CN118300469A - Zero offset determining method, device, equipment and storage medium - Google Patents
Zero offset determining method, device, equipment and storage medium Download PDFInfo
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Abstract
The application discloses a zero offset determining method, device, equipment and storage medium, and belongs to the technical field of motor control. The method comprises the steps of obtaining current data, working voltage and electrical angular frequency of a motor, wherein the current data comprise instruction current and/or stator current under a two-phase static coordinate system; and calculating target reactive power based on the current data, the working voltage and the electrical angular frequency, namely calculating zero offset based on the target reactive power. Because the current data, the working voltage and the electrical angular frequency are all known variables, the application does not need to additionally inject high-frequency signals to acquire the variables, and the variables are not influenced by the signal to noise ratio, so the application is not limited by low-speed working conditions. Therefore, the problem of zero offset can be simply solved by calibrating the rotor position based on the calculated zero offset.
Description
Technical Field
The present application relates to the field of motor control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for determining zero offset.
Background
As a driving device of an electric vehicle, a permanent magnet synchronous motor is generally required to obtain accurate rotor position information of the permanent magnet synchronous motor, and control of the permanent magnet synchronous motor is achieved based on the rotor position information, wherein the rotor position information is generally obtained through a rotary transformer (abbreviated as rotary transformer). Because the rotation transformer and the permanent magnet synchronous motor are mechanically installed, in the whole life cycle of the electric automobile, the installation position of the rotation transformer is inevitably deviated due to vibration, aging and the like, so that deviation occurs in rotor position information acquired through the rotation transformer, namely zero deviation occurs, the permanent magnet synchronous motor outputs unexpected torque based on the rotor position information, the automobile generates excessive or small acceleration, and driving safety is affected, and therefore, the determination of the zero deviation is crucial.
Currently, a low-speed high-frequency injection scheme or an observer scheme is generally adopted to acquire accurate rotor position information, so that motor control is performed based on the accurate rotor position information. However, the low-speed high-frequency injection scheme requires the motor controller to additionally inject high-frequency signals, and the driving experience can be greatly influenced by noise; the observer scheme is limited by low signal-to-noise ratio under low-speed working conditions and is only suitable for high-speed working conditions.
Disclosure of Invention
The application mainly aims to provide a zero offset determining method, device, equipment and storage medium, which aim to solve the technical problem of how to simply solve zero offset.
In order to achieve the above object, the present application provides a zero offset determination method, which includes the following steps:
Acquiring current data, working voltage and electrical angular frequency of a motor, wherein the current data comprises instruction current and/or stator current under a two-phase stationary coordinate system;
calculating a target reactive power based on the current data, the operating voltage and the electrical angular frequency, calculating a zero offset based on the target reactive power, and calibrating a rotor position of the motor based on the zero offset.
Optionally, the step of calculating the zero offset based on the target reactive power includes:
And calculating zero offset based on the target reactive power and a preset association relation between the instruction current and the stator current when zero offset exists.
Optionally, the target reactive power includes a first reactive power, the step of calculating a target reactive power based on current data, the operating voltage, and the electrical angular frequency, and calculating a zero offset based on the target reactive power includes:
calculating a first passive power based on the commanded current, the operating voltage, and the electrical angular frequency;
and calculating zero offset based on the first passive power and the preset association relation.
Optionally, the step of calculating the zero offset based on the first active power and the preset association relation includes:
And calculating zero offset based on the first passive power, the preset association relation and preset motor parameters.
Optionally, the target reactive power further includes a second reactive power, the step of calculating a target reactive power based on the current data, the operating voltage, and the electrical angular frequency, and calculating a zero offset based on the target reactive power, including:
acquiring stator voltage under a two-phase static coordinate system;
Calculating a second reactive power based on the stator current, the stator voltage and the electrical angular frequency in the two-phase stationary coordinate system;
Calculating an operating current based on the second reactive power, the operating voltage, and the electrical angular frequency;
and calculating zero offset based on the second reactive power, the working current, the preset association relation and the mathematical relation between the current amplitude of the working current and the current amplitude of the instruction current.
Optionally, after the step of calculating the operating current based on the second reactive power, the operating voltage, and the electrical angular frequency, the method further comprises:
And calculating zero offset based on the working current, the instruction current and the preset association relation.
Optionally, the target reactive power further includes a standard reactive power, and the step of calculating a zero offset based on the target reactive power includes:
Determining a difference between a standard reactive power and the first reactive power, the standard reactive power being determined based on a commanded current when no zero offset is present;
Based on the difference, a zero offset is calculated.
In addition, in order to achieve the above object, the present application also provides a zero offset determination device, including:
the data acquisition module is used for acquiring current data, working voltage and electrical angular frequency of the motor, wherein the current data comprises instruction current and/or stator current under a two-phase static coordinate system;
and the zero offset determining module is used for calculating target reactive power based on current data, the working voltage and the electrical angular frequency, calculating zero offset based on the target reactive power, and calibrating the rotor position of the motor based on the zero offset.
In addition, to achieve the above object, the present application also provides an apparatus comprising: a memory, a processor, and a zero offset determination program stored on the memory and executable on the processor, the zero offset determination program configured to implement the steps of the zero offset determination method as described above.
In addition, in order to achieve the above object, the present application also provides a computer-readable storage medium having stored thereon a zero offset determination program which, when executed by a processor, implements the steps of the zero offset determination method as described above.
The method comprises the steps of obtaining current data, working voltage and electrical angular frequency of a motor, wherein the current data comprise instruction current and/or stator current under a two-phase static coordinate system; and calculating target reactive power based on the current data, the working voltage and the electrical angular frequency, namely calculating zero offset based on the target reactive power. Because the current data, the working voltage and the electrical angular frequency are all known variables, the application does not need to additionally inject high-frequency signals to acquire the variables, and the variables are not influenced by the signal to noise ratio, so the application is not limited by low-speed working conditions. Therefore, the problem of zero offset can be simply solved by calibrating the rotor position based on the calculated zero offset.
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FIG. 1 is a first flow chart illustrating a first embodiment of a zero offset determination method according to the present application;
FIG. 2 is a schematic diagram of a first scenario of a second embodiment of the zero offset determination method of the present application;
FIG. 3 is a schematic diagram of a second scenario of a second embodiment of the zero offset determination method of the present application;
FIG. 4 is a block diagram illustrating an embodiment of a zero offset determination apparatus according to the present application;
FIG. 5 is a schematic diagram of a device architecture of a hardware operating environment according to an embodiment of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the element defined by the phrase "comprising one … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element, and furthermore, elements having the same name in different embodiments of the application may have the same meaning or may have different meanings, the particular meaning of which is to be determined by its interpretation in this particular embodiment or by further combining the context of this particular embodiment.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" depending on the context. Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" specify the presence of stated features, steps, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, steps, operations, elements, components, items, categories, and/or groups. The terms "or", "and/or", "including at least one of", and the like, as used herein, may be construed as inclusive, or mean any one or any combination. For example, "including at least one of: A. b, C "means" any one of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; a and B and C ", again as examples," A, B or C "or" A, B and/or C "means" any of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; a and B and C). An exception to this definition will occur only when a combination of elements, functions, steps or operations are in some way inherently mutually exclusive.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
It should be noted that, in this document, step numbers such as S10 and S20 are adopted, and the purpose of the present application is to more clearly and briefly describe the corresponding content, and not to constitute a substantial limitation on the sequence, and those skilled in the art may execute S20 first and then execute S10 when implementing the present application, which is within the scope of protection of the present application.
In the following description, suffixes such as "module", "part" or "unit" for representing elements are used only for facilitating the description of the present application, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.
Referring to fig. 1, fig. 1 is a flowchart of a first embodiment of a zero offset determination method according to the present application.
In a first embodiment, the zero offset determination method includes the steps of:
S10: acquiring current data, working voltage and electrical angular frequency of a motor, wherein the current data comprises instruction current and/or stator current under a two-phase stationary coordinate system;
the execution body of the zero offset determination method of the present embodiment is a zero offset determination device, which belongs to the zero offset determination apparatus.
In this embodiment, the motor may be a permanent magnet synchronous motor, an induction motor, or a switched reluctance motor, where the permanent magnet synchronous motor, the induction motor, and the switched reluctance motor all need to obtain accurate rotor position information of the permanent magnet synchronous motor, and implement control of the motor based on the rotor position information; the obtained current data is command current, or stator current under a two-phase stationary coordinate system, or command current and stator current under the two-phase stationary coordinate system.
Wherein the command current is the current working point of the d axis and the q axis under the given rotating coordinate system of the motor controllerThe stator current is the current working point i' α,i′β of the stator collected in real time under a two-phase static coordinate system.
Further, the working voltage is the d-axis and q-axis voltage working points (u' d,u′q) of the stator of the motor under the rotating coordinate system; the electric angular frequency is the radian number of the motor rotating per second, and is a motor parameter which can be obtained in real time.
Currently, a low-speed high-frequency injection scheme or an observer scheme is generally adopted to acquire accurate rotor position information, so that motor control is performed based on the accurate rotor position information. However, the low-speed high-frequency injection scheme requires the motor controller to additionally inject high-frequency signals, and the driving experience can be greatly influenced by noise; the observer scheme is limited by low signal-to-noise ratio under low-speed working conditions and is only suitable for high-speed working conditions.
The application does not need to inject high-frequency signals additionally to acquire the variables, and the variables are not influenced by the signal to noise ratio, so the application is not limited by low-speed working conditions.
S20: calculating a target reactive power based on the current data, the operating voltage and the electrical angular frequency, calculating a zero offset based on the target reactive power, and calibrating a rotor position of the motor based on the zero offset.
In general, the definition of reactive power is: e Q＝λd·id+λq·iq;
wherein λ d,λq represents the stator flux linkage of the d-axis and the q-axis in the rotation coordinate system, and i d,iq represents the stator currents of the d-axis and the q-axis in the rotation coordinate system, respectively.
Specifically, the stator flux linkages of the d-axis and q-axis can be expressed as:
λd＝Ldid+ψf
λq＝Lqiq
Wherein L d,Lq represents the inductances of the d-axis and q-axis in the rotational coordinate system, respectively, and ψ f represents the rotor flux linkage.
Based on the above, reactive power is expressed as:
in general, the steady-state voltage of a permanent magnet synchronous motor is expressed as:
ud＝Rs·id-ωrLqiq
uq＝R5·iq+ωrLdid+ωrψf
Wherein u d,uq represents the voltage of d-axis and q-axis of the stator in the rotating coordinate system, R s represents the stator resistance, and ω r represents the electrical angular frequency of the motor;
For the convenience of calculation, the reactive power is calculated by combining the expression of the steady-state voltage, and specifically, the expression of the reactive power may also be:
Therefore, the present embodiment is based on the above-described acquired variables: and calculating the current data, the working voltage and the electrical angular frequency to obtain the target reactive power.
The target reactive power includes a standard reactive power, a first reactive power, and a second reactive power.
The standard reactive power refers to the actual reactive power of the motor calculated based on the instruction current when zero offset does not exist; the first reactive power is reactive power with deviation calculated based on the instruction current when zero offset exists; the second reactive power refers to the actual reactive power of the motor calculated based on the operating current when zero offset exists.
The specific embodiment of calculating the zero offset based on the current data, the operating voltage, and the electrical angular frequency, and calculating the target reactive power may be: calculating a first passive power based on the command current, the operating voltage and the electrical angular frequency, and calculating a zero offset based on the first passive power; or may be based on the operating current, the operating voltage and the electrical angular frequency, a second reactive power is calculated, and based on the second reactive power, a zero offset is calculated.
If zero offset does not exist, the instruction current is consistent with the working current, and the standard reactive power is obtainedCan be expressed as:
Wherein, Indicating the command currents of the d-axis and q-axis in the rotating coordinate system.
If zero offset delta is not equal to 0, the instruction current is inconsistent with the working current, the working current of the motor is (i' d,i′q), and the expression of the second reactive power is:
Wherein u 'd,u′q represents the working voltages of the d axis and the q axis of the stator under the rotating coordinate system, and generally u' d≠ud,u'q≠uq;i'd,i'q and delta are unknown quantities;
Or the expression of the second reactive power E' Q may be:
Wherein u' α,u′β,i′α,i′β is the working voltage and working current of the stator in the stationary coordinate system, respectively.
When zero offset delta is not equal to 0, if the current reactive power is calculated by using the reactive power expression (the expression of the standard reactive power) when no zero offset exists, the calculated current reactive power is deviated, namely, the first reactive powerThe expression of (2) is:
wherein, comparing the standard reactive power, the first reactive power and the second reactive power, it is known that, E' Q The three are not equivalent, but all are related to zero offset, so the embodiment is based onE' Q and/orAnd calculating the zero offset, and realizing motor control based on the zero offset.
In particular, can be based onAnd E 'Q, the zero offset is determined, or may be based on E' Q orAnd respectively determining the zero offset according to the association between the zero offset and the zero offset.
It should be noted that, after the step of calculating the zero offset based on the target reactive power, at least one of the following steps is included:
compensating the current rotor position of the motor based on the zero offset;
And judging whether the motor has faults or not based on the zero offset.
Specifically, after the step of calculating the zero offset based on the target reactive power, the current rotor position of the motor may be compensated based on the zero offset.
Specifically, after the current rotor position of the motor is compensated based on the zero offset, the step of obtaining the current data, the working voltage and the difference value of the electrical angular frequency of the motor is returned until the zero offset is zero, so that calibration of the zero offset is realized, and accurate control of the motor is realized.
In the related art, a low-speed high-frequency injection scheme or an observer scheme is generally employed to acquire accurate rotor position information, so that motor control is performed based on the accurate rotor position information. However, the low-speed high-frequency injection scheme requires the motor controller to additionally inject high-frequency signals, and the driving experience can be greatly influenced by noise; the observer scheme is limited by low signal-to-noise ratio under low-speed working conditions and is only suitable for high-speed working conditions.
Compared with the prior art, the method adopts a low-speed high-frequency injection scheme or an observer scheme to acquire accurate rotor position information, so that motor control is performed based on the accurate rotor position information; according to the application, no additional high-frequency signal is needed to be injected, so that the driving experience is not influenced by noise greatly; the application is not limited by lower signal to noise ratio under low-speed working condition, so the zero offset is calculated by the mode, the motor control can be simply and accurately performed based on the zero offset, and the driving safety is improved.
Specifically, after the step of calculating the zero offset based on the target reactive power, whether the motor has a fault may be further determined based on the zero offset.
In addition, the specific implementation manner of determining whether the motor has a fault based on the zero offset may be:
judging whether the zero offset is larger than a preset offset threshold value or not; if the motor is larger than the preset value, determining that the motor has faults.
Wherein the preset offset threshold may be simulated or empirically determined.
It can be understood that if the zero offset is greater than the preset offset threshold, the rotor position cannot be accurately obtained even if the zero offset is calibrated, and in this case, the motor is directly determined to have a fault and a fault signal is sent out, so that a user can repair in time, and driving safety is improved.
In this embodiment, because the current data, the working voltage and the electrical angular frequency are all known variables, the target reactive power is calculated based on the current data, the working voltage and the electrical angular frequency, that is, the zero offset is calculated based on the target reactive power, and the zero offset is calculated in the above manner, that is, the motor control is simply and accurately performed based on the zero offset, thereby improving the driving safety. High-frequency signals are not required to be additionally injected, and driving experience is not influenced by noise greatly; the method is not limited by lower signal to noise ratio under low-speed working conditions, and is suitable for all working conditions; and when the zero offset is larger than a preset offset threshold, a fault signal can be sent out so that a user can maintain in time, and the driving safety is further improved.
The second embodiment of the zero offset determining method of the present application is provided based on the first embodiment, in this embodiment, the step of calculating the zero offset based on the target reactive power includes:
a1: and calculating zero offset based on the target reactive power and a preset association relation between the instruction current and the stator current when zero offset exists.
Specifically, the embodiment of calculating the zero offset based on the target reactive power and the preset association relationship between the instruction current and the stator current when the zero offset exists may be: calculating zero offset based on the first passive power and a preset association relation between the instruction current and the stator current when zero offset exists; or the zero offset can be calculated based on the second reactive power and a preset association relation between the instruction current and the stator current when the zero offset exists.
It should be noted that, assuming that the zero position of the motor is accurate when the motor leaves the factory, due to reasons such as vibration and aging, the zero position of the motor is deviated, the zero position deviation amount is defined as delta, and the preset association relationship between the instruction current and the stator current when the zero position deviation exists is as follows:
converting the preset association relation into a scalar form:
it can be understood that the preset association relationship between the instruction current and the stator current is established based on the zero offset, if the zero offset is 0, the instruction current is equal to the stator current, and if the zero offset is not 0, the preset association relationship exists between the instruction current and the stator current.
Specifically, the calculating the target reactive power based on the current data, the operating voltage and the electrical angular frequency, and calculating the zero offset based on the target reactive power may be implemented by:
Calculating a first passive power based on the commanded current, the operating voltage, and the electrical angular frequency; and calculating zero offset based on the first passive power and the preset association relation.
It can be understood that, based on the expression of the first active power and the preset association relationship, the zero offset can be calculated.
Further, the implementation manner of calculating the zero offset based on the first active power and the preset association relationship may further be:
And calculating zero offset based on the first passive power, the preset association relation and preset motor parameters.
Specifically, for the sake of convenience in calculation, u' d,u′q in the above expression of the first active power may be replaced by respective steady-state expressions, to obtain an expression of the first active power:
Combining the preset association relation converted into a scalar form to obtain an expression of the first passive power about the zero offset delta:
Further, the above formula is simplified to:
Wherein, A, B, C are the coefficients related to the preset motor parameter L d,Lq,Rs,ψf respectively, and the calculation modes of A, B, C are as follows:
The preset motor parameters can be obtained through motor calibration or electromagnetic simulation and other methods.
Therefore, the zero offset can also be calculated according to the first passive power, the preset association relationship, and the preset motor parameter.
Referring to fig. 2, the current rotor position of the motor is compensated by the solved zero offset delta; where θ e represents the motor rotor position obtained by rotation, and θ' e represents the motor rotor position after zero calibration.
Further, the calculating the target reactive power based on the current data, the operating voltage and the electrical angular frequency, and the calculating the zero offset based on the target reactive power may further be:
Acquiring a stator voltage u' α,u′β under a two-phase static coordinate system; calculating a second reactive power based on the stator current, the stator voltage and the electrical angular frequency in the two-phase stationary coordinate system; calculating an operating current based on the second reactive power, the operating voltage, and the electrical angular frequency; and calculating zero offset based on the second reactive power, the working current, the preset association relation and the mathematical relation between the current amplitude of the working current and the current amplitude of the instruction current.
Based on the two expressions of the second reactive power, it can be determined that:
Due to the fact that u' α,u′β,i′α,i′β, Omega r is a known quantity, and the working current i' d,i′q can be calculated based on the above equation after calculating the second reactive power based on the stator current in the two-phase stationary coordinate system, the stator voltage in the two-phase stationary coordinate system, and the electrical angular frequency, specifically, based on the second reactive power, the working voltage, and the electrical angular frequency.
Further, by combining the preset association relation and the mathematical relation between the current amplitude of the working current and the current amplitude of the instruction current, the zero offset can be calculated.
Specifically, the mathematical relationship between the current amplitude of the working current and the current amplitude of the command current is:
further, after the step of calculating the working current based on the second reactive power, the working voltage, and the electrical angular frequency, a zero offset may be calculated based on the working current, the command current, and the preset association relation.
Specifically, after the working current i' d,i′q is calculated, the zero offset can be calculated directly based on the preset association relationship and the known instruction current. Referring to fig. 2, the current rotor position of the motor is compensated using the solved zero offset δ, where θ e represents the motor rotor position obtained by the rotation variation, and θ' e represents the motor rotor position after zero calibration.
Further, after the first reactive power is calculated based on the above manner, the embodiment of calculating the zero offset based on the target reactive power may further be:
Determining a difference between a standard reactive power and the first reactive power; based on the difference, a zero offset is calculated.
Specifically, the standard reactive power may be calculated in advance based on the instruction current when no zero offset exists and the expression of the above standard reactive power before calculating the zero offset based on the target reactive power; the corresponding relation between the magnitude of the instruction current and the numerical value of the standard reactive power can be stored in a table, and the zero offset is obtained from the table based on the magnitude of the instruction current before the zero offset is calculated based on the target reactive power; or can obtain the whole working condition range through off-line calibration or electromagnetic simulation meansAnd are not limited herein.
Determining a difference between the standard reactive power and the first reactive power, wherein it is understood that a mathematical relationship exists between the magnitude of the difference and a zero offset, specifically, referring to fig. 3, based on the difference and the mathematical relationship, the zero offset is obtained through calculation by an integrator or by multiplying a preset proportion, and the current rotor position of the motor is compensated by using the solved zero offset, wherein θ e represents the rotor position of the motor obtained through rotation transformation, and θ' e represents the rotor position of the motor after zero calibration.
In this embodiment, by calculating the zero offset in the above-mentioned multiple manners and compensating the current rotor position of the motor, accurate control of the motor can be achieved without additional injection of high-frequency signals, and the above-mentioned variables are not affected by the signal-to-noise ratio, and therefore are not limited by low-speed working conditions. Moreover, by adopting the mode, the zero offset can be calculated simply, and the accurate control of the motor can be realized simply and accurately.
In addition, an embodiment of the present application further provides a zero offset determining device, referring to fig. 4, where the zero offset determining device includes:
the data acquisition module is used for acquiring current data, working voltage and electrical angular frequency of the motor, wherein the current data comprises instruction current and/or stator current under a two-phase static coordinate system;
and the zero offset determining module is used for calculating target reactive power based on current data, the working voltage and the electrical angular frequency, calculating zero offset based on the target reactive power, and calibrating the rotor position of the motor based on the zero offset.
This embodiment
It should be noted that each module in the above apparatus may be used to implement each step in the above method, and achieve a corresponding technical effect, which is not described herein again.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a device of a hardware running environment according to an embodiment of the present application.
As shown in fig. 5, the apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is not limiting of the apparatus and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 5, an operating system, a network communication module, a user interface module, and a zero offset determination program may be included in the memory 1005 as one type of computer storage medium.
In the apparatus shown in fig. 5, the apparatus calls a zero offset determination program stored in a memory 1005 by a processor 1001, and performs the following operations:
Acquiring current data, working voltage and electrical angular frequency of a motor, wherein the current data comprises instruction current and/or stator current under a two-phase stationary coordinate system;
calculating a target reactive power based on the current data, the operating voltage and the electrical angular frequency, calculating a zero offset based on the target reactive power, and calibrating a rotor position of the motor based on the zero offset.
Optionally, the processor 1001 may call a zero offset determination program stored in the memory 1005, and further perform the following operations:
And calculating zero offset based on the target reactive power and a preset association relation between the instruction current and the stator current when zero offset exists.
Optionally, the target reactive power includes a first reactive power, and the processor 1001 may call a zero offset determination program stored in the memory 1005, and further perform the following operations:
calculating a first passive power based on the commanded current, the operating voltage, and the electrical angular frequency;
and calculating zero offset based on the first passive power and the preset association relation.
Optionally, the processor 1001 may call a zero offset determination program stored in the memory 1005, and further perform the following operations:
And calculating zero offset based on the first passive power, the preset association relation and preset motor parameters.
Optionally, the target reactive power further includes a second reactive power, and the processor 1001 may call a zero offset determination program stored in the memory 1005, and further perform the following operations:
acquiring stator voltage under a two-phase static coordinate system;
Calculating a second reactive power based on the stator current, the stator voltage and the electrical angular frequency in the two-phase stationary coordinate system;
Calculating an operating current based on the second reactive power, the operating voltage, and the electrical angular frequency;
and calculating zero offset based on the second reactive power, the working current, the preset association relation and the mathematical relation between the current amplitude of the working current and the current amplitude of the instruction current.
Optionally, the processor 1001 may call a zero offset determination program stored in the memory 1005, and further perform the following operations:
And calculating zero offset based on the working current, the instruction current and the preset association relation.
Optionally, the processor 1001 may call a zero offset determination program stored in the memory 1005, and further perform the following operations:
Determining a difference between a standard reactive power and the first reactive power, the standard reactive power being determined based on a commanded current when no zero offset is present;
Based on the difference, a zero offset is calculated.
Because the current data, the working voltage and the electrical angular frequency are all known variables, the application does not need to additionally inject high-frequency signals to acquire the variables, and the variables are not influenced by the signal to noise ratio, so the application is not limited by low-speed working conditions. Therefore, the problem of zero offset can be simply solved by calibrating the rotor position based on the calculated zero offset.
In addition, an embodiment of the present application also proposes a computer-readable storage medium, on which a zero offset determination program is stored, which when executed by a processor, implements the following operations:
Acquiring current data, working voltage and electrical angular frequency of a motor, wherein the current data comprises instruction current and/or stator current under a two-phase stationary coordinate system;
calculating a target reactive power based on the current data, the operating voltage and the electrical angular frequency, calculating a zero offset based on the target reactive power, and calibrating a rotor position of the motor based on the zero offset.
Because the current data, the working voltage and the electrical angular frequency are all known variables, the application does not need to additionally inject high-frequency signals to acquire the variables, and the variables are not influenced by the signal to noise ratio, so the application is not limited by low-speed working conditions. Therefore, the problem of zero offset can be simply solved by calibrating the rotor position based on the calculated zero offset.
It should be noted that, when the computer readable storage medium is executed by the processor, each step in the method may be further implemented, and meanwhile, the corresponding technical effects are achieved, which is not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A zero offset determination method, characterized in that the zero offset determination method comprises the steps of:
Acquiring current data, working voltage and electrical angular frequency of a motor, wherein the current data comprises instruction current and/or stator current under a two-phase stationary coordinate system;
calculating a target reactive power based on the current data, the operating voltage and the electrical angular frequency, calculating a zero offset based on the target reactive power, and calibrating a rotor position of the motor based on the zero offset.
2. The zero offset determination method according to claim 1, wherein the step of calculating the zero offset based on the target reactive power includes:
And calculating zero offset based on the target reactive power and a preset association relation between the instruction current and the stator current when zero offset exists.
3. The zero offset determination method according to claim 2, wherein the target reactive power includes a first reactive power, the step of calculating a target reactive power based on current data, the operating voltage, and the electrical angular frequency, and calculating a zero offset based on the target reactive power, comprising:
calculating a first passive power based on the commanded current, the operating voltage, and the electrical angular frequency;
and calculating zero offset based on the first passive power and the preset association relation.
4. The zero offset determining method as claimed in claim 3, wherein the calculating the zero offset based on the first active power and the preset association relation comprises:
And calculating zero offset based on the first passive power, the preset association relation and preset motor parameters.
5. The zero offset determination method of claim 2, wherein the target reactive power further comprises a second reactive power, the step of calculating a target reactive power based on current data, the operating voltage, and the electrical angular frequency, and calculating a zero offset based on the target reactive power, comprising:
acquiring stator voltage under a two-phase static coordinate system;
Calculating a second reactive power based on the stator current, the stator voltage and the electrical angular frequency in the two-phase stationary coordinate system;
Calculating an operating current based on the second reactive power, the operating voltage, and the electrical angular frequency;
and calculating zero offset based on the second reactive power, the working current, the preset association relation and the mathematical relation between the current amplitude of the working current and the current amplitude of the instruction current.
6. The zero offset determination method of claim 5, wherein after the step of calculating an operating current based on the second reactive power, the operating voltage, and the electrical angular frequency, further comprising:
And calculating zero offset based on the working current, the instruction current and the preset association relation.
7. A zero offset determination method as defined in claim 3, wherein the target reactive power further comprises a standard reactive power, and wherein the step of calculating the zero offset based on the target reactive power comprises:
Determining a difference between a standard reactive power and the first reactive power, the standard reactive power being determined based on a commanded current when no zero offset is present;
Based on the difference, a zero offset is calculated.
8. A zero offset determination device, characterized in that the zero offset determination device comprises:
the data acquisition module is used for acquiring current data, working voltage and electrical angular frequency of the motor, wherein the current data comprises instruction current and/or stator current under a two-phase static coordinate system;
and the zero offset determining module is used for calculating target reactive power based on current data, the working voltage and the electrical angular frequency, calculating zero offset based on the target reactive power, and calibrating the rotor position of the motor based on the zero offset.
9. An apparatus, the apparatus comprising: a memory, a processor and a zero offset determination program stored on the memory and executable on the processor, the zero offset determination program configured to implement the steps of the zero offset determination method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a zero offset determination program which, when executed by a processor, implements the steps of the zero offset determination method according to any one of claims 1 to 7.
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