CN110529979B - Motor control method and device and air conditioner - Google Patents
Motor control method and device and air conditioner Download PDFInfo
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- CN110529979B CN110529979B CN201910863907.3A CN201910863907A CN110529979B CN 110529979 B CN110529979 B CN 110529979B CN 201910863907 A CN201910863907 A CN 201910863907A CN 110529979 B CN110529979 B CN 110529979B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
- F24F11/46—Improving electric energy efficiency or saving
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
- F24F11/63—Electronic processing
- F24F11/64—Electronic processing using pre-stored data
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/88—Electrical aspects, e.g. circuits
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Abstract
The invention provides a motor control method, a motor control device and an air conditioner, wherein the motor control method comprises the following steps: after a current rotating speed instruction of the motor is detected, acquiring current quadrature axis current; determining a direct axis compensation current according to the current quadrature axis current, wherein the direct axis compensation current is a current component with a negative direction; generating a current direct-axis expected current of the motor based on the direct-axis compensation current; controlling the motor based on the current desired current for the direct axis. The invention can reduce the energy consumption loss of the air conditioner.
Description
Technical Field
The invention relates to the technical field of air conditioner motor control, in particular to a motor control method and device and an air conditioner.
Background
Because the winding coil of the motor of the air conditioner compressor has certain resistance, when current flows through the winding coil, electric energy is converted into heat energy, power loss is generated, and the part of the loss power is generated on the winding coil and is called copper loss.
When the motor of the compressor runs, the larger the current is, the larger the generated power heat loss is, and the larger the copper loss of the compressor is, so that the energy consumption loss of the compressor is larger.
Disclosure of Invention
The invention solves the technical problem of large copper loss of the motor of the existing compressor.
In order to solve the above problems, the present invention provides a motor control method, including:
after a current rotating speed instruction of the motor is detected, acquiring current quadrature axis current;
determining a direct axis compensation current according to the current quadrature axis current, wherein the direct axis compensation current is a current component with a negative direction;
generating a current direct-axis expected current of the motor based on the direct-axis compensation current;
controlling the motor based on the current desired current for the direct axis.
The current quadrature axis current is obtained after the current rotating speed instruction of the motor is detected; determining direct axis compensation current according to the current quadrature axis current, wherein the direct axis compensation current is a current component with a negative direction; generating a current direct-axis expected current of the motor based on the direct-axis compensation current; the motor is controlled based on the current expected direct-axis current, the direct-axis compensation current becomes larger along with the increase of the quadrature-axis current, when the load of the compressor is larger, and the input current is larger, the quadrature-axis current becomes larger, the direct-axis compensation current also becomes larger, the reluctance torque is increased, and further under the same torque requirement, the input current is reduced, the input power is reduced, and the copper loss is adaptively reduced.
Optionally, after the current rotation speed command of the motor is detected, the step of obtaining the current quadrature axis current includes:
acquiring the current final target rotating speed, the actual rotating speed and a rotating speed variation threshold of the motor;
and generating the current rotating speed instruction based on the current final target rotating speed, the actual rotating speed and the rotating speed variation threshold value.
The speed of the motor is determined to be increased or decreased according to the current final target rotating speed and the actual rotating speed, and the speed of the change of the rotating speed of the motor is limited according to the rotating speed change threshold value, so that the phenomenon that the difference between the current corresponding to the current final target rotating speed and the current actual current is too large, and adverse effects caused by sudden change of the current are avoided.
Optionally, the step of generating the current rotation speed instruction based on the current final target rotation speed, the actual rotation speed and the rotation speed variation threshold includes:
if the current final target rotating speed is greater than the actual rotating speed, generating the current rotating speed instruction with the rotating speed increased based on the actual rotating speed, wherein the rotating speed increased amount is equal to the rotating speed variation threshold;
and if the current final target rotating speed is less than the actual rotating speed, generating the current rotating speed instruction with the rotating speed reduced based on the actual rotating speed, wherein the rotating speed reduction is equal to the rotating speed variation threshold.
The size comparison through current final target rotational speed and actual rotational speed can confirm whether the motor speed increases or reduces, simultaneously, restricts the change of motor speed through rotational speed change volume threshold value, avoids the electric current sudden change to cause harmful effects to the motor normal operating.
Optionally, the step of controlling the motor based on the current desired current of the straight shaft is followed by:
and after a preset time period, returning to the step of acquiring the current final target rotating speed, the current actual rotating speed and the rotating speed variation threshold of the motor.
And closed-loop control of the motor from the actual rotating speed to the final target rotating speed is realized.
Optionally, the current quadrature axis current is a current actually detected quadrature axis current.
The current compensated for the direct axis can be ensured to be always not too large under the limitation of the current actual quadrature axis current, the influence on the motor caused by load sudden change and quadrature axis instruction current sudden change can be avoided to be reduced, and the stable operation of the motor is facilitated.
Optionally, the determining a direct axis compensation current according to the current quadrature axis current, where the step of determining the direct axis compensation current as a current component with a negative direction includes:
obtaining a minimum current formula, and calculating and obtaining the direct axis compensation current according to the minimum current formula and the current quadrature axis current, wherein the minimum current formula is as follows:
Id'＝-k*Iq
wherein k is a proportional gain value, Id' is the direct axis compensation current, and Iq is the current quadrature axis current.
The current compensated for the direct axis can be ensured to change along with the alternating axis current and further change along with the load under the limit of the alternating axis current, self-adaptive adjustment can be realized according to the load of the motor, the direct axis compensation current under various load conditions can be further determined, proper current compensation is carried out on the direct axis, copper loss is reduced as much as possible, adverse effects caused by the fact that the direct axis compensation current is not suitable for the current load condition of the motor are avoided, and stable operation of the motor is facilitated.
Alternatively, 0 < k ≦ 0.6. The adverse effect on the normal operation of the motor caused by overlarge compensation current of the straight shaft can be avoided, and the stable operation of the motor is ensured.
Optionally, the step of generating the current desired current of the direct axis of the motor based on the compensation current of the direct axis includes:
determining corresponding required voltage according to the current rotating speed instruction;
when the required voltage is less than a preset voltage, the direct axis instruction current is 0, and when the required voltage is greater than or equal to the preset voltage, the direct axis instruction current is obtained through calculation based on the current rotating speed instruction;
and taking the sum of the direct-axis command current and the direct-axis compensation current as the current direct-axis expected current of the motor.
The direct shaft is subjected to current compensation based on the direct shaft compensation current in the whole rotating speed interval of the motor, so that copper loss can be reduced through the direct shaft compensation current in the whole rotating speed interval.
The present invention also provides a motor control device, including:
the acquisition unit is used for acquiring the current quadrature axis current after detecting the current rotating speed instruction of the motor;
the calculation unit is used for determining a direct axis compensation current according to the current quadrature axis current, wherein the direct axis compensation current is a current component with a negative direction;
the calculation unit is further used for generating the current direct-axis expected current of the motor based on the direct-axis compensation current;
a control unit for controlling the motor based on the current desired direct-axis current.
The invention also proposes an air conditioner comprising a computer readable storage medium storing a computer program and a processor, the computer program being read and executed by the processor to implement the motor control method as described above.
The present invention also proposes a computer-readable storage medium storing a computer program which, when read and executed by a processor, implements the motor control method as described above.
Drawings
FIG. 1 is a schematic flow chart illustrating a motor control method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a motor control method according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of step S20 after being refined;
FIG. 4 is a schematic diagram of an embodiment of step S50 after being refined;
FIG. 5 is a schematic view of an embodiment of a motor control apparatus according to the present invention;
fig. 6 is a schematic structural diagram of an air conditioner according to an embodiment of the present invention.
Description of reference numerals:
101-acquisition unit, 102-calculation unit, 103-control unit, 201-computer-readable storage medium, 202-processor.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
To facilitate understanding of the present invention, the following explanation is first made:
the power loss of the compressor winding is as follows: w ═ R × Iu2+R×Iv2+R×Iw2Wherein Iu, Iv and Iw are three-phase winding currents. In motor control, the three-phase winding current Is usually equated to a rotating stator current vector Is, which Is decomposed into two orthogonal perpendicular components, i.e. a current component Id (direct current) generating a magnetic field and a current component Id generating a magnetic fieldAnd the current component Iq (quadrature axis current) of the torque realizes the control of the Is by respectively controlling the amplitude and the phase of the two components Id and Iq, thereby realizing the adjustment of the three-phase winding current. Hereinafter, the d axis is a "direct axis" and the q axis is a "quadrature axis".
The invention provides a motor control method.
Fig. 1 is a schematic flow chart of a motor control method according to an embodiment of the present invention.
The motor control method includes:
step S30, acquiring the current quadrature axis current after detecting the current rotating speed instruction of the motor;
and the current rotating speed instruction is an instruction for directly controlling the current rotating speed of the motor at the current time. The current rotating speed instruction can be detected in real time or at preset time intervals.
Optionally, if the current quadrature axis current is the current quadrature axis command current, after the current rotational speed command of the motor is detected, the obtained quadrature axis command current is calculated based on the current rotational speed command of the motor.
Optionally, the current quadrature axis current is a current actually detected quadrature axis current. Specifically, the actual three-phase winding current (Iu, Iv, Iw) of the compressor motor is collected, and the Clark transformation is performed on the three-phase winding current based on the formula (1) to obtain Iα、IβThen based on formula (2) for Iα、IβAnd carrying out Park conversion to obtain direct axis current Id and quadrature axis current Iq, wherein the obtained quadrature axis current Iq is the currently and actually detected quadrature axis current.
In the normal operation process of a compressor motor, the current actual three-phase winding current can be collected in real time, the quadrature axis current can be calculated in real time or at preset intervals, the quadrature axis current can be stored after the quadrature axis current is obtained through calculation, so that the current quadrature axis current can be obtained after the current rotating speed instruction of the motor is detected, and the current actual three-phase winding current can be collected again after the current rotating speed instruction of the motor is detected, so that the current actually detected quadrature axis current can be calculated.
If the subsequent direct axis compensation current is determined based on the current quadrature axis command current, a situation may occur in which the current quadrature axis command current has a larger difference from the current actual quadrature axis current due to a larger load change, and if the load is increased, the current quadrature axis command current is larger and exceeds the current actual quadrature axis current by a large amount, the direct axis compensation current calculated based on the quadrature axis command current is also larger, which may cause an excessive direct axis reverse current to cause a motor step-out. And the subsequent direct axis compensation current is determined based on the currently and actually detected quadrature axis current, so that the current for the current direct axis compensation can be ensured, the current cannot be too large under the limitation of the currently and actually detected quadrature axis current, the influences of load sudden change and quadrature axis command current sudden change on the motor can be avoided, and the stable operation of the motor is facilitated.
Step S40, determining a direct axis compensation current according to the current quadrature axis current, wherein the direct axis compensation current is a current component with a negative direction;
the direct axis compensation current refers to a reverse compensation current applied to the direct axis, and the reverse direction refers to a current component whose direction is negative, and the value can be expressed as a negative value. After the current quadrature axis current is obtained, the direct axis compensation current can be obtained by calculation according to the quadrature axis current in a preset mode, or the direct axis compensation current can be obtained according to a quadrature axis current lookup table.
In one embodiment, a preset mapping table is obtained, and the mapping table is queried according to the current quadrature axis current to obtain a direct axis compensation current corresponding to the current quadrature axis current.
The preset mapping table may be as shown in the following table, and stores a corresponding relationship between the quadrature axis current and the direct axis compensation current Id', and the corresponding direct axis compensation current may be determined through the quadrature axis current.
| Serial number | Quadrature axis current Iq | Direct-axis compensation current Id' |
| 1 | Iq1 | Id'1 |
| 2 | Iq2 | Id'2 |
| 3 | Iq3 | Id'3 |
| 4 | Iq4 | Id'4 |
| 5 | …… | …… |
Step S50, based on the straight shaft compensation current, generating the current straight shaft expected current of the motor;
the direct-axis compensation current is a reverse compensation current additionally added on the direct axis, besides, a direct-axis command current to be added on the direct axis can be calculated and obtained based on a current rotating speed command of the motor, and a current direct-axis expected current is generated together according to the direct-axis compensation current and the direct-axis command current, optionally, the current direct-axis expected current is the sum of the direct-axis compensation current and the direct-axis command current.
Step S60, controlling the motor based on the current desired direct-axis current.
And controlling the actual direct-axis current/quadrature-axis current, tracking the current direct-axis expected current/quadrature-axis command current, and realizing the control of the motor.
In a built-in Permanent Magnet Synchronous Motor (PMSM), since d-axis inductance is smaller than q-axis inductance, which has a reverse saliency, if d-axis current is made to be a negative value, reluctance torque changes from a negative value to a positive value, which can increase torque.
Specifically, the electromagnetic torque equation for PMSM is: te ═ 1.5Pn [ ψ × + Iq + (Ld-Lq) Id ×, Iq ], if the Id ═ 0 control method is used, the electromagnetic torque equation is: when Te is 1.5Pn ψ Iq and Ld-Lq < 0 is used for the saliency of the motor, the reluctance torque term "(Ld-Lq) Id Iq" is positive by making the motor d-shaft flow a current component in the negative direction, and the output electromagnetic torque is increased, that is, the input current can be reduced and the input power can be reduced while achieving the same torque demand.
Wherein Te is the electromagnetic torque output by the PMSM; pn is the number of pole pairs; psi is the rotor magnetic pole flux; id. Iq is d-axis current (direct-axis current) and q-axis current respectively; and Ld and Lq are respectively d-axis and q-axis inductors.
In addition, when the excessive negative current of the d-axis is determined to ensure that the copper loss is reduced as much as possible and the adverse effect of interfering the normal operation of the motor is not caused, the embodiment of the invention determines the direct-axis compensation current according to the quadrature-axis current, so that the direct-axis compensation current can change along with the quadrature-axis current and further correspondingly compensate the direct-axis current along with the change of the quadrature-axis current, the larger the absolute value of the quadrature-axis current is, the larger the absolute value of the direct-axis compensation current is, the smaller the absolute value of the quadrature-axis current is, the smaller the absolute value of the direct-axis compensation current is, and further, when the direct-axis compensation current is a fixed value, the problem that the motor cannot normally operate due to the reduction of the copper loss or the excessive direct-axis compensation current is avoided, and the direct-axis compensation current.
The current quadrature axis current is obtained after the current rotating speed instruction of the motor is detected; determining direct axis compensation current according to the current quadrature axis current, wherein the direct axis compensation current is a current component with a negative direction; generating a current direct-axis expected current of the motor based on the direct-axis compensation current; the motor is controlled based on the current expected direct-axis current, the direct-axis compensation current becomes larger along with the increase of the quadrature-axis current, when the load of the compressor is larger, and the input current is larger, the quadrature-axis current becomes larger, the direct-axis compensation current also becomes larger, the reluctance torque is increased, and further under the same torque requirement, the input current is reduced, the input power is reduced, and the copper loss is adaptively reduced.
Alternatively, as shown in fig. 2, in another embodiment of the motor control method of the present invention, step S30 is preceded by:
step S10, acquiring the current final target rotating speed, the actual rotating speed and the rotating speed variation threshold of the motor;
the current final target rotation speed of the motor refers to a target speed of the motor issued by the upper computer, for example, the current actual rotation speed of the motor is 60 revolutions per second, the motor is increased to 80 revolutions per second, and the 80 revolutions per second is the current final target rotation speed of the motor.
In order to avoid the adverse effects of current/voltage sudden change on the step-out and the like of the motor, control cycles are set in the motor rotation speed control, the rotation speed variation of each control cycle is lower than or equal to a rotation speed variation threshold, for example, the current actual rotation speed of the motor is 60 revolutions per second, the current actual rotation speed is to be increased to 80 revolutions per second, the rotation speed variation of each control cycle is 1 revolution per second, that is, one control cycle can only be increased by 1 revolution per second.
In step S20, the current rotational speed command is generated based on the current final target rotational speed, the actual rotational speed, and the rotational speed variation threshold.
The current rotation speed command refers to a rotation speed command in a current control cycle, for example, if a rotation speed variation amount of each control cycle is 1 rpm, and a rotation speed corresponding to a first control cycle is 60-61 rpm in a speed increasing process based on 60 rpm, 61 rpm is a target rotation speed corresponding to the current rotation speed command.
The speed of the motor is determined to be increased or decreased according to the current final target rotating speed and the actual rotating speed, and the speed of the change of the rotating speed of the motor is limited according to the rotating speed change threshold value, so that the phenomenon that the difference between the current corresponding to the current final target rotating speed and the current actual current is too large, and adverse effects caused by sudden change of the current are avoided.
Optionally, step S60 is followed by: after the interval of the preset time period, the execution returns to the step S10.
After the motor is controlled based on the current desired current of the direct shaft, that is, the rotation speed control in one control cycle is completed, the process may return to step S10 to continue the rotation speed control in the next control cycle, so as to realize the closed-loop control of the motor from the actual rotation speed to the final target rotation speed. And the current final target rotating speed is determined again through each control period, so that the change of the final target rotating speed can be detected in time, corresponding adjustment is further made, and the response speed of the motor is improved.
Alternatively, as shown in fig. 3, step S20 includes:
step S21, if the current final target rotational speed is greater than the actual rotational speed, generating the current rotational speed command with increased rotational speed based on the actual rotational speed, wherein the increased rotational speed is equal to the threshold rotational speed variation;
if the current final target rotating speed is greater than the actual rotating speed, the motor needs to be controlled to increase the rotating speed, the rotating speed can be increased on the basis of the actual rotating speed, specifically, the sum of the actual rotating speed and a rotating speed variable quantity threshold value can be used as the target rotating speed corresponding to the current rotating speed instruction, and the current rotating speed instruction is generated on the basis of the target rotating speed.
In step S22, if the current final target rotation speed is less than the actual rotation speed, the current rotation speed command with reduced rotation speed is generated based on the actual rotation speed, wherein the reduced rotation speed is equal to the threshold rotation speed variation.
If the current final target rotating speed is less than the actual rotating speed, the motor needs to be controlled to reduce the rotating speed, the rotating speed can be reduced on the basis of the actual rotating speed, specifically, the difference between the actual rotating speed and the rotating speed variable quantity threshold value can be used as the target rotating speed corresponding to the current rotating speed instruction, and the current rotating speed instruction is generated on the basis of the target rotating speed.
The size comparison through current final target rotational speed and actual rotational speed can confirm whether the motor speed increases or reduces, simultaneously, restricts the change of motor speed through rotational speed change volume threshold value, avoids the electric current sudden change to cause harmful effects to the motor normal operating.
Optionally, step S60 is followed by: after the interval of the preset time period, the execution returns to the step S10. After the motor is controlled based on the current desired current of the direct shaft, that is, the rotation speed control in one control cycle is completed, the process may return to step S10 to continue the rotation speed control in the next control cycle, so as to realize the closed-loop control of the motor from the actual rotation speed to the final target rotation speed.
Optionally, step S40 includes:
obtaining a minimum current formula, and calculating and obtaining the direct axis compensation current according to the minimum current formula and the current quadrature axis current, wherein the minimum current formula is as follows:
Id'＝-k*Iq
wherein k is a proportional gain value, Id' is the direct axis compensation current, and Iq is the current quadrature axis current.
After obtaining the minimum current formula, obtaining a proportional gain value k, substituting k and Iq into the minimum current formula to obtain Id', wherein k is more than 0 and less than or equal to 0.6.
The direct-axis compensation current is obtained by calculation according to the quadrature-axis current based on the minimum current formula, so that the current for compensating the direct axis can be ensured, the current changes with the quadrature-axis current always under the limitation of the quadrature-axis current, and further changes with the load, self-adaptive adjustment according to the motor load can be realized, the direct-axis compensation current under various load conditions can be further determined, the direct axis is subjected to proper current compensation, copper loss is reduced as much as possible, adverse effects caused by the fact that the current load condition of the motor is not suitable are avoided, and stable operation of the motor is facilitated. In addition, k is limited to (0, 0.6), so that adverse effects on normal operation of the motor due to overlarge compensation current of the direct shaft can be avoided, and stable operation of the motor is ensured.
Optionally, the proportional gain value k is obtained according to a corresponding relationship between the proportional gain value k and the rotation speed interval after the rotation speed interval where the motor is currently located is determined, where different rotation speed intervals correspond to different proportional gain values.
The motor operation rotating speed range can be divided into a plurality of intervals, different rotating speed intervals can correspond to different proportional gain values k, after the rotating speed interval where the motor is located at present is determined, the corresponding relation between the preset proportional gain value and the rotating speed interval can be inquired, and the current proportional gain value k of the motor is obtained. Wherein the current rotation speed interval of the motor can be determined based on the current rotation speed instruction. The method comprises the steps that for the proportional gain value k of each rotating speed interval, when the motor operates in different rotating speed intervals and optimal input power is verified through experiments, the proportional gain value k of different intervals is determined, specifically, the proportional gain value k can be adjusted to enable load torque of the compressor to change, the change of the operating power of the compressor under the same condition is observed by calculating the actual operating power P of the compressor to be Ud + Uq, and when the operating power of the compressor reaches the minimum value, the proportional gain value k corresponding to the current minimum power is determined.
The proportional gain values between the quadrature axis current and the direct axis compensation current are different in different rotating speed intervals, and different rotating speed intervals correspond to different proportional gain values due to different operating loads of the motor and the like in different rotating speed intervals, so that the calculation coefficient (proportional gain value) between the quadrature axis current and the direct axis compensation current can be changed along with the change of the operating load, the direct axis compensation current can be calculated more appropriately in different rotating speed intervals, and the direct axis can be compensated more appropriately.
Alternatively, as shown in fig. 4, step S50 includes:
step S51, determining the corresponding required voltage according to the current rotating speed instruction;
step S52, when the required voltage is smaller than a preset voltage, the direct axis instruction current is 0, and when the required voltage is larger than or equal to the preset voltage, the direct axis instruction current is obtained through calculation based on the current rotating speed instruction;
different motor speed corresponds different demand voltage, and in certain rotational speed interval (be less than the rotational speed interval of predetermineeing the rotational speed usually), the rotational speed is big more, and demand voltage is big more, and at this moment, demand voltage is less than ultimate voltage always, and the increase accessible increase voltage of rotational speed realizes, need not to add the reverse current who is used for the acceleration rate at the direct axis. When the rotating speed interval is exceeded, the required voltage is greater than the limit voltage, the voltage of the motor cannot be increased any more to increase the rotating speed, the counter electromotive force of the motor can be reduced by adding the reverse current to the direct shaft for further increasing the rotating speed, the resistance is reduced, the rotating speed is further increased, the direct shaft instruction current can be calculated based on the current rotating speed instruction, the direct shaft instruction current is also the reverse current component on the direct shaft, and at the moment, the direct shaft instruction current is a negative value.
The direct-axis current is divided into two parts, one part is the direct-axis compensation current set based on the consideration of reducing copper loss, and the other part is the direct-axis command current determined based on the current rotating speed command. After the current rotating speed instruction is determined, the direct-axis instruction current can be obtained based on the current rotating speed instruction.
And step S53, taking the sum of the direct-axis command current and the direct-axis compensation current as the current direct-axis expected current of the motor.
When the required voltage is greater than the preset voltage, the voltage of the motor cannot be increased continuously, at the moment, a direct-axis instruction current for improving the rotating speed of the motor is needed, the direct-axis instruction current is a negative value, at the moment, the current direct-axis expected current is the sum of the direct-axis instruction current and the direct-axis compensation current, the direct-axis instruction current and the direct-axis compensation current are added to the direct axis together, and the effects of improving the rotating speed and reducing copper loss are achieved together.
When the required voltage is less than the preset voltage, the rotating speed does not need to be increased through the direct-axis current, so that the direct-axis instruction current determined based on the current rotating speed instruction is 0, and the sum of the direct-axis instruction current and the direct-axis compensation current is equal to the direct-axis compensation current, namely, only the direct-axis compensation current exists on the direct axis.
The direct shaft is subjected to current compensation based on the direct shaft compensation current in the whole rotating speed interval of the motor, so that copper loss can be reduced through the direct shaft compensation current in the whole rotating speed interval.
The invention further provides a motor control device.
Fig. 5 is a schematic view of a motor control apparatus according to an embodiment of the present invention.
The motor control device includes:
the acquisition unit 101 is used for acquiring the current quadrature axis current after detecting the current rotating speed instruction of the motor;
a calculating unit 102, configured to determine a direct axis compensation current according to the current quadrature axis current, where the direct axis compensation current is a current component with a negative direction;
the calculation unit 102 is further configured to generate a current desired direct-axis current of the motor based on the direct-axis compensation current;
a control unit 103 for controlling the motor based on the current desired direct current.
The motor control device may be a Permanent Magnet Synchronous Motor (PMSM).
Optionally, the obtaining unit 101 is further configured to obtain a current final target rotation speed, an actual rotation speed, and a rotation speed variation threshold of the motor;
the calculating unit 102 is further configured to generate the current rotational speed command based on the current final target rotational speed, the actual rotational speed, and a rotational speed variation threshold.
Optionally, the calculating unit 102 is further configured to generate the current rotation speed command with increased rotation speed based on the actual rotation speed if the current final target rotation speed is greater than the actual rotation speed, where the increased rotation speed is equal to the rotation speed variation threshold; and if the current final target rotating speed is less than the actual rotating speed, generating the current rotating speed instruction with the rotating speed reduced based on the actual rotating speed, wherein the rotating speed reduction is equal to the rotating speed variation threshold.
Optionally, the current quadrature axis current is a current actually detected quadrature axis current.
Optionally, the calculating unit 102 is further configured to obtain a minimum current formula, and calculate to obtain the direct axis compensation current according to the minimum current formula and the current quadrature axis current, where the minimum current formula is:
Id'＝-k*Iq
wherein k is a proportional gain value, Id' is the direct axis compensation current, and Iq is the current quadrature axis current.
Optionally, the proportional gain value k is obtained according to a corresponding relationship between the proportional gain value k and the rotation speed interval after the rotation speed interval where the motor is currently located is determined, where different rotation speed intervals correspond to different proportional gain values.
Alternatively, 0 < k ≦ 0.6.
Optionally, the calculating unit 102 is further configured to determine a corresponding required voltage according to the current rotational speed instruction; and acquiring direct-axis instruction current, and taking the sum of the direct-axis instruction current and the direct-axis compensation current as the current direct-axis expected current of the motor, wherein the direct-axis instruction current is 0 when the required voltage is less than the limit voltage of the motor and the difference between the required voltage and the limit voltage is greater than a preset threshold value.
The invention also provides an air conditioner.
Fig. 6 is a schematic structural diagram of an air conditioner according to an embodiment of the present invention.
As shown in fig. 6, the air conditioner includes a computer-readable storage medium 201 storing a computer program, which is read and executed by the processor 202, and a processor 202 implementing the motor control method as described above.
The invention also provides a computer readable storage medium.
In an embodiment, the computer-readable storage medium stores a computer program, which when read and executed by a processor implements the motor control method as described above.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A motor control method, comprising:
after a current rotating speed instruction of the motor is detected, acquiring current quadrature axis current;
determining a direct axis compensation current according to the current quadrature axis current, wherein the direct axis compensation current is a current component with a negative direction;
generating a current direct-axis expected current of the motor based on the direct-axis compensation current;
controlling the motor based on the current desired current of the straight shaft;
the step of generating the current desired current of the direct axis of the motor based on the compensation current of the direct axis comprises the following steps:
determining corresponding required voltage according to the current rotating speed instruction;
when the required voltage is greater than or equal to a preset voltage, calculating and obtaining direct axis instruction current based on the current rotating speed instruction;
taking the sum of the direct-axis command current and the direct-axis compensation current as the current direct-axis expected current of the motor;
after the controlling the motor based on the current desired current of the straight shaft, the method further comprises:
after a preset time period, returning to the step of acquiring the current final target rotating speed, the current actual rotating speed and the rotating speed variation threshold of the motor so as to realize closed-loop control of the motor from the actual rotating speed to the final target rotating speed;
determining a direct axis compensation current according to the current quadrature axis current, wherein the step of determining the direct axis compensation current as a current component with a negative direction comprises:
obtaining a minimum current formula, and calculating and obtaining the direct axis compensation current according to the minimum current formula and the current quadrature axis current, wherein the minimum current formula is as follows:
Id'＝-k*Iq
wherein k is a proportional gain value, Id' is the direct axis compensation current, and Iq is the current quadrature axis current.
2. The motor control method of claim 1, wherein the step of obtaining the current quadrature axis current after detecting the current rotation speed command of the motor comprises:
acquiring the current final target rotating speed, the actual rotating speed and a rotating speed variation threshold of the motor;
and generating the current rotating speed instruction based on the current final target rotating speed, the actual rotating speed and the rotating speed variation threshold value.
3. The motor control method of claim 2, wherein the step of generating the current rotational speed command based on the current final target rotational speed, the actual rotational speed, and the rotational speed variation threshold includes:
if the current final target rotating speed is greater than the actual rotating speed, generating the current rotating speed instruction with the rotating speed increased based on the actual rotating speed, wherein the rotating speed increased amount is equal to the rotating speed variation threshold;
and if the current final target rotating speed is less than the actual rotating speed, generating the current rotating speed instruction with the rotating speed reduced based on the actual rotating speed, wherein the rotating speed reduction is equal to the rotating speed variation threshold.
4. A motor control method according to claim 2 or 3, characterized in that the current quadrature axis current is a currently actually detected quadrature axis current.
5. A method of controlling a motor according to claim 1, wherein 0 < k ≦ 0.6.
6. The motor control method of any one of claims 1 to 3, wherein the step of generating a current direct axis desired current of the motor based on the direct axis compensation current further comprises:
and when the required voltage is less than the preset voltage, the direct axis instruction current is 0.
7. A motor control apparatus, comprising:
the acquisition unit (101) is used for acquiring the current quadrature axis current after detecting the current rotating speed instruction of the motor;
a calculation unit (102) for determining a direct axis compensation current according to the current quadrature axis current, wherein the direct axis compensation current is a current component with a negative direction; the method specifically comprises the following steps: obtaining a minimum current formula, and calculating and obtaining the direct axis compensation current according to the minimum current formula and the current quadrature axis current, wherein the minimum current formula is as follows:
Id'＝-k*Iq
wherein k is a proportional gain value, Id' is the direct axis compensation current, and Iq is the current quadrature axis current;
the calculation unit (102) is further used for generating the current direct-axis expected current of the motor based on the direct-axis compensation current; the system is specifically used for determining corresponding required voltage according to the current rotating speed instruction; when the required voltage is greater than or equal to a preset voltage, calculating and obtaining direct axis instruction current based on the current rotating speed instruction; taking the sum of the direct-axis command current and the direct-axis compensation current as the current direct-axis expected current of the motor;
a control unit (103) for controlling the motor based on the current desired direct-axis current; it is further configured to, after said controlling the motor based on the current desired direct-axis current, perform: and after a preset time interval, returning to the step of acquiring the current final target rotating speed, the current actual rotating speed and the rotating speed variation threshold of the motor so as to realize the closed-loop control of the motor from the actual rotating speed to the final target rotating speed.
8. An air conditioner, characterized by comprising a computer readable storage medium (201) storing a computer program and a processor (202), the computer program being read and executed by the processor (202) to implement the motor control method according to any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that it stores a computer program which, when read and executed by a processor, implements a motor control method according to any one of claims 1-6.
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| US7242163B2 (en) * | 2003-08-26 | 2007-07-10 | Delphi Technologies, Inc. | System and method for clamp current regulation in field-weakening operation of permanent magnet (PM) machines |
| EP2464002B1 (en) * | 2010-12-09 | 2018-05-16 | Inmotion Technologies AB | Estimation of actual torque in an electrical motor drive |
| CN103378788B (en) * | 2012-04-28 | 2015-11-25 | 瑞萨电子(中国)有限公司 | The driving method of convertible frequency air-conditioner compressor and device |
| CN104967378B (en) * | 2015-05-27 | 2018-10-23 | 北京金风科创风电设备有限公司 | Method and device for suppressing vibration and noise of wind driven generator |
| CN108599660B (en) * | 2018-05-10 | 2021-09-24 | 安徽大学 | Vector control method for asymmetric faults of stator winding of permanent magnet synchronous motor |
| CN109586639A (en) * | 2018-12-29 | 2019-04-05 | 深圳市英威腾电气股份有限公司 | A kind of frequency converter vector control method, system and device |
| CN110224650B (en) * | 2019-07-05 | 2021-08-27 | 珠海格力节能环保制冷技术研究中心有限公司 | Flux-weakening control method and device and motor |
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| CN109831132A (en) * | 2019-01-23 | 2019-05-31 | 上海肖可雷电子科技有限公司 | A kind of field weakening control method of permanent magnet synchronous motor |
| CN110212831A (en) * | 2019-05-06 | 2019-09-06 | 南京理工大学 | Consider the IPMSM field weakening control method in the case of DC bus-bar voltage falls |
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