CN110995084A - Reluctance motor control method and device, storage medium and reluctance motor - Google Patents
Reluctance motor control method and device, storage medium and reluctance motor Download PDFInfo
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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
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P25/08—Reluctance motors
- H02P25/0805—Reluctance motors whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
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Abstract
The invention provides a reluctance motor control method, a device, a storage medium and a reluctance motor, wherein the method comprises the following steps: acquiring corresponding d and q axis weak magnetic current values according to the current motor rotating speed of the reluctance motor; performing PI regulation according to the current d and q axis output voltage values to obtain d and q axis current compensation values; acquiring d-axis and q-axis current reference values according to the d-axis and q-axis weak magnetic current values and the d-axis and q-axis current compensation values; performing PI regulation on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values; and modulating according to the output voltage values of the d and q axes to obtain the switching state of the switching tube so as to output the switching state to the inverter to control the motor to operate. The scheme provided by the invention can ensure that the motor stably runs in a weak magnetic region, and the fluctuation of the rotating speed, the torque and the line voltage of the motor is small in the switching process.
Description
Technical Field
The invention relates to the field of control, in particular to a reluctance motor control method and device, a storage medium and a reluctance motor.
Background
Reluctance motors are widely used in various electric drive systems due to their advantages of high power density and high efficiency. The high-performance synchronous reluctance motor control technology mainly comprises rotor magnetic field orientation control, stator magnetic field orientation control and direct torque control. In practical engineering application, in industries requiring high-speed operation of a motor, such as electric automobiles, ship power, metal cutting and the like, a speed regulating system based on motor vector control cannot meet the requirement of the industries on the rotating speed of the motor.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned drawbacks of the prior art, and provides a method and an apparatus for controlling a reluctance motor, a storage medium, and a reluctance motor, so as to solve the problem that a speed control system based on motor vector control in the prior art cannot meet the requirement for the rotation speed of the motor.
The invention provides a reluctance motor control method on one hand, which comprises the following steps: acquiring corresponding d and q axis weak magnetic current values according to the current motor rotating speed of the reluctance motor; performing PI regulation according to the current d and q axis output voltage values to obtain d and q axis current compensation values; acquiring d-axis and q-axis current reference values according to the d-axis and q-axis weak magnetic current values and the d-axis and q-axis current compensation values; performing PI regulation on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values; and modulating according to the output voltage values of the d and q axes to obtain the switching state of the switching tube so as to output the switching state to the inverter to control the motor to operate.
Optionally, obtaining the corresponding d and q axis weak magnetic current values according to the current motor rotation speed of the reluctance motor includes:
and searching d-axis and q-axis weak magnetic current values corresponding to the current motor rotating speed according to a preset corresponding relation table of the motor rotating speed and the d-axis and q-axis weak magnetic currents.
Optionally, performing PI adjustment according to the output voltage values of the d and q axes to obtain current compensation values of the d and q axes, including: performing PI regulation according to the d-axis output voltage value and the q-axis output voltage value and the maximum output voltage of the inverter to obtain d-axis current compensation values and q-axis current compensation values; and/or performing PI regulation on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values, wherein the steps comprise: and inputting the d-axis and q-axis current reference values into a d-axis and q-axis current PI regulator for PI regulation to obtain d-axis and q-axis output voltage values.
Optionally, performing PI adjustment according to the d-axis output voltage value and the q-axis output voltage value and the maximum output voltage of the inverter to obtain a d-axis current compensation value and a q-axis current compensation value, including: outputting voltage value u according to the d and q axesd、uqAnd the maximum output voltage U of the invertermaxCalculating an input value e for carrying out d-axis and q-axis current flux weakening compensation by using the following formula:
wherein, UdcIs a direct current bus voltage value; and respectively inputting the input value e into d-axis and q-axis current flux weakening compensation PI controllers for PI control to obtain d-axis and q-axis current compensation values.
Another aspect of the present invention provides a reluctance motor control apparatus, including: the first obtaining unit is used for obtaining corresponding d and q axis weak magnetic current values according to the current motor rotating speed of the reluctance motor; the first PI control unit is used for carrying out PI regulation according to the current d-axis and q-axis output voltage values to obtain d-axis and q-axis current compensation values; the second acquisition unit is used for acquiring d-axis and q-axis current reference values according to the d-axis and q-axis weak magnetic current values and the d-axis and q-axis current compensation values; the second PI control unit is used for carrying out PI regulation on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values; and the modulation unit is used for modulating according to the d-axis output voltage value and the q-axis output voltage value to obtain the switching state of the switching tube so as to output the switching state to the inverter to control the motor to operate.
Optionally, the obtaining, by the first obtaining unit, a d-axis weak magnetic current value and a q-axis weak magnetic current value corresponding to a current motor rotation speed of the reluctance motor according to the current motor rotation speed includes: and searching d-axis and q-axis weak magnetic current values corresponding to the current motor rotating speed according to a preset corresponding relation table of the motor rotating speed and the d-axis and q-axis weak magnetic currents.
Optionally, the first PI control unit performs PI adjustment according to the output voltage values of the d and q axes to obtain current compensation values of the d and q axes, and includes: performing PI regulation according to the d-axis output voltage value and the q-axis output voltage value and the maximum output voltage of the inverter to obtain d-axis current compensation values and q-axis current compensation values; and/or the second PI control unit performs PI regulation on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values, and the PI regulation comprises the following steps: and inputting the d-axis and q-axis current reference values into a d-axis and q-axis current PI regulator for PI regulation to obtain d-axis and q-axis output voltage values.
Optionally, the first PI control unit performs PI adjustment according to the d-axis output voltage value and the q-axis output voltage value and a maximum output voltage of the inverter to obtain a d-axis current compensation value and a q-axis current compensation value, and includes: outputting voltage value u according to the d and q axesd、uqAnd the maximum output voltage U of the invertermaxCalculating an input value e for carrying out d-axis and q-axis current flux weakening compensation by using the following formula:
wherein, UdcIs a direct current bus voltage value; and respectively inputting the input value e into d-axis and q-axis current flux weakening compensation PI controllers for PI control to obtain d-axis and q-axis current compensation values.
A further aspect of the invention provides a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of any of the methods described above.
A further aspect of the invention provides a reluctance machine comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when executing the program.
In a further aspect, the invention provides a reluctance motor comprising any one of the reluctance motor control devices described above.
According to the technical scheme, aiming at the condition that the motor is in a weak magnetic area, a double PI control strategy of carrying out current weak magnetic compensation PI control based on d-axis and q-axis output voltage values and carrying out PI regulation on d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values is adopted to form a multi-closed-loop control system consisting of two current loops and a voltage closed loop, so that the motor has better dynamic performance, can stably run in the weak magnetic area, and has small fluctuation of the rotating speed, torque and line voltage of the motor in the switching process; in addition, the invention adopts a table look-up method to obtain d-axis and q-axis weak magnetic current values, and pre-calculates the d-axis and q-axis weak magnetic current values according to different speed and current requirements, thereby avoiding the problem of solving a complex equation on line.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a method for controlling a reluctance machine according to an embodiment of the present invention;
fig. 2 is an output torque of the motor when the motor is in a field weakening condition.
Fig. 3 is a schematic structural diagram of an embodiment of a reluctance motor control apparatus provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the prior art, a motor vector control-based speed regulating system cannot meet the requirement of the industry on the rotating speed of a motor, so that weak magnetic control speed regulation is gradually researched and developed. The weak magnetic control not only inherits the excellent property of closed-loop control of vector control, but also has the characteristics of a certain width of speed regulation range and smooth weak magnetic transition. The motor can basically meet the requirement of high-speed operation. Therefore, research and development of field weakening control becomes important.
The invention provides a reluctance motor control method.
Fig. 1 is a schematic method diagram of an embodiment of a reluctance motor control method provided in the present invention.
As shown in fig. 1, according to an embodiment of the present invention, the control method includes at least step S110, step S120, step S130, step S140, and step S150.
And step S110, acquiring corresponding d and q axis weak magnetic current values according to the current motor rotating speed of the reluctance motor.
In a specific embodiment, according to a preset correspondence table (obtained by experimental calibration in advance) between the motor rotation speed and the d-axis and q-axis weak magnetic currents, the d-axis and q-axis weak magnetic current values corresponding to the current motor rotation speed are searched. The current motor speed of the reluctance motor can be obtained by an angle sensor and/or a speed sensor.
And step S120, performing PI regulation according to the current d-axis and q-axis output voltage values to obtain d-axis and q-axis current compensation values.
In one specific embodiment, PI regulation is carried out according to the current d-axis and q-axis output voltage values and the maximum output voltage of the inverter, and d-axis and q-axis current compensation values are obtained. More specifically, the voltage value u is output according to the d and q axesd、uqAnd the maximum output voltage U of the invertermaxCalculating an input value e for carrying out d-axis and q-axis current flux weakening compensation by using the following formula:
wherein, UdcIs a direct current bus voltage value;
and respectively inputting the input value e into d-axis and q-axis current flux weakening compensation PI controllers for PI control to obtain d-axis and q-axis current compensation values. Namely, the input value e is used as the input of the d-axis and q-axis current flux weakening compensation PI controller.
The d-axis and q-axis output voltage values can be obtained by performing PI adjustment on the d-axis and q-axis current reference values, and the specific implementation manner will be described in detail in step S140.
And S130, acquiring d-axis and q-axis current reference values according to the d-axis and q-axis weak magnetic current values and the d-axis and q-axis current compensation values.
Specifically, the d-axis weak magnetic current value and the q-axis weak magnetic current value may be added to the d-axis current compensation value and the q-axis current compensation value, respectively, to obtain d-axis current reference values and q-axis current reference values.
And step S140, performing PI regulation on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values.
Specifically, the d-axis and q-axis current reference values are input into a d-axis and q-axis current PI regulator for PI regulation, so that d-axis and q-axis output voltage values are obtained and serve as input control quantity of field weakening control.
And S150, modulating according to the output voltage values of the d and q axes to obtain the switching state of the switching tube so as to output the switching state to the inverter to control the motor to operate.
Specifically, the switching state of the inverter switching tube is modulated by Space Vector Pulse Width Modulation (SVPWM) in order to keep the modulation voltage in a linear modulation region.
From the equation (2), when the maximum output voltage is reached
Is less than
When the motor is in a constant torque area, when the maximum output voltage is reached, the input value e of the weak magnetic compensation of the current weak magnetic compensation PI controller is in forward saturation through the current weak magnetic compensation PI controller
Is greater than
When the current weak magnetic compensation PI controller is in a low-voltage state, the current weak magnetic compensation PI controller starts to be in a saturation state, the output of the current weak magnetic compensation PI controller is in a low-voltage state, and the motor enters a weak magnetic working area.
The flux weakening control process is a multi-closed-loop system and is composed of two current loops and a voltage closed loop. The current loop can enable the motor to have better dynamic performance, and when the load torque changes suddenly, the system can still run more stably; the voltage ring has the function that when the rotating speed of the motor exceeds the turning speed, a negative voltage difference value can be output, so that a reverse demagnetizing current is generated, and the quadrature axis current is reduced, so that the motor stably runs in a weak magnetic area. Fig. 2 is the output torque of the motor when the motor is in a field weakening condition, and it can be seen that the output torque of the motor has little fluctuation. In fig. 2, the horizontal axis represents time, and the vertical axis represents output torque.
The invention also provides a reluctance motor control device.
Fig. 3 is a schematic structural diagram of an embodiment of a reluctance motor control apparatus provided in the present invention. As shown in fig. 3, the reluctance motor control apparatus 100 includes a first acquisition unit 110, a first PI control unit 120, a second acquisition unit 130, a second PI control unit 140, and a modulation unit 150.
The first obtaining unit 110 is configured to obtain corresponding d-axis and q-axis weak magnetic current values according to a current motor speed of the reluctance motor. The first PI control unit 120 is configured to perform PI adjustment according to the current d-axis and q-axis output voltage values to obtain d-axis and q-axis current compensation values. The second obtaining unit 130 is configured to obtain d-axis and q-axis current reference values according to the d-axis and q-axis weak magnetic current values and the d-axis and q-axis current compensation values. The second PI control unit 140 is configured to perform PI adjustment on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values. The modulation unit 150 is used for modulating according to the d-axis output voltage value and the q-axis output voltage value to obtain a switching state of the switching tube, so as to output the switching state to the inverter to control the motor to operate.
The first obtaining unit 110 obtains corresponding d and q axis weak magnetic current values according to the current motor speed of the reluctance motor.
In a specific embodiment, the first obtaining unit 110 searches for d-axis and q-axis weak magnetic current values corresponding to a current motor rotation speed according to a preset correspondence table (obtained by experimental calibration in advance) between the motor rotation speed and the d-axis and q-axis weak magnetic currents. The current motor speed of the reluctance motor can be obtained by an angle sensor and/or a speed sensor.
The first PI control unit 120 performs PI adjustment according to the current d-axis and q-axis output voltage values to obtain d-axis and q-axis current compensation values.
In one embodiment, the first PI control unit 120 performs PI regulation according to the current d-axis and q-axis output voltage values and the maximum output voltage of the inverter to obtain d-axis and q-axis current compensation values.
More specifically, the voltage value u is output according to the d and q axesd、uqAnd the maximum output voltage U of the invertermaxCalculating an input value e for carrying out d-axis and q-axis current flux weakening compensation by using the following formula:
wherein, UdcIs a direct current bus voltage value; and respectively inputting the input value e into d-axis and q-axis current flux weakening compensation PI controllers for PI control to obtain d-axis and q-axis current compensation values. Namely, the input value e is used as the input of the d-axis and q-axis current flux weakening compensation PI controller.
The first PI control unit 120 may perform PI adjustment on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values, and the specific implementation manner may refer to step S140.
The second obtaining unit 130 obtains d-axis and q-axis current reference values according to the d-axis and q-axis weak magnetic current values and the d-axis and q-axis current compensation values.
Specifically, the second obtaining unit 130 may add the d-axis weak magnetic current value and the q-axis weak magnetic current value to the d-axis current compensation value and the q-axis current compensation value, respectively, to obtain d-axis current reference values and q-axis current reference values.
The second PI control unit 140 performs PI adjustment on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values.
Specifically, the second PI control unit 140 inputs the d-axis and q-axis current reference values into the d-axis and q-axis current PI regulators for PI regulation, so as to obtain d-axis and q-axis output voltage values.
And the modulation unit 150 modulates the output voltage values of the d axis and the q axis to obtain the switching state of the switching tube so as to output the switching state to the inverter to control the motor to operate.
Specifically, the adjusting unit 15 applies Space Vector Pulse Width (SVPWM) modulation to the switching states of the inverter switching tubes in order to maintain the modulation voltage in the linear modulation region.
According to the formula (2), whenMaximum output voltage
Is less than
When the motor is in a constant torque area, when the maximum output voltage is reached, the input value e of the weak magnetic compensation of the current weak magnetic compensation PI controller is in forward saturation through the current weak magnetic compensation PI controller
Is greater than
When the current weak magnetic compensation PI controller is in a low-voltage state, the current weak magnetic compensation PI controller starts to be in a saturation state, the output of the current weak magnetic compensation PI controller is in a low-voltage state, and the motor enters a weak magnetic working area.
The flux weakening control process is a multi-closed-loop system and is composed of two current loops and a voltage closed loop. The current loop can enable the motor to have better dynamic performance, and when the load torque changes suddenly, the system can still run more stably; the voltage ring has the function that when the rotating speed of the motor exceeds the turning speed, a negative voltage difference value can be output, so that a reverse demagnetizing current is generated, and the quadrature axis current is reduced, so that the motor stably runs in a weak magnetic area. Fig. 2 shows the output torque of the motor when the motor is in a field weakening condition, and it can be seen that the output torque of the motor has a small fluctuation. In fig. 2, the horizontal axis represents time, and the vertical axis represents output torque.
The invention also provides a storage medium corresponding to the reluctance motor control method, on which a computer program is stored, which program, when executed by a processor, carries out the steps of any of the methods described above.
The invention also provides a reluctance motor corresponding to the reluctance motor control method, which comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of any one of the methods.
The invention also provides a reluctance motor corresponding to the reluctance motor control device, which comprises any one of the reluctance motor control devices.
According to the scheme provided by the invention, aiming at the condition that the motor is in a weak magnetic area, a double PI control strategy of carrying out current weak magnetic compensation PI control based on d and q axis output voltage values and carrying out PI regulation on d and q axis current reference values to obtain d and q axis output voltage values is adopted to form a multi-closed-loop control system consisting of two current loops and one voltage closed loop, so that the motor has better dynamic performance, can stably run in the weak magnetic area, and has small fluctuation of the rotating speed, the torque and the line voltage of the motor in the switching process; in addition, the invention adopts a table look-up method to obtain d-axis and q-axis weak magnetic current values, and pre-calculates the d-axis and q-axis weak magnetic current values according to different speed and current requirements, thereby avoiding the problem of solving a complex equation on line.
The field weakening control is a multi-closed-loop system which is composed of two current loops and a voltage closed loop. The current loop can enable the motor to have better dynamic performance, and when the load torque changes suddenly, the system can still run more stably; the voltage ring has the function that when the rotating speed of the motor exceeds the turning speed, a negative voltage difference value can be output, so that a reverse demagnetizing current is generated, and the quadrature axis current is reduced, so that the motor stably runs in a weak magnetic area. In addition, the transition of the motor from the constant torque area to the weak magnetic area is realized by automatically changing a voltage difference value through a voltage ring, the switching is smooth, and the fluctuation of the rotating speed, the torque and the line voltage of the motor in the switching process is small.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and the parts serving as the control device may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A reluctance machine control method, comprising:
acquiring corresponding d and q axis weak magnetic current values according to the current motor rotating speed of the reluctance motor;
performing PI regulation according to the current d and q axis output voltage values to obtain d and q axis current compensation values;
acquiring d-axis and q-axis current reference values according to the d-axis and q-axis weak magnetic current values and the d-axis and q-axis current compensation values;
performing PI regulation on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values;
and modulating according to the output voltage values of the d and q axes to obtain the switching state of the switching tube so as to output the switching state to the inverter to control the motor to operate.
2. The method of claim 1, wherein obtaining corresponding d and q axis field weakening current values according to the current motor speed of the reluctance motor comprises:
and searching d-axis and q-axis weak magnetic current values corresponding to the current motor rotating speed according to a preset corresponding relation table of the motor rotating speed and the d-axis and q-axis weak magnetic currents.
3. The method of claim 1 or 2, wherein performing PI regulation according to the d-axis and q-axis output voltage values to obtain d-axis and q-axis current compensation values comprises:
performing PI regulation according to the d-axis output voltage value and the q-axis output voltage value and the maximum output voltage of the inverter to obtain d-axis current compensation values and q-axis current compensation values;
and/or the presence of a gas in the gas,
performing PI regulation on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values, and the method comprises the following steps:
and inputting the d-axis and q-axis current reference values into a d-axis and q-axis current PI regulator for PI regulation to obtain d-axis and q-axis output voltage values.
4. The method of claim 3, wherein performing PI regulation according to the d-axis and q-axis output voltage values and a maximum output voltage of the inverter to obtain d-axis and q-axis current compensation values comprises:
outputting voltage value u according to the d and q axesd、uqAnd the maximum output voltage U of the invertermaxCalculating an input value e for carrying out d-axis and q-axis current flux weakening compensation by using the following formula:
wherein, UdcIs a direct current bus voltage value;
and respectively inputting the input value e into d-axis and q-axis current flux weakening compensation PI controllers for PI control to obtain d-axis and q-axis current compensation values.
5. A reluctance machine control apparatus, comprising:
the first obtaining unit is used for obtaining corresponding d and q axis weak magnetic current values according to the current motor rotating speed of the reluctance motor;
the first PI control unit is used for carrying out PI regulation according to the current d-axis and q-axis output voltage values to obtain d-axis and q-axis current compensation values;
the second acquisition unit is used for acquiring d-axis and q-axis current reference values according to the d-axis and q-axis weak magnetic current values and the d-axis and q-axis current compensation values;
the second PI control unit is used for carrying out PI regulation on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values;
and the modulation unit is used for modulating according to the d-axis output voltage value and the q-axis output voltage value to obtain the switching state of the switching tube so as to output the switching state to the inverter to control the motor to operate.
6. The apparatus of claim 5, wherein the first obtaining unit obtains the corresponding d-axis and q-axis weak magnetic current values according to the current motor speed of the reluctance motor, and comprises:
and searching d-axis and q-axis weak magnetic current values corresponding to the current motor rotating speed according to a preset corresponding relation table of the motor rotating speed and the d-axis and q-axis weak magnetic currents.
7. The apparatus of claim 5 or 6, wherein the first PI control unit performs PI adjustment according to the d-axis and q-axis output voltage values to obtain d-axis and q-axis current compensation values, and comprises:
performing PI regulation according to the d-axis output voltage value and the q-axis output voltage value and the maximum output voltage of the inverter to obtain d-axis current compensation values and q-axis current compensation values;
and/or the presence of a gas in the gas,
the second PI control unit performs PI adjustment on the d-axis and q-axis current reference values to obtain d-axis and q-axis output voltage values, and includes:
and inputting the d-axis and q-axis current reference values into a d-axis and q-axis current PI regulator for PI regulation to obtain d-axis and q-axis output voltage values.
8. The apparatus of claim 7, wherein the first PI control unit performs PI regulation according to the d-axis and q-axis output voltage values and a maximum output voltage of the inverter to obtain d-axis and q-axis current compensation values, and comprises:
outputting voltage value u according to the d and q axesd、uqAnd the maximum output voltage U of the invertermaxCalculating an input value e for carrying out d-axis and q-axis current flux weakening compensation by using the following formula:
wherein, UdcIs a direct current bus voltage value;
and respectively inputting the input value e into d-axis and q-axis current flux weakening compensation PI controllers for PI control to obtain d-axis and q-axis current compensation values.
9. A storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
10. A reluctance machine comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method according to any of claims 1-4 when executing the program or comprising a reluctance machine control apparatus according to any of claims 5-8.
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