CN116722774A - Current harmonic control method, device and processor of permanent magnet synchronous motor - Google Patents
Current harmonic control method, device and processor of permanent magnet synchronous 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
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- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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Abstract
The invention discloses a current harmonic control method, a device and a processor of a permanent magnet synchronous motor. The method comprises the following steps: respectively determining a first current deviation component of the permanent magnet synchronous motor on a straight axis of a rotating coordinate system and a second current deviation component of the permanent magnet synchronous motor on a quadrature axis of the rotating coordinate system; proportional integral processing is carried out on the first current deviation component and the second current deviation component to obtain a first direct-axis voltage and a first quadrature-axis voltage, proportional resonance processing is carried out on the first current deviation component and the second current deviation component to obtain a second direct-axis voltage and a second quadrature-axis voltage; superposing the first direct-axis voltage and the second direct-axis voltage to obtain a direct-axis voltage command, and superposing the first quadrature-axis voltage and the second quadrature-axis voltage to obtain a quadrature-axis voltage command; current harmonics in the direct axes are controlled in response to the direct axis voltage commands, and current harmonics in the quadrature axes are controlled in response to the quadrature axis voltage commands. The invention solves the technical problem of poor current harmonic suppression effect.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a current harmonic control method, a device and a processor of a permanent magnet synchronous motor.
Background
At present, when current harmonics in a permanent magnet synchronous motor are controlled, a harmonic injection method is generally adopted, parameters such as inductance, resistance and flux linkage value in the permanent magnet synchronous motor are used in the process, and the parameters change in real time under different working conditions, so that the effect of harmonic suppression can be influenced by the current harmonics in the permanent magnet synchronous motor through the harmonic injection method.
Aiming at the technical problem that the current harmonic suppression effect in the permanent magnet synchronous motor is poor, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the invention provides a current harmonic control method, a device and a processor of a permanent magnet synchronous motor, which at least solve the technical problem of poor current harmonic suppression effect in the permanent magnet synchronous motor.
According to one aspect of an embodiment of the invention, a method for controlling current harmonics of a permanent magnet synchronous motor is provided. The method may include: respectively determining a first current deviation component of the permanent magnet synchronous motor on a straight axis of a rotating coordinate system and a second current deviation component of the permanent magnet synchronous motor on a quadrature axis of the rotating coordinate system; proportional integral processing is carried out on the first current deviation component and the second current deviation component to obtain a first direct-axis voltage and a first quadrature-axis voltage of the permanent magnet synchronous motor, proportional resonance processing is carried out on the first current deviation component and the second current deviation component to obtain a second direct-axis voltage and a second quadrature-axis voltage of the permanent magnet synchronous motor; superposing the first direct-axis voltage and the second direct-axis voltage to obtain a direct-axis voltage command of the direct axis, and superposing the first quadrature-axis voltage and the second quadrature-axis voltage to obtain a quadrature-axis voltage command of the quadrature axis; current harmonics in the direct axes are controlled in response to the direct axis voltage commands, and current harmonics in the quadrature axes are controlled in response to the quadrature axis voltage commands.
Optionally, determining a first current deviation component of the permanent magnet synchronous motor on a direct axis of the rotating coordinate system and a second current deviation component of the permanent magnet synchronous motor on an intersecting axis of the rotating coordinate system respectively includes: determining a first reference current and a first actual current of the permanent magnet synchronous motor on a direct axis of a rotating coordinate system, and determining a second reference current and a second actual current of the permanent magnet synchronous motor on an intersecting axis of the rotating coordinate system; the difference between the first reference current and the first actual current is determined as a first current offset component and the difference between the second reference current and the second actual current is determined as a second current offset component.
Optionally, performing proportional integral processing on the first current deviation component and the second current deviation component to obtain a first direct-axis voltage and a first quadrature-axis voltage of the permanent magnet synchronous motor, including: determining a proportional control transfer function, wherein the proportional control transfer function is used to describe a proportional relationship between the first current bias component and the first direct-axis voltage, and a proportional relationship between the second current bias component and the second direct-axis voltage; the first direct voltage is determined based on the proportional control transfer function and the first current offset component, and the first quadrature voltage is determined based on the proportional control transfer function and the second current offset component.
Optionally, performing proportional resonance processing on the first current deviation component and the second current deviation component to obtain a second direct axis voltage and a second quadrature axis voltage of the permanent magnet synchronous motor, where the proportional resonance processing includes: determining a resonance control transfer function, wherein the resonance control transfer function is used for describing a proportional relationship between the first current deviation component and the first direct-axis voltage and a proportional relationship between the second current deviation component and the second direct-axis voltage; a second direct axis voltage is determined based on the resonant control transfer function and the first current offset component, and a second quadrature axis voltage is determined based on the resonant control transfer function and the second current component.
Optionally, the method further comprises: superposing a proportional control transfer function corresponding to proportional integral processing and a resonance control transfer function corresponding to proportional resonance processing to obtain a proportional integral resonance control transfer function; and multiplying the first current deviation component and the second current deviation component by a proportional-integral resonance control transfer function respectively to determine the direct-axis voltage and the quadrature-axis voltage of the permanent magnet synchronous motor.
Optionally, the method further comprises: observing a first voltage deviation component on a straight axis of the rotating coordinate system and a second voltage deviation component on an intersecting axis of the rotating coordinate system by using a disturbance observer; in response to the first voltage deviation component being greater than the voltage threshold, compensating the first voltage deviation component to control current harmonics in the direct axis; in response to the second voltage deviation component being greater than the voltage threshold, the second voltage deviation component is compensated to control current harmonics in the quadrature axis.
According to an aspect of an embodiment of the present invention, there is provided a current harmonic control device of a permanent magnet synchronous motor. The apparatus may include: a first determining unit for determining a first current deviation component of the permanent magnet synchronous motor on a straight axis of the rotating coordinate system and a second current deviation component of the permanent magnet synchronous motor on an intersecting axis of the rotating coordinate system, respectively; the second determining unit is used for performing proportional integral processing on the first current deviation component and the second current deviation component to obtain a first direct-axis voltage and a first quadrature-axis voltage of the permanent magnet synchronous motor, and performing proportional resonance processing on the first current deviation component and the second current deviation component to obtain a second direct-axis voltage and a second quadrature-axis voltage of the permanent magnet synchronous motor; the third determining unit is used for superposing the first direct-axis voltage and the second direct-axis voltage to obtain a direct-axis voltage command of the direct axis, and superposing the first quadrature-axis voltage and the second quadrature-axis voltage to obtain a quadrature-axis voltage command of the quadrature axis; and a control unit for controlling current harmonics in the direct axes in response to the direct axis voltage command and controlling current harmonics in the quadrature axes in response to the quadrature axis voltage command.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program when executed by a processor controls a device in which the storage medium is located to perform the method of any one of the embodiments of the present invention.
According to another aspect of an embodiment of the present invention, there is also provided a processor. The processor is configured to execute a program, where the program executes the method according to any one of the embodiments of the present invention.
According to another aspect of the embodiment of the invention, a vehicle is also provided. The vehicle is configured to perform the method of any of the embodiments of the present invention.
In the embodiment of the invention, a first current deviation component of the permanent magnet synchronous motor on a straight axis of a rotating coordinate system and a second current deviation component of the permanent magnet synchronous motor on an intersecting axis of the rotating coordinate system are respectively determined; proportional integral processing is carried out on the first current deviation component and the second current deviation component to obtain a first direct-axis voltage and a first quadrature-axis voltage of the permanent magnet synchronous motor, proportional resonance processing is carried out on the first current deviation component and the second current deviation component to obtain a second direct-axis voltage and a second quadrature-axis voltage of the permanent magnet synchronous motor; superposing the first direct-axis voltage and the second direct-axis voltage to obtain a direct-axis voltage command of the direct axis, and superposing the first quadrature-axis voltage and the second quadrature-axis voltage to obtain a quadrature-axis voltage command of the quadrature axis; current harmonics in the direct axes are controlled in response to the direct axis voltage commands, and current harmonics in the quadrature axes are controlled in response to the quadrature axis voltage commands. In other words, in the embodiment of the invention, the voltage command is determined by superposing the voltage obtained through proportional integral processing and the voltage obtained through proportional resonance processing, and compared with the voltage command obtained only through proportional integral processing or the voltage command obtained only through proportional resonance processing, the determined voltage command is more accurate, so that the current harmonic is suppressed based on the voltage command, the suppression effect is better, the current harmonic suppression effect of the permanent magnet synchronous motor is improved, and the technical problem that the current harmonic suppression effect of the permanent magnet synchronous motor is poor is solved.
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 do not constitute a limitation on the invention. In the drawings:
fig. 1 is a flowchart of a current harmonic control method of a permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a current harmonic control according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a disturbance observer observing current harmonics in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a composite control of current harmonics in accordance with an embodiment of the present invention;
fig. 5 is a schematic diagram of a current harmonic control device of a permanent magnet synchronous motor according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, shall fall within the scope of the invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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.
Example 1
According to an embodiment of the present invention, there is provided a method of controlling current harmonics of a permanent magnet synchronous motor, it being noted that in the flow chart of the accompanying drawings, the steps shown therein may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flow chart, in some cases the steps shown or described may be performed in an order different from that herein.
The current harmonic control method of the permanent magnet synchronous motor in the embodiment of the invention is described below.
Fig. 1 is a flowchart of a current harmonic control method of a permanent magnet synchronous motor according to an embodiment of the present invention, and as shown in fig. 1, the method may include the steps of:
step S101, determining a first current deviation component of the permanent magnet synchronous motor on a direct axis of the rotating coordinate system and a second current deviation component of the permanent magnet synchronous motor on an intersecting axis of the rotating coordinate system, respectively.
In the technical solution provided in the above step S101 of the present invention, the first current deviation amount is used to indicate the deviation amount between the actual current component and the reference current component of the current of the permanent magnet synchronous motor on the direct axis of the rotating coordinate system; the second current deviation amount is used for indicating the deviation amount between an actual current component of the current of the permanent magnet synchronous motor on the intersecting axis of the rotating coordinate system and a reference current component, based on which the first current deviation component can be determined based on the actual current component of the current of the permanent magnet synchronous motor on the straight axis and the reference current component, and the second current deviation component can be determined based on the actual current component of the current of the permanent magnet synchronous motor on the intersecting axis and the reference current component.
In this embodiment, for convenience of explanation, a reference current component of the permanent magnet synchronous motor on a direct axis of the rotating coordinate system may be referred to as a first reference current, an actual current component of the permanent magnet synchronous motor on the direct axis of the rotating coordinate system may be referred to as a first actual current, a reference current component of the permanent magnet synchronous motor on an intersecting axis of the rotating coordinate system may be referred to as a second reference current, based on which the first reference current and the first actual current may be obtained, and thus a difference between the first reference current and the first actual current may be determined as a first current deviation component, and similarly, the second reference current and the second actual current may be obtained, and thus a difference between the second reference current and the second actual current may be determined as a second current deviation component.
For example, assume that the permanent magnet synchronous motor has a first reference current on the direct axis of the current in the rotating coordinate system ofThe first actual current is i d Based on this, the first current deviation component of the permanent magnet synchronous motor can be determined by the following formula.
Wherein Δi d May be used to represent a first current offset component, For representing a first reference current, i d For representing the first actual current. Similarly, the second current deviation component of the permanent magnet synchronous motor can be determined by the following formula.
Wherein Δi q For representing the second current deviation component,for the purpose of representing the second reference current,i q for representing the second actual current.
Step S102, proportional integral processing is carried out on the first current deviation component and the second current deviation component to obtain a first direct-axis voltage and a first quadrature-axis voltage of the permanent magnet synchronous motor, and proportional resonance processing is carried out on the first current deviation component and the second current deviation component to obtain a second direct-axis voltage and a second quadrature-axis voltage of the permanent magnet synchronous motor.
In the technical scheme provided in the step S102, after the first current deviation component and the second current deviation component are determined, proportional integral processing may be performed on the first current deviation component and the second current deviation component to obtain a first direct-axis voltage and a first quadrature-axis voltage of the permanent magnet synchronous motor, and proportional resonance processing may be performed on the first current deviation component and the second current deviation component to obtain a second direct-axis voltage and a second quadrature-axis voltage of the permanent magnet synchronous motor.
In this embodiment, when the proportional-integral processing is performed on the first current deviation component and the second current deviation component, a transfer function corresponding to the proportional-integral processing may be determined first, where the transfer function may be expressed by the following formula:
wherein K is P For indicating the proportional gain coefficient, K i For representing the integral gain coefficient, S for representing the laplace operator.
Alternatively, after determining the transfer function of the proportional-integral process, the first direct-axis voltage of the permanent magnet synchronous motor may be determined by the following formula.
Wherein DeltaU d1 For representing a first direct voltage, K P For indicating the proportional gain coefficient, K i For representing integral gain coefficients, S forRepresenting the Laplace operator, Δi d For representing the first current offset component.
Alternatively, after determining the transfer function of the proportional-integral process, the first quadrature voltage of the permanent magnet synchronous motor may be determined by the following formula.
Wherein DeltaU q1 For representing the first quadrature axis voltage, K P For indicating the proportional gain coefficient, K i For representing the integral gain coefficient, S for representing the Laplacian, Δi q For representing a second current offset component.
In this embodiment, the first current deviation component and the second current deviation component may be further subjected to proportional resonance processing, and when the first current deviation component and the second current deviation component are subjected to proportional resonance processing, a transfer function corresponding to the proportional resonance processing may be determined, where the transfer function may be expressed by the following formula:
Wherein K is P For indicating the proportional gain coefficient, K r For representing the resonance integral gain coefficient, S for representing the laplace operator, h for representing the harmonic frequency, ω 0 For representing the resonant frequency.
Alternatively, after determining the transfer function of the proportional resonance process, the second direct axis voltage of the permanent magnet synchronous motor may be determined by the following formula.
Wherein DeltaU d2 For representing the second direct-axis voltage, K P For indicating the proportional gain coefficient, K r For indicating the increase in resonance integralThe beneficial coefficient, S, is used to represent the Laplacian, h is used to represent the harmonic frequency, ω 0 For indicating resonant frequency, Δi d For representing the first current offset component.
Alternatively, after determining the transfer function of the proportional resonance process, the second quadrature axis voltage of the permanent magnet synchronous motor may be determined by the following formula.
Wherein DeltaU q2 For representing the second quadrature axis voltage, K P For indicating the proportional gain coefficient, K r For representing the resonance integral gain coefficient, S for representing the laplace operator, h for representing the harmonic frequency, ω 0 For indicating resonant frequency, Δi q For representing a second current offset component.
Alternatively, the first direct-axis voltage and the first quadrature-axis voltage of the permanent magnet synchronous motor, and the second direct-axis voltage and the second quadrature-axis voltage of the permanent magnet synchronous motor may be determined through the above steps.
Step S103, the first direct-axis voltage and the second direct-axis voltage are overlapped to obtain a direct-axis voltage command of the direct axis, and the first quadrature-axis voltage and the second quadrature-axis voltage are overlapped to obtain a quadrature-axis voltage command of the quadrature axis.
In the technical solution provided in the above step S103 of the present invention, after determining the first direct axis voltage, the first quadrature axis voltage, the second direct axis voltage, and the second quadrature axis voltage, the first direct axis voltage and the second direct axis voltage may be superimposed to obtain a direct axis voltage command of the direct axis, and the first quadrature axis voltage and the second quadrature axis voltage may be superimposed to obtain a quadrature axis voltage command of the quadrature axis.
In this embodiment, the first direct-axis voltage obtained by proportional-integral processing and the second direct-axis voltage obtained by proportional-resonance processing may be superimposed to obtain a direct-axis voltage command, or the first quadrature-axis voltage obtained by proportional-integral processing and the second quadrature-axis voltage obtained by proportional-resonance processing may be superimposed to obtain a quadrature-axis voltage command.
Step S104, controlling current harmonics in the direct axes in response to the direct axis voltage command, and controlling current harmonics in the quadrature axes in response to the quadrature axis voltage command.
In the technical solution provided in the above step S104 of the present invention, after determining the direct axis voltage command and the quadrature axis voltage command, the current harmonics in the direct axis may be controlled based on the direct axis voltage command, and the current harmonics in the quadrature axis may be controlled based on the quadrature axis voltage command.
In this embodiment, since the proportional-integral control can realize no-static-difference tracking of the direct-current signal, but cannot realize no-static-difference tracking in the tracking process of the sinusoidal signal, the proportional-resonance control has a great advantage in tracking, based on which, a direct-axis voltage command is obtained by superposing a first direct-axis voltage obtained by proportional-integral processing and a second direct-axis voltage obtained by proportional-resonance processing, and specific sub-current harmonics in the direct-axis are suppressed based on the direct-axis voltage command, so that a better suppression effect is achieved. Similarly, the quadrature voltage command is obtained by superposing the first quadrature voltage obtained by proportional integral processing and the second quadrature voltage obtained by proportional resonance processing, and specific sub-current harmonic waves in the quadrature are suppressed based on the quadrature voltage command, so that a better suppression effect is achieved.
In this embodiment, the harmonic component in the stator current in the permanent magnet synchronous motor can be compensated by superposing the result of the proportional integral processing and the proportional resonance processing to control the resonance current in the permanent magnet synchronous motor, the stator current waveform can be improved, and the purpose of suppressing the torque ripple can be achieved.
According to the invention, the voltage command is determined by superposing the voltage obtained through proportional integral processing and the voltage obtained through proportional resonance processing in the steps S101-S105, and compared with the voltage command obtained only through proportional integral processing or the voltage command obtained only through proportional resonance processing, the voltage command determined in this way is more accurate, so that the current harmonic is suppressed based on the voltage command, the suppression effect is better, the current harmonic suppression effect of the permanent magnet synchronous motor is improved, and the technical problem of poor current harmonic suppression effect of the permanent magnet synchronous motor is solved.
The above-described method of this embodiment is further described below.
As an alternative embodiment, step S101, determining a first current deviation component of the permanent magnet synchronous motor on a direct axis of the rotating coordinate system and a second current deviation component of the permanent magnet synchronous motor on an intersecting axis of the rotating coordinate system, respectively, includes: determining a first reference current and a first actual current of the permanent magnet synchronous motor on a direct axis of a rotating coordinate system, and determining a second reference current and a second actual current of the permanent magnet synchronous motor on an intersecting axis of the rotating coordinate system; the difference between the first reference current and the first actual current is determined as a first current offset component and the difference between the second reference current and the second actual current is determined as a second current offset component.
In this embodiment, a first reference current of the permanent magnet synchronous motor on the straight axis of the rotating coordinate system and a second reference current of the permanent magnet synchronous motor on the intersecting axis of the rotating coordinate system are preset, based on which the first straight axis current and the second straight axis current can be obtained, and a first actual current of the permanent magnet synchronous motor on the straight axis of the rotating coordinate system and a second actual current of the permanent magnet synchronous motor on the intersecting axis of the rotating coordinate system are measured.
After determining the first reference current and the first actual current, a first current deviation component of the permanent magnet synchronous motor on a direct axis of the rotational coordinate system may be determined by the following formula.
Wherein Δi d For representing the first current deviation component,for representing a first reference current, i d For representing the first actual current. Similarly, permanent magnet identity can also be determined by the following formulaA second current offset component of the stepper motor.
Wherein Δi q For representing the second current deviation component,for representing a second reference current, i q For representing the second actual current.
Alternatively, after the first current deviation component and the second current deviation component are determined, proportional integral processing and proportional resonance processing may be performed on the first current deviation component and the second current deviation component, respectively.
As an optional embodiment, step S102, performing proportional integral processing on the first current deviation component and the second current deviation component to obtain a first direct axis voltage and a first quadrature axis voltage of the permanent magnet synchronous motor, includes: determining a proportional control transfer function, wherein the proportional control transfer function is used to describe a proportional relationship between the first current bias component and the first direct-axis voltage, and a proportional relationship between the second current bias component and the second direct-axis voltage; the first direct voltage is determined based on the proportional control transfer function and the first current offset component, and the first quadrature voltage is determined based on the proportional control transfer function and the second current offset component.
In this embodiment, after the first current deviation component and the second current deviation component are determined, proportional integral processing may be performed on the first current deviation component and the second current deviation component to obtain the first direct axis voltage and the first quadrature axis voltage of the permanent magnet synchronous motor.
Alternatively, when the proportional-integral processing is performed on the first current deviation component and the second current deviation component, a transfer function corresponding to the proportional-integral processing may be determined first, where the transfer function may be expressed by the following formula:
Wherein K is P For indicating the proportional gain coefficient, K i For representing the integral gain coefficient, S for representing the laplace operator.
Alternatively, after determining the transfer function of the proportional-integral process, the first direct-axis voltage of the permanent magnet synchronous motor may be determined by the following formula.
Wherein DeltaU d1 For representing a first direct voltage, K P For indicating the proportional gain coefficient, K i For representing the integral gain coefficient, S for representing the Laplacian, Δi d For representing the first current offset component.
Alternatively, after determining the transfer function of the proportional-integral process, the first quadrature voltage of the permanent magnet synchronous motor may be determined by the following formula.
Wherein DeltaU q1 For representing the first quadrature axis voltage, K P For indicating the proportional gain coefficient, K i For representing the integral gain coefficient, S for representing the Laplacian, Δi q For representing a second current offset component.
As an optional implementation manner, step S102, performing a proportional resonance process on the first current deviation component and the second current deviation component to obtain a second direct axis voltage and a second quadrature axis voltage of the permanent magnet synchronous motor, includes: determining a resonance control transfer function, wherein the resonance control transfer function is used for describing a proportional relationship between the first current deviation component and the first direct-axis voltage and a proportional relationship between the second current deviation component and the second direct-axis voltage; a second direct axis voltage is determined based on the resonant control transfer function and the first current offset component, and a second quadrature axis voltage is determined based on the resonant control transfer function and the second current component.
In this embodiment, after the first current deviation component and the second current deviation component are determined, proportional resonance processing may be performed on the first current deviation component and the second current deviation component to obtain the second direct axis voltage and the second quadrature axis voltage of the permanent magnet synchronous motor.
Alternatively, when the first current deviation component and the second current deviation component are subjected to the proportional resonance processing, a transfer function corresponding to the proportional resonance processing may be determined, where the transfer function may be expressed by the following formula:
wherein K is P For indicating the proportional gain coefficient, K r For representing the resonance integral gain coefficient, S for representing the laplace operator, h for representing the harmonic frequency, ω 0 For representing the resonant frequency.
Alternatively, after determining the transfer function of the proportional resonance process, the second direct axis voltage of the permanent magnet synchronous motor may be determined by the following formula.
Wherein DeltaU d2 For representing the second direct-axis voltage, K P For indicating the proportional gain coefficient, K r For representing the resonance integral gain coefficient, S for representing the laplace operator, h for representing the harmonic frequency, ω 0 For indicating resonant frequency, Δi d For representing the first current offset component.
Alternatively, after determining the transfer function of the proportional resonance process, the second quadrature axis voltage of the permanent magnet synchronous motor may be determined by the following formula.
Wherein DeltaU q2 For representing the second quadrature axis voltage, K P For indicating the proportional gain coefficient, K r For representing the resonance integral gain coefficient, S for representing the laplace operator, h for representing the harmonic frequency, ω 0 For indicating resonant frequency, Δi q For representing a second current offset component.
The first direct-axis voltage and the first quadrature-axis voltage of the permanent magnet synchronous motor, and the second direct-axis voltage and the second quadrature-axis voltage of the permanent magnet synchronous motor can be determined through the steps.
It should be noted that the resonance term in the above-mentioned proportional resonance control transfer functionAnd therefore, the harmonic frequency in the resonance term in the proportional-integral resonance control transfer function can be determined according to the harmonic frequency of the current harmonic to be suppressed, so that an accurate suppression effect is achieved.
For example, when the 6 th order current harmonic is suppressed, the resonance frequency in the resonance term may be determined as 6, and the resonance frequency in the resonance term is not limited herein, and may be specifically determined according to the resonance frequency of the current harmonic to be suppressed in the permanent magnet synchronous motor.
As an alternative embodiment mode, the current harmonic control method of the permanent magnet synchronous motor further includes: superposing a proportional control transfer function corresponding to proportional integral processing and a resonance control transfer function corresponding to proportional resonance processing to obtain a proportional integral resonance control transfer function; and multiplying the first current deviation component and the second current deviation component by a proportional-integral resonance control transfer function respectively to determine the direct-axis voltage and the quadrature-axis voltage of the permanent magnet synchronous motor.
In this embodiment, the transfer function corresponding to the proportional-integral control and the resonance control transfer function corresponding to the proportional-resonance processing may be further superimposed to obtain a proportional-integral resonance control transfer function, and the first current deviation component and the second current deviation component may be processed by using the proportional-integral resonance control transfer function to determine the direct-axis voltage and the quadrature-axis voltage of the permanent magnet synchronous motor.
For example, as can be seen from the above description, the transfer function corresponding to the proportional-integral control isThe corresponding transfer function of the proportional resonance control is +.>Based on this, the transfer function corresponding to the proportional-integral control and the transfer function corresponding to the proportional-resonance control are superimposed, and the resulting proportional-integral-resonance control transfer function can be expressed by the following formula.
Wherein K is P For indicating the proportional gain coefficient, K i For representing integral gain coefficient, K r For representing the resonance integral gain coefficient, S for representing the laplace operator, h for representing the harmonic frequency, ω 0 For representing the resonant frequency.
After determining the proportional-integral-resonance control function, the first current deviation component may be processed using the proportional-integral-resonance control function to obtain the direct-axis voltage by the following formula.
Wherein U is d For indicating the direct voltage, K P For indicating the proportional gain coefficient, K i For representing integral gain coefficient, K r For representing the resonance integral gain coefficient, S for representing the laplace operator, h for representing the harmonic frequency, ω 0 For indicating resonant frequency, Δi d For representing the first current offset component.
Alternatively, the quadrature voltage may be obtained by processing the second current deviation component by the following formula using the proportional-integral resonance control function.
Wherein U is q For representing quadrature axis voltage, K P For indicating the proportional gain coefficient, K i For representing integral gain coefficient, K r For representing the resonance integral gain coefficient, S for representing the laplace operator, h for representing the harmonic frequency, ω 0 For indicating resonant frequency, Δi q For representing a second current offset component.
After determining the direct axis voltage, a direct axis voltage command may be generated based on the direct axis voltage to control current harmonics in the direct axis; after the quadrature axis voltage is determined, a quadrature axis voltage command may be generated based on the quadrature axis voltage to control current harmonics in the quadrature axis.
Alternatively, the resonance term in the transfer function is controlled due to the proportional integral resonance described aboveAnd therefore, the harmonic frequency in the resonance term in the proportional-integral resonance control transfer function can be determined according to the harmonic frequency of the current harmonic to be suppressed, so that an accurate suppression effect is achieved.
As an alternative embodiment mode, the current harmonic control method of the permanent magnet synchronous motor further includes: observing a first voltage deviation component on a straight axis of the rotating coordinate system and a second voltage deviation component on an intersecting axis of the rotating coordinate system by using a disturbance observer; in response to the first voltage deviation component being greater than the voltage threshold, reversely compensating the first voltage deviation component to control current harmonics in the direct axis; in response to the second voltage deviation component being greater than the voltage threshold, the second voltage deviation component is compensated to control current harmonics in the quadrature axis.
In this embodiment, after the suppression of the current harmonics of the permanent magnet synchronous motor by the proportional integral control and the proportional resonance control, the first voltage deviation component on the straight axis of the rotating coordinate system and the second voltage deviation component on the intersecting axis of the rotating coordinate system may also be observed by the disturbance observer, and the first voltage deviation component and the second voltage deviation component may be compared with the voltage threshold value to determine the suppression effect of the current harmonics of the permanent magnet synchronous motor.
Alternatively, if the suppression effect on a particular subharmonic in the direct axis is indicated to be not acceptable in response to the first voltage deviation component being greater than the voltage threshold, in which case the first voltage deviation component may be compensated for further suppression of the current harmonic in the direct axis. If the first voltage deviation component is not greater than the voltage threshold value, it is indicated that the suppression effect on the specific subharmonic in the straight axis is good, in which case compensation for the first voltage deviation component may not be necessary.
Alternatively, if the suppression effect on a particular subharmonic in the quadrature axis is indicated to be not up to standard in response to the second voltage deviation component being greater than the voltage threshold, in which case the second voltage deviation component may be compensated for further suppression of the current harmonic in the quadrature axis. If the second voltage deviation component is not greater than the voltage threshold value, it is indicated that the suppression effect on the specific subharmonic in the quadrature axis is good, in which case compensation for the second voltage deviation component may not be necessary.
Example 2
The technical solution of the embodiment of the present invention will be illustrated in the following with reference to a preferred embodiment.
The existence of specific current in the permanent magnet synchronous motor can cause larger torque pulsation, thereby causing noise when the permanent magnet synchronous motor operates.
At present, when current harmonics in a permanent magnet synchronous motor are controlled, a harmonic injection method is generally adopted, parameters such as inductance, resistance and flux linkage value in the permanent magnet synchronous motor are used in the process, and the parameters change in real time under different working conditions, so that the effect of harmonic suppression can be influenced by the current harmonics in the permanent magnet synchronous motor through the harmonic injection method.
However, the present invention provides a control method of current harmonics of a permanent magnet synchronous motor, which respectively determines a first current deviation component of the permanent magnet synchronous motor on a direct axis of a rotational coordinate system and a second current deviation component of the permanent magnet synchronous motor on an intersecting axis of the rotational coordinate system; proportional integral processing is carried out on the first current deviation component and the second current deviation component to obtain a first direct-axis voltage and a first quadrature-axis voltage of the permanent magnet synchronous motor, proportional resonance processing is carried out on the first current deviation component and the second current deviation component to obtain a second direct-axis voltage and a second quadrature-axis voltage of the permanent magnet synchronous motor; superposing the first direct-axis voltage and the second direct-axis voltage to obtain a direct-axis voltage command of the direct axis, and superposing the first quadrature-axis voltage and the second quadrature-axis voltage to obtain a quadrature-axis voltage command of the quadrature axis; in response to the direct axis voltage command, the current harmonics in the direct axis are controlled, and in response to the quadrature axis voltage command, the current harmonics in the quadrature axis are controlled, and in addition, the control effect of the current harmonics is observed by a disturbance observer. In other words, in the embodiment of the invention, the voltage command is determined by superposing the voltage obtained through proportional integral processing and the voltage obtained through proportional resonance processing, and compared with the voltage command obtained only through proportional integral processing or the voltage command obtained only through proportional resonance processing, the determined voltage command is more accurate, so that the current harmonic is suppressed based on the voltage command, the suppression effect is better, the current harmonic suppression effect of the permanent magnet synchronous motor is improved, and the technical problem that the current harmonic suppression effect of the permanent magnet synchronous motor is poor is solved.
The method for controlling the current harmonics of the permanent magnet synchronous motor is further described below.
In this embodiment, the proportional-integral-resonance control (Proportional Integral Resonant, abbreviated PIR) of the current harmonics of the permanent magnet synchronous motor may be performed by coupling proportional-integral (Proportional Integral, abbreviated PI) control with proportional-resonance (Proportional Resonant, abbreviated PR) control.
For example, the transfer function of the PI controller may be superimposed with the transfer function of the PR controller to obtain a transfer function corresponding to the PIR controller, where the transfer function corresponding to the PIR controller may be represented by the following formula:
wherein K is P For indicating the proportional gain coefficient, K i For representing integral gain coefficient, K r For representing the resonance integral gain coefficient, S for representing the laplace operator, h for representing the harmonic frequency, ω 0 For representing the resonant frequency. Wherein the resonance termThe harmonic component in the stator current of the permanent magnet synchronous motor can be compensated to improve the stator current waveform, so that the purpose of inhibiting the torque pulsation of the permanent magnet synchronous motor is achieved. />
In this embodiment, to improve the stability of the system, the system delay may be compensated by improving the transfer function of the PIR controller, wherein the improved transfer function of the PIR controller may be expressed by the following formula:
Wherein K is P For indicating the proportional gain coefficient, K i For representing integral gain coefficient, K r For representing the resonance integral gain coefficient, S for representing the laplace operator, h for representing the harmonic frequency, ω 0 For the purpose of representing the resonant frequency,is a phase adjustment parameter.
In this embodiment, the low-frequency harmonics such as 5, 7, 11, 13 are included in the winding current due to the non-linearity of the inverter and the non-sinusoidal waveform of the counter-potential of the motor, which causes the fluctuation of the motor torque and the increase of the loss, and the control performance of the system is deteriorated, and the low-frequency harmonics such as 5, 7, 11, 13 are represented as 6 times and 12 times of the fundamental frequency, respectively, so that the purpose of suppressing the low-frequency harmonics can be achieved by suppressing the 6-th current harmonics and the 12-th current harmonics.
For example, taking the example of suppressing 6 th order current harmonics, the corresponding transfer function of the PIR controller is:
FIG. 2 is a schematic diagram of a current harmonic control according to an embodiment of the invention, as shown in FIG. 2, by inputting the reference current, the actual current of the direct axis (d-axis), and the reference current and the actual current of the quadrature axis (q-axis) into the GPR controller, the GPR controller can respectively pass the proportional terms in the transfer function And resonance item->And processing the reference current and the actual current, and finally outputting the direct-axis voltage and the quadrature-axis voltage. A direct-axis voltage command is generated based on the direct-axis voltage, current harmonics in the direct axis of the rotational coordinate system are suppressed, and an quadrature-axis voltage command is generated based on the quadrature-axis voltage, and current harmonics in the quadrature axis of the rotational coordinate system are suppressed.
In this embodiment, in the current loop control, the current loop has disturbance such as dead zone voltage error and counter potential, and the PR term and PI term of the resonance frequency are adopted to be connected in parallel, so that periodic alternating current disturbance of related frequency can be restrained, and the performance of the current controller is improved.
In this embodiment, in order to measure the suppression effect of the current harmonics, a disturbance observer (Disturbance Observer, abbreviated as DOB) may also be established to observe the external disturbance and the error caused by the model parameters, and perform feedforward compensation at the model output end of fig. 2.
Fig. 3 is a schematic diagram of a disturbance observer observing current harmonics according to an embodiment of the invention, as shown in fig. 3, PI is used to represent a PI controller,for indicating the amount of disturbance observed by the system, J n For inertia estimation, K c For representing the torque constant estimation value, epsilon is the measurement noise, and a Filter (Low Pass Filter, abbreviated as LPF) is used to be critical to the observation of disturbance, wherein the Filter adopts a second order LPF, and the transfer function of the second order LPF can be represented by the following formula.
Where τ is used to represent the filter time constant and S is used to represent the laplace operator. The τ can be set based on the sampling time of the DOB, and has anti-interference performance in a low frequency band, and does not work in a high frequency band, so that no extra noise is generated. PI control is introduced, and interference of system measurement noise is fully considered. In the current harmonic composite control of the permanent magnet synchronous motor, the PIR is used for inhibiting the current harmonic of a specific order, DOB is used for estimating and eliminating system disturbance caused by interference, and the negative influence of the disturbance of the vibration reduction link is reduced.
Fig. 4 is a schematic diagram of a composite control of current harmonics in accordance with an embodiment of the present invention. As shown in fig. 4, PI is used to represent PI controllers, DOB is used to represent DOB disturbance observers, and PIR is used to represent PIR controllers. As shown in fig. 4, the model also feeds back the angular velocity ω calculated in real time to the controller, so that the controller can adjust the resonance frequency point in real time according to the change of the motor frequency, increase the frequency response of the controller, and improve the control performance of the system.
Example 3
According to an embodiment of the present invention, a current harmonic control device of a permanent magnet synchronous motor is provided, and it should be noted that the current harmonic control device of a permanent magnet synchronous motor may be used to execute a current harmonic control method of a permanent magnet synchronous motor in embodiment 1.
Fig. 5 is a schematic diagram of a current harmonic control device of a permanent magnet synchronous motor according to an embodiment of the present invention. As shown in fig. 5, a current harmonic control apparatus 500 of a permanent magnet synchronous motor may include: a first determination unit 501, a second determination unit 502, a third determination unit 503, and a control unit 504.
A first determining unit 501 is configured to determine a first current deviation component of the permanent magnet synchronous motor on a direct axis of the rotating coordinate system and a second current deviation component of the permanent magnet synchronous motor on an intersecting axis of the rotating coordinate system, respectively.
The second determining unit 501 is configured to perform proportional integral processing on the first current deviation component and the second current deviation component to obtain a first direct-axis voltage and a first quadrature-axis voltage of the permanent magnet synchronous motor, and perform proportional resonance processing on the first current deviation component and the second current deviation component to obtain a second direct-axis voltage and a second quadrature-axis voltage of the permanent magnet synchronous motor.
The third determining unit 503 is configured to superimpose the first direct-axis voltage and the second direct-axis voltage to obtain a direct-axis voltage command of the direct axis, and superimpose the first quadrature-axis voltage and the second quadrature-axis voltage to obtain a quadrature-axis voltage command of the quadrature axis.
A control unit 504 for controlling current harmonics in the direct axes in response to the direct axis voltage commands and controlling current harmonics in the quadrature axes in response to the quadrature axis voltage commands.
Alternatively, the first determining unit 501 may include: the first determining module is used for determining a first reference current and a first actual current of the permanent magnet synchronous motor on a straight shaft of the rotating coordinate system and determining a second reference current and a second actual current of the permanent magnet synchronous motor on a quadrature shaft of the rotating coordinate system; and the second determining module is used for determining the difference value of the first reference current and the first actual current as a first current deviation component and determining the difference value of the second reference current and the second actual current as a second current deviation component.
Optionally, the second determining unit 502 may further include: a third determining module for determining a proportional control transfer function, wherein the proportional control transfer function is used for describing a proportional relationship between the first current deviation component and the first direct-axis voltage, and a proportional relationship between the second current deviation component and the second direct-axis voltage; a fourth determination module for determining a first direct voltage based on the proportional control transfer function and the first current offset component and determining a first quadrature voltage based on the proportional control transfer function and the second current offset component.
Optionally, the second determining unit 502 may further include: a fifth determining module for determining a resonance control transfer function, wherein the resonance control transfer function is used for describing a proportional relationship between the first current deviation component and the first direct-axis voltage, and a proportional relationship between the second current deviation component and the second direct-axis voltage; a sixth determination module determines a second direct axis voltage based on the resonance control transfer function and the first current offset component, and determines a second quadrature axis voltage based on the resonance control transfer function and the second current component.
Optionally, the apparatus 500 further includes: a fourth determining unit, configured to superimpose a proportional control transfer function corresponding to proportional integral processing and a resonance control transfer function corresponding to proportional resonance processing, to obtain a proportional integral resonance control transfer function; and a fifth determining unit for multiplying the first current deviation component and the second current deviation component by the proportional-integral resonance control transfer function respectively to determine the direct-axis voltage and the quadrature-axis voltage of the permanent magnet synchronous motor.
Optionally, the apparatus 500 further includes: an observation unit configured to observe a first voltage deviation component on a straight axis of the rotation coordinate system and a second voltage deviation component on an intersecting axis of the rotation coordinate system using a disturbance observer; the first compensation unit is used for compensating the first voltage deviation component to control current harmonic waves in the direct axis in response to the fact that the first voltage deviation component is larger than a voltage threshold value; and the second compensation unit is used for compensating the second voltage deviation component to control current harmonic waves in the quadrature axis in response to the second voltage deviation component being larger than the voltage threshold.
In this embodiment, the voltage command is determined by superposing the voltage obtained through proportional integral processing and the voltage obtained through proportional resonance processing, so that the determined voltage command is more accurate than the voltage command obtained only through proportional integral processing or the voltage command obtained only through proportional resonance processing, so that the current harmonic is suppressed based on the voltage command, the suppression effect is better, the current harmonic suppression effect of the permanent magnet synchronous motor is improved, and the technical problem that the current harmonic suppression effect of the permanent magnet synchronous motor is poor is solved.
Example 4
According to an embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program is executed by a processor to control a device in which the readable storage medium is located to execute the current harmonic control method of the permanent magnet synchronous motor in embodiment 1.
Example 5
According to an embodiment of the present invention, there is also provided a processor for running a program, wherein the program runs to execute the current harmonic control method of the permanent magnet synchronous motor in embodiment 1.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present invention, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. The current harmonic control method of the permanent magnet synchronous motor is characterized by comprising the following steps of:
respectively determining a first current deviation component of the permanent magnet synchronous motor on a straight axis of a rotating coordinate system and a second current deviation component of the permanent magnet synchronous motor on a quadrature axis of the rotating coordinate system;
proportional integral processing is carried out on the first current deviation component and the second current deviation component to obtain a first direct-axis voltage and a first quadrature-axis voltage of the permanent magnet synchronous motor, proportional resonance processing is carried out on the first current deviation component and the second current deviation component to obtain a second direct-axis voltage and a second quadrature-axis voltage of the permanent magnet synchronous motor;
superposing the first direct-axis voltage and the second direct-axis voltage to obtain a direct-axis voltage command of the direct axis, and superposing the first quadrature-axis voltage and the second quadrature-axis voltage to obtain a quadrature-axis voltage command of the quadrature axis;
Controlling current harmonics in the direct axes in response to the direct axis voltage command, and controlling current harmonics in the quadrature axes in response to the quadrature axis voltage command.
2. The method of claim 1, wherein the determining a first current offset component of the permanent magnet synchronous motor on a direct axis of a rotating coordinate system and a second current offset component of the permanent magnet synchronous motor on an intersecting axis of the rotating coordinate system, respectively, comprises:
determining a first reference current and a first actual current of the permanent magnet synchronous motor on a straight axis of the rotating coordinate system, and determining a second reference current and a second actual current of the permanent magnet synchronous motor on an intersecting axis of the rotating coordinate system;
the difference between the first reference current and the first actual current is determined as the first current offset component, and the difference between the second reference current and the second actual current is determined as the second current offset component.
3. The method of claim 1, wherein the proportional-integral processing of the first current deviation component and the second current deviation component to obtain a first direct-axis voltage and a first quadrature-axis voltage of the permanent magnet synchronous motor comprises:
Determining a proportional control transfer function, wherein the proportional control transfer function is used to describe a proportional relationship between the first current bias component and the first direct-axis voltage, and a proportional relationship between the second current bias component and the second direct-axis voltage;
the first direct voltage is determined based on the proportional control transfer function and the first current offset component, and the first quadrature voltage is determined based on the proportional control transfer function and the second current offset component.
4. The method of claim 1, wherein said performing a proportional resonance process on said first current deviation component and said second current deviation component to obtain a second direct axis voltage and a second quadrature axis voltage of said permanent magnet synchronous motor comprises:
determining a resonance control transfer function, wherein the resonance control transfer function is used for describing a proportional relationship between a first current deviation component and the first direct-axis voltage and a proportional relationship between a second current deviation component and the second direct-axis voltage;
the second direct-axis voltage is determined based on the resonance control transfer function and the first current offset component, and the second quadrature-axis voltage is determined based on the resonance control transfer function and the second current component.
5. The method according to claim 1, wherein the method further comprises:
superposing a proportional control transfer function corresponding to the proportional integral processing and a resonance control transfer function corresponding to the proportional resonance processing to obtain a proportional integral resonance control transfer function;
and multiplying the first current deviation component and the second current deviation component by the proportional-integral resonance control transfer function respectively to determine the direct-axis voltage and the quadrature-axis voltage of the permanent magnet synchronous motor.
6. The method according to claim 1, wherein the method further comprises:
observing a first voltage deviation component on a direct axis of the rotating coordinate system and a second voltage deviation component on an intersecting axis of the rotating coordinate system with a disturbance observer;
compensating the first voltage deviation component to control current harmonics in the direct axis in response to the first voltage deviation component being greater than a voltage threshold;
and in response to the second voltage deviation component being greater than a voltage threshold, compensating the second voltage deviation component to control current harmonics in the quadrature axis.
7. A current harmonic control device for a permanent magnet synchronous motor, the device comprising:
A first determining unit for determining a first current deviation component of the permanent magnet synchronous motor on a straight axis of a rotating coordinate system and a second current deviation component on an intersecting axis of the rotating coordinate system, respectively;
the second determining unit is used for performing proportional integral processing on the first current deviation component and the second current deviation component to obtain a first direct-axis voltage and a first quadrature-axis voltage of the permanent magnet synchronous motor, and performing proportional resonance processing on the first current deviation component and the second current deviation component to obtain a second direct-axis voltage and a second quadrature-axis voltage of the permanent magnet synchronous motor;
the third determining unit is configured to superimpose the first direct-axis voltage and the second direct-axis voltage to obtain a direct-axis voltage command of the direct axis, and superimpose the first quadrature-axis voltage and the second quadrature-axis voltage to obtain a quadrature-axis voltage command of the quadrature axis;
a control unit for controlling current harmonics in the direct axes in response to the direct axis voltage command and controlling current harmonics in the quadrature axes in response to the quadrature axis voltage command.
8. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program when run controls a device in which the computer readable storage medium is located to perform the method according to any one of claims 1 to 6.
9. A processor for running a program, wherein the program when run by the processor performs the method of any one of claims 1 to 6.
10. A vehicle for performing the method of any one of claims 1 to 6.
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