CN111049444B - Motor control method, device and electronic device - Google Patents

Abstract

The embodiments of the present disclosure provide a motor control method, device, and electronic device, which belong to the technical field of automatic control. The method includes: establishing a parameter mapping relationship table corresponding to the permanent magnet synchronous motor; querying the parameter mapping relationship table according to the direct-axis current feedback value and the quadrature-axis current feedback value of the permanent magnet synchronous motor under the current working condition, and obtaining the permanent magnet synchronous motor under the current working condition. The quadrature-axis inductance of the magnetic synchronous motor; calculate the direct-axis current and quadrature-axis current of the permanent magnet synchronous motor according to the parameters of the preset type; input the direct-axis current and quadrature In the current controller, the actual current output of the permanent magnet synchronous motor is controlled. Through the solution of the present disclosure, the direct-axis flux linkage is directly observed, and the change of the permanent magnet flux linkage of the permanent magnet synchronous generator caused by the temperature change of the motor is fully considered, and the permanent magnet synchronous motor is satisfied under different stator current values and motor temperatures. High precision control of output torque and air gap flux linkage.

Description

Motor control method, device and electronic device

technical field

The present disclosure relates to the technical field of automatic control, and in particular, to a motor control method, device and electronic device.

Background technique

Permanent magnet synchronous motors are widely used in electric vehicles and other fields because of their high power density, small size, light weight, and high motor efficiency in the full speed range. Commonly used permanent magnet synchronous motor control methods include direct torque control and vector control. Among them, vector control is oriented with rotor flux linkage to realize decoupling control of flux linkage and output torque. It has good output response and small torque fluctuation, so it has been widely studied and applied.

However, during the use of vector control, the accuracy of torque control will be affected by motor parameters. In this regard, the online look-up table control method can be used, and the motor parameter table under different working conditions such as current and temperature is established in the controller to ensure the control accuracy of the motor.

For a permanent magnet synchronous machine, its stator inductance will change with the change of stator current, and its rotor permanent magnet flux linkage will also change with the change of motor temperature. Therefore, when establishing the motor parameter table, it is necessary to fully consider the influence of motor temperature and stator current, and at the same time, pay attention to the engineering practicability of the adopted method.

In the existing motor control methods, the influence of the motor temperature and the stator current is not considered at the same time, and there is no high-precision online look-up table control method suitable for the full-speed operation range of the permanent magnet synchronous motor.

SUMMARY OF THE INVENTION

In view of this, embodiments of the present disclosure provide a motor control method, device, and electronic device, which at least partially solve the problems existing in the prior art.

In a first aspect, an embodiment of the present disclosure provides a motor control method, including:

Establish the parameter mapping table corresponding to the permanent magnet synchronous motor;

Query the parameter mapping table according to the direct-axis current feedback value and the quadrature-axis current feedback value of the permanent magnet synchronous motor under the current working condition, and obtain the quadrature-axis inductance of the permanent magnet synchronous motor under the current working condition;

Calculate the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor according to parameters of a preset type, wherein the parameters of the preset type at least include the quadrature-axis inductance;

Inputting the name value of the direct axis current and the name value of the quadrature axis current into the current controller of the permanent magnet synchronous motor to control the actual current output of the permanent magnet synchronous motor.

According to a specific implementation manner of the embodiment of the present disclosure, the step of establishing the parameter mapping table corresponding to the permanent magnet synchronous motor includes:

Carry out a test experiment on the permanent magnet synchronous motor, and determine the mapping relationship between the nominal value of the direct-axis current of the permanent magnet synchronous motor, the nominal value of torque, and the nominal value of the air gap flux linkage; id = _f (T _e , Ψ _s )

Determine the mapping relationship between quadrature-axis inductance and direct-axis voltage feedback value, three-phase AC current frequency, stator resistance resistance and quadrature-axis current feedback value under different working conditions;

determining the mapping relationship between the quadrature-axis inductance of the permanent magnet synchronous motor, the direct-axis current feedback value, and the quadrature-axis current feedback value;

Determine the mapping relationship between the feedback value of the direct-axis flux linkage and the feedback value of the quadrature axis voltage, the resistance value of the stator resistance, the feedback value of the quadrature axis circuit and the frequency of the three-phase AC current;

Select the direct-axis flux linkage feedback value as the flux linkage reference value, and the quadrature-axis inductance as the inductance benchmark value, and determine the mapping relationship between the current benchmark value, the flux linkage benchmark value, and the inductance benchmark value;

The nominal torque value under different working conditions is per-unitized, and the mapping relationship between the torque per-unit value, the torque nominal value and the torque reference value is obtained;

Using the reference value of flux linkage and the reference value of current, the nominal value of the flux linkage command and the direct-axis current value under different working conditions are per-unitized respectively, and the mapping relationship between the per-unit value of the direct-axis current and the per-unit value of the air-gap flux linkage command is obtained. ;

Determine the mapping relationship between the per-unit value of the direct-axis current, the per-unit value of the torque, and the per-unit value of the air-gap flux linkage command.

According to a specific implementation manner of the embodiment of the present disclosure, the step of calculating the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor according to the parameters of the preset type includes:

According to the parameters of the preset type, sequentially calculate the direct axis flux linkage observation value of the permanent magnet synchronous motor, the direct axis current command per unit value and the quadrature axis current command per unit value;

According to the quadrature-axis inductance, the observed value of the direct-axis flux linkage, the per-unit value of the direct-axis current command, and the per-unit value of the quadrature-axis current command, the nominal value of the direct-axis current of the permanent magnet synchronous motor and The quadrature axis current has a named value.

According to a specific implementation manner of the embodiment of the present disclosure, the direct-axis flux linkage observation value of the permanent magnet synchronous motor, the direct-axis current command per-unit value, and the The steps of the shaft current command per unit value include:

According to the quadrature axis voltage feedback value, quadrature axis current feedback value, stator resistance resistance value and three-phase AC current frequency of the permanent magnet synchronous motor, calculate the direct axis flux linkage observation value of the permanent magnet synchronous motor;

According to the observed value of the direct-axis flux linkage, the quadrature-axis inductance, and the nominal value of the torque command of the permanent magnet synchronous motor, the per unit value of the torque command of the permanent magnet synchronous motor and the per unit of the air gap flux command are calculated. value;

According to the per-unit value of the torque command and the per-unit value of the air-gap flux linkage command, query the parameter mapping relationship table to obtain the per-unit value of the direct-axis current command;

According to the per-unit value of the torque command and the per-unit value of the direct-axis current command, the per-unit value of the quadrature-axis current command is calculated.

According to a specific implementation manner of the embodiment of the present disclosure, the permanent magnet synchronous motor is calculated according to the observed value of the direct-axis flux linkage, the quadrature-axis inductance, and the torque command nominal value of the permanent magnet synchronous motor. The steps of the torque command per unit value and the air gap flux command per unit value include:

Select the direct-axis flux linkage feedback value as the flux linkage reference value, and select the quadrature-axis inductance as the inductance benchmark value;

Calculate the current reference value according to the flux linkage reference value and the inductance reference value;

Calculate the torque command per unit value according to the flux linkage reference value, the inductance reference value and the torque command nominal value;

Divide the named value of the air-gap flux linkage by the observed value of the direct-axis flux linkage to obtain the per-unit value of the air-gap flux linkage command.

According to a specific implementation manner of the embodiment of the present disclosure, the step of calculating the current reference value according to the flux linkage reference value and the inductance reference value includes:

The current reference value is obtained by dividing the flux linkage reference value by the inductance reference value.

According to a specific implementation manner of the embodiment of the present disclosure, the step of calculating the per-unit torque command value according to the flux linkage reference value, the inductance reference value, and the torque command nominal value includes:

According to the multiplication of the pole pair number, the flux linkage reference value, the current reference value and the preset coefficient of the permanent magnet synchronous motor, the torque reference value is obtained;

The torque command nominal value is divided by the torque reference value to obtain the torque command per unit value.

According to a specific implementation manner of the embodiment of the present disclosure, according to the quadrature-axis inductance, the observed value of the direct-axis flux linkage, the per-unit value of the direct-axis current command, and the per-unit value of the quadrature-axis current command, The steps of calculating the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor include:

Multiply the per-unit value of the direct-axis current command by the current reference value to obtain the direct-axis current named value;

Multiply the per-unit value of the quadrature-axis current command by the current reference value to obtain the quadrature-axis current nominal value.

In a second aspect, an embodiment of the present disclosure provides a motor control device, including:

The table building module is used to establish the parameter mapping relationship table corresponding to the permanent magnet synchronous motor;

The table lookup module is used to query the parameter mapping table according to the direct-axis current feedback value and the quadrature-axis current feedback value of the permanent magnet synchronous motor under the current working condition, and obtain the quadrature axis of the permanent magnet synchronous motor under the current working condition inductance;

a calculation module, configured to calculate the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor according to parameters of a preset type, wherein the parameters of the preset type at least include the quadrature-axis inductance;

The control module is used for inputting the name value of the direct axis current and the name value of the quadrature axis current into the current controller of the permanent magnet synchronous motor to control the actual current output of the permanent magnet synchronous motor.

In a third aspect, an embodiment of the present disclosure further provides an electronic device, the electronic device comprising:

at least one processor; and,

a memory communicatively coupled to the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to execute the electric machine of the foregoing first aspect or any implementation of the first aspect Control Method.

In a fourth aspect, embodiments of the present disclosure further provide a non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the foregoing first aspect or the first The motor control method of any implementation of an aspect.

In a fifth aspect, an embodiment of the present disclosure further provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer When executed, the computer is made to execute the motor control method in the foregoing first aspect or any implementation manner of the first aspect.

The motor control scheme in the embodiment of the present disclosure includes: establishing a parameter mapping relationship table corresponding to the permanent magnet synchronous motor; querying the parameters according to the direct-axis current feedback value and the quadrature-axis current feedback value of the permanent magnet synchronous motor under the current working condition The mapping relationship table is used to obtain the quadrature-axis inductance of the permanent magnet synchronous motor under the current working condition; the named value of the direct-axis current and the named value of the quadrature-axis current of the permanent magnet synchronous motor are calculated according to the parameters of the preset type, wherein the The parameters of the preset type include at least the quadrature axis inductance; input the name value of the direct axis current and the name value of the quadrature axis current into the current controller of the permanent magnet synchronous motor to control the permanent magnet synchronous motor. actual current output. Through the solution of the present disclosure, the direct-axis flux linkage is directly observed, and the change of the permanent magnet flux linkage of the permanent magnet synchronous generator caused by the temperature change of the motor is fully considered. In addition, the influence of the change of stator current on the inductance of the stator is fully considered, but only the influence of the quadrature-axis inductance of the stator current is concerned, and the change of the inductance of the direct-axis is not necessary, which reduces the complexity of the control system and meets the requirements of the permanent magnet synchronous motor in different conditions. High-precision control of the stator current value and the output torque and air gap flux linkage at the motor temperature.

Description of drawings

In order to explain the technical solutions of the embodiments of the present disclosure more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic flowchart of a motor control method according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a control process of a motor control method provided by an embodiment of the present disclosure;

FIG. 3 is a schematic partial flowchart of another motor control method provided by an embodiment of the present disclosure;

FIG. 4 is a schematic partial flowchart of another motor control method provided by an embodiment of the present disclosure;

FIG. 5 is a schematic partial flowchart of another motor control method provided by an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of a motor control device according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of an electronic device provided by an embodiment of the present disclosure.

Detailed ways

The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

The embodiments of the present disclosure are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only some, but not all, embodiments of the present disclosure. The present disclosure can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other under the condition of no conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

It is noted that various aspects of embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is illustrative only. Based on this disclosure, those skilled in the art should appreciate that an aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method may be practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should also be noted that the drawings provided in the following embodiments are only illustrative of the basic concept of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and the number of components in actual implementation. For dimension drawing, the type, quantity and proportion of each component can be changed at will in actual implementation, and the component layout may also be more complicated.

Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, one skilled in the art will understand that the described aspects may be practiced without these specific details.

Embodiments of the present disclosure provide a motor control method. The motor control method provided in this embodiment can be executed by a computing device, which can be implemented as software, or a combination of software and hardware, and the computing device can be integrated in a server, a terminal device, or the like.

Referring to FIG. 1 , it is a schematic flowchart of a motor control method according to an embodiment of the present disclosure. As shown in Figure 1, the method mainly includes:

S101, establishing a parameter mapping relationship table corresponding to the permanent magnet synchronous motor;

The motor control method provided by the embodiment of the present invention is applied to the current output control process of the permanent magnet synchronous motor. Among them, the permanent magnet synchronous motor is a synchronous motor that is excited by a permanent magnet to generate a synchronous rotating magnetic field. The permanent magnet acts as a rotor to generate a rotating magnetic field, and the three-phase stator winding reacts through the armature under the action of the rotating magnetic field, inducing a three-phase symmetrical current. At this time, the kinetic energy of the rotor is converted into electrical energy, and the permanent magnet synchronous motor is used as a generator generator; in addition, when the three-phase symmetrical current is passed to the stator side, since the three-phase stator is 120 different in space, the three-phase stator current is generated in the space. Rotating magnetic field, the rotor is moved by electromagnetic force in the rotating magnetic field. At this time, the electric energy is converted into kinetic energy, and the permanent magnet synchronous motor is used as a motor.

Before realizing the control of the permanent magnet synchronous motor, it is necessary to obtain the mapping relationship between the relevant parameters of the permanent magnet synchronous motor under different working conditions through experimental tests, and establish a parameter mapping relationship table to facilitate the search of the corresponding parameter values under each working condition. and calculations.

S102, query the parameter mapping relationship table according to the direct-axis current feedback value and the quadrature-axis current feedback value of the permanent magnet synchronous motor under the current working condition, and obtain the quadrature-axis inductance of the permanent magnet synchronous motor under the current working condition;

After the parameter mapping relationship table is established according to the above steps, the parameter mapping relationship table can be used to query related parameter values. Specifically, the direct-axis current feedback value and the quadrature-axis current feedback value of the permanent magnet synchronous motor under the current working condition are obtained, so as to query the parameter mapping relationship table to obtain the quadrature-axis inductance of the permanent magnet synchronous motor.

S103, calculating the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor according to parameters of a preset type, wherein the parameters of the preset type at least include the quadrature-axis inductance;

After the quadrature-axis inductance of the permanent magnet synchronous motor is obtained by looking up the table, according to the quadrature-axis inductance and other preset parameters, the direct-axis current and quadrature-axis current of the permanent magnet synchronous motor are calculated as the final control parameters.

S104: Input the name value of the direct-axis current and the name value of the quadrature-axis current into the current controller of the permanent magnet synchronous motor to control the actual current output of the permanent magnet synchronous motor.

The final control parameters obtained in the above steps, that is, the named value of the direct-axis current and the named value of the quadrature-axis current, are input into the current controller of the permanent magnet synchronous motor, and the actual current output of the permanent magnet synchronous motor can be controlled.

The motor control scheme in the embodiment of the present disclosure uses direct observation of the direct-axis flux linkage, and fully considers the change of the permanent magnet flux linkage of the permanent magnet synchronous generator caused by the temperature change of the motor. In addition, the influence of the change of stator current on the inductance of the stator is fully considered, but only the influence of the quadrature-axis inductance of the stator current is concerned, and the change of the inductance of the direct-axis is not necessary, which reduces the complexity of the control system and meets the requirements of the permanent magnet synchronous motor in different conditions. High-precision control of the stator current value and the output torque and air gap flux linkage at the motor temperature.

The present embodiment will be further explained below in detail from the establishment process of the parameter mapping relationship table and the calculation process of the corresponding parameters.

According to a specific implementation manner of the embodiment of the present disclosure, as shown in FIG. 2 , the step of establishing the parameter mapping relationship table corresponding to the permanent magnet synchronous motor described in step S102 mainly includes the following sub-steps:

1. Carry out a test test on the permanent magnet synchronous motor to determine the mapping relationship between the nominal value of the direct axis current of the permanent magnet synchronous motor, the nominal value of torque, and the nominal value of the air gap flux linkage;

That is, through the experimental test of the permanent magnet synchronous motor, the mapping relationship between the nominal value of torque T _e of the permanent magnet synchronous motor, the nominal value of air-gap flux linkage Ψ _s and the nominal value of the direct-axis current _id are obtained. _{id = f(T e ,} Ψ _s ).

2. Determine the mapping relationship between quadrature-axis inductance and direct-axis voltage feedback value, three-phase AC current frequency, stator resistance resistance and quadrature-axis current feedback value under different working conditions;

Calculate L _q under different working conditions, namely

Among them, _{ud_fbk} is the direct-axis voltage feedback value of the permanent magnet synchronous motor, which can be calculated by the modulation wave of the motor controller; R _s is the resistance value of the stator resistance, _{id_fbk} is the direct-axis current feedback value of the permanent magnet synchronous motor, and f _s is the permanent magnet synchronous motor direct-axis current feedback value. Three-phase AC current frequency of the magnetic synchronous motor; i _{q_fbk} is the current feedback value of the quadrature axis of the permanent magnet synchronous motor.

3. Determine the mapping relationship between the quadrature-axis inductance of the permanent magnet synchronous motor, the direct-axis current feedback value, and the quadrature-axis current feedback value;

Arrange the values of the quadrature-axis inductance L _{q under different working conditions to obtain the relationship between the quadrature-axis inductance L q and} the direct-axis current feedback value _{id_fbk} and the quadrature-axis current feedback value i _{q_fbk} , that is, L _q =f( _{id_fbk} , i _{q_fbk} ), corresponding to Table 1 in Figure 2.

4. Determine the mapping relationship between the feedback value of the direct-axis flux linkage and the feedback value of the quadrature axis voltage, the resistance value of the stator resistance, the feedback value of the quadrature axis circuit and the frequency of the three-phase AC current;

Based on the experimental data, the direct-axis flux linkage feedback value Ψ _{-d_fbk under} different operating conditions is calculated using Equation 1 in Fig. 2, namely

5. Select the direct-axis flux linkage feedback value as the flux linkage reference value, and the quadrature-axis inductance as the inductance benchmark value, and determine the mapping relationship between the current benchmark value, the flux linkage benchmark value, and the inductance benchmark value;

Select the direct-axis flux linkage feedback value Ψ _{d_fbk} as the flux linkage reference value Ψ _b , the quadrature-axis inductance L _q as the inductance benchmark value L _b , and use the formula 2 in Figure 1 to calculate the current benchmark value I _b under different working conditions, namely

6. Perform per-unit conversion of the torque nominal value under different working conditions, and obtain the mapping relationship between the torque per-unit value, the torque nominal value and the torque reference value;

Select the torque reference value T _b =1.5PΨ _b I _b , where P is the number of pole pairs of the permanent magnet synchronous motor. Using Equation 3 in Figure 1 to per-unitize the matrix named value T _e under different operating conditions, the torque per-unit value is:

7. Using the reference value of flux linkage and the reference value of current, per-unitize the nominal value of the flux linkage command and the direct-axis current value under different working conditions, respectively, to obtain the per-unit value of the direct-axis current per unit value and the per-unit value of the air-gap flux linkage command. Mapping relations;

Using the flux linkage reference value Ψ _b and the current reference value I _b , the nominal value of the flux linkage command Ψ _s and the direct-axis current value _id under different working conditions are per-unitized to obtain the per-unit value of the direct-axis current and the air-gap magnetic flux. The per-unit value of the chain instruction is:

8. Determine the mapping relationship between the per-unit value of the direct-axis current, the per-unit value of the torque and the per-unit value of the air-gap flux linkage command.

Combining the above two steps can be obtained, T _{e_p.u.} , Ψ _{s_p.u.} , _{id_p.u.} under different working conditions, can be further obtained in step 1 _d =f(T _e ,Ψ _s ) is organized as _{id_p.u.} =f(T _{e_p.u.} ,Ψ _{s_p.u.} ), corresponding to Table 2 in FIG. 2 .

According to another specific implementation manner of the embodiment of the present disclosure, as shown in FIG. 3 , in step S103 , according to the parameters of the preset type, the calculation of the name value of the direct-axis current and the name value of the quadrature-axis current of the permanent magnet synchronous motor is performed. steps, which can include:

S301, according to the parameters of the preset type, sequentially calculate the direct-axis flux linkage observation value of the permanent magnet synchronous motor, the direct-axis current command per-unit value, and the quadrature-axis current command per-unit value;

S302, according to the quadrature-axis inductance, the observed value of the direct-axis flux linkage, the per-unit value of the direct-axis current command, and the per-unit value of the quadrature-axis current command, calculate the name of the direct-axis current of the permanent magnet synchronous motor value and the quadrature axis current named value.

The process of calculating the nominal value of the direct-axis current and the nominal value of the quadrature-axis current disclosed in this embodiment is to first calculate the direct-axis flux linkage observation value and the direct-axis current command of the permanent magnet synchronous motor according to preset parameters such as the quadrature-axis inductance. The per-unit value and the per-unit value of the AC-axis DC command are further calculated according to these values to obtain the nominal value of the direct-axis current and the nominal value of the quadrature-axis current.

Specifically, as shown in FIG. 4 , for the parameters of the preset type, the observed value of the direct-axis flux linkage of the permanent magnet synchronous motor, the per-unit value of the direct-axis current command, and the standard value of the quadrature-axis current command are sequentially calculated. Unitary steps, which can include:

S401, according to the quadrature axis voltage feedback value, quadrature axis current feedback value, stator resistance resistance value and three-phase alternating current frequency of the permanent magnet synchronous motor, calculate the direct axis flux linkage observation value of the permanent magnet synchronous motor;

Based on quadrature-axis voltage feedback value u _{q_fbk} , quadrature-axis current feedback value i _{q_fbk} , stator resistance R _s , and three-phase AC current frequency f _s , the observed value of direct-axis flux linkage can be calculated using formula 1 described in FIG. 2 . Ψ _{d_fbk} , that is:

In addition, based on the direct-axis current feedback value _{id_fbk} and the quadrature-axis current feedback value i _{q_fbk} , the aforementioned Table 1 is consulted to obtain the quadrature-axis inductance L _q under this working condition.

S402, according to the observed value of the direct-axis flux linkage, the quadrature-axis inductance, and the nominal value of the torque command of the permanent magnet synchronous motor, calculate the per-unit torque command value and the air-gap flux linkage command of the permanent magnet synchronous motor Pu;

Further, as shown in FIG. 5 , the torque of the permanent magnet synchronous motor is calculated according to the observed value of the direct-axis flux linkage, the quadrature-axis inductance and the torque command value of the permanent magnet synchronous motor. The steps of commanding the per-unit value and air-gap flux linkage command per-unit value, including:

S501, selecting the direct-axis flux linkage feedback value as the flux linkage reference value, and selecting the quadrature-axis inductance as the inductance benchmark value;

S502, calculating a current reference value according to the flux linkage reference value and the inductance reference value;

Optionally, the step of calculating the current reference value according to the flux linkage reference value and the inductance reference value includes:

The current reference value is obtained by dividing the flux linkage reference value by the inductance reference value.

Select the direct-axis flux linkage feedback value Ψ _{d_fbk} as the flux linkage reference value Ψ _b , and the quadrature-axis inductance L _q as the inductance benchmark value L _b , use the aforementioned formula 2 to obtain the current benchmark value I _b under this working condition, that is,

S503, according to the reference value of the flux linkage, the reference value of the inductance and the nominal value of the torque command, calculate the per-unit value of the torque command;

Optionally, the step of calculating the per-unit torque command value according to the flux linkage reference value, the inductance reference value and the torque command nominal value includes:

According to the multiplication of the pole pair number, the flux linkage reference value, the current reference value and the preset coefficient of the permanent magnet synchronous motor, the torque reference value is obtained;

The torque command nominal value is divided by the torque reference value to obtain the torque command per unit value.

The formula for calculating the torque reference value according to the pole pair number P, the flux linkage reference value Ψ _b and the current reference value I _b is T _b =1.5PΨ _b I _b , where is the pole pair number of the permanent magnet synchronous motor, and the preset coefficient is taken as 1.5.

Use Equation 3 in Fig. 2 to per-unitize the torque nominal value T _e under different operating conditions, namely:

S504, dividing the named value of the air-gap flux linkage by the observed value of the direct-axis flux linkage to obtain the per-unit value of the air-gap flux linkage command.

Based on Ψ _s and Ψ _{d_fbk} , divide the two to get Ψ _{sref_p.u.} .

S403, according to the per-unit value of the torque command and the per-unit value of the air-gap flux linkage command, query the parameter mapping relationship table to obtain the per-unit value of the direct-axis current command;

Based on the _{Teref_p.u.} and Ψ _{sref_p.u.} obtained in the preceding steps, query the aforementioned Table 2 to obtain the corresponding _{idref_p.u.} .

S404, according to the torque command per unit value and the direct axis current command per unit value, calculate and obtain the quadrature axis current command per unit value.

Based on the torque command per-unit value _{Teref_p.u.} and the direct-axis current command per-unit value i _{dref_p.u.} obtained in the above steps, the corresponding i _{qref_p.u.}

Correspondingly, in step S302, the permanent magnet is calculated according to the quadrature-axis inductance, the observed value of the direct-axis flux linkage, the per-unit value of the direct-axis current command, and the per-unit value of the quadrature-axis current command. The steps of the named value of the direct-axis current of the synchronous motor and the named value of the quadrature-axis current may include:

Multiply the per-unit value of the direct-axis current command by the current reference value to obtain the direct-axis current named value;

Multiply the per-unit value of the quadrature-axis current command by the current reference value to obtain the quadrature-axis current nominal value.

Based on the obtained I _b , _{idref_p.u.} , the corresponding _idref is calculated using Equation 5 in FIG. 2 , that is, _idref = _{idref_p.u.} ×I _b ; and, based on I _b , i _{qref_p.u .} , the corresponding i _qref is calculated by using Formula 6 in FIG. 2 , that is, i _qref =i _{qref_p.u.} ×I _b . Input idref and iqref into the current controller to control the actual current output of the permanent magnet synchronous motor.

To sum up, the motor control scheme provided by the embodiments of the present disclosure is more complicated than the algorithm of the traditional control scheme, which cannot be directly observed, and must be obtained through complex calculation. The change of permanent magnet flux linkage of permanent magnet synchronous generator caused by temperature change. In addition, under the premise of fully considering the influence of the stator current change on the stator inductance, it is only necessary to pay attention to the influence of the quadrature-axis inductance Lq by the stator current, and does not need to pay attention to the change of the direct-axis inductance Ld. Simple, saves the storage resources of the controller, and reduces the complexity of the control system. And, this embodiment can simultaneously consider the influence of current and temperature, the influence on torque and flux linkage, reduce the flux linkage control error, and satisfy the output torque of the permanent magnet synchronous motor under different stator current values and motor temperature. High precision control of air gap flux linkage.

Corresponding to the above method embodiments, referring to FIG. 6 , an embodiment of the present disclosure further provides a motor control device 60 , including:

A table building module 601 is used to establish a parameter mapping relationship table corresponding to the permanent magnet synchronous motor;

The table lookup module 602 is configured to query the parameter mapping table according to the direct-axis current feedback value and the quadrature-axis current feedback value of the permanent magnet synchronous motor under the current working condition, and obtain the AC current of the permanent magnet synchronous motor under the current working condition. shaft inductance;

A calculation module 603, configured to calculate the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor according to parameters of a preset type, wherein the parameters of the preset type at least include the quadrature-axis inductance;

The control module 604 is configured to input the nominal value of the direct-axis current and the nominal value of the quadrature-axis current into the current controller of the permanent magnet synchronous motor to control the actual current output of the permanent magnet synchronous motor.

The apparatus shown in FIG. 6 can correspondingly execute the content in the foregoing method embodiment. For the part not described in detail in this embodiment, reference is made to the content recorded in the foregoing method embodiment, and details are not repeated here.

Referring to FIG. 7, an embodiment of the present disclosure further provides an electronic device 60, the electronic device includes:

at least one processor; and,

a memory communicatively coupled to the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the motor control method in the foregoing method embodiments.

Embodiments of the present disclosure further provide a non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the motor control method in the foregoing method embodiments.

Embodiments of the present disclosure also provide a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer, make The computer executes the motor control method in the foregoing method embodiment.

Referring next to FIG. 7 , it shows a schematic structural diagram of an electronic device 70 suitable for implementing an embodiment of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablets), PMPs (portable multimedia players), vehicle-mounted terminals (eg, mobile terminals such as in-vehicle navigation terminals), etc., and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in FIG. 7 is only an example, and should not impose any limitation on the function and scope of use of the embodiments of the present disclosure.

As shown in FIG. 7 , electronic device 70 may include processing means (eg, central processing unit, graphics processor, etc.) 701 that may be loaded into random access according to a program stored in read only memory (ROM) 702 or from storage means 708 Various appropriate actions and processes are executed by the programs in the memory (RAM) 703 . In the RAM 703, various programs and data necessary for the operation of the electronic device 70 are also stored. The processing device 701 , the ROM 702 , and the RAM 703 are connected to each other through a bus 704 . An input/output (I/O) interface 705 is also connected to bus 704 .

Typically, the following devices may be connected to the I/O interface 705: input devices 707 including, for example, a touch screen, touch pad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speakers, An output device 707 of a vibrator or the like; a storage device 708 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 709 . Communication means 709 may allow electronic device 70 to communicate wirelessly or by wire with other devices to exchange data. While the figures show electronic device 70 having various means, it should be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.

In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method illustrated in the flowchart. In such an embodiment, the computer program may be downloaded and installed from the network via the communication device 709 , or from the storage device 708 , or from the ROM 702 . When the computer program is executed by the processing device 701, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are executed.

It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), fiber optics, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device . Program code embodied on a computer readable medium may be transmitted using any suitable medium including, but not limited to, electrical wire, optical fiber cable, RF (radio frequency), etc., or any suitable combination of the foregoing.

The above-mentioned computer-readable medium may be included in the above-mentioned electronic device; or may exist alone without being assembled into the electronic device.

The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by the electronic device, enables the electronic device to implement the solutions provided by the above method embodiments.

Alternatively, the above computer-readable medium carries one or more programs, and when the above one or more programs are executed by the electronic device, enables the electronic device to implement the solutions provided by the above method embodiments.

Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional Procedural programming language - such as the "C" language or similar programming language. 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 kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logical functions for implementing the specified functions executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions.

The units involved in the embodiments of the present disclosure may be implemented in a software manner, and may also be implemented in a hardware manner. Wherein, the name of the unit does not constitute a limitation of the unit itself under certain circumstances, for example, the first obtaining unit may also be described as "a unit that obtains at least two Internet Protocol addresses".

It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.

The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited to this. Any person skilled in the art who is familiar with the technical scope of the present disclosure can easily think of changes or substitutions. All should be included within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims (8)

1. A motor control method, wherein the method comprises: Establish the parameter mapping table corresponding to the permanent magnet synchronous motor; Query the parameter mapping table according to the direct-axis current feedback value and the quadrature-axis current feedback value of the permanent magnet synchronous motor under the current working condition, and obtain the quadrature-axis inductance of the permanent magnet synchronous motor under the current working condition; Calculate the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor according to parameters of a preset type, wherein the parameters of the preset type at least include the quadrature-axis inductance; The step of calculating the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor according to the parameters of the preset type includes: According to the parameters of the preset type, the direct-axis flux linkage observation value, the direct-axis current command per unit value and the quadrature-axis current command per unit value of the permanent magnet synchronous motor are sequentially calculated; According to the quadrature-axis inductance, the observed value of the direct-axis flux linkage, the per-unit value of the direct-axis current command, and the per-unit value of the quadrature-axis current command, the nominal value of the direct-axis current of the permanent magnet synchronous motor and The name value of the quadrature axis current; The step of sequentially calculating the direct-axis flux linkage observation value, the direct-axis current command per-unit value and the quadrature-axis current command per-unit value of the permanent magnet synchronous motor according to the parameters of the preset type, including: According to the quadrature axis voltage feedback value, quadrature axis current feedback value, stator resistance resistance value and three-phase AC current frequency of the permanent magnet synchronous motor, calculate the direct axis flux linkage observation value of the permanent magnet synchronous motor; According to the observed value of the direct-axis flux linkage, the quadrature-axis inductance, and the nominal value of the torque command of the permanent magnet synchronous motor, the per unit value of the torque command of the permanent magnet synchronous motor and the per unit of the air gap flux command are calculated. value; According to the per-unit value of the torque command and the per-unit value of the air-gap flux linkage command, query the parameter mapping relationship table to obtain the per-unit value of the direct-axis current command; According to the per-unit value of the torque command and the per-unit value of the direct-axis current command, the per-unit value of the quadrature-axis current command is calculated; Inputting the name value of the direct axis current and the name value of the quadrature axis current into the current controller of the permanent magnet synchronous motor to control the actual current output of the permanent magnet synchronous motor. 2. The motor control method according to claim 1, wherein the step of establishing the parameter mapping table corresponding to the permanent magnet synchronous motor comprises: Carry out a test experiment on the permanent magnet synchronous motor, and determine the mapping relationship between the nominal value of the direct-axis current of the permanent magnet synchronous motor, the nominal value of torque, and the nominal value of the air gap flux linkage; Determine the mapping relationship between quadrature-axis inductance and direct-axis voltage feedback value, three-phase AC current frequency, stator resistance resistance and quadrature-axis current feedback value under different working conditions; determining the mapping relationship between the quadrature-axis inductance of the permanent magnet synchronous motor, the direct-axis current feedback value, and the quadrature-axis current feedback value; Determine the mapping relationship between the feedback value of the direct-axis flux linkage and the feedback value of the quadrature axis voltage, the resistance value of the stator resistance, the feedback value of the quadrature axis circuit and the frequency of the three-phase AC current; Select the direct-axis flux linkage feedback value as the flux linkage reference value, and the quadrature-axis inductance as the inductance benchmark value, and determine the mapping relationship between the current benchmark value, the flux linkage benchmark value, and the inductance benchmark value; The nominal torque value under different working conditions is per-unitized, and the mapping relationship between the torque per-unit value, the torque nominal value and the torque reference value is obtained; Using the reference value of flux linkage and the reference value of current, the nominal value of the flux linkage command and the direct-axis current value under different working conditions are per-unitized respectively, and the mapping relationship between the per-unit value of the direct-axis current and the per-unit value of the air-gap flux linkage command is obtained. ; Determine the mapping relationship between the per-unit value of the direct-axis current, the per-unit value of the torque, and the per-unit value of the air-gap flux linkage command. 3 . The motor control method according to claim 1 , wherein the calculation is performed according to the observed value of the direct-axis flux linkage, the quadrature-axis inductance and the torque command nominal value of the permanent magnet synchronous motor. 4 . The steps of describing the torque command per unit value and the air gap flux command per unit value of the permanent magnet synchronous motor include: Select the direct-axis flux linkage feedback value as the flux linkage reference value, and select the quadrature-axis inductance as the inductance benchmark value; Calculate a current reference value according to the flux linkage reference value and the inductance reference value; Calculate the torque command per unit value according to the flux linkage reference value, the inductance reference value and the torque command nominal value; Divide the named value of the air-gap flux linkage by the observed value of the direct-axis flux linkage to obtain the per-unit value of the air-gap flux linkage command. 4. The motor control method according to claim 3, wherein the step of calculating the current reference value according to the flux linkage reference value and the inductance reference value comprises: The current reference value is obtained by dividing the flux linkage reference value by the inductance reference value. 5 . The motor control method according to claim 3 , wherein the torque command per unit value is calculated according to the flux linkage reference value, the inductance reference value and the torque command nominal value. 6 . steps, including: According to the multiplication of the pole pair number, the flux linkage reference value, the current reference value and the preset coefficient of the permanent magnet synchronous motor, the torque reference value is obtained; The torque command nominal value is divided by the torque reference value to obtain the torque command per unit value. 6 . The motor control method according to claim 2 , wherein the method is based on the quadrature-axis inductance, the direct-axis flux linkage observation value, the direct-axis current command per unit value, and the quadrature-axis current. 7 . The steps of calculating the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor include: Multiply the per-unit value of the direct-axis current command by the current reference value to obtain the direct-axis current named value; Multiply the per-unit value of the quadrature-axis current command by the current reference value to obtain the quadrature-axis current nominal value. 7. A motor control device, characterized in that, comprising: The table building module is used to establish the parameter mapping relationship table corresponding to the permanent magnet synchronous motor; The table lookup module is used to query the parameter mapping table according to the direct-axis current feedback value and the quadrature-axis current feedback value of the permanent magnet synchronous motor under the current working condition, and obtain the quadrature axis of the permanent magnet synchronous motor under the current working condition inductance; A calculation module, configured to calculate the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor according to parameters of a preset type, wherein the parameters of the preset type at least include the quadrature-axis inductance, the The step of calculating the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor according to the parameters of the preset type is as described in the calculation according to the parameters of the preset type in any one of claims 1-6. The steps of the named value of the direct-axis current and the named value of the quadrature-axis current of the permanent magnet synchronous motor; The control module is used for inputting the name value of the direct axis current and the name value of the quadrature axis current into the current controller of the permanent magnet synchronous motor to control the actual current output of the permanent magnet synchronous motor. 8. An electronic device, characterized in that the electronic device comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the execution of any of the preceding claims 1-6. described motor control method.

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