CN117856692A - Motor control method, device, equipment and medium based on single current sensor - Google Patents
Motor control method, device, equipment and medium based on single current sensor Download PDFInfo
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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
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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Abstract
The invention discloses a motor control method, a motor control device, a motor control equipment and a motor control medium based on a single current sensor, wherein the motor control method comprises the following steps: acquiring power supply voltage and constructing a corresponding linear modulation region; analyzing and calculating the current values acquired by the power supply voltage and current sensors to obtain corresponding calculation results; dividing the linear modulation region according to the calculation result to obtain corresponding modulation region division information; carrying out three-phase current reconstruction on the modulation region division information and the current sampling information corresponding to the current sensor according to a preset vector strategy and a reference voltage vector to obtain corresponding reconstructed current information; and generating corresponding control signals according to the reconstructed current information and outputting the control signals to the control ends of the corresponding control switches so as to adjust the phase currents output to the motor by the three output ends. According to the method, the current sampling information is obtained through the single current sensor, and the three-phase current is reconstructed, so that the reconstruction error is reduced, the current reconstruction precision is improved, and the performance of controlling the motor based on the reconstructed current information is greatly improved.
Description
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to a motor control method, apparatus, device, and medium based on a single current sensor.
Background
At present, a PMSM (permanent magnet synchronous motor) control system is usually implemented by vector control in the traditional industrial technical field, measurement of three-phase current in the control process is implemented by depending on two or more phase current sensors, the cost and the volume of the control system are increased by the components in the control process, the failure rate of system hardware is also improved, and meanwhile, the current measurement precision is affected by different gain deviations among a plurality of current sensors, so that the overall control performance of the system is reduced. Therefore, the technical method of current measurement and motor control through a plurality of phase current sensors in the prior art has the problem of poor control performance.
Disclosure of Invention
The embodiment of the invention provides a motor control method, a motor control device, motor control equipment and a motor control medium based on a single current sensor, and aims to solve the problem that the control performance is poor in a technical method for measuring current through a plurality of phase current sensors and realizing motor control in the prior art.
In a first aspect, an embodiment of the present invention provides a motor control method based on a single current sensor, where the method is applied to an intelligent control terminal, where the intelligent control terminal is electrically connected to a current sensor and a voltage sensor configured in a motor drive control circuit, where the motor drive control circuit includes three output ends, each output end correspondingly outputs a group of phase currents to a motor, and the intelligent control terminal is electrically connected to control ends of a plurality of control switches configured in the motor drive control circuit, respectively, where the method includes:
acquiring the power supply voltage acquired by the voltage sensor and constructing a linear modulation region corresponding to the power supply voltage;
analyzing and calculating the power supply voltage and the current value acquired by the current sensor according to a preset analysis and calculation rule to obtain a corresponding calculation result;
dividing the linear modulation region according to a preset region division rule and the calculation result to obtain corresponding modulation region division information;
carrying out three-phase current reconstruction on the modulation region division information and the current sampling information corresponding to the current sensor according to a preset vector strategy and a reference voltage vector to obtain corresponding reconstructed current information;
and generating corresponding control signals according to the reconstructed current information and outputting the control signals to the control ends of the corresponding control switches so as to adjust the phase currents output to the motor by the three output ends.
In a second aspect, an embodiment of the present invention further provides a motor control device based on a single current sensor, where the device is configured in an intelligent control terminal, the intelligent control terminal is electrically connected to a current sensor and a voltage sensor configured in a motor driving control circuit, the motor driving control circuit includes three output ends, each output end correspondingly outputs a group of phase currents to a motor, and the intelligent control terminal is electrically connected to control ends of a plurality of control switches configured in the motor driving control circuit, respectively, where the device is configured to execute the motor control method based on the single current sensor according to the first aspect, and the device includes:
the linear modulation region construction unit is used for acquiring the power supply voltage acquired by the voltage sensor and constructing a linear modulation region corresponding to the power supply voltage;
the analysis and calculation unit is used for carrying out analysis and calculation on the power supply voltage and the current value acquired by the current sensor according to a preset analysis and calculation rule to obtain a corresponding calculation result;
the modulation region division information acquisition unit is used for dividing the linear modulation region according to a preset region division rule and the calculation result to obtain corresponding modulation region division information;
the reconstruction current information acquisition unit is used for carrying out three-phase current reconstruction on the modulation region division information and the current sampling information corresponding to the current sensor according to a preset vector strategy and a reference voltage vector to obtain corresponding reconstruction current information;
and the control signal output unit is used for generating a corresponding control signal according to the reconstruction current information and outputting the control signal to the control end of the corresponding control switch so as to adjust the phase current output to the motor by the three output ends.
In a third aspect, an embodiment of the present invention further provides a computer device, where the device includes a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing the steps of the motor control method based on the single current sensor in the first aspect when executing the program stored in the memory.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the single current sensor based motor control method according to the first aspect.
The embodiment of the invention provides a motor control method, a motor control device, motor control equipment and a motor control medium based on a single current sensor, wherein the motor control method comprises the following steps: acquiring power supply voltage and constructing a corresponding linear modulation region; analyzing and calculating the current values acquired by the power supply voltage and current sensors to obtain corresponding calculation results; dividing the linear modulation region according to the calculation result to obtain corresponding modulation region division information; carrying out three-phase current reconstruction on the modulation region division information and the current sampling information corresponding to the current sensor according to a preset vector strategy and a reference voltage vector to obtain corresponding reconstructed current information; and generating corresponding control signals according to the reconstructed current information and outputting the control signals to the control ends of the corresponding control switches so as to adjust the phase currents output to the motor by the three output ends. According to the method, the current sampling information is obtained through the single current sensor, and the three-phase current is reconstructed, so that the reconstruction error is reduced, the current reconstruction precision is improved, and the performance of controlling the motor based on the reconstructed current information is greatly improved.
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 method flowchart of a motor control method based on a single current sensor according to an embodiment of the present invention;
fig. 2 is a circuit configuration diagram of a motor drive control circuit according to an embodiment of the present invention;
fig. 3 is an application effect diagram of a motor control method based on a single current sensor according to an embodiment of the present invention;
fig. 4 is another application effect diagram of the motor control method based on the single current sensor according to the embodiment of the present invention;
FIG. 5 is an enlarged view of a portion of region P of FIG. 4 according to an embodiment of the present invention;
FIG. 6 is a schematic block diagram of a motor control device based on a single current sensor provided by an embodiment of the present invention;
fig. 7 is a schematic block diagram of a computer device provided by an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the 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.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Under practical conditions, the current sensor needs a fixed duration T for collecting stable and reliable current information due to dead time, delayed on and off time of the switching device and current signal conversion time of the AD module min This necessarily results in a region where phase current reconstruction fails, i.e., a reconstruction dead zone, in the linear modulation region.
Referring to fig. 1 and 2, as shown in the drawings, in order to reduce the voltage vector tracking error and solve the problems of the dead zone of current reconstruction and the accuracy of current reconstruction, an embodiment of the present invention provides a motor control method based on a single current sensor, which is applied to an intelligent control terminal, the intelligent control terminal is electrically connected with a current sensor 10 and a voltage sensor configured in a motor driving control circuit, the motor driving control circuit includes three output terminals A, B, C, each output terminal correspondingly outputs a group of phase currents to a motor, and the three groups of phase currents respectively use i a 、i b I c Representing; the intelligent control terminal is electrically connected with control ends of a plurality of control switches configured in the motor drive control circuit respectively, circuit devices in the motor drive control circuit are combined into an inverter, and the current sensor 10 is arranged in series at the negative electrode of a DC bus of the inverter; the control switch may be a thyristor, and the gate of the thyristor is used as the control end of the control switch, for example, six thyristors are provided as the control switch in the embodiment of the present application to control three groups of phase currents, which are Q respectively 1 、Q 2 、Q 3 、Q 4 、Q 5 Q and Q 6 The intelligent control terminal can be a control device with a signal receiving function and a control instruction sending function, such as a MUC control chip and the like. As shown in FIG. 1, the method includes the steps of S110-SS150。
S110, acquiring the power supply voltage acquired by the voltage sensor and constructing a linear modulation region corresponding to the power supply voltage.
And acquiring the power supply voltage acquired by the voltage sensor and constructing a linear modulation region corresponding to the power supply voltage. Firstly, the power supply voltage acquired by a voltage sensor can be acquired, and the power supply voltage can be V dc It is shown that by means of the supply voltage a corresponding linear modulation region can be built up.
In a specific embodiment, step S110 includes the sub-steps of: determining the maximum value of the abscissa in a preset two-dimensional coordinate system according to the power supply voltage; and generating a peripheral boundary line corresponding to the maximum value of the abscissa according to the voltage change rate so as to construct a linear modulation region in the two-dimensional coordinate system.
Specifically, the maximum value of the abscissa can be determined in a preset two-dimensional space coordinate system according to the power supply voltage, for example, the maximum value of the abscissa is determined to be V 1 （100）=V dc . Then V 1 (100) I.e. as the maximum value of the linear modulation region on the abscissa.
Further, a peripheral boundary line corresponding to the abscissa maximum value is generated according to the voltage change rate, and a cross-abscissa maximum value V is generated in a two-dimensional coordinate system by taking the voltage change rate as a slope 1 (100) A right boundary line of the (a) is taken as a starting point, a straight line passing through the coordinate origin O and perpendicular to the right boundary line is generated as a left boundary line (perpendicularly intersecting with a point d), the right boundary line and the left boundary line are combined to form a peripheral boundary line, and a linear modulation region can be constructed in a two-dimensional coordinate system by generating the peripheral boundary line, wherein three vertexes of the linear modulation region are respectively a point of the coordinate origin O, d and a maximum value V of an abscissa 1 （100）。
And S120, analyzing and calculating the power supply voltage and the current value acquired by the current sensor according to a preset analysis and calculation rule to obtain a corresponding calculation result.
And analyzing and calculating the power supply voltage and the current value acquired by the current sensor according to a preset analysis and calculation rule to obtain a corresponding calculation result. Furthermore, the analysis and calculation can be performed on the current values collected by the power supply voltage and current sensor according to the analysis and calculation rule, so that the calculated values are used as corresponding calculation results.
In a specific embodiment, step S120 includes the sub-steps of: acquiring delay time corresponding to the current value; and carrying out analysis and calculation on the delay time and the power supply voltage according to the analysis and calculation rule to obtain a corresponding calculated value as the calculation result.
Specifically, the delay time corresponding to the current value, that is, the delay time is the current sampling delay time formed by overlapping the dead time, the delay on and off time of the switching device, the current signal conversion time of the AD module, etc., can be calculated, and the time difference between the sending time of the switching control signal and the time point of the current sensor for stably detecting the current information can be determined as the delay time T min 。
Furthermore, the delay time and the power supply voltage are analyzed and calculated according to an analysis and calculation rule, and the specific analysis and calculation rule can be expressed by adopting a formula (1):
（1）；
wherein f is the obtained calculation result, T min For delay time, V dc Tsp is the switching period of the inverter, in seconds, for the supply voltage.
S130, dividing the linear modulation region according to a preset region division rule and the calculation result to obtain corresponding modulation region division information.
And dividing the linear modulation region according to a preset region division rule and the calculation result to obtain corresponding modulation region division information. According to the region division rule and the calculation result, the linear modulation region can be divided, so that modulation region division information containing a plurality of region ranges is obtained.
In a specific embodiment, step S130 includes the sub-steps of: generating a first region dividing line in the linear modulation region by taking the vertex angle of a peripheral boundary line as a starting point according to a first angle value in the region dividing rule; generating a second region dividing line in the linear modulation region by taking a coordinate origin as a starting point according to a second angle value in the region dividing rule; determining the maximum abscissa value of the small sector according to the calculated value in the calculated result; and generating a corresponding small sector dividing line according to the maximum abscissa value to obtain modulation division information.
Specifically, the region division rule includes a first angle value θ 1 The apex of the peripheral boundary line, i.e., the point d, then a first region dividing line l can be generated in the linear modulation region by the first angle value starting from the point d 2 First area dividing line l 2 The intersection point with the axis of abscissa is k, the angle between the two axes is Odk, namely the first angle value theta 1 The specific graph is shown in fig. 3. Through the first zone dividing line l 2 Can determine R 2 The specific range of the region. Wherein, the first angle value theta can be set 1 = π/4。
Further, according to the second angle value theta in the region division rule 2 Generating a second region dividing line l in the linear modulation region by taking the origin of coordinates O as a starting point 3 Second area dividing line l 3 The included angle between the axis of abscissa and the axis of abscissa is the second angle value theta 2 The specific diagrams are shown in fig. 3 and 4. Second area dividing line l 3 For S of 1 The regions are divided to form R 3 Region and R 4 An area. Wherein, the second angle value theta can be set 2 Half of the angle dOk.
Determining small sector R according to calculated value in calculated result 1 Specifically, it can be determined that the maximum abscissa value is |ob|=f, and the formed small sector R is enclosed 1 The corresponding three vertexes are O point, e point and b point respectively; further determining small sector R 1 The distance between the abscissa intermediate points a and O is f/2. The specific graph is shown in fig. 4.
According to the determined maximum abscissa valueGenerating a corresponding small sector dividing line, and taking the point b as a starting point to form a line segment perpendicular to the straight line Od to obtain a small sector dividing line l 1 The vertical intersection point is e point, and the further connecting line segment ae can be used for the small sector R 1 Further partitioning is performed. The specific graph is shown in fig. 4.
Comprehensive first area dividing line l 2 Second area dividing line l 3 Small sector dividing line l 1 The modulation zone division information can be obtained.
And S140, carrying out three-phase current reconstruction on the modulation region division information and the current sampling information corresponding to the current sensor according to a preset vector strategy and a reference voltage vector to obtain corresponding reconstructed current information.
And carrying out three-phase current reconstruction on the modulation region division information and the current sampling information corresponding to the current sensor according to a preset vector strategy and a reference voltage vector to obtain corresponding reconstructed current information. Furthermore, based on a vector strategy and a reference voltage vector, three-phase current reconstruction can be performed on modulation region division information, namely current sampling information acquired by a current sensor, and reconstructed current information is obtained after the three-phase current reconstruction.
In a specific embodiment, step S140 includes the sub-steps of: determining a region where the end point of the reference voltage vector coincides with the modulation region division information as a target region; acquiring a superposition vector matched with the target area in the vector strategy; sampling time configuration is carried out according to the superposition vector; and carrying out three-phase current reconstruction calculation on current sampling information in the same switching period according to the configured sampling time to obtain corresponding reconstruction current information.
Further, it can be based on the reference voltage vector u s ref And selecting different effective vectors and zero vector strategies to synthesize the reference voltage vector in the region where the end point of the (2) is located in the modulation region division information. Reference voltage vector u s ref The vector decomposition of (a) is shown in FIG. 3, as can the reference voltage vector u s ref Is decomposed into V 12 Vector voltage V in the same direction k Reference voltage vectoru s ref The vertical vector between the end point of (c) and Od is e 3 (corresponding vertical intersection point is D), and dV 1 (100) The vertical vector between them is e 2 (the corresponding perpendicular intersection point is V v ) A perpendicular vector between the axis of abscissa and the axis of abscissa is e 4 。
With the end point of the reference voltage vector being located in region R 1 For example, then region R 1 Is the target area. The vector strategy contains vector information corresponding to different areas, and a matched group of vector information can be obtained from the vector strategy as an overlapped vector according to the currently determined target area. The superimposed vector corresponding to the target area obtained in the embodiment of the present application includes an effective vector and a zero voltage vector, where the effective vector isV 1 (100) AndV 2 (110) Zero voltage vector isV 0 (000)。
Sample time configuration based on the acquired superimposed vector, e.g. inV 1 (100) AndV 2 (110) Each allocation T of the time of action of (C) min To meet the requirement of minimum sampling time, the residual time uses zero voltage vectorV 0 (000) Supplementing this, the configured sampling time is shown in fig. 5. The zero voltage vector in FIG. 5V 0 (000) The corresponding shadow area has the action time T 0 And effective vectorV 1 (100) The corresponding shadow area has the action time T 1 And effective vectorV 2 (110) The corresponding shadow area has the action time T 2 。
And carrying out three-phase current reconstruction calculation on current sampling information in the same switching period according to the configured sampling time, specifically, after the sampling time is configured, reasonably arranging the action sequence of vectors, directly outputting the switching state, and carrying out direct current bus sampling by setting sampling points at the tail of the action time of two active vectors. Because the reconstruction of the three-phase current is carried out at a plurality of moments of one switching period, the sampled current can only represent the current at the time point, and certain errors can be caused by calculating the reconstruction of the three-phase current by utilizing sampling information at different moments.
By R 4 The region is exemplified, and the vector action sequence and the current sampling situation can be seen as shown in fig. 5. At t end The three-phase current reconstruction calculation is carried out on the current sampling information in the same switching period by taking the phase current at the moment as a reference, and the specific calculation process can be represented by adopting a formula (2) and a formula (3):
（2）；
（3）；
wherein i is a r Is att 1 The direct current bus current value, i sampled at the moment c r Is att 2 The DC bus current value sampled at the moment is due tot 2 The moment is the end of the sampling period, so i c r Is an accurate c-phase current value, but due tot 1 Andt 2 is the time difference of i a r Error Δi of (2) a r Thus, the pair i is needed a r And performing current reconstruction calculation to realize current compensation. Wherein t is 1 And t 2 I.e. one sample period apart.
The three-phase current reconstruction calculation can obtain the reconstruction current information i a_end 、i b_end I c_end 。
And S150, generating a corresponding control signal according to the reconstructed current information and outputting the control signal to a control end of a corresponding control switch so as to adjust phase currents output to the motor by the three output ends.
And generating corresponding control signals according to the reconstructed current information and outputting the control signals to the control ends of the corresponding control switches so as to adjust the phase currents output to the motor by the three output ends. The control ends of the control switches corresponding to the corresponding control signals and the output values respectively can be generated according to the obtained reconstructed current information, and each control switch is controlled on-off according to the received control signals, so that the phase currents output to the motor by the three output ends are adjusted, accurate control of the motor is realized, and the efficiency and performance of controlling the motor are improved.
The three-phase current reconstruction calculation fully considers and reduces the calculation complexity in the aspects of basic voltage vector selection, prediction calculation, time distribution and the like. The reliable sampling of bus current information is ensured by adopting a plurality of vector synthesis methods, and the voltage tracking error is reduced; meanwhile, the reconstruction error is reduced by reasonably distributing the action sequence, sampling time and instantaneous compensation of the selected basic voltage vector, and the current reconstruction precision is improved, so that the performance of motor control based on the reconstructed current information obtained after current reconstruction is improved. The method reduces the current error in the improved current sampling and reconstruction scheme, and effectively improves the performance of intelligent control of the motor based on the single current sensor.
In the motor control method based on the single current sensor disclosed in the above embodiment, the method includes: acquiring power supply voltage and constructing a corresponding linear modulation region; analyzing and calculating the current values acquired by the power supply voltage and current sensors to obtain corresponding calculation results; dividing the linear modulation region according to the calculation result to obtain corresponding modulation region division information; carrying out three-phase current reconstruction on the modulation region division information and the current sampling information corresponding to the current sensor according to a preset vector strategy and a reference voltage vector to obtain corresponding reconstructed current information; and generating corresponding control signals according to the reconstructed current information and outputting the control signals to the control ends of the corresponding control switches so as to adjust the phase currents output to the motor by the three output ends. According to the method, the current sampling information is obtained through the single current sensor, and the three-phase current is reconstructed, so that the reconstruction error is reduced, the current reconstruction precision is improved, and the performance of controlling the motor based on the reconstructed current information is greatly improved.
The embodiment of the invention also provides a motor control device based on the single current sensor, which can be configured in an intelligent control terminal and is used for executing any embodiment of the motor control method based on the single current sensor. Specifically, referring to fig. 6, fig. 6 is a schematic block diagram of a motor control device based on a single current sensor according to an embodiment of the present invention.
As shown in fig. 6, the single-current-sensor-based motor control device 100 includes a linear modulation region constructing unit 110, an analysis calculating unit 120, a modulation region division information acquiring unit 130, a reconstruction current information acquiring unit 140, and a control signal output unit 150.
And the linear modulation region construction unit 110 is configured to acquire the power supply voltage acquired by the voltage sensor and construct a linear modulation region corresponding to the power supply voltage.
In a more specific embodiment, the linear modulation region construction unit 110 includes: the determining unit is used for determining an abscissa maximum value in a preset two-dimensional coordinate system according to the power supply voltage; and the construction unit is used for generating a peripheral boundary line corresponding to the abscissa maximum value according to the voltage change rate so as to construct and obtain a linear modulation region in the two-dimensional coordinate system.
The parsing calculation unit 120 is configured to parse and calculate the power supply voltage and the current value acquired by the current sensor according to a preset parsing calculation rule to obtain a corresponding calculation result.
In a more specific embodiment, the parsing calculation unit 120 includes: the delay time determining unit is used for obtaining the delay time corresponding to the current value; and the calculation unit is used for carrying out analysis and calculation on the delay time and the power supply voltage according to the analysis and calculation rule to obtain a corresponding calculation value as the calculation result.
The modulation region division information obtaining unit 130 is configured to divide the linear modulation region according to a preset region division rule and the calculation result, so as to obtain corresponding modulation region division information.
And the reconstruction current information obtaining unit 140 is configured to reconstruct three-phase current of the modulation region division information and the current sampling information corresponding to the current sensor according to a preset vector strategy and a reference voltage vector, so as to obtain corresponding reconstruction current information.
And the control signal output unit 150 is configured to generate a corresponding control signal according to the reconstructed current information and output the control signal to the control end of the corresponding control switch, so as to adjust the phase currents output to the motor by the three output ends.
The motor control device based on the single current sensor provided by the embodiment of the invention is applied to the motor control method based on the single current sensor, acquires the power supply voltage and constructs a corresponding linear modulation region; analyzing and calculating the current values acquired by the power supply voltage and current sensors to obtain corresponding calculation results; dividing the linear modulation region according to the calculation result to obtain corresponding modulation region division information; carrying out three-phase current reconstruction on the modulation region division information and the current sampling information corresponding to the current sensor according to a preset vector strategy and a reference voltage vector to obtain corresponding reconstructed current information; and generating corresponding control signals according to the reconstructed current information and outputting the control signals to the control ends of the corresponding control switches so as to adjust the phase currents output to the motor by the three output ends. According to the method, the current sampling information is obtained through the single current sensor, and the three-phase current is reconstructed, so that the reconstruction error is reduced, the current reconstruction precision is improved, and the performance of controlling the motor based on the reconstructed current information is greatly improved.
The above-described single current sensor based motor control apparatus may be implemented in the form of a computer program that can be run on a computer device as shown in fig. 7.
Referring to fig. 7, fig. 7 is a schematic block diagram of a computer device according to an embodiment of the present invention. The computer device may be an intelligent control terminal for performing a single current sensor-based motor control method to control phase currents output to the motor by the motor drive control circuit.
Referring to fig. 7, the computer device 500 includes a processor 502, a memory, and a network interface 505, which are connected by a communication bus 501, wherein the memory may include a storage medium 503 and an internal memory 504.
The storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032, when executed, may cause the processor 502 to perform a single current sensor based motor control method, wherein the storage medium 503 may be a volatile storage medium or a non-volatile storage medium.
The processor 502 is used to provide computing and control capabilities to support the operation of the overall computer device 500.
The internal memory 504 provides an environment for the execution of a computer program 5032 in the storage medium 503, which computer program 5032, when executed by the processor 502, causes the processor 502 to perform a single current sensor based motor control method.
The network interface 505 is used for network communication, such as providing for transmission of data information, etc. It will be appreciated by those skilled in the art that the architecture shown in fig. 7 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting of the computer device 500 to which the present inventive arrangements may be implemented, as a particular computer device 500 may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
The processor 502 is configured to execute a computer program 5032 stored in a memory to implement the corresponding functions in the single current sensor-based motor control method.
Those skilled in the art will appreciate that the embodiment of the computer device shown in fig. 7 is not limiting of the specific construction of the computer device, and in other embodiments, the computer device may include more or less components than those shown, or certain components may be combined, or a different arrangement of components. For example, in some embodiments, the computer device may include only a memory and a processor, and in such embodiments, the structure and function of the memory and the processor are consistent with the embodiment shown in fig. 7, and will not be described again.
It should be appreciated that in an embodiment of the invention, the processor 502 may be a central processing unit (Central Processing Unit, CPU), the processor 502 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In another embodiment of the invention, a computer-readable storage medium is provided. The computer readable storage medium may be a volatile or nonvolatile computer readable storage medium. The computer readable storage medium stores a computer program, wherein the computer program when executed by a processor implements the steps involved in the single current sensor based motor control method described above.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus, device and unit described above may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein. Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description 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.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus, device and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the units is merely a logical function division, there may be another division manner in actual implementation, or units having the same function may be integrated into one unit, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present invention.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a computer-readable storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned computer-readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. The motor control method based on a single current sensor is characterized in that the method is applied to an intelligent control terminal, the intelligent control terminal is electrically connected with a current sensor and a voltage sensor configured in a motor drive control circuit, the motor drive control circuit comprises three output ends, each output end correspondingly outputs a group of phase currents to a motor, and the intelligent control terminal is electrically connected with control ends of a plurality of control switches configured in the motor drive control circuit respectively, and the method comprises the following steps:
acquiring the power supply voltage acquired by the voltage sensor and constructing a linear modulation region corresponding to the power supply voltage;
analyzing and calculating the power supply voltage and the current value acquired by the current sensor according to a preset analysis and calculation rule to obtain a corresponding calculation result;
dividing the linear modulation region according to a preset region division rule and the calculation result to obtain corresponding modulation region division information;
carrying out three-phase current reconstruction on the modulation region division information and the current sampling information corresponding to the current sensor according to a preset vector strategy and a reference voltage vector to obtain corresponding reconstructed current information;
and generating corresponding control signals according to the reconstructed current information and outputting the control signals to the control ends of the corresponding control switches so as to adjust the phase currents output to the motor by the three output ends.
2. The single current sensor-based motor control method according to claim 1, wherein the constructing a linear modulation region corresponding to the power supply voltage includes:
determining the maximum value of the abscissa in a preset two-dimensional coordinate system according to the power supply voltage;
and generating a peripheral boundary line corresponding to the maximum value of the abscissa according to the voltage change rate so as to construct a linear modulation region in the two-dimensional coordinate system.
3. The motor control method based on a single current sensor according to claim 1, wherein the analyzing and calculating the power supply voltage and the current value acquired by the current sensor according to a preset analyzing and calculating rule to obtain a corresponding calculation result includes:
acquiring delay time corresponding to the current value;
and carrying out analysis and calculation on the delay time and the power supply voltage according to the analysis and calculation rule to obtain a corresponding calculated value as the calculation result.
4. The motor control method based on a single current sensor according to claim 1, wherein the dividing the linear modulation region according to a preset region division rule and the calculation result to obtain corresponding modulation region division information includes:
generating a first region dividing line in the linear modulation region by taking the vertex angle of a peripheral boundary line as a starting point according to a first angle value in the region dividing rule;
generating a second region dividing line in the linear modulation region by taking a coordinate origin as a starting point according to a second angle value in the region dividing rule;
determining the maximum abscissa value of the small sector according to the calculated value in the calculated result;
and generating a corresponding small sector dividing line according to the maximum abscissa value to obtain modulation division information.
5. The motor control method based on a single current sensor according to claim 1, wherein the performing three-phase current reconstruction on the modulation region division information according to a preset vector strategy and a reference voltage vector to obtain corresponding reconstructed current information comprises:
determining a region where the end point of the reference voltage vector coincides with the modulation region division information as a target region;
acquiring a superposition vector matched with the target area in the vector strategy;
sampling time configuration is carried out according to the superposition vector;
and carrying out three-phase current reconstruction calculation on current sampling information in the same switching period according to the configured sampling time to obtain corresponding reconstruction current information.
6. A motor control device based on a single current sensor, wherein the device is configured in an intelligent control terminal, the intelligent control terminal is electrically connected with a current sensor and a voltage sensor configured in a motor drive control circuit, the motor drive control circuit comprises three output ends, each output end correspondingly outputs a group of phase currents to a motor, the intelligent control terminal is electrically connected with control ends of a plurality of control switches configured in the motor drive control circuit respectively, and the device is used for executing the motor control method based on the single current sensor as claimed in any one of claims 1-5, and the device comprises:
the linear modulation region construction unit is used for acquiring the power supply voltage acquired by the voltage sensor and constructing a linear modulation region corresponding to the power supply voltage;
the analysis and calculation unit is used for carrying out analysis and calculation on the power supply voltage and the current value acquired by the current sensor according to a preset analysis and calculation rule to obtain a corresponding calculation result;
the modulation region division information acquisition unit is used for dividing the linear modulation region according to a preset region division rule and the calculation result to obtain corresponding modulation region division information;
the reconstruction current information acquisition unit is used for carrying out three-phase current reconstruction on the modulation region division information and the current sampling information corresponding to the current sensor according to a preset vector strategy and a reference voltage vector to obtain corresponding reconstruction current information;
and the control signal output unit is used for generating a corresponding control signal according to the reconstruction current information and outputting the control signal to the control end of the corresponding control switch so as to adjust the phase current output to the motor by the three output ends.
7. The single current sensor based motor control apparatus of claim 6, wherein the linear modulation region constructing unit comprises:
the determining unit is used for determining an abscissa maximum value in a preset two-dimensional coordinate system according to the power supply voltage;
and the construction unit is used for generating a peripheral boundary line corresponding to the abscissa maximum value according to the voltage change rate so as to construct and obtain a linear modulation region in the two-dimensional coordinate system.
8. The single current sensor-based motor control apparatus according to claim 6, wherein the analysis calculating unit includes:
the delay time determining unit is used for obtaining the delay time corresponding to the current value;
and the calculation unit is used for carrying out analysis and calculation on the delay time and the power supply voltage according to the analysis and calculation rule to obtain a corresponding calculation value as the calculation result.
9. A computer device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the steps of the single current sensor based motor control method of any one of claims 1-5 when executing a program stored on a memory.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the single current sensor based motor control method according to any one of claims 1-5.
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