CN110336510A - Control method, system and the household electrical appliance of motor - Google Patents
Control method, system and the household electrical appliance of motor Download PDFInfo
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- CN110336510A CN110336510A CN201910653734.2A CN201910653734A CN110336510A CN 110336510 A CN110336510 A CN 110336510A CN 201910653734 A CN201910653734 A CN 201910653734A CN 110336510 A CN110336510 A CN 110336510A
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- instruction value
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The application proposes the control method, system and household electrical appliance of a kind of motor.Wherein, the control method of motor, comprising the following steps: obtain the current error between the current instruction value and current sampling data of a upper sampling instant；According to the current error, the current instruction value of current sample time is corrected, obtains actual current command value；Voltage instruction value is obtained according to the actual current command value；Driving signal is generated according to the voltage instruction value, to drive the motor.The control method of the motor of the application avoids the foundation of cost function and the selection of weight factor using the current control based on voltage prediction, realizes simplicity, and precision of prediction with higher.
Description
Technical field
This application involves technical field of electric device control, in particular to a kind of control method of motor, system and household electrical appliance.
Background technique
Permanent magnet synchronous motor (permanent magnet synchronous motor, PMSM) has light-weight, volume
The advantages that small and operational efficiency is high, is widely used in the field of household electrical appliance.PMSM Speed control includes electricity
Ring control loop is flowed, wherein current loop control performance is to influence the key factor of system dynamic characteristic.
In the related technology, permanent magnet synchronous motor Current Control Strategy mainly includes proportional plus integral control, Hysteresis control and mould
Type PREDICTIVE CONTROL etc..Wherein, current of electric is become straight under rotating coordinate system by rotating coordinate transformation by proportional plus integral control
Flow component is respectively controlled, and essence is that control loop is corrected to low-pass filter, bandwidth limited, therefore is not easy
To high-performance dynamic quality.The problems such as there are current ripples for Hysteresis control greatly, switching frequency is not fixed.And permanent magnet synchronous motor
Model prediction current control needs to establish cost function according to control target, by forecasting system state computation cost function, from
And optimal voltage vector is chosen, control effect depends on the selection of weight coefficient, and is influenced by the level number of inverter, due to
The optional voltage vector of common two-level inverter is limited, causes the precision of predictive current control not high, and dynamic property is limited.This
Outside, PREDICTIVE CONTROL needs to carry out Accurate Model to control object, and model parameter mismatch will make control system penalty, Ke Nengyan
System is caused to lose stabilization when weight.
Summary of the invention
The application aims to solve at least one of above-mentioned technical problem.
For this purpose, the purpose of the application is to propose a kind of control method of motor.This method uses pre- based on voltage
The current control of survey avoids the foundation of cost function and the selection of weight factor, realizes simplicity, and prediction with higher essence
Degree.
Second purpose of the application is to propose a kind of control system of motor.
The third purpose of the application is to propose a kind of computer readable storage medium.
The 4th purpose of the application is to propose a kind of household electrical appliance.
To achieve the goals above, the first aspect of the application discloses a kind of control method of motor, including following step
It is rapid: to obtain the current error between the current instruction value and current sampling data of a upper sampling instant；It is right according to the current error
The current instruction value of current sample time is corrected, and obtains actual current command value；It is worth according to the actual current command
To voltage instruction value；Driving signal is generated according to the voltage instruction value, to drive the motor.
The control method of the motor of the application avoids building for cost function using the current control based on voltage prediction
Simplicity, and precision of prediction with higher are realized in vertical and weight factor selection.
In some instances, according to the current error, it is corrected to the current instruction value of current sample time
Before, further includes: the current error is filtered according to filter factor.
In some instances, further includes: according to the feedback revolving speed of the motor, calculate the filter factor.
In some instances, described that voltage instruction value is obtained according to the actual current command value, comprising: to obtain the electricity
The voltage equation of machine；According to the voltage equation, the voltage instruction value is determined by the current instruction value.
The second aspect of the application discloses a kind of control system of motor, comprising: obtains module, adopts for obtaining upper one
Current error between the current instruction value and current sampling data at sample moment；Correction module is used for according to the current error, right
The current instruction value of current sample time is corrected, and obtains actual current command value；Voltage determination module, for according to
Actual current command value obtains voltage instruction value；Control module, for generating driving signal according to the voltage instruction value, to drive
Move the motor.
The control system of the motor of the application avoids building for cost function using the current control based on voltage prediction
Simplicity, and precision of prediction with higher are realized in vertical and weight factor selection.
In some instances, further includes: filter module, in the correction module according to the current error, to working as
Before the current instruction value of preceding sampling instant is corrected, the current error is filtered according to filter factor.
In some instances, the filter module is also used to the feedback revolving speed according to the motor, calculates the filtering system
Number.
In some instances, the voltage determination module is used for the voltage equation according to the motor, passes through the electric current
Instruction value determines the voltage instruction value.
The embodiment of the third aspect of the application discloses a kind of computer readable storage medium, is stored thereon with motor
Program is controlled, the control program of the motor realizes the control method of motor described in above-mentioned first aspect when being executed by processor.
The embodiment of the fourth aspect of the application discloses a kind of household electrical appliance, including motor, memory, processor and deposits
The control program for the motor that can be run on a memory and on a processor is stored up, the processor executes the control journey of the motor
The control method of motor described in above-mentioned first aspect is realized when sequence.Motor in the household electrical appliance is used based on voltage prediction
Current control avoids the foundation of cost function and the selection of weight factor, realizes simplicity, and precision of prediction with higher.
The additional aspect and advantage of the application will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage combination following accompanying drawings of the application in the description of embodiment to will become
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart according to the control method of the motor of the application one embodiment；
Fig. 2 is the current waveform schematic diagram in the control method using the motor of the application one embodiment；
Fig. 3 is the current waveform schematic diagram in application percentage integral control method；
Fig. 4 is the structural block diagram according to the control system of the motor of the application one embodiment.
Description of symbols:
The control system 400 of motor obtains module 410, correction module 420, voltage determination module 430 and control module
440。
Specific embodiment
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the application, and should not be understood as the limitation to the application.
Below in conjunction with attached drawing description according to control method, system and the household electrical appliance of the motor of the embodiment of the present application.
In the following description, motor is often referred to permanent magnet synchronous motor.
Fig. 1 is the flow chart according to the control method of the motor of the embodiment of the present application.As shown in Figure 1, according to the application one
The control method of the motor of a embodiment, includes the following steps:
S101: the current error between the current instruction value and current sampling data of a upper sampling instant is obtained.
In specific example, the current instruction value of a upper sampling instant is calculatedWith current sampling data id、
iqBetween error delta id、Δiq, in this example, for example, by using following calculation formula calculating current error, the formula are as follows:
Wherein, k is a upper sampling instant, and subscript d, q indicates the component under corresponding rotating coordinate system.
In the above description, current instruction value refers to current target value.
S102: according to current error, the current instruction value of current sample time is corrected, actual current command is obtained
Value.
In specific example, in order to promote the computational accuracy of actual current command value, according to current error, to currently adopting
The current instruction value at sample moment is corrected, before obtaining actual current command value, further includes: is missed according to filter factor to electric current
Difference is filtered.
Wherein, filter factor can be calculated according to the feedback revolving speed of the motor, and filter factor refers to low-pass filter
Filter factor.
Specifically, according to motor feedback revolving speed, low-pass filter filter factor is calculated, in this example, such as is passed through
Following formula calculates, the formula are as follows:
λ (k)=mTsωe(k),
Wherein, ωe(that is: the electricity of motor driver obtained on the basis of electrical angle is fed back to for the angular rate of motor
Machine feeds back revolving speed), TsFor the sampling period, λ is the positive number less than 1, and m is proportion adjustable coefficient, and in this example, m takes 1.
Current error can be filtered by following formula, the formula are as follows:
To current errorIn the present embodiment, used calculation expression is as follows:
Wherein,For filtered current error.
Then, actual current command value, the formula can be calculated according to the following formula are as follows:
Wherein,WithRespectively d, q of the actual current command value of current sample time
Shaft current component,WithD, q shaft current of current instruction value respectively before the correction of current sample time
Component.
S103: voltage instruction value is obtained according to actual current command value.
The voltage equation for obtaining motor first determines that the voltage refers to by current instruction value then according to voltage equation
Enable value.
As a specific example, according to the voltage equation of permanent magnet synchronous motor, from actual current command value
Voltage instruction value is calculatedSuch as: voltage instruction value is calculated using following formulaThe formula is as follows:
Wherein, R indicates motor phase resistance, and Ld indicates d axle inductance, and Lq indicates q axle inductance,Indicate motor permanent magnet magnetic
Chain.
S104: driving signal is generated according to voltage instruction value, with driving motor.
By voltage instruction value, inverter drive signal, driving motor operation are generated after pulsewidth modulation, it may be assumed that will
Static two phase coordinate system is obtained through rotating coordinate transformation to give an order valueIt is driven again through space vector pulse width modulation
Signal.
As shown in Figures 2 and 3, wherein Fig. 2 is the PMSM Drive System using the method for the embodiment of the present application
Dq shaft current waveform when dynamically load, Fig. 3 are the PMSM Drive System dynamically load of application percentage integration control
When dq shaft current waveform.As can be seen that dq can be better achieved in the method using the embodiment of the present application in dynamic process
Shaft current decoupling control, while steady-state current ripple is smaller, so as to obtain higher dynamic quality, and stable state accuracy is good
It is good.
Valence is avoided using the current control based on voltage prediction according to the control method of the motor of the embodiment of the present application
Simplicity, and precision of prediction with higher are realized in the foundation of value function and the selection of weight factor.
In addition, the control method of the motor of the embodiment of the present application, can also refer to electric current by the way of adaptive-filtering
It enables value be corrected, it is thus possible to effectively avoid steady-state error caused by model mismatch, while guaranteeing within the scope of bulk velocity
With well stable dynamic quality characteristic.
Fig. 4 is the structural block diagram according to the control system of the motor of the application one embodiment.As shown in figure 4, according to this
Apply for the control system 400 of the motor of one embodiment, comprising: obtain module 410, correction module 420, voltage determination module
430 and control module 440.
Wherein, the electricity between current instruction value and current sampling data of the module 410 for obtaining a sampling instant is obtained
Stream error.Correction module 420 is used to be corrected the current instruction value of current sample time according to the current error, obtain
To actual current command value.Voltage determination module 430 is used to obtain voltage instruction value according to the actual current command value.Control
Module 440 is used to generate driving signal according to the voltage instruction value, to drive the motor.
In one embodiment of the application, further includes: filter module (is not shown) in Fig. 4, in the correction
Module 420 is according to the current error, before being corrected to the current instruction value of current sample time, according to filter factor pair
The current error is filtered.
In one embodiment of the application, the filter module is also used to the feedback revolving speed according to the motor, calculates
The filter factor.
In one embodiment of the application, the voltage determination module 430 is used for the voltage equation according to the motor,
The voltage instruction value is determined by the current instruction value.
Valence is avoided using the current control based on voltage prediction according to the control system of the motor of the embodiment of the present application
Simplicity, and precision of prediction with higher are realized in the foundation of value function and the selection of weight factor.
In addition, the control system of the motor of the embodiment of the present application, can also refer to electric current by the way of adaptive-filtering
It enables value be corrected, it is thus possible to effectively avoid steady-state error caused by model mismatch, while guaranteeing within the scope of bulk velocity
With well stable dynamic quality characteristic.
It should be noted that the specific implementation and the embodiment of the present application of the control system of the motor of the embodiment of the present application
Motor control method specific implementation it is similar, specifically refer to the description of method part, be not repeated herein.
Further, embodiments herein discloses a kind of computer readable storage medium, is stored thereon with computer
Program realizes the control system of the motor according to any one above-mentioned embodiment when the computer program is executed by processor
System method.
Further, embodiments herein discloses a kind of household electrical appliance, is stored thereon with computer program, the meter
The control method of the motor according to any one above-mentioned embodiment is realized when calculation machine program is executed by processor.The household electric
Motor in device uses the current control based on voltage prediction, avoids the foundation of cost function and the selection of weight factor, real
Existing simplicity, and precision of prediction with higher.
Above-mentioned non-transitorycomputer readable storage medium can appointing using one or more computer-readable media
Meaning combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.Computer can
Reading storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device
Or device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes:
Electrical connection, portable computer diskette, hard disk, random access memory (RAM), read-only storage with one or more conducting wires
Device (Read Only Memory；Hereinafter referred to as: ROM), erasable programmable read only memory (Erasable
Programmable Read Only Memory；Hereinafter referred to as: EPROM) or flash memory, optical fiber, portable compact disc are read-only deposits
Reservoir (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer
Readable storage medium storing program for executing can be any tangible medium for including or store program, which can be commanded execution system, device
Either device use or in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but
It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium other than computer readable storage medium, which can send, propagate or
Transmission is for by the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In --- wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
Can with one or more programming languages or combinations thereof come write for execute the application operation computer
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
It is related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (Local
Area Network；Hereinafter referred to as: LAN) or wide area network (Wide Area Network；Hereinafter referred to as: WAN) it is connected to user
Computer, or, it may be connected to outer computer (such as being connected using ISP by internet).
While there has been shown and described that embodiments herein, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle and objective of the application, this
The range of application is by claim and its equivalent limits.
Claims (10)
1. a kind of control method of motor, which comprises the following steps:
Obtain the current error between the current instruction value and current sampling data of a upper sampling instant；
According to the current error, the current instruction value of current sample time is corrected, obtains actual current command value；
Voltage instruction value is obtained according to the actual current command value；
Driving signal is generated according to the voltage instruction value, to drive the motor.
2. the control method of motor according to claim 1, which is characterized in that according to the current error, to current
Before the current instruction value of sampling instant is corrected, further includes:
The current error is filtered according to filter factor.
3. the control method of motor according to claim 2, which is characterized in that further include:
According to the feedback revolving speed of the motor, the filter factor is calculated.
4. the control method of motor according to claim 1-3, which is characterized in that described according to the practical electricity
Stream instruction value obtains voltage instruction value, comprising:
Obtain the voltage equation of the motor；
According to the voltage equation, the voltage instruction value is determined by the current instruction value.
5. a kind of control system of motor characterized by comprising
Obtain module, the current error between current instruction value and current sampling data for obtaining a upper sampling instant；
Correction module, for being corrected to the current instruction value of current sample time, obtaining reality according to the current error
Current instruction value；
Voltage determination module, for obtaining voltage instruction value according to the actual current command value；
Control module, for generating driving signal according to the voltage instruction value, to drive the motor.
6. the control system of motor according to claim 5, which is characterized in that further include: filter module, for described
Correction module is according to the current error, before being corrected to the current instruction value of current sample time, according to filter factor
The current error is filtered.
7. the control system of motor according to claim 6, which is characterized in that the filter module is also used to according to
The feedback revolving speed of motor, calculates the filter factor.
8. according to the control system of the described in any item motors of claim 5-7, which is characterized in that the voltage determination module is used
In the voltage equation according to the motor, the voltage instruction value is determined by the current instruction value.
9. a kind of computer readable storage medium, is stored thereon with the control program of motor, the control program of the motor is processed
The control method of any motor of claim 1-4 is realized when device executes.
10. a kind of household electrical appliance, which is characterized in that on a memory and can locate including motor, memory, processor and storage
The control program of the motor run on reason device, the processor realize claim 1-4 when executing the control program of the motor
The control method of any motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910653734.2A CN110336510B (en) | 2019-07-19 | 2019-07-19 | Motor control method and system and household appliance |
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| CN201910653734.2A CN110336510B (en) | 2019-07-19 | 2019-07-19 | Motor control method and system and household appliance |
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| CN111015986A (en) * | 2019-11-22 | 2020-04-17 | 泉州华大超硬工具科技有限公司 | Cutting device and cutting control method |
| CN117811451A (en) * | 2023-12-29 | 2024-04-02 | 上海铼钠克数控科技有限公司 | Automatic zeroing method, device, system, equipment and readable storage medium |
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| CN110336510B (en) | 2021-06-25 |
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