CN110336510A - Control method, system and the household electrical appliance of motor - Google Patents
Control method, system and the household electrical appliance of motor Download PDFInfo
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- CN110336510A CN110336510A CN201910653734.2A CN201910653734A CN110336510A CN 110336510 A CN110336510 A CN 110336510A CN 201910653734 A CN201910653734 A CN 201910653734A CN 110336510 A CN110336510 A CN 110336510A
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- 238000005070 sampling Methods 0.000 claims abstract description 32
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- 230000006870 function Effects 0.000 description 10
- 230000001360 synchronised effect Effects 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The application proposes the control method, system and household electrical appliance of a kind of motor.Wherein, the control method of motor, comprising the following steps: obtain the current error between the current instruction value and current sampling data of a upper sampling instant；According to the current error, the current instruction value of current sample time is corrected, obtains actual current command value；Voltage instruction value is obtained according to the actual current command value；Driving signal is generated according to the voltage instruction value, to drive the motor.The control method of the motor of the application avoids the foundation of cost function and the selection of weight factor using the current control based on voltage prediction, realizes simplicity, and precision of prediction with higher.
Description
Technical Field
The application relates to the technical field of electric appliance control, in particular to a motor control method and system and a household electric appliance.
Background
A Permanent Magnet Synchronous Motor (PMSM) has the advantages of light weight, small volume, high operating efficiency and the like, and is widely applied to the field of household appliances. The permanent magnet synchronous motor speed regulation control comprises a current loop control loop, wherein the current loop control performance is a key factor influencing the dynamic characteristic of a system.
In the related art, the current control strategy of the permanent magnet synchronous motor mainly comprises proportional-integral control, hysteresis control, model prediction control and the like. The proportional integral control changes the motor current into direct current components under a rotating coordinate system through rotating coordinate conversion and respectively controls the direct current components, and the essence of the proportional integral control is that a control loop is corrected into a low-pass filter and limited by bandwidth, so that high-performance dynamic quality is not easy to obtain. The hysteresis control has the problems of large current ripple, unfixed switching frequency and the like. The model prediction current control of the permanent magnet synchronous motor needs to establish a cost function according to a control target, the cost function is calculated through a prediction system state, so that an optimal voltage vector is selected, the control effect of the model prediction current control depends on the selection of a weight coefficient and is influenced by the level number of an inverter, and the accuracy of current prediction control is low and the dynamic performance is limited due to the fact that the selectable voltage vector of a commonly used two-level inverter is limited. In addition, the predictive control needs precise modeling of the control object, and model parameter mismatch will deteriorate the performance of the control system, possibly leading to the system losing stability in severe cases.
Disclosure of Invention
The present application is directed to solving at least one of the above problems.
To this end, an object of the present application is to propose a control method of an electric machine. The method adopts current control based on voltage prediction, avoids establishment of a cost function and selection of a weight factor, is simple and convenient to implement, and has high prediction precision.
A second object of the present application is to propose a control system of an electric machine.
A third object of the present application is to propose a computer readable storage medium.
A fourth object of the present application is to propose a household appliance.
In order to achieve the above object, a first aspect of the present application discloses a control method of a motor, including the steps of: acquiring a current error between a current instruction value and a current sampling value at the last sampling moment; correcting the current instruction value at the current sampling moment according to the current error to obtain an actual current instruction value; obtaining a voltage command value according to the actual current command value; and generating a driving signal according to the voltage command value so as to drive the motor.
According to the control method of the motor, the current control based on the voltage prediction is adopted, the establishment of a cost function and the selection of a weight factor are avoided, the realization is simple and convenient, and the prediction precision is higher.
In some examples, before correcting the current command value at the current sampling time according to the current error, the method further includes: and filtering the current error according to a filter coefficient.
In some examples, further comprising: and calculating the filter coefficient according to the feedback rotating speed of the motor.
In some examples, the deriving a voltage command value from the actual current command value includes: acquiring a voltage equation of the motor; and determining the voltage command value through the current command value according to the voltage equation.
A second aspect of the present application discloses a control system of a motor, including: the acquisition module is used for acquiring a current error between a current instruction value and a current sampling value at the last sampling moment; the correction module is used for correcting the current instruction value at the current sampling moment according to the current error to obtain an actual current instruction value; the voltage determining module is used for obtaining a voltage instruction value according to the actual current instruction value; and the control module is used for generating a driving signal according to the voltage command value so as to drive the motor.
The control system of the motor adopts the current control based on the voltage prediction, avoids establishment of a cost function and selection of a weight factor, is simple and convenient to realize, and has higher prediction precision.
In some examples, further comprising: and the filtering module is used for filtering the current error according to a filtering coefficient before the correction module corrects the current instruction value at the current sampling moment according to the current error.
In some examples, the filtering module is further configured to calculate the filter coefficient according to a feedback rotation speed of the motor.
In some examples, the voltage determination module is configured to determine the voltage command value from the current command value according to a voltage equation of the motor.
Embodiments of a third aspect of the present application disclose a computer-readable storage medium having stored thereon a control program of an electric motor, which when executed by a processor, implements the control method of the electric motor described above in the first aspect.
An embodiment of a fourth aspect of the present application discloses a household appliance, which includes a motor, a memory, a processor, and a control program of the motor, which is stored in the memory and can be run on the processor, and when the processor executes the control program of the motor, the method for controlling the motor according to the first aspect is implemented. The motor in the household appliance adopts current control based on voltage prediction, avoids establishment of a cost function and selection of a weight factor, is simple and convenient to realize, and has high prediction precision.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of controlling a motor according to one embodiment of the present application;
fig. 2 is a schematic view of a current waveform in a control method of a motor to which an embodiment of the present application is applied;
FIG. 3 is a schematic diagram of a current waveform in a proportional-integral control method;
fig. 4 is a block diagram of a control system of a motor according to an embodiment of the present application.
Description of reference numerals:
a control system 400 for a motor, an acquisition module 410, a correction module 420, a voltage determination module 430, and a control module 440.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes a control method and system of a motor and a household appliance according to an embodiment of the application with reference to the accompanying drawings.
In the following description, the electric machine is generally referred to as a permanent magnet synchronous machine.
Fig. 1 is a flowchart of a control method of a motor according to an embodiment of the present application. As shown in fig. 1, a control method of a motor according to an embodiment of the present application includes the steps of:
s101: and acquiring a current error between the current instruction value and the current sampling value at the last sampling moment.
In a specific example, the current instruction value at the last sampling time is calculatedAnd the current sampling value id、iqError Δ i therebetweend、ΔiqIn this example, the current error is calculated, for example, using the following calculation formula:
where k is the last sampling time, and subscripts d and q represent components in the corresponding rotating coordinate system.
In the above description, the current command value refers to a current target value.
S102: and correcting the current instruction value at the current sampling moment according to the current error to obtain an actual current instruction value.
In a specific example, in order to improve the calculation accuracy of the actual current command value, before the current command value at the current sampling time is corrected according to the current error to obtain the actual current command value, the method further includes: and filtering the current error according to the filter coefficient.
The filter coefficient can be obtained by calculation according to the feedback rotating speed of the motor, and the filter coefficient refers to the filter coefficient of the low-pass filter.
Specifically, the low-pass filter coefficient is calculated from the motor feedback rotational speed, in this example, by the following formula:
λ(k)＝mTsωe(k)，
wherein, ω iseIs the electrical angular velocity of the motor (i.e. the feedback rotational speed of the motor, obtained by taking the electrical angle as a reference, and fed back to the motor driver), TsFor the sampling period, λ is a positive number less than 1 and m is an adjustable scaling factor, in this example m takes 1.
The current error may be filtered by the following equation:
for current errorIn this embodiment, the calculation expression used is as follows:
wherein,is the filtered current error.
Next, the actual current command value may be calculated according to the following formula:
wherein,andthe d-axis current component and the q-axis current component of the actual current command value at the current sampling moment are respectively,andthe current components of the d and q axes of the current command value before correction at the current sampling time are respectively.
S103: and obtaining a voltage command value according to the actual current command value.
Firstly, a voltage equation of the motor is obtained, and then the voltage instruction value is determined through the current instruction value according to the voltage equation.
As a specific example, from the actual current command value according to the voltage equation of the permanent magnet synchronous motorCalculating to obtain a voltage command valueFor example: calculating a voltage command value using the following formulaThe formula is as follows:
wherein R represents the motor phase resistance, Ld represents the d-axis inductance, Lq represents the q-axis inductance,representing the motor permanent magnet flux linkage.
S104: and generating a driving signal according to the voltage command value to drive the motor.
And (3) modulating the voltage command value by pulse width to generate an inverter driving signal to drive the motor to run, namely: will be provided withObtaining the instruction value under the static two-phase coordinate system through the transformation of the rotating coordinateAnd then obtaining a driving signal through space vector pulse width modulation.
Fig. 2 and fig. 3 show a dq-axis current waveform of a permanent magnet synchronous motor driving system dynamically loaded by applying the method of the embodiment of the present application in fig. 2, and fig. 3 shows a dq-axis current waveform of a permanent magnet synchronous motor driving system dynamically loaded by applying proportional-integral control in fig. 3. It can be seen that the method of the embodiment of the application can better realize dq axis current decoupling control in a dynamic process, and meanwhile, steady-state current ripples are smaller, so that higher dynamic quality can be obtained, and steady-state precision is good.
According to the control method of the motor, the current control based on the voltage prediction is adopted, the establishment of a cost function and the selection of a weight factor are avoided, the implementation is simple and convenient, and the prediction precision is high.
In addition, the control method of the motor in the embodiment of the application can also adopt a self-adaptive filtering mode to correct the current instruction value, thereby effectively avoiding the steady-state error caused by model mismatch and ensuring that the motor has good and stable dynamic quality characteristics in the whole speed range.
Fig. 4 is a block diagram of a control system of a motor according to an embodiment of the present application. As shown in fig. 4, a control system 400 of a motor according to an embodiment of the present application includes: an acquisition module 410, a correction module 420, a voltage determination module 430, and a control module 440.
The obtaining module 410 is configured to obtain a current error between the current instruction value and the current sampling value at the previous sampling time. The correcting module 420 is configured to correct the current instruction value at the current sampling time according to the current error, so as to obtain an actual current instruction value. The voltage determining module 430 is configured to obtain a voltage instruction value according to the actual current instruction value. The control module 440 is configured to generate a driving signal according to the voltage command value to drive the motor.
In one embodiment of the present application, further comprising: a filtering module (not shown in fig. 4) for filtering the current error according to a filtering coefficient before the correction module 420 corrects the current command value at the current sampling time according to the current error.
In an embodiment of the application, the filter module is further configured to calculate the filter coefficient according to a feedback rotation speed of the motor.
In an embodiment of the application, the voltage determination module 430 is configured to determine the voltage command value from the current command value according to a voltage equation of the motor.
According to the control system of the motor, the current control based on the voltage prediction is adopted, the establishment of a cost function and the selection of a weight factor are avoided, the implementation is simple and convenient, and the prediction precision is high.
In addition, the control system of the motor of the embodiment of the application can also adopt a self-adaptive filtering mode to correct the current instruction value, thereby effectively avoiding the steady-state error caused by model mismatch and ensuring good and stable dynamic quality characteristics in the whole speed range.
It should be noted that a specific implementation manner of the control system of the motor in the embodiment of the present application is similar to a specific implementation manner of the control method of the motor in the embodiment of the present application, and please refer to the description of the method portion specifically, which is not described herein again.
Further, embodiments of the present application disclose a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a control system method of an electric machine according to any of the above embodiments.
Further, embodiments of the present application disclose a household appliance having a computer program stored thereon, which when executed by a processor, implements a method of controlling a motor according to any of the above embodiments. The motor in the household appliance adopts current control based on voltage prediction, avoids establishment of a cost function and selection of a weight factor, is simple and convenient to realize, and has high prediction precision.
The non-transitory computer readable storage medium described above may take any combination of one or more computer readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM) or flash Memory, an optical fiber, a portable compact disc Read Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of Network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A method of controlling a motor, comprising the steps of:
acquiring a current error between a current instruction value and a current sampling value at the last sampling moment;
correcting the current instruction value at the current sampling moment according to the current error to obtain an actual current instruction value;
obtaining a voltage command value according to the actual current command value;
and generating a driving signal according to the voltage command value so as to drive the motor.
2. The method of controlling a motor according to claim 1, before correcting the current command value at the present sampling timing based on the current error, further comprising:
and filtering the current error according to a filter coefficient.
3. The control method of the motor according to claim 2, further comprising:
and calculating the filter coefficient according to the feedback rotating speed of the motor.
4. The method according to any one of claims 1 to 3, wherein the deriving a voltage command value from the actual current command value includes:
acquiring a voltage equation of the motor;
and determining the voltage command value through the current command value according to the voltage equation.
5. A control system for an electric machine, comprising:
the acquisition module is used for acquiring a current error between a current instruction value and a current sampling value at the last sampling moment;
the correction module is used for correcting the current instruction value at the current sampling moment according to the current error to obtain an actual current instruction value;
the voltage determining module is used for obtaining a voltage instruction value according to the actual current instruction value;
and the control module is used for generating a driving signal according to the voltage command value so as to drive the motor.
6. The control system of an electric machine according to claim 5, further comprising: and the filtering module is used for filtering the current error according to a filtering coefficient before the correction module corrects the current instruction value at the current sampling moment according to the current error.
7. The control system of an electric motor of claim 6, wherein the filter module is further configured to calculate the filter coefficient based on a feedback speed of the electric motor.
8. The control system of an electric motor according to any one of claims 5 to 7, wherein the voltage determination module is configured to determine the voltage command value from the current command value according to a voltage equation of the electric motor.
9. A computer-readable storage medium on which a control program of a motor is stored, the control program of the motor implementing the control method of the motor according to any one of claims 1 to 4 when executed by a processor.
10. A household appliance comprising a motor, a memory, a processor and a control program for the motor stored on the memory and executable on the processor, wherein the processor implements the control method for the motor according to any one of claims 1 to 4 when executing the control program for the motor.
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| CN117811451A (en) * | 2023-12-29 | 2024-04-02 | 上海铼钠克数控科技有限公司 | Automatic zeroing method, device, system, equipment and readable storage medium |
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