CN114204859B - Motor control method, system, device and medium - Google Patents
Motor control method, system, device and medium Download PDFInfo
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- CN114204859B CN114204859B CN202111529031.2A CN202111529031A CN114204859B CN 114204859 B CN114204859 B CN 114204859B CN 202111529031 A CN202111529031 A CN 202111529031A CN 114204859 B CN114204859 B CN 114204859B
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- 238000010586 diagram Methods 0.000 description 10
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a motor control method, a system, a device and a medium, wherein in the scheme, phase current of a motor is acquired for a plurality of times in a driving period, and a driving module is controlled based on the acquired current for a plurality of times. On one hand, the time delay of updating the operation instruction in the current loop in the prior art can be reduced, the time delay time of the motor is reduced to a certain extent, the bandwidth of the current loop is improved, and on the other hand, the interference of preset frequency existing when the phase current of the motor is acquired for many times can be restrained.
Description
Technical Field
The present invention relates to the field of motors, and in particular, to a motor control method, system, apparatus, and medium.
Background
At present, when a servo motor is controlled, a current loop is the innermost loop in servo control, the bandwidth of the current loop directly influences the performance of the whole driver, and the delay in the current loop is a key factor for restricting the lifting of the current loop. Specifically, the delay of the current loop mainly refers to the delay from current sampling to current loop operation and the update of PWM (Pulse Width Modulation ) by an operation instruction, and the delay from the update of the instruction to a real switching action point, and these delays result in a smaller bandwidth of the current loop, so that when the servo motor is controlled based on the current loop, the real-time performance of the control is lower, and the time for controlling the servo motor to complete the instruction is longer.
Disclosure of Invention
The invention aims to provide a motor control method, a system, a device and a medium, which can reduce the delay of updating an operation instruction in a current loop in the prior art, reduce the delay time of a motor to a certain extent, improve the bandwidth of the current loop and inhibit the interference of preset frequency existing when the phase current of the motor is acquired for a plurality of times.
In order to solve the above technical problems, the present invention provides a motor control method, which is applied to a driving system of a motor, the driving system including a driving module for driving the motor, the method including:
s11: in a driving period, the phase current of the motor is acquired for a plurality of times to obtain an acquisition current;
s12: filtering current signals with preset frequency in the collected current to obtain a processed collected current;
s13: constructing a current observer based on a motor model to observe phase currents of the motor to obtain observed currents;
s14: extracting the current signal with the preset frequency from the observed current to obtain a processed observed current;
s15: and taking the sum of the processed observation current and the processed acquisition current as a feedback current, so that the current loop performs closed-loop control on the phase current of the motor based on a target current and the feedback current.
Preferably, the driving module is a three-phase bridge circuit;
the driving period is an action period of a switching tube in the three-phase bridge circuit;
the preset frequency is the frequency of a PWM signal for controlling the action of a switching tube in the three-phase bridge circuit.
Preferably, filtering the current signal with the preset frequency in the collected current to obtain a processed collected current, including:
filtering the current signal with the preset frequency in the acquired current through a notch filter rate to obtain the processed acquired current;
the center frequency of the notch filter is the preset frequency.
Preferably, extracting the current signal with the preset frequency from the observed current to obtain a processed observed current, including:
extracting a current signal with the preset frequency from the observed current through a band-pass filter;
the center frequency of the band-pass filter is the preset frequency.
Preferably, the S12 to S15 include:
the difference value between the acquired current and the observed current passes through a band-pass filter to obtain filtered current, and the center frequency of the band-pass filter is set to be the preset frequency;
and taking the difference value of the acquired current and the filtered current as the feedback current, so that the current loop performs closed-loop control on the phase current of the motor based on the target current and the feedback current.
Preferably, the feedback current includes a d-axis feedback current and a q-axis feedback current;
causing the current loop to perform closed-loop control on phase current of the motor based on a target current and the feedback current, including:
the control current controller generates a d-axis voltage signal based on the target d-axis current and the d-axis feedback current, and generates a q-axis voltage signal based on the target q-axis current and the q-axis feedback current;
performing Park inverse transformation on the d-axis voltage signal to obtain a first voltage vector, and performing Park inverse transformation on the q-axis voltage signal to obtain a second voltage vector;
and performing voltage space vector pulse width modulation on the first voltage vector and the second voltage vector to obtain a PWM signal, so that the driving module drives the motor based on the PWM signal.
Preferably, the method further comprises the steps of after collecting the phase current of the motor for a plurality of times in one driving period to obtain the collected current:
performing Clarke transformation and Park transformation on the acquired current to obtain d-axis acquired current and q-axis acquired current;
the S12 to S15 include:
filtering current signals with preset frequency in the d-axis acquisition current to obtain processed d-axis acquisition current, and filtering current signals with preset frequency in the q-axis acquisition current to obtain processed q-axis acquisition current;
constructing a current observer based on the motor model;
controlling the current observer to generate d-axis observation current based on d-axis acquisition current and d-axis voltage signals, and generating q-axis observation current based on q-axis acquisition current and q-axis voltage signals;
extracting a current signal with preset frequency from the d-axis observation current to obtain a processed d-axis observation current, and extracting a current signal with preset frequency from the q-axis observation current to obtain a processed q-axis observation current;
adding the processed d-axis acquisition current and the processed d-axis observation current to obtain a d-axis feedback current, adding the processed q-axis acquisition current and the processed q-axis observation current to obtain a q-axis feedback current, and enabling the current loop to carry out closed loop control on the phase current of the motor based on a target d-axis current, the d-axis feedback current, a target q-axis current and the q-axis feedback current.
In order to solve the above technical problem, the present invention further provides a motor control system, which is applied to a driving system of a motor, the driving system including a driving module for driving the motor, the method including:
the acquisition unit is used for acquiring the phase current of the motor for a plurality of times in one driving period to obtain acquisition current;
the first filtering unit is used for filtering current signals with preset frequency in the acquired current to obtain the processed acquired current;
the observing unit is used for constructing a current observer based on a motor model so as to observe the phase current of the motor and obtain an observed current;
the second filtering unit is used for extracting the current signal with the preset frequency from the observed current to obtain the processed observed current;
and the closed-loop control unit is used for taking the sum of the processed observation current and the processed acquisition current as a feedback current, so that the current loop performs closed-loop control on the phase current of the motor based on a target current and the feedback current.
In order to solve the technical problem, the invention also provides a motor control device, which comprises:
a memory for storing a computer program;
and a processor for implementing the steps of the motor control method described above when executing the computer program.
To solve the above technical problem, the present invention further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the motor control method described above.
The application provides a motor control method, a system, a device and a medium, in the scheme, in a driving period, phase current of a motor is collected for a plurality of times, and a driving module is controlled based on the collected current for a plurality of times. On one hand, the time delay of updating the operation instruction in the current loop in the prior art can be reduced, the time delay time of the motor is reduced to a certain extent, the bandwidth of the current loop is improved, and on the other hand, the interference of preset frequency existing when the phase current of the motor is acquired for many times can be restrained.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a motor control method provided by the invention;
FIG. 2 is a schematic diagram of a motor control according to the present invention;
FIG. 3 is a schematic diagram of a current process according to the present invention;
FIG. 4 is a schematic diagram of another current handling provided by the present invention;
FIG. 5 is a block diagram of a motor control system according to the present invention;
fig. 6 is a block diagram of a motor control device according to the present invention.
Detailed Description
The core of the invention is to provide a motor control method, a system, a device and a medium, which can reduce the delay of the updating of an operation instruction in a current loop in the prior art, reduce the delay time of the motor to a certain extent, improve the bandwidth of the current loop, and inhibit the interference of preset frequency existing when the phase current of the motor is acquired for a plurality of times.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a flow chart of a motor control method provided by the present invention, where the method is applied to a driving system of a motor, the driving system includes a driving module for driving the motor, and the method includes:
s11: in a driving period, the phase current of the motor is acquired for a plurality of times to obtain an acquisition current;
because the phase current of the motor is collected once in one driving period, the delay of the current loop is larger, and the performance of the whole driving system is lower. Therefore, in order to improve the performance of the driving system and reduce the delay of the current loop, in the application, the phase current of the motor is acquired for multiple times in one driving period, so that the delay from current sampling to current loop operation and updating of an operation instruction to the motor is reduced.
It should be noted that, although the phase current of the motor is collected twice in each driving period, and the two operation instructions are updated, the delay of the current loop can be reduced to a certain extent, but the existing delay is still relatively large, so the number of collection times in the application is relatively large, and the specific number of collection times is not limited in the application.
S12: filtering current signals with preset frequency in the collected current to obtain the processed collected current;
considering that the phase current of the motor is collected multiple times in one driving period, during this period, some interference signals with fixed frequency may exist, so that the obtained collected current is inaccurate, for example, the collected current may be interfered by the driving action of the driving module on the motor, etc.
In order to solve the technical problem, the current signals with preset frequency in the collected current are filtered out, at this time, the processed collected current does not comprise the current signals with the preset frequency, the influence of the interference signals with the preset frequency on a driving system can be avoided, and the influence of the interference signals is reduced when the current control motor is collected on the basis of the follow-up current loop.
It should be noted that, the setting of the preset frequency in the present application may be set according to the actual situation, so long as the interference signal can be filtered out.
As a preferred embodiment, the driving module is a three-phase bridge circuit;
the driving period is the action period of a switching tube in the three-phase bridge circuit;
the preset frequency is the frequency of a PWM signal for controlling the action of a switching tube in the three-phase bridge circuit.
Specifically, when the driving module is a three-phase bridge circuit, during a driving period, when the phase current of the motor is collected for multiple times, the action of the switching tube in the three-phase bridge circuit can cause interference to a current collection circuit of the phase current of the motor.
Therefore, the preset frequency in this application is set to the frequency of the PWM signal that controls the operation of the switching tubes in the three-phase bridge circuit. At this time, the current signal with the same frequency as the action of the switching tube in the collected current can be filtered, and the interference caused by the action of the switching tube can be restrained on the basis of reducing the delay of the current loop.
S13: constructing a current observer based on a motor model to observe phase currents of the motor to obtain observed currents;
s14: extracting a current signal with preset frequency from the observed current to obtain a processed observed current;
because the current signal with the preset frequency is filtered, the filtered current signal not only comprises the interference signal with the preset frequency, but also filters the acquisition current with the preset frequency, so that the acquired acquisition current is an incomplete acquisition signal, and the motor cannot be reliably driven and controlled based on the incomplete acquisition signal.
Therefore, the present application also needs to compensate the processed collected current to obtain a complete collected current, so as to perform reliable driving control on the motor later. Specifically, the method for compensating the acquisition current in the present application is as follows: and generating an observation current by using a current observer, extracting a current signal with a preset frequency from the observation current, and compensating the processed acquisition current to obtain a complete feedback current signal. (there are no or fewer interference signals in the observed current, so that the current signal with the preset frequency in the observed current is used for compensating the processed acquisition current, and the obtained complete feedback current contains fewer interference signals).
S15: and taking the sum of the processed observation current and the processed acquisition current as a feedback current, so that the current loop performs closed-loop control on the phase current of the motor based on the target current and the feedback current.
And taking the sum obtained by adding the processed observation current (namely the compensated current) and the processed acquisition current as the complete feedback current, and feeding the complete feedback current back to the input end of the current loop, so that the current loop controls the motor based on the feedback current and the target current, and the output current of the motor is stabilized at the target current.
In summary, the method in the application can reduce the delay of updating the operation instruction in the current loop in the prior art, reduce the delay time of the motor to a certain extent, improve the bandwidth of the current loop, and can inhibit the interference of preset frequency existing when the phase current of the motor is acquired for many times.
Based on the above embodiments:
as a preferred embodiment, filtering out a current signal with a preset frequency in the collected current to obtain a processed collected current, including:
filtering current signals with preset frequency in the collected current through a notch filter rate to obtain the processed collected current;
the center frequency of the notch filter is a preset frequency.
The present embodiment aims to provide a specific implementation manner for filtering out a current signal with a preset frequency in an acquisition current, which may be, but not limited to, implemented by a notch filter, where the notch filter may quickly attenuate a signal at a certain frequency point, so as to achieve a filtering effect that blocks the signal with the frequency from passing through. In this application, the current signal with the preset frequency is to be filtered, so that the center frequency of the notch filter is set to the preset frequency.
The transfer function of the notch filter is:of course, the manner of filtering the current signal with the preset frequency is not limited to the above example, and other implementations are also possible, as long as the current signal with the preset frequency can be filtered, which is not particularly limited herein.
As a preferred embodiment, extracting a current signal of a preset frequency from an observed current to obtain a processed observed current, includes:
extracting a current signal with preset frequency from the observed current through a band-pass filter;
the center frequency of the band-pass filter is a preset frequency.
The present embodiment aims to provide a specific implementation manner for extracting a current signal with a preset frequency in an acquisition current, which may be, but not limited to, implemented by a band-pass filter, where the band-pass filter may allow a signal with a specific frequency band to pass while shielding signals with other frequency bands. In this application, the current signal with the preset frequency is to be extracted, so the center frequency of the conductive filter is set to the preset frequency.
Wherein, the transfer function of band-pass filter is:
of course, the manner of extracting the current signal with the preset frequency is not limited to the above example, and other implementations are also possible, as long as the current signal with the preset frequency can be extracted, and the present application is not limited thereto.
As a preferred embodiment, S12 to S15 include:
the difference value between the acquired current and the observed current passes through a band-pass filter to obtain filtered current, and the center frequency of the band-pass filter is set to be a preset frequency;
and taking the difference value of the acquired current and the filtered current as a feedback current, so that the current loop performs closed-loop control on the phase current of the motor based on the target current and the feedback current.
The embodiment aims to provide another specific implementation manner of obtaining the feedback current, and the specific process is as above, and the essence of the specific implementation manner is the same as that of obtaining the feedback current through the notch filter and the band-pass filter, only the specific implementation order and the specific implementation manner are different, the notch filter is not needed, and the cost is low.
As a preferred embodiment, the feedback current includes a d-axis feedback current and a q-axis feedback current;
causing the current loop to perform closed loop control on phase currents of the motor based on the target current and the feedback current, comprising:
the control current controller generates a d-axis voltage signal based on the target d-axis current and the d-axis feedback current, and generates a q-axis voltage signal based on the target q-axis current and the q-axis feedback current;
performing Park inverse transformation on the d-axis voltage signal to obtain a first voltage vector, and performing Park inverse transformation on the q-axis voltage signal to obtain a second voltage vector;
and performing voltage space vector pulse width modulation on the first voltage vector and the second voltage vector to obtain a PWM signal so that the driving module drives the motor based on the PWM signal.
Referring to fig. 2, fig. 2 is a schematic diagram of controlling a motor according to the present invention.
Considering that the current observer processes the direct current component, the feedback current obtained in the application comprises a d-axis feedback current and a q-axis feedback current, at this time, in a specific process of closed loop control, a d-axis voltage signal is generated according to a target d-axis current and a d-axis feedback current, a q-axis voltage signal is generated according to a target q-axis feedback current and a q-axis feedback current, then the q-axis voltage signal and the d-axis voltage signal are subjected to Park inverse transformation respectively to obtain a first voltage vector Uα and a second voltage vector Uβ, then voltage space vector modulation (SVPWM) is performed to obtain a PWM signal, and the PWM signal is output to a three-phase bridge circuit so that the motor is driven, and closed loop control is completed.
Of course, the above is only one specific implementation manner of obtaining each parameter specifically, and the parameters may be obtained by other manners, for example, the d-axis voltage signal and the q-axis voltage signal may be obtained by respectively performing Park inverse transformation on the first voltage vector and the second voltage vector, or by collecting motor phase voltages and performing Clarke transformation and Park transformation. The specific implementations are not limited to the examples described above, and the application is not limited thereto.
As a preferred embodiment, the phase current of the motor is acquired multiple times in one driving period, and after acquiring the acquired current, the method further comprises:
clarke transformation and Park transformation are carried out on the collected currents (Ia and Ib) to obtain d-axis collected currents and q-axis collected currents;
s12 to S15 include:
filtering current signals with preset frequency in the d-axis acquisition current to obtain processed d-axis acquisition current, and filtering current signals with preset frequency in the q-axis acquisition current to obtain processed q-axis acquisition current;
constructing a current observer based on the motor model;
controlling a current observer to generate a d-axis observation current based on the d-axis acquisition current and the d-axis voltage signal, and generating a q-axis observation current based on the q-axis acquisition current and the q-axis voltage signal;
extracting a current signal with preset frequency from the d-axis observation current to obtain a processed d-axis observation current, and extracting a current signal with preset frequency from the q-axis observation current to obtain a processed q-axis observation current;
and adding the processed d-axis acquisition current and the processed d-axis observation current to obtain a d-axis feedback current, and adding the q-axis acquisition current and the q-axis observation current to obtain a q-axis feedback current, so that a current loop performs closed-loop control on the phase current of the motor based on the target d-axis current, the d-axis feedback current, the target q-axis current and the q-axis feedback current.
Specifically, referring to fig. 3 and 4, fig. 3 is a schematic diagram of one current processing provided by the present invention, and fig. 4 is a schematic diagram of another current processing provided by the present invention.
The Notch Filter is a Notch Filter, the BPF is a band-pass Filter, id is d-axis acquisition current, iq is q-axis acquisition current, ud is d-axis voltage signal, uq is q-axis voltage signal, idobs is d-axis observation current, iqobs is q-axis observation current, idfdb is d-axis feedback current, and Iqfdb is q-axis feedback current.
In the current observer, the motor model is equivalent to:where R, L is the component of the motor phase resistance and phase inductance on the d and q axes, respectively, and s is the complex frequency in the time domain.
Referring to fig. 5, fig. 5 is a block diagram of a motor control system according to the present invention, where the system is applied to a driving system of a motor, and the driving system includes a driving module for driving the motor, and the method includes:
the acquisition unit 51 is configured to acquire phase currents of the motor multiple times in a driving period, so as to obtain acquired currents;
the first filtering unit 52 is configured to filter a current signal with a preset frequency in the collected current, so as to obtain a processed collected current;
an observation unit 53, configured to construct a current observer based on the motor model, so as to observe the phase current of the motor, and obtain an observed current;
a second filtering unit 54, configured to extract a current signal with a preset frequency from the observed current, so as to obtain a processed observed current;
the closed-loop control unit 55 is configured to use the sum of the processed observation current and the processed acquisition current as a feedback current, so that the current loop performs closed-loop control on the phase current of the motor based on the target current and the feedback current.
In order to solve the above technical problems, the present application further provides a motor control system, and for the introduction of the motor control system, please refer to the above embodiment, the description is omitted herein.
Referring to fig. 6, fig. 6 is a block diagram of a motor control device according to the present invention, where the motor control device includes:
a memory 61 for storing a computer program;
the processor 62 is configured to implement the steps of the motor control method described above when executing the computer program.
In order to solve the above technical problems, the present application further provides a motor control device, and the description of the motor control device is referred to the above embodiments, which is not repeated herein.
A computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the motor control method described above. For the description of the computer-readable storage medium, refer to the above embodiments, and the description is omitted herein.
It should be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A motor control method, characterized by being applied to a driving system of a motor, the driving system including a driving module for driving the motor, the method comprising:
s11: in a driving period, the phase current of the motor is acquired for a plurality of times to obtain an acquisition current;
s12: filtering current signals with preset frequency in the collected current to obtain a processed collected current;
s13: constructing a current observer based on a motor model to observe phase currents of the motor to obtain observed currents;
s14: extracting the current signal with the preset frequency from the observed current to obtain a processed observed current;
s15: and taking the sum of the processed observation current and the processed acquisition current as a feedback current, so that a current loop performs closed-loop control on the phase current of the motor based on a target current and the feedback current.
2. The motor control method of claim 1, wherein the drive module is a three-phase bridge circuit;
the driving period is an action period of a switching tube in the three-phase bridge circuit;
the preset frequency is the frequency of a PWM signal for controlling the action of a switching tube in the three-phase bridge circuit.
3. The motor control method according to claim 1, wherein filtering the current signal of the preset frequency in the collected current to obtain the processed collected current includes:
filtering the current signal with the preset frequency in the collected current through a notch filter to obtain a processed collected current;
the center frequency of the notch filter is the preset frequency.
4. The motor control method according to claim 1, wherein extracting the current signal of the preset frequency from the observed current to obtain the processed observed current, comprises:
extracting a current signal with the preset frequency from the observed current through a band-pass filter;
the center frequency of the band-pass filter is the preset frequency.
5. The motor control method according to any one of claims 1 to 4, wherein the feedback current includes a d-axis feedback current and a q-axis feedback current;
causing the current loop to perform closed-loop control on phase current of the motor based on a target current and the feedback current, including:
the control current controller generates a d-axis voltage signal based on the target d-axis current and the d-axis feedback current, and generates a q-axis voltage signal based on the target q-axis current and the q-axis feedback current;
performing Park inverse transformation on the d-axis voltage signal to obtain a first voltage vector, and performing Park inverse transformation on the q-axis voltage signal to obtain a second voltage vector;
and performing voltage space vector pulse width modulation on the first voltage vector and the second voltage vector to obtain a PWM signal, so that the driving module drives the motor based on the PWM signal.
6. The motor control method according to claim 5, wherein the phase current of the motor is acquired a plurality of times in one drive cycle, and further comprising, after acquiring the acquired current:
performing Clarke transformation and Park transformation on the acquired current to obtain d-axis acquired current and q-axis acquired current;
the S12 to S15 include:
filtering current signals with preset frequency in the d-axis acquisition current to obtain processed d-axis acquisition current, and filtering current signals with preset frequency in the q-axis acquisition current to obtain processed q-axis acquisition current;
constructing a current observer based on the motor model;
controlling the current observer to generate d-axis observation current based on d-axis acquisition current and d-axis voltage signals, and generating q-axis observation current based on q-axis acquisition current and q-axis voltage signals;
extracting a current signal with preset frequency from the d-axis observation current to obtain a processed d-axis observation current, and extracting a current signal with preset frequency from the q-axis observation current to obtain a processed q-axis observation current;
and adding the processed d-axis acquisition current and the processed d-axis observation current to obtain a d-axis feedback current, and adding the processed q-axis acquisition current and the processed q-axis observation current to obtain a q-axis feedback current, so that the current loop performs closed-loop control on the phase current of the motor based on a target d-axis current, the d-axis feedback current, a target q-axis current and the q-axis feedback current.
7. A motor control system, characterized by a drive system applied to a motor, the drive system including a drive module for driving the motor, comprising:
the acquisition unit is used for acquiring the phase current of the motor for a plurality of times in one driving period to obtain acquisition current;
the first filtering unit is used for filtering current signals with preset frequency in the acquired current to obtain the processed acquired current;
the observing unit is used for constructing a current observer based on a motor model so as to observe the phase current of the motor and obtain an observed current;
the second filtering unit is used for extracting the current signal with the preset frequency from the observed current to obtain the processed observed current;
and the closed-loop control unit is used for taking the sum of the processed observation current and the processed acquisition current as a feedback current, so that a current loop performs closed-loop control on the phase current of the motor based on a target current and the feedback current.
8. A motor control apparatus, characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the motor control method according to any one of claims 1-6 when executing a computer program.
9. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the motor control method of any of claims 1-6.
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