CN110971164A - Rail vehicle and motor control method and device - Google Patents

Rail vehicle and motor control method and device Download PDF

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Publication number
CN110971164A
CN110971164A CN201811157600.3A CN201811157600A CN110971164A CN 110971164 A CN110971164 A CN 110971164A CN 201811157600 A CN201811157600 A CN 201811157600A CN 110971164 A CN110971164 A CN 110971164A
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motor
bus voltage
current
axis current
corrected
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CN110971164B (en
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徐鲁辉
杜智勇
肖恺
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BYD Co Ltd
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BYD Co Ltd
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Control Of Ac Motors In General (AREA)

Abstract

The invention provides a railway vehicle, a motor control method and a device, wherein the motor control method comprises the following steps: collecting motor torque, motor rotating speed and bus voltage; correcting the motor torque and the motor rotating speed acquired in the current period according to the preset bus voltage and the bus voltage acquired in the current period, wherein the preset bus voltage is the minimum allowable bus voltage; acquiring target direct axis current and target quadrature axis current according to the corrected motor torque and the corrected motor rotating speed; and controlling the motor according to the target direct axis current and the target quadrature axis current. The motor control method can effectively improve the utilization rate of the bus voltage and the motor operation efficiency when the bus voltage rises, and avoids the saturation and runaway phenomena of the current regulator when the motor operates in a constant power area and the bus voltage drops, thereby realizing the adaptation to the bus voltage fluctuation and ensuring the reliability of motor control.

Description

Rail vehicle and motor control method and device
Technical Field
The invention relates to the technical field of railway vehicles, in particular to a motor control method, a motor control device and a railway vehicle with the motor control device.
Background
In the related art, many rail vehicles use an electric motor as a driving power source for traction power. The inventor finds that in the running process of a railway vehicle, when the running working condition of the railway vehicle changes, the voltage of a bus at a power supply side fluctuates greatly, and the fluctuation of the voltage of the bus can influence the change of the rotating speed of a motor and the output of peak power, so that the running efficiency of the motor can be reduced, and the motor can be controlled out of control in serious cases. Therefore, in order to output the required power by the motor and ensure the reliable and stable operation of the motor, the change of the bus voltage needs to be correspondingly compensated to adapt to the voltage fluctuation of the power supply grid.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the first objective of the present invention is to provide a motor control method to adapt to the fluctuation of the bus voltage and ensure the reliability of motor control.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the present invention is to provide a motor control device.
A fourth object of the invention is to propose a rail vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a motor control method, including the following steps: periodically collecting motor torque, motor rotating speed and bus voltage; correcting the motor torque and the motor rotating speed acquired in the current period according to a preset bus voltage and the bus voltage acquired in the current period, wherein the preset bus voltage is the minimum allowable bus voltage; acquiring target direct axis current and target quadrature axis current according to the corrected motor torque and the corrected motor rotating speed; and controlling the motor according to the target direct axis current and the target quadrature axis current.
According to the motor control method provided by the embodiment of the invention, the motor torque and the motor rotating speed acquired in the current period are corrected according to the allowed minimum bus voltage and the bus voltage acquired in the current period, the target direct axis current and the target quadrature axis current are further obtained according to the corrected motor torque and the corrected motor rotating speed, and the motor is controlled according to the target direct axis current and the target quadrature axis current. The method can effectively improve the utilization rate of the bus voltage and the operation efficiency of the motor when the bus voltage rises, and avoids the saturation and runaway phenomena of the current regulator when the motor operates in a constant power area and the bus voltage drops, thereby realizing the adaptation to the bus voltage fluctuation and ensuring the reliability of the motor control.
In addition, the motor control method according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the invention, the motor torque and the motor speed acquired in the current period are corrected by the following formula:
Figure RE-GDA0001896902400000021
wherein Te 'is the corrected motor torque, Te is the current period motor torque, w' is the corrected motor rotation speed, w is the current period motor rotation speed, k is the correction factor, UdcFor said bus voltage, Udc3Is the preset bus voltage.
According to an embodiment of the present invention, the obtaining the target direct axis current and the target quadrature axis current according to the corrected motor torque and the motor speed includes: and acquiring the target direct axis current and the target quadrature axis current from a preset lookup table according to the corrected motor torque and the corrected motor rotating speed.
According to an embodiment of the present invention, the preset lookup table is a current command table obtained at the preset bus voltage.
To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the motor control method of the above embodiment.
According to the computer-readable storage medium of the embodiment of the invention, when the program corresponding to the motor control method stored on the computer-readable storage medium is executed by the processor, the fluctuation of the bus voltage can be adapted in real time, so that the motor outputs the required power in real time, and the safe and reliable operation of the motor is ensured.
In order to achieve the above object, a third aspect of the present invention provides a motor control device, including: the first acquisition module is used for periodically acquiring the torque of the motor; the second acquisition module is used for periodically acquiring the rotating speed of the motor; the third acquisition module is used for periodically acquiring bus voltage; the correction module is used for correcting the motor torque and the motor rotating speed acquired in the current period according to a preset bus voltage and the bus voltage acquired in the current period, wherein the preset bus voltage is the minimum allowable bus voltage; the acquisition module is used for acquiring target direct axis current and target quadrature axis current according to the corrected motor torque and the corrected motor rotating speed; and the control module is used for controlling the motor according to the target direct axis current and the target quadrature axis current.
According to the motor control device provided by the embodiment of the invention, the motor torque and the motor rotating speed acquired in the current period are corrected through the correction module according to the allowed minimum bus voltage and the bus voltage acquired in the current period, the target direct axis current and the target quadrature axis current are further acquired through the acquisition module according to the corrected motor torque and the corrected motor rotating speed, and the motor is controlled through the control module according to the target direct axis current and the target quadrature axis current. The device can effectively improve the utilization rate of bus voltage and the motor operating efficiency when the bus voltage rises, and avoids the saturation and the out-of-control phenomenon of a current regulator when the motor operates in a constant power area and the bus voltage falls, thereby realizing the adaptation to the fluctuation of the bus voltage and ensuring the reliability of motor control.
In addition, the motor control device according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the invention, the correction module corrects the motor torque and the motor speed acquired in the current period by the following formula:
Figure RE-GDA0001896902400000031
wherein Te 'is the corrected motor torque, Te is the current period motor torque, w' is the corrected motor rotation speed, w is the current period motor rotation speed, k is the correction factor, UdcFor said bus voltage, Udc3Is the preset bus voltage.
According to an embodiment of the present invention, the obtaining module is specifically configured to: and acquiring the target direct axis current and the target quadrature axis current from a preset lookup table according to the corrected motor torque and the corrected motor rotating speed.
According to an embodiment of the present invention, the preset lookup table is a current command table obtained at the preset bus voltage.
In order to achieve the above object, a fourth aspect of the present invention provides a rail vehicle, including the motor control apparatus of the above embodiment.
According to the rail vehicle provided by the embodiment of the invention, the motor control device can adapt to the fluctuation of the bus voltage in real time, so that the motor outputs required power in real time, and the safe and reliable operation of the motor is ensured.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a motor control method in the related art;
FIG. 2 is a flow chart of a motor control method according to an embodiment of the present invention;
FIG. 3 is a flow diagram of a motor control method according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of current commands at different bus voltages and motor speeds;
FIG. 5 is a schematic diagram of current commands at different bus voltages;
FIG. 6 is a block schematic diagram of a motor control apparatus according to an embodiment of the present invention;
FIG. 7 is a block schematic diagram of a rail vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The inventor finds that, for the problem of grid supply voltage fluctuation when the motor of the rail vehicle is running, the following solution can be adopted:
the motor is controlled by adopting a current instruction table established under the rated bus voltage without considering the fluctuation of the bus voltage, as shown in figure 1. In the method, a current command for motor control is realized in a table look-up mode according to motor torque and rotating speed under a rated bus voltage, and Udc in fig. 1 is the rated bus voltage. However, since the method does not take the fluctuation of the supply voltage into account, when the supply voltage fluctuates, the problems of low motor operation efficiency, saturation of a current regulator and the like are caused, and in a serious case, the motor has a runaway risk.
To this end, the invention proposes a motor control method, a computer-readable storage medium, a motor control device and a rail vehicle having the device.
A rail vehicle, a computer-readable storage medium, a motor control method, and an apparatus according to embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 2 is a flowchart of a motor control method according to an embodiment of the present invention. As shown in fig. 2, the motor control method includes the steps of:
and S1, periodically collecting the motor torque, the motor speed and the bus voltage.
The motor can be an internal permanent magnet synchronous motor and is used for providing power for the rail vehicle.
And S2, correcting the motor torque and the motor speed acquired in the current period according to the preset bus voltage and the bus voltage acquired in the current period.
The preset bus voltage is the minimum bus voltage allowed and is less than or equal to the bus voltage acquired in the current period. The preset bus voltage value can be set according to the actual fluctuation range of the bus voltage on the power supply side when the rail vehicle runs. For example, for a rail vehicle powered by 1500V voltage, because the operating condition of the rail vehicle is not constant, the bus voltage of the power supply side fluctuates within the range of 1000V to 1800V, and at this time, the preset bus voltage can be set to 1000V; for the railway vehicle powered by 750V voltage, the running condition of the railway vehicle is not constant, so that the bus voltage of the power supply side fluctuates within the range of 700V-900V, and the preset bus voltage can be set to 700V at the moment.
In one embodiment of the present invention, the motor torque and the motor speed acquired in the current period may be corrected by the following formula (1):
Figure RE-GDA0001896902400000041
wherein Te 'is the corrected motor torque, Te is the current period motor torque, w' is the corrected motor rotation speed, w is the current period motor rotation speed, k is the correction factor, UdcFor bus voltage, Udc3Is a preset bus voltage. The correction factor k is set to leave a certain voltage margin to complete transient response of the motor control when the bus voltage is large, and experiments show that the value of the correction factor k can be within a range of 80% -96%, for example, k can be set to 90% or 92%.
And S3, acquiring target direct-axis current and target quadrature-axis current according to the corrected motor torque and motor speed.
Specifically, the target direct-axis current and the target quadrature-axis current may be obtained from a preset lookup table according to the corrected motor torque and the motor speed. The preset current instruction table is established based on the preset bus voltage, the table establishment method is similar to the table establishment method based on the rated bus voltage, the input of the preset current instruction table is the motor torque and the motor rotating speed, and the output of the preset current instruction table is the direct-axis current and the quadrature-axis current.
It should be noted that the preset lookup table includes the condition that the motor operates in the constant torque region and the constant power region, so that when the motor is controlled, the current instruction when the motor operates in the corresponding region can be directly obtained from the preset lookup table according to the corrected motor torque and the motor rotation speed.
And S4, controlling the motor according to the target direct-axis current and the target quadrature-axis current.
In an embodiment of the present invention, referring to fig. 3, the motor torque Te, the motor speed w, and the bus voltage Udc collected in the current cycle are input to the correction unit to correct Te and w by equation (1), and the corrected motor torque and speed, i.e., Te 'and w', are output. And calling a preset lookup table according to Te 'and w' to obtain target direct-axis current Id and target quadrature-axis current Iq corresponding to Te 'and w'. Further, the motor may be controlled according to Id and Iq.
Therefore, compared with the technology shown in fig. 1, the motor control method in the embodiment of the invention considers the condition when the bus voltage fluctuates, not only can ensure the operation efficiency of the motor, but also can avoid the phenomena of saturation and runaway of the current regulator when the motor operates in a constant power region. That is to say, the motor control method of the embodiment of the invention can adapt to the fluctuation of the bus voltage in real time, so that the motor outputs the required power in real time and runs safely and reliably.
The motor control method proposed by the present invention is further explained below.
In summary, the invention provides a control method of a built-in permanent magnet synchronous motor suitable for a railway vehicle, which considers the fluctuation of bus voltage, determines the influence of the bus voltage on the motor control and the relations between the motor torque, the motor rotating speed, the direct axis current and the quadrature axis current through formula derivation, a rack test, a real vehicle test and other modes on the basis of a table look-up method, and forms a table for real-time query in the motor control process.
Specifically, based on the operating characteristics of the built-in permanent magnet synchronous motor, data normalization processing is carried out on motor control under different bus voltages, real-time bus voltage is used as an independent variable to correct the rotating speed of the motor, and a lookup table is called according to the collected motor torque and the corrected rotating speed, so that the effect of compensating the voltage fluctuation of the bus in real time is achieved.
When the synchronous motor runs, the voltage equation of the synchronous motor is as follows (2):
Figure RE-GDA0001896902400000051
wherein, ω isrIs the motor speed, LdIs a direct-axis inductor of the motor, LqIs a quadrature axis inductor of a motor,
Figure RE-GDA0001896902400000052
is a permanent magnet flux linkage of an electric machine idFor direct shaft current of the motor, iqIs motor quadrature axis current, usIs the motor alternating voltage amplitude.
The following is a modification of formula (2):
Figure RE-GDA0001896902400000061
when the motor operates in a constant torque area, the motor current command is limited to a current limit circle, and the current commands (namely the target direct-axis current and the target quadrature-axis current) under the same torque basically do not change along with the motor speed and the bus voltage.
When the motor operates in a constant power region, the motor current command is limited by a bus voltage limit ellipse, as shown in equation (2). The motor voltage formula is deformed and normalized, and the motor runs in a constant power area and is limited by a limit circle jointly constrained by speed and bus voltage, as shown in formula (3). When the bus voltage drops, the motor current needs to be increased through the current regulator, and because the current regulator has the maximum regulation threshold, when the current regulator reaches the maximum regulation threshold, namely the current regulator is saturated, if the bus voltage continues to drop, the motor current cannot be regulated, and further the out-of-control phenomenon is easily caused. Therefore, according to the invention, the motor torque and the motor rotating speed acquired in the current period are corrected according to the preset bus voltage and the bus voltage acquired in the current period, and the target direct axis current and the target quadrature axis current are obtained according to the corrected motor torque and the corrected motor rotating speed, so that the saturation and runaway phenomena of the current regulator can be avoided.
As shown in fig. 4, it can be obtained through experiments that, for the same motor and the same output power, the current commands of the bus voltage of 320V and the motor speed of 1000rpm are completely overlapped with the current commands of the bus voltage of 520V and the motor speed of 1625 rpm; the bus voltage 320V and the current instruction under the motor rotating speed 4000rpm are completely overlapped with the bus voltage 520V and the current instruction under the motor rotating speed 6500 rpm; the bus voltage 320V and the current instruction under the motor rotating speed 5000rpm are completely overlapped with the bus voltage 520V and the current instruction under the motor rotating speed 8125 rpm; the bus voltage 320V and the motor speed 7000rpm current instructions completely coincide with the bus voltage 520V and the motor speed 11375rpm current instructions. Further, the current commands at a plurality of bus voltages (380V, 450V, 520V, 650V, 730V) are all plotted, as shown in fig. 5.
As can be seen from fig. 4 and 5, the coverage area of the current command at the high bus voltage is smaller than the coverage area of the current command at the low bus voltage, and the current command at the low bus voltage can cover all the current commands at the high bus voltage. That is, the current command at the low bus voltage substantially completely includes the current command at the high bus voltage. Therefore, the current instruction lookup table established under the low bus voltage can be selected as the preset lookup table, and the preset lookup table can effectively adapt to the fluctuation of the bus voltage in a large range.
In conclusion, according to the motor control method provided by the embodiment of the invention, when the motor is controlled, the fluctuation of the bus voltage can be adapted in real time, so that the motor outputs the required power in real time, and the safe and reliable operation of the motor is ensured. Meanwhile, the motor control method realizes the platformization of motor control data, so that one set of motor data can completely control one motor, and the motor control program does not need to be replaced according to different bus voltages.
Based on the motor control method of the above embodiment, the present invention provides a computer-readable storage medium.
In this embodiment, a computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the motor control method implemented above.
According to the computer-readable storage medium of the embodiment of the invention, when the program corresponding to the motor control method stored on the computer-readable storage medium is executed by the processor, the fluctuation of the bus voltage can be adapted in real time, so that the motor outputs the required power in real time, and the safe and reliable operation of the motor is ensured.
Fig. 6 is a block schematic diagram of a motor control apparatus according to an embodiment of the present invention.
As shown in fig. 6, the motor control apparatus 100 includes: a first acquisition module 110, a second acquisition module 120, a third acquisition module 130, a correction module 140, an acquisition module 150, and a control module 160.
The first collecting module 110 is used for periodically collecting the motor torque. The second collecting module 120 is used for periodically collecting the motor speed. The third collecting module 130 is used for periodically collecting the bus voltage. The correction module 140 is configured to correct the motor torque and the motor speed acquired in the current period according to a preset bus voltage and a bus voltage acquired in the current period, where the preset bus voltage is an allowable minimum bus voltage. The obtaining module 150 is configured to obtain a target direct axis current and a target quadrature axis current according to the corrected motor torque and the motor speed. The control module 160 is configured to control the motor according to the target direct axis current and the target quadrature axis current.
In one embodiment of the present invention, the correction module 140 is configured to correct the motor torque and the motor speed acquired in the current period by the following formula (1):
Figure RE-GDA0001896902400000071
wherein Te 'is the corrected motor torque, Te is the current period motor torque, w' is the corrected motor rotation speed, w is the current period motor rotation speed, k is the correction factor, UdcFor bus voltage, Udc3Is a preset bus voltage.
Further, the obtaining module 150 is specifically configured to obtain the target direct axis current and the target quadrature axis current from a preset lookup table according to the corrected motor torque and the motor speed. The preset lookup table is a current instruction table obtained under a preset bus voltage.
It should be noted that, for other specific implementations of the motor control device according to the embodiment of the present invention, reference may be made to specific implementations of the motor control method according to the above-described embodiment of the present invention.
According to the motor control device provided by the embodiment of the invention, when the motor is controlled, the fluctuation of the bus voltage can be adapted in real time, so that the motor can output required power in real time, and the safe and reliable operation of the motor is ensured.
Further, the invention provides a rail vehicle.
FIG. 7 is a block schematic diagram of a rail vehicle according to an embodiment of the invention. As shown in fig. 7, the railway vehicle 1000 includes the motor control device 100 of the above embodiment.
According to the rail vehicle provided by the embodiment of the invention, the motor control device can adapt to the fluctuation of the bus voltage in real time, so that the motor outputs required power in real time, and the safe and reliable operation of the motor is ensured.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. A motor control method, comprising the steps of:
periodically collecting motor torque, motor rotating speed and bus voltage;
correcting the motor torque and the motor rotating speed acquired in the current period according to a preset bus voltage and the bus voltage acquired in the current period, wherein the preset bus voltage is the minimum allowable bus voltage;
acquiring target direct axis current and target quadrature axis current according to the corrected motor torque and the corrected motor rotating speed;
and controlling the motor according to the target direct axis current and the target quadrature axis current.
2. The motor control method according to claim 1, wherein the motor torque and the motor speed acquired in the current cycle are corrected by the following formula:
Figure FDA0001819252840000011
wherein Te 'is the corrected motor torque, Te is the current period motor torque, w' is the corrected motor rotation speed, w is the current period motor rotation speed, k is the correction factor, UdcFor said bus voltage, Udc3Is the preset bus voltage.
3. The motor control method according to claim 1, wherein the obtaining of the target direct-axis current and the target quadrature-axis current based on the corrected motor torque and the motor speed comprises:
and acquiring the target direct axis current and the target quadrature axis current from a preset lookup table according to the corrected motor torque and the corrected motor rotating speed.
4. The motor control method according to claim 3, wherein the preset lookup table is a current command table obtained at the preset bus voltage.
5. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a motor control method according to any one of claims 1-4.
6. A motor control apparatus, comprising:
the first acquisition module is used for periodically acquiring the torque of the motor;
the second acquisition module is used for periodically acquiring the rotating speed of the motor;
the third acquisition module is used for periodically acquiring bus voltage;
the correction module is used for correcting the motor torque and the motor rotating speed acquired in the current period according to a preset bus voltage and the bus voltage acquired in the current period, wherein the preset bus voltage is the minimum allowable bus voltage;
the acquisition module is used for acquiring target direct axis current and target quadrature axis current according to the corrected motor torque and the corrected motor rotating speed;
and the control module is used for controlling the motor according to the target direct axis current and the target quadrature axis current.
7. The motor control device of claim 6, wherein the correction module corrects the motor torque and the motor speed acquired in the current cycle by the following formula:
Figure FDA0001819252840000021
wherein Te 'is the corrected motor torque, Te is the current period motor torque, w' is the corrected motor rotation speed, w is the current period motor rotation speed, k is the correction factor, UdcFor said bus voltage, Udc3Is the preset bus voltage.
8. The motor control device of claim 6, wherein the acquisition module is specifically configured to:
and acquiring the target direct axis current and the target quadrature axis current from a preset lookup table according to the corrected motor torque and the corrected motor rotating speed.
9. The motor control device according to claim 8, wherein the preset lookup table is a current command table obtained at the preset bus voltage.
10. A rail vehicle, characterized in that it comprises a motor control device according to any one of claims 6-9.
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