CN110838810A - Motor control method and device - Google Patents
Motor control method and device Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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Abstract
The invention provides a motor control method and a device, wherein the motor control method comprises the following steps: acquiring a command rotating speed and an estimated rotating speed of a target motor; detecting whether the rotating speed error is larger than a preset rotating speed error threshold value or not; if the duration of the rotating speed error which is greater than the rotating speed error threshold is greater than a preset duration threshold, carrying out weak magnetic PI (proportional integral) adjustment on the rotating speed error to obtain a first direct-axis reference current, wherein the first direct-axis reference current is a negative value, and the first direct-axis reference current is negatively related to the rotating speed error; determining a first direct axis voltage and a first quadrature axis voltage according to the first direct axis reference current; and controlling the target motor to operate according to the first direct-axis voltage and the first quadrature-axis voltage. This scheme can improve the control effect of motor.
Description
Technical Field
The invention relates to the technical field of electromechanical engineering, in particular to a motor control method and device.
Background
Field-Oriented Control (FOC) is a technology for efficiently controlling a brushless dc motor and a permanent magnet synchronous motor, and can accurately Control the magnitude and direction of a magnetic Field, so that the motor has stable torque, low noise, high efficiency, and high-speed dynamic response. In the process of controlling the motor to operate based on the magnetic field orientation control technology, the direct-axis voltage and quadrature-axis voltage output by the current PI regulator are correspondingly increased along with the increase of the rotating speed of the motor, but the current PI regulator is generally provided with an amplitude limiting mechanism to ensure that the output voltage value of the current PI regulator does not exceed the highest voltage provided by the inverter, so when the direct-axis voltage and the reference voltage output by the current PI regulator are close to a saturation value, the regulation margin of the current PI regulator is reduced, the difference value between the command rotating speed and the estimated rotating speed is gradually increased, and the efficiency of the motor is further reduced.
The chinese patent application No. 201610877056.4 discloses a method for controlling high-speed flux weakening of an induction motor, which comprises determining an initial value of an exciting current through a motor rotation speed, a base speed and a set value, obtaining a weakening coefficient through voltage closed loop, further obtaining an exciting current set value, limiting a torque current by the exciting current set value, obtaining corresponding direct-axis voltage and quadrature-axis voltage, and further controlling the motor to operate at high speed according to the obtained direct-axis voltage and quadrature-axis voltage.
Aiming at the existing motor control method, the processes of excitation current initial value determination, weakening coefficient calculation, excitation current given value determination, torque current amplitude limiting and the like are sequentially carried out, so that the process of realizing high-speed field weakening control of the motor is complex, the rotating speed of the motor cannot be tracked in time, and the control effect on the motor is poor.
Disclosure of Invention
The embodiment of the invention provides a motor control method and device, which can improve the effect of controlling a motor.
In a first aspect, an embodiment of the present invention provides a motor control method, including:
acquiring a command rotating speed and an estimated rotating speed of a target motor, wherein the command rotating speed is a rotating speed which is required to be achieved for controlling the target motor to operate, and the estimated rotating speed is the rotating speed of the target motor estimated according to three-phase current of the target motor;
determining an absolute value of a difference between the commanded rotational speed and the estimated rotational speed as a rotational speed error;
detecting whether the rotating speed error is larger than a preset rotating speed error threshold value or not;
if the duration of the rotating speed error which is greater than the rotating speed error threshold value is greater than a preset duration threshold value, executing:
carrying out weak magnetic PI regulation on the rotating speed error to obtain a first direct-axis reference current, wherein the first direct-axis reference current is a negative value, and the first direct-axis reference current and the rotating speed error are in negative correlation;
determining a first direct axis voltage and a first quadrature axis voltage according to the first direct axis reference current;
and controlling the target motor to operate according to the first direct axis voltage and the first quadrature axis voltage.
In a first possible implementation manner, with reference to the first aspect, the determining a first direct-axis voltage and a first quadrature-axis voltage according to the first direct-axis reference current includes:
acquiring direct-axis estimated current of the target motor, wherein the direct-axis estimated current is estimated according to three-phase current of the target motor;
performing PI regulation on the difference between the first direct-axis reference current and the direct-axis estimated current to obtain a first direct-axis voltage;
calculating the first quadrature axis voltage according to the first direct axis voltage and a preset maximum stator voltage by the following formula;
wherein, the VqFor characterizing the first quadrature axis voltage, said VdFor characterizing the first direct voltage, said VsmaxFor characterizing the stator maximum voltage.
In a second possible implementation manner, with reference to the first aspect, the controlling the target motor to operate according to the first direct-axis voltage and the first quadrature-axis voltage includes:
performing inverse park transformation on the first direct axis voltage and the first quadrature axis voltage to obtain α axis voltage and β axis voltage under a two-phase static coordinate system;
modulating the α axis voltage and the β axis voltage as space vector pulse width modulated signals;
and controlling the turn-off and turn-on of a three-phase inverter connected with the target motor according to the space vector pulse width modulation signal so as to control the rotating speed of the target motor.
In a third possible implementation manner, with reference to the first aspect and any one of the first possible implementation manner and the second possible implementation manner of the first aspect, after the detecting whether the rotation speed error is greater than a preset rotation speed error threshold, the method further includes:
if the duration that the rotating speed error is larger than the rotating speed error threshold value is smaller than or equal to the duration threshold value, executing:
carrying out normal PI regulation on the rotation speed error to obtain a quadrature axis reference current;
acquiring quadrature axis estimation current of the target motor, wherein the quadrature axis estimation current is estimated according to three-phase current of the target motor;
acquiring a second direct-axis reference current of the target motor;
acquiring direct-axis estimated current of the target motor, wherein the direct-axis estimated current is estimated according to three-phase current of the target motor;
performing PI regulation on the difference between the quadrature axis reference current and the quadrature axis estimated current to obtain a second quadrature axis voltage;
performing PI regulation on the difference between the second direct-axis reference current and the direct-axis estimated current to obtain a second direct-axis voltage;
and controlling the target motor to operate according to the second direct axis voltage and the second quadrature axis voltage.
In a fourth possible implementation manner, with reference to the third possible implementation manner, the acquiring a second direct-axis reference current of the target motor includes:
and acquiring the second direct-axis reference current through maximum torque current ratio control.
In a fifth possible implementation manner, with reference to the third possible implementation manner, the acquiring a second direct-axis reference current of the target motor includes:
setting the second direct axis reference current equal to zero.
In a second aspect, an embodiment of the present invention further provides a motor control apparatus, including:
a rotation speed obtaining module, configured to obtain a commanded rotation speed and an estimated rotation speed of a target motor, where the commanded rotation speed is a rotation speed required to control operation of the target motor, and the estimated rotation speed is a rotation speed of the target motor estimated according to a three-phase current of the target motor;
an error calculation module for determining an absolute value of a difference between the command rotational speed and the estimated rotational speed acquired by the rotational speed acquisition module as a rotational speed error;
the error comparison module is used for detecting whether the rotating speed error determined by the error calculation module is larger than a preset rotating speed error threshold value or not;
the first PI adjusting module is used for carrying out weak magnetic PI adjustment on the rotating speed error calculated by the error calculating module to obtain a first straight-axis reference current when the error comparing module determines that the duration time that the rotating speed error is greater than the rotating speed error threshold value is greater than a preset time threshold value, wherein the first straight-axis reference current is a negative value, and the first straight-axis reference current is in negative correlation with the rotating speed error;
the voltage conversion module is used for determining a first direct-axis voltage and a first quadrature-axis voltage according to the first direct-axis reference current acquired by the first PI regulation module;
and the first control module is used for controlling the target motor to operate according to the first direct-axis voltage and the first quadrature-axis voltage acquired by the voltage conversion module.
In a first possible implementation manner, with reference to the second aspect, the voltage conversion module includes:
a current obtaining unit for obtaining a direct axis estimated current of the target motor, wherein the direct axis estimated current is the direct axis current of the target motor estimated based on the three-phase currents of the target motor;
a PI adjustment unit, configured to perform PI adjustment on a difference between the first direct-axis reference current and the direct-axis estimated current obtained by the current obtaining unit, so as to obtain a first direct-axis voltage;
the voltage acquisition unit is used for calculating the first quadrature axis voltage according to the first direct axis voltage acquired by the PI regulation unit and a preset maximum stator voltage through the following formula;
wherein, the VqFor characterizing the first quadrature axis voltage, said VdFor characterizing the first direct voltage, said VsmaxFor characterizing the stator maximum voltage.
In a second possible implementation manner, with reference to the second aspect, the first control module includes:
a voltage transformation unit, for performing inverse park transformation on the first straight axis voltage and the first quadrature axis voltage to obtain α axis voltage and β axis voltage under a two-phase stationary coordinate system;
a signal modulation unit, configured to modulate the α axis voltage and the β axis voltage obtained by the voltage conversion unit into space vector pulse width modulation signals;
and the rotating speed control unit is used for controlling the turn-off and turn-on of a three-phase inverter connected with the target motor according to the space vector pulse width modulation signal acquired by the signal modulation unit so as to control the rotating speed of the target motor.
In a third possible implementation manner, with reference to the second aspect and any one of the first possible implementation manner and the second possible implementation manner of the second aspect, the motor control device further includes:
the second PI adjusting module is used for carrying out normal PI adjustment on the rotating speed error to obtain a quadrature axis reference current when the error comparison module determines that the duration of the rotating speed error which is larger than the rotating speed error threshold is smaller than or equal to the duration threshold;
a first current obtaining module, configured to obtain an estimated quadrature axis current of the target motor, where the estimated quadrature axis current is an estimated quadrature axis current of the target motor according to three-phase currents of the target motor;
the second current acquisition module is used for acquiring a second direct-axis reference current of the target motor;
a third current obtaining module, configured to obtain a direct-axis estimated current of the target motor, where the direct-axis estimated current is an estimated direct-axis current of the target motor according to three-phase currents of the target motor;
the third PI regulating module is used for carrying out PI regulation on the difference between the quadrature axis reference current acquired by the second PI regulating module and the quadrature axis estimated current acquired by the first current acquiring module to acquire a second quadrature axis voltage;
a fourth PI adjustment module, configured to perform PI adjustment on a difference between the second direct axis reference current obtained by the second current obtaining module and the direct axis estimated current obtained by the third current obtaining module, so as to obtain a second direct axis voltage;
and the second control module is used for controlling the target motor to operate according to the second quadrature axis voltage acquired by the third PI regulation module and the second direct axis voltage acquired by the fourth PI regulation module.
In a fourth possible implementation manner, with reference to the third possible implementation manner, the second current obtaining module is configured to obtain the second direct-axis reference current through maximum torque-to-current ratio control.
In a fifth possible implementation manner, with reference to the third possible implementation manner, the second current obtaining module is configured to set the second direct-axis reference current to be equal to zero.
According to the technical scheme, after the command rotating speed and the estimated rotating speed of the target motor are obtained, the absolute value of the difference between the command rotating speed and the estimated rotating speed is calculated to serve as a rotating speed error, whether the rotating speed error is larger than a preset rotating speed error threshold value or not is judged, if the duration of the rotating speed error larger than the rotating speed error threshold value is larger than a preset duration threshold value, PI adjustment is carried out on the rotating speed error to obtain a first direct-axis reference current, then a first direct-axis voltage and a first quadrature-axis voltage are determined according to the first direct-axis reference current, and the target motor is controlled to operate according to the first direct-axis voltage and the first quadrature-axis voltage. When the rotating speed of the target motor is increased to the target rotating speed and the command rotating speed cannot be normally tracked, PI adjustment is carried out on the rotating speed error to obtain a negative first straight-axis reference current, a straight-axis magnetic field is weakened, the rotating speed of the target motor is further increased, and high-speed weak magnetic control of the target motor is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a motor control method according to an embodiment of the present invention;
fig. 2 is a flowchart of a first direct-axis voltage and first quadrature-axis voltage obtaining method according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for controlling a rotational speed of a motor according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for controlling operation of a motor according to a field oriented control method according to one embodiment of the present invention;
FIG. 5 is a flow chart of another method of controlling a motor provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of a motor control process provided by one embodiment of the present invention;
FIG. 7 is a schematic diagram of another motor control process provided by one embodiment of the present invention;
FIG. 8 is a schematic diagram of a motor control apparatus provided in accordance with an embodiment of the present invention;
FIG. 9 is a schematic diagram of another motor control apparatus provided in accordance with an embodiment of the present invention;
FIG. 10 is a schematic diagram of yet another motor control apparatus provided in accordance with an embodiment of the present invention;
fig. 11 is a schematic diagram of another motor control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a motor control method, which may include the following steps:
step 101: acquiring a command rotating speed and an estimated rotating speed of a target motor, wherein the command rotating speed is the rotating speed required by the operation of the target motor, and the estimated rotating speed is the rotating speed of the target motor estimated according to the three-phase current of the target motor;
step 102: determining an absolute value of a difference between the commanded rotational speed and the estimated rotational speed as a rotational speed error;
step 103: detecting whether the rotating speed error is larger than a preset rotating speed error threshold value or not;
step 104: if the duration that the rotating speed error is greater than the rotating speed error threshold is greater than the duration threshold, carrying out weak magnetic PI (proportional integral) adjustment on the rotating speed error to obtain a first direct-axis reference current, wherein the first direct-axis reference current is a negative value, and the first direct-axis reference current is in negative correlation with the rotating speed error;
step 105: determining a first direct axis voltage and a first quadrature axis voltage according to the first direct axis reference current;
step 106: and controlling the target motor to operate according to the first direct-axis voltage and the first quadrature-axis voltage.
In the embodiment of the invention, after the command rotating speed and the estimated rotating speed of the target motor are obtained, the absolute value of the difference between the command rotating speed and the estimated rotating speed is calculated to be used as a rotating speed error, then whether the rotating speed error is greater than a preset rotating speed error threshold value or not is judged, if the duration of the rotating speed error greater than the rotating speed error threshold value is greater than a preset duration threshold value, PI regulation is carried out on the rotating speed error to obtain a first direct-axis reference current, then a first direct-axis voltage and a first quadrature-axis voltage are determined according to the first direct-axis reference current, and further the operation of the target motor is controlled according to the first direct-axis voltage and the first quadrature-. When the rotating speed of the target motor is increased to the target rotating speed and the command rotating speed cannot be normally tracked, PI adjustment is carried out on the rotating speed error to obtain a negative first straight-axis reference current, a straight-axis magnetic field is weakened, the rotating speed of the target motor is further increased, and high-speed weak magnetic control of the target motor is achieved.
In the embodiment of the present invention, the command rotation speed is a rotation speed that the target motor needs to reach in the process of controlling the operation of the target motor, and the command rotation speed may be changed in real time according to different application scenarios of the target motor, for example, the command rotation speed is gradually increased in the process of starting the motor. The estimated rotating speed is the estimated current rotating speed of the target motor, specifically, the three-phase current of the target motor can be sampled, and the current rotating speed of the target motor is estimated according to the sampling result of the three-phase current.
In the embodiment of the invention, the load may change in the process that the target motor drives the load to normally operate, the change of the load may cause that the rotating speed error is temporarily larger than the rotating speed error threshold, and the rotating speed error is recovered to a smaller value after the load is balanced. In order to avoid the situation that the rotating speed of the target motor generates large fluctuation due to frequent switching of the control mode of the target motor, after the fact that the rotating speed error is larger than the preset rotating speed error threshold value is detected, whether the duration that the rotating speed error of the target motor is larger than the rotating speed error threshold value is larger than the preset duration threshold value is further judged, if the duration that the rotating speed error is larger than the rotating speed error threshold value is larger than the duration threshold value, the fact that the estimated rotating speed is far smaller than the command rotating speed occurs for a long time is indicated, at the moment, the target motor is controlled to operate by switching to a weak magnetic control method. The time length threshold value can be flexibly determined according to the load fluctuation which may occur to the target motor, for example, the time length threshold value can be determined to be 5 seconds, 10 seconds, and the like.
Alternatively, on the basis of the motor control method shown in fig. 1, when determining the first dc voltage and the first quadrature voltage according to the first dc reference current, the first dc voltage may be determined according to the first dc reference current, and then the first quadrature voltage may be determined according to the first dc voltage. As shown in fig. 2, the first direct axis voltage and the first quadrature axis voltage may be determined by:
step 201: acquiring direct-axis estimated current of a target motor, wherein the direct-axis estimated current is estimated according to three-phase current of the target motor;
step 202: performing PI regulation on the difference between the first direct-axis reference current and the direct-axis estimated current to obtain a first direct-axis voltage;
step 203: calculating a first quadrature axis voltage according to the first direct axis voltage and a preset maximum stator voltage by the following formula;
wherein, VqFor characterizing a first quadrature axis voltage, VdFor characterizing a first direct voltage, VsmaxFor characterizing the stator maximum voltage.
In the embodiment of the invention, after the duration that the rotating speed error is greater than the rotating speed error threshold is determined to be greater than the duration threshold, the direct-axis estimated current of the target motor is obtained, then the first direct-axis voltage is obtained by carrying out PI adjustment on the difference between the first direct-axis reference current and the direct-axis estimated current, and then the calculated first direct-axis voltage and the preset maximum stator voltage are substituted into the formula to calculate the first quadrature-axis voltage. Because the direct-axis estimated current and the maximum stator voltage are easily obtained motor operation parameters, the first direct-axis voltage and the first quadrature-axis voltage can be determined through IP regulation and mathematical operation based on the first direct-axis reference current, the direct-axis estimated current and the maximum stator voltage, so that the motor can be quickly switched to a weak magnetic control algorithm to be controlled, the estimated rotating speed can be ensured to track the command rotating speed in time, and the accuracy of operation control of the motor is improved.
In the embodiment of the invention, the direct-axis estimated current is the estimated direct-axis current of the target motor, specifically, the three-phase current of the target motor can be sampled, the rotor position of the target motor is estimated according to the three-phase current sampling result, and the direct-axis estimated current is determined according to the estimated rotor position.
In the embodiment of the invention, the maximum stator voltage is the maximum voltage at the input end of the stator winding of the target motor, the maximum stator voltage is related to the specific specification of the target motor, and the maximum stator voltage can be determined according to various parameters of the target motor.
Alternatively, on the basis of the motor control method shown in fig. 1, a space vector pulse width modulation signal may be obtained according to the first direct-axis voltage and the first quadrature-axis voltage, and then the switching state of the three-phase inverter is controlled by the space vector pulse width modulation signal, so as to control the rotation speed of the target motor. As shown in fig. 3, controlling the target motor operation according to the first direct axis voltage and the first quadrature axis voltage may be implemented as follows:
step 303: and controlling the turn-off and turn-on of a three-phase inverter connected with the target motor according to the space vector pulse width modulation signal so as to control the rotating speed of the target motor.
In the embodiment of the invention, after the first direct-axis voltage and the second direct-axis voltage are acquired, coordinate conversion can be realized through inverse park conversion (2d/2s conversion), namely the first direct-axis voltage and the first quadrature-axis voltage are converted into α -axis voltage and β -axis voltage on α axes and β axes in a two-phase static coordinate system, then α -axis voltage and β -axis voltage can be modulated into Space Vector Pulse Width Modulation (SVPWM) signals, the space vector pulse width modulation signals are six-way switching signals with corresponding duty ratios, so that the turn-off and turn-on of the three-phase inverter can be controlled by the space vector pulse width modulation signals, the turn-off time and the turn-on time of the three-phase inverter are controlled by the turn-on and turn-off time of the target motor are controlled.
In the embodiment of the invention, the first direct-axis voltage and the first quadrature-axis voltage are subjected to inverse park conversion to obtain α -axis voltage and β -axis voltage, a space vector pulse width modulation signal is further determined according to α -axis voltage and β -axis voltage, and the turn-off time and the turn-on time of the three-phase inverter are controlled based on the space vector pulse width modulation signal to control the rotating speed of the motor, so that the determined space vector pulse width modulation signal can be ensured to be matched with the current running state of the target motor, and the periodicity of the rotating speed of the target motor is further ensured to be controlled based on the space vector pulse width modulation signal.
Alternatively, on the basis of the motor control method shown in fig. 1, if the step 103 determines that the duration of the rotation speed error greater than the rotation speed error threshold is less than or equal to the duration threshold, the target motor may be controlled to operate according to the magnetic field orientation control method. As shown in FIG. 4, when it is determined that the speed error is less than or equal to the speed error threshold, or the duration that the speed error is greater than the speed error threshold is less than or equal to the duration threshold, the method for controlling the target motor may include the steps of:
step 401: carrying out normal PI regulation on the rotation speed error to obtain a quadrature axis reference current;
step 402: acquiring quadrature axis estimation current of a target motor, wherein the quadrature axis estimation current is the quadrature axis current of the target motor estimated according to three-phase current of the target motor;
step 403: acquiring a second direct-axis reference current of the target motor;
step 404: acquiring direct-axis estimated current of a target motor, wherein the direct-axis estimated current is estimated according to three-phase current of the target motor;
step 405: performing PI regulation on the difference between the quadrature axis reference current and the quadrature axis estimated current to obtain a second quadrature axis voltage;
step 406: performing PI regulation on the difference between the second direct-axis reference current and the direct-axis estimated current to obtain a second direct-axis voltage;
step 407: and controlling the target motor to operate according to the second direct axis voltage and the second quadrature axis voltage.
In the embodiment of the invention, when the rotation speed error between the command rotation speed and the estimated rotation speed is detected to be less than or equal to the rotation speed error threshold, or the duration that the rotation speed error is greater than the rotation speed error threshold is detected to be less than or equal to the duration threshold, the direct axis reference current, the quadrature axis reference current and the quadrature axis estimated current of the target motor can be obtained, further, the difference between the quadrature axis reference current and the quadrature axis estimated current is subjected to PI regulation to obtain the second quadrature axis voltage of the target motor, the difference between the direct axis reference current and the direct axis estimated current is subjected to PI regulation to obtain the second direct axis voltage of the target motor, and then, a corresponding control signal can be generated according to the second quadrature axis voltage and the second direct axis voltage to control the three-phase inverter, so that the rotation speed of the target motor is controlled.
In the embodiment of the invention, when the estimated rotating speed of the target motor can normally track the command rotating speed, the target motor is controlled in a closed loop mode by adopting a magnetic field orientation control method, the target motor can be controlled to operate according to a set mode by changing the command rotating speed, and the accuracy of motor control is ensured.
Alternatively, on the basis of the target motor operation control method shown in fig. 4, in acquiring the second direct-axis reference current of the target motor, the second direct-axis reference current may be acquired through maximum torque current ratio control, or may also be directly set to zero.
In the embodiment of the invention, the second direct axis reference current can be obtained through maximum torque current ratio (MTPA) control, or the second direct axis reference current can be directly set to be equal to zero, and the two modes can be flexibly selected to obtain the second direct axis reference current in an actual application scene, so that different motor control application scenes can be met, and the motor control method has strong applicability.
It should be noted that, in the motor control methods provided in the foregoing embodiments and the motor control methods and motor control apparatuses provided in the following embodiments, the direct axis is referred to as a d axis by those skilled in the art, and the quadrature axis is referred to as a q axis by those skilled in the art, and accordingly, the direct axis reference current may also be referred to as a d axis reference current, the direct axis estimated current may also be referred to as a d axis estimated current, the direct axis voltage may also be referred to as a d axis voltage, the quadrature axis reference current may also be referred to as a q axis reference current, the quadrature axis estimated current may also be referred to as a q axis estimated current, and the quadrature axis voltage may also be referred to as a q axis voltage.
In addition, the motor control method provided by the embodiment of the invention can be applied to control of motors in household appliances such as washing machines, refrigerators, air conditioners and the like.
The motor control method provided by the embodiment of the present invention is further described in detail below with reference to the specific drawings, and as shown in fig. 5, the method may include the following steps:
step 501: a rotational speed error of the commanded rotational speed and the estimated rotational speed is calculated.
In the embodiment of the invention, the command rotating speed omega of the target motor is obtained in real time*And estimating the rotation speed omega, and then according to the obtained command rotation speed omega*And calculating the speed error delta omega | omega from the estimated speed omega*-ω|。
Step 502: and judging whether the rotating speed error is larger than a rotating speed error threshold value, if so, executing a step 503, otherwise, executing a step 510.
In the embodiment of the present invention, after each calculation of the rotational speed error Δ ω, the rotational speed error Δ ω is compared with a predetermined rotational speed error threshold Δ ω ', if Δ ω > Δ ω ', it indicates that the estimated rotational speed is far lower than the command rotational speed, and step 503 is correspondingly performed, if Δ ω ≦ Δ ω ', it indicates that the estimated rotational speed ω can well track the command rotational speed ω*Step 510 is performed accordingly.
Step 503: and judging whether the duration of the rotation speed error greater than the rotation speed error threshold value is greater than a duration threshold value, if so, executing step 504, otherwise, executing step 510.
In the embodiment of the present invention, when determining Δ ω > Δ ω ', it is indicated that the estimated rotation speed of the target motor is far below the commanded rotation speed at the present time, but this may be temporarily caused by a change in the load of the target motor, and to further determine whether the estimated rotation speed is far below the commanded rotation speed actually caused by the saturation of the direct-axis voltage and the reference voltage outputted by the current PI regulator, it may be determined whether the duration of the constant time that the target motor is kept in the Δ ω > Δ ω ' state is greater than a preset duration threshold, and if the duration of the constant time that the target motor is kept in the Δ ω > Δ ω ' state is greater than the duration threshold, it is indicated that the estimated rotation speed is far below the commanded rotation speed due to the saturation of the direct-axis voltage and the reference voltage outputted by the current PI regulator, step 504 is correspondingly performed, and if the duration of the constant time that the target motor is kept in the Δ, then to avoid frequent changes in the target motor speed, it is continuously checked whether the subsequent speed error Δ ω is still continuously greater than the speed error threshold Δ ω', and step 510 is executed accordingly.
Step 504: and carrying out weak magnetic PI regulation on the rotating speed error to obtain a first direct-axis reference current.
In the embodiment of the invention, as shown in fig. 6, the first direct-axis reference current is obtained by performing the field weakening PI adjustment on the rotation speed error Δ ω
Step 505: and performing PI regulation on the difference between the first direct-axis reference current and the first direct-axis estimated current to obtain a first direct-axis voltage.
In the embodiment of the invention, the first direct-axis estimated current i of the target motor is obtained according to the three-phase current of the target motordThen the first direct axis is referenced to the current
And a first direct current idMaking a difference, and carrying out PI regulation on the calculated current difference to obtain a first direct-axis voltage Vd。
Step 506: and calculating a first quadrature axis voltage according to the maximum stator voltage and the first direct axis voltage.
In the embodiment of the invention, the first direct-axis voltage V is obtaineddThen, according to the obtained first direct axis voltage VdAnd a stator maximum voltage V obtained in advancesmaxObtaining a first quadrature axis voltage VqWherein a first quadrature axis voltage V is calculatedqIs calculated by the formula
And 507, performing inverse park transformation on the first direct axis voltage and the first quadrature axis voltage to obtain α axis voltage and β axis voltage.
In the embodiment of the invention, the voltage V is obtained by applying the first direct-axis voltage VdAnd a first quadrature axis voltage VqPerforming inverse park conversion to obtain α axis voltage V of two-phase stationary coordinate systemαAnd β Axis Voltage Vβ。
The α axis voltage and the β axis voltage are modulated into space vector pulse width modulated signals, step 508.
In the embodiment of the invention, the shaft voltage V is obtained ααAnd β Axis Voltage VβThen α shaft voltage VαAnd β Axis Voltage VβAnd generating a Space Vector Pulse Width Modulation (SVPWM) signal.
Step 509: and controlling the target motor to rotate at a high speed according to the space vector pulse width modulation signal, and finishing the current process.
In the embodiment of the invention, the shaft voltage V is ααAnd β Axis Voltage VβThe three-phase inverter is modulated into six switching signals through an SVPWM module, the turn-off and the turn-on of the three-phase inverter are controlled, and the rotating speed of a target motor is controlled by controlling the turn-off time and the turn-on time of the three-phase inverter.
Step 510: and carrying out normal PI regulation on the rotation speed error to obtain a quadrature axis reference current.
In the embodiment of the invention, as shown in fig. 7, the quadrature axis reference current is obtained by performing the flux weakening PI adjustment on the rotation speed error Δ ω
Step 511: and performing PI regulation on the difference between the quadrature axis reference current and the quadrature axis estimated current to obtain a second quadrature axis voltage.
In the embodiment of the present invention, as shown in fig. 7, the three-phase current I of the target motor is sampledU、IVAnd IWBy means of a three-phase current IU、IVAnd IWα axis current i under a two-phase static coordinate system can be obtained by performing 3s/2s transformation (Clark transformation)αAnd β Axis CurrentiβBy applying α axis voltage Vαβ Axis Voltage Vβα Axis Current iαAnd β Axis Current iβFlux linkage estimation can be carried out to estimate the rotating speed and the position of the target motor, obtain the estimated rotating speed omega and the rotor position theta, and further carry out flux linkage estimation on α shaft current iαβ Axis Current iβAnd performing 2s/2d conversion (park conversion) on the rotor position theta to obtain a second direct-axis estimated current idSum-quadrature-axis estimated current iq。
Obtaining quadrature reference current
Sum-quadrature-axis estimated current iqThen, the quadrature axis reference current is set
Sum-quadrature-axis estimated current iqPI regulation is carried out on the difference to obtain a second quadrature axis voltage Vq。
Step 512: and performing PI regulation on the difference between the second direct-axis reference current and the second direct-axis estimated current to obtain a second direct-axis voltage.
In the embodiment of the present invention, as shown in fig. 7, the second direct-axis reference current is obtained by maximum torque current ratio (MTPA) controlOr setting a second direct-axis reference current
Equal to zero. When the second direct axis reference current is obtained
Then, the current i is estimated by combining the obtained second direct axisdBy reference to a second direct current
And a second direct-axis estimated current idPI regulating the difference to obtain a second direct axis voltage Vd。
And 513, performing inverse park transformation on the second direct axis voltage and the second quadrature axis voltage to obtain α axis voltage and β axis voltage.
In the embodiment of the invention, the voltage V is applied to the second direct axisdAnd a second quadrature axis voltage VqPerforming inverse park conversion to obtain α axis voltage V of two-phase stationary coordinate systemαAnd β Axis Voltage Vβ。
The α axis voltage and the β axis voltage are modulated into space vector pulse width modulated signals, step 514.
In the embodiment of the invention, the shaft voltage V is obtained ααAnd β Axis Voltage VβThen α shaft voltage VαAnd β Axis Voltage VβAnd generating a Space Vector Pulse Width Modulation (SVPWM) signal.
Step 515: and controlling the target motor to rotate at a high speed according to the space vector pulse width modulation signal.
In the embodiment of the invention, the shaft voltage V is ααAnd β Axis Voltage VβThe three-phase inverter is modulated into six switching signals through an SVPWM module, the turn-off and the turn-on of the three-phase inverter are controlled, and the rotating speed of a target motor is controlled by controlling the turn-off time and the turn-on time of the three-phase inverter.
As shown in fig. 8, an embodiment of the present invention provides a motor control device, including:
a rotation speed obtaining module 801, configured to obtain a commanded rotation speed and an estimated rotation speed of a target motor, where the commanded rotation speed is a rotation speed required to control the target motor to operate, and the estimated rotation speed is a rotation speed of the target motor estimated according to a three-phase current of the target motor;
an error calculation module 802 for determining an absolute value of a difference between the commanded rotational speed and the estimated rotational speed obtained by the rotational speed obtaining module 801 as a rotational speed error;
an error comparing module 803, configured to detect whether the rotational speed error determined by the error calculating module 802 is greater than a predetermined rotational speed error threshold;
a first PI adjustment module 804, configured to perform a weak magnetic PI adjustment on the rotation speed error calculated by the error calculation module 802 to obtain a first direct-axis reference current when the error comparison module 803 determines that the duration that the rotation speed error is greater than the rotation speed error threshold is greater than a preset duration threshold, where the first direct-axis reference current is a negative value, and the first direct-axis reference current is negatively correlated with the rotation speed error;
a voltage conversion module 805, configured to determine a first direct-axis voltage and a first quadrature-axis voltage according to the first direct-axis reference current obtained by the first PI adjustment module 804;
and a first control module 806, configured to control the target motor to operate according to the first direct-axis voltage and the first quadrature-axis voltage obtained by the voltage conversion module 805.
In an embodiment of the present invention, the rotation speed obtaining module 801 may be configured to perform step 101 in the above-described method embodiment, the error calculating module 802 may be configured to perform step 102 in the above-described method embodiment, the error comparing module 803 may be configured to perform step 103 in the above-described method embodiment, the first PI adjusting module 804 may be configured to perform step 104 in the above-described method embodiment, the voltage converting module 805 may be configured to perform step 105 in the above-described method embodiment, and the first control module 806 may be configured to perform step 106 in the above-described method embodiment.
Alternatively, on the basis of the motor control apparatus shown in fig. 8, as shown in fig. 9, the voltage conversion module 805 includes:
a current obtaining unit 8051 for obtaining a direct-axis estimated current of the target motor, wherein the direct-axis estimated current is the direct-axis current of the target motor estimated based on the three-phase currents of the target motor;
a PI adjustment unit 8052, configured to perform PI adjustment on a difference between the first direct-axis reference current and the direct-axis estimated current acquired by the current acquisition unit 8051, to obtain a first direct-axis voltage;
a voltage obtaining unit 8053, configured to calculate a first quadrature axis voltage according to the first direct axis voltage obtained by the PI adjustment unit 8052 and a preset maximum stator voltage by the following formula;
wherein, VqFor characterizing a first quadrature axis voltage, VdFor characterizing a first direct voltage, VsmaxFor characterizing the stator maximum voltage.
In the embodiment of the present invention, the current obtaining unit 8051 may be configured to perform step 201 in the above method embodiment, the PI adjusting unit 8052 may be configured to perform step 202 in the above method embodiment, and the voltage obtaining unit 8053 may be configured to perform step 203 in the above method embodiment.
Alternatively, on the basis of the motor control apparatus shown in fig. 8, as shown in fig. 10, the first control module 806 includes:
a voltage transformation unit 8061 for performing inverse park transformation on the first direct axis voltage and the first quadrature axis voltage to obtain α axis voltage and β axis voltage in the two-phase stationary coordinate system;
a signal modulation unit 8062, configured to modulate the α -axis voltage and the β -axis voltage obtained by the voltage conversion unit 8061 into space vector pulse width modulation signals;
and a rotation speed control unit 8063, configured to control turning off and on of a three-phase inverter connected to the target motor according to the space vector pulse width modulation signal acquired by the signal modulation unit 8062, so as to control a rotation speed of the target motor.
In the embodiment of the present invention, the voltage transformation unit 8061 may be configured to perform step 301 in the above-described method embodiment, the signal modulation unit 8062 may be configured to perform step 302 in the above-described method embodiment, and the rotation speed control unit 8063 may be configured to perform step 303 in the above-described method embodiment.
Alternatively, on the basis of the motor control device shown in fig. 8, as shown in fig. 11, the motor control device further includes:
a second PI adjustment module 807, configured to perform normal PI adjustment on the rotation speed error to obtain a quadrature axis reference current when the error comparison module 803 determines that the duration that the rotation speed error is greater than the rotation speed error threshold is less than or equal to the duration threshold;
a first current obtaining module 808, configured to obtain an estimated quadrature axis current of the target motor, wherein the estimated quadrature axis current is an estimated quadrature axis current of the target motor according to the three-phase currents of the target motor;
a second current obtaining module 809, configured to obtain a second direct-axis reference current of the target motor;
a third current obtaining module 810 for obtaining a direct-axis estimated current of the target motor, wherein the direct-axis estimated current is the direct-axis current of the target motor estimated according to the three-phase current of the target motor;
a third PI adjustment module 811, configured to perform PI adjustment on a difference between the quadrature axis reference current obtained by the second PI adjustment module 807 and the quadrature axis estimated current obtained by the first current obtaining module 808, so as to obtain a second quadrature axis voltage;
a fourth PI adjustment module 812, configured to perform PI adjustment on a difference between the second direct axis reference current obtained by the second current obtaining module 809 and the direct axis estimated current obtained by the third current obtaining module 810, so as to obtain a second direct axis voltage;
and a second control module 813, configured to control the target motor to operate according to the second quadrature axis voltage obtained by the third PI regulation module 811 and the second direct axis voltage obtained by the fourth PI regulation module 812.
In an embodiment of the present invention, the second PI regulation module 807 may be configured to perform step 401 in the above-described method embodiment, the first current obtaining module 808 may be configured to perform step 402 in the above-described method embodiment, the second current obtaining module 809 may be configured to perform step 403 in the above-described method embodiment, the third current obtaining module 810 may be configured to perform step 404 in the above-described method embodiment, the third PI regulation module 811 may be configured to perform step 405 in the above-described method embodiment, the fourth PI regulation module 812 may be configured to perform step 406 in the above-described method embodiment, and the second control module 813 may be configured to perform step 407 in the above-described method embodiment.
Alternatively, on the basis of the motor control apparatus shown in fig. 11, the second current obtaining module 809 is configured to obtain the second direct-axis reference current through the maximum torque current ratio control, or the second current obtaining module 809 is configured to set the second direct-axis reference current equal to zero.
It is to be understood that the illustrated configuration of the embodiment of the present invention does not constitute a specific limitation to the motor control device. In other embodiments of the invention, the motor control apparatus may include more or fewer components than shown, or some components may be combined, some components may be separated, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
Because the information interaction, execution process, and other contents between the units in the device are based on the same concept as the method embodiment of the present invention, specific contents may refer to the description in the method embodiment of the present invention, and are not described herein again.
It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together.
In the above embodiments, the hardware unit may be implemented mechanically or electrically. For example, a hardware element may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. The hardware elements may also comprise programmable logic or circuitry, such as a general purpose processor or other programmable processor, that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the invention to the embodiments disclosed, and it will be apparent to those skilled in the art that various combinations of the code auditing means in the various embodiments described above may be used to obtain further embodiments of the invention, which are also within the scope of the invention.
Claims (10)
1. A motor control method, comprising:
acquiring a command rotating speed and an estimated rotating speed of a target motor, wherein the command rotating speed is a rotating speed which is required to be achieved for controlling the target motor to operate, and the estimated rotating speed is the rotating speed of the target motor estimated according to three-phase current of the target motor;
determining an absolute value of a difference between the commanded rotational speed and the estimated rotational speed as a rotational speed error;
detecting whether the rotating speed error is larger than a preset rotating speed error threshold value or not;
if the duration of the rotating speed error which is greater than the rotating speed error threshold value is greater than a preset duration threshold value, executing:
carrying out weak magnetic PI regulation on the rotating speed error to obtain a first direct-axis reference current, wherein the first direct-axis reference current is a negative value, and the first direct-axis reference current and the rotating speed error are in negative correlation;
determining a first direct axis voltage and a first quadrature axis voltage according to the first direct axis reference current;
and controlling the target motor to operate according to the first direct axis voltage and the first quadrature axis voltage.
2. The method of claim 1, wherein determining a first direct voltage and a first quadrature voltage from the first direct reference current comprises:
acquiring direct-axis estimated current of the target motor, wherein the direct-axis estimated current is estimated according to three-phase current of the target motor;
performing PI regulation on the difference between the first direct-axis reference current and the direct-axis estimated current to obtain a first direct-axis voltage;
calculating the first quadrature axis voltage according to the first direct axis voltage and a preset maximum stator voltage by the following formula;
wherein, the VqFor characterizing the first quadrature axis voltage, said VdFor characterizing the first direct voltage, said VsmaxFor characterizing the stator maximum voltage.
3. The method of claim 1, wherein said controlling said target motor operation based on said first direct voltage and said first quadrature voltage comprises:
performing inverse park transformation on the first direct axis voltage and the first quadrature axis voltage to obtain α axis voltage and β axis voltage under a two-phase static coordinate system;
modulating the α axis voltage and the β axis voltage as space vector pulse width modulated signals;
and controlling the turn-off and turn-on of a three-phase inverter connected with the target motor according to the space vector pulse width modulation signal so as to control the rotating speed of the target motor.
4. The method of any of claims 1-3, wherein after said detecting whether said rotational speed error is greater than a predetermined rotational speed error threshold, further comprising:
if the duration that the rotating speed error is larger than the rotating speed error threshold value is smaller than or equal to the duration threshold value, executing:
carrying out normal PI regulation on the rotation speed error to obtain a quadrature axis reference current;
acquiring quadrature axis estimation current of the target motor, wherein the quadrature axis estimation current is estimated according to three-phase current of the target motor;
acquiring a second direct-axis reference current of the target motor;
acquiring direct-axis estimated current of the target motor, wherein the direct-axis estimated current is estimated according to three-phase current of the target motor;
performing PI regulation on the difference between the quadrature axis reference current and the quadrature axis estimated current to obtain a second quadrature axis voltage;
performing PI regulation on the difference between the second direct-axis reference current and the direct-axis estimated current to obtain a second direct-axis voltage;
and controlling the target motor to operate according to the second direct axis voltage and the second quadrature axis voltage.
5. The method of claim 4, wherein said obtaining a second direct axis reference current of the target motor comprises:
acquiring the second direct axis reference current through maximum torque current ratio control;
or,
setting the second direct axis reference current equal to zero.
6. A motor control device, comprising:
a rotation speed obtaining module, configured to obtain a commanded rotation speed and an estimated rotation speed of a target motor, where the commanded rotation speed is a rotation speed required to control operation of the target motor, and the estimated rotation speed is a rotation speed of the target motor estimated according to a three-phase current of the target motor;
an error calculation module for determining an absolute value of a difference between the command rotational speed and the estimated rotational speed acquired by the rotational speed acquisition module as a rotational speed error;
the error comparison module is used for detecting whether the rotating speed error determined by the error calculation module is larger than a preset rotating speed error threshold value or not;
the first PI adjusting module is used for carrying out weak magnetic PI adjustment on the rotating speed error calculated by the error calculating module to obtain a first straight-axis reference current when the error comparing module determines that the duration time that the rotating speed error is greater than the rotating speed error threshold value is greater than a preset time threshold value, wherein the first straight-axis reference current is a negative value, and the first straight-axis reference current is in negative correlation with the rotating speed error;
the voltage conversion module is used for determining a first direct-axis voltage and a first quadrature-axis voltage according to the first direct-axis reference current acquired by the first PI regulation module;
and the first control module is used for controlling the target motor to operate according to the first direct-axis voltage and the first quadrature-axis voltage acquired by the voltage conversion module.
7. The apparatus of claim 6, wherein the voltage conversion module comprises:
a current obtaining unit for obtaining a direct axis estimated current of the target motor, wherein the direct axis estimated current is the direct axis current of the target motor estimated based on the three-phase currents of the target motor;
a PI adjustment unit, configured to perform PI adjustment on a difference between the first direct-axis reference current and the direct-axis estimated current obtained by the current obtaining unit, so as to obtain a first direct-axis voltage;
the voltage acquisition unit is used for calculating the first quadrature axis voltage according to the first direct axis voltage acquired by the PI regulation unit and a preset maximum stator voltage through the following formula;
wherein, the VqFor characterizing the first quadrature axis voltage, said VdFor characterizing the first direct voltage, said VsmaxFor characterizing the stator maximum voltage.
8. The apparatus of claim 6, wherein the first control module comprises:
a voltage transformation unit, for performing inverse park transformation on the first straight axis voltage and the first quadrature axis voltage to obtain α axis voltage and β axis voltage under a two-phase stationary coordinate system;
a signal modulation unit, configured to modulate the α axis voltage and the β axis voltage obtained by the voltage conversion unit into space vector pulse width modulation signals;
and the rotating speed control unit is used for controlling the turn-off and turn-on of a three-phase inverter connected with the target motor according to the space vector pulse width modulation signal acquired by the signal modulation unit so as to control the rotating speed of the target motor.
9. The apparatus of any of claims 6 to 8, further comprising:
the second PI adjusting module is used for carrying out normal PI adjustment on the rotating speed error to obtain a quadrature axis reference current when the error comparison module determines that the duration of the rotating speed error which is larger than the rotating speed error threshold is smaller than or equal to the duration threshold;
a first current obtaining module, configured to obtain an estimated quadrature axis current of the target motor, where the estimated quadrature axis current is an estimated quadrature axis current of the target motor according to three-phase currents of the target motor;
the second current acquisition module is used for acquiring a second direct-axis reference current of the target motor;
a third current obtaining module, configured to obtain a direct-axis estimated current of the target motor, where the direct-axis estimated current is an estimated direct-axis current of the target motor according to three-phase currents of the target motor;
the third PI regulating module is used for carrying out PI regulation on the difference between the quadrature axis reference current acquired by the second PI regulating module and the quadrature axis estimated current acquired by the first current acquiring module to acquire a second quadrature axis voltage;
a fourth PI adjustment module, configured to perform PI adjustment on a difference between the second direct axis reference current obtained by the second current obtaining module and the direct axis estimated current obtained by the third current obtaining module, so as to obtain a second direct axis voltage;
and the second control module is used for controlling the target motor to operate according to the second quadrature axis voltage acquired by the third PI regulation module and the second direct axis voltage acquired by the fourth PI regulation module.
10. The apparatus of claim 9,
the second current acquisition module is used for acquiring the second direct axis reference current through maximum torque current ratio control;
or,
the second current obtaining module is configured to set the second direct-axis reference current equal to zero.
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Application publication date: 20200225 |