WO2021109861A1 - Electric motor control method and apparatus, terminal device, and storage medium - Google Patents

Abstract

The solution is applied to the technical field of electric motor control. Provided are an electric motor control method and apparatus, a terminal device, and a storage medium. The method comprises: determining a reference value of a first parameter of a first coordinate system and a reference value of a second parameter of a second coordinate system according to an electric motor torque in a torque command and a preset efficiency optimization variable relationship (S101); performing coordinate transformation according to a preset association relationship between the first coordinate system and the second coordinate system, and calculating a first calculated value of the first parameter that corresponds to the reference value of the second parameter (S102); calculating a first output value of the first parameter according to the reference value of the first parameter, the first calculated value of the first parameter and the current electric motor rotation speed (S103); calculating a second observed value of the first parameter according to a first observed value of the first parameter, a measured value of the second parameter and the current electric motor rotation speed (S104); and obtaining an output value of a third parameter according to the first output value of the first parameter and the second observed value of the first parameter, and controlling the rotation speed or the torque of an electric motor (S105), thereby achieving a good electric motor control effect.

Description

Motor control method, device, terminal equipment and storage medium Technical field

This application belongs to the field of motor control technology, and in particular relates to motor control methods, devices, terminal equipment, and storage media.

Background technique

The existing motor frequency conversion speed regulation technology is mainly based on the d-q coordinate system or the f-t coordinate system. The motor control method based on the dq coordinate system is generally space vector control, and the control method based on the ft coordinate system is generally direct torque control or direct flux vector control. The motor control method in the dq coordinate system has a constant torque area. Good control effect, but in the constant power area (weak magnetic area) due to factors such as dq axis current coupling, the control effect is not good. Motor control methods in the ft coordinate system, such as direct torque control or direct flux vector control, have good control effects in the constant power region, but in the constant torque region, the motor speed is low and the back electromotive force is small, resulting in flux linkage Estimation is difficult or depends heavily on motor parameters, which affects the motor control effect.

Summary of the invention

In view of this, the embodiments of the present application provide a motor control method, device, terminal device, and storage medium to solve the problem of poor motor control effect in the prior art.

The first aspect of the embodiments of the present application provides a motor control method, including:

When the torque command is acquired, the reference value of the first parameter and the reference value of the second parameter are determined according to the relationship between the motor torque in the torque command and the preset efficiency optimization variable, where the first parameter is A variable of the first coordinate system, and the second parameter is a variable of the second coordinate system;

Perform coordinate conversion according to the reference value of the second parameter and the preset association relationship between the first coordinate system and the second coordinate system, and calculate the first calculation of the first parameter corresponding to the reference value of the second parameter value;

Calculating the first output value of the first parameter according to the reference value of the first parameter, the first calculation value of the first parameter, and the current motor speed;

When the first observed value of the first parameter and the measured value of the second parameter are obtained, the first observed value of the first parameter, the measured value of the second parameter and the current motor speed are calculated according to the first observed value of the first parameter. The second observation value of a parameter;

The output value of the third parameter is obtained according to the first output value of the first parameter and the second observation value of the first parameter, and the rotation speed or torque of the motor is controlled by the output value of the third parameter. The third parameter is a variable of the first coordinate system.

In a possible implementation manner, the first coordinate system includes an f-axis and a t-axis, and the first parameter includes a motor stator flux linkage amplitude and a t-axis current, where the f axis is the motor stator flux linkage Direction, the t-axis is perpendicular to the f-axis; the second coordinate system includes the d-axis and the q-axis, the second parameter includes the d-axis current and the q-axis current, wherein the d-axis is the permanent motor rotor The direction of the magnet, the q axis is perpendicular to the d axis.

In a possible implementation manner, the calculation of the first output value of the first parameter according to the reference value of the first parameter, the first calculation value of the first parameter, and the current motor speed specifically includes :

If the current motor speed is less than or equal to the first preset speed, according to the formula

Calculating the first output value of the first parameter;

Or, if the current motor speed is greater than the first preset speed and less than the second preset speed, according to the formula

Calculating the first output value of the first parameter;

Or, if the current motor speed is greater than or equal to the second preset speed, according to the formula

Calculating the first output value of the first parameter;

among them,

Represents the first output value of the amplitude of the stator flux linkage of the motor,

Represents the first output value of the t-axis current, ω ₁ represents the first preset speed, ω ₂ represents the second preset speed, and ω _x represents the current motor speed,

Represents the first calculated value of the motor stator flux linkage amplitude,

Represents the first calculated value of the t-axis current,

Indicates the reference value of the amplitude of the stator flux linkage of the motor,

Indicates the reference value of the t-axis current.

In a possible implementation manner, the second observed value of the first parameter is calculated according to the first observed value of the first parameter, the measured value of the second parameter, and the current motor speed, specifically include:

Perform coordinate conversion according to the measured value of the second parameter and the preset association relationship between the first coordinate system and the second coordinate system, and calculate the first parameter of the first parameter corresponding to the measured value of the second parameter. Two calculated value;

The second observed value of the first parameter is calculated according to the first observed value of the first parameter, the second calculated value of the first parameter, and the current motor speed.

In a possible implementation manner, the second observation value of the first parameter is calculated according to the first observation value of the first parameter, the second calculation value of the first parameter, and the rotation speed of the motor, specifically include:

If the current motor speed is less than or equal to the first preset speed, according to the formula

Calculating a second observation value of the first parameter;

Or, if the current motor speed is greater than the first preset speed and less than the second preset speed, according to the formula

Calculating a second observation value of the first parameter;

Or, if the current motor speed is greater than or equal to the second preset speed, according to the formula

Calculating a second observation value of the first parameter;

among them,

Represents the second observation value of the amplitude of the stator flux linkage of the motor,

Represents the second observation value of the t-axis current,

Represents the second calculated value of the motor stator flux linkage amplitude,

Represents the second calculated value of the t-axis current,

Represents the first observation value of the amplitude of the stator flux linkage of the motor,

Represents the first observation value of the t-axis current.

In a possible implementation manner, the third parameter includes f-axis voltage and t-axis voltage.

In a possible implementation manner, the obtaining the output value of the third parameter according to the first output value of the first parameter and the second observation value of the first parameter specifically includes:

Calculating the second output value of the first parameter according to the first output value of the first parameter and the preset field weakening control condition;

Calculating the difference between the second output value of the first parameter and the second observation value of the first parameter;

Obtaining a third calculated value of the first parameter according to the difference;

The output value of the third parameter is calculated according to the third calculation value of the first parameter.

A second aspect of the embodiments of the present application provides a motor control device, including:

The obtaining module is used to determine the reference value of the first parameter and the reference value of the second parameter according to the relationship between the motor torque in the torque command and the preset efficiency optimization variable when the torque command is obtained. The first parameter is a variable of a first coordinate system, and the second parameter is a variable of a second coordinate system;

The first calculation module is configured to perform coordinate conversion according to the reference value of the second parameter and the preset association relationship between the first coordinate system and the second coordinate system, so as to calculate the reference value corresponding to the second parameter The first calculated value of the first parameter;

A second calculation module, configured to calculate the first output value of the first parameter according to the reference value of the first parameter, the first calculation value of the first parameter, and the current motor speed;

The third calculation module is configured to, when the first observation value of the first parameter and the measured value of the second parameter are acquired, according to the first observation value of the first parameter, the measured value of the second parameter, and the The current motor speed calculates the second observation value of the first parameter;

The control module is used to obtain the output value of the third parameter according to the first output value of the first parameter and the second observation value of the first parameter, and to control the rotation speed or rotation of the motor through the output value of the third parameter Moments, wherein the third parameter is a variable of the first coordinate system.

In a possible implementation manner, the first coordinate system includes an f-axis and a t-axis, and the first parameter includes a motor stator flux linkage amplitude and a t-axis current, where the f axis is the motor stator flux linkage Direction, the t-axis is perpendicular to the f-axis; the second coordinate system includes the d-axis and the q-axis, the second parameter includes the d-axis current and the q-axis current, wherein the d-axis is the permanent motor rotor The direction of the magnet, the q axis is perpendicular to the d axis.

In a possible implementation manner, the second calculation module is specifically configured to:

If the current motor speed is less than or equal to the first preset speed, according to the formula

Calculating the first output value of the first parameter;

Or, if the current motor speed is greater than the first preset speed and less than the second preset speed, according to the formula

Calculating the first output value of the first parameter;

Or, if the current motor speed is greater than or equal to the second preset speed, according to the formula

Calculating the first output value of the first parameter;

among them,

Represents the first output value of the amplitude of the stator flux linkage of the motor,

Represents the first output value of the t-axis current, ω ₁ represents the first preset speed, ω ₂ represents the second preset speed, and ω _x represents the current motor speed,

Represents the first calculated value of the motor stator flux linkage amplitude,

Represents the first calculated value of the t-axis current,

Indicates the reference value of the amplitude of the stator flux linkage of the motor,

Indicates the reference value of the t-axis current.

In a possible implementation manner, the third calculation module includes:

The first calculation unit is configured to perform coordinate conversion according to the measured value of the second parameter and the preset association relationship between the first coordinate system and the second coordinate system, and calculate the measured value of the second parameter The corresponding second calculated value of the first parameter;

The second calculation unit is configured to calculate the second observed value of the first parameter according to the first observed value of the first parameter, the second calculated value of the first parameter, and the current motor speed.

In a possible implementation manner, the second calculation unit is specifically configured to:

If the current motor speed is less than or equal to the first preset speed, according to the formula

Calculating a second observation value of the first parameter;

Or, if the current motor speed is greater than the first preset speed and less than the second preset speed, according to the formula

Calculating a second observation value of the first parameter;

Or, if the current motor speed is greater than or equal to the second preset speed, according to the formula

Calculating a second observation value of the first parameter;

among them,

Represents the second observation value of the amplitude of the stator flux linkage of the motor,

Represents the second observation value of the t-axis current,

Represents the second calculated value of the motor stator flux linkage amplitude,

Represents the second calculated value of the t-axis current,

Represents the first observation value of the amplitude of the stator flux linkage of the motor,

Represents the first observation value of the t-axis current.

In a possible implementation manner, the third parameter includes f-axis voltage and t-axis voltage.

In a possible implementation manner, the control module is specifically configured to:

Calculating the second output value of the first parameter according to the first output value of the first parameter and the preset field weakening control condition;

Calculating the difference between the second output value of the first parameter and the second observation value of the first parameter;

Obtaining a third calculated value of the first parameter according to the difference;

The output value of the third parameter is calculated according to the third calculation value of the first parameter.

The third aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, Realize the steps of the above-mentioned motor control method.

The fourth aspect of the embodiments of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned motor control method are implemented.

The fifth aspect of the embodiments of the present application provides a computer program product, which when the computer program product runs on a terminal device, causes the terminal device to execute the steps of the motor control method described in any one of the above-mentioned first aspects.

Compared with the prior art, the embodiment of the present application has the beneficial effect that the reference value of the first parameter and the reference value of the second parameter are output according to the torque command and the preset efficiency optimization variable relationship, where the first parameter is the first parameter. A variable of a coordinate system, the second parameter is a variable of the second coordinate system; the coordinate conversion is performed according to the reference value of the second parameter and the preset association relationship between the first coordinate system and the second coordinate system, and the second parameter is calculated The reference value corresponds to the first calculated value of the first parameter, so that two sets of values of the reference value of the first parameter and the first calculated value are obtained, and the two sets of values of the current motor speed and the first parameter are calculated to match the motor speed The first output value of the first parameter. Calculate the second observation value of the first parameter according to the first observation value of the first parameter, the measurement value of the second parameter and the current motor speed, and then calculate the second observation value of the first parameter according to the first output value of the first parameter and the second observation of the first parameter The value obtains the output value of the third parameter in the first coordinate system, and the rotation speed or torque of the motor is controlled by the output value of the third parameter. Since the first output value of the first parameter is determined by the reference value of the first parameter and the first calculated value of the first parameter according to the current motor speed, the reference value of the first parameter and the first calculated value of the first parameter are respectively determined Calculated from the first parameter and the second parameter, which correspond to the first coordinate system and the second coordinate system, respectively, so that the first coordinate system and the second coordinate system can be combined, and the third parameter that controls the motor speed can be calculated according to the current motor speed. The output value of the parameter in order to achieve a good motor control effect.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art.

FIG. 1 is a schematic diagram of an implementation process of a motor control method provided by an embodiment of the present application;

2 is a schematic flowchart of sub-steps of a motor control method provided by an embodiment of the present application;

3 is a schematic flowchart of sub-steps of a motor control method provided by an embodiment of the present application;

Fig. 4 is a schematic diagram of a motor control device provided by an embodiment of the present application;

Fig. 5 is a schematic diagram of a terminal device provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are proposed for a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from obstructing the description of this application.

In order to illustrate the technical solutions described in the present application, specific embodiments are used for description below.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the existence of the described features, wholes, steps, operations, elements and/or components, but does not exclude one or more other features , The existence or addition of a whole, a step, an operation, an element, a component and/or a collection thereof.

It should also be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification of this application and the appended claims, unless the context clearly indicates other circumstances, the singular forms "a", "an" and "the" are intended to include plural forms.

It should be further understood that the term "and/or" used in the specification and appended claims of this application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .

As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "once" or "in response to determination" or "in response to detection" depending on the context . Similarly, the phrase "if determined" or "if detected [described condition or event]" can be interpreted as meaning "once determined" or "in response to determination" or "once detected [described condition or event]" depending on the context ]" or "in response to detection of [condition or event described]".

In addition, in the description of this application, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

The motor control method provided by the embodiment of the present application is applied to terminal equipment. The motor control method provided by the embodiment of the present application will be described below. Please refer to FIG. 1. The motor control method provided by the embodiment of the present application includes:

S101: When a torque command is obtained, the reference value of the first parameter and the reference value of the second parameter are determined according to the relationship between the motor torque in the torque command and the preset efficiency optimization variable, where the first parameter The parameter is a variable of the first coordinate system, and the second parameter is a variable of the second coordinate system.

In a possible implementation, the first coordinate system is an ft coordinate system, including f-axis and t-axis, where the f-axis is the direction of the motor stator flux linkage, the t-axis is perpendicular to the f-axis, and the motor The mathematical model in the first coordinate system is:

Among them, v _f is the f-axis voltage and v _t respectively the t-axis voltage; Ψ _s is the amplitude of the motor stator flux linkage; δ is the angle between the motor stator flux linkage vector and the d-axis; i _f is the f-axis current, and _t is t-axis current; I _lim and v _lim are the maximum values of current and voltage respectively, R is the motor stator resistance; p is the number of motor pole pairs, ω _m is the motor rotor speed; _Te is the motor torque.

The first parameter is any one or two of f-axis voltage, t-axis voltage, motor stator flux linkage amplitude, f-axis current, t-axis current, and angle δ between the motor stator flux linkage vector and the d-axis.

The second coordinate system is a dq coordinate system, including a d-axis and a q-axis, wherein the d-axis is the direction of the permanent magnet of the motor rotor, the q-axis is perpendicular to the d-axis, and the mathematical model of the motor in the second coordinate system for:

Where v _q is the q-axis voltage, v _d is the d-axis voltage; i _d is the d-axis current, i _q is the q-axis current; L _d is the d-axis inductance, L _q is the q-axis inductance, and Ψ _m is the permanent magnet magnet Chain; R is the motor stator resistance; p is the number of pole pairs of the motor, ω _m is the motor rotor speed; T _e is the motor torque.

The second parameter is any one or two of d-axis voltage, q-axis voltage, d-axis current, q-axis current, d-axis inductance, q-axis inductance, and permanent magnet flux linkage.

The preset efficiency optimization variable relationship is the corresponding relationship between the motor torque and the first parameter and the second parameter when the efficiency is optimal. For example, the efficiency optimization flux linkage data table that stores the corresponding relationship between the motor torque and the motor stator flux linkage amplitude, and the efficiency optimization current combination data table that stores the relationship between the motor torque and the current.

In a possible implementation manner, the first parameter includes the motor stator flux linkage amplitude and the t-axis current, and the second parameter includes the d-axis current and the q-axis current.

When the torque command is obtained, the reference value of the motor stator flux linkage amplitude corresponding to the motor torque is determined from the efficiency optimization flux linkage data table according to the motor torque, and the motor torque and the motor stator flux linkage amplitude are referenced The value is substituted into formula (3), and the corresponding reference value of the t-axis current is calculated.

Determine the d-axis current reference value and the q-axis current reference value from the efficiency optimization current combination data table according to the motor torque.

S102: Perform coordinate conversion according to the reference value of the second parameter and the preset association relationship between the first coordinate system and the second coordinate system, and calculate the first parameter of the first parameter corresponding to the reference value of the second parameter. A calculated value.

Specifically, the preset association relationship between the first coordinate system and the second coordinate system includes the following relational expressions:

i _t =i _q cosδ-i _d sinδ (2)

i _f ＝i _d cosδ+i _q sinδ (3)

Ψ _d = L _d i _d +Ψ _m (5)

Ψ _q = L _q i _q (6)

Substituting the reference value of the second parameter into the relational expression corresponding to the above-mentioned association relationship, and performing coordinate conversion, thereby converting the reference value of the second parameter into the first calculated value of the first parameter corresponding to the first coordinate system.

Continuing the above possible implementation methods, substituting the d-axis current reference value and the q-axis current reference value into formula (10) and formula (12), the first calculated value of the t-axis current and the first calculated value of the motor stator flux amplitude One calculated value.

S103: Calculate the first output value of the first parameter according to the reference value of the first parameter, the first calculation value of the first parameter, and the current motor speed.

Specifically, the first output value of the first parameter is calculated based on the reference value of the first parameter and the first calculated value of the first parameter according to the rotation speed of the motor.

In a possible implementation, this step includes:

If the current motor speed is less than or equal to the first preset speed, according to the formula

Calculating the first output value of the first parameter;

Or, if the current motor speed is greater than the first preset speed and less than the second preset speed, according to the formula

Calculating the first output value of the first parameter;

Or, if the current motor speed is greater than or equal to the second preset speed, according to the formula

Calculating the first output value of the first parameter;

among them,

Represents the first output value of the amplitude of the stator flux linkage of the motor,

Represents the first output value of the t-axis current, ω ₁ represents the first preset speed, ω ₂ represents the second preset speed, and ω _x represents the current motor speed,

Represents the first calculated value of the motor stator flux linkage amplitude,

Represents the first calculated value of the t-axis current,

Indicates the reference value of the amplitude of the stator flux linkage of the motor,

Indicates the reference value of the t-axis current.

That is, if the current motor speed is less than or equal to the first preset speed, the first output value of the first parameter is the first calculated value of the first parameter calculated according to the reference value of the second parameter, that is, the first calculated value of the first parameter An output value is determined by the second parameter of the second coordinate system; if the current motor speed is greater than the first preset speed and less than the second preset speed, the first output value of the first parameter is determined by the reference value of the first parameter and The first calculated value of the first parameter is calculated, that is, the first output value of the first parameter is determined by the first parameter of the first coordinate system and the second parameter of the second coordinate system; if the current motor speed is greater than or equal to the first parameter 2. The preset speed, the first output value of the first parameter is a reference value according to the first parameter, that is, the first output value of the first parameter is determined by the first parameter of the first coordinate system. Thereby, the first coordinate system and the second coordinate system can be switched according to the current motor speed.

S104: When the first observed value of the first parameter and the measured value of the second parameter are obtained, calculate according to the first observed value of the first parameter, the measured value of the second parameter, and the current motor speed The second observation value of the first parameter is obtained.

Specifically, the first observation value of the first parameter and the measurement value of the second parameter are obtained, and the second observation value of the first parameter is calculated from the first observation value of the first parameter or the measurement value of the second parameter according to the motor speed. .

As shown in FIG. 2, in a possible implementation manner, S104 includes S201 and S202.

S201: Perform coordinate conversion according to the measured value of the second parameter and the preset association relationship between the first coordinate system and the second coordinate system, and calculate the first parameter corresponding to the measured value of the second parameter The second calculated value.

Substituting the measured value of the second parameter into the relational expression of the association relationship, and performing coordinate conversion, thereby converting the measured value of the second parameter into the second calculated value of the first parameter corresponding to the first coordinate system.

In a possible implementation, the measured value of the d-axis current and the measured value of the q-axis current are substituted into formula (10) and formula (12), and the second calculated value of the t-axis current and the motor stator flux amplitude are calculated respectively The second calculated value.

S202: Calculate a second observed value of the first parameter according to the first observed value of the first parameter, the second calculated value of the first parameter, and the current motor speed.

Specifically, the second observed value of the first parameter is calculated from the first observed value of the first parameter or the second calculated value of the first parameter according to the rotation speed of the motor.

In a possible implementation, this step includes:

If the current motor speed is less than or equal to the first preset speed, according to the formula

Calculating a second observation value of the first parameter;

Or, if the current motor speed is greater than the first preset speed and less than the second preset speed, according to the formula

Calculating a second observation value of the first parameter;

Or, if the current motor speed is greater than or equal to the second preset speed, according to the formula

Calculating a second observation value of the first parameter;

among them,

Represents the second observation value of the amplitude of the stator flux linkage of the motor,

Represents the second observation value of the t-axis current,

Represents the second calculated value of the motor stator flux linkage amplitude,

Represents the second calculated value of the t-axis current,

Represents the first observation value of the amplitude of the stator flux linkage of the motor,

Represents the first observation value of the t-axis current.

That is, if the current motor speed is less than or equal to the first preset speed, the second observation value of the first parameter is the second calculated value of the first parameter calculated according to the measured value of the second parameter, that is, the second calculated value of the first parameter The second observation value is determined by the second parameter of the second coordinate system; if the current motor speed is greater than the first preset speed and less than the second preset speed, the second observation value of the first parameter is determined by the first observation of the first parameter Value and the second calculated value of the first parameter, that is, the second observed value of the first parameter is determined by the first parameter of the first coordinate system and the second parameter of the second coordinate system; if the current motor speed is greater than or Equal to the second preset speed, the second observation value of the first parameter is based on the first observation value of the first parameter, that is, the second observation value of the first parameter is determined by the first parameter of the first coordinate system. Thus, the first coordinate system and the second coordinate system can be switched according to the current motor speed.

S105: Obtain the output value of the third parameter according to the first output value of the first parameter and the second observation value of the first parameter, and control the rotation speed or torque of the motor through the output value of the third parameter, where , The third parameter is a variable of the first coordinate system.

Specifically, the first output value of the first parameter corresponds to the torque command, the second observation value of the first parameter corresponds to the measured value of the motor, and the actual output value of the control motor is adjusted according to the measured value of the motor, that is, the output value of the third parameter , So as to control the speed or torque of the motor.

As shown in FIG. 3, in a possible implementation manner, S105 includes S301-S304.

S301: Calculate the second output value of the first parameter according to the first output value of the first parameter and a preset field weakening control condition.

Specifically, according to the first output value of the first parameter and the conditions that the first parameter needs to meet, that is, formula (4) and formula (5), the second output value of the first parameter after the limit is calculated. That is, if the first output value of the first parameter satisfies formula (4) and formula (5), the first output value of the first parameter is taken as the third calculated value of the first parameter, and if the first output value of the first parameter is not The formula (4) and formula (5) are satisfied, and the maximum value of the first parameter is taken as the second output value of the first parameter.

S302: Calculate the difference between the second output value of the first parameter and the second observed value of the first parameter.

In a possible implementation, the second output value of the motor stator flux amplitude minus the second observation value of the motor stator flux amplitude is taken as the difference of the motor stator flux amplitude, and the t-axis current The second output value minus the second observation value of the t-axis current is used as the difference of the t-axis current.

S303: Obtain a third calculated value of the first parameter according to the difference.

Continuing the above possible implementation methods, if the difference in the motor stator flux amplitude is greater than the preset maximum value, reduce the second output value of the motor stator flux amplitude to obtain the third calculated value. If the motor stator flux amplitude is The difference value of is smaller than the preset minimum value, and the third calculated value of the amplitude of the motor stator flux linkage is increased. If the difference of the t-axis current is greater than the preset maximum value, reduce the second output value of the t-axis current to obtain the third calculated value; if the difference of the t-axis current is less than the preset minimum value, increase the first value of the t-axis current The second output value, the third calculated value is obtained.

S304: Calculate the output value of the third parameter according to the third calculation value of the first parameter.

Specifically, the third parameter for controlling the rotation speed of the motor is output according to the third calculation value of the first parameter and the corresponding formula in the mathematical model of the motor in the first coordinate system.

Continuing the above possible implementation manners, the third parameter includes f-axis voltage and t-axis voltage. Substituting the third calculated value of the motor stator flux linkage amplitude and the third calculated value of the t-axis current into formulas (1) and (2), the f-axis voltage and the t-axis voltage are calculated respectively. Therefore, the third parameter for controlling the motor speed can be calculated by combining the first coordinate system and the second coordinate system.

In a possible implementation manner, the output value of the third parameter is converted into an inverter switching command, and the inverter switching command is sent to the inverter, and the inverter controls the rotation speed of the motor according to the inverter switching command. Torque.

In the foregoing embodiment, the reference value of the first parameter of the first coordinate system and the reference value of the second parameter of the second coordinate system are determined according to the relationship between the motor torque in the torque command and the preset efficiency optimization variable, and the reference value of the second parameter of the second coordinate system is determined according to the first The correlation between the coordinate system and the second coordinate system is used for coordinate conversion, the first calculated value of the first parameter corresponding to the reference value of the second parameter is calculated, and the reference value of the first parameter or the first parameter is selected according to the current motor speed. The first calculated value of the parameter is used as the first output value of the first parameter, and then the second observed value of the first parameter is calculated according to the current motor speed, the first observed value of the first parameter, and the measured value of the second parameter. The output value of the third parameter is obtained according to the first output value of the first parameter and the second observation value of the first parameter, and the rotation speed or torque of the motor is controlled by the output value of the third parameter. Since the first output value of the first parameter is determined by the reference value of the first parameter and the first calculated value of the first parameter according to the rotation speed, the second observation value of the first parameter, that is, the feedback amount, is determined by the current motor rotation speed. The second observed value of the first parameter and the second calculated value of the first parameter are determined. Therefore, the first coordinate system and the second coordinate system can be combined to calculate the output value of the third parameter that controls the motor speed according to the current motor speed, so as to achieve a good motor control effect.

It should be understood that the size of the sequence number of each step in the foregoing embodiment does not mean the order of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

Corresponding to the motor control method described in the above embodiment, FIG. 4 shows a structural block diagram of a device provided in an embodiment of the present application. For ease of description, only the parts related to the embodiment of the present application are shown.

As shown in Figure 4, the motor control device includes:

The obtaining module 10 is configured to determine the reference value of the first parameter and the reference value of the second parameter according to the relationship between the motor torque in the torque command and the preset efficiency optimization variable when the torque command is obtained, wherein, The first parameter is a variable of a first coordinate system, and the second parameter is a variable of a second coordinate system;

The first calculation module 20 is configured to perform coordinate conversion according to the reference value of the second parameter and the preset association relationship between the first coordinate system and the second coordinate system, so as to calculate the reference value of the second parameter The first calculated value of the corresponding first parameter;

The second calculation module 30 is configured to calculate the first output value of the first parameter according to the reference value of the first parameter, the first calculation value of the first parameter, and the current motor speed;

The third calculation module 40 is configured to, when the first observed value of the first parameter and the measured value of the second parameter are acquired, according to the first observed value of the first parameter, the measured value of the second parameter and the measured value of the second parameter. Calculating the second observation value of the first parameter with the current motor speed;

The control module 50 is configured to obtain the output value of the third parameter according to the first output value of the first parameter and the second observation value of the first parameter, and to control the rotation speed of the motor through the output value of the third parameter. Torque, wherein the third parameter is a variable of the first coordinate system.

In a possible implementation manner, the first coordinate system includes an f-axis and a t-axis, and the first parameter includes a motor stator flux linkage amplitude and a t-axis current, where the f axis is the motor stator flux linkage Direction, the t-axis is perpendicular to the f-axis; the second coordinate system includes the d-axis and the q-axis, the second parameter includes the d-axis current and the q-axis current, wherein the d-axis is the permanent motor rotor The direction of the magnet, the q axis is perpendicular to the d axis.

In a possible implementation manner, the second calculation module 30 is specifically configured to:

If the current motor speed is less than or equal to the first preset speed, according to the formula

Calculating the first output value of the first parameter;

Or, if the current motor speed is greater than the first preset speed and less than the second preset speed, according to the formula

Calculating the first output value of the first parameter;

Or, if the current motor speed is greater than or equal to the second preset speed, according to the formula

Calculating the first output value of the first parameter;

among them,

The first output value representing the amplitude of the stator flux linkage of the motor,

Represents the first output value of the t-axis current, ω ₁ represents the first preset speed, ω ₂ represents the second preset speed, and ω _x represents the current motor speed,

Represents the first calculated value of the motor stator flux linkage amplitude,

Represents the first calculated value of the t-axis current,

Indicates the reference value of the amplitude of the stator flux linkage of the motor,

Indicates the reference value of the t-axis current.

In a possible implementation manner, the third calculation module 40 includes:

The first calculation unit is configured to perform coordinate conversion according to the measured value of the second parameter and the preset association relationship between the first coordinate system and the second coordinate system, and calculate the measured value of the second parameter The corresponding second calculated value of the first parameter;

The second calculation unit is configured to calculate the second observed value of the first parameter according to the first observed value of the first parameter, the second calculated value of the first parameter, and the current motor speed.

In a possible implementation manner, the second calculation unit is specifically configured to:

If the current motor speed is less than or equal to the first preset speed, according to the formula

Calculating a second observation value of the first parameter;

Or, if the current motor speed is greater than the first preset speed and less than the second preset speed, according to the formula

Calculating a second observation value of the first parameter;

Or, if the current motor speed is greater than or equal to the second preset speed, according to the formula

Calculating a second observation value of the first parameter;

among them,

Represents the second observation value of the amplitude of the stator flux linkage of the motor,

Represents the second observation value of the t-axis current,

Represents the second calculated value of the motor stator flux linkage amplitude,

Represents the second calculated value of the t-axis current,

Represents the first observation value of the amplitude of the stator flux linkage of the motor,

Represents the first observation value of the t-axis current.

In a possible implementation manner, the third parameter includes f-axis voltage and t-axis voltage.

In a possible implementation manner, the control module 50 is specifically configured to:

Calculating the second output value of the first parameter according to the first output value of the first parameter and the preset field weakening control condition;

Calculating the difference between the second output value of the first parameter and the second observation value of the first parameter;

Obtaining a third calculated value of the first parameter according to the difference;

The output value of the third parameter is calculated according to the third calculation value of the first parameter.

It should be noted that the information interaction and execution process between the above-mentioned devices/units are based on the same concept as the method embodiment of this application, and its specific functions and technical effects can be found in the method embodiment section. I won't repeat it here.

Those skilled in the art can clearly understand that for the convenience and conciseness of description, only the division of the above functional units and modules is used as an example. In practical applications, the above functions can be allocated to different functional units and modules as required. Module completion, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist alone physically, or two or more units can be integrated into one unit. The above-mentioned integrated units can be hardware-based Formal realization can also be realized in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of this application. For the specific working process of the units and modules in the foregoing system, reference may be made to the corresponding process in the foregoing method embodiment, which will not be repeated here.

Fig. 5 is a schematic diagram of a terminal device provided by an embodiment of the present application. As shown in FIG. 5, the terminal device of this embodiment includes a processor 11, a memory 12, and a computer program 13 stored in the memory 12 and running on the processor 11. When the processor 11 executes the computer program 13, the steps in the above embodiment of the motor control method are implemented, for example, steps S101 to S105 shown in FIG. 1. Alternatively, when the processor 11 executes the computer program 13, the functions of the modules/units in the foregoing device embodiments, such as the functions of the modules 10 to 50 shown in FIG. 4, are realized.

Exemplarily, the computer program 13 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 12 and executed by the processor 11 to complete This application. The one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 13 in the terminal device.

The processor 11 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

The memory 12 may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory 12 may also be an external storage device of the terminal device, such as a plug-in hard disk equipped on the terminal device, a smart memory card (Smart Media Card, SMC), or a Secure Digital (SD) card, Flash Card, etc. Further, the memory 12 may also include both an internal storage unit of the terminal device and an external storage device. The memory 12 is used to store the computer program and other programs and data required by the terminal device. The memory 12 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can understand that FIG. 5 is only an example of a terminal device, and does not constitute a limitation on the terminal device. It may include more or less components than those shown in the figure, or a combination of certain components, or different components, such as The terminal device may also include input and output devices, network access devices, buses, and so on.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in an embodiment, reference may be made to related descriptions of other embodiments.

A person of ordinary skill in the art may realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed device/terminal device and method may be implemented in other ways. For example, the device/terminal device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units. Or components can be combined or integrated into another system, or some features can be omitted or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiments and methods, and can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the program is executed by the processor, it can implement the steps of the foregoing method embodiments. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate forms. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunications signal, and software distribution media, etc.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, a person of ordinary skill in the art should understand that it can still implement the foregoing The technical solutions recorded in the examples are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the application, and should be included in Within the scope of protection of this application.

Claims (10)

1. A motor control method is characterized in that it includes:

   When the torque command is acquired, the reference value of the first parameter and the reference value of the second parameter are determined according to the relationship between the motor torque in the torque command and the preset efficiency optimization variable, where the first parameter is A variable of the first coordinate system, and the second parameter is a variable of the second coordinate system;

   Perform coordinate conversion according to the reference value of the second parameter and the preset association relationship between the first coordinate system and the second coordinate system, and calculate the first calculation of the first parameter corresponding to the reference value of the second parameter value;

   Calculating the first output value of the first parameter according to the reference value of the first parameter, the first calculation value of the first parameter, and the current motor speed;

   When the first observed value of the first parameter and the measured value of the second parameter are obtained, the first observed value of the first parameter, the measured value of the second parameter and the current motor speed are calculated according to the first observed value of the first parameter. The second observation value of a parameter;

   The output value of the third parameter is obtained according to the first output value of the first parameter and the second observation value of the first parameter, and the rotation speed or torque of the motor is controlled by the output value of the third parameter. The third parameter is a variable of the first coordinate system.
2. The motor control method according to claim 1, wherein the first coordinate system includes an f-axis and a t-axis, and the first parameter includes a motor stator flux linkage amplitude and a t-axis current, wherein the f The axis is the stator flux direction of the motor, the t-axis is perpendicular to the f-axis; the second coordinate system includes d-axis and q-axis, and the second parameter includes d-axis current and q-axis current. The d-axis is the direction of the permanent magnets of the motor rotor, and the q-axis is perpendicular to the d-axis.
3. The motor control method according to claim 2, wherein the first parameter of the first parameter is calculated according to the reference value of the first parameter, the first calculated value of the first parameter, and the current motor speed. One output value, specifically including:

   If the current motor speed is less than or equal to the first preset speed, according to the formula

   

   Calculating the first output value of the first parameter;

   Or, if the current motor speed is greater than the first preset speed and less than the second preset speed, according to the formula

   

   Calculating the first output value of the first parameter;

   Or, if the current motor speed is greater than or equal to the second preset speed, according to the formula

   

   Calculating the first output value of the first parameter;

   among them,

   

   Represents the first output value of the amplitude of the stator flux linkage of the motor,

   

   Represents the first output value of the t-axis current, ω ₁ represents the first preset speed, ω ₂ represents the second preset speed, and ω _x represents the current motor speed,

   

   Represents the first calculated value of the motor stator flux linkage amplitude,

   

   Represents the first calculated value of the t-axis current,

   

   Represents the reference value of the motor stator flux linkage amplitude,

   

   Indicates the reference value of the t-axis current.
4. The motor control method according to claim 2, wherein the first parameter is calculated according to the first observed value of the first parameter, the measured value of the second parameter, and the current motor speed. The second observation value includes:

   Perform coordinate conversion according to the measured value of the second parameter and the preset association relationship between the first coordinate system and the second coordinate system, and calculate the first parameter of the first parameter corresponding to the measured value of the second parameter. Two calculated value;

   Obtain the second observed value of the first parameter according to the first observed value of the first parameter, the second calculated value of the first parameter and the current motor speed.
5. The motor control method according to claim 4, wherein the first parameter is calculated according to the first observation value of the first parameter, the second calculation value of the first parameter, and the motor speed. The second observation value includes:

   If the current motor speed is less than or equal to the first preset speed, according to the formula

   

   Calculating a second observation value of the first parameter;

   Or, if the current motor speed is greater than the first preset speed and less than the second preset speed, according to the formula

   

   Calculating a second observation value of the first parameter;

   Or, if the current motor speed is greater than or equal to the second preset speed, according to the formula

   

   Calculating a second observation value of the first parameter;

   among them,

   

   Represents the second observation value of the amplitude of the stator flux linkage of the motor,

   

   Represents the second observation value of the t-axis current,

   

   Represents the second calculated value of the motor stator flux linkage amplitude,

   

   Represents the second calculated value of the t-axis current,

   

   Represents the first observation value of the amplitude of the stator flux linkage of the motor,

   

   Represents the first observation value of the t-axis current.
6. The motor control method according to claim 2, wherein the third parameter includes f-axis voltage and t-axis voltage.
7. The motor control method according to claim 1, wherein the obtaining the output value of the third parameter according to the first output value of the first parameter and the second observation value of the first parameter specifically includes:

   Calculating the second output value of the first parameter according to the first output value of the first parameter and the preset field weakening control condition;

   Calculating the difference between the second output value of the first parameter and the second observation value of the first parameter;

   Obtaining a third calculated value of the first parameter according to the difference;

   The output value of the third parameter is calculated according to the third calculation value of the first parameter.
8. A motor control device, characterized in that it comprises:

   The obtaining module is used to determine the reference value of the first parameter and the reference value of the second parameter according to the relationship between the motor torque in the torque command and the preset efficiency optimization variable when the torque command is obtained. The first parameter is a variable of a first coordinate system, and the second parameter is a variable of a second coordinate system;

   The first calculation module is configured to perform coordinate conversion according to the reference value of the second parameter and the preset association relationship between the first coordinate system and the second coordinate system, so as to calculate the reference value corresponding to the second parameter The first calculated value of the first parameter;

   A second calculation module, configured to calculate the first output value of the first parameter according to the reference value of the first parameter, the first calculation value of the first parameter, and the current motor speed;

   The third calculation module is configured to, when the first observation value of the first parameter and the measured value of the second parameter are acquired, according to the first observation value of the first parameter, the measured value of the second parameter, and the The current motor speed calculates the second observation value of the first parameter;

   The control module is used to obtain the output value of the third parameter according to the first output value of the first parameter and the second observation value of the first parameter, and to control the rotation speed or rotation of the motor through the output value of the third parameter Moments, wherein the third parameter is a variable of the first coordinate system.
9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program as claimed in claims 1 to 7 Steps of any of the methods.
10. A computer-readable storage medium storing a computer program, wherein the computer program implements the steps of the method according to any one of claims 1 to 7 when the computer program is executed by a processor.

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