WO2016112482A1

WO2016112482A1 - Method and apparatus for controlling motor

Info

Publication number: WO2016112482A1
Application number: PCT/CN2015/070513
Authority: WO
Inventors: 徐铁柱; 王玉雷; 石超
Original assignee: 深圳市英威腾电气股份有限公司
Priority date: 2015-01-12
Filing date: 2015-01-12
Publication date: 2016-07-21
Also published as: CN107529351B; CN107529351A

Abstract

Provided are a method and apparatus for controlling a motor. The method comprises: acquiring a three-phase voltage value from an output circuit of a motor, and acquiring a synthesized voltage amplitude value according to the three-phase voltage value (101); when the synthesized voltage amplitude value is greater than a preset voltage amplitude value, acquiring a first phase according to the three-phase voltage value (102); acquiring a first tracking frequency and determining the direction of rotation of the motor (103); and using the synthesized voltage amplitude value, the first phase, the first tracking frequency and the determined direction of rotation of the motor as an initial state of the motor in a tracking transition stage. The method not only improves the control efficiency, but also can achieve safe and reliable control.

Description

一种电机的控制方法和装置Method and device for controlling motor

技术领域Technical field

本发明涉及变频技术领域，尤其涉及一种电机的控制方法和装置。The present invention relates to the field of frequency conversion technology, and in particular, to a method and device for controlling a motor.

背景技术Background technique

随着工业自动化程度的不断提高，变频器也得到了非常广泛的应用。变频器是一种可以控制交流电动机(以下简称为“电机”)的电力控制设备，可根据电机的实际需要，调整其输出电源的电压和频率从而为电机提供所需要的电源电压。With the continuous improvement of industrial automation, inverters have also been widely used. The frequency converter is a power control device that can control the AC motor (hereinafter referred to as "motor"). The voltage and frequency of the output power can be adjusted according to the actual needs of the motor to provide the required power voltage for the motor.

目前，变频器会针对电机预先设定一个初始启动频率，采用该初始启动频率对电机进行控制，变频器的输出频率也从该初始启动频率逐渐过渡到额定频率。但是，在变频器采用该初始启动频率对电机进行控制之前，电机不总是处于静止状态，例如，由于电机工作需要以及电源短时故障等问题，电机的工作状态可能在启动与静止之间频繁切换。若电机在高速运转时，以初始启动频率对电机进行控制，变频器会因过压或过流启动保护动作，导致电机启动失败，甚至会危及同一供电线路上的其他电力电子设备工作的稳定性。At present, the inverter will preset an initial starting frequency for the motor, and use the initial starting frequency to control the motor. The output frequency of the inverter also gradually transitions from the initial starting frequency to the rated frequency. However, before the inverter controls the motor with the initial starting frequency, the motor is not always in a static state. For example, due to motor operation requirements and short-term power failure problems, the working state of the motor may be frequent between starting and stationary. Switch. If the motor is controlled at the initial starting frequency when the motor is running at high speed, the inverter will start the protection action due to overvoltage or overcurrent, which will cause the motor to fail to start, and even endanger the stability of other power electronic equipment on the same power supply line. .

发明内容Summary of the invention

本发明实施例提供了一种电机的控制方法和装置，用于平滑对电机进行控制，提高了控制效率，更安全可靠。The embodiment of the invention provides a control method and device for a motor, which is used for smooth control of the motor, improves control efficiency, and is safer and more reliable.

本发明提供了一种电机的控制方法，其主要可包括：The present invention provides a control method for a motor, which may mainly include:

从电机的输出电路中获取三相电压值，并根据三相电压值获取合成电压幅值；Obtaining a three-phase voltage value from an output circuit of the motor, and obtaining a composite voltage amplitude according to the three-phase voltage value;

当所述合成电压幅值大于预置电压值时，根据三相电压值获取第一相位；When the synthesized voltage amplitude is greater than a preset voltage value, obtaining a first phase according to the three-phase voltage value;

获取第一追踪频率并确定所述电机的转向，其中，所述第一追踪频率为单位时间内所述第一相位的变化量的绝对值大小，所述电机的转向根据单位时间内所述第一相位的变化量的符号来确定，符号为正表示所述电机正转，符号为负表示所述电机反转；Obtaining a first tracking frequency and determining a steering of the motor, wherein the first tracking frequency is an absolute value of a variation amount of the first phase per unit time, and the steering of the motor is according to the unit time The sign of the amount of change of a phase is determined, the sign being positive indicates that the motor is rotating forward, and the sign being negative indicates that the motor is reversed;

以所述合成电压幅值、所述第一相位、所述第一追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态。 The combined voltage amplitude, the first phase, the first tracking frequency, and the determined steering of the motor are used as an initial state of the motor tracking transition phase.

一种可能的实现方式中，当所述合成电压幅值不大于所述预置电压值时，将根据三相电压值得到的任两个线电压进行信号放大及波形变换；In a possible implementation manner, when the synthesized voltage amplitude is not greater than the preset voltage value, signal amplification and waveform conversion are performed on any two line voltages obtained according to the three-phase voltage value;

若在预设时间内获取到第一脉冲信号和第二脉冲信号，其中，所述第一脉冲信号和第二脉冲信号是根据所述两个线电压分别进行信号放大及波形变换后得到的，则获取第二追踪频率，所述第二追踪频率是根据所述第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的下降沿之间的时间间隔获取到的，或者是根据所述第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的上升沿之间的时间间隔获取到的；Obtaining the first pulse signal and the second pulse signal in a preset time, wherein the first pulse signal and the second pulse signal are obtained by performing signal amplification and waveform transformation respectively according to the two line voltages, Obtaining a second tracking frequency, which is obtained according to a time interval between falling edges of any two adjacent pulses of the first pulse signal or the second pulse signal, or Obtained at a time interval between rising edges of any two adjacent pulses of the first pulse signal or the second pulse signal;

根据所述第一脉冲信号和所述第二脉冲信号中的任两个相邻的脉冲的下降沿之间的时间间隔的差值和任两个相邻的脉冲的上升沿之间的时间间隔的差值以及相序确定所述电机的转向；And a time interval between a time interval between falling edges of any two adjacent pulses of the first pulse signal and the second pulse signal and a rising edge of any two adjacent pulses The difference and the phase sequence determine the steering of the motor;

以0电压、所述第二追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态。The zero voltage, the second tracking frequency, and the determined steering of the motor are used as an initial state of the motor tracking transition phase.

本发明还提供了一种电机的控制装置，其主要可包括：The present invention also provides a control device for a motor, which may mainly include:

第一获取模块，用于从电机的输出电路中获取三相电压值，并根据三相电压值获取合成电压幅值；a first obtaining module, configured to obtain a three-phase voltage value from an output circuit of the motor, and obtain a synthesized voltage amplitude according to the three-phase voltage value;

第一判断模块，用于判断所述第一获取模块获取到的合成电压幅值是否大于预置电压值；a first determining module, configured to determine whether the amplitude of the synthesized voltage acquired by the first acquiring module is greater than a preset voltage value;

第二获取模块，用于当所述第一判断模块判断到所述合成电压幅值大于预置电压值时，根据所述第一获取模块获取到的三相电压值获取第一相位；a second acquiring module, configured to: when the first determining module determines that the synthesized voltage amplitude is greater than a preset voltage value, acquire a first phase according to the three-phase voltage value acquired by the first acquiring module;

第一处理模块，用于获取第一追踪频率并确定所述电机的转向，其中，所述第一追踪频率为单位时间内所述第一相位的变化量的绝对值大小，所述电机的转向根据单位时间内所述第一相位的变化量的符号来确定，符号为正表示所述电机正转，符号为负表示所述电机反转；a first processing module, configured to acquire a first tracking frequency and determine a steering of the motor, wherein the first tracking frequency is an absolute value of a change amount of the first phase per unit time, and the steering of the motor Determining according to the sign of the change amount of the first phase in a unit time, the positive sign indicates that the motor is rotating forward, and the negative sign indicates that the motor is reversed;

控制模块，用于以所述合成电压幅值、所述第一相位、所述第一追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态。And a control module, configured to use the synthesized voltage amplitude, the first phase, the first tracking frequency, and the determined steering of the motor as an initial state of the motor tracking transition phase.

一种可能的实现方式中，该装置还可包括：第二处理模块，用于当第一判断模块判断到所述合成电压幅值不大于预置电压值时，将根据三相电压值得到的任两个线电压进行信号放大及波形变换；若在预设时间内获取到第一脉冲信号和第二脉冲信号，其中，所述第一脉冲信号和第二脉冲信号是根据所述两个线电压分别进行信号放大及波形变换后得到的，则获取第二追踪频率，所述第二追踪频率是根据所述第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的下降沿之间的时间间隔获取到的，或者是根据所述第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的上升沿之间的时间间隔获取到的；根据第一脉冲信号和第二脉冲信号中的任两个相邻的脉冲的下降沿之间的时间间隔的差值和任两个相邻的脉冲的上升沿之间的时间间隔的差值以及相序确定所述电机的转向；以0电压、所述第二追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态。In a possible implementation manner, the apparatus may further include: a second processing module, configured to: when the first determining module determines that the synthesized voltage amplitude is not greater than a preset voltage value, according to the three-phase voltage value Any two line voltages for signal amplification and waveform conversion; if the first pulse is obtained within a preset time And a second pulse signal, wherein the first pulse signal and the second pulse signal are respectively obtained by performing signal amplification and waveform transformation according to the two line voltages, and acquiring a second tracking frequency, the second The tracking frequency is obtained according to a time interval between falling edges of any two adjacent pulses of the first pulse signal or the second pulse signal, or according to the first pulse signal or the second pulse signal Obtained by the time interval between the rising edges of any two adjacent pulses; according to the difference between the time intervals between the falling edges of any two adjacent pulses of the first pulse signal and the second pulse signal The difference in time interval between the rising edges of any two adjacent pulses and the phase sequence determining the steering of the motor; the zero voltage, the second tracking frequency, and the determined steering of the motor as described The motor tracks the initial state of the transition phase.

从以上技术方案可以看出，本发明实施例具有以下优点：It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

本发明实施例直接从电机的输出电路中获取合成电压幅值，在合成电压幅值大于阈值电压值时，根据从电机的输出电路中获取的三相电压值直接获取追踪频率及电机的转向，从而以合成电压幅值、获取到的追踪频率及转向作为所述电机追踪过渡阶段的初始状态。因本实施例在电机的残压较大时，由根据残压直接获取到的追踪频率等控制参数对电机进行控制，使得电机可以平滑过渡，且既快速又准确地对电机进行控制，不仅提高了控制效率，更使得控制安全可靠。The embodiment of the invention directly obtains the synthesized voltage amplitude from the output circuit of the motor. When the combined voltage amplitude is greater than the threshold voltage value, the tracking frequency and the steering of the motor are directly obtained according to the three-phase voltage value obtained from the output circuit of the motor. Thereby, the combined voltage amplitude, the acquired tracking frequency and the steering are used as the initial state of the motor tracking transition phase. In the embodiment, when the residual voltage of the motor is large, the motor is controlled by the control parameters such as the tracking frequency directly obtained from the residual voltage, so that the motor can smoothly transition, and the motor is controlled quickly and accurately, which not only improves The control efficiency makes the control safe and reliable.

附图说明DRAWINGS

为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention, Those skilled in the art can also obtain other drawings according to these drawings without paying any creative work.

图1是本发明实施例提供的电机的切换控制方法的一个流程示意图；1 is a schematic flow chart of a method for switching control of a motor according to an embodiment of the present invention;

图2是本发明实施例提供的电机的切换控制方法的另一个流程示意图；2 is another schematic flowchart of a method for switching control of a motor according to an embodiment of the present invention;

图3是本发明实施例提供的电机的切换控制装置的一个结构示意图；3 is a schematic structural diagram of a switching control device for a motor according to an embodiment of the present invention;

图4是本发明实施例提供的电机的切换控制装置的另一个结构示意图。FIG. 4 is another schematic structural diagram of a switching control device for a motor according to an embodiment of the present invention.

具体实施方式detailed description

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solution in the embodiment of the present invention will be clarified in the following with reference to the accompanying drawings in the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS It is apparent that the described embodiments are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例例如能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、***、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。The terms "first", "second", "third", "fourth", etc. (if present) in the specification and claims of the present invention and the above figures are used to distinguish similar objects without being used for Describe a specific order or order. It is to be understood that the data so used may be interchanged as appropriate, such that the embodiments of the invention described herein can be implemented, for example, in a sequence other than those illustrated or described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

本发明实施例提供了一种电机的控制方法。本发明实施例还提供相应的控制装置，请参与图1至图4。下面通过具体实施例，分别进行详细的说明。Embodiments of the present invention provide a method of controlling a motor. The embodiment of the present invention further provides a corresponding control device, please participate in FIG. 1 to FIG. 4. The detailed description will be respectively made below through specific embodiments.

本发明实施例提供的电机的控制方法可适用于变频器领域，主要是变频器根据电机的当前运转状态对电机进行平滑控制，可以提高控制效率，使得控制更安全可靠。下面将以变频器的角度对该控制方法进行描述：The control method of the motor provided by the embodiment of the invention can be applied to the field of the frequency converter, mainly that the frequency converter smoothly controls the motor according to the current running state of the motor, which can improve the control efficiency and make the control more safe and reliable. The control method will be described below from the perspective of the frequency converter:

一种电机的控制方法，主要可包括：变频器从电机的输出电路中获取三相电压值，并根据三相电压值获取合成电压幅值；当合成电压幅值大于预置电压值时，变频器根据三相电压值获取第一相位；变频器获取第一追踪频率并确定电机的转向，其中，第一追踪频率为单位时间内第一相位的变化量的绝对值大小，电机的转向根据单位时间内第一相位的变化量的符号来确定，符号为正表示电机正转，符号为负表示电机反转；变频器以所述合成电压幅值、所述第一相位、所述第一追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态。A motor control method mainly includes: the frequency converter obtains a three-phase voltage value from an output circuit of the motor, and obtains a composite voltage amplitude according to the three-phase voltage value; when the combined voltage amplitude is greater than a preset voltage value, the frequency conversion The first phase is obtained according to the three-phase voltage value; the frequency converter obtains the first tracking frequency and determines the steering of the motor, wherein the first tracking frequency is the absolute value of the variation of the first phase per unit time, and the steering of the motor is based on the unit. The sign of the amount of change of the first phase is determined in time, the sign is positive indicating that the motor is rotating forward, the sign is negative indicating that the motor is reversed; the frequency converter is using the synthesized voltage amplitude, the first phase, the first tracking The frequency, and the determined steering of the motor, is the initial state of the motor tracking transition phase.

请参考图1，图1为本发明实施例提供的电机的控制方法的流程示意图，其中，该电机的控制方法可包括：Please refer to FIG. 1. FIG. 1 is a schematic flowchart diagram of a method for controlling a motor according to an embodiment of the present invention, where the method for controlling the motor may include:

步骤101、从电机的输出电路中获取三相电压值，并根据三相电压值获取合成电压幅值；Step 101: Acquire a three-phase voltage value from an output circuit of the motor, and obtain a composite voltage amplitude according to the three-phase voltage value;

本实施例直接从电机的输出电路中获取三相电压值，具体可包括：通过硬件电路直接与电机的三相相连接，从而获取到三相电压值。In this embodiment, the three-phase voltage value is directly obtained from the output circuit of the motor, which may specifically include: The circuit is directly connected to the three phases of the motor to obtain a three-phase voltage value.

得到三相电压值后，可以根据该三相电压值获取合成电压幅值，其具体可包括：根据三相电压值获取三个线电压，并对该三个线电压进行clark变换，得到正交α和β坐标系下的两个电压分量；将该两个电压分量进行合成，得到合成电压幅值。After obtaining the three-phase voltage value, the synthesized voltage amplitude may be obtained according to the three-phase voltage value, which may include: acquiring three line voltages according to the three-phase voltage value, and performing a Clark transform on the three line voltages to obtain an orthogonality. Two voltage components in the alpha and beta coordinate systems; the two voltage components are combined to obtain a composite voltage amplitude.

如三个线电压分别为UV，VW以及WU，进行clark变换后，可以得到u_α和u_β，合成电压幅值为u_α和u_β的平方和再开方。If the three line voltages are UV, VW and WU, respectively, after the clark transform, u _α and u _β can be obtained, and the combined voltage amplitude is the square sum of u _α and u _β and then squared.

该合成电压幅值可以准确表示电机当前的残压，从而使得根据电机当前的残压来对电机进行更准确、可靠的追踪。The resultant voltage amplitude can accurately represent the current residual voltage of the motor, so that the motor can be more accurately and reliably tracked according to the current residual voltage of the motor.

步骤102、若合成电压幅值大于预置电压值，根据三相电压值获取第一相位；Step 102: If the synthesized voltage amplitude is greater than the preset voltage value, obtain the first phase according to the three-phase voltage value;

获取到合成电压幅值后，可以判断合成电压幅值是否大于预置电压值，其中，预置电压值可自定义，例如，该预置电压值可以是额定电压的1/10，本发明以此为例进行说明，不构成对本发明的限定。After obtaining the synthesized voltage amplitude, it can be determined whether the synthesized voltage amplitude is greater than a preset voltage value, wherein the preset voltage value can be customized, for example, the preset voltage value can be 1/10 of the rated voltage, and the present invention This is illustrated by way of example and is not intended to limit the invention.

若合成电压幅值大于预置电压值，则说明电机的当前残压过大，不能以初始启动频率启动电机，此外，若合成电压幅值大于0且小于或等于预置电压值，则说明电机的当前残压较大，也不能以初始启动频率启动电机。其中，合成电压幅值大于预置电压值，采用本实施例对电机的转速进行追踪，并根据追踪的结果控制电机。合成电压幅值大于0且小于或等于预置电压值的具体实施将在后续实施例中进行详细说明，此处不再赘述。If the combined voltage amplitude is greater than the preset voltage value, the current residual voltage of the motor is too large to start the motor at the initial starting frequency. In addition, if the combined voltage amplitude is greater than 0 and less than or equal to the preset voltage value, the motor is The current residual voltage is large and the motor cannot be started at the initial starting frequency. Wherein, the synthesized voltage amplitude is greater than the preset voltage value, and the rotation speed of the motor is tracked by the embodiment, and the motor is controlled according to the tracking result. The specific implementation of the composite voltage amplitude greater than 0 and less than or equal to the preset voltage value will be described in detail in subsequent embodiments, and will not be described herein.

首先，根据三相电压值获取第一相位，具体包括：根据三相电压值获取三个线电压，并对该三个线电压进行clark变换，得到正交α和β坐标系下的两个电压分量u_α和u_β；根据u_α和u_β获取第一相位，其中，所述第一相位为

First, the first phase is obtained according to the three-phase voltage value, specifically: acquiring three line voltages according to the three-phase voltage value, and performing a Clark transform on the three line voltages to obtain two voltages in the orthogonal α and β coordinate systems. Components u _α and u _β ; obtaining a first phase according to u _α and u _β , wherein the first phase is

然后可以根据第一相位确定其他的控制参数，即继续执行步骤103。Other control parameters can then be determined based on the first phase, ie, step 103 continues.

步骤103、获取第一追踪频率并确定电机的转向，其中，第一追踪频率为单位时间内第一相位的变化量的绝对值大小，电机的转向根据单位时间内第一相位的变化量的符号来确定，符号为正表示电机正转，符号为负表示电机反转；Step 103: Acquire a first tracking frequency and determine a steering of the motor, where the first tracking frequency is an absolute value of the amount of change of the first phase per unit time, and the steering of the motor is based on a symbol of the amount of change of the first phase in the unit time. To determine, the positive sign indicates that the motor is rotating forward, and the negative sign indicates that the motor is reversed.

步骤104、以所述合成电压幅值、所述第一相位、所述第一追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态。Step 104, using the synthesized voltage amplitude, the first phase, the first tracking frequency, And determining the steering of the motor as an initial state of the motor tracking transition phase.

以合成电压幅值、所述第一相位、第一追踪频率、以及确定的电机的转向作为所述电机追踪过渡阶段的初始状态。然后，控制变频器的输出电压从合成电压幅值过渡到VF曲线中与第一追踪频率对应的电压值，在过渡过程中，变频器的输出频率，即电机的频率保持为固定的第一追踪频率不变。The combined voltage amplitude, the first phase, the first tracking frequency, and the determined steering of the motor are used as initial states of the motor tracking transition phase. Then, controlling the output voltage of the frequency converter to transition from the composite voltage amplitude to the voltage value corresponding to the first tracking frequency in the VF curve. During the transition process, the output frequency of the frequency converter, that is, the frequency of the motor is kept at a fixed first tracking. The frequency does not change.

一个实施例中，在从合成电压幅值过渡到VF曲线中与第一追踪频率对应的电压值的过渡过程中，检测直流母线电压和输出电流，若直流母线电压大于预置直流母线电压，则减小第一相位的大小，以防止由于电机发电导致直流母线电压提升；若输出电流大于预置输出电流，则控制变频器的当前输出电压不变，直到输出电流小于该与之输出电流，才继续增加变频器的当前输出电压。In one embodiment, the DC bus voltage and the output current are detected during a transition from a composite voltage amplitude to a voltage value corresponding to the first tracking frequency in the VF curve, and if the DC bus voltage is greater than the preset DC bus voltage, The size of the first phase is reduced to prevent the DC bus voltage from being increased due to motor power generation; if the output current is greater than the preset output current, the current output voltage of the inverter is controlled to be unchanged until the output current is less than the output current. Continue to increase the current output voltage of the drive.

由上可知，本发明实施例在残压较大时根据残压直接获取到的追踪频率等控制参数对电机进行控制，使得电机可以平滑过渡，且既快速又准确地对电机进行控制，不仅提高了控制效率，更使得控制安全可靠。It can be seen from the above that the embodiment of the present invention controls the motor according to the control parameters such as the tracking frequency directly obtained by the residual voltage when the residual voltage is large, so that the motor can smoothly transition, and the motor is controlled quickly and accurately, which not only improves. The control efficiency makes the control safe and reliable.

更进一步地，当合成电压幅值不大于所述预置电压值时，则采用另一种方法对电机转速进行追踪，并根据追踪结果对电机进行控制，其具体可包括：Further, when the combined voltage amplitude is not greater than the preset voltage value, the motor speed is tracked by another method, and the motor is controlled according to the tracking result, which may specifically include:

当合成电压幅值不大于预置电压值时，将根据三相电压值得到的任两个线电压进行信号放大及波形变换；若在预设时间内获取到第一脉冲信号和第二脉冲信号，其中，第一脉冲信号和第二脉冲信号是根据两个线电压分别进行信号放大及波形变换后得到的，则获取第二追踪频率，第二追踪频率是根据第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的下降沿之间的时间间隔获取到的，或者是根据第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的上升沿之间的时间间隔获取到的；根据第一脉冲信号和第二脉冲信号中的任两个相邻的脉冲的下降沿之间的时间间隔的差值和任两个相邻的脉冲的上升沿之间的时间间隔的差值以及相序确定电机的转向；以0电压、第二追踪频率、以及确定的电机的转向作为所述电机追踪过渡阶段的初始状态。When the synthesized voltage amplitude is not greater than the preset voltage value, signal amplification and waveform conversion are performed according to any two line voltages obtained from the three-phase voltage value; if the first pulse signal and the second pulse signal are acquired within a preset time Wherein, the first pulse signal and the second pulse signal are obtained by performing signal amplification and waveform transformation respectively according to the two line voltages, and acquiring a second tracking frequency, wherein the second tracking frequency is based on the first pulse signal or the second pulse Obtained at a time interval between falling edges of any two adjacent pulses in the signal, or according to a time interval between rising edges of any two adjacent pulses of the first pulse signal or the second pulse signal Depending on the difference between the time interval between the falling edges of any two adjacent pulses of the first pulse signal and the second pulse signal and the time interval between the rising edges of any two adjacent pulses The difference and the phase sequence determine the steering of the motor; the zero voltage, the second tracking frequency, and the determined steering of the motor are used as initial states of the motor tracking transition phase.

请参阅图2，图2是本发明实施例提供的电机的控制方法的另一个流程示意图。该方法可包括如下步骤：Please refer to FIG. 2. FIG. 2 is another schematic flowchart of a method for controlling a motor according to an embodiment of the present invention. The method can include the following steps:

步骤201、从电机的输出电路中获取三相电压值，并根据三相电压值获取合成电压幅值；Step 201: Acquire a three-phase voltage value from an output circuit of the motor, and obtain according to the three-phase voltage value. Synthetic voltage amplitude;

本实施直接从电机的输出电路中获取三相电压值，具体可包括：通过硬件电路直接与电机的三相相连接，从而获取到三相电压值。The present embodiment directly obtains the three-phase voltage value from the output circuit of the motor, and specifically includes: directly connecting with the three phases of the motor through the hardware circuit, thereby obtaining the three-phase voltage value.

该合成电压幅值可以准确表示电机当前的残压，从而使得根据电机当前的残压来对电机进行追踪可以更准确，可靠。The synthesized voltage amplitude can accurately represent the current residual voltage of the motor, so that tracking the motor according to the current residual voltage of the motor can be more accurate and reliable.

需说明的是，步骤201的具体实施可参阅上述步骤101，此处不再赘述。It should be noted that the specific implementation of step 201 can be referred to step 101 above, and details are not described herein again.

步骤202、判断合成电压幅值是否大于预置电压值；Step 202: Determine whether the amplitude of the synthesized voltage is greater than a preset voltage value;

若合成电压幅值大于预置电压值，则说明电机的当前残压过大，不能以初始启动频率启动电机，若合成电压幅值大于0且小于或等于预置电压值，则说明电机的当前残压较大，也不能以初始启动频率启动电机。可以理解的是，若步骤201中可以获取到合成电压幅值，则表示该合成电压幅值大于0。即合成电压幅值不大于预置电压值，执行步骤203至步骤211；若合成电压幅值是大于预置电压值，则执行步骤212至步骤214。If the synthesized voltage amplitude is greater than the preset voltage value, the current residual voltage of the motor is too large to start the motor at the initial starting frequency. If the combined voltage amplitude is greater than 0 and less than or equal to the preset voltage value, the current motor is The residual voltage is large and the motor cannot be started at the initial starting frequency. It can be understood that if the synthesized voltage amplitude can be obtained in step 201, it indicates that the synthesized voltage amplitude is greater than zero. That is, the synthesized voltage amplitude is not greater than the preset voltage value, and steps 203 to 211 are performed; if the synthesized voltage amplitude is greater than the preset voltage value, then steps 212 to 214 are performed.

步骤203、当合成电压值不大于预置电压值时，判断电机是同步电机还是异步电机；Step 203: When the combined voltage value is not greater than the preset voltage value, determine whether the motor is a synchronous motor or an asynchronous motor;

若合成电压幅值不大于预置电压值，变频器则根据电机的类型做出不同响应，具体可包括：若变频器控制的电机是同步电机，则无需对该同步电机进行转速追踪，直接以初始启动频率控制电机，即执行步骤211；若是异步电机，则继续对电机进行追踪以根据追踪结果控制电机，即执行步骤204。If the amplitude of the combined voltage is not greater than the preset voltage value, the inverter responds differently according to the type of the motor. Specifically, the inverter may not need to track the speed of the synchronous motor if the motor controlled by the inverter is a synchronous motor. The initial starting frequency controls the motor, that is, step 211 is performed; if it is an asynchronous motor, the motor is continuously tracked to control the motor according to the tracking result, that is, step 204 is performed.

这是因为，对于同步电机而言，在变频器对其控制之前，电机转子在不停运转，由于转子本体会产生磁场，此时，同步电机一直处于发电状态，根据电磁感应定律，电机三相绕组上产生的感应电压与转子转速成正比，只要电机在运转，感应电压一直存在。因此，若合成电压幅值不大于预置电压值时，说明感应电压小或无，则无需继续对电机进行追踪，以初始启动频率控制电机。This is because, for synchronous motors, the rotor of the motor is not stopped until the inverter controls it. During operation, the rotor body generates a magnetic field. At this time, the synchronous motor is always in the power generation state. According to the law of electromagnetic induction, the induced voltage generated on the three-phase winding of the motor is proportional to the rotor speed. As long as the motor is running, the induced voltage is always present. Therefore, if the synthesized voltage amplitude is not greater than the preset voltage value, indicating that the induced voltage is small or not, it is not necessary to continue tracking the motor to control the motor at the initial starting frequency.

对于异步电机而言，在变频器停止对其控制后，转子侧感应电流衰减很快，根据电磁感应定律，电机转子在运转过程中，电机定子三相感应残压与旋转转子的电流大小成正比，因此，在变频器停止对其控制后，随着时间推移，电机定子三相残压会逐渐变小，甚至为0。因此，若合成电压幅值不大于预置电压值时，仍然需要继续对电机进行追踪，以根据追踪结果控制电机。For asynchronous motors, after the inverter stops controlling it, the rotor-side induced current decays very quickly. According to the law of electromagnetic induction, the three-phase induced residual voltage of the motor stator is proportional to the current of the rotating rotor during the operation of the motor rotor. Therefore, after the inverter stops its control, the residual voltage of the stator and stator of the motor will gradually become smaller or even 0 with time. Therefore, if the synthesized voltage amplitude is not greater than the preset voltage value, it is still necessary to continue to track the motor to control the motor according to the tracking result.

步骤204、若是异步电机，将根据三相电压值得到的任两个线电压进行信号放大及波形变换；Step 204: If it is an asynchronous motor, perform signal amplification and waveform conversion on any two line voltages obtained according to the three-phase voltage value;

根据三相电压值可以获取到三个线电压，然后可选择其中任意两个线电压，对该两个线电压进行信号放大及波形变换。According to the three-phase voltage value, three line voltages can be obtained, and then any two of the line voltages can be selected, and the two line voltages are subjected to signal amplification and waveform conversion.

步骤205、判断在预设时间内是否获取到第一脉冲信号和第二脉冲信号，第一脉冲信号和第二脉冲信号是根据两个线电压分别进行信号放大及波形变换后得到的；Step 205: Determine whether the first pulse signal and the second pulse signal are acquired within a preset time, and the first pulse signal and the second pulse signal are obtained by performing signal amplification and waveform transformation according to the two line voltages respectively;

其中，在正常情况下，对两个线电压进行信号放大及波形变换后，可以得到两路脉冲信号，每一个线电压对应一个脉冲信号。其中，本实施例为了描述方便，将该两路脉冲信号描述为第一脉冲信号和第二脉冲信号。第一脉冲信号和第二脉冲信号是根据两个线电压分别进行信号放大及波形变换后得到的。In the normal case, after the signal amplification and waveform conversion of the two line voltages, two pulse signals can be obtained, and each line voltage corresponds to one pulse signal. In this embodiment, for convenience of description, the two pulse signals are described as a first pulse signal and a second pulse signal. The first pulse signal and the second pulse signal are obtained by performing signal amplification and waveform conversion on the basis of two line voltages.

即若在预设时间内获取到第一脉冲信号和第二脉冲信号，则可以继续对电机进行追踪，以获取追踪频率，即执行步骤206。That is, if the first pulse signal and the second pulse signal are acquired within the preset time, the motor can be continuously tracked to obtain the tracking frequency, that is, step 206 is performed.

若在预设时间内没有获取到第一脉冲信号和第二脉冲信号，则可以对电机进行激磁以获取脉冲信号。但是有激磁次数的限制，例如，激磁次数不能超过一次，即若已经激磁过，则激磁无效，表明确实无法捕获脉冲信号。若没有激磁过，则可以对电机进行激磁处理，正常情况下对电机的第一次激磁都可以捕获到脉冲信号。即在预设时间内没有获取到第一脉冲信号和第二脉冲信号，则执行步骤209，判断激磁次数是否小于预置激磁次数。If the first pulse signal and the second pulse signal are not acquired within the preset time, the motor can be excited to acquire the pulse signal. However, there is a limit on the number of excitations. For example, the number of excitations cannot be more than once, that is, if the excitation has been performed, the excitation is invalid, indicating that the pulse signal cannot be captured. If there is no excitation, the motor can be excited, and the pulse signal can be captured by the first excitation of the motor under normal conditions. That is, if the first pulse signal and the second pulse signal are not acquired within the preset time, step 209 is performed to determine whether the number of excitation times is less than the preset number of excitation times.

步骤206、若在预设时间内是否获取到第一脉冲信号和第二脉冲信号，获取第二追踪频率，第二追踪频率是根据第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的下降沿之间的时间间隔获取到的，或者是根据第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的上升沿之间的时间间隔获取到的；Step 206: If the first pulse signal and the second pulse signal are acquired within a preset time, Taking a second tracking frequency, which is obtained according to a time interval between falling edges of any two adjacent pulses of the first pulse signal or the second pulse signal, or according to the first pulse signal or Obtained at a time interval between rising edges of any two adjacent pulses in the two pulse signals;

第二追踪频率为第一脉冲信号中任两个相邻的脉冲的下降沿之间的时间间隔的倒数，或者是第二脉冲信号中任两个相邻的脉冲的上升沿之间的时间间隔的倒数。The second tracking frequency is the reciprocal of the time interval between the falling edges of any two adjacent pulses in the first pulse signal, or the time interval between the rising edges of any two adjacent pulses in the second pulse signal The countdown.

步骤207、根据第一脉冲信号和第二脉冲信号中的任两个相邻的脉冲的下降沿之间的时间间隔的差值和任两个相邻的脉冲的上升沿之间的时间间隔的差值以及相序确定电机的转向；Step 207: According to a difference between a time interval between falling edges of any two adjacent pulses of the first pulse signal and the second pulse signal and a time interval between rising edges of any two adjacent pulses The difference and the phase sequence determine the steering of the motor;

电机的转向与第一脉冲信号和第二脉冲信号中的任两个相邻的脉冲的下降沿之间的时间间隔的差值和任两个相邻的脉冲的上升沿之间的时间间隔的差值，以及相序相关。例如，若以U相位超前V相位、且V相位超前W相位的相序表示电机正转，第一脉冲信号PHUV是根据UV相电压进行信号放大及波形变换得到的，第二脉冲信号PHVW是根据VW相进行信号放大及波形变换得到的；当PHUV中的脉冲的下降沿滞后于PHVW中的脉冲的下降沿，且当PHUV中的脉冲的上升沿滞后于PHVW中的脉冲的上升沿时，确定所述电机正转；当所述PHUV中的脉冲的下降沿超前于所述PHVW中的脉冲的下降沿，且所述PHUV中的脉冲的上升沿超前于所述PHVW中的脉冲的上升沿，确定所述电机反转。The difference between the time interval between the turning of the motor and the falling edge of any two of the first pulse signal and the second pulse signal and the time interval between the rising edges of any two adjacent pulses The difference, as well as the phase sequence correlation. For example, if the U phase advances the V phase and the V phase leads the W phase in the phase sequence to indicate that the motor is rotating forward, the first pulse signal PHUV is obtained by signal amplification and waveform conversion according to the UV phase voltage, and the second pulse signal PHVW is based on The VW phase is obtained by signal amplification and waveform transformation; when the falling edge of the pulse in PHUV lags the falling edge of the pulse in PHVW, and when the rising edge of the pulse in PHUV lags the rising edge of the pulse in PHVW, it is determined The motor is rotating forward; when a falling edge of the pulse in the PHUV leads the falling edge of the pulse in the PHVW, and a rising edge of the pulse in the PHUV is ahead of a rising edge of the pulse in the PHVW, It is determined that the motor is reversed.

步骤208、以0电压、第二追踪频率、以及确定的电机的转向作为所述电机追踪过渡阶段的初始状态。 Step 208, taking the 0 voltage, the second tracking frequency, and the determined steering of the motor as an initial state of the motor tracking transition phase.

由于合成电压幅值小于预置电压值，虽然残压较大，但还不至于造成变频器的过压或过流，则以输出电压为0、第二追踪频率、以及确定的电机的转向作为所述电机追踪过渡阶段的初始状态。Since the amplitude of the combined voltage is less than the preset voltage value, although the residual voltage is large, but does not cause overvoltage or overcurrent of the inverter, the output voltage is 0, the second tracking frequency, and the determined steering of the motor are used. The motor tracks the initial state of the transition phase.

以0电压、第二追踪频率、以及确定的电机的转向作为所述电机追踪过渡阶段的初始状态后，控制变频器的输出电压从0电压过渡到VF曲线中与第二追踪频率对应的电压值，在过渡过程中变频器的输出频率，即电机的频率为保持为第二追踪频率不变。After the 0 voltage, the second tracking frequency, and the determined steering of the motor are used as the initial state of the motor tracking transition phase, the output voltage of the inverter is controlled to transition from 0 voltage to a voltage value corresponding to the second tracking frequency in the VF curve. In the transition process, the output frequency of the inverter, that is, the frequency of the motor is kept constant for the second tracking frequency.

一个实施例中，在从0电压过渡到VF曲线中与第二追踪频率对应的电压值的过渡过程中，检测直流母线电压和输出电流，若直流母线电压大于预置直流母线电压，则减小相位的大小，以防止由于电机发电导致直流母线电压提升；若输出电流大于预置输出电流，则控制变频器的当前输出电压不变，直到输出电流小于该与之输出电流，才继续增加变频器的当前输出电压。In one embodiment, the voltage corresponding to the second tracking frequency in the transition from zero voltage to the VF curve During the transition of the value, the DC bus voltage and the output current are detected. If the DC bus voltage is greater than the preset DC bus voltage, the phase is reduced to prevent the DC bus voltage from being increased due to motor power generation; if the output current is greater than the preset output The current controls the current output voltage of the inverter unchanged until the output current is less than the output current, and continues to increase the current output voltage of the inverter.

步骤209、判断激磁次数是否小于预置激磁次数；Step 209: Determine whether the number of excitation times is less than a preset number of excitation times;

本发明以预置激磁次数为1次进行详细说明，即若没有激磁过，则可以对电机进行激磁处理，执行步骤210。若已经激磁过，则激磁无效，表明确实无法捕获脉冲信号，执行步骤211。The present invention will be described in detail with a preset number of times of excitation, that is, if there is no excitation, the motor can be subjected to an excitation process, and step 210 is performed. If the excitation has been performed, the excitation is invalid, indicating that the pulse signal cannot be captured, and step 211 is performed.

步骤210、若小于，则对电机进行激磁处理，以获取第一脉冲信号和第二脉冲信号，并返回执行步骤206； Step 210, if less than, the motor is subjected to an excitation process to obtain a first pulse signal and a second pulse signal, and returns to step 206;

若激磁次数小于预置激磁次数，则还未激磁过，正常情况下对电机的第一次激磁都可以捕获到脉冲信号，这是由于变频器输出短时间的低频交流电压，如频率为1Hz到3Hz的交流电压，从而在电机气隙内建立旋转磁场，若电机转子仍在运转，则激磁可以感应产生三相定子残压，从而可以在预设时间内捕获到脉冲。在预设时间内没有获取到第一脉冲信号和第二脉冲信号，则可以返回步骤206继续获取第二追踪频率。If the number of excitations is less than the preset number of excitations, it has not been excited. Under normal conditions, the pulse signal can be captured for the first excitation of the motor. This is because the inverter outputs a short-time low-frequency AC voltage, such as a frequency of 1 Hz. The 3 Hz AC voltage establishes a rotating magnetic field in the motor air gap. If the motor rotor is still running, the excitation can induce a three-phase stator residual voltage, so that the pulse can be captured within a preset time. If the first pulse signal and the second pulse signal are not acquired within the preset time, then return to step 206 to continue acquiring the second tracking frequency.

步骤211，以初始启动频率控制电机； Step 211, controlling the motor at an initial starting frequency;

在步骤203中判断到电机为同步电机，则以初始启动频率控制电机。When it is judged in step 203 that the motor is a synchronous motor, the motor is controlled at the initial starting frequency.

在步骤209中判断到激磁次数不小于预置激磁次数，则表明电机目前的状态接近为静止状态，无需继续对电机进行追踪，可以以初始启动频率控制电机。If it is determined in step 209 that the number of exciting times is not less than the preset number of exciting times, it indicates that the current state of the motor is close to a stationary state, and it is not necessary to continue tracking the motor, and the motor can be controlled at the initial starting frequency.

步骤212、若合成电压幅值大于预置电压值，根据三相电压值获取第一相位；Step 212: If the synthesized voltage amplitude is greater than the preset voltage value, obtain the first phase according to the three-phase voltage value;

步骤213、获取第一追踪频率并确定电机的转向，其中，第一追踪频率为单位时间内第一相位的变化量的绝对值大小，电机的转向根据单位时间内第一相位的变化量的符号来确定，符号为正表示电机正转，符号为负表示电机反转；Step 213: Acquire a first tracking frequency and determine a steering of the motor, wherein the first tracking frequency is an absolute value of a variation amount of the first phase in a unit time, and the steering of the motor is based on a symbol of a variation amount of the first phase in a unit time. To determine, the positive sign indicates that the motor is rotating forward, and the negative sign indicates that the motor is reversed.

步骤214、以所述合成电压幅值、所述第一相位、所述第一追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态。Step 214: using the synthesized voltage amplitude, the first phase, the first tracking frequency, and the determined steering of the motor as an initial state of the motor tracking transition phase.

其中，步骤212至步骤214的具体实施可参见上述步骤102至步骤104，此处不再赘述。 For the specific implementation of the steps 212 to 214, refer to the foregoing steps 102 to 104, and details are not described herein again.

由上可知，本发明实施例直接从电机的输出电路中获取合成电压幅值，在合成电压幅值不大于阈值电压值时，根据从电机的输出电路中获取的电压值来捕获脉冲信号，从而获取追踪频率及电机的转向，从而以0电压、获取到的追踪频率及转向作为所述电机追踪过渡阶段的初始状态。因本实施例在电机的残压较小但不为0时，由根据残压获取到的脉冲信号来获取追踪频率等控制参数对电机进行控制，使得电机可以平滑过渡，且既快速又准确地对电机进行控制，不仅提高了控制效率，更使得控制安全可靠。As can be seen from the above, the embodiment of the present invention directly obtains the synthesized voltage amplitude from the output circuit of the motor, and captures the pulse signal according to the voltage value obtained from the output circuit of the motor when the combined voltage amplitude is not greater than the threshold voltage value, thereby The tracking frequency and the steering of the motor are obtained such that the zero voltage, the acquired tracking frequency, and the steering are used as initial states of the motor tracking transition phase. In the embodiment, when the residual voltage of the motor is small but not 0, the motor is controlled by obtaining a control parameter such as a tracking frequency from a pulse signal obtained from the residual pressure, so that the motor can smoothly transition and is fast and accurate. Controlling the motor not only improves the control efficiency, but also makes the control safe and reliable.

为便于更好的实施本发明实施例提供的电机的控制方法，本发明实施例还提供一种基于上述电机的控制方法的控制装置。其中名词的含义与上述电机的控制方法中相同，具体实现细节可以参考方法实施例中的说明。In order to facilitate the better implementation of the control method of the motor provided by the embodiment of the present invention, the embodiment of the present invention further provides a control device based on the control method of the motor. The meaning of the noun is the same as that in the control method of the above motor. For specific implementation details, reference may be made to the description in the method embodiment.

一种电机的控制装置，可以根据追踪到的电机的当前状态对电机进行控制，具体的，该电机的控制装置可以是变频器等电力电子设备，其中，为了描述方便，本发明实施例以该电机的控制装置为变频器为例进行说明，不构成本发明的限定。The control device of the motor can control the motor according to the current state of the tracked motor. Specifically, the control device of the motor can be a power electronic device such as a frequency converter, wherein, for convenience of description, the embodiment of the present invention The control device of the motor is described as an example of a frequency converter, and does not constitute a limitation of the present invention.

请参阅图3，图3是电机的控制装置的结构示意图。电机的控制装置300主要可包括：第一获取模块301、第一判断模块302、第二获取模块303、第一处理模块304和控制模块305。Please refer to FIG. 3. FIG. 3 is a schematic structural view of a control device for a motor. The control device 300 of the motor may mainly include: a first acquisition module 301, a first determination module 302, a second acquisition module 303, a first processing module 304, and a control module 305.

第一获取模块301，用于从电机的输出电路中获取三相电压值，并根据三相电压值获取合成电压幅值；The first obtaining module 301 is configured to obtain a three-phase voltage value from an output circuit of the motor, and obtain a synthesized voltage amplitude according to the three-phase voltage value;

第一判断模块302，用于判断第一获取模块获取到的合成电压幅值是否大于预置电压值；The first determining module 302 is configured to determine whether the amplitude of the synthesized voltage acquired by the first acquiring module is greater than a preset voltage value;

第二获取模块303，用于当第一判断模块判断到合成电压幅值大于预置电压值时，根据第一获取模块获取到的三相电压值获取第一相位；The second obtaining module 303 is configured to: when the first determining module determines that the synthesized voltage amplitude is greater than the preset voltage value, obtain the first phase according to the three-phase voltage value acquired by the first acquiring module;

第一处理模块304，用于获取第一追踪频率并确定电机的转向，其中，第一追踪频率为单位时间内第一相位的变化量的绝对值大小，电机的转向根据单位时间内第一相位的变化量的符号来确定，符号为正表示电机正转，符号为负表示电机反转；The first processing module 304 is configured to acquire a first tracking frequency and determine a steering of the motor, wherein the first tracking frequency is an absolute value of the amount of change of the first phase per unit time, and the steering of the motor is based on the first phase in the unit time The sign of the change amount is determined, the positive sign indicates that the motor is rotating forward, and the negative sign indicates that the motor is reversed;

控制模块305，用于以合成电压幅值、第一追踪频率、以及确定的电机的转向控制电机。 Control module 305 for synthesizing voltage amplitude, first tracking frequency, and determining motor Steering control motor.

本发明实施例在残压较大时根据残压直接获取到的追踪频率等控制参数对电机进行控制，使得电机可以平滑过渡，且既快速又准确地对电机进行控制，不仅提高了控制效率，更使得控制安全可靠。In the embodiment of the invention, when the residual voltage is large, the motor is controlled according to the control parameters such as the tracking frequency directly obtained by the residual voltage, so that the motor can smoothly transition, and the motor is controlled quickly and accurately, which not only improves the control efficiency, It makes the control safe and reliable.

若残压较小时，则可以采用另一种方法对电机转速进行追踪，并根据追踪结果对电机进行控制，请参阅图4，图4是发明提供的电机的控制装置的结构示意图：If the residual voltage is small, another method can be used to track the motor speed, and the motor is controlled according to the tracking result. Please refer to FIG. 4, which is a schematic structural diagram of the motor control device provided by the invention:

更进一步地，该电机的控制装置300，还可以包括第二处理模块306，用于当第一判断模块判断到合成电压幅值不大于预置电压值时，将根据三相电压值得到的任两个线电压进行信号放大及波形变换；若在预设时间内获取到第一脉冲信号和第二脉冲信号，其中，第一脉冲信号和第二脉冲信号是根据两个线电压分别进行信号放大及波形变换后得到的，则获取第二追踪频率，第二追踪频率是根据第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的下降沿之间的时间间隔获取到的，或者是根据第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的上升沿之间的时间间隔获取到的；根据第一脉冲信号和第二脉冲信号中的任两个相邻的脉冲的下降沿之间的时间间隔的差值和任两个相邻的脉冲的上升沿之间的时间间隔的差值以及相序确定电机的转向；以0电压、第二追踪频率、以及确定的电机的转向作为所述电机追踪过渡阶段的初始状态。Further, the control device 300 of the motor may further include a second processing module 306, configured to: according to the three-phase voltage value, when the first determining module determines that the synthesized voltage amplitude is not greater than the preset voltage value The two line voltages perform signal amplification and waveform conversion; if the first pulse signal and the second pulse signal are acquired within a preset time, wherein the first pulse signal and the second pulse signal are separately amplified according to the two line voltages Obtaining a second tracking frequency obtained by the waveform transformation, and the second tracking frequency is obtained according to a time interval between falling edges of any two adjacent pulses of the first pulse signal or the second pulse signal, or Is obtained according to a time interval between rising edges of any two adjacent pulses of the first pulse signal or the second pulse signal; according to any two adjacent pulses of the first pulse signal and the second pulse signal The difference between the time interval between the falling edges and the difference between the time intervals between the rising edges of any two adjacent pulses and the phase sequence determine the steering of the motor; with 0 voltage, second chase The tracking frequency, as well as the determined steering of the motor, is the initial state of the motor tracking transition phase.

进一步地，第二处理模块306，还用于若在预设时间内没有获取到第一脉冲信号和第二脉冲信号，则判断激磁次数是否小于预置激磁次数，若小于，则对电机进行激磁处理，以获取第一脉冲信号和第二脉冲信号，并获取第二追踪频率；若激磁次数不小于预置激磁次数，则以初始启动频率控制电机。Further, the second processing module 306 is further configured to: if the first pulse signal and the second pulse signal are not acquired within the preset time, determine whether the number of excitation times is less than a preset number of excitation times, and if less, excite the motor Processing to acquire the first pulse signal and the second pulse signal, and acquiring the second tracking frequency; if the number of excitations is not less than the preset number of excitations, controlling the motor at the initial starting frequency.

需说明的是，本实施例中的变频器当合成电压幅值不大于预置电压值时，对于同步电机，变频器无需继续对该同步电机进行转速追踪，直接以初始启动频率控制电机，对于异步电机，则需要继续对该异步电机进行转速追踪，由第二处理模块306将根据三相电压值得到的任两个线电压进行信号放大及波形变换。It should be noted that, when the frequency of the synthesized voltage in the embodiment is not greater than the preset voltage value, the inverter does not need to continue to track the speed of the synchronous motor for the synchronous motor, and directly controls the motor with the initial starting frequency. For the asynchronous motor, it is necessary to continue the speed tracking of the asynchronous motor, and the second processing module 306 performs signal amplification and waveform conversion on any two line voltages obtained according to the three-phase voltage values.

因此，该电机的控制装置300，还可以包括第二判断模块307，用于当合成电压值不大于预置电压值时，判断电机是同步电机还是异步电机，若是同步电机，则以初始启动频率控制电机，若是异步电机，则由第二处理模块将根据三相电压值得到的任两个线电压进行差分放大及波形变换。Therefore, the control device 300 of the motor may further include a second determining module 307, configured to determine whether the motor is a synchronous motor or an asynchronous motor when the combined voltage value is not greater than the preset voltage value, if the synchronization is The motor controls the motor at the initial starting frequency. If it is an asynchronous motor, the second processing module performs differential amplification and waveform conversion on any two line voltages obtained from the three-phase voltage values.

本发明实施例直接从电机的输出电路中获取合成电压幅值，在合成电压幅值不大于阈值电压值时，根据从电机的输出电路中获取的电压值来捕获脉冲信号，从而获取追踪频率及电机的转向，从而以0电压、获取到的追踪频率及转向控制电机。因本实施例在电机的残压较小但不为0时，由根据残压获取到的脉冲信号来获取追踪频率等控制参数对电机进行控制，使得电机可以平滑过渡，且既快速又准确地对电机进行控制，不仅提高了控制效率，更使得控制安全可靠。In the embodiment of the present invention, the synthesized voltage amplitude is directly obtained from the output circuit of the motor, and when the synthesized voltage amplitude is not greater than the threshold voltage value, the pulse signal is captured according to the voltage value obtained from the output circuit of the motor, thereby acquiring the tracking frequency and The motor is steered to control the motor at zero voltage, the acquired tracking frequency and steering. In the embodiment, when the residual voltage of the motor is small but not 0, the motor is controlled by obtaining a control parameter such as a tracking frequency from a pulse signal obtained from the residual pressure, so that the motor can smoothly transition and is fast and accurate. Controlling the motor not only improves the control efficiency, but also makes the control safe and reliable.

在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the above embodiments, the descriptions of the various embodiments are different, and the details that are not detailed in a certain embodiment can be referred to the related descriptions of other embodiments.

对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本实用新型。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本实用新型的精神或范围的情况下，在其它实施例中实现。因此，本实用新型将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but the scope of the invention.

所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的***，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。 The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that The technical solutions are described as being modified, or equivalent to some of the technical features, and the modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

一种电机的控制方法，其特征在于，包括：A method for controlling a motor, comprising:

从电机的输出电路中获取三相电压值，并根据三相电压值获取合成电压幅值；Obtaining a three-phase voltage value from an output circuit of the motor, and obtaining a composite voltage amplitude according to the three-phase voltage value;

当所述合成电压幅值大于预置电压值时，根据所述三相电压值获取第一相位；When the synthesized voltage amplitude is greater than a preset voltage value, obtaining a first phase according to the three-phase voltage value;

获取第一追踪频率并确定所述电机的转向，其中，所述第一追踪频率为单位时间内所述第一相位的变化量的绝对值大小，所述电机的转向根据单位时间内所述第一相位的变化量的符号来确定，符号为正表示所述电机正转，符号为负表示所述电机反转；Obtaining a first tracking frequency and determining a steering of the motor, wherein the first tracking frequency is an absolute value of a variation amount of the first phase per unit time, and the steering of the motor is according to the unit time The sign of the amount of change of a phase is determined, the sign being positive indicates that the motor is rotating forward, and the sign being negative indicates that the motor is reversed;

以所述合成电压幅值、所述第一相位、所述第一追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态。The combined voltage amplitude, the first phase, the first tracking frequency, and the determined steering of the motor are used as an initial state of the motor tracking transition phase.
根据权利要求1所述的方法，其特征在于，还包括：The method of claim 1 further comprising:

当所述合成电压幅值不大于所述预置电压值时，将根据所述三相电压值得到的任两个线电压进行信号放大及波形变换；When the synthesized voltage amplitude is not greater than the preset voltage value, signal amplification and waveform conversion are performed on any two line voltages obtained according to the three-phase voltage value;

若在预设时间内获取到第一脉冲信号和第二脉冲信号，其中，所述第一脉冲信号和第二脉冲信号是根据所述两个线电压分别进行信号放大及波形变换后得到的，则获取第二追踪频率，所述第二追踪频率是根据所述第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的下降沿之间的时间间隔获取到的，或者是根据所述第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的上升沿之间的时间间隔获取到的；Obtaining the first pulse signal and the second pulse signal in a preset time, wherein the first pulse signal and the second pulse signal are obtained by performing signal amplification and waveform transformation respectively according to the two line voltages, Obtaining a second tracking frequency, which is obtained according to a time interval between falling edges of any two adjacent pulses of the first pulse signal or the second pulse signal, or Obtained at a time interval between rising edges of any two adjacent pulses of the first pulse signal or the second pulse signal;

根据所述第一脉冲信号和所述第二脉冲信号中的任两个相邻的脉冲的下降沿之间的时间间隔的差值和任两个相邻的脉冲的上升沿之间的时间间隔的差值以及相序确定所述电机的转向；And a time interval between a time interval between falling edges of any two adjacent pulses of the first pulse signal and the second pulse signal and a rising edge of any two adjacent pulses The difference and the phase sequence determine the steering of the motor;

以0电压、所述第二追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态。The zero voltage, the second tracking frequency, and the determined steering of the motor are used as an initial state of the motor tracking transition phase.
根据权利要求2所述的方法，其特征在于，所述根据第一脉冲信号和第二脉冲信号中的任两个相邻的脉冲的下降沿之间的时间间隔的差值和任两个相邻的脉冲的上升沿之间的时间间隔的差值之间的时间间隔的差值以及相序确定所述电机的转向，具体包括：The method according to claim 2, wherein said difference between said time intervals between falling edges of any two adjacent pulses of said first pulse signal and said second pulse signal and any two phases The difference in time interval between the difference between the time intervals between the rising edges of the adjacent pulses and the phase Determining the steering of the motor specifically includes:

若以U相位超前V相位、且V相位超前W相位的相序表示电机正转，第一脉冲信号PHUV是根据UV相电压进行信号放大及波形变换得到的，第二脉冲信号PHVW是根据VW相进行信号放大及波形变换得到的；If the U phase leads the V phase and the V phase leads the W phase in the phase sequence to indicate that the motor is rotating forward, the first pulse signal PHUV is obtained by signal amplification and waveform conversion according to the UV phase voltage, and the second pulse signal PHVW is based on the VW phase. Obtained by signal amplification and waveform transformation;

当PHUV中的脉冲的下降沿滞后于PHVW中的脉冲的下降沿，且当PHUV中的脉冲的上升沿滞后于PHVW中的脉冲的上升沿时，确定所述电机正转；当所述PHUV中的脉冲的下降沿超前于所述PHVW中的脉冲的下降沿，且所述PHUV中的脉冲的上升沿超前于所述PHVW中的脉冲的上升沿，确定所述电机反转。Determining that the motor is rotating forward when the falling edge of the pulse in PHUV lags the falling edge of the pulse in PHVW, and when the rising edge of the pulse in PHUV lags the rising edge of the pulse in PHVW; The falling edge of the pulse leads the falling edge of the pulse in the PHVW, and the rising edge of the pulse in the PHUV leads the rising edge of the pulse in the PHVW to determine the motor reversal.
根据权利要求2或3所述的方法，其特征在于，Method according to claim 2 or 3, characterized in that

若在预设时间内没有获取到第一脉冲信号和第二脉冲信号，则判断激磁次数是否小于预置激磁次数，若所述激磁次数小于预置激磁次数，则对所述电机进行激磁处理，以获取所述第一脉冲信号和第二脉冲信号，并执行所述获取第二追踪频率的步骤。If the first pulse signal and the second pulse signal are not acquired within the preset time, it is determined whether the number of excitation times is less than a preset number of excitation times, and if the number of excitation times is less than the preset number of excitation times, the motor is subjected to excitation processing, Acquiring the first pulse signal and the second pulse signal, and performing the step of acquiring the second tracking frequency.
根据权利要求4所述的方法，其特征在于，The method of claim 4 wherein:

若激磁次数不小于预置激磁次数且无法获得所述第一脉冲信号或第二脉冲信号，则以初始启动频率控制所述电机。If the number of exciting times is not less than the preset number of exciting times and the first pulse signal or the second pulse signal cannot be obtained, the motor is controlled at an initial starting frequency.
根据权利要求2所述的方法，其特征在于，当所述合成电压值不大于预置电压值时，在所述将根据所述三相电压值得到的任两个线电压进行信号放大及波形变换的步骤之前，还包括：The method according to claim 2, wherein when the combined voltage value is not greater than a preset voltage value, signal amplification and waveform are performed on any two line voltages to be obtained according to the three-phase voltage value Before the step of transforming, it also includes:

判断所述电机是同步电机还是异步电机，若是同步电机，则以初始启动频率控制所述电机，若是异步电机，则执行所述将根据所述三相电压值得到的任两个线电压进行信号放大及波形变换的步骤。Determining whether the motor is a synchronous motor or an asynchronous motor; if it is a synchronous motor, controlling the motor at an initial starting frequency, and if it is an asynchronous motor, performing a signal to perform any two line voltages obtained according to the three-phase voltage value The steps of amplification and waveform transformation.
根据权利要求1-3任一所述的方法，其特征在于，所述根据三相电压值获取合成电压幅值，具体包括：The method according to any one of claims 1-3, wherein the obtaining the synthesized voltage amplitude according to the three-phase voltage value comprises:

根据三相电压值获取三个线电压，并对该三个线电压进行clark变换，得到正交α和β坐标系下的两个电压分量；Obtaining three line voltages according to the three-phase voltage value, and performing a clark transform on the three line voltages to obtain two voltage components in the orthogonal α and β coordinate systems;

将该两个电压分量进行合成，得到所述合成电压幅值。The two voltage components are combined to obtain the combined voltage amplitude.
根据权利要求1或2所述的方法，其特征在于，所述根据所述三相电压值获取第一相位，具体包括：Method according to claim 1 or 2, wherein said three-phase electricity The pressure value obtains the first phase, and specifically includes:

根据所述三相电压值获取三个线电压，并对该三个线电压进行clark变换，得到正交α和β坐标系下的两个电压分量u_α和u_β；Obtaining three line voltages according to the three-phase voltage value, and performing a Clark transform on the three line voltages to obtain two voltage components u _α and u _{β in} orthogonal α and β coordinate systems;

根据u_α和u_β获取第一相位，其中，所述第一相位为
Obtaining a first phase according to u _α and u _β , wherein the first phase is
根据权利要求2所述的方法，其特征在于，The method of claim 2 wherein:

所述以所述合成电压幅值、第一相位、所述第一追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态的步骤之后，还包括：以所述初始状态控制电机过渡到VF曲线中与所述第一追踪频率对应的电压值，所述过渡过程中电机的频率为固定的第一追踪频率；After the step of using the synthesized voltage amplitude, the first phase, the first tracking frequency, and the determined steering of the motor as an initial state of the motor tracking transition phase, the method further includes: initializing The state control motor transitions to a voltage value corresponding to the first tracking frequency in the VF curve, wherein the frequency of the motor is a fixed first tracking frequency during the transition;

所述以0电压、所述第二追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态的步骤之后，还包括：以所述初始状态控制电机过渡到VF曲线中与所述第二追踪频率对应的电压值，所述过渡过程中电机的频率为固定的第二追踪频率；After the step of using the 0 voltage, the second tracking frequency, and the determined steering of the motor as the initial state of the motor tracking transition phase, the method further includes: controlling the motor to transition to the VF curve in the initial state a voltage value corresponding to the second tracking frequency, wherein the frequency of the motor during the transition is a fixed second tracking frequency;

其中，在从所述合成电压幅值过渡到VF曲线中与所述第一追踪频率对应的电压值的过渡过程中，以及在从所述0电压过渡到VF曲线中与所述第二追踪频率对应的电压值的过渡过程中，所述方法还包括：检测变频器的直流母线电压和输出电流，若所述直流母线电压大于预置直流母线电压，则减小所述第一相位的大小；若所述输出电流大于预置输出电流，则控制所述变频器的当前输出电压不变。Wherein, during a transition from the composite voltage amplitude to a voltage value corresponding to the first tracking frequency in the VF curve, and in transitioning from the zero voltage to the VF curve and the second tracking frequency During the transition of the corresponding voltage value, the method further includes: detecting a DC bus voltage and an output current of the frequency converter, and reducing the size of the first phase if the DC bus voltage is greater than a preset DC bus voltage; If the output current is greater than the preset output current, the current output voltage of the inverter is controlled to be unchanged.
一种电机的控制装置，其特征在于，包括：A control device for a motor, comprising:

第一获取模块，用于从电机的输出电路中获取三相电压值，并根据三相电压值获取合成电压幅值；a first obtaining module, configured to obtain a three-phase voltage value from an output circuit of the motor, and obtain a synthesized voltage amplitude according to the three-phase voltage value;

第一判断模块，用于判断所述第一获取模块获取到的合成电压幅值是否大于预置电压值；a first determining module, configured to determine whether the amplitude of the synthesized voltage acquired by the first acquiring module is greater than a preset voltage value;

第二获取模块，用于当所述第一判断模块判断到所述合成电压幅值大于预置电压值时，根据所述第一获取模块获取到的所述三相电压值获取第一相位；a second acquiring module, configured to acquire a first phase according to the three-phase voltage value acquired by the first acquiring module, when the first determining module determines that the synthesized voltage amplitude is greater than a preset voltage value;

第一处理模块，用于获取第一追踪频率并确定所述电机的转向，其中，所述第一追踪频率为单位时间内所述第一相位的变化量的绝对值大小，所述电机的转向根据单位时间内所述第一相位的变化量的符号来确定，符号为正表示所述电机正转，符号为负表示所述电机反转；a first processing module, configured to acquire a first tracking frequency and determine a steering of the motor, wherein the first tracking frequency is an absolute value of a change amount of the first phase per unit time, and the steering of the motor Determined according to the sign of the amount of change of the first phase in a unit time, the symbol is positive The motor is rotating forward, and the negative sign indicates that the motor is reversed;

控制模块，用于以所述合成电压幅值、所述第一相位、所述第一追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态。And a control module, configured to use the synthesized voltage amplitude, the first phase, the first tracking frequency, and the determined steering of the motor as an initial state of the motor tracking transition phase.
根据权利要求9所述的装置，其特征在于，还包括：The device according to claim 9, further comprising:

第二处理模块，用于当第一判断模块判断到所述合成电压幅值不大于预置电压值时，将根据所述三相电压值得到的任两个线电压进行信号放大及波形变换；若在预设时间内获取到第一脉冲信号和第二脉冲信号，其中，所述第一脉冲信号和第二脉冲信号是根据所述两个线电压分别进行信号放大及波形变换后得到的，则获取第二追踪频率，所述第二追踪频率是根据所述第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的下降沿之间的时间间隔获取到的，或者是根据所述第一脉冲信号或第二脉冲信号中任两个相邻的脉冲的上升沿之间的时间间隔获取到的；根据第一脉冲信号和第二脉冲信号中的任两个相邻的脉冲的下降沿之间的时间间隔的差值和任两个相邻的脉冲的上升沿之间的时间间隔的差值以及相序确定所述电机的转向；以0电压、所述第二追踪频率、以及确定的所述电机的转向作为所述电机追踪过渡阶段的初始状态。a second processing module, configured to: when the first determining module determines that the synthesized voltage amplitude is not greater than a preset voltage value, performing signal amplification and waveform transformation on any two line voltages obtained according to the three-phase voltage value; Obtaining the first pulse signal and the second pulse signal in a preset time, wherein the first pulse signal and the second pulse signal are obtained by performing signal amplification and waveform transformation respectively according to the two line voltages, Obtaining a second tracking frequency, which is obtained according to a time interval between falling edges of any two adjacent pulses of the first pulse signal or the second pulse signal, or Obtained at a time interval between rising edges of any two adjacent pulses of the first pulse signal or the second pulse signal; according to any two adjacent pulses of the first pulse signal and the second pulse signal a difference between a time interval between falling edges and a difference in time intervals between rising edges of any two adjacent pulses and a phase sequence determining a steering of the motor; at a voltage of zero, said second tracking frequency, And determining the steering of the motor as an initial state of the motor tracking transition phase.
根据权利要求11所述的装置，其特征在于，The device of claim 11 wherein:

所述第二处理模块，还用于若在预设时间内没有获取到第一脉冲信号和第二脉冲信号，则判断激磁次数是否小于预置激磁次数，若所述激磁次数小于预置激磁次数，则对所述电机进行激磁处理，以获取所述第一脉冲信号和第二脉冲信号，并获取第二追踪频率；若激磁次数不小于预置激磁次数且无法获得所述第一脉冲信号或第二脉冲信号，则以初始启动频率控制所述电机。 The second processing module is further configured to: if the first pulse signal and the second pulse signal are not acquired within a preset time, determine whether the number of excitation times is less than a preset number of excitation times, if the number of excitation times is less than a preset number of excitation times And performing an excitation process on the motor to obtain the first pulse signal and the second pulse signal, and acquiring a second tracking frequency; if the number of excitation times is not less than a preset number of excitation times, the first pulse signal may not be obtained or The second pulse signal controls the motor at an initial starting frequency.