WO2023137810A1

WO2023137810A1 - Multi-phase motor control method, apparatus and device, and readable storage medium

Info

Publication number: WO2023137810A1
Application number: PCT/CN2022/076345
Authority: WO
Inventors: 付胜杰; 黄旭炳; 林添良; 陈其怀; 李钟慎; 缪骋; 任好玲; 郭桐; 段闯闯; 方燕飞; 林元正
Original assignee: 华侨大学
Priority date: 2022-01-18
Filing date: 2022-02-15
Publication date: 2023-07-27
Also published as: CN114362602A; CN114362602B

Abstract

A multi-phase motor control method, apparatus and device, and a readable storage medium. The method comprises: obtaining current operation parameters of a whole electric loader, and generating a target rotation speed of a multi-phase motor according to the operation parameters, wherein the operation parameters comprise a current load, a main pump pressure, and a grip opening degree (S101); determining a target magnetic flux of the multi-phase motor according to the target rotation speed and a rated rotation speed (S102); acquiring a current rotation speed of the multi-phase motor, and determining a target torque of the multi-phase motor according to the current rotation speed and the target rotation speed (S103); and obtaining a current torque and a current magnetic flux of the multi-phase motor, and according to the current torque, the target torque, the current magnetic flux and the target magnetic flux, directly calculating and generating, in a stator static coordinate system, a torque and a magnetic flux linkage compensation voltage for controlling the multi-phase motor (S104), aiming at satisfying quick response requirements of the electric loader under different complex working conditions, satisfying a power demand of the whole electric loader, better matching the working characteristics of the loader, and improving the working performance of the loader.

Description

A control method, device, equipment and readable storage medium of a multi-phase motor

technical field

The invention relates to the field of motor control, in particular to a control method, device, equipment and readable storage medium of a multi-phase motor.

Background technique

As a typical traction-type earthwork engineering machinery, loaders are widely used in construction, water conservancy, mining and other fields. The common working mode of the loader is: forward with no load, shoveling materials, retreating, turning, advancing, unloading materials, and retreating to the origin. These six processes form a complete operation cycle. Traditional loaders use fuel engines as power units, which have problems such as low energy utilization and high exhaust emissions. Electric loaders have the advantages of zero emission, low noise and high energy utilization. The operating ability of the loader reflects its advantages and disadvantages, and the power system, as the core component of the loader, directly affects the operating ability of the loader.

Due to the harsh working environment, complex and special working conditions and high requirements for system reliability, the loader has the characteristics of strong periodicity of work and sharp fluctuations in output power within a working cycle, so the existing ordinary three-phase speed control system is difficult to meet its requirements. The multi-phase motor has the advantages of low voltage, high power, fast torque response, high reliability, and rich modulation resources, which can further improve the dynamic response of the speed control system, reduce torque ripple, and improve the working efficiency and reliability of the loader.

As a new technology, the control of multi-phase speed control system still has many problems in theory and practice. According to its characteristics, the control method needs to be further improved in order to give full play to the advantages of multi-phase speed control system and better match the working characteristics of electric loaders.

In view of this, propose this application.

Contents of the invention

The invention discloses a control method, device, equipment and readable storage medium of a multi-phase motor, aiming at realizing the fast response requirements of an electric loader under different complex working conditions, satisfying the power demand of the whole vehicle, better matching the working characteristics of the loader, and improving the working performance of the loader.

The first embodiment of the present invention provides a method for controlling a multi-phase motor, including:

Obtain the current operating parameters of the electric loader, and generate the target speed of the multi-phase motor according to the operating parameters, wherein the operating parameters include the current load, main pump pressure and handle opening;

determining a target magnetic flux of the multi-phase motor according to the target speed and the rated speed;

Acquiring the current speed of the multi-phase motor, and determining the target torque of the multi-phase motor according to the current speed and the target speed;

Acquire the current torque and current flux of the multi-phase motor, and directly calculate and generate torque and flux linkage compensation voltage for controlling the multi-phase motor in the stationary stator coordinate system according to the current torque and the target torque, the current flux and the target flux.

Preferably, the generating the target speed of the multi-phase motor according to the operating parameters is specifically:

When the loader is started, the first target flow rate is determined according to the opening of the handle;

When the load changes, the second target flow rate is determined according to the current load and the main pump pressure, wherein the first target flow rate and the second target flow rate are used to calculate the target rotational speed of the multi-phase motor.

Preferably, the determining the target magnetic flux of the multi-phase motor according to the target speed and the rated speed is specifically:

judging whether the target speed is lower than the rated speed;

If so, generate a target magnetic flux value according to the current load and the handle opening;

If not, set the target magnetic flux of the multi-phase motor as the magnetic flux value of the multi-phase motor at a rated speed.

Preferably, the acquiring the current speed of the multi-phase motor, and determining the target torque according to the current speed and the target speed is specifically:

judging whether there is a deviation between the current rotational speed and the target rotational speed;

If yes, the deviation between the current rotational speed and the target rotational speed is converted into a target torque through a PID regulator.

The second embodiment of the present invention provides a control device for a multi-phase motor, including:

A target rotational speed generating unit, configured to obtain the current operating parameters of the electric loader, and generate the target rotational speed of the multi-phase motor according to the operating parameters, wherein the operating parameters include the current load, main pump pressure, and handle opening;

a target magnetic flux determining unit, configured to determine the target magnetic flux of the multi-phase motor according to the target rotational speed and the rated rotational speed;

a target torque determining unit, configured to acquire the current rotational speed of the multi-phase motor, and determine the target torque of the multi-phase motor according to the current rotational speed and the target rotational speed;

The compensation unit is used to acquire the current torque and the current magnetic flux of the multi-phase motor, and directly calculate and generate the torque and flux linkage compensation voltage for controlling the multi-phase motor in the static stator coordinate system according to the current torque and the target torque, the current magnetic flux and the target magnetic flux.

Preferably, the target rotational speed generating unit is specifically used for:

Preferably, the target magnetic flux determining unit is specifically used for:

judging whether the target speed is lower than the rated speed;

Preferably, the target torque determination unit is specifically configured to:

If so, the deviation between the current rotational speed and the target rotational speed is converted into a target torque through a PID regulator.

The third embodiment of the present invention provides a control device for a multi-phase motor, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor executes the computer program to implement a method for controlling a multi-phase motor as described in any one of the above.

The fourth embodiment of the present invention provides a readable storage medium, which stores a computer program, and the computer program can be executed by a processor of a device where the storage medium is located, so as to implement a method for controlling a multi-phase motor as described in any one of the above items.

Based on the control method, device, equipment and readable storage medium of a multi-phase motor provided by the present invention, the current operating parameters of the electric loader vehicle are obtained first, and the target rotational speed of the multi-phase motor is generated according to the operating parameters, the target torque and the target magnetic flux are determined according to the target rotational speed, the rated rotational speed and the current rotational speed, and the torque and the flux linkage compensation voltage for controlling the multi-phase electric motor are generated by direct calculation in the stationary coordinate system of the stator according to the current torque, the target torque, the current magnetic flux and the target magnetic flux. It realizes the rapid response requirements of the electric loader under different complex working conditions, meets the power demand of the whole vehicle, better matches the working characteristics of the loader, and improves the working performance of the loader.

Description of drawings

FIG. 1 is a schematic flowchart of a control method for a multi-phase motor provided in the first embodiment of the present invention;

Fig. 2 is the operating characteristic curve of the motor speed control system provided by the present invention;

3 is a block diagram of a control device for a multi-phase motor provided in a second embodiment of the present invention;

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In order to better understand the technical solutions of the present invention, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

It should be clear that the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. As used in the embodiments of the present invention and the appended claims, the singular forms "a", "said" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

It should be understood that the term "and/or" used herein is only an association relationship describing associated objects, which means that there may be three kinds of relationships, for example, A and/or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

Depending on the context, the word "if" as used herein may be interpreted as "at" or "when" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrases "if determined" or "if detected (the stated condition or event)" may be interpreted as "when determined" or "in response to the determination" or "when detected (the stated condition or event)" or "in response to detecting (the stated condition or event)".

The "first\second" mentioned in the embodiment is only to distinguish similar objects, and does not represent a specific order for the objects. It is understandable that "first\second" can be interchanged with a specific order or sequence if allowed. It should be understood that the terms "first\second" are interchangeable under appropriate circumstances such that the embodiments described herein can be practiced in sequences other than those illustrated or described herein.

Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

Referring to Fig. 1, the first embodiment of the present invention provides a control method for a multi-phase motor, which can be executed by a control device of a multi-phase motor (hereinafter referred to as the control device), in particular, by one or more processors in the control device to perform the following steps:

S101. Obtain the current operating parameters of the electric loader, and generate the target speed of the multi-phase motor according to the operating parameters, wherein the operating parameters include the current load, main pump pressure, and handle opening;

In this embodiment, the control device can be a motor controller, which can establish a communication connection with the operating handle, the pressure sensor of the main pump, and the pressure sensor configured at the outlet of the multi-way valve, so as to realize data interaction.

Specifically: in this embodiment, the motor speed control system of the electric loader is as shown in Figure 2, which has the characteristics of strong periodicity and large load changes. When the loader is started, the corresponding operating system flow requirement is calculated by the handle opening, and then the flow output demand of the multi-phase motor pump device is obtained. The formula Q=V n, wherein, Q represents the flow rate, and V represents the displacement, and the multi-phase motor target speed n can be obtained; The motor target speed value n, when the load increases, the pressure difference becomes larger, and the system flow value needs to be increased, that is, the motor target speed value is increased; when the load decreases, the pressure difference becomes smaller, and the system flow value needs to be reduced, that is, the motor target speed value is reduced.

S102. Determine the target magnetic flux of the multi-phase motor according to the target speed and the rated speed;

Specifically: in this embodiment, it is judged whether the target speed is lower than the rated speed;

It should be noted that after calculating the motor target speed value n, judge whether it is greater than its rated speed value, and if so, calculate the target magnetic flux value Φ controlled by the motor according to the target load size and the corresponding handle parameter value. The larger the load, the larger the required magnetic flux value; the larger the handle opening, the smaller the required magnetic flux value. Calculate and modify the target flux value of the motor according to the proportional relationship. If not, the default motor target flux value is the flux value at the rated speed of the multiphase motor.

S103. Obtain the current speed of the multi-phase motor, and determine the target torque of the multi-phase motor according to the current speed and the target speed;

Specifically: in this embodiment, it is judged whether there is a deviation between the current rotational speed and the target rotational speed;

It should be noted that in other embodiments, other methods can also be used to generate the target torque, which are not specifically limited here, but these solutions are all within the protection scope of the present invention.

S104. Obtain the current torque and current flux of the multi-phase motor, and directly calculate and generate torque and flux linkage compensation voltage for controlling the multi-phase motor in the static stator coordinate system according to the current torque and the target torque, the current flux and the target flux.

Specifically: in this embodiment, the deviation between the current torque value and magnetic flux value of the motor and the target torque value and magnetic flux value is detected, and the generated torque and compensation voltage are directly calculated in the stator static coordinate system. At the same time, the multi-phase motor is simplified into a two-phase motor in the stator static coordinate system through the spatial structure transformation matrix and the stator-rotor rotation transformation matrix. The torque and flux are directly controlled in the stator static coordinate system, and the torque demand is quickly responded to. The low-voltage and high-power characteristics of the multi-phase system.

The foregoing embodiments at least include the following beneficial effects:

The control of the multi-phase frequency conversion speed regulation system is completed in the stationary coordinate system of the stator, and the torque compensation and magnetic flux compensation are prioritized to respond, so that the characteristics of low voltage, high power and quick torque response of the multi-phase speed regulation system can be fully utilized, and the fast response requirements of the electric loader under different complex working conditions can be realized.

Referring to Fig. 3, the second embodiment of the present invention provides a control device for a multi-phase motor, including:

The target speed generation unit 201 is used to obtain the current operating parameters of the electric loader, and generate the target speed of the multi-phase motor according to the operating parameters, wherein the operating parameters include the current load, main pump pressure and handle opening;

A target magnetic flux determining unit 202, configured to determine the target magnetic flux of the multi-phase motor according to the target rotational speed and the rated rotational speed;

A target torque determination unit 203, configured to obtain the current rotational speed of the multi-phase motor, and determine the target torque of the multi-phase motor according to the current rotational speed and the target rotational speed;

The compensation unit 204 is configured to obtain the current torque and current flux of the multi-phase motor, and directly calculate and generate torque and flux linkage compensation voltage for controlling the multi-phase motor in the stationary stator coordinate system according to the current torque and the target torque, the current flux and the target flux.

Preferably, the target magnetic flux determining unit is specifically used for:

judging whether the target speed is lower than the rated speed;

Preferably, the target torque determination unit is specifically configured to:

The third embodiment of the present invention provides a multi-phase motor control device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor executes the computer program to implement a control method for a multi-phase motor as described in any one of the above.

Exemplarily, the computer program described in the third embodiment and the fourth embodiment of the present invention can be divided into one or more modules, and the one or more modules are stored in the memory and executed by the processor to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program in the control device for realizing a multi-phase motor. For example, the device described in the second embodiment of the invention.

The so-called processor may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components wait. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., and the processor is the control center of the control method for a multi-phase motor, and uses various interfaces and lines to connect the various parts that implement the control method for a multi-phase motor.

The memory can be used to store the computer programs and/or modules, and the processor implements various functions of a multi-phase motor control method by running or executing the computer programs and/or modules stored in the memory and calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one required application program for a function (such as a sound playback function, a text conversion function, etc.); the data storage area may store data created according to the use of the mobile phone (such as audio data, text message data, etc.). In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash memory card (Flash Card), at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

Wherein, if the implemented modules are realized in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-mentioned 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 form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electrical carrier signal, a telecommunication signal, and a software distribution medium. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, the computer-readable medium does not include electrical carrier signals and telecommunication signals according to the legislation and patent practice.

It should be noted that the device embodiments described above are only illustrative, and 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 may also be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that they have a communication connection, which can be specifically implemented as one or more communication buses or signal lines. It can be understood and implemented by those skilled in the art without creative effort.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention shall be covered within the scope of protection of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims

A control method for a multi-phase motor, characterized in that it comprises:

Obtain the current operating parameters of the electric loader, and generate the target speed of the multi-phase motor according to the operating parameters, wherein the operating parameters include the current load, main pump pressure and handle opening;

determining a target magnetic flux of the multi-phase motor according to the target speed and the rated speed;

Acquiring the current speed of the multi-phase motor, and determining the target torque of the multi-phase motor according to the current speed and the target speed;

Acquire the current torque and current flux of the multi-phase motor, and directly calculate and generate torque and flux linkage compensation voltage for controlling the multi-phase motor in the stationary stator coordinate system according to the current torque and the target torque, the current flux and the target flux.
The control method of a multi-phase motor according to claim 1, wherein said generating the target rotational speed of the multi-phase motor according to said operating parameters is specifically:

When the loader is started, the first target flow rate is determined according to the opening of the handle;

When the load changes, the second target flow rate is determined according to the current load and the main pump pressure, wherein the first target flow rate and the second target flow rate are used to calculate the target rotational speed of the multi-phase motor.
The control method of a multi-phase motor according to claim 1, wherein said determining the target magnetic flux of the multi-phase motor according to the target speed and the rated speed is specifically:

judging whether the target speed is lower than the rated speed;

If so, generate a target magnetic flux value according to the current load and the handle opening;

If not, set the target magnetic flux of the multi-phase motor as the magnetic flux value of the multi-phase motor at a rated speed.
The control method of a multi-phase motor according to claim 1, wherein said obtaining the current speed of the multi-phase motor, and determining the target torque according to the current speed and the target speed is specifically:

judging whether there is a deviation between the current rotational speed and the target rotational speed;

If yes, the deviation between the current rotational speed and the target rotational speed is converted into a target torque through a PID regulator.
A control device for a polyphase motor, characterized in that it comprises:

A target rotational speed generating unit, configured to obtain the current operating parameters of the electric loader, and generate the target rotational speed of the multi-phase motor according to the operating parameters, wherein the operating parameters include the current load, main pump pressure, and handle opening;

a target magnetic flux determining unit, configured to determine the target magnetic flux of the multi-phase motor according to the target rotational speed and the rated rotational speed;

a target torque determining unit, configured to acquire the current rotational speed of the multi-phase motor, and determine the target torque of the multi-phase motor according to the current rotational speed and the target rotational speed;

The compensation unit is used to acquire the current torque and the current magnetic flux of the multi-phase motor, and directly calculate and generate the torque and flux linkage compensation voltage for controlling the multi-phase motor in the static stator coordinate system according to the current torque and the target torque, the current magnetic flux and the target magnetic flux.
The control device for a multi-phase motor according to claim 5, wherein the target rotational speed generation unit is specifically used for:

When the loader is started, the first target flow rate is determined according to the opening of the handle;

When the load changes, the second target flow rate is determined according to the current load and the main pump pressure, wherein the first target flow rate and the second target flow rate are used to calculate the target rotational speed of the multi-phase motor.
The control device for a multi-phase motor according to claim 5, wherein the target magnetic flux determination unit is specifically used for:

judging whether the target speed is lower than the rated speed;

If so, generate a target magnetic flux value according to the current load and the handle opening;

If not, set the target magnetic flux of the multi-phase motor as the magnetic flux value of the multi-phase motor at a rated speed.
A control device for a multi-phase motor according to claim 5, wherein the target torque determining unit is specifically used for:

judging whether there is a deviation between the current rotational speed and the target rotational speed;

If yes, the deviation between the current rotational speed and the target rotational speed is converted into a target torque through a PID regulator.
A control device for a multi-phase motor, characterized in that it includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor executes the computer program to implement a method for controlling a multi-phase motor according to any one of claims 1 to 5.
A readable storage medium, which is characterized in that it stores a computer program, and the computer program can be executed by a processor of the device where the storage medium is located, so as to realize the control method of a multi-phase motor according to any one of claims 1 to 4.