WO2019196352A1 - 一种电机加速方法、装置、电子调速器和无人飞行器 - Google Patents

一种电机加速方法、装置、电子调速器和无人飞行器 Download PDF

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WO2019196352A1
WO2019196352A1 PCT/CN2018/107684 CN2018107684W WO2019196352A1 WO 2019196352 A1 WO2019196352 A1 WO 2019196352A1 CN 2018107684 W CN2018107684 W CN 2018107684W WO 2019196352 A1 WO2019196352 A1 WO 2019196352A1
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current
axis voltage
motor
preset
qref
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English (en)
French (fr)
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陈毅东
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/427—Voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/429—Current
    • 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
    • Y02T10/64—Electric machine technologies in electromobility

Definitions

  • Embodiments of the present application relate to the field of motor control technologies, and in particular, to a motor acceleration method, device, electronic governor, and unmanned aerial vehicle.
  • the q-axis voltage is also called the active voltage
  • the d-axis voltage is also called the reactive voltage.
  • the change of the active voltage can change the torque of the motor, thereby changing the running speed of the motor.
  • the q-axis voltage active voltage
  • the d-axis voltage reactive voltage
  • closed-loop control of the d-axis current When the motor accelerates, the stability of the system is generally ensured by controlling the value of the q-axis voltage increase.
  • some applications of the motor such as when the motor is applied to the drone, it needs to be accelerated faster, if the added value is too large. The system is unstable, and if the added value is too small, the system's maneuverability is poor.
  • the technical problem mainly solved by the embodiments of the present application is to provide a motor acceleration method, device, electronic governor and unmanned aerial vehicle capable of simultaneously avoiding system instability while ensuring the maneuverability of the system.
  • an embodiment of the present application provides a motor acceleration method, where the motor acceleration method includes:
  • the motor is controlled according to the current d-axis voltage and the current q-axis voltage.
  • the determining the q-axis voltage variation coefficient K, when the current current peak is greater than the preset current threshold, K is less than or equal to 0, and when the current current peak is less than or equal to the preset current threshold, K is greater than 0, including:
  • the determining the q-axis voltage variation coefficient K, when the current current peak is greater than the preset current threshold, K is less than or equal to 0, and when the current current peak is less than or equal to the preset current threshold, K is greater than 0, including:
  • the preset current threshold is 1.05-1.2 times of the maximum current value
  • the maximum current value is a current value obtained when the motor runs at the maximum throttle setting value under the full power condition of the inverter power supply battery.
  • I d represents the current d-axis current
  • Iq represents the current q-axis current
  • the embodiment of the present application further provides a motor acceleration device, where the motor acceleration device includes:
  • the current d-axis voltage acquisition module is configured to perform closed-loop control on the d-axis current to obtain a current d-axis voltage
  • the q-axis voltage variation coefficient determining module is configured to determine the q-axis voltage variation coefficient K. When the current current peak value is greater than the preset current threshold, K is less than or equal to 0, and when the current current peak value is less than or equal to the preset current threshold, K is greater than 0;
  • a motor control module configured to control the motor according to the current d-axis voltage and the current q-axis voltage.
  • the q-axis voltage variation coefficient determining module is specifically configured to:
  • the q-axis voltage variation coefficient determining module is specifically configured to:
  • the preset current threshold is 1.05-1.2 times of the maximum current value
  • the maximum current value is a current value obtained when the motor runs at the maximum throttle setting value under the full power condition of the inverter power supply battery.
  • I d represents the current d-axis current
  • Iq represents the current q-axis current
  • an embodiment of the present application further provides an electronic governor for controlling operation of a motor, where the electronic governor includes an electrically connected motor controller and a motor driver, and the motor controller and the controller The motor driver is used for electrically connecting to the motor, and the electronic controller comprises:
  • At least one processor and,
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method described above.
  • the embodiment of the present application further provides an unmanned aerial vehicle, including:
  • a motor mounted on the body and an electronic governor for controlling operation of the motor, the electronic governor being the electronic governor described above.
  • the embodiment of the present application further provides a non-transitory computer readable storage medium, where the computer readable storage medium stores computer executable instructions, when the computer executable instructions are executed by an unmanned aerial vehicle And causing the unmanned aerial vehicle to perform the method described above.
  • K when the current current peak value is less than or equal to the preset current threshold, K is set to a number greater than 0, and when the current current peak is greater than the preset current threshold, the q-axis voltage variation coefficient K is set to be less than or equal to The number of 0. Therefore, when the current current peak value is less than or equal to the preset current threshold, the current q-axis voltage becomes larger than the q-axis voltage of the previous moment, and when the current current peak is greater than the preset current threshold, the current q-axis voltage is higher than the previous moment. The q-axis voltage becomes small or constant.
  • the q-axis voltage change value can be set to a large number in the case where the acceleration speed is required to be high, so as to ensure the maneuverability of the system.
  • the q-axis voltage variation coefficient is made less than or equal to 0 to reduce the q-axis voltage or keep the q-axis voltage constant, thereby avoiding system instability.
  • FIG. 1 is a schematic diagram of an application scenario of a motor acceleration method and apparatus of the present application
  • FIG. 2 is a flow chart of one embodiment of a motor acceleration method of the present application
  • FIG. 3 is a schematic diagram of a motor control principle in an embodiment of a motor acceleration method of the present application
  • 4a is a diagram showing experimental results of acceleration control of a motor in the prior art
  • 4b is a diagram showing experimental results of accelerating control of a motor by using a motor acceleration method according to an embodiment of the present application
  • FIG. 5 is a schematic structural view of an embodiment of a motor acceleration device of the present application.
  • FIG. 6 is a schematic structural diagram of hardware of an electronic governor provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of hardware of an unmanned aerial vehicle provided by an embodiment of the present application.
  • the motor acceleration method and apparatus provided by the embodiments of the present application are applicable to the application scenario shown in FIG. 1, and the application scenario includes the motor 10 and the electronic governor 20.
  • the electronic governor 20 includes a motor driver 21 and a motor controller 22 that receives a two-phase or three-phase current signal from the motor 10 through a current sensor (not shown), and outputs a control signal through the motor driver 21 to The motor 10 controls the operation of the motor 10.
  • the motor 10 may be a suitable type of motor such as a permanent magnet synchronous motor or an asynchronous alternating current motor.
  • FIG. 2 is a schematic flowchart diagram of an embodiment of a motor acceleration method according to an embodiment of the present disclosure.
  • the motor acceleration method may be performed by the motor governor 20 of FIG. 1 , as shown in FIG. 2 , the motor acceleration method includes :
  • the two-phase currents ia and ib of the motor are obtained by a current sensor (not shown), and the other phase current ic can pass the Kirchhoff principle. Calculated, Clark transform and Park transform are performed on ia, ib and ic to obtain the current d-axis current I d and the current q-axis current Iq.
  • the deviation of the current d-axis current I d and the d-axis current I dref (the initial d-axis current is the target d-axis current) from the previous moment is introduced into the PI controller to obtain the current d-axis voltage U dref .
  • K Determine a q-axis voltage variation coefficient K.
  • K is less than or equal to 0.
  • K is greater than 0.
  • the q-axis voltage variation coefficient K may be set to a number less than or equal to 0, and if the current current peak is less than or equal to the preset current threshold, K may be set to a number greater than zero.
  • I 1 represents a current peak
  • I 1max represents a preset current threshold
  • the current peak can be
  • the preset current threshold I 1max is 1.05-1.2 times (for example, 1.1 times) of the maximum current value I 1max '.
  • the maximum current value I 1max ' can be the current value obtained when the motor is running at the maximum throttle setting under the condition that the inverter is fully charged.
  • ⁇ U qref may be applied depending on the motor disposed in the practical application, ⁇ U qref may remain constant throughout the control process, can be adjusted ⁇ U qref in the control process according to the specific requirements of acceleration.
  • K when the current current peak value is less than or equal to the preset current threshold, K is set to a number greater than 0, and when the current current peak is greater than the preset current threshold, the q-axis voltage variation coefficient K is set to be less than or equal to The number of 0. Therefore, when the current current peak value is less than or equal to the preset current threshold, the current q-axis voltage becomes larger than the q-axis voltage of the previous moment, and when the current current peak is greater than the preset current threshold, the current q-axis voltage is higher than the previous moment. The q-axis voltage becomes small or constant.
  • the q-axis voltage change value can be set to a large number in the case where the acceleration speed is required to be high, so as to ensure the maneuverability of the system.
  • the q-axis voltage variation coefficient is made less than or equal to 0 to reduce the q-axis voltage or keep the q-axis voltage constant, thereby avoiding system instability.
  • the embodiment of the present application further provides a motor acceleration device, which can be used in the electronic governor 20 of FIG. 1.
  • the motor acceleration device 500 includes:
  • the current d-axis voltage obtaining module 501 is configured to perform closed-loop control on the d-axis current to obtain a current d-axis voltage;
  • the q-axis voltage variation coefficient determining module 502 is configured to determine a q-axis voltage variation coefficient K. When the current current peak value is greater than the preset current threshold, K is less than or equal to 0, and when the current current peak value is less than or equal to the preset current threshold, K Greater than 0;
  • the motor control module 504 is configured to control the motor according to the current d-axis voltage and the current q-axis voltage.
  • K when the current current peak value is less than or equal to the preset current threshold, K is set to a number greater than 0, and when the current current peak is greater than the preset current threshold, the q-axis voltage variation coefficient K is set to be less than or equal to The number of 0. Therefore, when the current current peak value is less than or equal to the preset current threshold, the current q-axis voltage becomes larger than the q-axis voltage of the previous moment, and when the current current peak is greater than the preset current threshold, the current q-axis voltage is higher than the previous moment. The q-axis voltage becomes small or constant.
  • the q-axis voltage change value can be set to a large number in the case where the acceleration speed is required to be high, so as to ensure the maneuverability of the system.
  • the q-axis voltage variation coefficient is made less than or equal to 0 to reduce the q-axis voltage or keep the q-axis voltage constant, thereby avoiding system instability.
  • the q-axis voltage variation coefficient determination module 502 is specifically configured to:
  • the q-axis voltage variation coefficient determination module 502 is specifically configured to:
  • the preset current threshold is 1.05-1.2 times (for example, 1.1 times) of the maximum current value
  • the maximum current value is the motor running under the full power condition of the inverter power supply battery. The current value obtained at the maximum throttle setting.
  • the current peak Where I d represents the current d-axis current and Iq represents the current q-axis current.
  • the motor acceleration device may perform the motor acceleration method provided by the embodiment of the present application, and has a corresponding functional module and a beneficial effect of performing the motor acceleration method.
  • the motor acceleration method provided by the embodiments of the present application.
  • the embodiment of the present application further provides an electronic governor 20, which includes an electrically connected motor controller 22 and a motor driver 21, and both the motor controller 22 and the motor driver 21 are used.
  • the motor controller 22 includes:
  • processors 221 and a memory 222 are exemplified by a processor 221 in FIG.
  • the processor 221 and the memory 222 can be connected by a bus or other means, and the bus connection is taken as an example in FIG.
  • the memory 222 is used as a non-volatile computer readable storage medium, and can be used for storing a non-volatile software program, a non-volatile computer-executable program, and a module, such as a program instruction corresponding to the motor acceleration method in the embodiment of the present application. / unit (for example, current d-axis voltage acquisition module 501, q-axis voltage variation coefficient determination module module 502, current q-axis voltage acquisition module 503, and motor control module 504 shown in FIG. 5).
  • the processor 221 performs various functional applications of the electronic governor and data processing by executing non-volatile software programs, instructions, and units stored in the memory 222, that is, the motor acceleration method of the above-described method embodiments.
  • the memory 222 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the electronic governor, and the like.
  • memory 222 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
  • memory 222 can optionally include memory remotely located relative to processor 221, which can be connected to the electronic governor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more units are stored in the memory 222, and when executed by the one or more processors 221, perform a motor acceleration method in any of the above method embodiments, for example, performing the above described FIG.
  • Method steps 101-104 implement the functions of modules 501-504 shown in FIG.
  • the above-mentioned electronic governor can execute the motor acceleration method provided by the embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.
  • the electronic governor can execute the motor acceleration method provided by the embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.
  • the embodiment of the present application also provides a non-transitory computer readable storage medium storing computer executable instructions that are executed by one or more processors, for example, The method steps 101-104 of FIG. 2 described above implement the functions of the modules 501-504 shown in FIG.
  • the embodiment of the present application further provides an unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 includes:
  • the above-mentioned UAV includes the electronic governor provided by the embodiment of the present application, and has corresponding functional modules and beneficial effects.
  • the electronic governor provided by the embodiments of the present application.

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  • Control Of Ac Motors In General (AREA)

Abstract

一种电机加速方法、装置和无人飞行器，方法包括：对d轴电流进行闭环控制获得当前d轴电压；确定q轴电压变化系数K，当当前电流峰值大于预设电流阈值时，K小于或者等于0，当当前电流峰值小于或者等于预设电流阈值时，K大于0；根据公式U'qref＝Uqref+KΔUqref获得当前q轴电压U'qref，其中，Uqref表示上一时刻的q轴电压，ΔUqref表示预设q轴电压变化值；根据当前d轴电压和当前q轴电压对电机进行控制。

Description

一种电机加速方法、装置、电子调速器和无人飞行器
本申请要求于2018年04月11日提交中国专利局、申请号为2018103198741、申请名称为“一种电机加速方法、装置、电子调速器和无人飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施方式涉及电机控制技术领域，特别是涉及一种电机加速方法、装置、电子调速器和无人飞行器。
背景技术
在电机控制技术中，q轴电压又称为有功电压，d轴电压又称为无功电压，有功电压的变化可以改变电机的转矩，从而改变电机的运转速度。现有电机控制方法中，在进行加速或者减速控制时，通常采用使q轴电压(有功电压)按照一定的条件增加或者减小来实现电机的加速或者减速，而d轴电压(无功电压)通过对d轴电流闭环控制得到。在电机加速时，一般通过控制q轴电压增加值的大小来确保系统稳定，但是在电机的某些应用场合，例如电机应用于无人机的场合，需要加速较快，如果增加值过大容易导致系统不稳定，如果增加值过小又导致系统机动性能不佳。
发明内容
本申请实施方式主要解决的技术问题是提供一种在保证系统机动性能的前提下能同时避免系统不稳定的电机加速方法、装置、电子调速器和无人飞行器。
为解决上述技术问题，第一方面，本申请实施例提供了一种电机加速方法，所述电机加速方法包括：
对d轴电流进行闭环控制获得当前d轴电压；
确定q轴电压变化系数K，当当前电流峰值大于预设电流阈值时，K小于或者等于0，当当前电流峰值小于或者等于预设电流阈值时，K大于0；
根据公式U' qref＝U qref+KΔU qref获得当前q轴电压U' qref，，其中，U qref表示上一时刻的q轴电压，ΔU qref表示预设q轴电压变化值；
根据所述当前d轴电压和所述当前q轴电压对电机进行控制。
可选的，所述确定q轴电压变化系数K，当当前电流峰值大于预设电流阈值时，K小于或者等于0，当当前电流峰值小于或者等于预设电流阈值时，K大于0，包括：
当当前电流峰值大于预设电流阈值时，使K＝-1，当当前电流峰值小于或者等于预设电流阈值时，使K＝1。
可选的，所述确定q轴电压变化系数K，当当前电流峰值大于预设电流阈值时，K小于或者等于0，当当前电流峰值小于或者等于预设电流阈值时，K大于0，包括：
当当前电流峰值大于预设电流阈值时，使-1＜K≤0，当当前电流峰值小于或者等于预设电流阈值时，使K＝1。
可选的，所述预设电流阈值为最大电流值的1.05-1.2倍,所述最大电流值为逆变器供电电池满电条件下、电机运行在最大油门设定值时获得的电流值。
可选的，所述电流峰值
Figure PCTCN2018107684-appb-000001
其中，I d表示当前d轴电流，Iq表示当前q轴电流。
第二方面，本申请实施例还提供了一种电机加速装置，所述电机加速装置包括：
当前d轴电压获取模块，用于对d轴电流进行闭环控制获得当前d轴电压；
q轴电压变化系数确定模块，用于确定q轴电压变化系数K，当当前电流峰值大于预设电流阈值时，K小于或者等于0，当当前电流峰值小于或者等于预设电流阈值时，K大于0；
当前q轴电压获取模块，用于根据公式U' qref＝U qref+KΔU qref获得当前q轴 电压U' qref，其中，U qref表示上一时刻的q轴电压，ΔU qref表示预设q轴电压变化值；
电机控制模块，用于根据所述当前d轴电压和所述当前q轴电压对电机进行控制。
可选的，所述q轴电压变化系数确定模块具体用于：
当当前电流峰值大于预设电流阈值时，使K＝-1，当当前电流峰值小于或者等于预设电流阈值时，使K＝1。
可选的，所述q轴电压变化系数确定模块具体用于：
当当前电流峰值大于预设电流阈值时，使-1＜K≤0，当当前电流峰值小于或者等于预设电流阈值时，使K＝1。
可选的，所述预设电流阈值为最大电流值的1.05-1.2倍,所述最大电流值为逆变器供电电池满电条件下、电机运行在最大油门设定值时获得的电流值。
可选的，所述电流峰值
Figure PCTCN2018107684-appb-000002
其中，I d表示当前d轴电流，Iq表示当前q轴电流。
第三方面，本申请实施例还提供了一种电子调速器，用于控制电机的运转，所述电子调速器包括电性连接的电机控制器和电机驱动器，所述电机控制器和所述电机驱动器均用于与所述电机电性连接，所述电子控制器包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行上述的方法。
第四方面，本申请实施例还提供了一种无人飞行器，包括：
机身；
安装于所述机身上的电机及用于控制所述电机运行的电子调速器，所述电子调速器为上述的电子调速器。
第五方面，本申请实施例还提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，当所述计算机可执行指令被无人飞行器执行时，使所述无人飞行器执行上述的方法。
本申请实施例通过在当前电流峰值小于或者等于预设电流阈值时，将K设置为大于0的数，在当前电流峰值大于预设电流阈值时，将q轴电压变化系数K设置为小于或者等于0的数。以使在当前电流峰值小于或者等于预设电流阈值时，当前q轴电压较上一时刻的q轴电压变大，在当前电流峰值大于预设电流阈值时，当前q轴电压较上一时刻的q轴电压变小或者不变。从而可以在对加速速度要求高的场合将q轴电压变化值设置为较大的数，以保证系统的机动性能。而当出现当前电流峰值超过预设电流阈值的情况时，使q轴电压变化系数小于或者等于0，以减小q轴电压或者使q轴电压保持不变，从而避免导致系统不稳定。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍。显而易见地，下面所描述的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请电机加速方法和装置的应用场景示意图；
图2是本申请电机加速方法的一个实施例的流程图；
图3是本申请电机加速方法的一个实施例中电机控制原理示意图；
图4a是现有技术中对电机进行加速控制的实验结果图；
图4b是采用本申请实施例电机加速方法对电机进行加速控制的实验结果图；
图5是本申请电机加速装置的一个实施例的结构示意图；
图6是本申请实施例提供的电子调速器的硬件结构示意图；
图7是本申请实施例提供的无人飞行器的硬件结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本申请进一步详细说明。
需要说明的是，本申请实施例中所有使用“第一”和“第二”的表述均是为了区分两个相同名称非相同的实体或者非相同的参量，可见“第一”“第二”仅为了表述的方便，不应理解为对本申请实施例的限定，后续实施例对此不再一一说明。
本申请实施例提供的电机加速方法和装置适用于图1所示的应用场景，所述应用场景包括电机10和电子调速器20。电子调速器20包括电机驱动器21和电机控制器22，电机控制器22通过电流传感器(图中未示出)接收来自电机10的两相或三相电流信号，通过电机驱动器21输出控制信号到电机10以控制电机10的运行。其中，电机10可以是永磁同步电机或异步交流电机等合适类型的电机。
图2为本申请实施例提供的电机加速方法的一个实施例的流程示意图，所述电机加速方法可以由图1中的电机调速器20执行，如图2所示，所述电机加速方法包括：
101：对d轴电流进行闭环控制获得当前d轴电压。
以图3为例说明，通过电流传感器(图中未示出)获得电机(图中以永磁同步电机为例)的两相电流ia和ib，另一相电流ic可以通过基尔霍夫原理计算获得，对ia、ib和ic进行Clark变换和Park变换获得当前d轴电流I d和当前q轴电流Iq。将当前d轴电流I d和上一时刻的d轴电流I dref(初始d轴电流为目标d轴电流)的偏差引入PI控制器获得当前d轴电压U dref。
102：确定q轴电压变化系数K，当当前电流峰值大于预设电流阈值时，K小于或者等于0，当当前电流峰值小于或者等于预设电流阈值时，K大于0。
如果当前电流峰值大于预设电流阈值，则q轴电压变化系数K可以设置为小于或者等于0的数，如果当前电流峰值小于或者等于预设电流阈值，则K可以设置为大于0的数。例如，在一些实施例中，当当前电流峰值大于预设电流阈值时，可以使-1＜K≤0，当当前电流峰值小于或者等于预设电流阈值时，使K＝1。在另一些实施例中，当当前电流峰值大于预设电流阈值时，使K＝-1，当当前电流峰值小于或者等于预设电流阈值时，使K＝1。即：
Figure PCTCN2018107684-appb-000003
其中，ΔI 1＝I 1-I 1max，I 1表示电流峰值，I 1max表示预设电流阈值。
在其中一些实施例中，电流峰值可以为
Figure PCTCN2018107684-appb-000004
预设电流阈值I 1max为最大电流值I 1max'的1.05-1.2倍(例如1.1倍)。最大电流值I 1max'可以为在逆变器供电电池满电条件下、电机运行在最大油门设定值时获得的电流值。
103：根据上一时刻的q轴电压U qref获得当前q轴电压U' qref，U' qref＝U qref+KΔU qref，其中，ΔU qref表示预设q轴电压变化值。
在实际应用中ΔU qref可以根据电机应用的具体情况设置，可以在整个控制过程中保持ΔU qref不变，也可以根据具体加速度的要求在控制过程中对ΔU qref进行调整。
104：根据所述当前d轴电压和所述当前q轴电压对电机进行控制。
以图3为例，对当前d轴电压U dref和所述当前q轴电压U' qref进行Park逆变换并依据转子角度θ获得三相电压指令，然后根据三相电压指令对逆变器进行PWM调节输出控制信号到电机10。
本申请实施例通过在当前电流峰值小于或者等于预设电流阈值时，将K设置为大于0的数，在当前电流峰值大于预设电流阈值时，将q轴电压变化系数K设置为小于或者等于0的数。以使在当前电流峰值小于或者等于预设电流阈值时，当前q轴电压较上一时刻的q轴电压变大，在当前电流峰值大于预设电流阈值时，当前q轴电压较上一时刻的q轴电压变小或者不变。从而可以在对加速速度要求高的场合将q轴电压变化值设置为较大的数，以保证系统的机动性能。而当出现当前电流峰值超过预设电流阈值的情况时，使q轴电压变化系数小于或者等于0，以减小q轴电压或者使q轴电压保持不变， 从而避免导致系统不稳定。
如图4a所示，采用现有技术实现快加速过程中，发生了大电流震荡，发生大电流震荡时容易造成电流发散，有炸机风险。而采用本申请实施例的加速方法，在实现同样快加速目的下，如图4b所示，整个控制过程运行稳定。
相应的，本申请实施例还提供了一种电机加速装置，所述电机加速装置可以用于图1中的电子调速器20，如图5所示，所述电机加速装置500包括：
当前d轴电压获取模块501，用于对d轴电流进行闭环控制获得当前d轴电压；
q轴电压变化系数确定模块502，用于确定q轴电压变化系数K，当当前电流峰值大于预设电流阈值时，K小于或者等于0，当当前电流峰值小于或者等于预设电流阈值时，K大于0；
当前q轴电压获取模块503，用于根据公式U' qref＝U qref+KΔU qref获得当前q轴电压U' qref，，其中，U qref表示上一时刻的q轴电压，ΔU qref表示预设q轴电压变化值；
电机控制模块504，用于根据所述当前d轴电压和所述当前q轴电压对电机进行控制。
本申请实施例通过在当前电流峰值小于或者等于预设电流阈值时，将K设置为大于0的数，在当前电流峰值大于预设电流阈值时，将q轴电压变化系数K设置为小于或者等于0的数。以使在当前电流峰值小于或者等于预设电流阈值时，当前q轴电压较上一时刻的q轴电压变大，在当前电流峰值大于预设电流阈值时，当前q轴电压较上一时刻的q轴电压变小或者不变。从而可以在对加速速度要求高的场合将q轴电压变化值设置为较大的数，以保证系统的机动性能。而当出现当前电流峰值超过预设电流阈值的情况时，使q轴电压变化系数小于或者等于0，以减小q轴电压或者使q轴电压保持不变，从而避免导致系统不稳定。
在电机加速装置500的一些实施例中，q轴电压变化系数确定模块502具体用于：
当当前电流峰值大于预设电流阈值时，使K＝-1，当当前电流峰值小于或 者等于预设电流阈值时，使K＝1。
在电机加速装置500的另一些实施例中，q轴电压变化系数确定模块502具体用于：
当当前电流峰值大于预设电流阈值时，使-1＜K≤0，当当前电流峰值小于或者等于预设电流阈值时，使K＝1。
在电机加速装置500的一些实施例中，所述预设电流阈值为最大电流值的1.05-1.2倍(例如1.1倍),所述最大电流值为逆变器供电电池满电条件下、电机运行在最大油门设定值时获得的电流值。
在电机加速装置500的一些实施例中，所述电流峰值
Figure PCTCN2018107684-appb-000005
其中，I d表示当前d轴电流，Iq表示当前q轴电流。
需要说明的是，上述电机加速装置可执行本申请实施例所提供的电机加速方法，具备执行电机加速方法相应的功能模块和有益效果。未在装置实施例中详尽描述的技术细节，可参见本申请实施例所提供的电机加速方法。
如图6所示，本申请实施例还提供了一种电子调速器20，电子调速器20包括电性连接的电机控制器22和电机驱动器21，电机控制器22和电机驱动器21均用于与电机10电性连接，电机控制器22包括：
一个或多个处理器221以及存储器222，图6中以一个处理器221为例。处理器221和存储器222可以通过总线或者其他方式连接，图6中以总线连接为例。
存储器222作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的电机加速方法对应的程序指令/单元(例如，附图5所示的当前d轴电压获取模块501、q轴电压变化系数确定模块模块502、当前q轴电压获取模块503和电机控制模块504)。处理器221通过运行存储在存储器222中的非易失性软件程序、指令以及单元，从而执行电子调速器的各种功能应用以及数据处理，即实现上述方法实施例的电机加速方法。
存储器222可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据电子调速器使用所创建的数据等。此外，存储器222可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器222可选包括相对于处理器221远程设置的存储器，这些远程存储器可以通过网络连接至电子调速器。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个单元存储在所述存储器222中，当被所述一个或者多个处理器221执行时，执行上述任意方法实施例中的电机加速方法，例如，执行以上描述的图2中的方法步骤101-104，实现图5所示的模块501-504的功能。
上述电子调速器可执行本申请实施例所提供的电机加速方法，具备执行方法相应的功能模块和有益效果。未在电子调速器实施例中详尽描述的技术细节，可参见本申请实施例所提供的方法。
本申请实施例还提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如，执行以上描述的图2中的方法步骤101-104，实现图5所示的模块501-504的功能。
如图7所示，本申请实施例还提供了一种无人飞行器100，无人飞行器100包括：
机身(图中未示出)；
安装于所述机身上的电机10及用于控制所述电机10运行的电子调速器20，所述电子调速器20为上述的电子调速器。
上述无人飞行器包括本申请实施例提供的电子调速器，具备其相应的功能模块和有益效果。未在无人飞行器实施例中详尽描述的技术细节，可参见本申请实施例所提供的电子调速器。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (13)

  1. 一种电机加速方法，其特征在于，所述电机加速方法包括：
    对d轴电流进行闭环控制获得当前d轴电压；
    确定q轴电压变化系数K，当当前电流峰值大于预设电流阈值时，K小于或者等于0，当当前电流峰值小于或者等于预设电流阈值时，K大于0；
    根据公式U' qref＝U qref+KΔU qref获得当前q轴电压U' qref，，其中，U qref表示上一时刻的q轴电压，ΔU qref表示预设q轴电压变化值；
    根据所述当前d轴电压和所述当前q轴电压对电机进行控制。
  2. 根据权利要求1所述的电机加速方法，其特征在于，所述确定q轴电压变化系数K，当当前电流峰值大于预设电流阈值时，K小于或者等于0，当当前电流峰值小于或者等于预设电流阈值时，K大于0，包括：
    当当前电流峰值大于预设电流阈值时，使K＝-1，当当前电流峰值小于或者等于预设电流阈值时，使K＝1。
  3. 根据权利要求1所述的电机加速方法，其特征在于，所述确定q轴电压变化系数K，当当前电流峰值大于预设电流阈值时，K小于或者等于0，当当前电流峰值小于或者等于预设电流阈值时，K大于0，包括：
    当当前电流峰值大于预设电流阈值时，使-1＜K≤0，当当前电流峰值小于或者等于预设电流阈值时，使K＝1。
  4. 根据权利要求1-3任意一项所述的电机加速方法，其特征在于，所述预设电流阈值为最大电流值的1.05-1.2倍,所述最大电流值为逆变器供电电池满电条件下、电机运行在最大油门设定值时获得的电流值。
  5. 根据权利要求4所述的电机加速方法，其特征在于，所述电流峰值
    Figure PCTCN2018107684-appb-100001
    其中，I d表示当前d轴电流，Iq表示当前q轴电流。
  6. 一种电机加速装置，其特征在于，所述电机加速装置包括：
    当前d轴电压获取模块，用于对d轴电流进行闭环控制获得当前d轴电压；
    q轴电压变化系数确定模块，用于确定q轴电压变化系数K，当当前电流峰值大于预设电流阈值时，K小于或者等于0，当当前电流峰值小于或者等于预设电流阈值时，K大于0；
    当前q轴电压获取模块，用于根据公式U' qref＝U qref+KΔU qref获得当前q轴电压U' qref，其中，U qref表示上一时刻的q轴电压，ΔU qref表示预设q轴电压变化值；
    电机控制模块，用于根据所述当前d轴电压和所述当前q轴电压对电机进行控制。
  7. 根据权利要求6所述的电机加速装置，其特征在于，所述q轴电压变化系数确定模块具体用于：
    当当前电流峰值大于预设电流阈值时，使K＝-1，当当前电流峰值小于或者等于预设电流阈值时，使K＝1。
  8. 根据权利要求6所述的电机加速装置，其特征在于，所述q轴电压变化系数确定模块具体用于：
    当当前电流峰值大于预设电流阈值时，使-1＜K≤0，当当前电流峰值小于或者等于预设电流阈值时，使K＝1。
  9. 根据权利要求6-8任意一项所述的电机加速装置，其特征在于，所述预设电流阈值为最大电流值的1.05-1.2倍,所述最大电流值为逆变器供电电池满电条件下、电机运行在最大油门设定值时获得的电流值。
  10. 根据权利要求9所述的电机加速装置，其特征在于，所述电流峰值
    Figure PCTCN2018107684-appb-100002
    其中，I d表示当前d轴电流，Iq表示当前q轴电流。
  11. 一种电子调速器，用于控制电机的运转，所述电子调速器包括电性 连接的电机控制器和电机驱动器，所述电机控制器和所述电机驱动器均用于与所述电机电性连接，其特征在于，所述电子控制器包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-5任一项所述的方法。
  12. 一种无人飞行器，其特征在于，包括：
    机身；
    安装于所述机身上的电机及用于控制所述电机运行的电子调速器，所述电子调速器为权利要求11所述的电子调速器。
  13. 一种非易失性计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机可执行指令，当所述计算机可执行指令被无人飞行器执行时，使所述无人飞行器执行权利要求1-5的任一项所述的方法。
PCT/CN2018/107684 2018-04-11 2018-09-26 一种电机加速方法、装置、电子调速器和无人飞行器 Ceased WO2019196352A1 (zh)

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