Motor operation control method, device and computer equipment

Abstract

The application provides a motor operation control method and device and a computer device, which comprises obtaining an operation temperature and a quadrature axis current operation parameter of a motor; determining a direct axis current correction parameter of the motor based on the operation temperature and the quadrature axis current operation parameter; and determining a direct axis current operation parameter of the motor according to a calibration current two-dimensional table of the motor and the direct axis current correction parameter. The direct axis current correction parameter is obtained based on a rotor flux linkage change parameter of the motor. By adjusting the direct axis current operation parameter based on the operation temperature according to the characteristic relationship between the flux linkage and the temperature during the operation of the motor, the voltage saturation phenomenon caused by the temperature change is reduced, the voltage saturation is avoided in advance, and the operation reliability of the motor is improved.

Description

Technical Field

[0001] This application relates to the field of motor technology, specifically to a motor operation control method, device, and computer equipment. Background Technology

[0002] In the field of vector control for permanent magnet synchronous motors, a control strategy based on a current mapping table (i.e., a current MAP or a two-dimensional current table) is typically adopted to ensure efficient and stable output of the target torque. This strategy queries the command values ​​of the direct-axis current (d-axis current) and quadrature-axis current (q-axis current) pre-calibrated under specific calibration conditions (usually standard room temperature) based on the motor's real-time speed and target torque. Then, it generates a drive voltage through a current loop controller to control the motor's operation.

[0003] However, during the real-time operation of the motor, the magnetic flux will also change with the change of operating temperature. The current mapping table at the rated temperature cannot accurately provide the command value, and the motor is prone to voltage saturation.

[0004] The commonly used adjustment method is to activate the outer voltage loop controller to adjust the d-axis and q-axis currents after voltage saturation to exit the voltage saturation state. However, this method can only be used after the motor has already reached voltage saturation, and the adjustment process is cumbersome. The motor still faces the risk of voltage saturation, which means that the motor still has defects in its reliability. Summary of the Invention

[0005] In view of this, this application provides a motor operation control method, device and computer equipment, which adjusts the direct shaft current operating parameters based on the operating temperature during motor operation by using the characteristic relationship between magnetic flux and temperature, thereby reducing voltage saturation caused by temperature changes and improving the reliability of motor operation.

[0006] To achieve the above objectives, this application provides the following technical solution: In a first aspect, this application provides a motor operation control method, the method comprising: Obtain the motor's operating temperature and quadrature-axis current operating parameters; The direct-axis current correction parameter of the motor is determined based on the operating temperature and the quadrature-axis current operating parameters; the direct-axis current correction parameter is obtained based on the rotor flux linkage variation parameter of the motor. The direct-axis current operating parameters of the motor are determined based on the motor's calibrated current two-dimensional table and the direct-axis current correction parameters.

[0007] In one embodiment, determining the direct-axis current correction parameter of the motor based on the operating temperature and the quadrature-axis current operating parameters includes: Obtain the calibrated temperature of the motor; The direct-axis current correction parameters of the motor are determined based on the operating temperature, the calibration temperature, and the quadrature-axis current operating parameters.

[0008] In one embodiment, determining the direct-axis current correction parameter of the motor based on the operating temperature, the calibration temperature, and the quadrature-axis current operating parameters includes: If the quadrature-axis current operating parameter is positive and the operating temperature is lower than the calibration temperature, then the direct-axis current correction parameter is determined to be negative. When the quadrature-axis current operating parameter is positive and the operating temperature is greater than or equal to the calibration temperature, the direct-axis current correction parameter is determined to be zero. When the quadrature-axis current operating parameter is negative and the operating temperature is greater than the calibration temperature, the direct-axis current correction parameter is determined to be positive. When the quadrature-axis current operating parameter is negative and the operating temperature is less than or equal to the calibration temperature, the direct-axis current correction parameter is determined to be zero.

[0009] In one embodiment, the process of determining the direct-axis current correction parameter includes: Obtain the rotor flux linkage variation parameters and inductance parameters of the motor; The direct-axis current correction parameter is determined based on the rotor flux variation parameter and the inductance parameter.

[0010] In one embodiment, obtaining the rotor flux linkage variation parameters of the motor includes: Obtain the rated temperature and rated rotor flux of the motor; The operating temperature difference of the motor is determined based on the calibrated temperature and the operating temperature. Based on the calibrated rotor flux linkage and the operating temperature difference, the rotor flux linkage variation parameters of the motor are obtained.

[0011] In one embodiment, obtaining the rotor flux variation parameters of the motor based on the calibrated rotor flux and the operating temperature difference includes: Based on the calibrated rotor flux linkage, the operating temperature difference, and the permanent magnet parameters of the motor, the rotor flux linkage variation parameters of the motor are determined; Alternatively, the operating rotor flux of the motor can be obtained based on the calibrated rotor flux and the operating temperature difference; the rotor flux variation parameters of the motor can be determined based on the operating rotor flux and the calibrated rotor flux.

[0012] In one embodiment, the process of determining the direct-axis current correction parameter further includes: Obtain the rotor flux linkage variation reference table and the inductance parameters of the motor; the rotor flux linkage variation reference table is obtained based on the rotor flux linkage variation parameters; Based on the operating temperature, a corrected initial value is selected from the rotor flux variation reference table; The direct-axis current correction parameter is determined based on the initial correction value and the inductance parameter.

[0013] In one embodiment, determining the direct-axis current correction parameter based on the initial correction value and the inductance parameter includes: The correction coefficient for the initial correction value is determined based on the inductance parameters; The direct-axis current correction parameter is determined based on the correction coefficient and the initial correction value.

[0014] Secondly, this application also provides a motor operation control device, the device comprising: The parameter input module is used to obtain the motor's operating temperature and quadrature-axis current operating parameters; The correction calculation module is used to determine the direct-axis current correction parameters of the motor based on the operating temperature and the quadrature-axis current operating parameters; the direct-axis current correction parameters are obtained based on the rotor flux linkage variation parameters of the motor. The correction operation module is used to determine the direct axis current operation parameters of the motor based on the motor's calibration current two-dimensional table and the direct axis current correction parameters.

[0015] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps: Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps: Obtain the motor's operating temperature and quadrature-axis current operating parameters; The direct-axis current correction parameter of the motor is determined based on the operating temperature and the quadrature-axis current operating parameters; the direct-axis current correction parameter is obtained based on the rotor flux linkage variation parameter of the motor. The direct-axis current operating parameters of the motor are determined based on the motor's calibrated current two-dimensional table and the direct-axis current correction parameters.

[0016] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps: Obtain the motor's operating temperature and quadrature-axis current operating parameters; The direct-axis current correction parameter of the motor is determined based on the operating temperature and the quadrature-axis current operating parameters; the direct-axis current correction parameter is obtained based on the rotor flux linkage variation parameter of the motor. The direct-axis current operating parameters of the motor are determined based on the motor's calibrated current two-dimensional table and the direct-axis current correction parameters.

[0017] The aforementioned motor operation control method, device, computer equipment, computer-readable storage medium, and computer program product include: acquiring the motor's operating temperature and quadrature-axis current operating parameters; determining the motor's direct-axis current correction parameters based on the operating temperature and quadrature-axis current operating parameters; and determining the motor's direct-axis current operating parameters according to the motor's calibration current two-dimensional table and the direct-axis current correction parameters. The direct-axis current correction parameters are obtained based on the motor's rotor flux linkage variation parameters. By adjusting the direct-axis current operating parameters based on the characteristic relationship between flux linkage and temperature during motor operation, voltage saturation caused by temperature changes is reduced, voltage saturation is avoided in advance, and the reliability of motor operation is improved. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 This is an application environment diagram of a motor operation control method in one embodiment.

[0020] Figure 2 This is a flowchart illustrating a motor operation control method in one embodiment.

[0021] Figure 3 This is a schematic diagram of a process for determining the direct-axis current correction parameters of a motor based on operating temperature and quadrature-axis current operating parameters in one embodiment.

[0022] Figure 4 This is a flowchart illustrating the process of determining the direct-axis current correction parameter in one embodiment.

[0023] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application.

[0025] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0026] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0027] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0029] The motor operation control method provided in this application can be applied to various electric drive systems using permanent magnet synchronous motors (PMSMs) as power sources or actuators. It is suitable for environments with complex motor operating conditions, large temperature variations, and high requirements for control reliability, dynamic response, and system cost. This includes, but is not limited to, new energy vehicles (e.g., electric vehicles or hybrid vehicles), industrial servo systems (e.g., high-end CNC machine tools, industrial robots, automated production lines), and various electronic appliances (e.g., air conditioner compressors, high-end washing machine direct-drive motors, drone ESCs).

[0030] In the control process of motor operation, voltage feedback control is typically implemented based on a vector control framework using current MAP. However, to address the issue of voltage saturation (the synthesized voltage vector exceeding the voltage limit) that motors are prone to experience during operating temperature changes, the current common approach is to activate the outer voltage loop controller after voltage saturation to adjust the d-axis and q-axis currents to exit the saturation state. This method, however, can only be used after voltage saturation has already occurred, and the adjustment process is cumbersome, requiring simultaneous adjustment of both the d-axis and q-axis currents. This adjustment process exhibits a certain degree of lag, reducing dynamic response speed and control accuracy, thus leaving the motor with inherent reliability issues.

[0031] To address the aforementioned issues, this application provides a motor operation control method that abandons the passive approach of "post-detection-compensation" and instead utilizes the physical law of permanent magnet flux change with temperature to perform proactive intervention of "pre-prediction-compensation." This provides a permanent magnet synchronous motor control method with clear principles, simple implementation, and significant effects, as detailed in the following embodiments.

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] The motor operation control method of this application can be applied to the controller of a permanent magnet synchronous motor to prevent voltage saturation caused by temperature changes. For example, as shown... Figure 1 As shown, the controller 102 connects the parameter monitoring element 104 and the motor body 106, and controls the motor based on the motor operation control method to prevent voltage saturation in the motor. The parameter monitoring element 104 includes, but is not limited to, a temperature sensor.

[0034] In one embodiment, such as Figure 2 As shown, a motor operation control method is provided. Taking the application of this method to a motor controller as an example, the method includes the following steps: Step 202: Obtain the operating temperature and quadrature-axis current operating parameters of the motor.

[0035] The motor can be a permanent magnet synchronous motor. The operating temperature refers to the actual measured temperature of the motor detected in real time by a temperature sensor (such as an NTC thermistor embedded near the stator windings or permanent magnets), which can also be called the motor temperature during operation. The quadrature-axis current operating parameter refers to the real-time quadrature-axis current value and its sign (positive or negative) obtained by measuring it through a current sensor or other parameter monitoring element and then transforming it into coordinates. The quadrature-axis current operating parameter can be called iq_real.

[0036] Specifically, the controller collects the motor's operating temperature in real time using temperature sensors installed on the motor stator or rotor. Simultaneously, the controller obtains the three-phase stator current through current sensors, and after coordinate transformations such as Clarke and Park transformations, obtains the real-time quadrature-axis current iq_real in a synchronous rotating coordinate system. Here, iq_real includes its instantaneous value and its positive or negative sign to distinguish between drive and braking conditions.

[0037] Step 204: Determine the direct-axis current correction parameters of the motor based on the operating temperature and quadrature-axis current operating parameters.

[0038] The direct-axis current correction parameter is an adjustment that needs to be superimposed on the base current command to compensate for temperature-induced flux changes and prevent voltage saturation. It is based on the rotor flux change parameters of the motor and includes a numerical value and a positive or negative sign. Specifically, the value of the direct-axis current correction parameter can be initially obtained based on the rotor flux change parameters of the motor, and then the final value and positive or negative sign can be determined by adjusting the operating temperature and quadrature-axis current operating parameters.

[0039] Furthermore, in one embodiment, such as Figure 3 As shown, step 204 includes steps 302 to 304.

[0040] Step 302: Obtain the motor's calibrated temperature.

[0041] The motor's calibration temperature refers to the specific temperature environment value recorded when the permanent magnet of the motor is located during the establishment of the calibration current two-dimensional table (i.e., current MAP). It can be denoted as T0. This temperature is the reference point for the entire set of control parameters, and a stable and common operating temperature is usually selected. For example, T0 is 25 degrees Celsius.

[0042] Specifically, the factory parameters of the motor include the motor's rated current two-dimensional table and rated temperature, etc. The controller stores the corresponding factory parameters of the motor, including but not limited to the above-mentioned rated current two-dimensional table and rated temperature. For example, it may also include the physical parameters of each component in the motor, which will not be elaborated here.

[0043] Step 304: Determine the direct-axis current correction parameters of the motor based on the operating temperature, calibration temperature, and quadrature-axis current operating parameters.

[0044] After obtaining the operating temperature, the controller calculates the temperature difference between the operating temperature and the calibrated temperature. Based on this temperature difference and the sign of the AC current operating parameters, it determines the direct-axis current correction parameter for the motor. Optionally, the direct-axis current correction parameter can be obtained by superimposing a base value. The superposition method includes, but is not limited to, addition, subtraction, multiplication, and division operations, such as multiplying by negative one or multiplying by zero. This base value is based on the rotor flux linkage variation parameter of the motor. The specific calculation method is detailed later and will not be repeated here.

[0045] Specifically, in one embodiment, step 304 includes steps 402 to 408.

[0046] Step 402: When the quadrature-axis current operating parameter is positive and the operating temperature is lower than the calibration temperature, determine that the direct-axis current correction parameter is negative.

[0047] Step 404: When the quadrature-axis current operating parameter is positive and the operating temperature is greater than or equal to the calibration temperature, determine that the direct-axis current correction parameter is zero.

[0048] Step 406: When the quadrature-axis current operating parameter is negative and the operating temperature is higher than the calibration temperature, determine that the direct-axis current correction parameter is positive.

[0049] Step 408: When the quadrature-axis current operating parameter is negative and the operating temperature is less than or equal to the calibration temperature, determine that the direct-axis current correction parameter is zero.

[0050] Specifically, the operating temperature is compared with the calibrated temperature, while considering whether the quadrature-axis current operating parameter *iq_real* is negative or positive. Combinations of these cases are used to obtain the final direct-axis current correction parameter. For example, when the quadrature-axis current operating parameter is positive (greater than zero) and the operating temperature is lower than the calibrated temperature, the direct-axis current correction parameter is determined to be negative; when the operating temperature is greater than or equal to the calibrated temperature, the direct-axis current correction parameter is determined to be zero. Conversely, when the quadrature-axis current operating parameter is negative (less than zero) and the operating temperature is higher than the calibrated temperature, the direct-axis current correction parameter is determined to be positive; when the operating temperature is less than or equal to the calibrated temperature, the direct-axis current correction parameter is determined to be zero.

[0051] Step 206: Determine the motor's direct-axis current operating parameters based on the motor's calibrated current two-dimensional table and direct-axis current correction parameters.

[0052] Specifically, the direct-axis current operating parameter corresponds to the actual direct-axis current operating value and sign of the motor, which means determining the actual operating parameters of the motor. Similarly, based on the direct-axis current operating parameter, the controller can also determine the final direct-axis current command output to the current loop PI regulator to control the motor body so that the motor's operating state matches the controller's control objective. At this time, the direct-axis current operating parameter is a value after real-time temperature compensation of the motor. Adjusting this parameter can constrain the motor voltage from the perspective of flux linkage-temperature characteristics, preventing voltage saturation in the motor.

[0053] For example, when the quadrature-axis current operating parameter is positive (greater than zero) and the operating temperature is lower than the calibration temperature, the direct-axis current correction parameter is determined to be negative, meaning the direct-axis current correction parameter is subtracted from the direct-axis current calibration parameter in the calibration current two-dimensional table. When the operating temperature is greater than or equal to the calibration temperature, the direct-axis current correction parameter is determined to be zero, meaning no correction is made to the direct-axis current calibration parameter. Conversely, when the quadrature-axis current operating parameter is negative (less than zero) and the operating temperature is higher than the calibration temperature, the direct-axis current correction parameter is determined to be positive, meaning the direct-axis current correction parameter is added to the direct-axis current calibration parameter in the calibration current two-dimensional table. When the operating temperature is less than or equal to the calibration temperature, the direct-axis current correction parameter is determined to be zero, meaning no correction is made to the direct-axis current calibration parameter.

[0054] The aforementioned motor operation control method includes acquiring the motor's operating temperature and quadrature-axis current operating parameters; determining the motor's direct-axis current correction parameters based on the operating temperature and quadrature-axis current operating parameters; and determining the motor's direct-axis current operating parameters according to the motor's calibration current two-dimensional table and the direct-axis current correction parameters. The direct-axis current correction parameters are obtained based on the motor's rotor flux linkage variation parameters. By adjusting the direct-axis current operating parameters based on the characteristic relationship between flux linkage and temperature during motor operation, voltage saturation caused by temperature changes is reduced, voltage saturation is avoided in advance, and the reliability of motor operation is improved.

[0055] In one embodiment, such as Figure 4 As shown, the process of determining the direct-axis current correction parameters includes steps 502 to 504.

[0056] Step 502: Obtain the rotor flux linkage change parameters and inductance parameters of the motor.

[0057] The inductance parameter of the motor refers to one of the factory parameters of the motor, which is related to the motor specifications and is determined based on the actual application of the permanent magnet synchronous motor. The rotor flux linkage variation parameter of the motor refers to the change in the flux linkage of the permanent magnets in the motor, which needs to be calculated based on the motor specifications and operating current, etc. The calculation process is as follows: In one embodiment, step 502 includes steps 602 to 606.

[0058] Step 602: Obtain the motor's rated temperature and rated rotor flux linkage. The motor's rated temperature and corresponding rated rotor flux linkage can be obtained based on the motor's current MAP, and are one of the motor's factory parameters.

[0059] Step 604: Determine the operating temperature difference of the motor based on the rated temperature and the operating temperature. After obtaining the rated temperature and the operating temperature, the operating temperature can be subtracted from the rated temperature to obtain the operating temperature difference of the motor.

[0060] Step 606: Based on the calibrated rotor flux linkage and operating temperature difference, obtain the rotor flux linkage variation parameters of the motor.

[0061] Specifically, the voltage equation for the mathematical model of a permanent magnet synchronous motor in a synchronous rotating coordinate system is: (1) Where ud is the d-axis voltage component; uq is the q-axis voltage component; i d i represents the d-axis component of the stator current; q It is the q-axis component of the stator current; R is the stator resistance; φ f It is a permanent magnet flux linkage; ω e It is the angular velocity of the motor rotor; L d L is the d-axis inductance; Lq is the q-axis inductance.

[0062] According to the voltage limit circle equation, ud and uq satisfy the following requirements: ud 2 +uq 2 ≤U lim 2 (2) Since the stator voltage is relatively small and can be ignored, formula (2) can be written in the following form: (3) The relationship between the rotor flux of the motor and temperature is as follows: (4) Where T0 is the motor temperature during experimental calibration, T1 is the motor temperature during current operation, and ΔT is the temperature difference between T1 and T0, ΔT = T1 - T0, K. f K is the remanence temperature coefficient of a permanent magnet, for example, K for a permanent magnet of grade N38UH. f =-0.1% / ℃ (within the temperature range of 20℃ to 150℃), ψ r ψ is the rotor flux linkage of the motor at temperature T1, that is, the flux linkage of the running rotor. 0r This refers to the rotor flux linkage of the motor at temperature T0, which is also the calibrated rotor flux linkage.

[0063] Combining formula (3), it can be seen that when the rotor flux of the motor changes, adjusting i d This ensures that the voltage constraint relationship is valid.

[0064] Then, let △ψ r This represents the change in rotor flux linkage, also known as the rotor flux linkage variation parameter. It is determined based on the calibrated rotor flux linkage ψ. 0r By combining the operating temperature difference ΔT with other motor values, the rotor flux linkage variation parameters can be calculated. The applicable formula is Δψ. r =ψ r -ψ 0r .

[0065] Specifically, step 606 includes steps 702 or 704 to 706.

[0066] Step 702: Determine the rotor flux variation parameters of the motor based on the calibrated rotor flux linkage, operating temperature difference, and permanent magnet parameters of the motor.

[0067] Specifically, when the temperature changes by ΔT, the rotor flux linkage changes by the parameter Δψ. r =ψ 0r △TK f In other words, based on the calibrated rotor flux linkage ψ 0r The operating temperature difference ΔT, plus the permanent magnet parameters of the motor, namely the remanence temperature coefficient K of the permanent magnet. f The rotor flux linkage variation parameter Δψ can be directly calculated using the above formula. r .

[0068] Alternatively, the rotor flux variation parameters can be obtained through steps 704 and 706.

[0069] Step 704: Obtain the operating rotor flux of the motor based on the calibrated rotor flux and the operating temperature difference.

[0070] Step 706: Determine the rotor flux variation parameters of the motor based on the running rotor flux and the calibrated rotor flux.

[0071] Specifically, as shown in formula (4), based on the calibrated rotor flux ψ 0r The operating temperature difference ΔT, plus the permanent magnet parameters of the motor, namely the remanence temperature coefficient K of the permanent magnet. f ψ can be calculated r In other words, by operating the rotor flux linkage, and further calculations, the rotor flux linkage variation parameter Δψ can be obtained. r .

[0072] After calculating the rotor flux variation parameters, step 504 is executed to determine the direct-axis current correction parameters based on the rotor flux variation parameters and inductance parameters.

[0073] Specifically, referring to the calculation of formula (3) and combining it with formula (4), the stator direct axis change, that is, the direct axis current correction parameter ΔI, can be obtained. d The calculation formula is: (5) The direct-axis current correction parameter calculated by formula (5) can be applied to step 204 to further determine whether its value is positive, negative or zero based on the operating temperature and quadrature-axis current operating parameters.

[0074] Optionally, in one embodiment, the determination of the direct-axis current correction parameter can also be obtained by looking up a table, where the table data can be obtained during bench calibration. Specifically, this includes steps 802 to 806.

[0075] Step 802: Obtain the reference table of rotor flux change and inductance parameters of the motor.

[0076] The rotor flux linkage variation reference table is derived from the rotor flux linkage variation parameters. It is a set of values ​​calculated by setting the inductance parameter to a fixed value in formula (5) and calculating different values ​​based on different ΔT values. These values ​​are then associated with the corresponding operating temperature and operating rotor flux linkage to create the rotor flux linkage variation reference table. Specifically, the controller stores the rotor flux linkage variation reference table and the motor's inductance parameters, which can be directly called when needed for subsequent calculations.

[0077] Step 804: Select a corrected initial value from the rotor flux variation reference table based on the operating temperature.

[0078] Specifically, the controller selects flux linkage data corresponding to the operating temperature difference from the rotor flux linkage variation reference table based on the operating temperature, and uses the selected value as the initial correction value. This initial correction value can be the direct-axis current correction parameter, or a value from which the direct-axis current correction parameter can be calculated.

[0079] Step 806: Determine the direct-axis current correction parameters based on the initial correction value and inductance parameters.

[0080] Specifically, the accuracy of correcting the initial value can be improved by adjusting the inductance parameters. Step 806 includes steps 902 to 904.

[0081] Step 902: Determine the correction coefficient for the initial value based on the inductance parameters. Since the motor's inductance value changes with the d-axis current during operation, the correction coefficient can be determined based on the actual L of the motor. dBased on the data, determine a correction factor.

[0082] Step 904: Determine the direct-axis current correction parameter based on the correction coefficient and the initial correction value. Multiply the determined correction coefficient by the initial correction value, and the final product is used as the direct-axis current correction parameter.

[0083] In this embodiment, the d-axis current is adjusted by using a pre-established rotor flux change reference table. The workload is still less than that of the current MAP calibration method. Only the d-axis current needs to be adjusted. The adjustment direction is clear and simple, which can accurately avoid voltage saturation of the motor.

[0084] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0085] Based on the same inventive concept, this application also provides a motor operation control device for implementing the motor operation control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the motor operation control device provided below can be found in the limitations of the motor operation control method described above, and will not be repeated here.

[0086] In one embodiment, a motor operation control device is provided, comprising: a parameter input module, a correction calculation module, and a correction operation module, wherein: The parameter input module is used to obtain the motor's operating temperature and quadrature-axis current operating parameters; The correction calculation module is used to determine the direct-axis current correction parameters of the motor based on the operating temperature and quadrature-axis current operating parameters; the direct-axis current correction parameters are obtained based on the rotor flux linkage variation parameters of the motor. The correction operation module is used to determine the motor's direct-axis current operating parameters based on the motor's calibrated current two-dimensional table and direct-axis current correction parameters.

[0087] Each module in the aforementioned motor operation control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0088] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a motor operation control method.

[0089] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0090] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0091] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0092] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0093] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0094] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0096] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0097] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0098] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for controlling the operation of a motor, characterized in that, The method includes: Obtain the motor's operating temperature and quadrature-axis current operating parameters; The direct-axis current correction parameter of the motor is determined based on the operating temperature and the quadrature-axis current operating parameters; the direct-axis current correction parameter is obtained based on the rotor flux linkage variation parameter of the motor. The direct-axis current operating parameters of the motor are determined based on the motor's calibrated current two-dimensional table and the direct-axis current correction parameters.

2. The method according to claim 1, characterized in that, The determination of the direct-axis current correction parameters of the motor based on the operating temperature and the quadrature-axis current operating parameters includes: Obtain the calibrated temperature of the motor; The direct-axis current correction parameters of the motor are determined based on the operating temperature, the calibration temperature, and the quadrature-axis current operating parameters.

3. The method according to claim 2, characterized in that, The determination of the direct-axis current correction parameters of the motor based on the operating temperature, the calibration temperature, and the quadrature-axis current operating parameters includes: If the quadrature-axis current operating parameter is positive and the operating temperature is lower than the calibration temperature, then the direct-axis current correction parameter is determined to be negative. When the quadrature-axis current operating parameter is positive and the operating temperature is greater than or equal to the calibration temperature, the direct-axis current correction parameter is determined to be zero. When the quadrature-axis current operating parameter is negative and the operating temperature is greater than the calibration temperature, the direct-axis current correction parameter is determined to be positive. When the quadrature-axis current operating parameter is negative and the operating temperature is less than or equal to the calibration temperature, the direct-axis current correction parameter is determined to be zero.

4. The method according to claim 1, characterized in that, The process of determining the direct-axis current correction parameter includes: Obtain the rotor flux linkage variation parameters and inductance parameters of the motor; The direct-axis current correction parameter is determined based on the rotor flux variation parameter and the inductance parameter.

5. The method according to claim 4, characterized in that, The step of obtaining the rotor flux linkage variation parameters of the motor includes: Obtain the rated temperature and rated rotor flux of the motor; The operating temperature difference of the motor is determined based on the calibrated temperature and the operating temperature. Based on the calibrated rotor flux linkage and the operating temperature difference, the rotor flux linkage variation parameters of the motor are obtained.

6. The method according to claim 5, characterized in that, The process of obtaining the rotor flux variation parameters of the motor based on the calibrated rotor flux and the operating temperature difference includes: Based on the calibrated rotor flux linkage, the operating temperature difference, and the permanent magnet parameters of the motor, the rotor flux linkage variation parameters of the motor are determined; or, The operating rotor flux of the motor is obtained based on the calibrated rotor flux and the operating temperature difference; The rotor flux linkage variation parameters of the motor are determined based on the operating rotor flux linkage and the calibrated rotor flux linkage.

7. The method according to claim 4, characterized in that, The process of determining the direct-axis current correction parameters also includes: Obtain the rotor flux linkage variation reference table and the inductance parameters of the motor; the rotor flux linkage variation reference table is obtained based on the rotor flux linkage variation parameters; Based on the operating temperature, a corrected initial value is selected from the rotor flux variation reference table; The direct-axis current correction parameter is determined based on the initial correction value and the inductance parameter.

8. The method according to claim 7, characterized in that, The step of determining the direct-axis current correction parameter based on the initial correction value and the inductance parameter includes: The correction coefficient for the initial correction value is determined based on the inductance parameters; The direct-axis current correction parameter is determined based on the correction coefficient and the initial correction value.

9. A motor operation control device, characterized in that, The device includes: The parameter input module is used to obtain the motor's operating temperature and quadrature-axis current operating parameters; The correction calculation module is used to determine the direct-axis current correction parameters of the motor based on the operating temperature and the quadrature-axis current operating parameters; the direct-axis current correction parameters are obtained based on the rotor flux linkage variation parameters of the motor. The correction operation module is used to determine the direct axis current operation parameters of the motor based on the motor's calibration current two-dimensional table and the direct axis current correction parameters.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

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