Switched reluctance motor control method and device, electronic equipment and storage medium
By calculating the total driving torque and phase radial force error of the switched reluctance motor and generating compensating phase current, the problem of unstable operation in the traditional PID control method is solved and higher motor stability is achieved.
Patent Information
- Application Number
- CN202510850856.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-24
- Publication Date
- 2025-10-10
AI Technical Summary
The traditional PID control method cannot effectively cope with environmental changes and self-interference in the switched reluctance motor, resulting in unstable operation.
By obtaining the total driving torque of the switched reluctance motor and distributing it to each phase winding, the reference and actual phase radial force errors are calculated, the compensated phase currents are generated, and the motor control signals are adjusted to reduce interference.
It effectively reduces the influence of interference signals during the operation of the switched reluctance motor and improves stability.
Smart Images
Figure CN120768199A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of motor control, in particular to a switched reluctance motor control method, a switched reluctance motor control device, an electronic device and a computer readable storage medium. BACKGROUND
[0002] Switched reluctance motor (SRM) has the outstanding characteristics of simple structure, high reliability, wide speed regulation range, high starting torque and no permanent magnet material, etc., and is a popular topic for hub motors of new energy vehicles. The working environment of the hub motor is relatively harsh, which is easy to cause great interference to the operation of the motor.
[0003] For the traditional proportional-integral-derivative (PID) control, when the controlled object is in a frequently changing environment, the PID gain needs to be adjusted according to the change of the environment, but the PID control only adjusts the PID gain according to the environment of the controlled object in the actual application, and cannot feedback the disturbance generated by the controlled object itself. The control process is not flexible enough, and cannot avoid the disturbance of the vibration and noise (such as the radial force wave caused by road excitation and installation error) generated by the switched reluctance motor itself to the operation process of the switched reluctance motor, and affects the operation stability of the switched reluctance motor. SUMMARY
[0004] Therefore, it is necessary to provide a switched reluctance motor control method, a switched reluctance motor control device, an electronic device and a computer readable storage medium to solve the technical problem of unstable operation of the switched reluctance motor in the prior art.
[0005] In order to solve the above technical problems, in a first aspect, the present application provides a switched reluctance motor control method for controlling a switched reluctance motor arranged on a hub of a vehicle, comprising: obtaining a total driving torque of the switched reluctance motor, distributing the total driving torque to each phase winding of the switched reluctance motor to obtain a plurality of phase driving torques; obtaining a reference phase radial force corresponding to each phase driving torque; obtaining an actual phase radial force of each phase winding; obtaining a phase radial force error based on the reference phase radial force and the actual phase radial force; and adjusting a motor control signal of the switched reluctance motor according to the compensation phase current.
[0006] In an optional embodiment, generating a compensating phase current based on the phase radial force error includes: generating a phase radial force control rate corresponding to the phase radial force error based on a nonlinear controller; generating a compensating phase current based on the phase radial force control rate; adjusting the motor control signal of the switched reluctance motor based on the compensating phase current includes: obtaining the actual phase current of each of the phase windings; obtaining a phase current error based on the compensating phase current and the actual phase current; generating a phase current control rate corresponding to the phase current error based on a nonlinear controller; and adjusting the motor control signal of the switched reluctance motor based on the phase current control rate.
[0007] In an optional embodiment, the phase radial force error is obtained based on the reference phase radial force and the actual phase radial force, including: removing the interference signal in the actual phase radial force based on a second-order extended state observer to obtain the standard phase radial force; calculating the difference between the reference phase radial force and the standard phase radial force to obtain the phase radial force error.
[0008] In an optional embodiment, obtaining the actual phase radial force of each phase winding includes: obtaining actual motor parameters of the switched reluctance motor, and calculating the actual phase radial force based on the actual motor parameters, wherein the actual motor parameters include magnetic permeability, number of coil turns, motor radius, stator-rotor overlap angle, eccentric air gap, eccentric distance, and eccentric angle.
[0009] In an optional embodiment, obtaining the total driving torque of the switched reluctance motor includes: obtaining vehicle parameters of the vehicle, and calculating the expected torque based on the vehicle parameters, wherein the vehicle parameters include the support force for the vehicle, the frontal area of the vehicle, the expected speed of the vehicle, and the wheel radius; obtaining the rated torque of the switched reluctance motor, and taking the smaller value between the expected torque and the rated torque as the total driving torque.
[0010] In an optional embodiment, the total driving torque is distributed to each phase winding of the switched reluctance motor to obtain a plurality of phase driving torques, including: distributing the total driving torque to each phase winding of the switched reluctance motor based on a distribution function to obtain a plurality of phase driving torques, at any moment, the sum of all the phase driving torques is equal to the total driving torque, and the distribution function includes , ; in, Phase winding i The corresponding phase driving torque, T L is the total driving torque, f i (θ ) is the phase winding i The corresponding torque distribution function is, θ on Phase winding i The opening angle, θ off is the turn-off angle of phase winding i, θ ov Phase winding i The commutation angle, is the number of the phase windings in the switched reluctance motor.
[0011] In an optional embodiment, obtaining the reference phase radial force corresponding to each of the phase driving torques includes: providing a preset fitting function between the phase driving torque and the phase radial force, substituting each of the phase driving torques into the preset fitting function, and obtaining the reference phase radial force corresponding to each of the phase driving torques.
[0012] In the second aspect, the present application provides a switched reluctance motor control device, including: a driving torque calculation-distribution module, the driving torque calculation-distribution module is used to obtain the total driving torque of the switched reluctance motor, and distribute the total driving torque to each phase winding of the switched reluctance motor to obtain several phase driving torques; a torque-radial force acquisition module, the torque-radial force acquisition module is used to obtain the reference phase radial force corresponding to each of the phase driving torques; a parameter calculation module, the parameter calculation module is used to obtain the actual phase radial force of each of the phase windings; a compensation module, the compensation module is used to obtain the phase radial force error based on the reference phase radial force and the actual phase radial force; a signal adjustment module, the signal adjustment module is used to adjust the motor control signal of the switched reluctance motor according to the compensation phase current.
[0013] In a third aspect, the present application also provides an electronic device comprising a memory and a processor, wherein the memory is used to store a program; the processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the switched reluctance motor control method described in any of the above implementation methods.
[0014] In a fourth aspect, the present application also provides a computer-readable storage medium for storing computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the switched reluctance motor control method described in any of the above implementations.
[0015] The beneficial effects of this application are: Compared with the related art, in the switched reluctance motor control method, switched reluctance motor control device, electronic device and computer-readable storage medium provided by the present application, by calculating the phase driving torque on each phase winding of the switched reluctance motor, the phase driving torque is the theoretical expected torque of each phase winding, and the reference phase radial force corresponding to each phase driving torque obtained according to the phase driving torque is the theoretical expected radial force of each phase winding. Further measurement is performed to obtain the actual phase radial force of each phase winding during the operation of the switched reluctance motor. The phase radial force error obtained by combining the reference phase radial force and the actual phase radial force is the interference signal generated by the switched reluctance motor under the influence of its own driving signal vibration and external interference. The phase radial force error is further combined to generate a compensation phase current. By adjusting the motor control signal of the switched reluctance motor according to the compensation phase current, the interference signal in the subsequent motor control signal can be reduced, thereby reducing the influence of the interference signal on the operation stability of the switched reluctance motor, and solving the technical problem of unstable operation of the switched reluctance motor in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.
[0017] Figure 1 A schematic flow chart of a switched reluctance motor control method provided in one embodiment of the present application; Figure 2 A schematic structural diagram of a switched reluctance motor control device provided in one embodiment of the present application; Figure 3 for Figure 2 Structural diagram of the compensation module; Figure 4 for Figure 2 Schematic diagram of the structure of the signal adjustment module; Figure 5 for Figure 2 Schematic diagram of the structure of the control module; Figure 6 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION
[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.
[0019] In the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more. "And / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone.
[0020] The terms "first," "second," and so on, used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, technical features designated as "first" or "second" may explicitly or implicitly include at least one such feature.
[0021] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0022] The present application provides a switched reluctance motor control method, a switched reluctance motor control device, an electronic device, and a computer-readable storage medium, which are described below respectively.
[0023] Please refer to Figure 1 、 Figure 2 ,like Figure 1 An embodiment of the present application provides a switch reluctance motor control method, which is applied to Figure 2 The switch reluctance motor control device shown in the figure realizes the control of the switch reluctance motor installed on the wheel hub of the automobile. The switch reluctance motor control device includes a driving torque calculation and distribution module 201, a torque-radial force acquisition module 202, a parameter calculation module 203, a compensation module 204, a signal adjustment module 205 and a control module 206. Figure 2 The switched reluctance motor control device shown in the figure, the switched reluctance motor control method provided in the embodiment of the present application includes the following steps: Step S101: obtaining the total driving torque of the switched reluctance motor, and distributing the total driving torque to each phase winding of the switched reluctance motor to obtain a plurality of phase driving torques.
[0024] Specifically, this step S101 can be implemented by the driving torque calculation-distribution module 201 .
[0025] In this step, the total driving torque of the switched reluctance motor can be calculated by obtaining the relevant parameters of the vehicle in which the switched reluctance motor is installed. The relevant parameters of the vehicle may include the support force of the ground on the vehicle. F N , car frontal area A , the expected speed of the car v 1. Wheel radius R .
[0026] In this embodiment, the expected torque can be calculated by the following formula (1): T l .
[0027] (1); in, f is the friction factor, C D is the air resistance coefficient.
[0028] Furthermore, in this step, the rated torque of the switched reluctance motor can also be obtained T e , the expected torque T l and rated torque T e The smaller value is taken as the total driving torque T L , which can be specifically expressed by the following formula (2): (2); In this step, the total driving torque can be specifically divided into T L The torques are distributed to the phase windings of the switched reluctance motor to produce several phase drive torques. Since the drive torques of each phase are distributed from the total drive torque, at any moment, the sum of all phase drive torques equals the total drive torque.
[0029] The allocation function may specifically include the following formulas (3) and (4): (3); (4); in, T i ( θ ) is the phase winding i The corresponding phase driving torque,f i ( θ ) is the phase winding i The corresponding torque distribution function is, θ on Phase winding i The opening angle, θ off Phase winding i The turn-off angle, θ ov Phase winding i The commutation angle.
[0030] Step S102: Acquire the reference phase radial force corresponding to each phase driving torque.
[0031] Specifically, this step S102 can be implemented by the torque-radial force acquisition module 202 .
[0032] In this step, a preset fitting function can be used to obtain the reference phase radial force corresponding to each phase drive torque. The preset fitting function is a function pre-fitted based on the standard phase drive torque and the standard phase radial force. For example, finite element analysis software can be used to fit the relationship between the standard phase drive torque and the standard phase radial force using a fifth-order Fourier series. Once the fitting is complete, the preset fitting function can be obtained.
[0033] Specifically, the preset fitting function may include the following formula (5) and formula (6): (5); (6).
[0034] in, is the reference phase radial force, Phase winding i The corresponding phase driving torque, is the motor air gap.
[0035] Based on the above preset fitting function, the driving torque of each phase is substituted into the preset fitting function to obtain the reference phase radial force corresponding to the driving torque of each phase.
[0036] Step S103: obtaining the actual phase radial force of each phase winding.
[0037] Specifically, this step S103 can be implemented by the parameter calculation module 203.
[0038] In this step, the actual motor parameters of the switched reluctance motor can be measured by various sensors on the switched reluctance motor, and the actual phase radial force can be calculated based on the actual motor parameters. The actual motor parameters can specifically include magnetic permeability, , coil turns , motor radius , stator-rotor overlap angle , eccentric lower air gap , eccentricity , eccentric angle .
[0039] Further, the actual phase radial force of each phase winding can be calculated according to the following formulas (7), (8), and (9) i . .
[0040] (7); (8); (9).
[0041] wherein, is a relationship coefficient between current change and inductance, which can be calculated according to actual currents and actual inductances measured in the case of a fixed rotor angle, according to the structure parameters of the switched reluctance motor, and the relationship coefficient .
[0042] Step S104: obtaining a phase radial force error based on the reference phase radial force and the actual phase radial force, and generating a compensation phase current according to the phase radial force error.
[0043] Specifically, the step S104 can be implemented by the compensation module 204.
[0044] Please refer to Figure 3 , the compensation module 204 includes an extended state observer (ESO) 2043. In some embodiments of the present application, the extended state observer (ESO) 2043 can be a second-order extended state observer. The actual phase radial force is input into the second-order extended state observer to obtain a reference phase radial force signal z1 and a disturbance signal z2. The difference between the reference phase radial force and the reference phase radial force signal z1 is calculated to obtain a phase radial force error e 2= F rk -z 1. Specifically, the extended state observer (ESO) 2043 can obtain the reference phase radial force signal z1 and the disturbance signal z2 through the following formula (10).
[0045] (10); wherein, is an adjustable parameter, wherein, the value of the adjustable parameter is in the range of [0, 1], and the value of the adjustable parameter is in the range of [0.01, 0.1].
[0046] Please continue to refer to Figure 3 The compensation module 204 may further include a tracking differentiator (TD) 2041. In some embodiments of the present application, the tracking differentiator (TD) 2041 may be a first-order tracking differentiator. F rk Input the first-order tracking differentiator, and the first-order tracking differentiator can obtain the smooth first-order tracking differentiator output signal according to the following formula (11): F rk1 .
[0047] (11).
[0048] Please continue to refer to Figure 3 The compensation module 204 may further include a nonlinear controller (NLSEF) 2042. The nonlinear controller 2042 may specifically generate the phase radial force error according to the following formulas (12) and (13): e 2 Corresponding phase radial force control rate .
[0049] (12), (13).
[0050] in, is the filtering factor in the switched reluctance hub motor control. is the disturbance adjustment coefficient; It is an adjustable parameter.
[0051] Please continue to refer to Figure 3 The compensation module 204 may further include a radial force-current converter 2044 and a PWM module 2045. The radial force-current converter 2044 may convert the reference phase radial force into a reference phase current. , the radial force control rate Input PWM module 2045 to obtain the control rate phase current , based on the reference phase current and control rate phase current Generates compensation phase current .
[0052] Step S105: adjusting the motor control signal of the switched reluctance motor according to the compensation phase current.
[0053] Specifically, this step S105 can be implemented by the signal adjustment module 205 .
[0054] Please refer to Figure 4The signal adjustment module 205 may specifically include a tracking differentiator (TD) 2051, a nonlinear controller (NLSEF) 2052, an extended observer (ESO) 2053, and a PWM module 2054. It is understood that the tracking differentiator (TD) 2051, the nonlinear controller (NLSEF) 2052, the extended observer (ESO) 2053, and the PWM module 2054 in the signal adjustment module 205 have substantially the same functions as the tracking differentiator (TD) 2041, the nonlinear controller (NLSEF) 2042, the extended observer (ESO) 2043, and the PWM module 2044 in the compensation module 204. For details, please refer to the aforementioned detailed description.
[0055] Specifically, it may include: obtaining the actual phase current of each phase winding based on the parameter calculation module 203 i ; Based on the extended observer (ESO) 2053, the interference signal in the actual phase current is removed z 2. Get the standard phase current z 1; Calculate the compensation phase current With the standard phase current z 1, and obtain the phase radial force error. The phase radial force error is input into the nonlinear controller (NLSEF) 2052 to generate the phase current control rate U1 corresponding to the phase current error. The phase current control rate U1 is input into the PWM module 2054 to generate the corresponding adjusted motor control signal.
[0056] Step S106: adjusting the motor control signal of the switched reluctance motor according to the phase current control rate.
[0057] Specifically, this step S105 can be implemented by the control module 206.
[0058] Please refer to Figure 5 The control module 206 may specifically include a power converter 2061. After the adjusted motor control signal is input into the power converter 2061, since the motor control signal is generated by the PWM module 2054 and is a PWM drive signal, it can control the switching of the MOS transistors of the corresponding phases in the power converter, thereby switching each phase on and off and driving the switched reluctance motor 207 to rotate.
[0059] For further information, please refer to Figure 5 During the rotation of the switched reluctance motor 207, the position angle of the switched reluctance motor 207 can also be measured. θ ,speed v and phase current I , the position angle θ ,speed v and phase current IThe data is sent to the driving torque calculation-distribution module 201, the torque-radial force acquisition module 202, the parameter calculation module 203, the compensation module 204, and the signal adjustment module 205 for related feedback calculations.
[0060] Compared with the related art, in the switched reluctance motor control method provided in this embodiment, the phase driving torque on each phase winding of the switched reluctance motor is calculated, and the phase driving torque is the theoretical expected torque of each phase winding. The reference phase radial force corresponding to each phase driving torque obtained according to the phase driving torque is the theoretical expected radial force of each phase winding. Further measurement is performed to obtain the actual phase radial force of each phase winding during the operation of the switched reluctance motor. The phase radial force error obtained by combining the reference phase radial force and the actual phase radial force is the interference signal generated by the switched reluctance motor under the influence of its own driving signal vibration and external interference. The phase radial force error is further combined to generate a compensation phase current. The motor control signal of the switched reluctance motor is adjusted according to the compensation phase current to reduce the interference signal in the subsequent motor control signal, thereby reducing the influence of the interference signal on the operation stability of the switched reluctance motor, and solving the technical problem of unstable operation of the switched reluctance motor in the prior art.
[0061] Please refer to Figure 6 The present application also provides an electronic device 600. The electronic device 600 includes a processor 601, a memory 602, and a display 603. Figure 6 Only some of the components of the electronic device 600 are shown, but it should be understood that implementation of all of the shown components is not required, and more or fewer components may be implemented instead.
[0062] In some embodiments, the processor 601 may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program codes or process data stored in the memory 602 , such as the switched reluctance motor control method in the present application.
[0063] In some embodiments, processor 601 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, processor 601 may be local or remote. In some embodiments, processor 601 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an on-premises cloud, a multi-cloud, or any combination thereof.
[0064] In some embodiments, the memory 602 may be an internal storage unit of the electronic device 600, such as a hard disk or memory of the electronic device 600. In other embodiments, the memory 602 may also be an external storage device of the electronic device 600, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 600.
[0065] Furthermore, the memory 602 may include both an internal storage unit of the electronic device 600 and an external storage device. The memory 602 is used to store application software installed in the electronic device 600 and various data.
[0066] In some embodiments, the display 603 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. The display 603 is used to display information on the electronic device 600 and to display a visual user interface. Components 601-603 of the electronic device 600 communicate with each other via a system bus.
[0067] In one embodiment, when the processor 601 executes the switched reluctance motor control program in the memory 602, the following steps may be implemented: Obtaining a total driving torque of the switched reluctance motor, and distributing the total driving torque to each phase winding of the switched reluctance motor to obtain a plurality of phase driving torques; Obtaining a reference phase radial force corresponding to each phase driving torque; Obtain the actual phase radial force of each phase winding; A phase radial force error is obtained based on a reference phase radial force and an actual phase radial force, and a compensation phase current is generated according to the phase radial force error; A motor control signal for the switched reluctance motor is adjusted based on the compensated phase current.
[0068] It should be understood that, when the processor 601 executes the switched reluctance motor control program in the memory 602 , in addition to the above functions, it can also implement other functions. For details, please refer to the description of the corresponding method embodiment above.
[0069] Furthermore, the embodiment of the present application does not specifically limit the type of the electronic device 600 mentioned. The electronic device 600 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, or the like. Exemplary embodiments of portable electronic devices include but are not limited to portable electronic devices equipped with IOS, Android, Microsoft, or other operating systems. The above-mentioned portable electronic devices may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present application, the electronic device 600 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).
[0070] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the steps or functions in the switched reluctance motor control method provided in the above-mentioned method embodiments can be implemented.
[0071] Those skilled in the art will appreciate that all or part of the process flow of the above-described method embodiment can be implemented by instructing related hardware (such as a processor, controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a magnetic disk, an optical disk, a read-only memory, or a random access memory.
[0072] The above is a detailed introduction to the switched reluctance motor control method, device, electronic device and storage medium provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.
Claims
1. A switched reluctance motor control method for controlling a switched reluctance motor disposed on a vehicle wheel hub, characterized in that: include: Obtaining a total driving torque of the switched reluctance motor, and distributing the total driving torque to each phase winding of the switched reluctance motor to obtain a plurality of phase driving torques; Acquiring a reference phase radial force corresponding to each phase driving torque; Obtaining the actual phase radial force of each phase winding; obtaining a phase radial force error based on the reference phase radial force and the actual phase radial force, and generating a compensation phase current according to the phase radial force error; adjusting a motor control signal of the switched reluctance motor according to the compensation phase current; The switched reluctance motor is controlled based on the motor control signal.
2. The switched reluctance motor control method according to claim 1, wherein: Generating a compensation phase current according to the phase radial force error includes: generating a phase radial force control rate corresponding to the phase radial force error based on a nonlinear controller; generating a compensation phase current according to the phase radial force control rate; The step of adjusting the motor control signal of the switched reluctance motor according to the compensation phase current includes: Obtaining the actual phase current of each phase winding; Obtaining a phase current error based on the compensated phase current and the actual phase current; generating a phase current control rate corresponding to the phase current error based on a nonlinear controller; A motor control signal of the switched reluctance motor is adjusted according to the phase current control rate.
3. The switched reluctance motor control method according to claim 1, wherein: The obtaining of the phase radial force error based on the reference phase radial force and the actual phase radial force includes: removing interference signals from the actual phase radial force based on a second-order extended state observer to obtain a standard phase radial force; The difference between the reference phase radial force and the standard phase radial force is calculated to obtain the phase radial force error.
4. The switched reluctance motor control method according to claim 1, wherein: The obtaining of the actual phase radial force of each phase winding includes: The actual motor parameters of the switched reluctance motor are obtained, and the actual phase radial force is calculated based on the actual motor parameters, where the actual motor parameters include magnetic permeability, number of coil turns, motor radius, stator-rotor overlap angle, eccentric lower air gap, eccentricity, and eccentricity angle.
5. The switched reluctance motor control method according to claim 1, wherein: The obtaining of the total driving torque of the switched reluctance motor includes: Obtaining vehicle parameters of the vehicle, and calculating the expected torque based on the vehicle parameters, wherein the vehicle parameters include a supporting force for the vehicle, a frontal area of the vehicle, an expected speed of the vehicle, and a wheel radius; The rated torque of the switched reluctance motor is acquired, and the smaller value between the expected torque and the rated torque is used as the total driving torque.
6. The switched reluctance motor control method according to claim 1, characterized in that: The total driving torque is distributed to each phase winding of the switched reluctance motor to obtain a plurality of phase driving torques, including: The total driving torque is distributed to each phase winding of the switched reluctance motor based on a distribution function to obtain a plurality of phase driving torques. At any moment, the sum of all the phase driving torques is equal to the total driving torque. The distribution function includes ， ； in, Phase winding i The corresponding phase driving torque, T L is the total driving torque, f i ( θ ) is the phase winding i The corresponding torque distribution function is, θ on Phase winding i The opening angle, θ off is the turn-off angle of phase winding i, θ ov Phase winding i The commutation angle, is the number of the phase windings in the switched reluctance motor.
7. The switched reluctance motor control method according to claim 1, wherein: The obtaining of the reference phase radial force corresponding to each phase driving torque includes: A preset fitting function between the phase driving torque and the phase radial force is provided, and each phase driving torque is substituted into the preset fitting function to obtain the reference phase radial force corresponding to each phase driving torque.
8. A switched reluctance motor control device, characterized in that: include: a driving torque calculation and distribution module, the driving torque calculation and distribution module being configured to obtain a total driving torque of the switched reluctance motor and distribute the total driving torque to each phase winding of the switched reluctance motor to obtain a plurality of phase driving torques; a torque-radial force acquisition module, configured to acquire a reference phase radial force corresponding to each phase driving torque; a parameter calculation module, configured to obtain an actual phase radial force of each phase winding; a compensation module, the compensation module being configured to obtain a phase radial force error based on the reference phase radial force and the actual phase radial force; a signal adjustment module, the signal adjustment module being configured to adjust a motor control signal of the switched reluctance motor according to the compensation phase current; A control module is configured to adjust a motor control signal of the switched reluctance motor according to the phase current control rate.
9. An electronic device, characterized in that: comprising a memory and a processor, wherein, The memory is used to store programs; The processor is coupled to the memory and is configured to execute the program stored in the memory to implement the steps of the switched reluctance motor control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the switched reluctance motor control method according to any one of claims 1 to 7.