CN113411029A - Motor control method and device and electrical equipment - Google Patents
Motor control method and device and electrical equipment Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000005406 washing Methods 0.000 claims description 22
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/18—Controlling the angular speed together with angular position or phase
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
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Abstract
The embodiment of the application discloses a motor control method, a motor control device and electrical equipment, wherein the method comprises the following steps: acquiring a motor current average value in a network side voltage fluctuation period by adopting a speed controller superposed with a gain Ks; and setting the given current of the motor as the combination of the direct current quantity and the alternating current quantity, wherein the average value of the given current of the motor in the network side voltage fluctuation period is equal to the average value of the current of the motor. Through the scheme of the embodiment, the quick speed response of the speed loop is realized, and the current can fluctuate along with the angle of the voltage on the grid side.
Description
Technical Field
The embodiment of the application relates to the field of electrical equipment, in particular to a motor control method and device and electrical equipment.
Background
In view of cost and volume, the drive scheme without electrolytic capacitor is gradually becoming the development direction of the pulsator washing machine. However, in the washing process of the washing machine, particularly for the pulsator washing machine, frequent start and stop are required, and thus the speed ring needs rapid speed response. Because the driving scheme without the electrolytic capacitor has certain particularity compared with the traditional control scheme, the current scheme without the electrolytic capacitor cannot realize the quick speed response of a speed loop.
Disclosure of Invention
The embodiment of the application mainly aims to provide a motor control method, a motor control device and electrical equipment, and aims to solve the technical problem that the quick speed response of a speed loop cannot be realized in an electrolytic capacitor-free driving scheme.
In order to achieve the above object, an embodiment of the present application provides a motor control method, which may include:
acquiring a motor current average value in a network side voltage fluctuation period by adopting a speed controller superposed with a gain Ks;
the motor set current is set to a combination of a direct current amount and an alternating current amount, and an average value of the motor set current in each grid side voltage fluctuation period is made equal to the motor current average value.
In an exemplary embodiment of the present application, the gain Ks satisfies:
Ks＝K1×K2；
wherein, K1 is (n1-n) × C, C is a trial and error coefficient, n1 is a given motor speed, and n is a feedback motor speed; k2 is a variation coefficient given according to the speed range in which the current motor speed is located.
In the exemplary embodiment of the present application, 1. ltoreq. K2. ltoreq.3.
In an exemplary embodiment of the present application, the motor current average value may include:
I1＝DC+2AC/π；
wherein, I1 is the motor current average value, DC is the direct current quantity, and AC is the alternating current quantity amplitude.
In an exemplary embodiment of the present application, the setting of the motor given current as a combination of a direct current amount and an alternating current amount may include: and setting the given current of the motor as the combination of the direct current quantity and the alternating current quantity according to a preset calculation formula.
In an exemplary embodiment of the present application, the calculation formula may include: i2 ═ DC + | ACsin θ |;
wherein I2 is the given current of the motor, and theta is the phase angle of the network side voltage.
In an exemplary embodiment of the present application, the motor control method may be applied to a motor speed acceleration stage.
In an exemplary embodiment of the present application, the motor control method may be applied to a motor start phase.
The embodiment of the present application further provides a motor control device, which may include: a processor and a computer-readable storage medium having instructions stored therein;
when executed by the processor, implement the motor control method of any of the above.
An embodiment of the present application further provides an electrical device, which may include: a motor and the motor control device.
In an exemplary embodiment of the present application, the electrical device may include: washing machines and air conditioners.
The technical scheme of the embodiment of the application comprises the following steps: acquiring a motor current average value in a network side voltage fluctuation period by adopting a speed controller superposed with a gain Ks; setting the motor set current to a combination of a direct current amount and an alternating current amount, and making an average value of the motor set current in each grid side voltage fluctuation period equal to the motor current average value. Through the scheme of the embodiment, the quick speed response of the speed loop is realized, and the current can fluctuate along with the angle of the voltage of the grid side, so that the large-amplitude fluctuation of the bus voltage is adapted, and the working condition of frequent start and stop is adapted by the quick speed response during washing.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a flow chart of a motor control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an embodiment of the present application in which the gain Ks is superimposed before the rotational speed controller;
FIG. 3 is a schematic diagram illustrating a variation of a given current of a motor according to an average value of the motor current according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating the motor current average value calculated by the speed controller after superimposing the gain Ks and varying the motor current according to the motor current average value according to the embodiment of the present application;
fig. 5 is a block diagram of a motor control apparatus according to an embodiment of the present application;
FIG. 6 is a block diagram of a first electrical device according to an embodiment of the present application;
FIG. 7 is a block diagram of a motor control module according to an embodiment of the present application;
fig. 8 is a block diagram of a second electrical device according to an embodiment of the present application.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the embodiments of the present application will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.
It should be noted that all the directional indications (such as up, down, left, right, front, and rear … …) in the embodiment of the present application are only used to explain the relative position relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indication is changed accordingly.
In addition, descriptions such as references to "first", "second", and the like in the embodiments of the present application are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating a 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 embodiments of the present application, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the embodiments of the present application, unless otherwise explicitly specified or limited, the terms "connected," "fixed," and the like are to be construed broadly, e.g., "fixed" may be fixedly connected, or detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.
In addition, technical solutions between the embodiments of the present application may be combined with each other, but it is necessary that a person skilled in the art can realize the technical solutions, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should be considered to be absent, and is not within the protection scope claimed in the embodiments of the present application.
The present application describes embodiments, but the description is illustrative rather than limiting and it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Any feature or element of any embodiment may be used in combination with or instead of any other feature or element in any other embodiment, unless expressly limited otherwise.
The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive concept as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive aspects to form yet another unique inventive aspect, as defined by the claims. Thus, it should be understood that any of the features shown and/or discussed in this application may be implemented alone or in any suitable combination. Accordingly, the embodiments are not limited except as by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.
Further, in describing representative embodiments, the specification may have presented the method and/or process as a particular sequence of steps. However, to the extent that the method or process does not rely on the particular order of steps set forth herein, the method or process should not be limited to the particular sequence of steps described. Other orders of steps are possible as will be understood by those of ordinary skill in the art. Therefore, the particular order of the steps set forth in the specification should not be construed as limitations on the claims. Further, the claims directed to the method and/or process should not be limited to the performance of their steps in the order written, and one skilled in the art can readily appreciate that the sequences may be varied and still remain within the spirit and scope of the embodiments of the present application.
In order to achieve the above object, an embodiment of the present application provides a motor control method, which may include, as shown in fig. 1, steps S101 to S102:
s101, obtaining a motor current average value in a network side voltage fluctuation period by adopting a speed controller superposed with a preset gain Ks;
s102, setting the given current of the motor as the combination of the direct current quantity and the alternating current quantity, and enabling the average value of the given current of the motor in the network side voltage fluctuation period to be equal to the average value of the current of the motor.
In the exemplary embodiments of the present application, the above-described embodiments may be applied to any electrical apparatus that can be driven by alternating current, for example, the electrical apparatus may include, but is not limited to, a washing machine (such as a pulsator washing machine), an air conditioner, and the like.
In the exemplary embodiments of the present application, detailed embodiments of the present application will be described below by taking a washing machine as an example.
At present, in the field of washing machines, the driving scheme without electrolytic capacitor is still in the development phase, and for pulsator washing machines, the main problems are: the large fluctuation of the bus voltage needs to be adapted, and the quick speed response is needed to adapt to the working condition of frequent start and stop during washing.
In the exemplary embodiment of the present application, it is found through research that the magnitude of the proportional gain of the speed loop affects the response speed of the motor speed, and in order to shorten the adjustment time, the gain of the speed loop can be increased, and the over-travel or the under-travel can be controlled. The size of the integral time constant of the speed loop influences the size of the steady-state speed error of the servo motor and the stability of the speed loop system. When the servo motor carries an actual load, because the actual load torque and the load inertia are not consistent with the default parameter value setting, the bandwidth of the speed loop can be narrowed, if the bandwidth of the speed loop at the moment meets the requirement, the phenomena of motor speed crawling or oscillation and the like do not occur, and the proportional gain and the integral time constant of the speed loop can not be adjusted. If the actual load makes the motor work unstably, creep or oscillation occurs, or the bandwidth of the existing speed loop is not ideal, the proportional gain and the integral time constant of the speed loop can be adjusted.
In an exemplary embodiment of the present application, based on this specificity of the electrolytic capacitor-less driving scheme, in order to solve these practical problems. The inventor of the application provides a method for quickly responding to starting by using a scheme without electrolytic capacitors, and special treatment can be carried out on control parameters and a current given mode during starting.
In the exemplary embodiment of the present application, the present application embodiment innovatively adds a special speed loop gain Ks to calculate the motor current average value, and at the same time, in order to reduce the fluctuation of the motor current as much as possible, a current setting method for washing of the pulsator washing machine is introduced, and the average value of the motor current setting in each grid side voltage fluctuation period is defined to be equal to the calculated motor current average value. The two calculation methods can adapt to the special working condition of frequent start and stop in the washing process of the pulsator washing machine, namely, the quick response of the rotating speed can be realized, and the fluctuation of the current of the motor can be reduced as much as possible.
In an exemplary embodiment of the present application, the motor control method of the embodiment of the present application may be applied to an acceleration phase of a motor rotation speed, or referred to as a speed increasing phase of the motor rotation speed.
In an exemplary embodiment of the present application, in particular, the motor control method may be applied to a start-up phase of a motor.
In the exemplary embodiment of the present application, generally speaking, the driving scheme without electrolytic capacitor has a bandwidth that is generally set to be small due to the requirement of power control in the high-speed section, and needs to respond quickly in the start-up acceleration section of the motor, so that the embodiment of the present application can be applied to the start-up acceleration section of the motor, and can set the corresponding gain Ks according to the requirement, and the response speed of the speed loop can be improved by superimposing a special gain Ks on the conventional speed loop.
In the exemplary embodiment of the present application, as shown in fig. 2 and fig. 4, schematic diagrams of the scheme of superimposing the gain Ks before the rotation speed controller are given.
In an exemplary embodiment of the present application, the gain Ks may satisfy the following relation: ks is K1 × K2;
wherein K1 ═ n1-n × C, C may be a trial and error coefficient, n1 is the given motor speed, and n is the feedback motor speed; k2 may be a coefficient of variation given by the speed range in which the current motor speed is located.
In the exemplary embodiment of the present application, the variation range of the variation coefficient K2 may be between (1 ~ 3), i.e., K2 may satisfy 1 ≦ K2 ≦ 3.
In an exemplary embodiment of the present application, a current value, which may be a motor current average value I1 in each network-side voltage fluctuation period, may be calculated and output by the speed controller after superimposing the gain Ks.
In the exemplary embodiment of the present application, as shown in fig. 3 and fig. 4, a schematic diagram of an embodiment that calculates the motor current average value I1 in each network-side voltage fluctuation period through the speed controller after superimposing the gain Ks is given.
In the exemplary embodiment of the present application, the method for calculating the motor current average value of the grid-side voltage fluctuation period according to the speed controller may adopt any feasible calculation scheme or algorithm currently used, and the detailed calculation method is not limited herein.
In an exemplary embodiment of the present application, the motor current average value may satisfy the following relation: i1 ═ DC +2 AC/pi;
where I1 is the average value of the motor current, DC is the DC amount, and AC is the AC amount amplitude.
In the exemplary embodiment of the present application, in order to adapt to a special condition that the voltage of the voltage bus fluctuates with the voltage of the grid side, the given current of the motor may be controlled to fluctuate together with the angle of the voltage of the grid side, for example, so that the fluctuation period of the given current of the motor is the same as the fluctuation period of the voltage of the grid side.
In an exemplary embodiment of the present application, the converting of the given current of the motor into a combination of a dc component and an ac component may include:
and converting the given current of the motor according to a preset calculation formula to obtain a combination form of the direct current quantity and the alternating current quantity.
In an exemplary embodiment of the present application, the calculation formula may include:
I2＝DC+|ACsinθ|；
where I2 is the motor current and θ is the phase angle of the grid voltage.
In an exemplary embodiment of the present application, to accommodate large fluctuations in bus voltage, a current giving scheme that is currently more common is peaksin2Theta, theta is the phase angle of the net side voltage, peak is the current peak. However, according to the application requirements of the pulsator washing machine, the pulsation of the torque needs to be reduced as much as possible at the low rotation speed stage. The pulsator washing machine determines that frequent start and stop forward and reverse rotation is needed in a washing state according to washing beats (for example, clockwise rotation and counterclockwise rotation are alternately performed, and clockwise rotation is performed for one circle and then counterclockwise rotation is performed for one circle) during washing, so that stable torque with a large amplitude is required to be output during starting. But by Peaksin2The mode of θ has too large torque fluctuation and is difficult to respond quickly even when the bandwidth is insufficient. The scheme of the embodiment of the application provides a special current calculation mode, namely, the given current of the motor is realized by combining a direct current quantity and an alternating current quantity. Because if the waveform is a pure alternating current, the current injected into the motor respectively corresponds to the magnetizing region and the flux weakening region of the motor in the positive half cycle and the negative half cycle, and is affected by the magnetic saturation effect, the waveforms of the magnetizing region and the flux weakening region of the output voltage are not completely symmetrical, so that the distortion of the output voltage is caused, and the dead time of the switching device when the alternating current flows through zero is also obviously distorted, so that the torque is pulsated, and in order to improve the distortion of the voltage and the current and reduce the torque pulsation, the injection current of the motor can be properly increased by a direct current amount, for example: i2 ═ DC + | ACsin θ |. Thus, I2 ═ DC + | ACsin θ | is Peaksin2And converting theta into an expression form after direct current quantity and alternating current quantity, and then knowing that:
in an exemplary embodiment of the present application, for a given current of the motor described above, the following mathematical derivation may be made:
expanding this integral yields:
wherein,
the above equation can be transformed into:
namely: peak 2DC +4 AC/pi; (2)
the following relation (I1 is motor current average) is satisfied in the current motor design:
Peak＝2I1 (3)
from the relation (2) and the relation (3), it is possible to obtain:
DC+2AC/π＝I1 (4)
in the exemplary embodiment of the present application, it can be derived from the above that the motor current average value I1 only needs to satisfy the above relation (4), that is: i1 ═ DC +2 AC/pi, the motor can always have sufficient torque output due to the presence of the DC component, can start quickly when the bandwidth is compensated, while the current is also at a minimum when the grid side voltage is at the valley, by regulation of the AC component, so that the motor starts quickly and adapts to bus voltage fluctuations.
In the exemplary embodiment of the present application, the value of DC may be 0.2 × I1 to I1 when equation (4) is satisfied.
In an exemplary embodiment of the present application, the gain Ks may be adaptively adjusted according to the motor current average value.
In an exemplary embodiment of the present application, the method may further include: the gain Ks is adjusted stepwise by trial and error to obtain the desired motor current average I1.
In the exemplary embodiment of the present application, for the trial and error method, the trial and error coefficient C may be gradually adjusted so that the gain Ks obtains a desirable value, thereby achieving a desirable effect of the motor current average value I1.
In an exemplary embodiment of the present application, for PID (proportional integral derivative), the trial and error method may start from the proportional, first use a smaller proportional parameter, and then continuously increase the proportional parameter until a curve with fast response and small overshoot is obtained, at this time, it may be checked whether the control effect meets the preset requirement, and if the preset requirement is met, only the proportional link is used.
In the exemplary embodiment of the present application, if the preset requirement is not met, an integration segment may be added, and the integration segment may be added after the proportional parameter is reduced to a small value, or the integration segment may be tried gradually from small to large until a better curve appears.
In the exemplary embodiment of the present application, it may be checked again whether the control effect meets the preset requirement, and if the preset requirement is not met, a differentiation link may be added.
The embodiment of the present application further provides a motor control device 1, as shown in fig. 5, which may include: a processor 11 and a computer-readable storage medium 12, the computer-readable storage medium 12 having instructions stored therein;
when executed by the processor 11, implement the motor control method of any of the above.
In the exemplary embodiment of the present application, any of the foregoing embodiments of the motor control method is applicable to the embodiment of the motor control device 1, and details thereof are not repeated here.
An embodiment of the present application further provides an electrical device 2, as shown in fig. 6, which may include: a motor and the motor control device 1.
In the exemplary embodiment of the present application, any of the foregoing embodiments of the motor control method is applicable to the embodiment of the electrical apparatus 2, and details are not repeated here.
The embodiment of the present application further provides a motor control module 3, as shown in fig. 7, which may include: a calculation unit 31 and a combination unit 32;
the calculating unit 31 may be configured to calculate a motor current average value I1 for each fluctuation period of the grid-side voltage using the speed controller superimposed with the gain Ks;
the combination unit 32 may be configured to convert the motor set current into a form of a combination of a dc quantity and an ac quantity, and may make an average value of the motor set current equal to the motor current average value in each period of fluctuation of the grid-side voltage.
In an exemplary embodiment of the present application, the mean value of the given current of the motor being equal to the mean value of the current of the motor means: the difference between the calculated average value of the motor set current and the average value of the motor current is smaller than or equal to a preset difference threshold value, namely, the calculated average value of the motor set current is basically the same as the average value of the motor current.
In an exemplary embodiment of the present application, the motor control module 3 may further include a storage unit 33.
In an exemplary embodiment of the present application, the storage unit 33 may be configured to store the relation satisfied by the gain Ks, namely: ks is K1 · K2; wherein, K1 satisfies the following relation K1 ═ C1-n, C may be a trial and error coefficient, n1 may be a given motor speed, n may be a feedback motor speed; k2 may be a coefficient of variation given according to the speed range in which the current motor speed is located.
In an exemplary embodiment of the present application, the value of K2 may satisfy the relationship: k2 is more than or equal to 1 and less than or equal to 3.
In an exemplary embodiment of the present application, the storage unit 33 may be further configured to store a relation satisfied by the motor current average value, that is: i1 ═ DC +2 AC/pi.
In the exemplary embodiment of the present application, since the voltage of the voltage bus may fluctuate along with the voltage on the grid side, the given current of the motor may be controlled to fluctuate along with the angle of the voltage on the grid side to adapt to the special condition, where the fluctuation period of the given current of the motor may be the same as the fluctuation period of the voltage on the grid side.
In an exemplary embodiment of the present application, the combination unit 32 converts the motor given current into a combination of a dc amount and an ac amount, and may include: and converting the given current of the motor according to a preset calculation formula.
In an exemplary embodiment of the present application, the storage unit 33 may be configured to store the calculation formula: i2 ═ DC + | ACsin θ |; where I2 is the motor current and θ is the phase angle of the grid voltage.
In an exemplary embodiment of the present application, the motor control method may be applied to a motor speed increasing phase, for example, specifically, to a motor starting phase.
In an exemplary embodiment of the present application, in an implementation process of an embodiment of the present application, each relationship stored in the storage unit may be retrieved, a motor current average value may be calculated according to the corresponding relationship, and a motor given current may be converted according to the corresponding relationship.
An embodiment of the present application further provides an electrical device 4, as shown in fig. 8, including: the motor and the motor control module 3.
In the exemplary embodiment of the present application, any of the foregoing embodiments of the motor control module 3 is applicable to the embodiment of the electrical device 4, and details thereof are not repeated here.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications and equivalents that can be made by using the contents of the description and the drawings of the present application or directly/indirectly applied to other related technical fields are included in the scope of the present application.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
Claims (10)
1. A method of controlling a motor, the method comprising:
acquiring a motor current average value in a network side voltage fluctuation period by adopting a speed controller superposed with a gain Ks;
the motor set current is set to a combination of a direct current amount and an alternating current amount, and an average value of the motor set current in the grid side voltage fluctuation period is equal to the motor current average value.
2. The motor control method according to claim 1, wherein the gain Ks satisfies:
Ks＝K1×K2；
wherein, K1 is (n1-n) × C, C is a trial and error coefficient, n1 is a given motor speed, and n is a feedback motor speed; k2 is a variation coefficient given according to the speed range in which the current motor speed is located.
3. The motor control method according to claim 2, wherein 1. ltoreq. K2. ltoreq.3.
4. A motor control method according to any one of claims 1-3, characterized in that the motor current average value comprises:
I1＝DC+2AC/π；
wherein, I1 is the motor current average value, DC is the direct current quantity, and AC is the alternating current quantity amplitude.
5. The motor control method according to claim 4, wherein the motor set current is set to a combination of a direct current amount and an alternating current amount, and includes: and setting the given current of the motor as the combination of the direct current quantity and the alternating current quantity according to a preset calculation formula.
6. The motor control method according to claim 5, wherein the calculation formula includes:
I2＝DC+|ACsinθ|；
wherein I2 is the given current of the motor, and theta is the phase angle of the network side voltage.
7. A method of controlling a motor as claimed in any one of claims 1 to 3, applied during the start-up phase of the motor.
8. A motor control apparatus, comprising: a processor and a computer-readable storage medium having instructions stored therein;
the instructions, when executed by the processor, implement a motor control method as claimed in any one of claims 1 to 7.
9. An electrical device comprising: a motor and a motor control apparatus as claimed in claim 8.
10. The electrical device of claim 9, wherein the electrical device comprises:
washing machines and air conditioners.
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| CN114115132A (en) * | 2021-10-25 | 2022-03-01 | 河北汉光重工有限责任公司 | Method and device for debugging control parameters of servo control system in non-step tracking state |
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