CN107743006A - Motor control method, electric machine control system and mobile devices - Google Patents
Motor control method, electric machine control system and mobile devices Download PDFInfo
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- CN107743006A CN107743006A CN201711026136.XA CN201711026136A CN107743006A CN 107743006 A CN107743006 A CN 107743006A CN 201711026136 A CN201711026136 A CN 201711026136A CN 107743006 A CN107743006 A CN 107743006A
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- motor
- mode
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- running parameter
- voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0027—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention provides a kind of motor control method, by obtaining motor operating voltage, characteristic curve and running parameter, efficiency of the motor under different modalities is calculated, and then the height of the operating efficiency under more each mode, the higher mode of efficiency of selection are motor operation mode.Be advantageous to smoothly realize Efficiency testing of the motor under different modalities, so as to improve the overall operating efficiency of motor.
Description
Technical field
The present invention relates to machine field, more particularly, to a kind of motor control method, electric machine control system and mobile devices.
Background technology
Motor is divided into single mode motor and multi-modal motor.Single mode motor have fixed internal feature as it is fixed around
Group and the magnetic flux of fixation, multi-modal motor has the variable internal feature of minimum of one, such as winding or magnetic flux.
The mobile devices such as current aircraft, electric car or ship are usually using single mode motor, when operating voltage is fixed only
There is a best efficiency point.But mobile devices have different requirements to the power output of motor in different operating environments,
As mobile devices when starting or loading larger, it is necessary to which low rotation speed large torque, there is the suitable high-speed cruising of higher rotating speed constant
Motor these operating modes under but excessive armature supply can be produced, heating is serious.But there is the suitable low of relatively low rotating speed constant
The motor of speed operation is beneficial to mobile devices startup and heavy service, but can not run at high speed, and mobile devices can only be run at a low speed.It is single
Mode motor can not be issued to optimum efficiency state in different operating modes, so that mobile devices entirety running efficiency is relatively low.
To solve the problems, such as that single mode motor is difficult in adapt to different operating modes, there is the changeable multi-modal motor of mode.
Referring to patent motor Multimode Controlling Method and system, Application No. CN201610723477.1.By switching winding and voltage
Pattern so that a motor can work under multiple modalities, while meet that motor is small in low rotation speed large torque and high rotating speed
Needs under two kinds of working conditions of moment of torsion.
The content of the invention
The first object of the present invention is to provide a kind of reliable and good stability motor control method.
The second object of the present invention is to provide a kind of reliable and good stability electric machine control system.
The third object of the present invention is to provide a kind of mobile devices reliable, operating efficiency is high.
To realize the first purpose, the present invention provides a kind of motor control method, and the motor has at least two mode, controls
Step processed is as follows：
S1, motor ran for first scheduled time under first voltage and first mode, obtained the first running parameter, and according to first
Voltage and first mode obtain the first characteristic curve, and the first of motor is calculated according to the first running parameter and the first characteristic curve
Efficiency.
S2, motor ran for second scheduled time under second voltage and second mode, obtained the second running parameter, and according to
Second voltage and second mode obtain the second characteristic curve, and motor is calculated according to the second running parameter and the second characteristic curve
Second efficiency.
S3, the height for comparing the first efficiency and the second efficiency, the mode corresponding to greater efficiency is selected as operation mode.
S4, monitoring parameter, when running parameter meets predetermined condition, return to step S1.
From such scheme, by obtaining motor running parameter, operating voltage and characteristic curve, motor is calculated in difference
Efficiency under mode, and then the height of the operating efficiency under more each mode, the higher mode of efficiency of selection are motor Working mould
State.The program also allows the rotating speed that motor is run under first voltage and first mode with being transported under second voltage and second mode
Capable rotating speed is suitable.Be advantageous to smoothly realize Efficiency testing of the motor under different modalities, so as to improve the overall work of motor
Make efficiency.Realize that motor is rapidly selected the higher operation mode of efficiency automatically under different operating modes, without cumbersome artificial
Rate-determining steps, improve the adaptive ability of motor.
Further scheme is that the first running parameter is the first operating current, and the second running parameter is the second operating current.It is logical
The efficiency that detection electric current obtains motor is crossed, is advantageous to improve the response speed and reliability of parameter of electric machine detection, reduces cost.
Further scheme is to obtain the torque rotary speed curve under different voltages corresponding to the mode compared with needing
Set；Rotating speed and the torque of motor are obtained, the work electricity of motor is calculated according to the set of rotating speed, torque and torque rotary speed curve
Pressure.The program can make motor maintain constant rotational speed in Mode-switch, reduce the output pulsation of detection process.It is simple and reliable.
Further scheme is that predetermined condition is more than predetermined amplitude for the Significant Change amplitude of running parameter, and remains predetermined
Time.This method is advantageous to the change that accurate and effective judges motor operating mode, avoids of short duration ripple of the electric machine control system due to operating mode
Move and continually execution efficiency judgement.
Further scheme is that first mode has the first winding, and second mode has the second winding.
Another program is that first mode has the first magnetic flux, and second mode has the second magnetic flux.
To realize the second object of the present invention, the present invention provide a kind of electric machine control system include motor, detection unit and
Speed adjustment unit, the motor possess minimum both modalities which.This electric machine control system also includes：For storing the characteristic curve of motor
Data storage cell and operation mode for switch motor Mode-switch unit.Control unit respectively with detection unit,
Speed adjustment unit, data storage cell and the electrical connection of Mode-switch unit.
Control unit obtains motor by detection unit and ran for first scheduled time under first voltage and first mode
First running parameter, motor run the second running parameter of second scheduled time under second voltage and second mode.Control is single
Member obtains first characteristic curve of the motor under first voltage and first mode from data storage cell, and motor is in second voltage
With the second characteristic curve under second mode.Control unit calculates motor according to the first running parameter and the first characteristic curve
First efficiency, the second efficiency of motor is calculated according to the second running parameter and the second characteristic curve.Control unit compares first
The height of efficiency and the second efficiency, worked by Mode-switch unit controlled motor under the mode of greater efficiency.
From above-mentioned, motor running parameter, operating voltage and characteristic curve, control unit root are obtained by detection unit
The motor characteristic curve stored according to running parameter and data storage cell calculates efficiency of the motor under different modalities, and then compares
The height of operating efficiency under each mode, the higher mode of efficiency of selection are motor operation mode.Be advantageous to smoothly realize electricity
Efficiency testing of the machine under different modalities, so as to improve the overall operating efficiency of motor.Realize motor under different operating modes certainly
It is dynamic to be rapidly selected the higher operation mode of efficiency, without cumbersome manual control step, improve the adaptive ability of motor.
Further scheme is that detection unit includes current sensor, speed probe and torque sensor.
Further scheme is that Mode-switch unit is winding control device or magnetic flux amount control device.
To realize the third object of the present invention, the present invention provides a kind of mobile devices, and the drive system of mobile devices includes
Any of the above-described electric machine control system.Mobile devices under different operating modes, each operation mode of electric machine control system intelligent decision
Efficiency, the operation mode compared with high workload efficiency is selected, be advantageous to improve the operating efficiency of mobile devices.This electric machine control system
When control method allows the efficiency that detection motor is run under different modalities, the constant rotational speed of motor is maintained, effectively reduces detection
The output pulsation of process, effectively improve the stability of mobile devices travel speed.
Brief description of the drawings
Fig. 1 is the flow chart of motor control method of the present invention；
Fig. 2 is the flow chart of the motor control method of Fig. 1 optimizations；
Fig. 3 is the structured flowchart of electric machine control system of the present invention.
Specific embodiment
Valid data refer to exclude the data obtained after invalid as caused by interference or abnormal data, described in the invention
Significant Change amplitude refers to the amplitude of variation of valid data.
Multi-modal motor has the variable internal feature of minimum of one, such as winding or magnetic flux.Pass through the switching coil number of turn, string
The triangle joint mode of parallel branch number or star coil is the change for the winding characteristics that motor can be achieved.Machine winding is drawn,
Be the switching for the connected mode that winding can be achieved by relay switching circuit or MOS switch switching circuit, now relay or
MOS switch switching circuit serves as Mode-switch unit.Can be real by the magnetic flux for adjusting size of gaps, permanent magnet or Exciting Windings for Transverse Differential Protection
The change of existing magnetic flux.For example, the working face of permanent magnet on the working face and rotor of stator tooth is arranged into the identical conical surface, control
The i.e. adjustable size of gaps of rotor relative stator axial movement processed, now, the mechanism for controlling rotor axial to move is Mode-switch
Unit.Device for motor permanent magnet charging-erasing magnetic serves as Mode-switch unit.Control the strong and weak electric current control of Exciting Windings for Transverse Differential Protection electric current
Molding block serves as Mode-switch unit.Mode-switch is not limited to the single internal feature of controlled motor, can be with controlled motor
Two or more internal features.For example, Mode-switch unit can be by MOS switch switching circuit and control Exciting Windings for Transverse Differential Protection electric current
Strong and weak current control module collectively constitutes.
Motor control method embodiment
Motor control method, motor has at least two mode, as shown in figure 1, the step of control method is as follows：
S1. motor ran for first scheduled time under first voltage and first mode, obtained the first running parameter, and according to the
One voltage and first mode obtain the first characteristic curve, and the of motor is calculated according to the first running parameter and the first characteristic curve
One efficiency.
S2. motor ran for second scheduled time under second voltage and second mode, obtained the second running parameter, and root
The second characteristic curve is obtained according to second voltage and second mode, motor is calculated according to the second running parameter and the second characteristic curve
The second efficiency.
S3. compare the height of the first efficiency and the second efficiency, select the mode corresponding to greater efficiency as Working mould
State.
S4. monitoring parameter, judges whether running parameter meets predetermined condition.Meet return to step during predetermined condition
S1；If not satisfied, repeat step S4.
By obtaining motor operating voltage, characteristic curve and running parameter, efficiency of the motor under different modalities is calculated, is entered
And the height of the operating efficiency under more each mode, the higher mode of efficiency of selection are motor operation mode.Be advantageous to smoothly
Efficiency testing of the motor under different modalities is realized, so as to improve the overall operating efficiency of motor.Realize motor in different works
Automatically the higher operation mode of efficiency is rapidly selected under condition, without cumbersome manual control step, improves the adaptive of motor
Should be able to power.
Obviously, the different modalities for comparing are not limited to two kinds, can also be three kinds or more, efficiency of selection highest mould
Operation mode of the state as motor.
The running parameter of motor includes operating current, rotating speed, torque of motor etc..
Obtain the set of the torque rotary speed curve under different voltages corresponding to the mode compared with needing；Pass through acquisition
The set of rotating speed, torque and torque rotary speed curve calculate the operating voltage of motor.So as to which simple and reliable realizes multi-modal cut
The steady monitoring changed.
As shown in Fig. 2 the step of motor control method of optimization, is as follows：
S11. motor ran for first scheduled time under first voltage and the first winding, obtained the first operating current, and according to the
One voltage and the first winding obtain the first characteristic curve；The of motor is calculated according to the first operating current and the first characteristic curve
One efficiency.
S12. motor ran for second scheduled time under second voltage and the second winding, obtained the second operating current, and root
The second characteristic curve is obtained according to second voltage and the second winding；Motor is calculated according to the second operating current and the second characteristic curve
The second efficiency.
S13. by comparing the height of the first efficiency and the second efficiency, the winding corresponding to greater efficiency is selected as work
The winding of work.
S14. operating current is detected, when operating current meets predetermined condition, i.e. the Significant Change amplitude of operating current is more than
Predetermined amplitude, and during the maintenance scheduled time, return to step S11.
The efficiency of motor is obtained by detecting electric current, is advantageous to improve the response speed and reliability of parameter of electric machine detection,
Reduce cost.The program also allow rotating speed that motor runs under first voltage and the first winding with second voltage and second around
The rotating speed of the lower operation of group is suitable, realizes motor smoothly detection efficiency under different modalities.
Electric machine control system embodiment
As shown in figure 3, a kind of electric machine control system 300, including motor 301, control unit 302, detection unit 303, speed governing list
Member 304, Mode-switch unit 305 and data storage cell 306, the motor 301 possess minimum both modalities which.
Data storage cell 306 is used for the characteristic curve for storing motor 301；Mode-switch unit 305 is used for switch motor
301 operation mode；Control unit 302 respectively with detection unit 303, speed adjustment unit 304, Mode-switch unit 305 and data
Memory cell 306 electrically connects.Control unit 302 obtains motor 301 under first voltage and first mode by detection unit 303
The first running parameter of first scheduled time is run, motor 301 ran for second scheduled time under second voltage and second mode
The second running parameter.Control unit 302 obtains motor 301 in first voltage and first mode from data storage cell 306
Under the first characteristic curve, second characteristic curve of the motor 301 under second voltage and second mode.The basis of control unit 302
First running parameter and the first characteristic curve calculate the first efficiency of motor 301, according to the second running parameter and the second characteristic
Curve calculates the second efficiency of motor 301.Control unit 302 compares the height of the first efficiency and the second efficiency, passes through mode
The controlled motor 301 of switch unit 305 works under the mode of greater efficiency.Realize motor under different operating modes it is automatic rapidly
The higher operation mode of efficiency of selection, without cumbersome manual control step, improve the adaptive ability of motor.
Detection unit 303 includes current sensor 3031, speed probe 3032 and torque sensor 3033.Detection unit
It is not limited to by three kinds of sensor groups into can also be made up of wherein at least one sensor.
Mode-switch 305 is not limited to be moved by relay switching circuit 3051, MOS switch switching circuit 3052, rotor axial
Motivation structure 3053, charging-erasing magnetic device 3054, current control module 3055 form, and can also be made up of wherein minimum one kind.
Control unit 302 and detection unit 303 are not limited to above-mentioned function, and can also be used cooperatively detection motor 301 is
The no switching for completing target modalities.Data storage cell 306 is not limited to store the characteristic curve of motor 301, can also store institute
The running parameter and efficiency calculations of detection.
Mobile devices embodiment
A kind of mobile devices, mobile devices install above-mentioned electric machine control system.Mobile devices are under different operating modes, motor control
The efficiency of each operation mode under system intelligent decision current working, selects the operation mode compared with high workload efficiency, is advantageous to improve
The operating efficiency of mobile devices.Mobile devices can be the mobile devices that aircraft, ship, electric car etc. are provided with motor, have concurrently
The advantages of reliability is high, operating efficiency is high.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to is assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
Some equivalent substitutes or obvious modification are made on the premise of not departing from present inventive concept, and performance or purposes are identical, all should
It is considered as belonging to the scope of patent protection that the present invention is determined by the claims submitted.
Claims (10)
1. motor control method, the motor has at least two mode, it is characterised in that：
S1. the motor ran for first scheduled time under first voltage and first mode, obtained the first running parameter, and root
The first characteristic curve is obtained according to the first voltage and the first mode, according to first running parameter and first spy
Linearity curve calculates the first efficiency of the motor；
S2. the motor ran for second scheduled time under second voltage and second mode, obtained the second running parameter, and root
The second characteristic curve is obtained according to the second voltage and the second mode, according to second running parameter and second spy
Linearity curve calculates the second efficiency of the motor；
S3. the height of first efficiency and second efficiency, the mode corresponding to greater efficiency is selected as work
Mode；
S4. the running parameter is monitored, when the running parameter meets predetermined condition, returns to S1.
2. motor control method according to claim 1, it is characterised in that：
First running parameter is the first operating current；
Second running parameter is the second operating current.
3. motor control method according to claim 1, it is characterised in that：
Obtain the set of the torque rotary speed curve under different voltages corresponding to the mode compared with needing；
Rotating speed and the torque of the motor are obtained, is added up to according to the collection of the rotating speed, the torque and the torque rotary speed curve
Calculate the operating voltage of the motor.
4. motor control method according to claim 1, it is characterised in that：
The predetermined condition is more than predetermined amplitude for the Significant Change amplitude of the running parameter, and maintains the scheduled time.
5. motor control method according to claim 1, it is characterised in that：
The first mode has the first winding, and the second mode has the second winding.
6. motor control method according to claim 1, it is characterised in that：
The first mode has the first magnetic flux, and the second mode has the second magnetic flux.
7. electric machine control system, including motor, detection unit and speed adjustment unit, the motor possess minimum both modalities which,
It is characterized in that：Also include,
Data storage cell, for storing the characteristic curve of the motor；
Mode-switch unit, for switching the operation mode of the motor；
Control unit, it is electrically connected respectively with the detection unit, the speed adjustment unit, data storage cell and Mode-switch unit
Connect；
Described control unit, it is pre- that first is run under first voltage and first mode by the detection unit acquisition motor
The first running parameter fixed time, the motor run the second work of second scheduled time under second voltage and second mode
Parameter；
Described control unit, the motor is obtained from the data storage cell in the first voltage and the first mode
Under the first characteristic curve, second characteristic curve of the motor under the second voltage and the second mode；
Described control unit, the first effect of the motor is calculated according to first running parameter and first characteristic curve
Rate, the second efficiency of the motor is calculated according to second running parameter and second characteristic curve；
The height of described control unit, first efficiency and second efficiency, passes through the Mode-switch unit control
The motor is made to work under the mode of greater efficiency.
8. electric machine control system according to claim 7, it is characterised in that：
The detection unit includes current sensor, speed probe and torque sensor.
9. electric machine control system according to claim 7, it is characterised in that：
The Mode-switch unit is winding control device or magnetic flux amount control device.
A kind of 10. mobile devices, it is characterised in that：
The drive system of the mobile devices includes claim 7 to 9 any electric machine control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711026136.XA CN107743006B (en) | 2017-10-28 | 2017-10-28 | Motor control method, motor control system and running device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711026136.XA CN107743006B (en) | 2017-10-28 | 2017-10-28 | Motor control method, motor control system and running device |
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| Publication Number | Publication Date |
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| CN107743006A true CN107743006A (en) | 2018-02-27 |
| CN107743006B CN107743006B (en) | 2020-05-19 |
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| CN201711026136.XA Active CN107743006B (en) | 2017-10-28 | 2017-10-28 | Motor control method, motor control system and running device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230044842A1 (en) * | 2019-12-27 | 2023-02-09 | Panasonic Intellectual Property Management Co., Ltd. | Work analyzing device and work analyzing method |
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| CN101346267A (en) * | 2006-06-07 | 2009-01-14 | 丰田自动车株式会社 | Electrical generation control apparatus and control method in a vehicle |
| US8497649B2 (en) * | 2011-02-10 | 2013-07-30 | Fanuc Corporation | Motor driving control apparatus for controlling motor output according to power characteristics of AC power supply |
| CN106257820A (en) * | 2016-08-25 | 2016-12-28 | 珠海市磐石电子科技有限公司 | Motor multi-mode control method and system |
| CN106817064A (en) * | 2015-11-27 | 2017-06-09 | 新唐科技股份有限公司 | The driving method of alternating current generator and apply its motor driver |
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2017
- 2017-10-28 CN CN201711026136.XA patent/CN107743006B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101346267A (en) * | 2006-06-07 | 2009-01-14 | 丰田自动车株式会社 | Electrical generation control apparatus and control method in a vehicle |
| US8497649B2 (en) * | 2011-02-10 | 2013-07-30 | Fanuc Corporation | Motor driving control apparatus for controlling motor output according to power characteristics of AC power supply |
| CN106817064A (en) * | 2015-11-27 | 2017-06-09 | 新唐科技股份有限公司 | The driving method of alternating current generator and apply its motor driver |
| CN106257820A (en) * | 2016-08-25 | 2016-12-28 | 珠海市磐石电子科技有限公司 | Motor multi-mode control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230044842A1 (en) * | 2019-12-27 | 2023-02-09 | Panasonic Intellectual Property Management Co., Ltd. | Work analyzing device and work analyzing method |
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