WO2024011709A1 - 电机电流采样方法、变频器、终端设备及存储介质 - Google Patents

电机电流采样方法、变频器、终端设备及存储介质 Download PDF

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Publication number
WO2024011709A1
WO2024011709A1 PCT/CN2022/113656 CN2022113656W WO2024011709A1 WO 2024011709 A1 WO2024011709 A1 WO 2024011709A1 CN 2022113656 W CN2022113656 W CN 2022113656W WO 2024011709 A1 WO2024011709 A1 WO 2024011709A1
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WIPO (PCT)
Prior art keywords
sampling
delay
preset
motor
phase current
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PCT/CN2022/113656
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English (en)
French (fr)
Inventor
蔡昌俊
陶晓东
苏钊颐
陈希隽
高伟
袁浩智
陈刚
宁韶安
申天亮
卢勇
韦道峰
黎澎
陈银
陈栋
Original Assignee
广州地铁集团有限公司
江苏经纬轨道交通设备有限公司
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Application filed by 广州地铁集团有限公司, 江苏经纬轨道交通设备有限公司 filed Critical 广州地铁集团有限公司
Publication of WO2024011709A1 publication Critical patent/WO2024011709A1/zh

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/25—Arrangements for measuring currents or voltages or for indicating presence or sign thereof using digital measurement techniques

Definitions

  • This application relates to the field of motor drive technology, and in particular to a motor current sampling method, a frequency converter, a terminal device and a storage medium.
  • Motors have developed into the main source of mechanical energy, and motor control systems are widely used in all aspects of social life.
  • driver software timing design has an important impact on motor control performance.
  • the motor drive control system controls the voltage and current at the fundamental wave level. How to design the motor drive software timing so that the analog signal can be sampled to obtain the motor's three-phase fundamental wave current value is an important research direction.
  • the SVPWM carrier uses an increase and decrease counting method.
  • the underflow point and period point of each SVPWM count value is the midpoint of the zero voltage vector.
  • the three-phase current of the motor is The actual value is the fundamental value.
  • the driver software timing design will directly sample the analog signal AD at the underflow point and period point of the SVPWM count value, that is, the three-phase fundamental wave current value of the motor is collected.
  • the hardware sampling circuit will Filter the analog signal. Filtering will cause signal delay.
  • the three-phase current value of the motor obtained by this method is not the accurate fundamental wave value. It contains some harmonic components, which in turn affects the motor drive performance.
  • the main purpose of this application is to provide a motor current sampling method, frequency converter, terminal equipment and storage medium, aiming to solve the problem of inaccurate sampling of the three-phase current analog signal of the motor due to the time-consuming filtering process.
  • the motor current sampling method includes:
  • the sampling delay task is executed according to the delay setting parameters, wherein the delay time corresponding to the sampling delay task is in the filtering process with the three-phase current analog signal of the target motor. Time consumption is equal;
  • AD sampling is performed on the three-phase current analog signal of the target motor based on a preset sampling triggering rule.
  • the three-phase current analog signal of the target motor is filtered by a filtering module.
  • the step further includes:
  • the delay setting parameters are obtained according to the filtering time-consuming information.
  • the step of executing a sampling delay task according to the delay setting parameters when a preset delay condition is met includes:
  • the sampling delay task is executed according to the delay setting parameter.
  • the count value corresponding to the preset counter meets the preset underflow point condition or period point condition, before the step of executing the sampling delay task according to the delay setting parameter, there is also include:
  • the lowest value in the counting period is selected as the underflow point, and the highest value in the counting period is selected as the period point.
  • the step of executing the sampling delay task according to the delay setting parameter includes:
  • the sampling delay task is executed according to the delay setting parameter.
  • the step of performing AD sampling on the three-phase current analog signal of the target motor based on a preset sampling triggering rule includes:
  • the sampling module is controlled to perform AD sampling on the three-phase current analog signal of the target motor by a sampling trigger signal generated based on the SVPWM wave, where the SVPWM wave is generated based on the three-phase current analog signal.
  • the step of AD sampling the three-phase current analog signal of the target motor based on a preset sampling triggering rule includes:
  • AD sampling is performed on at least two phases of the current analog signals of the three-phase current analog signals of the target motor based on the preset triggering rule.
  • An embodiment of the present application also proposes a frequency converter, wherein the frequency converter includes a motor current sampling device, and the motor current sampling device includes:
  • Delay module used to execute a sampling delay task according to the delay setting parameters when the preset delay conditions are met, wherein the delay time corresponding to the sampling delay task is the same as the three-phase current simulation of the target motor.
  • the signal takes equal time in the filtering process
  • a sampling module configured to conduct AD sampling of the three-phase current analog signal of the target motor based on a preset sampling triggering rule.
  • An embodiment of the present application also proposes a terminal device.
  • the terminal device includes a memory, a processor, and a motor current sampling program stored in the memory and executable on the processor.
  • the motor current sampling program is When the processor is executed, the steps of the motor current sampling method as described above are implemented.
  • Embodiments of the present application also provide a computer-readable storage medium.
  • a motor current sampling program is stored on the computer-readable storage medium.
  • the motor current sampling program is executed by a processor, the motor current sampling method as described above is implemented. step.
  • the motor current sampling method, frequency converter, terminal equipment and storage medium proposed in the embodiment of this application obtain the delay setting parameters; when the preset delay conditions are met, the sampling delay task is performed according to the delay setting parameters, where, The delay time corresponding to the sampling delay task is equal to the time spent in the filtering process of the three-phase current analog signal of the target motor; AD sampling is performed on the three-phase current analog signal of the target motor based on the preset sampling triggering rules.
  • this application plan taking into account the time-consuming process of filtering the three-phase current analog signal, set and execute the corresponding sampling delay task to adjust the moment when AD sampling is triggered, which solves the problem of three-phase current simulation of the motor due to the time-consuming filtering process. The problem of inaccurate signal sampling.
  • Figure 1 is a schematic diagram of the functional module of the terminal equipment of the motor current sampling device of this application;
  • Figure 2 is a schematic flowchart of the first exemplary embodiment of the motor current sampling method of the present application
  • Figure 3 is a schematic flowchart of a second exemplary embodiment of the motor current sampling method of the present application.
  • Figure 4 is a schematic flowchart of a third exemplary embodiment of the motor current sampling method of the present application.
  • Figure 5 is a schematic flowchart of the fourth exemplary embodiment of the motor current sampling method of the present application.
  • Figure 6 is a schematic flowchart of the fifth exemplary embodiment of the motor current sampling method of the present application.
  • Figure 7 is a schematic flowchart of the sixth exemplary embodiment of the motor current sampling method of the present application.
  • Figure 8 is a schematic flowchart of the seventh exemplary embodiment of the motor current sampling method of the present application.
  • Figure 9 is a timing chart of the three-phase current analog signal sampling of the motor involved in the motor current sampling method of this application.
  • the main solution of the embodiment of this application is to: obtain the delay setting parameters; when the preset delay conditions are met, execute the sampling delay task according to the delay setting parameters, where the delay time corresponding to the sampling delay task is the same as the target
  • the three-phase current analog signals of the motor take equal time in the filtering process; AD sampling is performed on the three-phase current analog signals of the target motor based on the preset sampling trigger rules.
  • this application plan taking into account the time-consuming process of filtering the three-phase current analog signal, set and execute the corresponding sampling delay task to adjust the moment when AD sampling is triggered, which solves the problem of three-phase current simulation of the motor due to the time-consuming filtering process. The problem of inaccurate signal sampling.
  • FIG. 1 is a schematic diagram of the functional modules of the terminal equipment to which the motor current sampling device of the present application belongs.
  • the motor current sampling device may be a device independent of the terminal device and capable of sampling the motor current, and may be carried on the terminal device in the form of hardware or software.
  • the terminal device can be a smart mobile terminal with data processing functions such as a mobile phone or a tablet computer, or a fixed terminal device or server with data processing functions.
  • the terminal device to which the motor current sampling device belongs includes at least an output module 110, a processor 120, a memory 130 and a communication module 140.
  • the operating system and motor current sampling program are stored in the memory 130.
  • the motor current sampling device can obtain the delay setting parameters; when the preset delay conditions are met, the sampling delay task is executed according to the delay setting parameters; and based on the preset
  • the sampling triggering rule performs AD sampling on the three-phase current analog signal of the target motor, and the three-phase fundamental wave current value and other information are stored in the memory 130; the output module 110 can be a display screen, etc.
  • the communication module 140 may include a WIFI module, a mobile communication module, a Bluetooth module, etc., and communicates with external devices or servers through the communication module 140 .
  • the sampling delay task is executed according to the delay setting parameters, wherein the delay time corresponding to the sampling delay task is in the filtering process with the three-phase current analog signal of the target motor. Time consumption is equal;
  • AD sampling is performed on the three-phase current analog signal of the target motor based on a preset sampling triggering rule.
  • the delay setting parameters are obtained according to the filtering time-consuming information.
  • the sampling delay task is executed according to the delay setting parameter.
  • the lowest value in the counting period is selected as the underflow point, and the highest value in the counting period is selected as the period point.
  • the sampling delay task is executed according to the delay setting parameter.
  • the sampling module is controlled to perform AD sampling on the three-phase current analog signal of the target motor by a sampling trigger signal generated based on the SVPWM wave, where the SVPWM wave is generated based on the three-phase current analog signal.
  • AD sampling is performed on at least two phases of the current analog signals of the three-phase current analog signals of the target motor based on the preset triggering rule.
  • This embodiment adopts the above solution, specifically by obtaining the delay setting parameters; when the preset delay conditions are met, the sampling delay task is executed according to the delay setting parameters, where the delay time corresponding to the sampling delay task is the same as that of the target motor.
  • the three-phase current analog signals of the target motor take equal time in the filtering process; AD sampling is performed on the three-phase current analog signals of the target motor based on the preset sampling trigger rules.
  • this application plan taking into account the time-consuming process of filtering the three-phase current analog signal, set and execute the corresponding sampling delay task to adjust the moment when AD sampling is triggered, which solves the problem of three-phase current simulation of the motor due to the time-consuming filtering process. The problem of inaccurate signal sampling.
  • the motor current sampling method includes:
  • Step S10 obtain delay setting parameters
  • the specific method of obtaining the delay setting parameters may be to receive manually input delay setting parameters, or to retrieve the corresponding delay setting parameters from the local data storage area, or to obtain the corresponding delay setting parameters from the server. .
  • the obtained delay setting parameters are used to set the corresponding sampling delay task.
  • Step S20 When the preset delay conditions are met, a sampling delay task is executed according to the delay setting parameters, wherein the delay time corresponding to the sampling delay task and the three-phase current analog signal of the target motor are filtered The processing time is equal;
  • the zero-voltage vector midpoint corresponding to the three-phase current analog signal of the target motor exhibits periodicity.
  • the midpoint of the high and low levels of the pulse square wave generated by the three-phase current analog signal is the moment when the midpoint of the zero voltage vector appears.
  • sampling at the moment when the timing cycle or the counting cycle reaches the maximum value cannot obtain the accurate three-phase fundamental current value.
  • the sampling delay task needs to be set and executed according to the pre-obtained delay setting parameters.
  • the delay time corresponding to the sampling delay task is equal to the time consuming of the filtering process, so that Counteract the impact of filtering on sampling accuracy.
  • the sampling delay can be achieved by setting a hardware delay circuit or by calling a delay function.
  • Step S30 Perform AD sampling on the three-phase current analog signal of the target motor based on a preset sampling triggering rule.
  • AD sampling can be performed on the three-phase current analog signal to obtain the accurate three-phase fundamental current value.
  • the specific way to trigger sampling can be to query the value of the counter through the sampling module to trigger, or to set the corresponding interrupt function for the counter to trigger, or to trigger by configuring the trigger register.
  • the motor three-phase current analog signal sampling timing diagram is based on the obtained delay setting parameters to determine the specific AD sampling delay time Td, and the SVPWM count value range corresponding to the counter is set based on the underflow point a and the period point b. , and counts in an increasing and decreasing counting manner, and the counting period is Tpmw.
  • the SVPWM count value reaches the underflow point a, it starts counting upward.
  • the SVPWM count value reaches a1
  • the three-phase current analog signal is AD sampled to obtain the accurate three-phase fundamental current value.
  • the SVPWM count value reaches the underflow point b, it starts to count downward, after the AD sampling delay time Td, and then when the SVPWM count value reaches b1, the three-phase current analog signal is AD sampled to obtain the accurate three-phase fundamental wave current value.
  • This embodiment uses the above solution, specifically by obtaining the delay setting parameters; when the preset delay conditions are met, the sampling delay task is executed according to the delay setting parameters, where the delay corresponding to the sampling delay task The time is equal to the time spent in the filtering process of the three-phase current analog signal of the target motor; AD sampling is performed on the three-phase current analog signal of the target motor based on the preset sampling triggering rule.
  • the corresponding sampling delay task is set based on the time-consuming process of the three-phase current analog signal filtering process, and the sampling delay task is executed when the counter meets the preset conditions to adjust the moment when AD sampling is triggered, and solves the problem caused by filtering.
  • the time-consuming process leads to the problem of inaccurate sampling of the three-phase current analog signals of the motor.
  • the second embodiment of the motor current sampling method of the present application provides a schematic flow chart. Based on the embodiment shown in Figure 2, the three-phase current analog signal of the target motor is filtered Module filtering processing, step S10, before obtaining the delay setting parameters, also includes:
  • Step S001 Perform a filtering time-consuming test on the filter module through a preset filtering time-consuming test program to obtain corresponding filtering time-consuming information
  • the filter module can filter the original three-phase current analog signal to make the signal cleaner, but it will also cause signal lag.
  • the time taken for filtering processing can be determined by running a preset filtering time-consuming test program.
  • the filtering time-consuming test program analyzes the spectrum characteristics of the filter module and the spectrum characteristics of the actual signal to obtain the corresponding filtering time-consuming information.
  • Step S002 Obtain the delay setting parameters according to the filtering time-consuming information.
  • the filtering time-consuming information includes the time it takes for the filter module to filter the signal.
  • the filtering time-consuming information is analyzed to obtain the specific delay setting parameters, which are expressed as a certain value, or based on the value.
  • the corresponding numerical units are attached.
  • the delay setting parameters are used as function variables or stored in corresponding registers for use in subsequent steps of executing the sampling delay task.
  • the filtering module is specifically tested through a preset filtering time-consuming test program to obtain the corresponding filtering time-consuming information; the delay setting parameters are obtained according to the filtering time-consuming information. .
  • the time consumed by the filtering process is measured through the filtering time-consuming test program.
  • the corresponding delay setting parameters are further obtained. This parameter is used to compensate for the signal delay caused by the filtering process, so that the three-phase current AD sampling of analog signals is more accurate.
  • step S20 when the preset delay condition is met, according to The delay setting parameter execution sampling delay task is further refined, including:
  • Step S201 When the count value corresponding to the preset counter meets the preset underflow point condition or period point condition, execute the sampling delay task according to the delay setting parameter.
  • the direct drive signal of the target motor is a rectangular pulse signal
  • the motor drive system is provided with a corresponding counter.
  • the counter counts up and down within a certain range of values. The time it takes for the counter to count from the minimum value to the maximum value and from the maximum value to the minimum value is one cycle of the rectangular pulse signal.
  • the numerical range of the counter includes the underflow point and the period point. Under ideal conditions, the underflow point and period point in the timing diagram are the midpoints of the zero-voltage vector corresponding to the three-phase current. At this time, the actual value of the three-phase current of the motor is Fundamental wave value, that is to say, two three-phase fundamental wave current values can be obtained by sampling the underflow point and period point within one cycle of the rectangular pulse signal.
  • sampling at the underflow point and period point in the timing diagram cannot obtain accurate three-phase fundamental current values. For this reason, when the counter meets the underflow point condition or period point condition, it is necessary to set and execute the sampling delay task according to the pre-obtained delay setting parameters.
  • the delay time of the sampling delay task is equal to the time consuming of the filtering process. To offset the impact of filtering on sampling accuracy.
  • the sampling delay can be achieved by setting a hardware delay circuit or by calling a delay function.
  • the sampling delay task is executed according to the delay setting parameter.
  • the counting period is equal to the rectangular pulse signal period.
  • step S201 when the count value corresponding to the preset counter meets the preset When the underflow point condition or period point condition is set, before executing the sampling delay task according to the delay setting parameter, it also includes:
  • Step S003 set the counting period of the counter according to the hardware parameters of the motor drive system corresponding to the target motor and the width of the rectangular pulse signal;
  • the target motor is driven by the rectangular pulse signal sent by the corresponding rectangular pulse signal module of the motor drive system.
  • the corresponding frequency division of the rectangular pulse signal module determines the counting speed of the counter, and the width of the rectangular pulse signal determines the size of the counting period.
  • the frequency division corresponding to the rectangular pulse signal module and the width of the rectangular pulse signal set the minimum and maximum counting values of the counter, and count by increasing or decreasing counting, so that the counting period of the counter is equal to the period of the rectangular pulse signal.
  • Step S004 Select the lowest value in the counting period as the underflow point, and select the highest value in the counting period as the period point.
  • the counter counts in an increasing and decreasing counting manner during the counting period.
  • the lowest value or the highest value corresponds to the midpoint of the zero voltage vector of the three-phase input, which is the moment when the three-phase current analog signal is AD sampled under ideal conditions.
  • the lowest value is selected as the underflow point and the highest point is selected as the period point for subsequent execution of the sampling delay task based on the underflow point and the period point.
  • This embodiment adopts the above solution, specifically by setting the counting period of the counter according to the hardware parameters of the motor drive system corresponding to the target motor and the width of the rectangular pulse signal; selecting the lowest value within the counting period as the underflow point, and select the highest value of the counting period as the period point.
  • the counting period is set based on the hardware parameters of the motor drive system and the width of the rectangular pulse signal, so that the counting period is equal to the period of the rectangular pulse signal, thereby providing a basis for triggering AD sampling.
  • the fourth embodiment of the motor current sampling method of the present application provides a schematic flow diagram. Based on the embodiment shown in Figure 4, step S201, when the count value corresponding to the preset counter meets the predetermined When the underflow point condition or period point condition is set, the sampling delay task is executed according to the delay setting parameters to further refine it, including:
  • Step S2011 When the count value corresponding to the preset counter is equal to the value corresponding to the underflow point, execute the sampling delay task according to the delay setting parameter;
  • the execution of the sampling delay task is triggered.
  • the specific time of the sampling delay task is determined by the delay Determined by setting parameters.
  • Step S2012 When the count value corresponding to the preset counter is equal to the value corresponding to the period point, execute the sampling delay task according to the delay setting parameter.
  • the sampling delay task is triggered.
  • the specific time of the sampling delay task is determined by the delay Determined by setting parameters.
  • the sampling delay is executed according to the delay setting parameter; or when the preset counter value is equal to the value corresponding to the underflow point;
  • the sampling delay is executed according to the delay setting parameter.
  • the sampling delay task is executed according to the pre-obtained delay setting parameters, which can effectively offset the impact of signal delay caused by filtering processing and improve the accuracy of AD sampling. .
  • step S30 based on the preset sampling triggering rule, the target is The three-phase current analog signals of the motor are further refined by AD sampling, including:
  • Step S301 Control the sampling module to perform AD sampling on the three-phase current analog signal of the target motor by using a sampling trigger signal generated based on the SVPWM wave, where the SVPWM wave is generated based on the three-phase current analog signal.
  • the original signal as input is a three-phase current analog signal, which needs to be converted into a digital signal to drive the target motor.
  • the three-phase current analog signal is input into the SVPWM wave generating module, and the SVPWM wave generating module performs appropriate switching through different switching modes of the three-phase inverter to generate the corresponding SVPWM wave.
  • the SVPWM wave is used to drive the target motor and has the function of triggering AD sampling.
  • the SVPWM wave-generating module will send a sampling trigger signal to the sampling module after the delay is over, or the sampling module will actively query the data in the trigger register corresponding to the SVPWM wave-generating module to obtain the sampling trigger signal.
  • the sampling module is started under the control of the sampling trigger signal, performs AD sampling on the three-phase current analog signal of the target motor, and accurately collects the three-phase fundamental wave current value.
  • the sampling module controls the sampling module to perform AD sampling of the three-phase current simulation signal of the target motor through the sampling trigger signal generated based on the SVPWM wave, where the SVPWM wave is based on the three-phase current simulation Signal generation.
  • the sampling trigger signal can be sent to the sampling module based on the SVPWM wave, or can be actively acquired by the sampling module.
  • the sampling module performs AD sampling on the three-phase current analog signal of the target motor based on the sampling trigger signal, and can accurately sample and obtain the three-phase current analog signal. Phase fundamental current value.
  • the seventh embodiment of the motor current sampling method of the present application provides a schematic flow chart. Based on the embodiment shown in Figure 2 above, step S30, based on the preset sampling triggering rule, the target is The three-phase current analog signals of the motor are further refined by AD sampling, including:
  • Step S302 Perform AD sampling on at least two phases of the current analog signals of the three-phase current analog signals of the target motor based on the preset triggering rule.
  • the three-phase current analog signal includes three current analog signals of different phases.
  • the current analog signals of two phases are AD sampled based on the preset triggering rules. Based on the collected The current analog signal of the two phases is calculated to obtain the current analog signal of the third phase, that is, the complete three-phase fundamental current value is obtained.
  • AD sampling is performed on the current analog signals of all three phases based on the preset triggering rules to obtain the complete three-phase fundamental current value.
  • This embodiment through the above solution, specifically by performing AD sampling on at least two phases of the current analog signals of the three-phase current analog signals of the target motor based on the preset triggering rule.
  • This embodiment provides two AD sampling modes. By controlling the sampling module with the sampling trigger signal, AD sampling can be performed on two-phase or three-phase current analog signals, and ultimately accurate three-phase fundamental wave current values can be obtained.
  • the embodiment of the present application also proposes a frequency converter, wherein the frequency converter includes a motor current sampling device, and the motor current sampling device includes:
  • Delay module used to execute a sampling delay task according to the delay setting parameters when the preset delay conditions are met, wherein the delay time corresponding to the sampling delay task is the same as the three-phase current simulation of the target motor.
  • the signal takes equal time in the filtering process
  • a sampling module configured to conduct AD sampling of the three-phase current analog signal of the target motor based on a preset sampling triggering rule.
  • inventions of the present application also propose a terminal device.
  • the terminal device includes a memory, a processor, and a motor current sampling program stored in the memory and executable on the processor.
  • the motor current sampling program When executed by the processor, the steps of the motor current sampling method as described above are implemented.
  • embodiments of the present application also provide a computer-readable storage medium.
  • the computer-readable storage medium stores a motor current sampling program. When the motor current sampling program is executed by the processor, the motor current sampling as described above is implemented. Method steps.
  • the motor current sampling method, frequency converter, terminal equipment and storage medium proposed in the embodiments of this application obtain delay setting parameters; when the preset delay conditions are met, sampling is performed according to the delay setting parameters.
  • Delay task in which the delay time corresponding to the sampling delay task is equal to the time spent in the filtering process of the three-phase current analog signal of the target motor; the three-phase current analog signal of the target motor is processed based on the preset sampling triggering rules.
  • AD sampling Based on this application plan, taking into account the time-consuming process of filtering the three-phase current analog signal, set and execute the corresponding sampling delay task to adjust the moment when AD sampling is triggered, which solves the problem of three-phase current simulation of the motor due to the time-consuming filtering process. The problem of inaccurate signal sampling.
  • the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation.
  • the technical solution of the present application can be embodied in the form of a software product in essence or that contributes to the existing technology.
  • the computer software product is stored in one of the above storage media (such as ROM/RAM, magnetic disc, optical disk), including several instructions to cause a terminal device (which can be a mobile phone, computer, server, controlled terminal, or network device, etc.) to execute the method of each embodiment of the present application.

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Abstract

一种电机电流采样方法、变频器、终端设备及存储介质，其电机电流采样方法包括：获取延时设置参数（S10）；在符合预设的延时条件时，根据延时设置参数执行采样延时任务，其中，采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等（S20）;基于预设的采样触发规则对目标电机的三相电流模拟信号进行AD采样（S30）。

Description

电机电流采样方法、变频器、终端设备及存储介质
本申请要求于2022年7月14号申请的、申请号为202210830541.1的中国专利申请的优先权。
技术领域
本申请涉及电机驱动技术领域，尤其涉及一种电机电流采样方法、变频器、终端设备及存储介质。
 背景技术
电机已经发展成为主要的机械能来源，电机控制系统广泛应用在社会生活的各个方面。在电机控制技术领域，驱动软件时序设计对电机控制性能有重要影响。电机驱动控制系统是对基波层面的电压与电流进行控制，如何设计电机驱动软件时序，使模拟信号采样得到电机三相基波电流值，是一个重要的研究方向。
对于采用SVPWM发波方式的电机驱动系统来说，SVPWM载波采用增减计数方式，在每个SVPWM计数值的下溢点和周期点时刻是零电压矢量的中点，此时电机三相电流的实际值就是基波值。一般驱动软件时序设计会在SVPWM计数值的下溢点和周期点两个时刻直接进行模拟信号AD采样，也就是采集电机三相基波电流值，但是硬件采样电路为了避免高频噪声干扰，会对模拟信号进行滤波，滤波会引起信号延时，最终导致该方法采到的电机三相电流值不是准确的基波值，其包含了部分谐波分量，进而影响电机驱动性能。
 技术问题
本申请的主要目的在于提供一种电机电流采样方法、变频器、终端设备及存储介质，旨在解决因滤波过程耗时导致对电机的三相电流模拟信号采样不准确的问题。
 技术解决方案
为实现上述目的，本申请提供一种电机电流采样方法，所述电机电流采样方法包括：
获取延时设置参数；
在符合预设的延时条件时，根据所述延时设置参数执行采样延时任务，其中，所述采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等；
基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样。
在一实施方式中，所述目标电机的所述三相电流模拟信号经滤波模块滤波处理，所述获取延时设置参数的步骤之前，还包括：
通过预设的滤波耗时测试程序对所述滤波模块进行滤波耗时测试，得到对应的滤波耗时信息；
根据所述滤波耗时信息得到所述延时设置参数。
在一实施方式中，所述在符合预设的延时条件时，根据所述延时设置参数执行采样延时任务的步骤包括：
在预设的计数器对应的计数值符合预设的下溢点条件或者周期点条件时，根据所述延时设置参数执行所述采样延时任务。
在一实施方式中，所述在预设的计数器对应的计数值符合预设的下溢点条件或者周期点条件时，根据所述延时设置参数执行所述采样延时任务的步骤之前，还包括：
根据所述目标电机对应的电机驱动系统的硬件参数和矩形脉冲信号的宽度，设定所述计数器的计数周期；
选取所述计数周期内的最低值为下溢点，选取所述计数周期的最高值为周期点。
在一实施方式中，所述在预设的计数器对应的计数值符合预设的下溢点条件或者周期点条件时，根据所述延时设置参数执行所述采样延时任务的步骤包括：
在所述预设的计数器对应的计数值等于所述下溢点对应的值时，根据所述延时设置参数执行所述采样延时任务；或
在所述预设的计数器对应的计数值等于所述周期点对应的值时，根据所述延时设置参数执行所述采样延时任务。
在一实施方式中，所述基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样的步骤包括：
通过基于SVPWM波产生的采样触发信号控制采样模块对所述目标电机的所述三相电流模拟信号进行AD采样，其中，所述SVPWM波基于所述三相电流模拟信号产生。
在一实施方式中，基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样的步骤包括：
基于所述预设的触发规则对所述目标电机的所述三相电流模拟信号中至少两个相位的电流模拟信号进行AD采样。
本申请实施例还提出一种变频器，其中，所述变频器包括电机电流采样装置，所述电机电流采样装置包括：
获取模块，用于获取延时设置参数；
延时模块，用于在符合预设的延时条件时，根据所述延时设置参数执行采样延时任务，其中，所述采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等；
采样模块，用于基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样。
本申请实施例还提出一种终端设备，所述终端设备包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的电机电流采样程序，所述电机电流采样程序被所述处理器执行时实现如上所述的电机电流采样方法的步骤。
本申请实施例还提出一种计算机可读存储介质，所述计算机可读存储介质上存储有电机电流采样程序，所述电机电流采样程序被处理器执行时实现如上所述的电机电流采样方法的步骤。
 有益效果
本申请实施例提出的电机电流采样方法、变频器、终端设备及存储介质，通过获取延时设置参数；在符合预设的延时条件时，根据延时设置参数执行采样延时任务，其中，采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等；基于预设的采样触发规则对目标电机的三相电流模拟信号进行AD采样。基于本申请方案，考虑到三相电流模拟信号滤波过程的耗时，设置并执行相应的采样延时任务以调整触发AD采样的时刻，解决了因滤波过程耗时导致对电机的三相电流模拟信号采样不准确的问题。
 附图说明
图1为本申请电机电流采样装置所属终端设备的功能模块示意图；
图2为本申请电机电流采样方法第一示例性实施例流程示意图；
图3为本申请电机电流采样方法第二示例性实施例流程示意图；
图4为本申请电机电流采样方法第三示例性实施例流程示意图；
图5为本申请电机电流采样方法第四示例性实施例流程示意图；
图6为本申请电机电流采样方法第五示例性实施例流程示意图；
图7为本申请电机电流采样方法第六示例性实施例流程示意图；
图8为本申请电机电流采样方法第七示例性实施例流程示意图；
图9为本申请电机电流采样方法涉及的电机三相电流模拟信号采样时序图。
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
 本发明的实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
本申请实施例的主要解决方案是：获取延时设置参数；在符合预设的延时条件时，根据延时设置参数执行采样延时任务，其中，采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等；基于预设的采样触发规则对目标电机的三相电流模拟信号进行AD采样。基于本申请方案，考虑到三相电流模拟信号滤波过程的耗时，设置并执行相应的采样延时任务以调整触发AD采样的时刻，解决了因滤波过程耗时导致对电机的三相电流模拟信号采样不准确的问题。
具体地，参照图1，图1为本申请电机电流采样装置所属终端设备的功能模块示意图。该电机电流采样装置可以为独立于终端设备的、能够进行电机电流采样的装置，其可以通过硬件或软件的形式承载于终端设备上。该终端设备可以为手机、平板电脑等具有数据处理功能的智能移动终端，还可以为具有数据处理功能的固定终端设备或服务器等。
在本实施例中，该电机电流采样装置所属终端设备至少包括输出模块110、处理器120、存储器130以及通信模块140。
存储器130中存储有操作系统以及电机电流采样程序，电机电流采样装置可以获取延时设置参数；在符合预设的延时条件时，根据延时设置参数执行的采样延时任务；以及基于预设的采样触发规则对目标电机的三相电流模拟信号进行AD采样得到的三相基波电流值等信息存储于该存储器130中；输出模块110可为显示屏等。通信模块140可以包括WIFI模块、移动通信模块以及蓝牙模块等，通过通信模块140与外部设备或服务器进行通信。
其中，存储器130中的电机电流采样程序被处理器执行时实现以下步骤：
获取延时设置参数；
在符合预设的延时条件时，根据所述延时设置参数执行采样延时任务，其中，所述采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等；
基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样。
在一实施方式中，存储器130中的电机电流采样程序被处理器执行时还实现以下步骤：
通过预设的滤波耗时测试程序对所述滤波模块进行滤波耗时测试，得到对应的滤波耗时信息；
根据所述滤波耗时信息得到所述延时设置参数。
在一实施方式中，存储器130中的电机电流采样程序被处理器执行时还实现以下步骤：
在预设的计数器对应的计数值符合预设的下溢点条件或者周期点条件时，根据所述延时设置参数执行所述采样延时任务。
在一实施方式中，存储器130中的电机电流采样程序被处理器执行时还实现以下步骤：
根据所述目标电机对应的电机驱动系统的硬件参数和矩形脉冲信号的宽度，设定所述计数器的计数周期；
选取所述计数周期内的最低值为下溢点，选取所述计数周期的最高值为周期点。
在一实施方式中，存储器130中的电机电流采样程序被处理器执行时还实现以下步骤：
在所述预设的计数器对应的计数值等于所述下溢点对应的值时，根据所述延时设置参数执行所述采样延时任务；或
在所述预设的计数器对应的计数值等于所述周期点对应的值时，根据所述延时设置参数执行所述采样延时任务。
在一实施方式中，存储器130中的电机电流采样程序被处理器执行时还实现以下步骤：
通过基于SVPWM波产生的采样触发信号控制采样模块对所述目标电机的所述三相电流模拟信号进行AD采样，其中，所述SVPWM波基于所述三相电流模拟信号产生。
在一实施方式中，存储器130中的电机电流采样程序被处理器执行时还实现以下步骤：
基于所述预设的触发规则对所述目标电机的所述三相电流模拟信号中至少两个相位的电流模拟信号进行AD采样。
本实施例通过上述方案，具体通过获取延时设置参数；在符合预设的延时条件时，根据延时设置参数执行采样延时任务，其中，采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等；基于预设的采样触发规则对目标电机的三相电流模拟信号进行AD采样。基于本申请方案，考虑到三相电流模拟信号滤波过程的耗时，设置并执行相应的采样延时任务以调整触发AD采样的时刻，解决了因滤波过程耗时导致对电机的三相电流模拟信号采样不准确的问题。
参照图2，本申请电机电流采样方法第一实施例提供一种流程示意图，所述电机电流采样方法包括：
步骤S10，获取延时设置参数；
具体地，在对目标电机的三相电流模拟信号进行AD采样之前，需要考虑到电机驱动系统对三相电流模拟信号进行滤波所产生的信号延迟，也就是滤波过程的所需的耗时。该耗时可以依据滤波模块对应的硬件手册确定，也可以通过人工测试的方式确定。对于本方案，获取延时设置参数的具体方式可以是接收人工输入的延时设置参数，或者是从本地数据存储区调取对应的延时设置参数，又或者从服务器获取对应的延时设置参数。获取到的延时设置参数用于设置相应的采样延时任务。
步骤S20，在符合预设的延时条件时，根据所述延时设置参数执行采样延时任务，其中，所述采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等；
具体地，目标电机的三相电流模拟信号对应的零电压矢量中点呈现出周期性。在理想状态下，由三相电流模拟信号产生的脉冲方波高低电平的中点即为零电压矢量中点出现的时刻。以计时器或者计数器的形式设置计时周期或者计数周期，使计时周期或者计数周期达到最值的时刻与脉冲方波高低电平的中点出现的时刻匹配，并在该时刻进行采样可以得到三相基波电流值。
但由于电机驱动系统中对三相电流模拟信号的滤波处理会导致一定的信号延迟，在计时周期或者计数周期达到最值的时刻进行采样并不能得到准确的三相基波电流值。为此，需要在计时周期或者计数周期达到最值的时候，根据预先获取的延时设置参数设置并执行采样延时任务，采样延时任务对应的延时时间与滤波处理的耗时相等，以抵消滤波处理对采样准确性的影响。采样延时的可以通过设置硬件延时电路实现，也可以通过调用延时函数实现。
步骤S30，基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样。
在采样延时任务执行完毕时，可以对三相电流模拟信号进行AD采样得到准确的三相基波电流值。触发采样的具体方式可以是通过采样模块查询计数器的数值进行触发，或者为计数器设置相应的中断函数进行触发，或者通过配置触发寄存器的方式进行触发。
如图9所示的电机三相电流模拟信号采样时序图，基于获取的延时设置参数确定具体AD采样延时时间Td，基于下溢点a和周期点b设定计数器对应的SVPWM计数值范围，并以增减计数的方式进行计数，计数周期为Tpmw。在SVPWM计数值到达下溢点a时，开始向上计数，经过AD采样延时时间Td，然后在SVPWM计数值到达a1时对三相电流模拟信号进行AD采样，得到准确的三相基波电流值；在SVPWM计数值到达下溢点b时，开始向下计数，经过AD采样延时时间Td，然后在SVPWM计数值到达b1时对三相电流模拟信号进行AD采样，得到准确的三相基波电流值。
本实施例通过上述方案，具体通过获取延时设置参数；在符合预设的延时条件时，根据所述延时设置参数执行采样延时任务，其中，所述采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等；基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样。本实施例中，基于三相电流模拟信号滤波过程的耗时设置相应的采样延时任务，并在计数器符合预设条件时执行采样延时任务，以调整触发AD采样的时刻，解决了因滤波过程耗时导致对电机的三相电流模拟信号采样不准确的问题。
在一实施方式中，参照图3，本申请电机电流采样方法第二实施例提供一种流程示意图，基于上述图2所示的实施例，所述目标电机的所述三相电流模拟信号经滤波模块滤波处理，步骤S10，获取延时设置参数之前，还包括：
步骤S001，通过预设的滤波耗时测试程序对所述滤波模块进行滤波耗时测试，得到对应的滤波耗时信息；
滤波模块对原始三相电流模拟信号进行滤波可以使信号更干净，但同时也会造成信号的滞后。具体地，对于滤波处理所耗时间的确定，可以通过运行预设的滤波耗时测试程序实现。滤波耗时测试程序对滤波模块的频谱特性和实际信号的频谱特性进行分析，得到对应的滤波耗时信息。
步骤S002，根据所述滤波耗时信息得到所述延时设置参数。
具体地，滤波耗时信息中包含有滤波模块对信号进行滤波处理所耗的时间，对滤波耗时信息进行解析得到具体的延时设置参数，表现为一个确定的数值，或者在该数值的基础上附带对应的数值单位。然后，将延时设置参数作为函数变量或者存入相应的寄存器中，以供后续执行采样延时任务的步骤使用。
本实施例通过上述方案，具体通过预设的滤波耗时测试程序对所述滤波模块进行滤波耗时测试，得到对应的滤波耗时信息；根据所述滤波耗时信息得到所述延时设置参数。本实施例中，通过滤波耗时测试程序测得滤波处理所耗时间，在此基础上进一步得到对应的延时设置参数，该参数用以补偿因滤波处理产生的信号延迟，使得对三相电流模拟信号的AD采样更加准确。
在一实施方式中，参照图4，本申请电机电流采样方法第三实施例提供一种流程示意图，基于上述图2所示的实施例，步骤S20，在符合预设的延时条件时，根据所述延时设置参数执行采样延时任务进一步细化，包括：
步骤S201，在预设的计数器对应的计数值符合预设的下溢点条件或者周期点条件时，根据所述延时设置参数执行所述采样延时任务。
具体地，目标电机的直接驱动信号为矩形脉冲信号，电机驱动系统设置有相应的计数器，计数器在一定的数值范围内进行增减计数。计数器从最小值到最大值，并从最大值到最小值的计数所经过的时间，为矩形脉冲信号的一个周期。计数器的数值范围包含下溢点和周期点，在理想状态下，时序图中的下溢点和周期点为三相电流对应的零电压矢量的中点，此时电机三相电流的实际值就是基波值，也就是说在矩形脉冲信号一个周期内的下溢点和周期点分别进行采样可以得到两个三相基波电流值。
但由于电机驱动系统中对三相电流模拟信号的滤波处理会导致一定的信号延迟，在时序图中的下溢点和周期点时刻进行采样并不能得到准确的三相基波电流值。为此，在计数器符合下溢点条件或者周期点条件的时候，需要根据预先获取的延时设置参数设置并执行采样延时任务，采样延时任务的延时时间与滤波处理的耗时相等，以抵消滤波处理对采样准确性的影响。采样延时的可以通过设置硬件延时电路实现，也可以通过调用延时函数实现。
本实施例通过上述方案，具体通过在预设的计数器对应的计数值符合预设的下溢点条件或者周期点条件时，根据所述延时设置参数执行所述采样延时任务。本实施例中，通过设置增减计数器以及对应的下溢点条件和周期点条件，使计数周期与矩形脉冲信号周期相等，在符合上述条件的时候执行采样延时任务，抵消滤波处理导致的信号延迟，进而提高对三相电流模拟信号AD采样的准确度。
在一实施方式中，参照图5，本申请电机电流采样方法第三实施例提供一种流程示意图，基于上述图4所示的实施例，步骤S201，在预设的计数器对应的计数值符合预设的下溢点条件或者周期点条件时，根据所述延时设置参数执行所述采样延时任务之前，还包括：
步骤S003，根据所述目标电机对应的电机驱动系统的硬件参数和矩形脉冲信号的宽度，设定所述计数器的计数周期；
具体地，目标电机由对应的电机驱动系统的矩形脉冲信号模块发送的矩形脉冲信号驱动，矩形脉冲信号模块对应的分频决定计数器的计数速度，而矩形脉冲信号的宽度决定计数周期的大小。根据矩形脉冲信号模块对应的分频和矩形脉冲信号的宽度，设定计数器的计数最低值和最高值，并采用增减计数的方式进行计数，使计数器的计数周期与矩形脉冲信号的周期相等。
步骤S004，选取所述计数周期内的最低值为下溢点，选取所述计数周期的最高值为周期点。
具体地，计数器在计数周期内以增减计数的方式进行计数，最低值或者最高值对应三相输入的零电压矢量的中点，是理想状态下对三相电流模拟信号进行AD采样的时刻。在一实施方式中，选取最低值为下溢点，最高点为周期点，以供后续基于下溢点和周期点执行采样延时任务。
本实施例通过上述方案，具体通过根据所述目标电机对应的电机驱动系统的硬件参数和矩形脉冲信号的宽度，设定所述计数器的计数周期；选取所述计数周期内的最低值为下溢点，选取所述计数周期的最高值为周期点。本实施例中，基于电机驱动系统的硬件参数和矩形脉冲信号的宽度设定计数周期，使计数周期与矩形脉冲信号周期相等，进而为触发AD采样提供依据。
在一实施方式中，参照图6，本申请电机电流采样方法第四实施例提供一种流程示意图，基于上述图4所示的实施例，步骤S201，在预设的计数器对应的计数值符合预设的下溢点条件或者周期点条件时，根据所述延时设置参数执行所述采样延时任务进一步细化，包括：
步骤S2011，在所述预设的计数器对应的计数值等于所述下溢点对应的值时，根据所述延时设置参数执行所述采样延时任务；
具体地，通过设置计数器触发的方式，在计数器进行增减计数的过程中，若计数器的值与下溢点对应的值相等，则触发执行采样延时任务，采样延时任务的具体时间由延时设置参数决定。
步骤S2012，在所述预设的计数器对应的计数值等于所述周期点对应的值时，根据所述延时设置参数执行所述采样延时任务。
具体地，通过设置计数器触发的方式，在计数器进行增减计数的过程中，若计数器的值与周期点对应的值相等，则触发执行采样延时任务，采样延时任务的具体时间由延时设置参数决定。
本实施例通过上述方案，具体通过在所述预设的计数器对应的计数值等于所述下溢点对应的值时，根据所述延时设置参数执行所述采样延时；或在所述预设的计数器对应的计数值等于所述周期点对应的值时，根据所述延时设置参数执行所述采样延时。本实施例中，在计数器的计数值等于下溢点或者周期点时，根据预先获取的延时设置参数执行采样延时任务，可以有效抵消滤波处理造成信号延迟的影响，提高AD采样的准确度。
在一实施方式中，参照图7，本申请电机电流采样方法第六实施例提供一种流程示意图，基于上述图2所示的实施例，步骤S30，基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样进一步细化，包括：
步骤S301，通过基于SVPWM波产生的采样触发信号控制采样模块对所述目标电机的所述三相电流模拟信号进行AD采样，其中，所述SVPWM波基于所述三相电流模拟信号产生。
作为输入的原始信号为三相电流模拟信号，需要将三相电流模拟信号转为数字信号以驱动目标电机。具体地，将三相电流模拟信号输入SVPWM发波模块，由SVPWM发波模块通过三相逆变器不同开关模式作适当的切换，产生对应的SVPWM波。SVPWM波用以驱动目标电机运行，并且具备触发AD采样的功能。在AD采样的过程中，SVPWM发波模块会在延时结束之后向采样模块发送采样触发信号，或者由采样模块主动查询SVPWM发波模块对应的触发寄存器中的数据得到采样触发信号。采样模块在采样触发信号的控制下启动，对目标电机的三相电流模拟信号进行AD采样，准确地采集得到三相基波电流值。
本实施例通过上述方案，具体通过基于SVPWM波产生的采样触发信号控制采样模块对所述目标电机的所述三相电流模拟信号进行AD采样，其中，所述SVPWM波基于所述三相电流模拟信号产生。本实施例中，采样触发信号可以基于SVPWM波向采样模块发出，也可以由采样模块主动获取，采样模块基于采样触发信号对目标电机的三相电流模拟信号进行AD采样，可以准确地采样得到三相基波电流值。
在一实施方式中，参照图8，本申请电机电流采样方法第七实施例提供一种流程示意图，基于上述图2所示的实施例，步骤S30，基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样进一步细化，包括：
步骤S302，基于所述预设的触发规则对所述目标电机的所述三相电流模拟信号中至少两个相位的电流模拟信号进行AD采样。
具体地，三相电流模拟信号中包括三个不同相位的电流模拟信号，在采样延时任务执行完毕时，基于预设的触发规则对其中两个相位的电流模拟信号进行AD采样，基于采集到的两个相位的电流模拟信号计算得到第三个相位的电流模拟信号，也就是得到完整的三相基波电流值。或者在采样延时任务执行完毕时，基于预设的触发规则对全部三个相位的电流模拟信号进行AD采样，得到完整的三相基波电流值。
本实施例通过上述方案，具体通过基于所述预设的触发规则对所述目标电机的所述三相电流模拟信号中至少两个相位的电流模拟信号进行AD采样。本实施例提供了两种AD采样模式，通过采样触发信号控制采样模块，可以对两相或者三相电流模拟信号进行AD采样，最终都能得到准确的三相基波电流值。
此外，本申请实施例还提出一种变频器，其中，所述变频器包括电机电流采样装置，所述电机电流采样装置包括：
获取模块，用于获取延时设置参数；
延时模块，用于在符合预设的延时条件时，根据所述延时设置参数执行采样延时任务，其中，所述采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等；
采样模块，用于基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样。
本实施例实现电机电流采样的原理及实施过程，请参照上述各实施例，在此不再赘述。
此外，本申请实施例还提出一种终端设备，所述终端设备包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的电机电流采样程序，所述电机电流采样程序被所述处理器执行时实现如上所述的电机电流采样方法的步骤。
由于本电机电流采样程序被处理器执行时，采用了前述所有实施例的全部技术方案，因此至少具有前述所有实施例的全部技术方案所带来的所有功能，在此不再一一赘述。
此外，本申请实施例还提出一种计算机可读存储介质，所述计算机可读存储介质上存储有电机电流采样程序，所述电机电流采样程序被处理器执行时实现如上所述的电机电流采样方法的步骤。
由于本电机电流采样程序被处理器执行时，采用了前述所有实施例的全部技术方案，因此至少具有前述所有实施例的全部技术方案所带来的所有功能，在此不再一一赘述。
相比现有技术，本申请实施例提出的电机电流采样方法、变频器、终端设备及存储介质，通过获取延时设置参数；在符合预设的延时条件时，根据延时设置参数执行采样延时任务，其中，采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等；基于预设的采样触发规则对目标电机的三相电流模拟信号进行AD采样。基于本申请方案，考虑到三相电流模拟信号滤波过程的耗时，设置并执行相应的采样延时任务以调整触发AD采样的时刻，解决了因滤波过程耗时导致对电机的三相电流模拟信号采样不准确的问题。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者系统中还存在另外的相同要素。
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在如上的一个存储介质（如ROM/RAM、磁碟、光盘）中，包括若干指令用以使得一台终端设备（可以是手机，计算机，服务器，被控终端，或者网络设备等）执行本申请每个实施例的方法。
以上仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (10)

  1. 一种电机电流采样方法，其中，所述电机电流采样方法包括：
    获取延时设置参数；
    在符合预设的延时条件时，根据所述延时设置参数执行采样延时任务，其中，所述采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等；
    基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样。
  2. 如权利要求1所述的电机电流采样方法，其中，所述目标电机的所述三相电流模拟信号经滤波模块滤波处理，所述获取延时设置参数的步骤之前，还包括：
    通过预设的滤波耗时测试程序对所述滤波模块进行滤波耗时测试，得到对应的滤波耗时信息；
    根据所述滤波耗时信息得到所述延时设置参数。
  3. 如权利要求1所述的电机电流采样方法，其中，所述在符合预设的延时条件时，根据所述延时设置参数执行采样延时任务的步骤包括：
    在预设的计数器对应的计数值符合预设的下溢点条件或者周期点条件时，根据所述延时设置参数执行所述采样延时任务。
  4. 如权利要求3所述的电机电流采样方法，其中，所述在预设的计数器对应的计数值符合预设的下溢点条件或者周期点条件时，根据所述延时设置参数执行所述采样延时任务的步骤之前，还包括：
    根据所述目标电机对应的电机驱动系统的硬件参数和矩形脉冲信号的宽度，设定所述计数器的计数周期；
    选取所述计数周期内的最低值为下溢点，选取所述计数周期的最高值为周期点。
  5. 如权利要求3所述的电机电流采样方法，其中，所述在预设的计数器对应的计数值符合预设的下溢点条件或者周期点条件时，根据所述延时设置参数执行所述采样延时任务的步骤包括：
    在所述预设的计数器对应的计数值等于所述下溢点对应的值时，根据所述延时设置参数执行所述采样延时任务；或
    在所述预设的计数器对应的计数值等于所述周期点对应的值时，根据所述延时设置参数执行所述采样延时任务。
  6. 如权利要求1所述的电机电流采样方法，其中，所述基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样的步骤包括：
    通过基于SVPWM波产生的采样触发信号控制采样模块对所述目标电机的所述三相电流模拟信号进行AD采样，其中，所述SVPWM波基于所述三相电流模拟信号的控制产生。
  7. 如权利要求1所述的电机电流采样方法，其中，基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样的步骤包括：
    基于所述预设的触发规则对所述目标电机的所述三相电流模拟信号中至少两个相位的电流模拟信号进行AD采样。
  8. 一种变频器，其中，所述变频器包括电机电流采样装置，所述电机电流采样装置包括：
    获取模块，用于获取延时设置参数；
    延时模块，用于在符合预设的延时条件时，根据所述延时设置参数执行采样延时任务，其中，所述采样延时任务对应的延时时间与目标电机的三相电流模拟信号在滤波处理过程的耗时相等；
    采样模块，用于基于预设的采样触发规则对所述目标电机的所述三相电流模拟信号进行AD采样。
  9. 一种终端设备，其中，所述终端设备包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的电机电流采样程序，所述电机电流采样程序被所述处理器执行时实现如权利要求1-7中任一项所述的电机电流采样方法的步骤。
  10. 一种计算机可读存储介质，其中，所述计算机可读存储介质上存储有电机电流采样程序，所述电机电流采样程序被处理器执行时实现如权利要求1-7中任一项所述的电机电流采样方法的步骤。
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