed to determine a target slope of the loaded carrier in the current carrier period.
[ variable Carrier frequency State ]
Step S1301, determining a first period length of a current carrier period according to an actual carrier frequency, a target random number and a preset frequency fluctuation threshold;
step S1302, determining a target slope of the loaded carrier in the current carrier period according to the first period length, the target random number and the actual carrier amplitude.
With respect to step S1301, the actual carrier frequency is obtained based on step S12.
The target random number can be realized by adopting a random number generation technology in the related technology, the target random number is obtained by adopting a linear congruence method, and a specific formula can be seen in a formula (1).
R j+1 ＝(A×R j +B)/M (1)
Wherein j represents the last time or the last time period, R j Representing the random number corresponding to the last time or the last time period, j+1 is the current time or the current time period, R j+1 Representing the random number (i.e., target random number) corresponding to the current time or current time period, M is a larger prime number, and A and B are constants. When a=2053, b=13849, m=65536 then R j+1 ＝(2053×R j +13849)/65536。
The method for determining the target random number by the linear congruence method has the advantages that the obtained random number is more in number, the random number is easy to select, more different target slopes can be obtained, the probability that the output voltage generates higher harmonic waves at the carrier frequency and the integral multiple frequency of the carrier frequency can be further reduced, electromagnetic noise is further reduced, and negative influence of the electromagnetic noise on motor operation is reduced.
The preset frequency fluctuation threshold is a threshold selected in a frequency fluctuation value range, and the frequency fluctuation value range can be selected according to the distribution of harmonic spectrums at actual carrier frequencies.
According to the actual carrier frequency, the target random number and the preset frequency fluctuation threshold, the first period length of the current carrier period is determined, and the specific reference can be seen in the formula (2).
Wherein f s1 For the actual carrier frequency, R 1 (i) Is the target random number corresponding to the ith moment, f 0 For the actual carrier frequency, Δf is a preset frequency fluctuation threshold, T s1 Is the first period length of the current carrier period.
With respect to step S1302, a target slope of the loaded carrier in the current carrier period is determined according to the first period length, the target random number and the actual carrier amplitude. As can be seen from fig. 2 and 3, each triangular wave has two different slopes, and thus the target slope includes a first slope and a second slope, which can be seen from equations (3) and (4).
Wherein k is 1 Is of a first slope, k 2 Is of a second slope, v s1 R is the actual carrier amplitude of the current carrier period 1 (1) Is the target random number corresponding to the 1 st moment. As shown in fig. 4, is a single-phase alternating current power supply with k 1 And k 2 Carrier loading of slopes is schematically illustrated.
[ fixed carrier frequency State ]
Step S1311, determining a second period length of the current carrier period according to the actual carrier frequency of the current carrier period;
step S1312, determining the target slope of the loaded carrier in the current carrier period according to the second period length, the target random number and the actual carrier amplitude.
In step S1311, the inverse of the actual carrier frequency is the second period length of the current carrier period, which is obtained in step S12, as shown in equation (5).
Wherein f s2 Is the actual carrier frequency. It should be noted that the present embodiment refers to the first period length as the period length of the variable carrier state (i.e., step S1301) and refers to the second period length as the period length of the fixed carrier state (i.e., step S1311).
Regarding step S1312, the target random number may be implemented by using a random number generation technique in the related art, and the present embodiment is obtained by using a linear congruence method, and a specific formula may be referred to the foregoing formula (1). It should be noted that, although the random numbers in step S1301 and step S1312 are both the target random numbers, the target random numbers in the two steps are calculated in a mutually independent manner, so that the target random numbers in the two steps are generally different, and it is needless to say that the situation that the two are identical by accident is not excluded.
The preset frequency fluctuation threshold is a threshold selected in a frequency fluctuation value range, and the frequency fluctuation value range can be selected according to the distribution of harmonic spectrums at actual carrier frequencies.
And determining a target slope of the loaded carrier in the current carrier period according to the second period length, the target random number and the actual carrier amplitude. As can be seen from fig. 2 and 3, each triangle has two different slopes, so the target slope includes a third slope and a fourth slope, which can be seen from equation (6) and equation (7). It is noted that the determined target slope includes a first slope and a second slope when in the variable carrier state, and includes a third slope and a fourth slope when in the fixed carrier state.
Wherein k is 3 Is of a third slope, k 4 For the fourth slope, v is the actual carrier amplitude of the current carrier period, R 2 (1) Is the target random number corresponding to the 1 st moment. As shown in fig. 5, is a single-phase alternating current power supply with k 3 And k 4 Carrier loading of slopes is schematically illustrated.
With respect to step S14, the control target motor loads the carrier wave according to the target slope in the current carrier wave period.
After determining the target slope according to step S13, the target motor is controlled to load the carrier according to the target slope in the current carrier period, so that the loading slope of the carrier is changed, and therefore, the probability of generating higher harmonics at the carrier frequency and the integral multiple frequency of the carrier frequency of the output voltage can be reduced, electromagnetic noise is further reduced, and negative influence of the electromagnetic noise on motor operation is reduced.
In the process of performing step S14, step S21 to step S25 may also be performed.
Step S21, determining an actual carrier ratio according to the actual carrier frequency of the target motor and the motor frequency of the target motor;
step S22, determining a target carrier frequency of the current carrier period according to the actual carrier frequency, the target random number and a preset frequency fluctuation threshold;
step S23, determining a target carrier ratio according to the target carrier frequency and the motor frequency;
step S24, determining a target adjustment parameter of a current loop of a target motor according to the change characteristics between the actual carrier ratio and the target carrier ratio;
step S25, the current loop is controlled to operate according to the target adjustment parameters in the current carrier period.
With respect to step S21, the motor frequency refers to the inverse of the motor rotational speed, i.e., the time required for each revolution of the motor. The actual carrier ratio refers to the ratio of the actual carrier frequency to the motor frequency.
Regarding step S22, the target carrier frequency of the current carrier period is determined according to the actual carrier frequency, the target random number, and the preset frequency fluctuation threshold, and the target carrier frequency is changed to the carrier frequency corresponding to the target slope, which can be seen in the formula (8).
f s ＝f 0 +R·Δf (8)
Wherein f s For the target carrier frequency, f 0 For the actual carrier frequency, R is a target random number, and Δf is a preset frequency fluctuation threshold.
In step S23, the target carrier ratio is changed to the carrier ratio corresponding to the target slope, so the target carrier ratio is the ratio of the target carrier frequency to the motor frequency.
In step S24, the change characteristic of changing the actual carrier ratio to the target carrier ratio is determined, and specifically, the magnitude relation between the target carrier ratio and the actual carrier ratio may be determined. And when the target carrier ratio is larger than the actual carrier ratio, reducing the proportional-integral parameter of the current loop, and taking the reduced proportional-integral parameter as a target adjustment parameter. When the target carrier ratio is smaller than the actual carrier ratio, the proportional-integral parameter of the current loop is increased, and the increased proportional-integral parameter is used as a target adjustment parameter.
When the carrier frequency changes, if the operation parameters of the current loop are not adjusted, the operation stability of the motor in a high-speed area is poor, so that the control current loop parameters change along with the change of the carrier frequency, namely the operation parameters of the current loop are adjusted along with the change of the carrier frequency, and the bandwidth stability of the current loop is ensured.
Regarding step S25, the control current loop operates according to the target adjustment parameter in the current carrier period, that is, the control current loop parameter changes along with the change of the carrier frequency, so as to ensure that the bandwidth stability of the current loop is higher.
Further, as can be seen from the foregoing formula (1), the random numbers corresponding to the two adjacent moments or the two adjacent time periods are related, and the target carrier frequency determined later is related to the random numbers, which means that the carrier frequencies corresponding to the two adjacent moments or the two adjacent time periods are also related, which essentially means that the control carrier frequency is kept synchronous with the clock signal frequency of the target motor, so that the problem that a larger switching harmonic wave is generated at the switching moment due to the phase difference between the carrier waveforms before and after switching can be avoided.
It should be noted that the target random number may be randomly generated according to the clock signal frequency of the target motor, so as to further ensure that the variation of the carrier frequency is consistent with the clock signal frequency, and further reduce the probability of generating higher harmonics at the carrier frequency and the integer multiple frequency of the carrier frequency by the output voltage, thereby reducing electromagnetic noise and reducing the negative influence of the electromagnetic noise on the motor operation.
In summary, in this embodiment, the actual carrier frequency change state of the target motor in the current carrier period is determined according to the actual rotation speed and the actual torque of the target motor, the actual carrier frequency corresponding to the actual rotation speed and the actual torque is determined, and the target slope of the loaded carrier in the current carrier period is further determined according to the actual carrier frequency change state, the actual carrier frequency, the target random number, the preset frequency fluctuation threshold value and the actual carrier amplitude of the current carrier period, so that the target motor loads the carrier in the current carrier period according to the target slope, thereby achieving the purpose of randomly changing the carrier slope, reducing the frequency of the output voltage generating higher harmonics at the carrier frequency and the integral multiple thereof, further reducing electromagnetic noise and interference, and improving the operation performance of the target motor.
According to the embodiment, the carrier slope random method and the random carrier frequency method are combined while the variable carrier frequency technology is realized, so that the random performance of the random carrier frequency can be fully exerted. Meanwhile, the zero voltage vector acting time is randomized through the random change of the asymmetric carrier slope, so that the high-frequency harmonic wave of the motor phase current can be better and more uniformly dispersed in a wider frequency spectrum range. Meanwhile, the PI parameter of the current loop is adjusted in real time according to the change of the carrier frequency, so that the stability of the bandwidth of the current inner loop is ensured.
In the embodiment, the random number generation program is triggered according to the clock signal frequency, and the clock signal frequency is changed along with the carrier random to ensure that the random number generation and the carrier random change keep synchronous, so that the problem that in the prior art, the clock signal frequency is switched according to the fixed frequency, and two random numbers before and after switching are not associated at all, so that a phase difference exists between carrier waveforms before and after switching, and larger switching harmonic wave is generated at the switching moment is solved.
The embodiment can be realized by software, and meanwhile, the number of the comparison registers is not required to be additionally increased, and meanwhile, the external hardware is not required to be changed.
Based on the same inventive concept, this embodiment provides a motor carrier slope adjustment device as shown in fig. 6, where the device includes:
an acquisition module 61 for acquiring an actual rotation speed and an actual torque of the target motor;
the actual carrier frequency determining module 62 is configured to determine an actual carrier frequency change state of the target motor in the current carrier period according to the actual rotational speed, the actual torque, and the corresponding relationship between the rotational speed, the torque, and the carrier frequency, and determine an actual carrier frequency corresponding to the actual rotational speed and the actual torque;
the target slope determining module 63 is configured to determine a target slope of the loaded carrier in the current carrier period according to the actual carrier frequency variation state, the actual carrier frequency, the target random number, the preset frequency fluctuation threshold value, and the actual carrier amplitude of the current carrier period;
the control module 64 is configured to control the target motor to load the carrier according to the target slope in the current carrier period.
Further, the target slope determination module 63 is configured to:
when the actual carrier frequency change state is a carrier frequency change state, determining a first period length of a current carrier period according to an actual carrier frequency, a target random number and a preset frequency fluctuation threshold value;
and determining a target slope of the loaded carrier in the current carrier period according to the first period length, the target random number and the actual carrier amplitude.
Further, the target slope determination module 63 is configured to:
when the actual carrier frequency change state is a fixed carrier frequency state, determining a second period length of the current carrier period according to the actual carrier frequency of the current carrier period;
and determining a target slope of the loaded carrier in the current carrier period according to the second period length, the target random number and the actual carrier amplitude.
Further, the device also comprises a current loop adjustment module for:
in the process of controlling a target motor to load a carrier wave according to a target slope in a current carrier wave period, determining an actual carrier wave ratio according to an actual carrier wave frequency of the target motor and a motor frequency of the target motor;
determining a target carrier frequency of a current carrier period according to an actual carrier frequency change state, an actual carrier frequency, a target random number and a preset frequency fluctuation threshold;
determining a target carrier ratio according to the target carrier frequency and the motor frequency;
determining a target adjustment parameter of a current loop of a target motor according to the change characteristics between the actual carrier ratio and the target carrier ratio;
the control current loop operates according to the target adjustment parameter in the current carrier period.
Further, the current loop adjustment module is used for:
when the target carrier ratio is larger than the actual carrier ratio, reducing the proportional-integral parameter of the current loop, and taking the reduced proportional-integral parameter as a target adjustment parameter;
when the target carrier ratio is smaller than the actual carrier ratio, the proportional-integral parameter of the current loop is increased, and the increased proportional-integral parameter is used as a target adjustment parameter.
Further, the control module 64 is also configured to:
and when the control target motor loads the carrier wave according to the target slope in the current carrier wave period, the clock signal frequency of the control target motor is kept synchronous with the carrier wave frequency.
Further, the device also comprises a random number generation module for:
and randomly generating a target random number according to the clock signal frequency of the target motor.
Based on the same inventive concept, the present embodiment provides an electronic device as shown in fig. 7, including:
a processor 71;
a memory 72 for storing instructions executable by the processor 71;
wherein the processor 71 is configured to execute to implement a motor carrier slope adjustment method as provided previously.
Based on the same inventive concept, the present embodiment provides a non-transitory computer readable storage medium, which when executed by the processor 71 of the electronic device, enables the electronic device to perform a motor carrier slope adjustment method as provided above.
Since the electronic device described in this embodiment is an electronic device used to implement the method of information processing in this embodiment, those skilled in the art will be able to understand the specific implementation of the electronic device and various modifications thereof based on the method of information processing described in this embodiment, so how the method of this embodiment is implemented in this electronic device will not be described in detail herein. The electronic device used by those skilled in the art to implement the information processing method in the embodiments of the present application falls within the scope of protection intended by the present application.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A method for adjusting carrier slope of an electric machine, the method comprising:
acquiring the actual rotating speed and the actual torque of a target motor;
according to the actual rotating speed, the actual torque, the corresponding relation among the rotating speed, the torque and the carrier frequency, determining an actual carrier frequency change state of the target motor in the current carrier period, and determining an actual carrier frequency corresponding to the actual rotating speed and the actual torque;
determining a target slope of a loaded carrier in the current carrier period according to the actual carrier frequency change state, the actual carrier frequency, a target random number, a preset frequency fluctuation threshold value and an actual carrier amplitude of the current carrier period;
and controlling the target motor to load a carrier wave according to the target slope in the current carrier wave period.
2. The method of claim 1, wherein the determining the target slope of the loaded carrier in the current carrier period based on the actual carrier frequency change state, the actual carrier frequency, a target random number, a preset frequency fluctuation threshold, and an actual carrier amplitude of the current carrier period comprises:
when the actual carrier frequency change state is a carrier frequency change state, determining a first period length of the current carrier period according to the actual carrier frequency, the target random number and the preset frequency fluctuation threshold;
and determining the target slope of the loaded carrier in the current carrier period according to the first period length, the target random number and the actual carrier amplitude.
3. The method of claim 1, wherein the determining the target slope of the loaded carrier in the current carrier period based on the actual carrier frequency change state, the actual carrier frequency, a target random number, a preset frequency fluctuation threshold, and an actual carrier amplitude of the current carrier period comprises:
when the actual carrier frequency change state is a fixed carrier frequency state, determining a second period length of the current carrier period according to the actual carrier frequency of the current carrier period;
and determining the target slope of the loaded carrier in the current carrier period according to the second period length, the target random number and the actual carrier amplitude.
4. The method of claim 1, wherein in controlling the target motor to load a carrier with the target slope during the current carrier period, the method further comprises:
determining an actual carrier ratio according to the actual carrier frequency of the target motor and the motor frequency of the target motor;
determining a target carrier frequency of the current carrier period according to the actual carrier frequency change state, the actual carrier frequency, the target random number and the preset frequency fluctuation threshold;
determining a target carrier ratio according to the target carrier frequency and the motor frequency;
determining a target adjustment parameter of a current loop of the target motor according to the change characteristics between the actual carrier ratio and the target carrier ratio;
and controlling the current loop to operate according to the target adjustment parameter in the current carrier period.
5. The method of claim 4, wherein said determining a target adjustment parameter for a current loop of said target motor based on a characteristic of a change between said actual carrier ratio and said target carrier ratio comprises:
when the target carrier ratio is larger than the actual carrier ratio, reducing the proportional-integral parameter of the current loop, and taking the reduced proportional-integral parameter as the target adjustment parameter;
and when the target carrier ratio is smaller than the actual carrier ratio, increasing the proportional-integral parameter of the current loop, and taking the increased proportional-integral parameter as the target adjustment parameter.
6. The method of claim 1, wherein when controlling the target motor to load a carrier with the target slope during the current carrier period, the method further comprises:
the clock signal frequency of the target motor is controlled to be synchronous with the carrier frequency.
7. The method according to claim 1 or 6, wherein the method for generating the target random number includes:
and randomly generating the target random number according to the clock signal frequency of the target motor.
8. A motor carrier slope adjustment device, the device comprising:
the acquisition module is used for acquiring the actual rotating speed and the actual torque of the target motor;
the actual carrier frequency determining module is used for determining an actual carrier frequency change state of the target motor in a current carrier period according to the actual rotating speed, the actual torque, the corresponding relation among the rotating speed, the torque and the carrier frequency, and determining the actual carrier frequency corresponding to the actual rotating speed and the actual torque;
the target slope determining module is used for determining a target slope of a loaded carrier in the current carrier period according to the actual carrier frequency change state, the actual carrier frequency, a target random number, a preset frequency fluctuation threshold value and the actual carrier amplitude of the current carrier period;
and the control module is used for controlling the target motor to load the carrier wave according to the target slope in the current carrier wave period.
9. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute to implement a motor carrier slope adjustment method as claimed in any one of claims 1 to 7.
10. A non-transitory computer readable storage medium, which when executed by a processor of an electronic device, causes the electronic device to perform a method of implementing a motor carrier slope adjustment method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311352571.7A CN117559879A (en) | 2023-10-17 | 2023-10-17 | Motor carrier slope adjusting method, device, equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311352571.7A CN117559879A (en) | 2023-10-17 | 2023-10-17 | Motor carrier slope adjusting method, device, equipment and medium |
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| CN117559879A true CN117559879A (en) | 2024-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311352571.7A Pending CN117559879A (en) | 2023-10-17 | 2023-10-17 | Motor carrier slope adjusting method, device, equipment and medium |
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| Country | Link |
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| CN (1) | CN117559879A (en) |
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