CN109951130B - Control method and control device for positive and negative rotation of motor - Google Patents
Control method and control device for positive and negative rotation of motor Download PDFInfo
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Abstract
The invention provides a control method and a control device for positive and negative rotation of a motor, which comprise the steps of connecting u-phase signals, v-phase signals and w-phase signals which are controlled to be output with corresponding u-phase coils, v-phase coils and w-phase coils, establishing a first coordinate system, a second coordinate system and a third coordinate system when a motor control command is received, determining the relation among the u-axis, the v-axis and the w-axis of the first coordinate system as 120 degrees, determining the relation among the d-axis, the v-axis and the w-axis as well as the d-axis and the q-axis of the second coordinate system as 90 degrees according to α -axis and β -axis of the second coordinate system and d-axis and q-axis of the third coordinate system, determining d-axis current and q-axis current, determining α -axis voltage and β -axis voltage according to the d-axis voltage and the q-axis voltage, and controlling the u-phase signals, v-phase signals and the w-phase signals to be output from the u-phase coils, the v-phase coils and the w-phase coils according to α -axis voltage and β -phase voltage.
Description
Technical Field
The invention relates to the technical field of electromechanical control, in particular to a control method and a control device for positive and negative rotation of a motor.
Background
A motor is a drive for a power tool (e.g., a hammer drill, an electric drill, a gun drill, a screwdriver, etc.) that typically has only one direction of rotation, e.g., forward or reverse, in one mode.
At present, in a conventional motor control method, a motor is generally controlled according to counterclockwise rotation, namely, forward rotation. When the motor needs to be controlled to rotate reversely, any two phases of the u \ v \ w three-phase coils of the motor need to be manually connected in an exchange mode, namely the u-phase coil and the v-phase coil, the u-phase coil and the w-phase coil or the v-phase coil and the w-phase coil are connected in an exchange mode.
As can be seen from the above description, the prior art controls the positive and negative rotation of the motor, and the manual intervention degree is high.
Disclosure of Invention
The embodiment of the invention provides a control method and a control device for positive and negative rotation of a motor, which can reduce the degree of manual intervention.
In a first aspect, an embodiment of the present invention provides a method for controlling forward and reverse rotation of a motor, including:
the output u-phase signal is controlled in advance to be connected with a u-phase coil, the output v-phase signal is connected with a v-phase coil, and the output w-phase signal is connected with a w-phase coil;
when a motor control command input from the outside is received, establishing a first coordinate system, a second coordinate system and a third coordinate system, wherein the included angle among the u axis, the v axis and the w axis of the first coordinate system is 120 degrees, the included angle between the α axis and the β axis of the second coordinate system is 90 degrees, and the included angle between the d axis and the q axis of the third coordinate system is 90 degrees;
determining a first relationship between the u-axis, the v-axis, the w-axis, and α -axis and the β -axis according to the first coordinate system and the second coordinate system;
determining a second relation among the u axis, the v axis, the w axis, the d axis and the q axis according to the first relation and the third coordinate system;
determining d-axis current and q-axis current of the motor according to the second relation;
determining a d-axis voltage and a q-axis voltage according to the d-axis current and the q-axis current;
determining α and β shaft voltages of the motor according to the d shaft voltage and the q shaft voltage;
controlling timing of the u-phase, v-phase, and w-phase signals output from the u-phase, v-phase, and w-phase coils according to the α -axis voltage and the β -axis voltage.
Preferably, the first and second electrodes are formed of a metal,
when the motor control command is used to control the motor to rotate in reverse,
the establishing of the first coordinate system, the second coordinate system and the third coordinate system includes:
establishing a first coordinate system, a second coordinate system and a third coordinate system which rotate clockwise, wherein the u axis, the v axis and the w axis are sequentially arranged clockwise;
the determining a first relationship between the u-axis, the v-axis, the w-axis, and α -axis and the β -axis according to the first coordinate system and the second coordinate system comprises:
determining a first relationship between the u-axis, the v-axis, the w-axis and α and the β axes by a first formula;
the first formula is:
wherein u characterizes the u-axis, v characterizes the v-axis, w characterizes the w-axis, α characterizes the α -axis, and β characterizes the β -axis.
Preferably, the first and second electrodes are formed of a metal,
determining a second relationship between the u-axis, the v-axis, the w-axis, and the d-axis and the q-axis according to the first relationship and the third coordinate system includes:
determining a second relationship between the u-axis, the v-axis, the w-axis and the d-axis and the q-axis by a second formula, wherein the second formula is obtained by coordinate transformation of the first formula and a third formula;
the second formula is:
wherein d represents the d axis, q represents the q axis, and θ represents the included angle between the α axis and the d axis and the included angle between the β axis and the q axis;
the third formula is:
wherein α characterizes the α axis, β characterizes the β axis.
Preferably, the first and second electrodes are formed of a metal,
determining d-axis current and q-axis current of the motor according to the second relationship includes:
determining d-axis current and q-axis current of the motor according to a fourth formula, wherein the fourth formula is obtained by transformation of the second formula;
the fourth formula is:
wherein, Id[n]Characterizing the d-axis current, I, of the n-th calculation cycleq[n]Characterizing the q-axis current, I, of the nth calculation cycleu[n]Characterizing the u-phase current, I, of the motor acquired in the n-th calculation cyclev[n]Characterizing the v-phase current, I, of the motor acquired in the n-th calculation cyclew[n]And the w-phase current of the motor is acquired in the nth calculation period.
Preferably, the first and second electrodes are formed of a metal,
determining a d-axis voltage and a q-axis voltage according to the d-axis current and the q-axis current comprises:
determining a d-axis voltage according to a fifth formula and a q-axis voltage according to a sixth formula;
the fifth formula is:
wherein, Vd[n]The d-axis voltage characterizing the nth calculation cycle,
characterizing a predetermined first voltage scaling factor, Id *[n]Characterizing a first current value, I, preset for the nth calculation cycled[n]Characterizing the d-axis current for the nth calculation cycle,
characterizing a predetermined first voltage integral coefficient, TsCharacterizing a predetermined calculation period value, Id *[k]Representing a second current value I preset in the current calculation periodd[k]Characterizing the d-axis current of the current calculation cycle;
the sixth formula is:
wherein, Vq[n]The q-axis voltage characterizing the nth calculation cycle,
characterizing a preset second voltage scaling factor，Iq *[n]Characterizing a third current value, I, preset for the nth calculation cycleq[n]Characterizing the q-axis current for the nth calculation cycle,
characterizing a predetermined second voltage integral coefficient, Iq *[k]Fourth current value, I, preset for representing current calculation periodq[k]Characterizing the q-axis current for the current calculation cycle.
Preferably, the first and second electrodes are formed of a metal,
determining α and β shaft voltages of the motor according to the d shaft voltage and the q shaft voltage, comprising:
determining α shaft voltage and β shaft voltage of the motor according to the following seventh formula:
wherein, Vα[n]α Axis Voltage, V, characterizing the nth calculation cycleβ[n]β Axis Voltage, V, characterizing the nth calculation cycled[n]Characterizing the d-axis voltage, V, of the nth calculation cycleq[n]The q-axis voltage of the nth calculation cycle is characterized.
Preferably, the first and second electrodes are formed of a metal,
the controlling of the timing of the u-phase, v-phase, and w-phase signals output from the u-phase, v-phase, and w-phase coils as a function of the α -axis voltage and the β -axis voltage includes:
determining a duty ratio of a PWM wave according to the α axis voltage and the β axis voltage;
and outputting corresponding PWM waves according to the duty ratio so as to control the output time sequence of the u-phase signal, the v-phase signal and the w-phase signal from the u-phase coil, the v-phase coil and the w-phase coil.
Preferably, the first and second electrodes are formed of a metal,
when the motor control command is used for controlling the motor to rotate forwards,
the establishing of the first coordinate system, the second coordinate system and the third coordinate system includes:
establishing a first coordinate system, a second coordinate system and a third coordinate system which rotate anticlockwise, wherein the u axis, the v axis and the w axis are arranged anticlockwise in sequence;
the determining a first relationship between the u-axis, the v-axis, the w-axis, and α -axis and the β -axis according to the first coordinate system and the second coordinate system comprises:
determining a first relationship between the u-axis, the v-axis, the w-axis and α -axis and the β -axis by an eighth formula;
the eighth formula is:
wherein u characterizes the u-axis, v characterizes the v-axis, w characterizes the w-axis, α characterizes the α -axis, and β characterizes the β -axis.
Preferably, the first and second electrodes are formed of a metal,
determining a second relationship between the u-axis, the v-axis, the w-axis, and the d-axis and the q-axis according to the first relationship and the third coordinate system includes:
determining a second relationship between the u-axis, the v-axis, the w-axis, and the d-axis and the q-axis by a ninth formula obtained by coordinate transformation of the eighth formula and a third formula;
the ninth formula is:
wherein d represents the d axis, q represents the q axis, and θ represents the included angle between the α axis and the d axis and the included angle between the β axis and the q axis.
Preferably, the first and second electrodes are formed of a metal,
determining d-axis current and q-axis current of the motor according to the second relationship includes:
determining d-axis current and q-axis current of the motor according to a tenth formula, wherein the tenth formula is obtained by transforming the ninth formula;
the tenth formula is:
wherein, Id[n]Characterizing the d-axis current, I, of the n-th calculation cycleq[n]Characterizing the q-axis current, I, of the nth calculation cycleu[n]Characterizing the u-phase current, I, of the motor acquired in the n-th calculation cyclev[n]Characterizing the v-phase current, I, of the motor acquired in the n-th calculation cyclew[n]And the w-phase current of the motor is acquired in the nth calculation period.
In a second aspect, an embodiment of the present invention provides a device for controlling forward and reverse rotation of a motor, including:
the coil connecting module is used for controlling the output u-phase signal to be connected with the u-phase coil, the output v-phase signal to be connected with the v-phase coil and the output w-phase signal to be connected with the w-phase coil in advance;
the system comprises a coordinate construction module, a first coordinate system, a second coordinate system and a third coordinate system, wherein the first coordinate system comprises a u axis, a v axis and a w axis which form an included angle of 120 degrees with each other, the second coordinate system comprises an α axis and a β axis which form an included angle of 90 degrees, and the third coordinate system comprises a d axis and a q axis which form an included angle of 90 degrees;
the data processing module is used for determining a first relation among the u axis, the v axis, the w axis, α axis and the β axis according to the first coordinate system and the second coordinate system established by the coordinate construction module, determining a second relation among the u axis, the v axis, the w axis and the d axis and the q axis according to the first relation and the third coordinate system, determining a d axis current and a q axis current of the motor according to the second relation, determining a d axis voltage and a q axis voltage according to the d axis current and the q axis current, and determining a α axis voltage and a β axis voltage of the motor according to the d axis voltage and the q axis voltage;
a signal control module for controlling the timing at which the u-phase signal, the v-phase signal and the w-phase signal connected by the coil connection module are output from the u-phase coil, the v-phase coil and the w-phase coil according to the α axis voltage and the β axis voltage determined by the data processing module.
Preferably, the first and second electrodes are formed of a metal,
when the motor control command is used to control the motor to rotate in reverse,
the coordinate building module is used for building a first coordinate system, a second coordinate system and a third coordinate system which rotate clockwise, wherein the u axis, the v axis and the w axis are sequentially arranged clockwise, and a first relation among the u axis, the v axis, the w axis, the α axis and the β axis is determined through a first formula;
the first formula is:
wherein u characterizes the u-axis, v characterizes the v-axis, w characterizes the w-axis, α characterizes the α -axis, and β characterizes the β -axis.
The invention provides a control method and a control device for positive and negative rotation of a motor, wherein a u-phase signal is connected with a u-phase coil, a v-phase signal is connected with a v-phase coil, and a w-phase signal is connected with a w-phase coil, when the motor is controlled, coordinate conversion is carried out among a first coordinate system, a second coordinate system and a third coordinate system, the u axis, the v axis and the w axis of the first coordinate system and a first relation among α axis and β axis of the second coordinate system are determined, a second relation among the u axis, the v axis and the w axis of the first coordinate system and the d axis and the q axis of the third coordinate system is further determined, then d axis current and q axis current of the motor are determined according to the second relation, d axis voltage and q axis voltage are further determined, α axis voltage and β axis voltage of the motor can be determined according to the d axis voltage and the q axis voltage of the motor, signals can be controlled from the u-phase coil, the v-phase coil and the w-phase coil, time sequence output by the α axis voltage and β axis voltage can be controlled, and the manual intervention on the motor can be realized, and the connection of the u-phase coil can be reduced.
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 method for controlling forward and reverse rotation of a motor according to an embodiment of the present invention;
fig. 2 is a flowchart of another method for controlling forward and reverse rotation of a motor according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a first coordinate system, a second coordinate system, and a third coordinate system according to a clockwise rotation according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for controlling forward/reverse rotation of a motor according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a first coordinate system, a second coordinate system, and a third coordinate system rotated counterclockwise according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a control device for forward and reverse rotation of a motor 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 method for controlling forward and reverse rotation of a motor, including:
step 101: the u looks signal that controls output in advance links to each other with u looks coil, and the v looks signal links to each other with the v looks coil to and the w looks signal links to each other with the w looks coil, still includes:
102, when a motor control command input from the outside is received, establishing a first coordinate system, a second coordinate system and a third coordinate system, wherein the included angle among the u axis, the v axis and the w axis of the first coordinate system is 120 degrees, the included angle between the α axis and the β axis of the second coordinate system is 90 degrees, and the included angle between the d axis and the q axis of the third coordinate system is 90 degrees;
103, determining a first relation among the u axis, the v axis, the w axis, α axis and the β axis according to the first coordinate system and the second coordinate system;
step 104: determining a second relation among the u axis, the v axis, the w axis, the d axis and the q axis according to the first relation and the third coordinate system;
step 105: determining d-axis current and q-axis current of the motor according to the second relation;
step 106: determining a d-axis voltage and a q-axis voltage according to the d-axis current and the q-axis current;
and 108, controlling the output time sequence of the u-phase signal, the v-phase signal and the w-phase signal from the u-phase coil, the v-phase coil and the w-phase coil according to the α axis voltage and the β axis voltage.
In the embodiment of the invention, by controlling the output u-phase signal to be connected with the u-phase coil, the output v-phase signal to be connected with the v-phase coil and the output w-phase signal to be connected with the w-phase coil, when the motor is controlled, coordinate conversion is carried out among a first coordinate system, a second coordinate system and a third coordinate system, a u axis, a v axis and a w axis of the first coordinate system and a first relation among an α axis and a β axis of the second coordinate system are determined, a second relation among the u axis, the v axis and the w axis and a d axis and a q axis of the third coordinate system is further determined, a d axis current and a q axis current of the motor are further determined according to the second relation, a d axis voltage and a q axis voltage of the motor can be further determined, a α axis voltage and a β axis voltage of the motor can be further determined according to the d axis voltage and the q axis voltage, signals can be controlled to be output from the u-phase coil, the v-phase coil and the w-phase coil through the α axis voltage and the β axis voltage, so that the time sequence control of the motor can be realized without manual intervention on the connection of the u-phase coil, the v-phase coil and.
In order to control the rotation direction of the motor, the embodiment of the invention provides two modes for controlling the forward and reverse rotation of the motor, which specifically comprise the following steps:
when an externally input motor control command is used for controlling the motor to rotate reversely, establishing a first coordinate system, a second coordinate system and a third coordinate system which rotate clockwise, and determining α shaft voltage and β shaft voltage for controlling the motor to rotate by the first coordinate system, the second coordinate system and the third coordinate system which rotate clockwise;
establishing a first coordinate system, a second coordinate system and a third coordinate system which rotate anticlockwise when an externally input motor control command is used for controlling the motor to rotate forwards, and determining α shaft voltage and β shaft voltage for controlling the motor to rotate by the first coordinate system, the second coordinate system and the third coordinate system which rotate anticlockwise;
the following two ways of controlling the forward and reverse rotation of the motor are respectively described in detail:
in a first mode, when an externally input motor control command is used for controlling the motor to rotate reversely, a first coordinate system, a second coordinate system and a third coordinate system rotating clockwise are established, and an α axle voltage and a β axle voltage for controlling the motor to rotate in a rotating direction are determined through the first coordinate system, the second coordinate system and the third coordinate system rotating clockwise, as shown in fig. 2, the method may include the following steps:
step 201: the u-phase signal output by the pre-control is connected with the u-phase coil, the v-phase signal is connected with the v-phase coil, and the w-phase signal is connected with the w-phase coil.
Specifically, the motor coils are controlled to be connected in a correct connection manner, i.e., a u-phase signal and a v-phase signal which are controlled to be output are connected with the u-phase coil, a v-phase signal and a w-phase signal are connected with the v-phase coil, and a w-phase signal is connected with the w-phase coil, i.e., the u-phase coil, the v-phase coil and the w-phase coil are connected to corresponding terminals. After the motor coils are connected, the forward and reverse rotation of the motor is realized by controlling the output of the u-phase signal, the v-phase signal and the w-phase signal to change the phase sequence.
202, when a control command which is input from the outside and used for controlling the motor to rotate reversely is received, a first coordinate system, a second coordinate system and a third coordinate system which rotate clockwise are established, wherein the included angle among the u axis, the v axis and the w axis of the first coordinate system is 120 degrees, the u axis, the v axis and the w axis are sequentially arranged clockwise, the included angle between the α axis and the β axis of the second coordinate system is 90 degrees, and the included angle between the d axis and the q axis of the third coordinate system is 90 degrees.
Specifically, when the motor is controlled to rotate reversely, as shown in fig. 3, a first coordinate system, a second coordinate system and a third coordinate system can be established, wherein the u axis, the v axis and the w axis of the first coordinate system are sequentially arranged clockwise, the included angle between the u axis, the v axis and the w axis is 120 degrees, the included angle between the α axis and the β axis of the second coordinate system is 90 degrees, the included angle between the d axis and the q axis of the third coordinate system is also 90 degrees, the α axis and the β axis are fixed rectangular coordinate systems, the d axis and the q axis are rotating rectangular coordinate systems, the u axis and the α axis are coincident, and the d axis and the motor rotor direction are consistent.
And 203, performing coordinate transformation on the clockwise rotating first coordinate system and the clockwise rotating second coordinate system, and determining a first relation among the u axis, the v axis, the w axis, the α axis and the β axis.
Specifically, the first relationship between the u-axis, the v-axis, the w-axis, and the α axis and the β axis may be determined by coordinate-converting the u-axis, the v-axis, and the w-axis of the first coordinate system and the α axis and the β axis of the second coordinate system by the following first formula.
The first formula is:
and the first formula can be derived by the following formula:
wherein u represents the u-axis, v represents the v-axis, w represents the w-axis, α represents the α -axis, and β represents the β -axis.
Step 204: and performing coordinate transformation on the first relation and the third coordinate system, and determining a second relation among the u axis, the v axis, the w axis, the d axis and the q axis.
Specifically, by dividing α ═ u,
substituting into the third formula described below, coordinate transformation is performed on the α axes and β axes and the d-axis and q-axis of the third coordinate system, and a second relationship between the u-axis, the v-axis, the w-axis, and the d-axis and the q-axis can be determined.
The third formula is:
wherein α represents the α axis and β represents the β axis.
The second formula is:
wherein d represents d axis, q represents q axis, theta represents α axis and the included angle between d axis and β axis and q axis.
Step 205: the d-axis current and the q-axis current of the motor are determined according to the second relationship.
Specifically, a fourth formula may be obtained by transforming the second formula, and a d-axis current and a q-axis current of the motor may be determined by substituting the collected u-phase current, v-phase current, and w-phase current of the motor into the fourth formula.
The fourth formula is:
wherein, Id[n]Characterizing the d-axis current, I, of the n-th calculation cycleq[n]Characterizing the q-axis current, I, of the nth calculation cycleu[n]Characterizing the u-phase current, I, of the motor acquired in the n-th calculation cyclev[n]Characterizing the v-phase current, I, of the motor acquired in the n-th calculation cyclew[n]And the w-phase current of the motor is acquired in the nth calculation period.
Step 206: and determining a d-axis voltage and a q-axis voltage according to the d-axis current and the q-axis current.
Specifically, by the PI regulation control, the d-axis voltage can be determined. That is, the first current value I preset in the nth calculation period can be calculated according to the following fifth formulad *[n]And d-axis current value Id[n]The difference value is proportional to a preset first voltage
The multiplication may obtain a first product. And calculating a second current value I preset in the current calculation periodd *[k]D-axis current I corresponding to the current calculation periodd[k]And the sum of the difference values of (a) and a preset first voltage integral coefficient
And calculating the period value TsThe second product obtained by the multiplication is added to the first product, and the d-axis voltage V of the n-th calculation period is calculatedd[n]. Likewise, by the PI regulation control, the q-axis voltage can be determined. That is, the third current value I preset for the nth calculation period can be calculated according to the following sixth formulaq *[n]And q-axis current value Iq[n]By comparing the difference with a preset second voltage proportionality coefficient
The third product is obtained by multiplying the current calculation cycle by a preset fourth current value Id *[k]D-axis current I corresponding to the current calculation periodd[k]The sum of the difference values of (a) and a preset second voltage integral coefficient
And calculating the weekTerm value TsThe fourth product is obtained by multiplying, and the q-axis voltage V of the n-th calculation cycle is calculated by summing the third product and the fourth productq[n]。
The fifth formula is:
wherein, Vd[n]The d-axis voltage characterizing the nth calculation cycle,
characterizing a predetermined first voltage scaling factor, Id *[n]Characterizing a first current value, I, preset for the nth calculation cycled[n]Characterizing the d-axis current for the nth calculation cycle,
characterizing a predetermined first voltage integral coefficient, TsCharacterizing a predetermined calculation period value, Id *[k]Representing a second current value I preset in the current calculation periodd[k]The d-axis current characterizing the current calculation cycle.
The sixth formula is:
wherein, Vq[n]The q-axis voltage characterizing the nth calculation cycle,
characterizing a predetermined second voltage scaling factor, Ix*[n]Characterizing a third current value, I, preset for the nth calculation cycleq[n]Characterizing the q-axis current for the nth calculation cycle,
characterizing a predetermined second voltage integral coefficient, Iq *[k]Fourth current value, I, preset for representing current calculation periodq[k]Characterizing the current meterThe periodic q-axis current is calculated.
And step 207, determining α shaft voltage and β shaft voltage of the motor according to the d shaft voltage and the q shaft voltage.
Specifically, by substituting the calculated d-axis voltage and q-axis voltage into the seventh equation described below, the motor α axis voltage and β axis voltage can be calculated.
The seventh formula is:
wherein, Vα[n]α Axis Voltage, V, characterizing the nth calculation cycleβ[n]β Axis Voltage, V, characterizing the nth calculation cycled[n]Characterizing the d-axis voltage, V, of the nth calculation cycleq[n]The q-axis voltage of the nth calculation cycle is characterized.
And 208, controlling the output time sequence of the u-phase signal, the v-phase signal and the w-phase signal from the u-phase coil, the v-phase coil and the w-phase coil according to the α axis voltage and the β axis voltage.
Specifically, the duty ratio of the PWM wave can be determined according to the α axis voltage and the β axis voltage, and since the duty ratio of the PWM wave is different and the driving effect on the rotation of the motor is also different, the corresponding PWM wave is output according to the determined duty ratio to control the timing of the signals output from the u-phase coil, the v-phase coil and the w-phase coil, thereby realizing the control of the motor inversion.
In summary, the output u-phase signal is controlled to be connected with the u-phase coil of the motor, the v-phase signal is connected with the v-phase coil of the motor, the w-phase signal is connected with the w-phase coil of the motor, and the coordinate transformation of the motor parameter variable is performed by adopting the inverse coordinate system, namely, the coordinate transformation is performed by adopting the coordinate system rotating anticlockwise, so that the motor can be controlled to be inverted without performing any other connection on the connection terminals of the u-phase coil, the v-phase coil and the w-phase coil of the motor, therefore, the connection sequence of the output u \ v \ w three-phase signal and the motor coil u \ v \ w can be avoided being changed manually during the motor inversion control, the control problem of the motor inversion is solved, and the manual intervention degree is reduced.
In a second mode, when an externally input motor control command is used for controlling the motor to rotate forward, a first coordinate system, a second coordinate system and a third coordinate system rotating counterclockwise are established, and an α axle voltage and a β axle voltage for controlling the motor to rotate are determined through the first coordinate system, the second coordinate system and the third coordinate system rotating counterclockwise, as shown in fig. 4, the method may include the following steps:
step 401: the u-phase signal output by the pre-control is connected with the u-phase coil, the v-phase signal is connected with the v-phase coil, and the w-phase signal is connected with the w-phase coil.
Specifically, the motor coils are controlled to be connected in a correct connection mode, namely, a u-phase signal output by the control is connected with the u-phase coil, a v-phase signal is connected with the v-phase coil, and a w-phase signal is connected with the w-phase coil, namely, the u-phase coil, the v-phase coil and the w-phase coil are connected to corresponding terminals. After the motor coils are connected, the forward and reverse rotation of the motor is realized by controlling the output of the u-phase signal, the v-phase signal and the w-phase signal to change the phase sequence.
Specifically, when the motor is controlled to rotate in the forward direction, as shown in fig. 5, a first coordinate system, a second coordinate system and a third coordinate system can be established, wherein the u axis, the v axis and the w axis of the first coordinate system are sequentially arranged in the counterclockwise direction, the included angle between the u axis, the v axis and the w axis is 120 degrees, the included angle between the α axis and the β axis of the second coordinate system is 90 degrees, the included angle between the d axis and the q axis of the third coordinate system is also 90 degrees, the α axis and the β axis are fixed rectangular coordinate systems, the d axis and the q axis are rotating rectangular coordinate systems, the u axis and the α axis are coincident, and the d axis and the motor rotor direction are consistent.
And 403, performing coordinate transformation on the first coordinate system rotating anticlockwise and the second coordinate system rotating anticlockwise, and determining a first relation among the u axis, the v axis, the w axis, the α axis and the β axis.
Specifically, by coordinate conversion of the first coordinate system rotated counterclockwise and the second coordinate system by the following eighth formula, the first relationship between the u-axis, the v-axis, the w-axis, and the α and β axes can be determined.
The eighth formula is:
and the eighth formula can be derived by the following formula:
wherein u represents the u-axis, v represents the v-axis, w represents the w-axis, α represents the α -axis, and β represents the β -axis.
Step 404: and performing coordinate transformation on the first relation and the third coordinate system, and determining a second relation among the u axis, the v axis, the w axis, the d axis and the q axis.
Specifically, by dividing α ═ u,
substituting into a third formula described below, coordinate transformation is performed on the α axis and β axis of the second coordinate system and the d axis and q axis of the third coordinate system, and a second relationship between the α axis and β axis and the d axis and q axis can be determined, obtaining a ninth formula.
The ninth formula is:
wherein d represents d axis, q represents q axis, theta represents α axis and the included angle between d axis and β axis and q axis.
Since the second coordinate system and the third coordinate system are both rectangular coordinate systems, the angle from the α axis to the d axis is θ, and similarly, the angle from the β axis to the q axis is also θ.
Step 405: the d-axis current and the q-axis current of the motor are determined according to the second relationship.
Specifically, by transforming the ninth formula, the tenth formula can be obtained. By substituting the collected motor u-phase current, v-phase current, and w-phase current into the tenth equation, the d-axis current and the q-axis current of the motor can be determined.
The tenth formula is:
wherein, Id[n]Characterizing the d-axis current, I, of the n-th calculation cycleq[n]Characterizing the q-axis current, I, of the nth calculation cycleu[n]Characterizing the u-phase current, I, of the motor acquired in the n-th calculation cyclev[n]Characterizing the v-phase current, I, of the motor acquired in the n-th calculation cyclew[n]And the w-phase current of the motor is acquired in the nth calculation period.
Step 406: and determining a d-axis voltage and a q-axis voltage according to the d-axis current and the q-axis current.
Specifically, by the PI regulation control, the d-axis voltage and the q-axis voltage can be determined. I.e. the preset first current value I of the n-th calculation cycled *[n]D-axis Current value Id[n]A preset first voltage proportionality coefficient
Preset second current value I of current calculation cycled *[k]D-axis current I of the current calculation cycled[k]A preset first voltage integral coefficient
And a preset calculation period value TsSubstituting into the fifth formula, the d-axis voltage V of the n-th calculation period can be calculatedd[n]. According to the following sixth formula, the third current value I preset in the nth calculation period can be calculatedq *[n]And q-axis current value Iq[n]By comparing the difference with a preset second voltage proportionality coefficient
The third product is obtained by multiplying the current calculation cycle by a preset fourth current value Id *[k]D-axis current I corresponding to the current calculation periodd[k]The sum of the difference values of (a) and a preset second voltage integral coefficient
And calculating the period value TsThe fourth product is obtained by multiplying, and the q-axis voltage V of the n-th calculation cycle is calculated by summing the third product and the fourth productq[n]。
The fifth formula is:
wherein, Vd[n]The d-axis voltage characterizing the nth calculation cycle,
characterizing a predetermined first voltage scaling factor, Id *[n]Characterizing a first current value, I, preset for the nth calculation cycled[n]Characterizing the d-axis current for the nth calculation cycle,
characterizing a predetermined first voltage integral coefficient, TsCharacterizing a predetermined calculation period value, Id *[k]Representing a second current value I preset in the current calculation periodd[k]The d-axis current characterizing the current calculation cycle.
The sixth formula is:
wherein, Vq[n]The q-axis voltage characterizing the nth calculation cycle,
characterizing a predetermined second voltage scaling factor, Iq *[n]Characterizing a third current value, I, preset for the nth calculation cycleq[n]Characterizing the q-axis current for the nth calculation cycle,
characterizing a predetermined second voltage integral coefficient, Iq *[k]Fourth current value, I, preset for representing current calculation periodq[k]Characterizing the q-axis current for the current calculation cycle.
And 407, determining α axis voltage and β axis voltage of the motor according to the d axis voltage and the q axis voltage.
Specifically, similarly, by substituting the calculated d-axis voltage and q-axis voltage into the seventh equation described below, the motor α axis voltage and β axis voltage can be calculated.
The seventh formula is:
wherein, Vα[n]α Axis Voltage, V, characterizing the nth calculation cycleβ[n]β Axis Voltage, V, characterizing the nth calculation cycled[n]Characterizing the d-axis voltage, V, of the nth calculation cycleq[n]The q-axis voltage of the nth calculation cycle is characterized.
And 408, controlling the output time sequence of the u-phase signal, the v-phase signal and the w-phase signal from the u-phase coil, the v-phase coil and the w-phase coil according to the α axis voltage and the β axis voltage.
Specifically, the duty ratio of the PWM wave can be determined according to the α axis voltage and the β axis voltage, and since the duty ratio of the PWM wave is different and the driving effect on the rotation of the motor is also different, the corresponding PWM wave is output according to the determined duty ratio to control the timing of the signals output from the u-phase coil, the v-phase coil and the w-phase coil, thereby realizing the control of the motor inversion.
In an embodiment of the invention, the motor can be controlled to rotate forwards by controlling the connection of the output u-phase signal and a u-phase coil of the motor, the connection of the v-phase signal and a w-phase coil of the motor, and the coordinate transformation of the motor parameter variable by adopting a forward rotation coordinate system, namely, the coordinate transformation by adopting a coordinate system rotating anticlockwise, without connecting the connection terminals of the u-phase coil, the v-phase coil and the w-phase coil of the motor at any other time, so that the connection sequence of the output u \ v \ w three-phase signal and the motor coil u \ v \ w can be prevented from being manually changed when the motor rotates forwards, the control problem of motor reverse rotation is solved, and the manual intervention degree is reduced.
In summary, when the motor is controlled to rotate reversely, the coordinate transformation is carried out by establishing the coordinate system rotating clockwise, and when the motor is controlled to rotate forwardly, the coordinate transformation is carried out by establishing the coordinate system rotating anticlockwise, so that the forward and reverse rotation control of the motor can be realized. Any other connection is not needed to be carried out on the connection terminals of the u/v/w three-phase coil of the motor, and only the u/v/w is needed to be connected to the corresponding u/v/w terminals of the motor coil, namely, the output u phase signal is connected to the u phase coil, the v phase signal is connected to the v phase coil, and the w phase signal is connected to the w phase coil, so that the degree of human intervention in controlling the forward and reverse rotation of the motor can be reduced.
As shown in fig. 6, an embodiment of the present invention provides a control device for forward and reverse rotation of a motor, including:
the coil connecting module 601 is used for controlling output u-phase signals to be connected with a u-phase coil, output v-phase signals to be connected with a v-phase coil and output w-phase signals to be connected with a w-phase coil in advance;
the coordinate constructing module 602 is configured to, when receiving a motor control instruction input from the outside, establish a first coordinate system, a second coordinate system, and a third coordinate system, where an included angle between a u-axis, a v-axis, and a w-axis of the first coordinate system is 120 °, an included angle between an α -axis and a β -axis of the second coordinate system is 90 °, and an included angle between a d-axis and a q-axis of the third coordinate system is 90 °;
a data processing module 603, configured to determine a first relationship between the u-axis, the v-axis, the w-axis and α -axis and the β -axis according to the first coordinate system and the second coordinate system established by the coordinate construction module 602, determine a second relationship between the u-axis, the v-axis, the w-axis and the d-axis and the q-axis according to the first relationship and the third coordinate system, determine a d-axis current and a q-axis current of the motor according to the second relationship, determine a d-axis voltage and a q-axis voltage according to the d-axis current and the q-axis current, determine a α -axis voltage and a β -axis voltage of the motor according to the d-axis voltage and the q-axis voltage;
a signal control module 604 for controlling the timing at which the u-phase signal, the v-phase signal, and the w-phase signal connected by the coil connection module 601 are output from the u-phase coil, the v-phase coil, and the w-phase coil, according to the α axis voltage and the β axis voltage determined by the data processing module 603.
In the embodiment of the invention, a u-phase signal output by the coil connection module is controlled to be connected with a u-phase coil, a v-phase signal is connected with a v-phase coil, and a w-phase signal is connected with a w-phase coil, so that when the motor is controlled, the data processing module performs coordinate conversion among a first coordinate system, a second coordinate system and a third coordinate system through the coordinate construction module, determines a u axis, a v axis and a w axis of the first coordinate system and a first relation among α axes and β axes of the second coordinate system, further determines a second relation among the u axis, the v axis and the w axis and a d axis and a q axis of the third coordinate system, further determines a d axis current and a q axis current of the motor according to the second relation, further determines a d axis voltage and a q axis voltage, namely α axis voltage and β axis voltage of the motor can be determined according to the d axis voltage and the q axis voltage of the motor, the signal control module controls signals connected with the coil connection module through the α axis voltage and the β axis voltage, namely the u-phase coil, v-phase coil and the v-phase coil can be manually interfered, and the degree of the motor can be reduced, and the manual control of the motor can be realized.
In one embodiment of the present invention, when the motor control command is used to control the motor to rotate in reverse,
the coordinate building module is used for building a first coordinate system, a second coordinate system and a third coordinate system which rotate clockwise, wherein the u axis, the v axis and the w axis are sequentially arranged clockwise, and a first relation among the u axis, the v axis, the w axis, the α axis and the β axis is determined through a first formula;
the first formula is:
wherein u characterizes the u-axis, v characterizes the v-axis, w characterizes the w-axis, α characterizes the α -axis, and β characterizes the β -axis.
The embodiments of the invention have at least the following beneficial effects:
1. in an embodiment of the invention, by controlling the output u-phase signal to be connected with the u-phase coil, the v-phase signal to be connected with the v-phase coil and the w-phase signal to be connected with the w-phase coil, when the motor is controlled, coordinate conversion is performed among a first coordinate system, a second coordinate system and a third coordinate system, a u axis, a v axis and a w axis of the first coordinate system and a first relation among a α axis and a β axis of the second coordinate system are determined, a second relation among the u axis, the v axis and the w axis and a d axis and a q axis of the third coordinate system is determined, a d axis current and a q axis current of the motor are determined according to the second relation, a d axis voltage and a q axis voltage are determined, a α axis voltage and a β axis voltage of the motor are determined according to the d axis voltage and the q axis voltage, a timing sequence of signals output from the u-phase coil, the v-phase coil and the w-phase coil can be controlled without manual intervention on the coil, and the connection degree of the v-phase coil can be reduced, and therefore, the motor can be realized.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.
Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (5)
1. A control method for positive and negative rotation of a motor is characterized in that a u-phase signal which is controlled to be output in advance is connected with a u-phase coil, a v-phase signal is connected with a v-phase coil, and a w-phase signal is connected with a w-phase coil, and the control method further comprises the following steps:
when a motor control command input from the outside is received, establishing a first coordinate system, a second coordinate system and a third coordinate system, wherein the included angle among the u axis, the v axis and the w axis of the first coordinate system is 120 degrees, the included angle between the α axis and the β axis of the second coordinate system is 90 degrees, and the included angle between the d axis and the q axis of the third coordinate system is 90 degrees;
determining a first relationship between the u-axis, the v-axis, the w-axis, and α -axis and the β -axis according to the first coordinate system and the second coordinate system;
determining a second relation among the u axis, the v axis, the w axis, the d axis and the q axis according to the first relation and the third coordinate system;
determining d-axis current and q-axis current of the motor according to the second relation;
determining a d-axis voltage and a q-axis voltage according to the d-axis current and the q-axis current;
determining α and β shaft voltages of the motor according to the d shaft voltage and the q shaft voltage;
controlling timing of the u-phase, v-phase, and w-phase signals output from the u-phase, v-phase, and w-phase coils according to the α -axis voltage and the β -axis voltage;
when the motor control command is used to control the motor to rotate in reverse,
the establishing of the first coordinate system, the second coordinate system and the third coordinate system includes:
establishing a first coordinate system, a second coordinate system and a third coordinate system which rotate clockwise, wherein the u axis, the v axis and the w axis are sequentially arranged clockwise;
the determining a first relationship between the u-axis, the v-axis, the w-axis, and α -axis and the β -axis according to the first coordinate system and the second coordinate system comprises:
determining a first relationship between the u-axis, the v-axis, the w-axis and α and the β axes by a first formula;
the first formula is:
wherein u characterizes the u-axis, v characterizes the v-axis, w characterizes the w-axis, α characterizes the α -axis, β characterizes the β -axis;
determining a second relationship between the u-axis, the v-axis, the w-axis, and the d-axis and the q-axis according to the first relationship and the third coordinate system includes:
determining a second relationship between the u-axis, the v-axis, the w-axis and the d-axis and the q-axis by a second formula, wherein the second formula is obtained by coordinate transformation of the first formula and a third formula;
the second formula is:
wherein d represents the d axis, q represents the q axis, and θ represents the included angle between the α axis and the d axis and the included angle between the β axis and the q axis;
the third formula is:
wherein α characterizes the α axis, β characterizes the β axis;
when the motor control command is used for controlling the motor to rotate forwards,
the establishing of the first coordinate system, the second coordinate system and the third coordinate system includes:
establishing a first coordinate system, a second coordinate system and a third coordinate system which rotate anticlockwise, wherein the u axis, the v axis and the w axis are arranged anticlockwise in sequence;
the determining a first relationship between the u-axis, the v-axis, the w-axis, and α -axis and the β -axis according to the first coordinate system and the second coordinate system comprises:
determining a first relationship between the u-axis, the v-axis, the w-axis and α -axis and the β -axis by an eighth formula;
the eighth formula is:
wherein u characterizes the u-axis, v characterizes the v-axis, w characterizes the w-axis, α characterizes the α -axis, β characterizes the β -axis;
determining a second relationship between the u-axis, the v-axis, the w-axis, and the d-axis and the q-axis according to the first relationship and the third coordinate system includes:
determining a second relationship between the u-axis, the v-axis, the w-axis, and the d-axis and the q-axis by a ninth formula obtained by coordinate transformation of the eighth formula and a third formula;
the ninth formula is:
wherein d represents the d axis, q represents the q axis, and θ represents the included angle between the α axis and the d axis and the included angle between the β axis and the q axis.
2. The method for controlling forward and reverse rotation of a motor according to claim 1,
determining d-axis current and q-axis current of the motor according to the second relationship includes:
determining d-axis current and q-axis current of the motor according to a fourth formula, wherein the fourth formula is obtained by transformation of the second formula;
the fourth formula is:
wherein, Id[n]Characterizing the d-axis current, I, of the n-th calculation cycleq[n]Characterizing the q-axis current, I, of the nth calculation cycleu[n]Characterizing the u-phase current, I, of the motor acquired in the n-th calculation cyclev[n]Characterizing the v-phase current, I, of the motor acquired in the n-th calculation cyclew[n]And the w-phase current of the motor is acquired in the nth calculation period.
3. The method of controlling forward and reverse rotation of a motor according to claim 1 or 2,
determining a d-axis voltage and a q-axis voltage according to the d-axis current and the q-axis current comprises:
determining a d-axis voltage according to a fifth formula and a q-axis voltage according to a sixth formula;
the fifth formula is:
wherein, Vd[n]The d-axis voltage characterizing the nth calculation cycle,
characterizing a predetermined first voltage scaling factor, Id *[n]Characterizing a first current value, I, preset for the nth calculation cycled[n]Characterizing the d-axis current for the nth calculation cycle,
characterizing a predetermined first voltage integral coefficient, TsCharacterizing a predetermined calculation period value, Id *[k]Representing a second current value I preset in the current calculation periodd[k]Characterizing the d-axis current of the current calculation cycle;
the sixth formula is:
wherein, Vq[n]The q-axis voltage characterizing the nth calculation cycle,
characterizing a predetermined second voltage scaling factor, Iq *[n]Characterizing a third current value, I, preset for the nth calculation cycleq[n]Characterizing the q-axis current for the nth calculation cycle,
characterizing a predetermined second voltage integral coefficient, Iq *[k]Fourth current value, I, preset for representing current calculation periodq[k]Characterizing a q-axis current of a current calculation cycle;
and/or the presence of a gas in the gas,
determining α and β shaft voltages of the motor according to the d shaft voltage and the q shaft voltage, comprising:
determining α shaft voltage and β shaft voltage of the motor according to the following seventh formula:
wherein, Vα[n]α Axis Voltage, V, characterizing the nth calculation cycleβ[n]β Axis Voltage, V, characterizing the nth calculation cycled[n]Characterizing the d-axis voltage, V, of the nth calculation cycleq[n]Characterizing the q-axis voltage for the nth calculation cycle;
and/or the presence of a gas in the gas,
the controlling of the timing of the u-phase, v-phase, and w-phase signals output from the u-phase, v-phase, and w-phase coils as a function of the α -axis voltage and the β -axis voltage includes:
determining a duty ratio of a PWM wave according to the α axis voltage and the β axis voltage;
and outputting corresponding PWM waves according to the duty ratio so as to control the output time sequence of the u-phase signal, the v-phase signal and the w-phase signal from the u-phase coil, the v-phase coil and the w-phase coil.
4. The method for controlling forward and reverse rotation of a motor according to claim 1,
determining d-axis current and q-axis current of the motor according to the second relationship includes:
determining d-axis current and q-axis current of the motor according to a tenth formula, wherein the tenth formula is obtained by transforming the ninth formula;
the tenth formula is:
wherein, Id[n]Characterizing the d-axis current, I, of the n-th calculation cycleq[n]Characterizing the q-axis current, I, of the nth calculation cycleu[n]Characterizing the u-phase current, I, of the motor acquired in the n-th calculation cyclev[n]Characterizing the v-phase current, I, of the motor acquired in the n-th calculation cyclew[n]And the w-phase current of the motor is acquired in the nth calculation period.
5. The utility model provides a controlling means of motor just reversing which characterized in that includes:
the coil connecting module is used for controlling the output u-phase signal to be connected with the u-phase coil, the output v-phase signal to be connected with the v-phase coil and the output w-phase signal to be connected with the w-phase coil in advance;
the system comprises a coordinate construction module, a first coordinate system, a second coordinate system and a third coordinate system, wherein the first coordinate system comprises a u axis, a v axis and a w axis which form an included angle of 120 degrees with each other, the second coordinate system comprises an α axis and a β axis which form an included angle of 90 degrees, and the third coordinate system comprises a d axis and a q axis which form an included angle of 90 degrees;
the data processing module is used for determining a first relation among the u axis, the v axis, the w axis, α axis and the β axis according to the first coordinate system and the second coordinate system established by the coordinate construction module, determining a second relation among the u axis, the v axis, the w axis and the d axis and the q axis according to the first relation and the third coordinate system, determining a d axis current and a q axis current of the motor according to the second relation, determining a d axis voltage and a q axis voltage according to the d axis current and the q axis current, and determining a α axis voltage and a β axis voltage of the motor according to the d axis voltage and the q axis voltage;
a signal control module for controlling the timing at which the u-phase signal, the v-phase signal, and the w-phase signal connected by the coil connection module are output from the u-phase coil, the v-phase coil, and the w-phase coil, according to the α axis voltage and the β axis voltage determined by the data processing module;
when the motor control command is used to control the motor to rotate in reverse,
the coordinate building module is used for building a first coordinate system, a second coordinate system and a third coordinate system which rotate clockwise, wherein the u axis, the v axis and the w axis are sequentially arranged clockwise, and a first relation among the u axis, the v axis, the w axis, the α axis and the β axis is determined through a first formula;
the first formula is:
wherein u characterizes the u-axis, v characterizes the v-axis, w characterizes the w-axis, α characterizes the α -axis, β characterizes the β -axis;
determining a second relation among the u axis, the v axis, the w axis, and the d axis and the q axis through a second formula, wherein the second formula is obtained by performing coordinate transformation on the first formula and a third formula;
the second formula is:
wherein d represents the d axis, q represents the q axis, and θ represents the included angle between the α axis and the d axis and the included angle between the β axis and the q axis;
the third formula is:
wherein α characterizes the α axis, β characterizes the β axis;
when the motor control command is used for controlling the motor to rotate forwards, establishing a first coordinate system, a second coordinate system and a third coordinate system which rotate anticlockwise, wherein the u axis, the v axis and the w axis are arranged anticlockwise in sequence;
determining a first relationship between the u-axis, the v-axis, the w-axis and α -axis and the β -axis by an eighth formula;
the eighth formula is:
wherein u characterizes the u-axis, v characterizes the v-axis, w characterizes the w-axis, α characterizes the α -axis, β characterizes the β -axis;
determining a second relationship between the u-axis, the v-axis, the w-axis, and the d-axis and the q-axis by a ninth formula obtained by coordinate transformation of the eighth formula and a third formula;
the ninth formula is:
wherein d represents the d axis, q represents the q axis, and θ represents the included angle between the α axis and the d axis and the included angle between the β axis and the q axis.
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