CN113691171A

CN113691171A - Motor control method, motor control device, motor control system, and storage medium

Info

Publication number: CN113691171A
Application number: CN202110855683.9A
Authority: CN
Inventors: 王志宇
Original assignee: Midea Welling Motor Technology Shanghai Co Ltd; Welling Wuhu Motor Manufacturing Co Ltd
Current assignee: Midea Welling Motor Technology Shanghai Co Ltd; Welling Wuhu Motor Manufacturing Co Ltd
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2021-11-23

Abstract

The invention provides a control method of a motor, a control device of the motor, a control system and a storage medium, wherein the control method comprises the following steps: acquiring an injection voltage value of the motor; under a two-phase static coordinate system, respectively injecting a forward voltage pulse and a reverse voltage pulse to an alpha axis and respectively injecting a forward voltage pulse and a reverse voltage pulse to a beta axis according to the injection voltage value; recording the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse; determining the initial position of the rotor when the motor is started according to the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse; wherein, the alpha axis and the beta axis are in the same plane and are vertical to each other. The initial position of the rotor during electronic starting can be determined by utilizing four voltage pulse signals, the number of injected pulses is small, and the corresponding calculation time is short, so that the jitter and the large noise of the motor cannot be caused.

Description

Motor control method, motor control device, motor control system, and storage medium

Technical Field

The invention relates to the technical field of air conditioners, in particular to a motor control method, a motor control device, a control system and a readable storage medium.

Background

At present, when the permanent magnet motor is started without a position sensor, the initial position of the permanent magnet motor during starting needs to be measured, so that larger starting torque can be obtained with smaller current during starting, and the permanent magnet motor helps to prevent reverse rotation during starting.

In the initial position positioning method in the related art, voltage pulses are required to be injected continuously through an angle bisection method, and finally an initial position angle with an error meeting requirements is locked. However, the initial position locating method has a large number of injected pulses, a long calculation time and is liable to cause the jitter and the noise of the motor.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, a first aspect of the present invention proposes a method for controlling an electric machine.

A second aspect of the present invention is to provide a control apparatus of an electric motor.

A third aspect of the present invention is to provide a control apparatus of an electric motor.

A fourth aspect of the present invention is to provide a control system.

A fifth aspect of the invention is directed to a readable storage medium.

In view of this, according to a first aspect of the present invention, there is provided a control method of a motor, the control method including: acquiring an injection voltage value of the motor; under a two-phase static coordinate system, respectively injecting a forward voltage pulse and a reverse voltage pulse to an alpha axis and respectively injecting a forward voltage pulse and a reverse voltage pulse to a beta axis according to the injection voltage value; recording the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse; determining the initial position of the rotor when the motor is started according to the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse; wherein, the alpha axis and the beta axis are in the same plane and are vertical to each other.

According to the control method of the motor, under a two-phase static coordinate system, an alpha axis and a beta axis are in the same plane and are in two directions which are perpendicular to each other. And injecting a forward voltage pulse corresponding to the injection voltage value into the alpha axis, and acquiring the peak value of the response current generated in the motor by the forward voltage pulse. And after the response current is attenuated to 0, injecting a reverse voltage pulse corresponding to the injection voltage value into the alpha axis. It is understood that the forward voltage pulse corresponds to an injection voltage value of U1 and the reverse voltage pulse corresponds to an injection voltage value of-U1. The peak value of the response current generated in the motor by the reverse voltage pulse is obtained.

Further, a forward voltage pulse corresponding to the injection voltage value is injected into the beta axis, and the peak value of the response current generated in the motor by the forward voltage pulse is obtained. And after the response current is attenuated to 0, injecting a reverse voltage pulse corresponding to the injection voltage value into the beta axis. It is understood that the forward voltage pulse corresponds to an injection voltage value of U2 and the reverse voltage pulse corresponds to an injection voltage value of-U2. U2 is equal to U1. The peak value of the response current generated in the motor by the reverse voltage pulse is obtained.

Further, the initial position of the rotor at the time of the electronic start is determined based on the forward voltage pulse injected to the α axis, the peak value of the response current generated in the motor, and the reverse voltage pulse, the peak value of the response current generated in the motor, and the forward voltage pulse injected to the β axis, the peak value of the response current generated in the motor, and the reverse voltage pulse, the peak value of the response current generated in the motor. That is, the initial position of the rotor during electronic starting can be determined by using four voltage pulse signals, the number of injected pulses is small, and the corresponding calculation time is short, so that the jitter and the large noise of the motor cannot be caused.

Moreover, the initial position of the rotor when the motor is started is determined, so that larger starting torque can be obtained with smaller current when the motor is started, and the motor is prevented from reversing when being started.

In a specific application, the injection voltage value of the motor is calculated according to a voltage calculation formula. Specifically, the voltage calculation formula is U ═ IR + L_dXdI/dt. Wherein I is 50% rated current, R is stator resistance of the motor, and L_dAnd dI/dt is the change of current in unit time for the d-axis inductance of the motor. The injection voltage value can be obtained according to the voltage calculation formula.

In detail, an injection voltage value U corresponding to a forward voltage pulse is injected to the α axis, the forward voltage pulse is obtained, and the amplitude of a response current generated in the motor is recorded as a first peak value.

And after the response current is attenuated to 0, injecting a reverse voltage pulse corresponding to the injection voltage value U into the alpha axis to obtain the reverse voltage pulse, and recording the amplitude of the response current generated in the motor as a second peak value.

And injecting an injection voltage value U corresponding to the forward voltage pulse into the beta axis to obtain the amplitude of the forward voltage pulse and the response current generated in the motor, and recording the amplitude as a third peak value.

And after the response current is attenuated to 0, injecting a reverse voltage pulse corresponding to the injection voltage value U into the beta axis to obtain the reverse voltage pulse, and recording the amplitude of the response current generated in the motor as a fourth peak value.

And setting a sign variable, wherein when the absolute value of the first peak is greater than that of the second peak, the corresponding sign variable is 0, and when the absolute value of the first peak is less than or equal to that of the second peak, the corresponding sign variable is 1. So that the first symbol variation can be derived from the first peak and the second peak.

Further, when the absolute value of the third peak is greater than the absolute value of the fourth peak, the corresponding sign variable is 0, and when the absolute value of the third peak is less than or equal to the absolute value of the fourth peak, the corresponding sign variable is 1. So that the second symbol variation can be derived from the third peak and the fourth peak.

The combination of (0, 0) and (1, 0) is set as a first quadrant in a rectangular coordinate system, (1, 0) is set as a second quadrant in the rectangular coordinate system, (1, 1) is set as a third quadrant in the rectangular coordinate system, and (0, 1) is set as a fourth quadrant in the rectangular coordinate system.

And combining the first symbol variable and the second symbol variable, and matching the first symbol variable and the second symbol variable with the combination to further judge the quadrant, namely the 90-degree sector, of the rotor under the rectangular coordinate system when the motor is started. Specifically, when the first symbol variable and the second symbol variable are combined to be (0, 0), that is, when it is determined that the motor is started, the 90 ° sector in which the rotor is located is the first quadrant in the rectangular coordinate system.

Further, the first quadrant is divided into a first area and a second area which are equal in area according to an angular bisector, wherein the first area is arranged close to the x axis, and the second area is arranged close to the y axis.

Setting | a-b | as a first peak error variable, | c-d | as a second peak error variable, wherein a is the absolute value of the first peak, b is the absolute value of the second peak, c is the absolute value of the third peak, and d is the absolute value of the fourth peak.

And comparing the first peak error variable with the second peak error variable, and determining that the initial position of the motor rotor is in the first area when the first peak error variable is larger than the second peak error variable. And when the first peak error variable is less than or equal to the second peak error variable, determining that the initial position of the rotor of the motor is in a second area, namely determining that the rotor is positioned in a 45-degree sector when the motor is started.

When the sector of 45 degrees in which the rotor is positioned when the motor is started is judged, and the sector is a first area of which the first quadrant is close to the x axis, whether the rotating direction of the motor is anticlockwise or clockwise is determined. If the rotation direction of the motor is clockwise, the first area is far away from the boundary of the second area and is the initial position of the rotor when the motor is started. If the rotation direction of the motor is anticlockwise, the first area is close to the boundary of the second area and is the initial position of the rotor when the motor is started.

It can be understood that if the sector of 45 ° in which the rotor is located when the motor is started is the first area of the second quadrant near the x-axis, if the rotation direction of the motor is clockwise, the first area is close to the boundary of the second area, which is the initial position of the rotor when the motor is started. If the rotation direction of the motor is anticlockwise, the first area is far away from the boundary of the second area and is the initial position of the rotor when the motor is started.

The initial position of the rotor during electronic starting can be determined by utilizing four voltage pulse signals, the number of injected pulses is small, and the corresponding calculation time is short, so that the jitter and the large noise of the motor cannot be caused.

In addition, according to the control method of the motor in the above technical solution provided by the present invention, the following additional technical features may be further provided:

in the above technical solution, further, obtaining an injection voltage value of the motor specifically includes: obtaining rated current, excitation inductance and stator resistance of the motor; determining a reference response current of the motor according to the rated current; and calculating an injection voltage value according to the rated current, the reference response current, the excitation inductor and the stator resistance.

In the technical scheme, the specific steps of obtaining the injection voltage value of the motor are limited. Specifically, the excitation inductance of the motor, the stator resistance of the motor, and the rated current of the motor are obtained, and it can be understood that the excitation inductance of the motor is the d-axis inductance of the motor.

Further, a reference response current of the motor is determined based on a rated current of the motor. And then, calculating an injection voltage value according to the rated current of the motor, the reference response current, the d-axis inductance and the stator resistance. That is, a voltage value capable of generating 50% of the rated current is calculated as the injection voltage value based on the d-axis inductance of the motor.

In detail, the injection voltage value of the motor is calculated according to a voltage calculation formula. Specifically, the voltage calculation formula is U ═ IR + L_dXdI/dt. Wherein I is 50% rated current, R is stator resistance of the motor, and L_dD-axis inductance of motor, dI/dt being unitThe amount of change in current in the cell. The injection voltage value can be obtained according to the voltage calculation formula.

In a specific application, I is a reference response current, i.e., 50% of the rated current. The specific setting can be carried out according to actual needs.

In the above technical solution, further, according to the injection voltage value, a forward voltage pulse and a reverse voltage pulse are respectively injected to the α axis, and a forward voltage pulse and a reverse voltage pulse are respectively injected to the β axis; recording the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse, and specifically comprising the following steps: injecting a forward voltage pulse to the alpha axis according to the injection voltage value, and acquiring a peak value of response current generated by the forward voltage pulse in the motor, and recording the peak value as a first peak value; after the response current is attenuated to zero, injecting a reverse voltage pulse to the alpha axis, and acquiring the peak value of the response current generated by the reverse voltage pulse in the motor, and marking the peak value as a second peak value; injecting a forward voltage pulse to the beta axis according to the injection voltage value, and acquiring a peak value of response current generated by the forward voltage pulse in the motor, and recording the peak value as a third peak value; and after the response current is attenuated to zero, injecting a reverse voltage pulse into the beta axis, and acquiring the peak value of the response current generated by the reverse voltage pulse in the motor, and marking as a fourth peak value.

In the technical scheme, the specific steps of injecting positive and negative voltage pulses corresponding to voltage values into an alpha axis and a beta axis respectively are limited. Specifically, under a two-phase static coordinate system, an injection voltage value U corresponding to a forward voltage pulse is injected into an alpha axis, the forward voltage pulse is obtained, and the amplitude of a response current generated in the motor is recorded as a first peak value.

Thus, the initial position of the rotor at the time of starting the motor can be determined according to the recorded first peak value, second peak value, third peak value and fourth peak value. And then utilize four voltage pulse signals can confirm the initial position of rotor when the electron starts, inject the pulse quantity less, corresponding calculation time is shorter, therefore can not cause the shake and the great noise of motor.

In the above technical solution, further, determining an initial position of the rotor when the motor is started according to a peak value of a response current generated in the motor by each forward voltage pulse and each reverse voltage pulse, specifically includes: setting a first sign variable and a second sign variable of the response current; if the absolute value of the first peak value is larger than that of the second peak value, the first symbol variable is marked as 0, otherwise, the first symbol variable is 1; if the absolute value of the third peak value is larger than that of the fourth peak value, the second symbol variable is marked as 0, otherwise, the second symbol variable is 1; and determining the quadrant of the rotor under the rectangular coordinate system when the motor is started according to the first symbol variable and the second symbol variable.

In the technical scheme, a specific step of determining the initial position of the rotor when the motor is started according to the recorded first peak value, second peak value, third peak value and fourth peak value is defined. Specifically, sign variables, i.e., a first sign variable and a second sign variable, are set.

When the absolute value of the first peak is greater than the absolute value of the second peak, the corresponding sign variable is 0, that is, the first sign variable is 0, and when the absolute value of the first peak is less than or equal to the absolute value of the second peak, the corresponding sign variable is 1, that is, the first sign variable is 0. So that the first symbol variation can be derived from the first peak and the second peak.

Further, when the absolute value of the third peak is greater than the absolute value of the fourth peak, the corresponding sign variable is 0, that is, the second sign variable is 0. When the absolute value of the third peak is smaller than or equal to the absolute value of the fourth peak, the corresponding sign variable is 1, that is, the second sign variable is 1. So that the second symbol variation can be derived from the third peak and the fourth peak.

And then preliminarily judging the quadrant of the rotor under the rectangular coordinate system when the motor is started according to the determined first symbol variable and the second symbol variable. And further determining the initial position of the rotor when the motor is started according to the first peak value, the second peak value, the third peak value and the fourth peak value on the basis of determining the quadrant where the rotor is located.

Specifically, the combination of (0, 0) as a first quadrant in a rectangular coordinate system, (1, 0) as a second quadrant in the rectangular coordinate system, (1, 1) as a third quadrant in the rectangular coordinate system, and (0, 1) as a fourth quadrant in the rectangular coordinate system is set.

And combining the first symbol variable and the second symbol variable, and matching the first symbol variable and the second symbol variable with the combination to further judge the quadrant, namely the 90-degree sector, of the rotor under the rectangular coordinate system when the motor is started.

Specifically, when the first symbol variable and the second symbol variable are combined to be (0, 0), that is, when it is determined that the motor is started, the 90 ° sector in which the rotor is located is the first quadrant in the rectangular coordinate system.

When the combination of the first symbol variable and the second symbol variable is (1, 0), namely when the motor is judged to be started, the 90-degree sector where the rotor is located is a second quadrant under the rectangular coordinate system.

When the combination of the first symbol variable and the second symbol variable is (1, 1), namely when the motor is judged to be started, the 90-degree sector where the rotor is located is the third quadrant under the rectangular coordinate system.

When the combination of the first symbol variable and the second symbol variable is (0, 1), namely when the motor is judged to be started, the 90-degree sector where the rotor is located is the fourth quadrant under the rectangular coordinate system.

Namely, when the motor is initially positioned and started, the rotor is positioned in the 90-degree sector. And further determining the initial position of the rotor when the motor is started according to the first peak value, the second peak value, the third peak value and the fourth peak value on the basis of determining the quadrant where the rotor is located.

In the above technical solution, further, determining an initial position of the rotor when the motor is started according to the first symbol variable and the second symbol variable specifically includes: combining the first symbol variable with the second symbol variable; and determining the quadrant of the rotor under the rectangular coordinate system when the motor is started according to the combination of the first symbol variable and the second symbol variable.

In the technical scheme, a specific step of determining a quadrant in which the rotor is located under a rectangular coordinate system when the motor is started according to the first symbol variable and the second symbol variable is defined.

In the above technical solution, further, determining an initial position of the rotor when the motor is started according to a peak value of a response current generated in the motor by each forward voltage pulse and each reverse voltage pulse, further includes: the absolute value of the first peak value is a, the absolute value of the second peak value is b, the absolute value of the third peak value is c, and the absolute value of the fourth peak value is d; recording | a-b | as a first peak error variable of the response current; recording | c-d | as a second peak error variable of the response current; and determining the target area of the rotor in the quadrant when the motor is started according to the first peak error variable and the second peak error variable.

In the technical scheme, a specific step of determining a target area of the rotor in the quadrant according to the recorded first peak value, second peak value, third peak value and fourth peak value on the basis of preliminarily determining the quadrant in which the rotor is located under the rectangular coordinate system when the motor is started is defined.

Specifically, | a-b | is set as a first peak error variable, | c-d | is set as a second peak error variable, where a is the absolute value of the first peak, b is the absolute value of the second peak, c is the absolute value of the third peak, and d is the absolute value of the fourth peak. And further determining a target area where the rotor is located when the motor is started according to the first peak error variable and the second peak error variable.

Further, the initial position of the rotor is determined according to the target area where the rotor is located when the motor is started.

Specifically, if the initial determination is made according to the combination of the first symbolic variable and the second symbolic variable, the quadrant in which the rotor is located when the motor is started is the first quadrant in the rectangular coordinate system.

And dividing the first quadrant into a first area and a second area which are equal in area according to an angular bisector, wherein the first area is arranged close to the x axis, and the second area is arranged close to the y axis.

And further, the initial position of the rotor can be determined according to the sector of 45 degrees in which the rotor is positioned when the motor is started and the rotating direction of the rotor when the motor is started.

In the above technical solution, further, determining a target area of the quadrant where the rotor is located when the motor is started according to the first peak error variable and the second peak error variable specifically includes: dividing a quadrant in which the rotor is positioned into a first area and a second area according to an angular bisector; if the first peak error variable is larger than the second peak error variable, determining that the target area of the rotor in the quadrant is a first area; and if the first peak error variable is less than or equal to the second peak error variable, determining that the target area of the rotor in the quadrant is the second area.

In this solution, a specific step of determining a target region of the rotor based on the magnitudes of the first peak error variable and the second peak error variable is defined. Specifically, the quadrant in which the rotor is located is first divided into a first region and a second region in a bisector according to an angular bisector.

Further, when the first peak error variable is larger than the second peak error variable, the target region is the first region. When the first peak error variable is less than or equal to the second peak error variable, the target area is the second area.

And comparing the first peak error variable with the second peak error variable, and determining that the initial position of the motor rotor is in the first area when the first peak error variable is larger than the second peak error variable. And when the first peak error variable is less than or equal to the second peak error variable, determining that the initial position of the rotor of the motor is in the region, namely determining that the rotor is positioned in the 45-degree sector when the motor is started.

In the above technical solution, further, determining an initial position of the rotor when the motor is started according to a peak value of a response current generated in the motor by each voltage pulse, further includes: acquiring the rotation direction of a motor; and determining the boundary of the area where the rotor is positioned as the initial position of the rotor when the motor is started according to the rotating direction.

In the technical scheme, the specific steps of determining the initial position of the rotor on the basis of further determining the target area where the rotor is located when the motor is started are defined. Specifically, the rotation direction of the rotor at the time of starting the motor, i.e., the clockwise direction or the counterclockwise direction, is acquired. And determining the boundary of the target area according to the rotation direction of the rotor, namely the initial position of the rotor when the motor is started.

In detail, when it is judged that the 45 ° sector in which the rotor is located when the motor is started is a first region in which the first quadrant is close to the x-axis, it is determined whether the rotation direction of the motor is counterclockwise or clockwise. If the rotation direction of the motor is clockwise, the first area is far away from the boundary of the second area and is the initial position of the rotor when the motor is started. If the rotation direction of the motor is anticlockwise, the first area is close to the boundary of the second area and is the initial position of the rotor when the motor is started.

If the sector of 45 degrees where the rotor is located when the motor is started is a first area where the third quadrant is close to the x axis, if the rotation direction of the motor is clockwise, the first area is far away from the boundary of the second area and is the initial position of the rotor when the motor is started. If the rotation direction of the motor is anticlockwise, the first area is close to the boundary of the second area and is the initial position of the rotor when the motor is started.

If the sector of 45 degrees where the rotor is located when the motor is started is a first area of which the fourth quadrant is close to the x axis, if the rotation direction of the motor is clockwise, the first area is close to the boundary of the second area and is the initial position of the rotor when the motor is started. If the rotation direction of the motor is anticlockwise, the first area is far away from the boundary of the second area and is the initial position of the rotor when the motor is started.

The second area is an area of each quadrant close to the y axis, and the first area is an area of each quadrant close to the x axis.

In the above technical solution, further, according to the rotation direction, determining the boundary of the area where the rotor is located as the initial position of the rotor when the motor is started includes: if the target area of the rotor is the first area of the first quadrant and the rotating direction is the counterclockwise direction, the boundary of the first area close to the second area is the initial position of the rotor when the motor is started.

In the technical scheme, the specific step of determining the initial position of the rotor according to the rotating direction of the rotor when the motor is started is defined.

Specifically, when it is judged that the 45 ° sector in which the rotor is located at the time of starting the motor is the first region in which the first quadrant is close to the x-axis, it is determined whether the rotation direction of the motor is counterclockwise or clockwise. If the rotation direction of the motor is clockwise, the first area is far away from the boundary of the second area and is the initial position of the rotor when the motor is started. If the rotation direction of the motor is anticlockwise, the first area is close to the boundary of the second area and is the initial position of the rotor when the motor is started.

When the sector of 45 degrees in which the rotor is positioned when the motor is started is judged to be a second area of the first quadrant close to the x axis, whether the rotating direction of the motor is anticlockwise or clockwise is determined. If the rotation direction of the motor is clockwise, the second area is close to the boundary of the first area and is the initial position of the rotor when the motor is started. If the rotation direction of the motor is anticlockwise, the second area is far away from the boundary of the first area and is the initial position of the rotor when the motor is started.

According to a second aspect of the present invention, a control device for an electric motor is provided, which includes a memory storing a computer program, and a processor implementing any one of the above methods when the processor executes the computer program. Therefore, the motor control device has all the advantages of the motor control method.

According to a third aspect of the present invention, there is provided a control device of a motor, comprising: the acquisition unit is used for acquiring an injection voltage value of the motor; the injection unit is used for respectively injecting a forward voltage pulse and a reverse voltage pulse to the alpha axis and respectively injecting a forward voltage pulse and a reverse voltage pulse to the beta axis according to the injection voltage value under the two-phase static coordinate system; the recording unit is used for recording the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse; the determining unit is used for determining the initial position of the rotor when the motor is started according to the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse; wherein, the alpha axis and the beta axis are in the same plane and are vertical to each other.

The control device of the motor comprises an acquisition unit, an injection unit, a recording unit and a determination unit, wherein specifically, under a two-phase static coordinate system, an alpha axis and a beta axis are in the same plane and are in two directions which are perpendicular to each other. And injecting a forward voltage pulse corresponding to the injection voltage value into the alpha axis, and acquiring the peak value of the response current generated in the motor by the forward voltage pulse. And after the response current is attenuated to 0, injecting a reverse voltage pulse corresponding to the injection voltage value into the alpha axis. It is understood that the forward voltage pulse corresponds to an injection voltage value of U1 and the reverse voltage pulse corresponds to an injection voltage value of-U1. The peak value of the response current generated in the motor by the reverse voltage pulse is obtained.

In addition, according to the control device of the motor in the above technical solution provided by the present invention, the following additional technical features may be further provided:

in the above technical solution, further, the obtaining unit includes: the first acquisition module is used for acquiring the rated current, the excitation inductance and the stator resistance of the motor; a first determining subunit, configured to determine a reference response current of the motor according to the rated current; and the second determining subunit is used for calculating the injection voltage value according to the rated current, the reference response current, the excitation inductor and the stator resistance.

In the technical scheme, the acquisition unit is limited to comprise a first acquisition module, a first determination subunit and a second determination subunit. Specifically, the excitation inductance of the motor, the stator resistance of the motor, and the rated current of the motor are obtained, and it can be understood that the excitation inductance of the motor is the d-axis inductance of the motor.

In detail, the injection voltage value of the motor is calculated according to a voltage calculation formula. Specifically, the voltage calculation formula is U ═ IR + L_dXdI/dt. Wherein I is 50% rated current, R is stator resistance of the motor, and L_dAnd dI/dt is the change of current in unit time for the d-axis inductance of the motor. The injection voltage value can be obtained according to the voltage calculation formula.

In the above technical solution, further, the injection unit includes a first injection module configured to inject a forward voltage pulse to the α axis according to an injection voltage value, and the recording unit is further configured to obtain a peak value of a response current generated by the forward voltage pulse in the motor, and mark the peak value as a first peak value; the first injection module is further used for injecting a reverse voltage pulse to the alpha axis after the response current is attenuated to zero, and the recording unit is further used for acquiring a peak value of the response current generated by the reverse voltage pulse in the motor and recording the peak value as a second peak value; the second injection module is used for injecting a forward voltage pulse to the beta axis according to the injection voltage value, and the recording unit is also used for acquiring the peak value of the response current generated by the forward voltage pulse in the motor and recording the peak value as a third peak value; the second injection module is further used for injecting a reverse voltage pulse to the beta axis after the response current decays to zero, and the recording unit is further used for acquiring a peak value of the response current generated by the reverse voltage pulse in the motor and recording the peak value as a fourth peak value.

In the technical scheme, the injection unit comprises a first injection module and a second injection module, and specifically, the specific steps of injecting positive and negative voltage pulses corresponding to voltage values into an alpha axis and a beta axis respectively are limited. Specifically, under a two-phase static coordinate system, an injection voltage value U corresponding to a forward voltage pulse is injected into an alpha axis, the forward voltage pulse is obtained, and the amplitude of a response current generated in the motor is recorded as a first peak value.

In the above technical solution, the determining unit further includes: the setting module is used for setting a first sign variable and a second sign variable of the response current; the first judgment module is used for recording a first symbol variable as 0 if the absolute value of the first peak value is greater than the absolute value of the second peak value, otherwise, the first symbol variable is 1; the first judging module is further configured to mark the second sign variable as 0 if the absolute value of the third peak is greater than the absolute value of the fourth peak, and otherwise, the second sign variable is 1; and the first determining module is used for determining the quadrant of the rotor under the rectangular coordinate system when the motor is started according to the first symbol variable and the second symbol variable.

In this technical solution, the determining unit includes a setting module, a first determining module, and specifically, sets a symbol variable, that is, a first symbol variable and a second symbol variable.

In the foregoing technical solution, further, the first determining module includes: a combining submodule for combining the first symbol variable and the second symbol variable; and the determining submodule is used for determining the quadrant of the rotor under the rectangular coordinate system when the motor is started according to the combination of the first symbol variable and the second symbol variable.

In the technical solution, the first determining module is defined to include a combination submodule and a determining submodule, and specifically, the combination is set to be (0, 0) as a first quadrant in a rectangular coordinate system, (1, 0) as a second quadrant in the rectangular coordinate system, (1, 1) as a third quadrant in the rectangular coordinate system, and (0, 1) as a fourth quadrant in the rectangular coordinate system.

In the above technical solution, further, an absolute value of the first peak is a, an absolute value of the second peak is b, an absolute value of the third peak is c, and an absolute value of the fourth peak is d; the determination unit further includes: the recording module is used for recording the | a-b | as a first peak error variable of the response current; recording | c-d | as a second peak error variable of the response current; and the second determining module is used for determining the target area of the rotor in the quadrant when the motor is started according to the first peak error variable and the second peak error variable.

In this technical solution, it is defined that the determining unit further includes a recording module and a second determining module, and specifically, | a-b | is set as a first peak error variable, | c-d | is set as a second peak error variable, where a is an absolute value of the first peak, b is an absolute value of the second peak, c is an absolute value of the third peak, and d is an absolute value of the fourth peak. And further determining a target area where the rotor is located when the motor is started according to the first peak error variable and the second peak error variable.

In the technical scheme, furthermore, a quadrant where the rotor is located is divided into a first area and a second area according to an angular bisector; the second determining module includes: the second judgment module is used for determining that the target area of the rotor in the quadrant is the first area if the first peak error variable is larger than the second peak error variable; the second judging module is further used for determining that the target area of the rotor in the quadrant is the second area if the first peak error variable is smaller than or equal to the second peak error variable.

In the technical scheme, the second determining module is limited to comprise a second judging module. Specifically, the quadrant in which the rotor is located is first divided into a first region and a second region in a bisector according to an angular bisector.

In the above technical solution, further, the determining unit further includes: the second acquisition module is used for acquiring the rotation direction of the motor; and the third determining module is used for determining the boundary of the area where the rotor is positioned as the initial position of the rotor when the motor is started according to the rotating direction.

In the technical scheme, the determining unit further comprises a second obtaining module and a third determining module. Specifically, the rotation direction of the rotor at the time of starting the motor, i.e., the clockwise direction or the counterclockwise direction, is acquired. And determining the boundary of the target area according to the rotation direction of the rotor, namely the initial position of the rotor when the motor is started.

In the above technical solution, further, the third determining module is further configured to determine that a boundary of the first area close to the second area is an initial position of the rotor when the motor is started if the target area of the rotor is a first area of the first quadrant and the rotating direction is a counterclockwise direction.

In the technical scheme, when the sector of 45 degrees where the rotor is located when the motor is started is judged to be a first area where the first quadrant is close to the x axis, whether the rotating direction of the motor is anticlockwise or clockwise is determined. If the rotation direction of the motor is clockwise, the first area is far away from the boundary of the second area and is the initial position of the rotor when the motor is started. If the rotation direction of the motor is anticlockwise, the first area is close to the boundary of the second area and is the initial position of the rotor when the motor is started.

According to a fourth aspect of the present invention, there is provided a control system comprising a control device for an electric machine as defined in any one of the preceding claims. Therefore, the control system has all the advantageous effects of the control device for the motor described above.

In addition, according to the control system in the above technical solution provided by the present invention, the following additional technical features may be further provided:

in the above technical solution, further, the control system further includes a motor, the motor is connected to a control device of the motor, and the control device of the motor is used for controlling the motor.

In this solution, the control system further comprises a motor. Specifically, the control device of the motor is connected with the motor for controlling the motor.

In a specific application, the control device of the motor may be a frequency converter.

According to a fifth aspect of the present invention, a readable storage medium is proposed, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the method of controlling an electric machine according to any one of the above. The readable storage medium thus has all the advantageous effects of the control method of the motor according to any one of the above.

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.

Drawings

The above 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 shows one of the flow diagrams of a control method of an electric machine according to an embodiment of the invention;

fig. 2 shows a second flow chart of a control method of the motor according to an embodiment of the invention;

fig. 3 shows a third schematic flow chart of a control method of the motor according to an embodiment of the invention;

FIG. 4 is a flow chart illustrating a fourth exemplary embodiment of a method for controlling a motor;

fig. 5 shows a fifth flowchart of a control method of the motor according to an embodiment of the invention;

fig. 6 shows a sixth flowchart of a control method of the motor according to an embodiment of the present invention;

fig. 7 shows a seventh flowchart of a control method of the motor according to an embodiment of the present invention;

fig. 8 shows an eighth schematic flow chart of a control method of the motor according to an embodiment of the present invention;

fig. 9 shows a ninth schematic flow chart of a control method of the motor according to an embodiment of the present invention;

fig. 10 shows ten of the flow diagrams of the control method of the motor according to one embodiment of the invention;

fig. 11 shows a schematic block diagram of a control apparatus of a motor according to an embodiment of the present invention.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

A control method of a motor, a control apparatus 1100 of a motor, a control system, and a storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 11.

Example one

As shown in fig. 1, according to an embodiment of a first aspect of the present invention, there is provided a control method of a motor, the control method including:

102, acquiring an injection voltage value of a motor;

104, respectively injecting a forward voltage pulse and a reverse voltage pulse to the alpha axis and respectively injecting a forward voltage pulse and a reverse voltage pulse to the beta axis according to the injection voltage value in a two-phase static coordinate system;

106, recording the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse;

step 108, determining the initial position of the rotor when the motor is started according to the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse;

wherein, the alpha axis and the beta axis are in the same plane and are vertical to each other.

Example two

As shown in fig. 2, according to an embodiment of the present invention, there is provided a control method of a motor, the control method including:

step 202, acquiring an injection voltage value of the motor;

step 204, injecting a forward voltage pulse to the alpha axis according to the injection voltage value, and acquiring a peak value of response current generated by the forward voltage pulse in the motor, and recording the peak value as a first peak value;

step 206, after the response current decays to zero, injecting a reverse voltage pulse to the alpha axis, and obtaining a peak value of the response current generated by the reverse voltage pulse in the motor, and recording the peak value as a second peak value;

step 208, injecting a forward voltage pulse to the beta axis according to the injection voltage value, and acquiring a peak value of a response current generated by the forward voltage pulse in the motor, and recording the peak value as a third peak value;

step 210, after the response current decays to zero, injecting a reverse voltage pulse into the beta axis, and obtaining a peak value of the response current generated by the reverse voltage pulse in the motor, and marking the peak value as a fourth peak value;

and step 212, determining the initial position of the rotor when the motor is started according to the first peak value, the second peak value, the third peak value and the fourth peak value.

In this embodiment, a specific step of injecting positive and negative voltage pulses with corresponding voltage values into the α axis and the β axis, respectively, is defined. Specifically, under a two-phase static coordinate system, an injection voltage value U corresponding to a forward voltage pulse is injected into an alpha axis, the forward voltage pulse is obtained, and the amplitude of a response current generated in the motor is recorded as a first peak value.

EXAMPLE III

As shown in fig. 3, according to an embodiment of the present invention, step 108, determining an initial position of the rotor at the time of starting the motor according to a peak value of a response current generated in the motor by each forward voltage pulse and each reverse voltage pulse includes:

step 302, setting a first sign variable and a second sign variable of response current;

step 304, if the absolute value of the first peak value is greater than the absolute value of the second peak value, the first sign variable is marked as 0, otherwise, the first sign variable is 1;

step 306, if the absolute value of the third peak is greater than the absolute value of the fourth peak, the second sign variable is marked as 0, otherwise, the second sign variable is 1;

and 308, determining the quadrant of the rotor under the rectangular coordinate system when the motor is started according to the first symbol variable and the second symbol variable.

In this embodiment, a specific step of determining the initial position of the rotor at the start of the motor from the recorded first, second, third and fourth peaks is defined. Specifically, sign variables, i.e., a first sign variable and a second sign variable, are set.

Example four

As shown in fig. 4, according to an embodiment of the present invention, step 308, determining a quadrant of the rotor in the rectangular coordinate system when the motor is started according to the first sign variable and the second sign variable specifically includes:

step 402, combining the first symbol variable and the second symbol variable;

and step 404, determining a quadrant of the rotor under the rectangular coordinate system when the motor is started according to the combination of the first symbol variable and the second symbol variable.

In this embodiment, a specific step of determining the quadrant in which the rotor is located in the rectangular coordinate system when the motor is started according to the first symbolic variable and the second symbolic variable is defined.

EXAMPLE five

As shown in fig. 5, according to an embodiment of the present invention, the absolute value of the first peak is a, the absolute value of the second peak is b, the absolute value of the third peak is c, and the absolute value of the fourth peak is d, and step 108, determining an initial position of the rotor at the time of starting the motor according to the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse, further includes:

step 502, marking | a-b | as a first peak error variable of the response current;

step 504, marking | c-d | as a second peak error variable of the response current;

and step 506, determining a target area of the rotor in the quadrant when the motor is started according to the first peak error variable and the second peak error variable.

In this embodiment, a specific step of determining a target area of the rotor in the quadrant according to the recorded first peak value, second peak value, third peak value and fourth peak value on the basis of the quadrant in which the rotor is located in the rectangular coordinate system when the motor is initially determined to be started is defined.

EXAMPLE six

As shown in fig. 6, according to an embodiment of the present invention, step 506, determining a target area of the quadrant where the rotor is located when the motor is started according to the first peak error variable and the second peak error variable, specifically includes:

step 602, dividing a quadrant in which a rotor is positioned into a first area and a second area according to an angular bisector;

step 604, if the first peak error variable is greater than the second peak error variable, determining that the target area of the rotor in the quadrant is the first area;

in step 606, if the first peak error variable is less than or equal to the second peak error variable, the target area of the quadrant where the rotor is located is determined to be the second area.

In this embodiment, a specific step of determining the target area of the rotor according to the magnitudes of the first peak error variable and the second peak error variable is defined. Specifically, the quadrant in which the rotor is located is first divided into a first region and a second region in a bisector according to an angular bisector.

EXAMPLE seven

As shown in fig. 7, according to an embodiment of the present invention, step 108, determining an initial position of the rotor at the time of starting the motor according to a peak value of a response current generated in the motor by each forward voltage pulse and each reverse voltage pulse, further includes:

step 702, acquiring the rotation direction of a motor;

step 702, determining the boundary of the area where the rotor is located as the initial position of the rotor when the motor is started according to the rotation direction.

In this embodiment, a specific step of determining the initial position of the rotor on the basis of further determining the target area in which the rotor is located at the time of starting the motor is defined. Specifically, the rotation direction of the rotor at the time of starting the motor, i.e., the clockwise direction or the counterclockwise direction, is acquired. And determining the boundary of the target area according to the rotation direction of the rotor, namely the initial position of the rotor when the motor is started.

Example eight

As shown in fig. 8, according to an embodiment of the present invention, step 702, determining a boundary of an area where the rotor is located as an initial position of the rotor when the motor is started according to the rotation direction includes:

in step 802, if the target area of the rotor is a first area of the first quadrant and the rotation direction is counterclockwise, the boundary of the first area close to the second area is the initial position of the rotor when the motor is started.

In this embodiment, a specific step of determining the initial position of the rotor according to the rotation direction of the rotor at the time of starting the motor is defined.

Example nine

As shown in fig. 9, according to an embodiment of the present invention, step 102, acquiring an injection voltage value of a motor specifically includes:

step 902, obtaining rated current, excitation inductance and stator resistance of a motor;

step 904, determining a reference response current of the motor according to the rated current;

step 906, calculating an injection voltage value according to the rated current, the reference response current, the excitation inductance and the stator resistance.

In this embodiment, a specific step of obtaining the motor injection voltage value is defined. Specifically, the excitation inductance of the motor, the stator resistance of the motor, and the rated current of the motor are obtained, and it can be understood that the excitation inductance of the motor is the d-axis inductance of the motor.

Example ten

As shown in fig. 10, in a specific embodiment, the control method includes:

step 1002, obtaining rated current, excitation inductance and stator resistance of a motor;

step 1004, determining a reference response current of the motor according to the rated current;

step 1006, calculating an injection voltage value according to the rated current, the reference response current, the excitation inductance and the stator resistance;

step 1008, injecting a forward voltage pulse to the alpha axis according to the injection voltage value, and obtaining a peak value of a response current generated by the forward voltage pulse in the motor, and marking the peak value as a first peak value;

step 1010, after the response current decays to zero, injecting a reverse voltage pulse to the alpha axis, and acquiring a peak value of the response current generated by the reverse voltage pulse in the motor, and marking the peak value as a second peak value;

step 1012, injecting a forward voltage pulse to the beta axis according to the injection voltage value, and acquiring a peak value of a response current generated by the forward voltage pulse in the motor, and marking the peak value as a third peak value;

step 1014, after the response current decays to zero, injecting a reverse voltage pulse into the beta axis, and acquiring a peak value of the response current generated by the reverse voltage pulse in the motor, and marking the peak value as a fourth peak value;

step 1016, setting a first sign variable and a second sign variable of the response current;

step 1018, if the absolute value of the first peak is greater than the absolute value of the second peak, marking the first sign variable as 0, otherwise, the first sign variable is 1;

step 1020, if the absolute value of the third peak is greater than the absolute value of the fourth peak, the second sign variable is marked as 0, otherwise, the second sign variable is 1;

step 1022, combining the first symbol variable and the second symbol variable;

step 1024, determining a quadrant of the rotor under the rectangular coordinate system when the motor is started according to the combination of the first symbol variable and the second symbol variable;

step 1026, recording the | a-b | as a first peak error variable of the response current;

step 1028, recording | c-d | as a second peak error variable of the response current;

step 1030, dividing the quadrant where the rotor is located into a first area and a second area according to an angular bisector;

step 1032, if the first peak error variable is larger than the second peak error variable, determining that the target area of the rotor in the quadrant is the first area;

step 1034, if the first peak error variable is less than or equal to the second peak error variable, determining that the target area of the rotor in the quadrant is the second area;

step 1036, acquiring the rotation direction of the motor;

in step 1038, if the target area of the rotor is a first area of the first quadrant, and the rotation direction is counterclockwise, the boundary of the first area close to the second area is the initial position of the rotor when the motor is started.

In the embodiment, the initial position of the rotor at the time of electronic starting can be determined by utilizing four voltage pulse signals, the number of injected pulses is less, and the corresponding calculation time is shorter, so that the jitter and the larger noise of the motor can not be caused.

EXAMPLE eleven

As shown in fig. 11, according to a second aspect of the present invention, a control apparatus 1100 for a motor is provided, which includes a memory 1102 and a processor 1104, wherein the memory 1102 stores a computer program, and the processor 1104 executes the computer program to implement the control method for the motor according to the above-mentioned embodiments. Therefore, the control device 1100 for the motor has all the advantageous effects of the control method for the motor of the above embodiment.

Example twelve

According to a third aspect of the present invention, there is provided a control device of a motor, comprising: the acquisition unit is used for determining an injection voltage value of the motor; the injection unit is used for respectively injecting a forward voltage pulse and a reverse voltage pulse to the alpha axis and respectively injecting a forward voltage pulse and a reverse voltage pulse to the beta axis according to the injection voltage value under the two-phase static coordinate system; the recording unit is used for recording the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse; the determining unit is used for determining the initial position of the rotor when the motor is started according to the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse; wherein, the alpha axis and the beta axis are in the same plane and are vertical to each other.

On the basis of the above embodiment, further, the acquisition unit includes: the first acquisition module is used for acquiring the rated current, the excitation inductance and the stator resistance of the motor; a first determining subunit, configured to determine a reference response current of the motor according to the rated current; and the second determining subunit is used for calculating the injection voltage value according to the rated current, the reference response current, the excitation inductor and the stator resistance.

In this embodiment, it is defined that the acquisition unit includes a first acquisition module, a first determination subunit, and a second determination subunit. Specifically, the excitation inductance of the motor, the stator resistance of the motor, and the rated current of the motor are obtained, and it can be understood that the excitation inductance of the motor is the d-axis inductance of the motor.

On the basis of the above embodiment, further, the injection unit includes a first injection module configured to inject a forward voltage pulse to the α axis according to an injection voltage value, and the recording unit is further configured to obtain a peak value of a response current generated by the forward voltage pulse in the motor, and mark the peak value as a first peak value; the first injection module is further used for injecting a reverse voltage pulse to the alpha axis after the response current is attenuated to zero, and the recording unit is further used for acquiring a peak value of the response current generated by the reverse voltage pulse in the motor and recording the peak value as a second peak value; the second injection module is used for injecting a forward voltage pulse to the beta axis according to the injection voltage value, and the recording unit is also used for acquiring the peak value of the response current generated by the forward voltage pulse in the motor and recording the peak value as a third peak value; the second injection module is further used for injecting a reverse voltage pulse to the beta axis after the response current decays to zero, and the recording unit is further used for acquiring a peak value of the response current generated by the reverse voltage pulse in the motor and recording the peak value as a fourth peak value.

In this embodiment, the injection unit includes a first injection module and a second injection module, and specifically, defines a specific step of injecting positive and negative voltage pulses corresponding to voltage values into the α axis and the β axis, respectively. Specifically, under a two-phase static coordinate system, an injection voltage value U corresponding to a forward voltage pulse is injected into an alpha axis, the forward voltage pulse is obtained, and the amplitude of a response current generated in the motor is recorded as a first peak value.

On the basis of the above embodiment, further, the determination unit includes: the setting module is used for setting a first sign variable and a second sign variable of the response current; the first judgment module is used for recording a first symbol variable as 0 if the absolute value of the first peak value is greater than the absolute value of the second peak value, otherwise, the first symbol variable is 1; the first judging module is further configured to mark the second sign variable as 0 if the absolute value of the third peak is greater than the absolute value of the fourth peak, and otherwise, the second sign variable is 1; and the first determining module is used for determining the quadrant of the rotor under the rectangular coordinate system when the motor is started according to the first symbol variable and the second symbol variable.

In this embodiment, the determination unit includes a setting module, a first judgment module, and a first determination module, and specifically, sets symbol variables, i.e., a first symbol variable and a second symbol variable.

On the basis of the foregoing embodiment, further, the first determining module includes: a combining submodule for combining the first symbol variable and the second symbol variable; and the determining submodule is used for determining the quadrant of the rotor under the rectangular coordinate system when the motor is started according to the combination of the first symbol variable and the second symbol variable.

In this embodiment, it is defined that the first determination module includes a combination sub-module and a determination sub-module, and specifically, the combination is set to be (0, 0) the first quadrant in the rectangular coordinate system, (1, 0) the second quadrant in the rectangular coordinate system, (1, 1) the third quadrant in the rectangular coordinate system, and (0, 1) the fourth quadrant in the rectangular coordinate system.

In addition to the above embodiment, further, the absolute value of the first peak is a, the absolute value of the second peak is b, the absolute value of the third peak is c, and the absolute value of the fourth peak is d; the determination unit further includes: the recording module is used for recording the | a-b | as a first peak error variable of the response current; recording | c-d | as a second peak error variable of the response current; and the second determining module is used for determining the target area of the rotor in the quadrant when the motor is started according to the first peak error variable and the second peak error variable.

In this embodiment, it is defined that the determining unit further comprises a recording module and a second determining module, and in particular, | a-b | is set as a first peak error variable, | c-d | is set as a second peak error variable, where a is an absolute value of the first peak, b is an absolute value of the second peak, c is an absolute value of the third peak, and d is an absolute value of the fourth peak. And further determining a target area where the rotor is located when the motor is started according to the first peak error variable and the second peak error variable.

On the basis of the embodiment, the quadrant in which the rotor is positioned is further divided into a first area and a second area according to an angle bisector; the second determining module includes: the second judgment module is used for determining that the target area of the rotor in the quadrant is the first area if the first peak error variable is larger than the second peak error variable; the second judging module is further used for determining that the target area of the rotor in the quadrant is the second area if the first peak error variable is smaller than or equal to the second peak error variable.

In this embodiment, it is defined that the second determination module includes a second judgment module. Specifically, the quadrant in which the rotor is located is first divided into a first region and a second region in a bisector according to an angular bisector.

On the basis of the above embodiment, further, the determining unit further includes: the second acquisition module is used for acquiring the rotation direction of the motor; and the third determining module is used for determining the boundary of the area where the rotor is positioned as the initial position of the rotor when the motor is started according to the rotating direction.

In this embodiment, it is defined that the determination unit further includes a second acquisition module and a third determination module. Specifically, the rotation direction of the rotor at the time of starting the motor, i.e., the clockwise direction or the counterclockwise direction, is acquired. And determining the boundary of the target area according to the rotation direction of the rotor, namely the initial position of the rotor when the motor is started.

On the basis of the foregoing embodiment, further, the third determining module is further configured to determine, if the target area of the rotor is a first area of the first quadrant, and the rotating direction is a counterclockwise direction, a boundary of the first area, which is close to the second area, is an initial position of the rotor when the motor is started.

In this embodiment, when it is judged that the 45 ° sector in which the rotor is located at the time of starting the motor is the first region in which the first quadrant is close to the x-axis, it is determined whether the rotation direction of the motor is counterclockwise or clockwise. If the rotation direction of the motor is clockwise, the first area is far away from the boundary of the second area and is the initial position of the rotor when the motor is started. If the rotation direction of the motor is anticlockwise, the first area is close to the boundary of the second area and is the initial position of the rotor when the motor is started.

EXAMPLE thirteen

According to a fourth aspect of the present invention, there is provided a control system including the control device of the motor as in the above-described embodiments. Therefore, the control system has all the advantages of the control device of the motor of the embodiment.

On the basis of the above embodiment, further, the control system further includes a motor, the motor is connected with a control device of the motor, and the control device of the motor is used for controlling the motor.

In this embodiment, the control system further comprises a motor. Specifically, the control device of the motor is connected with the motor for controlling the motor.

Example fourteen

According to a fifth aspect of the present invention, a readable storage medium is proposed, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the control method of the motor as the above-mentioned embodiments. The readable storage medium thus has all the advantageous effects of the control method of the motor of the above-described embodiment.

In the description herein, all quantities relating to temperature, including expression units, are in degrees centigrade and the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly stated or limited otherwise; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means 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 do not necessarily 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.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method of a motor, characterized by comprising:

acquiring an injection voltage value of the motor;

under a two-phase static coordinate system, respectively injecting a forward voltage pulse and a reverse voltage pulse to an alpha axis and respectively injecting a forward voltage pulse and a reverse voltage pulse to a beta axis according to the injection voltage value;

recording a peak value of a response current generated in the motor by each of the forward voltage pulses and each of the reverse voltage pulses;

determining the initial position of the rotor when the motor is started according to the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse;

2. The method according to claim 1, wherein the obtaining of the injection voltage value of the motor specifically includes:

obtaining rated current, excitation inductance and stator resistance of the motor;

determining a reference response current of the motor according to the rated current;

and calculating the injection voltage value according to the rated current, the reference response current, the excitation inductor and the stator resistance.

3. The control method of the motor according to claim 1, wherein the injection of one forward voltage pulse and one reverse voltage pulse to the α axis and one forward voltage pulse and one reverse voltage pulse to the β axis, respectively, is performed according to the injection voltage value; recording the peak value of the response current generated in the motor by each forward voltage pulse and each reverse voltage pulse, and specifically comprising the following steps:

injecting a forward voltage pulse to an alpha axis according to the injection voltage value, and acquiring a peak value of response current generated by the forward voltage pulse in the motor, and recording the peak value as a first peak value;

after the response current is attenuated to zero, injecting a reverse voltage pulse to the alpha axis, and acquiring the peak value of the response current generated by the reverse voltage pulse in the motor and marking the peak value as a second peak value;

injecting a forward voltage pulse to a beta axis according to the injection voltage value, and acquiring a peak value of response current generated by the forward voltage pulse in the motor, and recording the peak value as a third peak value;

and after the response current is attenuated to zero, injecting a reverse voltage pulse into the beta axis, and acquiring the peak value of the response current generated by the reverse voltage pulse in the motor and marking as a fourth peak value.

4. The method according to claim 3, wherein the determining an initial position of the rotor at the start of the motor based on the peak value of the response current generated in the motor by each of the forward voltage pulses and each of the reverse voltage pulses comprises:

setting a first sign variable and a second sign variable of the response current;

if the absolute value of the first peak value is greater than the absolute value of the second peak value, the first symbol variable is marked as 0, otherwise, the first symbol variable is 1;

if the absolute value of the third peak value is greater than the absolute value of the fourth peak value, the second symbol variable is marked as 0, otherwise, the second symbol variable is 1;

and determining the quadrant of the rotor under the rectangular coordinate system when the motor is started according to the first symbol variable and the second symbol variable.

5. The method according to claim 4, wherein the determining the initial position of the rotor at the time of starting the motor according to the first symbol variable and the second symbol variable specifically comprises:

combining the first symbol variable with the second symbol variable;

and determining the quadrant of the rotor under the rectangular coordinate system when the motor is started according to the combination of the first symbol variable and the second symbol variable.

6. The method of controlling a motor according to claim 5, wherein the determining of the initial position of the rotor at the time of starting the motor based on the peak value of the response current generated in the motor by each of the forward voltage pulses and each of the reverse voltage pulses further comprises:

the absolute value of the first peak is a, the absolute value of the second peak is b, the absolute value of the third peak is c, and the absolute value of the fourth peak is d;

recording | a-b | as a first peak error variable of the response current;

recording | c-d | as a second peak error variable of the response current;

and determining a target area of the rotor in the quadrant when the motor is started according to the first peak error variable and the second peak error variable.

7. The method for controlling the motor according to claim 6, wherein the determining the target area of the quadrant in which the rotor is located when the motor is started according to the first peak error variable and the second peak error variable specifically comprises:

dividing a quadrant in which the rotor is positioned into a first area and a second area according to an angular bisector;

if the first peak error variable is larger than the second peak error variable, determining that a target area of the rotor in the quadrant is the first area;

and if the first peak error variable is smaller than or equal to the second peak error variable, determining that the target area of the rotor in the quadrant is the second area.

8. The method of controlling a motor according to claim 7, wherein the determining of the initial position of the rotor at the start of the motor based on the peak value of the response current generated in the motor by each of the voltage pulses further comprises:

acquiring the rotation direction of a motor;

and determining the boundary of the area where the rotor is positioned as the initial position of the rotor when the motor is started according to the rotating direction.

9. The method according to claim 8, wherein the determining, according to the rotation direction, the boundary of the area where the rotor is located as an initial position of the rotor when the motor is started specifically includes:

and if the target area of the rotor is a first area of a first quadrant and the rotating direction is a counterclockwise direction, the boundary of the first area close to the second area is the initial position of the rotor when the motor is started.

10. A control device for an electric motor, comprising a memory storing a computer program, and a processor executing the computer program to execute the control method for an electric motor according to any one of claims 1 to 9.

11. A control device of a motor, characterized by comprising:

the acquisition unit is used for acquiring an injection voltage value of the motor;

the injection unit is used for respectively injecting a forward voltage pulse and a reverse voltage pulse to an alpha axis and respectively injecting a forward voltage pulse and a reverse voltage pulse to a beta axis according to the injection voltage value under the two-phase static coordinate system;

a recording unit for recording a peak value of a response current generated in the motor by each of the forward voltage pulses and each of the reverse voltage pulses;

a determining unit for determining an initial position of the rotor at the time of starting the motor according to a peak value of a response current generated in the motor by each of the forward voltage pulses and each of the reverse voltage pulses;

12. The control device of the motor according to claim 11, wherein the acquisition unit includes:

the first acquisition module is used for acquiring the rated current, the excitation inductance and the stator resistance of the motor;

the first determining subunit is used for determining a reference response current of the motor according to the rated current;

and the second determining subunit is used for calculating the injection voltage value according to the rated current, the reference response current, the excitation inductor and the stator resistance.

13. A control system comprising a control device of an electric machine according to any one of claims 10 to 12.

14. The control system of claim 13, further comprising:

the motor is connected with the control device of the motor, and the control device of the motor is used for controlling the motor.

15. A readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of controlling an electric machine according to any one of claims 1 to 9.