CN117713609A - Motor control method, device, equipment and medium - Google Patents
Motor control method, device, equipment and medium Download PDFInfo
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Abstract
The invention discloses a motor control method, a motor control device, motor control equipment and a motor control medium, wherein the motor control method comprises the following steps: when the actual quadrature axis voltage of the target motor in the current period is smaller than 0, inverting the target voltage difference value of the target motor, and obtaining a direct axis current correction value according to the inverted target voltage difference value; determining a target direct-axis current of the target motor in the next period according to the direct-axis current correction value and the actual command direct-axis current corresponding to the current period; determining the command quadrature current corresponding to the target motor in the current period according to the actual rotor temperature, the actual output torque and the target direct current of the target motor; determining a quadrature current correction value of the target motor according to the actual quadrature voltage; determining a target quadrature current of the target motor in a next period according to the command quadrature current and the quadrature current correction value; and controlling the target motor to operate according to the target direct-axis current and the target quadrature-axis current. The invention reduces the probability of positive feedback phenomenon of the target motor and improves the running stability of the motor.
Description
Technical Field
The present invention relates to the field of motor technologies, and in particular, to a motor control method, apparatus, device, and medium.
Background
In order to cope with the crisis of non-renewable resources, development of electric automobiles is more and more rapid. Electric vehicles typically employ a motor drive. Because the permanent magnet synchronous motor has the advantages of high efficiency, high power density and the like, the permanent magnet synchronous motor is often used as a driving motor of an electric automobile. The motor controller of the permanent magnet synchronous motor controls the magnitude of three-phase current by outputting three-phase voltage, thereby controlling the magnitude of output torque.
In the control process of the permanent magnet synchronous motor, the problem of low rotation speed and low flux of the permanent magnet synchronous motor is generally solved by adopting active low flux, however, in the active low flux control process, when the flux linkage of the rotor is reduced, positive feedback phenomenon can occur, and the motor is out of control. Therefore, how to reduce the occurrence probability of positive feedback phenomenon in the active field weakening control process is a current urgent problem to be solved.
Disclosure of Invention
The embodiment of the application solves the technical problem that the probability of positive feedback phenomenon is high during active field weakening control in the prior art by providing the motor control method, the motor control device, the motor control equipment and the motor control medium, and achieves the technical effect of reducing the probability of positive feedback phenomenon during active field weakening control.
In a first aspect, the present application provides a motor control method, including:
when the actual quadrature axis voltage of the target motor in the current period is smaller than 0, inverting the target voltage difference value of the target motor, and obtaining a direct axis current correction value according to the inverted target voltage difference value;
determining a target direct-axis current of the target motor in the next period according to the direct-axis current correction value and the actual command direct-axis current corresponding to the current period;
determining the command quadrature current corresponding to the target motor in the current period according to the actual rotor temperature, the actual output torque and the target direct current of the target motor;
determining a quadrature current correction value of the target motor according to the actual quadrature voltage;
determining a target quadrature current of the target motor in a next period according to the command quadrature current and the quadrature current correction value;
and controlling the target motor to operate according to the target direct-axis current and the target quadrature-axis current.
Further, after determining the target direct-axis current of the target motor in the next period, the method further includes:
judging whether the target straight-axis current is matched with a preset straight-axis current range corresponding to the current period;
and when the target straight-axis current is not matched with the preset straight-axis current range, re-determining the target straight-axis current of the next period according to the preset straight-axis current range.
Further, the method for determining the preset direct-axis current range comprises the following steps:
determining an actual rotor flux linkage corresponding to the current period according to the actual rotor temperature, the target straight-axis current and the actual command torque corresponding to the current period;
determining a minimum endpoint value of a preset direct-axis current range according to an actual rotor flux linkage and an actual direct-axis inductance of a target motor;
and forming a preset direct-axis current range according to the minimum endpoint value and 0.
Further, determining the command quadrature axis current corresponding to the target motor in the current period according to the actual rotor temperature, the actual output torque and the target direct axis current of the target motor comprises:
determining initial command quadrature current corresponding to the current period according to the actual command torque and the maximum torque current ratio curve corresponding to the current period;
determining an actual rotor flux linkage corresponding to the current moment according to the actual rotor temperature, the target straight-axis current, the initial command quadrature-axis current and the corresponding relation among the rotor temperature, the quadrature-axis current and the rotor flux linkage;
and determining the command quadrature current corresponding to the current period of the target motor according to the actual rotor flux linkage, the actual output torque and the target direct current.
Further, the method for determining the correspondence between the rotor temperature, the ac-dc axis current and the rotor flux linkage comprises:
testing corresponding output torques of the target motor under different rotor temperatures, different quadrature axis currents and different direct axis currents to obtain corresponding relations among the rotor temperatures, the quadrature axis currents, the direct axis currents and the output torques;
and determining the corresponding relation among the rotor temperature, the alternating-direct axis current and the rotor flux linkage according to the corresponding relation among the output torque formula, the rotor temperature, the alternating-direct axis current and the output torque.
Further, the method for determining the actual output torque includes:
determining the actual iron loss torque of the current period according to the actual rotation speed of the target motor in the current period and the corresponding relation between the rotation speed and the iron loss torque;
and determining the actual output torque corresponding to the current period according to the actual iron loss torque and the actual command torque.
Further, determining a quadrature current correction value of the target motor according to the actual quadrature voltage includes:
and determining a quadrature current correction value of the target motor according to the actual quadrature voltage, the actual direct-axis inductance and the actual angular velocity.
In a second aspect, the present application provides a motor control apparatus, the apparatus comprising:
the direct-axis current correction value determining module is used for inverting the target voltage difference value of the target motor when the actual quadrature-axis voltage of the target motor in the current period is smaller than 0, and obtaining the direct-axis current correction value according to the inverted target voltage difference value;
the target straight-axis current determining module is used for determining the target straight-axis current of the target motor in the next period according to the straight-axis current correction value and the actual command straight-axis current corresponding to the current period;
the command quadrature current determining module is used for determining command quadrature current corresponding to the target motor in the current period according to the actual rotor temperature, the actual output torque and the target direct current of the target motor;
the quadrature current correction value determining module is used for determining a quadrature current correction value of the target motor according to the actual quadrature voltage;
the target quadrature current determining module is used for determining the target quadrature current of the target motor in the next period according to the command quadrature current and the quadrature current correction value;
and the control module is used for controlling the target motor to run according to the target direct-axis current and the target quadrature-axis current.
In a third aspect, the present application provides an electronic device, including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute to implement a motor control method as provided in the first aspect.
In a fourth aspect, the present application provides a non-transitory computer readable storage medium, which when executed by a processor of an electronic device, enables the electronic device to perform a method of implementing a motor control as provided in the first aspect.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
in this embodiment, when the actual quadrature axis voltage of the target motor is less than 0, the direct axis current correction value is obtained by inverting the target voltage difference of the target motor, so as to further obtain the target direct axis current of the target motor in the next period, and the quadrature axis current correction value of the target motor is determined by combining the actual rotor temperature, the actual quadrature axis voltage and the like of the target motor, so as to further obtain the target quadrature axis current of the target motor in the next period, and finally, the motor is controlled by the corrected target direct axis current and the target quadrature axis current.
Therefore, in the embodiment, the influence of the rotor temperature on the rotor flux linkage is considered to determine the target direct-axis current and the target quadrature-axis current, so that the risk of runaway of the motor at low temperature or high temperature can be reduced, the probability of positive feedback phenomenon of the target motor is reduced, and the running stability of the target motor is improved. According to the embodiment, through single integral control (namely voltage difference control), integral output is adjusted in real time when the quadrature axis voltage has a negative value, so that the occurrence probability of positive feedback is reduced; meanwhile, the quadrature current correction value is selected in real time according to the magnitude of the quadrature current and the positive and negative of the quadrature voltage, so that the current output of the active field weakening is optimized, the stability of the active field weakening control is improved, and the probability of out-of-control is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are 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 in the present application;
FIG. 2 is a schematic diagram of a relationship between a current period and a next period provided in the present application;
fig. 3 is a schematic structural diagram of a motor control device provided in the present application;
fig. 4 is a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
The embodiment of the application solves the technical problem that the probability of positive feedback phenomenon is high during active field weakening control in the prior art by providing the motor control method.
The technical scheme of the embodiment of the application aims to solve the technical problems, and the overall thought is as follows:
a motor control method, the method comprising: when the actual quadrature axis voltage of the target motor in the current period is smaller than 0, inverting the target voltage difference value of the target motor, and obtaining a direct axis current correction value according to the inverted target voltage difference value; determining a target direct-axis current of the target motor in the next period according to the direct-axis current correction value and the actual command direct-axis current corresponding to the current period; determining the command quadrature current corresponding to the target motor in the current period according to the actual rotor temperature, the actual output torque and the target direct current of the target motor; determining a quadrature current correction value of the target motor according to the actual quadrature voltage; determining a target quadrature current of the target motor in a next period according to the command quadrature current and the quadrature current correction value; and controlling the target motor to operate according to the target direct-axis current and the target quadrature-axis current.
In this embodiment, when the actual quadrature axis voltage of the target motor is less than 0, the direct axis current correction value is obtained by inverting the target voltage difference of the target motor, so as to further obtain the target direct axis current of the target motor in the next period, and the quadrature axis current correction value of the target motor is determined by combining the actual rotor temperature, the actual quadrature axis voltage and the like of the target motor, so as to further obtain the target quadrature axis current of the target motor in the next period, and finally, the motor is controlled by the corrected target direct axis current and the target quadrature axis current.
Therefore, in the embodiment, the influence of the rotor temperature on the rotor flux linkage is considered to determine the target direct-axis current and the target quadrature-axis current, so that the risk of runaway of the motor at low temperature or high temperature can be reduced, the probability of positive feedback phenomenon of the target motor is reduced, and the running stability of the target motor is improved. According to the embodiment, through single integral control (namely voltage difference control), integral output is adjusted in real time when the quadrature axis voltage has a negative value, so that the occurrence probability of positive feedback is reduced; meanwhile, the quadrature current correction value is selected in real time according to the magnitude of the quadrature current and the positive and negative of the quadrature voltage, so that the current output of the active field weakening is optimized, the stability of the active field weakening control is improved, and the probability of out-of-control is reduced.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
First, the term "and/or" appearing herein is merely an association relationship describing associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
In order to cope with the crisis of non-renewable resources, development of electric automobiles is more and more rapid. Electric vehicles typically employ a motor drive. Because the permanent magnet synchronous motor has the advantages of high efficiency, high power density and the like, the permanent magnet synchronous motor is often used as a driving motor of an electric automobile. The motor controller of the permanent magnet synchronous motor controls the magnitude of three-phase current by outputting three-phase voltage, thereby controlling the magnitude of output torque.
In the control process of the permanent magnet synchronous motor, the problem of low rotation speed and low flux of the permanent magnet synchronous motor is generally solved by adopting active low flux, however, in the active low flux control process, when the flux linkage of the rotor is reduced, positive feedback phenomenon can occur, and the motor is out of control. Therefore, how to reduce the occurrence probability of positive feedback phenomenon in the active field weakening control process is a current urgent problem to be solved.
In order to solve the above-described problems, the present embodiment provides a motor control method as shown in fig. 1, which includes steps S11 to S16.
Step S11, when the actual quadrature axis voltage of the target motor in the current period is smaller than 0, inverting the target voltage difference value of the target motor, and obtaining a direct axis current correction value according to the inverted target voltage difference value;
step S12, determining a target straight-axis current of the target motor in the next period according to the straight-axis current correction value and the actual command straight-axis current corresponding to the current period;
step S13, determining an instruction quadrature current corresponding to the target motor in the current period according to the actual rotor temperature, the actual output torque and the target direct current of the target motor;
step S14, determining a quadrature current correction value of the target motor according to the actual quadrature voltage;
step S15, determining a target quadrature current of the target motor in a next period according to the command quadrature current and the quadrature current correction value;
and S16, controlling the target motor to operate according to the target direct-axis current and the target quadrature-axis current.
The motor control method provided by the embodiment can be executed by a whole vehicle controller of an automobile.
It should be noted that, the motor control method provided in this embodiment may be applied to a motor operation process, where the execution frequency may be set according to practical situations, and in general, the motor may be operated in a cycle according to a shorter period, and the shorter period may be 0.1 seconds, 0.5 seconds, 1 second, 2 seconds, and so on. In this embodiment, each period is recorded as a period, and a period in which the current time is located is recorded as a current period. Over time, the current period may be converted to the previous period and the next period may be converted to the new current period. As shown in fig. 2, is the relationship between the previous period, the current period, and the next period. The present embodiment will be described by taking a certain period as an example.
Before executing step S11, it is necessary to acquire the actual quadrature voltage of the target motor in the current period, and further determine whether the actual quadrature voltage in the current period becomes negative (i.e. less than 0). In this embodiment, "the actual quadrature voltage in the current period" mainly refers to the actual quadrature voltage at any time in the current period. That is, the actual quadrature voltage at any time in the current period is a negative value, and the process of executing step S11 and step S13 is performed. The step S11 and the step S13 may be performed simultaneously or sequentially, which is not limited in this embodiment.
The actual quadrature axis voltage at any time in the current period is smaller than 0, which means that a positive feedback phenomenon is easy to occur, so that the difference value between the output voltage and the input voltage of the motor is continuously increased, and the motor is easy to be out of control, and therefore, the probability of the positive feedback phenomenon of the motor is reduced by executing the steps from step S11 to step S16.
Step S11 to step S12 will be described first)
Regarding step S11, when the actual quadrature axis voltage of the target motor in the current period is less than 0, the target voltage difference of the target motor is inverted, and the direct axis current correction value is obtained according to the inverted target voltage difference.
With respect to step S12, a target direct-axis current of the target motor in the next period is determined based on the direct-axis current correction value and the actual command direct-axis current corresponding to the current period.
The target voltage difference refers to a difference between an output voltage and an input voltage of the motor. The present embodiment records the output voltage as U s The input voltage is recorded as U dc The target voltage difference is DeltaU s The three satisfy formula 1.
ΔU s ＝U s ―U dc Equation 1
And inverting the target voltage difference value of the target motor, and performing active flux weakening control output according to the inverted target voltage difference value to obtain a direct-axis current correction value. I.e. to DeltaU s Taking the inverse according to-DeltaU s Active flux weakening control output is carried out to obtain a direct-axis current correction value delta I d 。
The actual direct-axis command current corresponding to the current period refers to direct-axis command current corresponding to the command torque, and can be specifically determined according to the actual command torque of the current period and the correspondence between the command torque and the direct-axis command current. The correspondence between the command torque and the command direct-current shaft current in this embodiment mainly refers to the relationship in the maximum torque-current ratio curve, and the maximum torque-current ratio curve may be used to measure the command direct-current shaft current corresponding to the target motor at different command torques at low rotational speeds (for example, at rotational speeds of 1000rpm or less). Based on the actual commanded torque known for the current time period, a corresponding actual commanded direct-axis current may be determined by querying a maximum torque-to-current ratio curve.
And taking the sum of the direct-axis current correction value and the actual command direct-axis current as a target direct-axis current of the target motor in the next period.
After determining the target direct-axis current of the target motor in the next period, it is further required to determine whether the target direct-axis current matches a preset direct-axis current range corresponding to the current period. When the target straight-axis current matches the preset straight-axis current range, the currently obtained target straight-axis current is used as the target straight-axis current in the step S16 to control the operation process of the target motor in the next period. For example, the preset direct current range is [ I ] c ,0]Wherein I c Called the characteristic current, is negative; when the target direct-axis current is greater than or equal to I c And 0 or less means that the target straight-axis current matches the preset straight-axis current range.
When the target is straight axis electricAnd when the current is not matched with the preset straight-axis current range, re-determining the target straight-axis current of the next period according to the preset straight-axis current range. For example, the preset direct current range is [ I ] c ,0]Wherein I c Called the characteristic current, is negative; when the target direct current is less than I c Or greater than 0, meaning that the target direct current does not match the preset direct current range, requiring a power supply from [ I ] c ,0]The target straight-axis current is redetermined to continue to step S16. That is, the value of the quadrature axis voltage is obtained in real time, and once the quadrature axis voltage is negative, the target voltage difference value is inverted, and the reverse integration is performed, so that the uncontrolled control caused by the positive feedback is prevented.
The method for determining the preset direct current range includes steps S121-S123.
Step S121, determining an actual rotor flux linkage corresponding to the current period according to the actual rotor temperature, the target straight-axis current and the actual command torque corresponding to the current period;
step S122, determining the minimum endpoint value of a preset direct-axis current range according to the actual rotor flux linkage and the actual direct-axis inductance of the target motor;
step S123, a preset direct current range is formed according to the minimum endpoint value and 0.
Regarding step S121, determining an initial command quadrature current corresponding to the current period according to the actual command torque and the maximum torque current ratio curve corresponding to the current period; and determining the actual rotor flux linkage corresponding to the current moment according to the actual rotor temperature, the target direct-axis current, the initial command quadrature-axis current and the corresponding relation among the rotor temperature, the quadrature-axis current and the rotor flux linkage.
The method for determining the correspondence between the rotor temperature, the ac-dc axis current and the rotor flux linkage comprises steps S1211-S1212.
Step S1211, testing corresponding output torques of the target motor under different rotor temperatures, different quadrature axis currents and different direct axis currents, and obtaining corresponding relations among the rotor temperatures, the quadrature axis currents, the direct axis currents and the output torques;
step S1212, determining a correspondence between the rotor temperature, the quadrature axis current, and the rotor flux linkage according to the correspondence between the output torque formula and the rotor temperature, the quadrature axis current, and the direct axis current, and the output torque.
In step S1211, the corresponding output torque of the motor under different rotor temperatures and different alternating-direct axis currents may be tested by using the dynamometer and the temperature sensor, so as to obtain the corresponding relationship among the rotor temperatures, the alternating-direct axis currents, the direct-axis currents and the output torque.
The output torque formula in step S1212 is the following formula 2:
T Nm ＝p*[Psi*I q +(L d -L q )*i d *I q ]equation 2
Wherein T is Nm For output torque, p is the pole pair number of the target motor, psi is the rotor flux linkage, I q For the quadrature axis current, L d Is a direct axis inductance L q Is the quadrature axis inductance, I d Is a straight axis current.
By combining the corresponding relation among the rotor temperature, the quadrature axis current, the direct axis current and the output torque and the formula 2, the corresponding relation among the rotor temperature, the quadrature axis current, the direct axis current and the output torque can be obtained by correlating the rotor temperature with the rotor flux linkage.
Returning to step S121, based on the actual command torque and the maximum torque current ratio curve, determining an initial command quadrature axis current corresponding to the current period, and combining the initial command quadrature axis current, the actual rotor temperature and the target direct axis current corresponding to the current period, querying a correspondence relationship between the rotor temperature, the quadrature axis current, the direct axis current and the output torque, so as to determine an actual rotor flux linkage corresponding to the current period. The rotor temperature influences the output torque by influencing the rotor flux linkage, when the rotor flux linkage changes, positive feedback phenomenon occurs to cause runaway, and the embodiment considers the influence of the rotor temperature on the rotor flux linkage by combining the relation between the rotor temperature and the rotor flux linkage, and further determines the target direct-axis current and the target quadrature-axis current (to be described later), so that the probability of the positive feedback phenomenon of the target motor can be reduced, and the running stability of the target motor is improved.
Based on the actual rotor flux linkage and the relation among the rotor flux linkage, the direct-axis inductance and the characteristic current, the characteristic current corresponding to the current moment is determined, and the characteristic current corresponding to the current moment is used as the minimum endpoint value of the preset direct-axis current range. The relation among the rotor flux linkage, the direct axis inductance and the characteristic current can be referred to formula 3.
Wherein I is c Is the characteristic current, psi is the rotor flux linkage, L d Is a direct axis inductance.
According to I c And 0, can give [ I ] c ,0]I.e. the preset direct current range.
As before, the direct current correction value DeltaI is obtained based on steps S11-S12 d Actual command direct current I d0 The target direct current I can be obtained according to equation 4 d 。
I d ＝I d0 +ΔI d Equation 4
Continuing to explain step S13-step S15
Regarding step S13, when the actual quadrature axis voltage of the target motor in the current period is less than 0, the command quadrature axis current corresponding to the target motor in the current period is determined according to the actual rotor temperature, the actual output torque, and the target direct axis current of the target motor.
With respect to step S14, the quadrature current correction value of the target motor is determined from the actual quadrature voltage.
With regard to step S15, a target quadrature current of the target motor in the next period is determined based on the commanded quadrature current and the quadrature current correction value.
And determining the command quadrature axis current corresponding to the target motor in the current period according to the actual rotor temperature, the actual output torque and the target direct axis current of the target motor, wherein the command quadrature axis current comprises steps S131-S133.
Step S131, determining initial command quadrature current corresponding to the current period according to the actual command torque and the maximum torque current ratio curve corresponding to the current period;
step S132, determining an actual rotor flux linkage corresponding to the current moment according to the actual rotor temperature, the target direct-axis current, the initial command quadrature-axis current and the corresponding relation among the rotor temperature, the quadrature-axis current and the rotor flux linkage;
and step S133, determining the command quadrature current corresponding to the current period of the target motor according to the actual rotor flux linkage, the actual output torque and the target direct current.
Step S131 to step S132 are the same as step S121 described above, and in the process of actually executing the motor control method provided in this embodiment, only "step S131 to step S132" or step S121 is executed to obtain the actual rotor flux linkage, and the two steps are not required to be repeatedly executed, so as to avoid the repetition of the program. For example, when step S121 is performed first, the actual rotor flux corresponding to the current period is obtained, the actual rotor flux is stored, and when step S13 is required to be performed, the stored actual rotor flux is directly obtained, and step S133 is performed continuously. The rotor temperature influences the output torque by influencing the rotor flux linkage, when the rotor flux linkage changes, positive feedback phenomenon occurs to cause out of control, and the embodiment considers the influence of the rotor temperature on the rotor flux linkage by combining the relation between the rotor temperature and the rotor flux linkage, and further determines the target direct-axis current and the target quadrature-axis current, thereby reducing the probability of the positive feedback phenomenon of the target motor and improving the running stability of the target motor.
With respect to step S133, the determination method of the actual output torque includes steps S1331 to S1332.
Step S1331, determining the actual iron loss torque of the current period according to the actual rotation speed of the target motor in the current period and the corresponding relation between the rotation speed and the iron loss torque;
step S1332, determining the actual output torque corresponding to the current period according to the actual iron loss torque and the actual command torque.
The higher the rotating speed is, the larger the iron loss is, and the corresponding relation between the rotating speed and the iron loss torque is obtained by testing the iron loss of the target motor at different rotating speeds through the dynamometer. And inquiring the corresponding relation between the rotating speed and the iron loss torque according to the actual rotating speed in the current period to obtain the actual iron loss torque in the current period.
The actual command torque is the effective power which is required to be output by the target motor of the automobile, and the target motor can generate the actual iron loss torque in the running process, so that the actual iron loss torque and the actual command torque are the torques output by the target motor.
After the actual output torque is obtained, according to the actual rotor flux linkage, the actual output torque and the target direct-axis current, the command quadrature-axis current corresponding to the target motor in the current period can be determined by combining an output torque formula (namely the formula 2).
It should be noted that, in the embodiment, the direct-axis inductance in the formula 2 is an average direct-axis inductance value of the target motor in the whole operation process, the quadrature-axis inductance is an average quadrature-axis inductance value of the target motor in the whole operation process, and the average direct-axis inductance value and the average quadrature-axis inductance value can be obtained by measurement, and in particular, reference may be made to the related art, which is not limited in the embodiment.
Continuing to step S14, determining a quadrature current correction value of the target motor according to the actual quadrature voltage, specifically, determining a quadrature current correction value of the target motor according to the actual quadrature voltage, the actual direct-axis inductance and the actual angular velocity, specifically, see formula 5.
Wherein DeltaI q For correction value of quadrature current, U q For quadrature axis voltage, L q Is the direct axis inductance, w is the angular velocity.
Continuing to step S15, determining a target quadrature current of the target motor in a next period according to the commanded quadrature current and the quadrature current correction, see specifically formula 6.
I q ＝I q0 +ΔI q Equation 6
Wherein I is q For the target quadrature axis current, I q0 To command quadrature axis current, ΔI q Is the quadrature current correction.
With respect to step S16, the target motor is controlled to operate with the target direct-axis current and the target quadrature-axis current.
And (3) obtaining a target direct-axis current based on the steps S11-S12, obtaining a target quadrature-axis current based on the steps S13-S15, and controlling the target motor to run at the target direct-axis current and the target quadrature-axis current, namely inputting the target direct-axis current and the target quadrature-axis current into an integral closed loop to perform vector pulse width modulation voltage output so as to control the target motor to continue to run in the next period.
In summary, in this embodiment, when the actual quadrature axis voltage of the target motor is less than 0, the target voltage difference of the target motor is inverted to obtain the direct axis current correction value, so as to further obtain the target direct axis current of the target motor in the next period, and the quadrature axis current correction value of the target motor is determined by combining the actual rotor temperature, the actual quadrature axis voltage, and the like of the target motor, so as to further obtain the target quadrature axis current of the target motor in the next period, and finally, the motor is controlled by the corrected target direct axis current and the target quadrature axis current.
Therefore, in the embodiment, the influence of the rotor temperature on the rotor flux linkage is considered to determine the target direct-axis current and the target quadrature-axis current, so that the risk of runaway of the motor at low temperature or high temperature can be reduced, the probability of positive feedback phenomenon of the target motor is reduced, and the running stability of the target motor is improved. According to the embodiment, through single integral control (namely voltage difference control), integral output is adjusted in real time when the quadrature axis voltage has a negative value, so that the occurrence probability of positive feedback is reduced; meanwhile, the quadrature current correction value is selected in real time according to the magnitude of the quadrature current and the positive and negative of the quadrature voltage, so that the current output of the active field weakening is optimized, the stability of the active field weakening control is improved, and the probability of out-of-control is reduced.
Based on the same inventive concept, the present embodiment provides a motor control apparatus as shown in fig. 3, the apparatus including:
the direct axis current correction value determining module 31 is configured to invert the target voltage difference value of the target motor when the actual quadrature axis voltage of the target motor in the current period is less than 0, and obtain a direct axis current correction value according to the inverted target voltage difference value;
a target direct current determining module 32, configured to determine a target direct current of the target motor in a next period according to the direct current correction value and an actual command direct current corresponding to the current period;
the command quadrature axis current determining module 33 is configured to determine, when the actual quadrature axis voltage of the target motor in the current period is less than 0, a command quadrature axis current corresponding to the target motor in the current period according to the actual rotor temperature, the actual output torque, and the target direct axis current of the target motor;
the quadrature current correction value determining module 34 is configured to determine a quadrature current correction value of the target motor according to the actual quadrature voltage;
a target quadrature current determination module 35, configured to determine a target quadrature current of the target motor in a next period according to the commanded quadrature current and the quadrature current correction value;
the control module 36 is configured to control the target motor to operate according to the target direct current and the target quadrature current.
Further, the device also comprises a judging module for: after determining the target direct-axis current of the target motor in the next period, judging whether the target direct-axis current is matched with a preset direct-axis current range corresponding to the current period;
the target straight-axis current determining module 32 is configured to re-determine the target straight-axis current of the next period according to the preset straight-axis current range when the target straight-axis current does not match the preset straight-axis current range.
Further, the device further comprises a preset direct-axis current range determining module for:
determining an actual rotor flux linkage corresponding to the current period according to the actual rotor temperature, the target straight-axis current and the actual command torque corresponding to the current period;
determining a minimum endpoint value of a preset direct-axis current range according to an actual rotor flux linkage and an actual direct-axis inductance of a target motor;
and forming a preset direct-axis current range according to the minimum endpoint value and 0.
Further, the quadrature current determination module 33 is instructed to:
determining initial command quadrature current corresponding to the current period according to the actual command torque and the maximum torque current ratio curve corresponding to the current period;
determining an actual rotor flux linkage corresponding to the current moment according to the actual rotor temperature, the target straight-axis current, the initial command quadrature-axis current and the corresponding relation among the rotor temperature, the quadrature-axis current and the rotor flux linkage;
and determining the command quadrature current corresponding to the current period of the target motor according to the actual rotor flux linkage, the actual output torque and the target direct current.
Further, the quadrature current determination module 33 is instructed to:
testing corresponding output torques of the target motor under different rotor temperatures, different quadrature axis currents and different direct axis currents to obtain corresponding relations among the rotor temperatures, the quadrature axis currents, the direct axis currents and the output torques;
and determining the corresponding relation among the rotor temperature, the alternating-direct axis current and the rotor flux linkage according to the corresponding relation among the output torque formula, the rotor temperature, the alternating-direct axis current and the output torque.
Further, the apparatus further comprises an output torque determination module for:
determining the actual iron loss torque of the current period according to the actual rotation speed of the target motor in the current period and the corresponding relation between the rotation speed and the iron loss torque;
and determining the actual output torque corresponding to the current period according to the actual iron loss torque and the actual command torque.
Further, the quadrature current correction determination module 34 is configured to:
and determining a quadrature current correction value of the target motor according to the actual quadrature voltage, the actual direct-axis inductance and the actual angular velocity.
Based on the same inventive concept, the present embodiment provides an electronic device as shown in fig. 4, including:
a processor 41;
a memory 42 for storing instructions executable by the processor 41;
wherein the processor 41 is configured to execute to implement a motor control method as provided previously.
Based on the same inventive concept, the present embodiment provides a non-transitory computer-readable storage medium, which when executed by the processor 41 of the electronic device, enables the electronic device to perform a motor control method as provided above.
Since the electronic device described in this embodiment is an electronic device used to implement the method of information processing in this embodiment, those skilled in the art will be able to understand the specific implementation of the electronic device and various modifications thereof based on the method of information processing described in this embodiment, so how the method of this embodiment is implemented in this electronic device will not be described in detail herein. The electronic device used by those skilled in the art to implement the information processing method in the embodiments of the present application falls within the scope of protection intended by the present application.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A method of controlling an electric motor, the method comprising:
when the actual quadrature axis voltage of a target motor in the current period is smaller than 0, inverting the target voltage difference value of the target motor, and obtaining a direct axis current correction value according to the inverted target voltage difference value;
determining a target direct-axis current of the target motor in a next period according to the direct-axis current correction value and the actual command direct-axis current corresponding to the current period;
determining an instruction quadrature current corresponding to the target motor in the current period according to the actual rotor temperature, the actual output torque and the target direct current of the target motor;
determining a quadrature current correction value of the target motor according to the actual quadrature voltage;
determining a target quadrature current of the target motor in the next period according to the command quadrature current and the quadrature current correction value;
and controlling the target motor to operate according to the target direct-axis current and the target quadrature-axis current.
2. The method of claim 1, wherein after determining a target direct current for the target motor for a next period of time, the method further comprises:
judging whether the target straight-axis current is matched with a preset straight-axis current range corresponding to the current period;
and when the target straight-axis current is not matched with the preset straight-axis current range, re-determining the target straight-axis current of the next period according to the preset straight-axis current range.
3. The method of claim 2, wherein the determining of the preset direct current range includes:
determining an actual rotor flux linkage corresponding to the current period according to the actual rotor temperature, the target straight-axis current and the actual command torque corresponding to the current period;
determining a minimum endpoint value of the preset direct-axis current range according to the actual rotor flux linkage and the actual direct-axis inductance of the target motor;
and forming the preset direct-axis current range according to the minimum endpoint value and 0.
4. The method of claim 1, wherein the determining the commanded quadrature axis current for the target motor at the current time period based on the actual rotor temperature, the actual output torque, and the target direct axis current of the target motor comprises:
determining initial command quadrature current corresponding to the current period according to the actual command torque and the maximum torque current ratio curve corresponding to the current period;
determining an actual rotor flux linkage corresponding to the current moment according to the actual rotor temperature, the target direct-axis current, the initial command quadrature-axis current, the rotor temperature, and the correspondence between the quadrature-axis current and the rotor flux linkage;
and determining the command quadrature current corresponding to the current period of the target motor according to the actual rotor flux linkage, the actual output torque and the target direct current.
5. The method of claim 4, wherein the method of determining the correspondence between rotor temperature, ac-dc axis current and rotor flux linkage comprises:
testing corresponding output torques of the target motor under different rotor temperatures, different quadrature axis currents and different direct axis currents to obtain corresponding relations among the rotor temperatures, the quadrature axis currents, the direct axis currents and the output torques;
and determining the corresponding relation among the rotor temperature, the quadrature axis current and the rotor flux linkage according to the corresponding relation among the output torque formula, the rotor temperature, the quadrature axis current, the direct axis current and the output torque.
6. The method of claim 1, wherein the method of determining the actual output torque comprises:
determining the actual iron loss torque of the current period according to the actual rotation speed of the target motor in the current period and the corresponding relation between the rotation speed and the iron loss torque;
and determining the actual output torque corresponding to the current period according to the actual iron loss torque and the actual command torque.
7. The method of claim 1, wherein said determining a quadrature current correction value for said target motor based on said actual quadrature voltage comprises:
and determining the quadrature current correction value of the target motor according to the actual quadrature voltage, the actual direct-axis inductance and the actual angular velocity.
8. A motor control device, the device comprising:
the direct-axis current correction value determining module is used for inverting the target voltage difference value of the target motor when the actual quadrature-axis voltage of the target motor in the current period is smaller than 0, and obtaining a direct-axis current correction value according to the inverted target voltage difference value;
the target direct-axis current determining module is used for determining the target direct-axis current of the target motor in the next period according to the direct-axis current correction value and the actual command direct-axis current corresponding to the current period;
the command quadrature current determining module is used for determining command quadrature current corresponding to the target motor in the current period according to the actual rotor temperature, the actual output torque and the target direct current of the target motor;
the quadrature current correction value determining module is used for determining a quadrature current correction value of the target motor according to the actual quadrature voltage;
the target quadrature current determining module is used for determining the target quadrature current of the target motor in the next period according to the command quadrature current and the quadrature current correction value;
and the control module is used for controlling the target motor to run according to the target direct-axis current and the target quadrature-axis current.
9. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute to implement a motor control method as claimed in any one of claims 1 to 7.
10. A non-transitory computer readable storage medium, which when executed by a processor of an electronic device, causes the electronic device to perform a method of implementing a motor control as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311579177.7A CN117713609A (en) | 2023-11-22 | 2023-11-22 | Motor control method, device, equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311579177.7A CN117713609A (en) | 2023-11-22 | 2023-11-22 | Motor control method, device, equipment and medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117713609A true CN117713609A (en) | 2024-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311579177.7A Pending CN117713609A (en) | 2023-11-22 | 2023-11-22 | Motor control method, device, equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117713609A (en) |
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2023
- 2023-11-22 CN CN202311579177.7A patent/CN117713609A/en active Pending
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