A motor harmonic suppression method based on a parallel PR controller and a related product

Abstract

This application discloses a motor harmonic suppression method based on parallel PR controllers. The method includes: acquiring the real-time speed of the motor, the D-axis error current, and the Q-axis error current; determining the switching status of each PR controller based on the real-time speed and the corresponding lower and upper speed limits; inputting the D-axis error current and Q-axis error current into the activated PR controller to obtain the D-axis harmonic compensation voltage and Q-axis harmonic compensation voltage; inputting the D-axis error current and Q-axis error current into the corresponding D-axis current loop controller and Q-axis current loop controller to obtain the D-axis voltage and Q-axis voltage; adding the D-axis harmonic compensation voltage and the D-axis voltage to obtain the D-axis target voltage; adding the Q-axis harmonic compensation voltage and the Q-axis voltage to obtain the Q-axis target voltage; and generating a control signal for driving the motor based on the D-axis target voltage and the Q-axis target voltage. This effectively reduces torque ripple and noise caused by motor current harmonics.

Description

Technical Field

[0001] This application relates to the field of motor drive technology, and in particular to a method for motor harmonic suppression based on a parallel PR controller and related products. Background Technology

[0002] With the rapid development of the new energy vehicle industry, permanent magnet synchronous motors, as the main drive motors, are widely used in electric vehicles. Since motor control is essentially a precise closed-loop control achieved through the inner current loop, the actual current waveform of the motor often contains multiple harmonic components relative to the fundamental wave. These harmonics can cause noise, vibration, and acoustic harshness (NVH), thus affecting the smoothness and comfort of driving in new energy vehicles.

[0003] Existing technologies typically compensate for harmonics through on-vehicle calibration. For example, by measuring the harmonic characteristics of the motor current under different operating conditions, the main harmonic components are identified, and then phase-matched harmonic cancelling components are injected into the controller to reduce the harmonic amplitude in the actual current waveform. However, these methods are usually open-loop control, requiring extensive calibration work, and the harmonic characteristics differ at different speeds. Furthermore, in the mass production stage, harmonic consistency between different vehicles is difficult to guarantee, leading to unstable suppression effects and limited improvement in NVH performance. Summary of the Invention

[0004] This application provides a motor harmonic suppression method and related products based on a parallel PR controller, which can realize closed-loop processing of D-axis error current and Q-axis error current, thereby effectively reducing torque pulsation and noise caused by motor current harmonics and significantly improving vehicle NVH performance.

[0005] In a first aspect, embodiments of this application provide a method for motor harmonic suppression based on a parallel PR controller, the method comprising: Obtain the motor's real-time speed, D-axis error current, and Q-axis error current; Based on the real-time rotational speed and the lower and upper speed limits of each PR controller, the switching status of each PR controller is determined. The multiple PR controllers are connected in parallel and are used to suppress current harmonics of different orders. The D-axis error current and Q-axis error current are input to the activated PR controller to obtain the D-axis harmonic compensation voltage and Q-axis harmonic compensation voltage. The D-axis error current and Q-axis error current are also input to the corresponding D-axis current loop controller and Q-axis current loop controller to obtain the D-axis voltage and Q-axis voltage. The D-axis harmonic compensation voltage is added to the D-axis voltage to obtain the D-axis target voltage, and the Q-axis harmonic compensation voltage is added to the Q-axis voltage to obtain the Q-axis target voltage. Based on the target voltage of the D-axis and the target voltage of the Q-axis, a control signal for driving the motor is generated.

[0006] One feasible implementation, wherein determining the on / off status of each PR controller based on the real-time rotational speed and the lower and upper speed limits corresponding to each PR controller among the plurality of PR controllers, includes: For each PR controller, if the real-time rotational speed is lower than the lower limit of the rotational speed corresponding to the PR controller, the PR controller is determined to be turned on. If the real-time rotational speed is higher than the upper limit of the rotational speed corresponding to the PR controller, it is determined that the PR controller is turned off; If the real-time rotational speed is higher than the lower limit of the rotational speed corresponding to the PR controller but lower than the upper limit of the rotational speed corresponding to the PR controller, the current state of the PR controller remains unchanged.

[0007] One possible implementation includes a plurality of PR controllers comprising a PR controller for suppressing odd-order current harmonics, a PR controller for suppressing even-order current harmonics, and a PR controller for suppressing fractional-order current harmonics.

[0008] One feasible implementation further includes, before acquiring the D-axis error current and the Q-axis error current: Receive a given torque command; The torque command is converted based on the current distribution strategy to obtain the target current of the D-axis and the target current of the Q-axis.

[0009] One feasible implementation includes obtaining the D-axis error current and the Q-axis error current, comprising: Obtain the actual D-axis current and Q-axis current of the motor; The difference between the target current on the D-axis and the actual current on the D-axis is used to obtain the D-axis error current. The difference between the target current on the Q-axis and the actual current on the Q-axis is used to obtain the Q-axis error current.

[0010] One feasible implementation, wherein the torque command is converted based on a current distribution strategy to obtain a D-axis target current and a Q-axis target current, includes: The torque command is converted based on the current distribution strategy to obtain the initial D-axis current and the initial Q-axis current. The initial D-axis current is subjected to magnetic weakening control processing to obtain the target D-axis current; The operating mode is adjusted based on the initial Q-axis current to obtain the target Q-axis current.

[0011] One feasible implementation includes obtaining the actual D-axis current and the actual Q-axis current of the motor, comprising: Obtain the three-phase current and initial electrical angle of the motor; The three-phase currents are subjected to static coordinate transformation to obtain the α-axis current and β-axis current; Based on the target electrical angle, the α-axis current and β-axis current are rotated and transformed to obtain the actual D-axis current and Q-axis current. The target electrical angle is obtained by adding the initial electrical angle to the preset motor compensation electrical angle.

[0012] Secondly, embodiments of this application provide a motor harmonic suppression device based on a parallel PR controller, comprising: The data acquisition module is used to acquire the real-time speed of the motor, the D-axis error current, and the Q-axis error current. The switch determination module is used to determine the switching status of each PR controller based on the real-time rotational speed and the lower and upper speed limits of each PR controller in the plurality of PR controllers, wherein the plurality of PR controllers are connected in parallel and are used to suppress current harmonics of different orders respectively; The current processing module is used to input the D-axis error current and Q-axis error current to the activated PR controller to obtain the D-axis harmonic compensation voltage and Q-axis harmonic compensation voltage, and to input the D-axis error current and Q-axis error current to the corresponding D-axis current loop controller and Q-axis current loop controller to obtain the D-axis voltage and Q-axis voltage. The target voltage generation module is used to add the D-axis harmonic compensation voltage to the D-axis voltage to obtain the D-axis target voltage, and to add the Q-axis harmonic compensation voltage to the Q-axis voltage to obtain the Q-axis target voltage; The drive signal generation module is used to generate control signals for driving the motor based on the target voltage of the D-axis and the target voltage of the Q-axis.

[0013] Thirdly, embodiments of this application provide an electronic device, the device including: a processor, a memory, and a system bus; The processor and the memory are connected via the system bus; The memory is used to store a program, which includes instructions that, when executed by the processor, cause the processor to perform any of the implementation steps of the motor harmonic suppression method based on the parallel PR controller described above.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium for storing a computer program, which, when executed by a terminal device, implements any of the implementation steps of the above-described motor harmonic suppression method based on a parallel PR controller.

[0015] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: As can be seen from the above technical solution, this application provides a motor harmonic suppression method based on parallel PR controllers. The method includes: First, acquiring the real-time speed, D-axis error current, and Q-axis error current of the motor. Next, based on the real-time speed and the lower and upper speed limits of each PR controller, determining the switching status of each PR controller, wherein multiple PR controllers are connected in parallel and are used to suppress current harmonics of different orders. Then, inputting the D-axis error current and Q-axis error current to the activated PR controller to obtain D-axis harmonic compensation voltage and Q-axis harmonic compensation voltage, and inputting the D-axis error current and Q-axis error current to the corresponding D-axis current loop controller and Q-axis current loop controller to obtain D-axis voltage and Q-axis voltage. Finally, adding the D-axis harmonic compensation voltage to the D-axis voltage to obtain the D-axis target voltage, adding the Q-axis harmonic compensation voltage to the Q-axis voltage to obtain the Q-axis target voltage, and generating a control signal for driving the motor based on the D-axis target voltage and Q-axis target voltage.

[0016] As can be seen, this solution uses multiple parallel PR controllers to suppress current harmonics of different orders in real time, achieving closed-loop processing of D-axis and Q-axis error currents. This effectively reduces torque ripple and noise caused by motor current harmonics, significantly improving the vehicle's NVH performance. Simultaneously, the activation status of each PR controller is automatically adjusted based on real-time speed, allowing harmonic suppression to adaptively change with real-time speed. By combining harmonic compensation with current closed-loop control, synergistic optimization of motor control accuracy and harmonic suppression is achieved, ensuring driving performance while improving overall vehicle comfort. Attached Figure Description

[0017] Figure 1 A flowchart illustrating a motor harmonic suppression method based on a parallel PR controller, provided in this application embodiment; Figure 2 A schematic diagram of a PR controller switch judgment module provided in an embodiment of this application; Figure 3 A schematic diagram illustrating the effect of suppressing harmonics in motor current provided in an embodiment of this application; Figure 4 A schematic diagram of the overall framework of a motor harmonic suppression method based on a parallel PR controller provided in this application embodiment; Figure 5 This is a schematic diagram of a motor harmonic suppression device based on a parallel PR controller, provided as an embodiment of this application. Detailed Implementation

[0018] As mentioned earlier, existing technologies typically compensate for harmonics through on-vehicle calibration. For example, by measuring the harmonic characteristics of the motor current under different operating conditions, the main harmonic components are identified, and then phase-matched cancelling harmonics are injected into the controller to reduce the harmonic amplitude in the actual current waveform. However, these methods are usually open-loop control, requiring extensive calibration work, and the harmonic characteristics differ at different speeds. Furthermore, in the mass production stage, harmonic consistency between different vehicles is difficult to guarantee, leading to unstable suppression effects and limited improvement in NVH performance.

[0019] To address the aforementioned problems, this application provides a motor harmonic suppression method based on parallel PR controllers. First, the real-time motor speed, D-axis error current, and Q-axis error current are acquired. Next, based on the real-time speed and the lower and upper speed limits of each PR controller, the switching status of each PR controller is determined. Multiple PR controllers are connected in parallel, each used to suppress current harmonics of different orders. Subsequently, the D-axis and Q-axis error currents are input to the activated PR controllers to obtain D-axis and Q-axis harmonic compensation voltages. These currents are also input to the corresponding D-axis and Q-axis current loop controllers to obtain D-axis and Q-axis voltages. Finally, the D-axis harmonic compensation voltages are added to the D-axis voltages to obtain the D-axis target voltage, and the Q-axis harmonic compensation voltages are added to the Q-axis voltage to obtain the Q-axis target voltage. Based on the D-axis and Q-axis target voltages, a control signal for driving the motor is generated.

[0020] As can be seen, this solution uses multiple parallel PR controllers to suppress current harmonics of different orders in real time, achieving closed-loop processing of D-axis and Q-axis error currents. This effectively reduces torque ripple and noise caused by motor current harmonics, significantly improving the vehicle's NVH performance. Simultaneously, the activation status of each PR controller is automatically adjusted based on real-time speed, allowing harmonic suppression to adaptively change with real-time speed. By combining harmonic compensation with current closed-loop control, synergistic optimization of motor control accuracy and harmonic suppression is achieved, ensuring driving performance while improving overall vehicle comfort.

[0021] It should be noted that the embodiments of this application are not limited to the executing entity of the motor harmonic suppression method based on a parallel PR controller. For example, the motor harmonic suppression method based on a parallel PR controller in the embodiments of this application can be applied to information processing devices such as servers or terminal devices. The server can be a standalone server, a cluster server, or a cloud server. The terminal device can be an electronic device such as a smartphone, computer, personal digital assistant (PDA), or tablet computer.

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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 of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0023] Figure 1 A flowchart illustrating a motor harmonic suppression method based on a parallel PR controller, provided as an embodiment of this application. (Combined with...) Figure 1 As shown, it may include steps S101-S105.

[0024] S101: Obtain the real-time speed of the motor, the D-axis error current, and the Q-axis error current.

[0025] In this embodiment, a given torque command is received and converted based on a current distribution strategy to obtain the D-axis target current and Q-axis target current. Specifically, firstly, the torque command is looked up in tables using MTPA (maximum torque-to-current ratio) and MTPV (maximum torque-to-voltage ratio) to obtain the initial D-axis current and Q-axis current. Next, the initial D-axis current undergoes field weakening control to obtain the D-axis target current, generating a D-axis target current that includes the negative D-axis current corresponding to field weakening, ensuring the motor meets voltage limiting conditions under high-speed operation. Simultaneously, depending on whether the motor is currently in drive mode or generator mode, the initial Q-axis current is adjusted to ensure that positive and negative torques correspond to positive and negative Q-axis currents during drive or generator operation, thus obtaining the Q-axis target current.

[0026] It should be noted that, in this embodiment of the application, after performing field weakening control processing on the initial D-axis current and adjusting the operating mode on the initial Q-axis current, the corresponding current obtained can be subjected to anti-jitter processing to eliminate the table lookup fluctuations caused by the fluctuation of the given torque command or the severe fluctuations caused by the field weakening ring. After anti-jitter processing, the target D-axis current and the target Q-axis current are obtained.

[0027] Furthermore, in the embodiments of this application, the real-time speed of the motor can be obtained by a motor position sensor or calculated based on the motor electrical angle, and this application does not limit this.

[0028] S102: Based on the real-time speed and the lower and upper speed limits of each PR controller, determine the switching status of each PR controller. The multiple PR controllers are connected in parallel and are used to suppress current harmonics of different orders.

[0029] In the embodiments of this application, multiple PR controllers are connected in parallel to suppress current harmonics of different orders. The multiple PR controllers include a PR controller for suppressing odd-order current harmonics, a PR controller for suppressing even-order current harmonics, and a PR controller for suppressing fractional-order harmonics. The fractional-order current harmonics are non-integer-order harmonics, including half-order harmonics such as the 0.5, 1.5, 2.5, and 3.5.

[0030] Specifically, the transfer function of the PR controller in the embodiments of this application It can be shown as follows, where, The proportional coefficient of the PR controller. For the integral coefficient of the PR controller, This is the cutoff angular frequency of the PR controller. This is the resonant angular frequency of the PR controller.

[0031] ; Next, this transfer function Perform first-order backward difference discretization, i.e.: ; in, Z For the transformation operator, T is the sampling period. The transformed difference equation is in the form of: ; It should be noted that the resonant angular frequency in the embodiments of this application is... The fundamental frequency corresponding to the real-time speed of the motor determines the difference equation above. For output quantity, For input quantity, The current state. -1 represents the state at the previous moment. for: ; Current motor control typically uses ICBTs (non-silicon carbide) as switching devices, with PWM switching frequencies usually ranging from 8kHz to 10kHz. Therefore, when performing harmonic suppression, the number of PWM switching cycles contained within a harmonic cycle must be considered. Taking a motor speed of 6000rpm as an example, if the motor's fundamental frequency is a 400Hz positive-sequence active current, the third harmonic frequency is 1.2kHz. When the PWM switching frequency is 8kHz, only about 7 sampling points are contained within a third harmonic cycle, leading to reduced harmonic suppression accuracy and potentially introducing new harmonic components.

[0032] Against this backdrop, embodiments of this application perform speed hysteresis processing on the fundamental frequency of the electrical frequency corresponding to the real-time rotational speed to alleviate the aforementioned problems. Specifically, when the real-time rotational speed is n, the fundamental angular frequency of the motor is... for: ; in, Given the number of pole pairs of the motor, the harmonic angular frequencies can be calculated based on the fundamental angular frequency. ,in, For each order of harmonics: ; Table 1 is a speed hysteresis table provided in the embodiments of this application. As shown in Table 1, the embodiments of this application set corresponding enable and suppress switches for different orders of harmonics based on the real-time speed of the motor. When the enable and suppress switch for the corresponding order of harmonics is turned on, the PR controller for the corresponding order is turned on. For example, if the enable switch for the second harmonic is turned on, the PR controller for the second harmonic is turned on, thereby suppressing the second harmonic.

[0033] Table 1 Speed ​​Hysteresis Table

[0034] Therefore, for each PR controller in a series of parallel PR controllers, the state of each harmonic enable / suppression switch is determined by comparing the real-time speed with the lower and upper speed limits corresponding to each order harmonic enable / suppression switch. When the real-time speed is lower than the lower speed limit of the corresponding harmonic enable / suppression switch, the switch is turned on, thus turning on the corresponding order PR controller. When the real-time speed is higher than the upper speed limit of the corresponding harmonic enable / suppression switch, the switch is turned off, thus turning off the corresponding order PR controller. When the real-time speed is higher than the lower speed limit but lower than the upper speed limit of the corresponding harmonic enable / suppression switch, the current state of the switch remains unchanged, thus maintaining the state of the corresponding order PR controller.

[0035] Figure 2This is a schematic diagram of a PR controller switch judgment module provided in an embodiment of this application, combined with... Figure 2 It can be seen that by acquiring the real-time speed of the motor and comparing the real-time speed with the lower and upper speed limits corresponding to the enable and suppress switches of each order of harmonics, the on, off, or current state of the corresponding PR controller can be determined, so as to achieve selective suppression of harmonics of different orders.

[0036] S103: Input the D-axis error current and Q-axis error current to the enabled PR controller to obtain the D-axis harmonic compensation voltage and Q-axis harmonic compensation voltage, and input the D-axis error current and Q-axis error current to the corresponding D-axis current loop controller and Q-axis current loop controller to obtain the D-axis voltage and Q-axis voltage.

[0037] In this embodiment of the application, before inputting the obtained D-axis error current and Q-axis error current to the activated PR controller, the three-phase current of the motor is obtained ( , , The three-phase currents are statically transformed (CLARKE transformation) based on the initial electrical angle to obtain the α-axis current and β-axis current. Then, the α-axis current and β-axis current are rotated and transformed (PARK transformation) based on the target electrical angle. Finally, after passing through a 1.5kHz low-pass filter, the actual D-axis current and Q-axis current are obtained.

[0038] It should be noted that the target electrical angle in the embodiments of this application is... To obtain the initial electrical angle using a rotary encoder With the preset motor compensation electrical angle The results are obtained by adding them together. Based on this, the D-axis error current is calculated by subtracting the D-axis target current from the actual D-axis current, and the Q-axis error current is calculated by subtracting the Q-axis target current from the actual Q-axis current.

[0039] Next, the D-axis error current and Q-axis error current are input to the activated PR controller to obtain the D-axis harmonic compensation voltage and Q-axis harmonic compensation voltage. The D-axis error current and Q-axis error current are also input to the corresponding D-axis current loop controller and Q-axis current loop controller to obtain the D-axis voltage and Q-axis voltage.

[0040] S104: Add the D-axis harmonic compensation voltage to the D-axis voltage to obtain the D-axis target voltage, and add the Q-axis harmonic compensation voltage to the Q-axis voltage to obtain the Q-axis target voltage.

[0041] In this embodiment, the D-axis voltage and Q-axis voltage are the output voltages of the D-axis current loop controller and the Q-axis current loop controller, respectively, used to achieve closed-loop regulation of the motor current. The D-axis harmonic compensation voltage and Q-axis harmonic compensation voltage are the harmonic compensation amounts output by the PR controller. The D-axis target voltage is obtained by adding the D-axis harmonic compensation voltage to the D-axis voltage, and the Q-axis target voltage is obtained by adding the Q-axis harmonic compensation voltage to the Q-axis voltage. This superimposes harmonic compensation onto the current closed-loop control to form the final voltage command for driving the motor.

[0042] S105: Generates control signals for driving the motor based on the target voltage of the D-axis and the target voltage of the Q-axis.

[0043] In this embodiment, the calculated D-axis target voltage and Q-axis target voltage are processed by a limiter and then input into the inverse PARK transform. The inverse PARK transform uses the target electrical angle. Perform an inverse transform to calculate... and Subsequently, and The inputs are fed into the SVPWM module to calculate the comparison values ​​CMPRA, CMPRB, and CMPRC, which are then used by the inverter to generate six control signals for driving the motor.

[0044] Figure 3 This is a schematic diagram illustrating the effect of suppressing harmonics in motor current according to an embodiment of this application. Figure 3 The current diagram is shown when the motor speed is 300 rpm and the fundamental frequency is 20 Hz. Figure 3 The two images on the left, one above the other, show the current waveforms without harmonic suppression, with the 7th harmonic at -13.2 dBA and the 13th harmonic at -12.4 dBA. Meanwhile... Figure 3 The two images on the right show the current waveforms after harmonic suppression by a parallel PR harmonic controller. After the parallel PR controller, the 7th harmonic is -16.4 dBA and the 13th harmonic is -14.8 dBA.

[0045] Therefore, it can be seen that by using multiple PR controllers connected in parallel in this application to suppress current harmonics of each order, the amplitude of each order current harmonic is reduced, thereby effectively suppressing motor current harmonics and improving the NVH performance of the motor.

[0046] Based on the relevant content of steps S101-S105 above, in this embodiment, firstly, the real-time speed of the motor, the D-axis error current, and the Q-axis error current are obtained. Next, based on the real-time speed and the lower and upper speed limits corresponding to each of the multiple PR controllers, the switching status of each PR controller is determined. Multiple PR controllers are connected in parallel, each used to suppress current harmonics of different orders. Subsequently, the D-axis error current and Q-axis error current are input to the activated PR controller to obtain the D-axis harmonic compensation voltage and Q-axis harmonic compensation voltage. The D-axis error current and Q-axis error current are also input to the corresponding D-axis current loop controller and Q-axis current loop controller to obtain the D-axis voltage and Q-axis voltage. Finally, the D-axis harmonic compensation voltage is added to the D-axis voltage to obtain the D-axis target voltage, and the Q-axis harmonic compensation voltage is added to the Q-axis voltage to obtain the Q-axis target voltage. Based on the D-axis target voltage and Q-axis target voltage, a control signal for driving the motor is generated. As can be seen, this solution uses multiple parallel PR controllers to suppress current harmonics of different orders in real time, achieving closed-loop processing of D-axis and Q-axis error currents. This effectively reduces torque ripple and noise caused by motor current harmonics, significantly improving the vehicle's NVH performance. Simultaneously, the activation status of each PR controller is automatically adjusted based on real-time speed, allowing harmonic suppression to adaptively change with real-time speed. By combining harmonic compensation with current closed-loop control, synergistic optimization of motor control accuracy and harmonic suppression is achieved, ensuring driving performance while improving overall vehicle comfort.

[0047] Furthermore, for ease of understanding, the embodiments of this application can also be described from the perspective of the overall framework in conjunction with the accompanying drawings.

[0048] Figure 4 This is a schematic diagram of the overall framework of a motor harmonic suppression method based on a parallel PR controller, provided in an embodiment of this application. (Combined with...) Figure 4 As shown, the initial current of the D-axis is obtained by acquiring a given torque command and processing it through MTPA&MTPV lookup tables and the weak magnetic ring control module. and Q-axis initial current Subsequently, after processing by the command anti-shake module, the target current on the D-axis is obtained. and Q-axis target current .

[0049] Next, this embodiment of the application obtains the three-phase current. , as well as The α-axis current is obtained through Clarke transformation. and β-axis current Simultaneously, the electric angle of the resolver-measuring motor (i.e., the initial electric angle in the above embodiment) will be measured. ) And combined with the PARK compensation angle (i.e., the compensation electrical angle in the above embodiments) ) ,Will and The target electrical angle is obtained by performing superposition calculations. Based on the target electrical angle With respect to α-axis current and β-axis current Perform the PARK transformation to obtain the initial actual current along the D-axis. and Q-axis initial actual current The initial actual current of the D-axis. and Q-axis initial actual current The actual D-axis current is obtained by filtering through a low-pass LPF module with a cutoff frequency of 1.5kHz. and Q-axis actual current .

[0050] Secondly, the target current along the D-axis and Q-axis target current With the actual current of the D-axis and Q-axis actual current The difference is taken to calculate the D-axis error current. and Q-axis error current .

[0051] Subsequently, the D-axis error current The input is fed into the D-axis current loop PI controller to obtain the D-axis voltage. Q-axis error current The input is fed into the Q-axis current loop PI controller to obtain the Q-axis voltage. Meanwhile, the D-axis error current... and Q-axis error current The input is sent to the PR controller switch judgment module to calculate the D-axis harmonic compensation voltage. Q-axis harmonic compensation voltage It should be noted that the specific implementation method of the PR controller switch judgment module is as follows: Figure 2 As shown.

[0052] Finally, the D-axis voltage With D-axis harmonic compensation voltage By adding them together, the target voltage along the D-axis can be calculated. Q-axis voltage Q-axis harmonic compensation voltage By adding them together, the target voltage on the Q-axis can be calculated. and the target voltage on the D-axis and Q-axis target voltage After being processed by the limiter, the signal is input into the inverse PARK transform, which uses the target electrical angle. Perform an inverse transform to calculate... and Subsequently, and The inputs are fed into the SVPWM module to calculate the comparison values ​​CMPRA, CMPRB, and CMPRC, which are then passed through the inverter to generate six control signals for driving the motor.

[0053] Furthermore, Figure 5 This is a schematic diagram of a motor harmonic suppression device based on a parallel PR controller, provided as an embodiment of this application. (Combined with...) Figure 5 As shown in the embodiments of this application, the motor harmonic suppression device 500 based on a parallel PR controller may include: The data acquisition module 501 is used to acquire the real-time speed of the motor, the D-axis error current, and the Q-axis error current. The switch determination module 502 is used to determine the switching status of each PR controller based on the real-time speed and the lower and upper speed limits of each PR controller in the plurality of PR controllers, wherein the plurality of PR controllers are connected in parallel and are used to suppress current harmonics of different orders respectively. The current processing module 503 is used to input the D-axis error current and Q-axis error current to the activated PR controller to obtain the D-axis harmonic compensation voltage and Q-axis harmonic compensation voltage, and to input the D-axis error current and Q-axis error current to the corresponding D-axis current loop controller and Q-axis current loop controller to obtain the D-axis voltage and Q-axis voltage. The target voltage generation module 504 is used to add the D-axis harmonic compensation voltage to the D-axis voltage to obtain the D-axis target voltage, and to add the Q-axis harmonic compensation voltage to the Q-axis voltage to obtain the Q-axis target voltage; The drive signal generation module 505 is used to generate a control signal for driving the motor based on the target voltage of the D-axis and the target voltage of the Q-axis.

[0054] Optionally, the switch determination module 502 is specifically used for: For each PR controller, if the real-time rotational speed is lower than the lower limit of the rotational speed corresponding to the PR controller, the PR controller is determined to be turned on. If the real-time rotational speed is higher than the upper limit of the rotational speed corresponding to the PR controller, it is determined that the PR controller is turned off; If the real-time rotational speed is higher than the lower limit of the rotational speed corresponding to the PR controller but lower than the upper limit of the rotational speed corresponding to the PR controller, the current state of the PR controller remains unchanged.

[0055] Optionally, the plurality of PR controllers include a PR controller for suppressing odd-order current harmonics, a PR controller for suppressing even-order current harmonics, and a PR controller for suppressing fractional-order current harmonics.

[0056] Optionally, the motor harmonic suppression device 500 based on a parallel PR controller may include: The instruction receiving module is used to receive a given torque instruction; The command conversion module is used to convert the torque command based on the current distribution strategy to obtain the D-axis target current and the Q-axis target current.

[0057] Optionally, the data acquisition module 501 may include: The actual current acquisition module is used to acquire the actual D-axis current and the actual Q-axis current of the motor. The error current calculation module is used to calculate the difference between the D-axis target current and the D-axis actual current to obtain the D-axis error current, and to calculate the difference between the Q-axis target current and the Q-axis actual current to obtain the Q-axis error current.

[0058] Optionally, the instruction conversion module is specifically used for: The torque command is converted based on the current distribution strategy to obtain the initial D-axis current and the initial Q-axis current. The initial D-axis current is subjected to magnetic weakening control processing to obtain the target D-axis current; The operating mode is adjusted based on the initial Q-axis current to obtain the target Q-axis current.

[0059] Optionally, the actual current acquisition module is specifically used for: Obtain the three-phase current and initial electrical angle of the motor; The three-phase currents are subjected to static coordinate transformation to obtain the α-axis current and β-axis current; Based on the target electrical angle, the α-axis current and β-axis current are rotated and transformed to obtain the actual D-axis current and Q-axis current. The target electrical angle is obtained by adding the initial electrical angle to the preset motor compensation electrical angle.

[0060] Furthermore, embodiments of this application also provide an electronic device, including: a processor, a memory, and a system bus; The processor and the memory are connected via the system bus; The memory is used to store one or more programs, the one or more programs including instructions that, when executed by the processor, cause the processor to perform any of the implementation steps of the above-described motor harmonic suppression method based on a parallel PR controller.

[0061] Furthermore, embodiments of this application also provide a computer-readable storage medium for storing a computer program, which, when executed by a terminal device, implements any of the implementation steps of the above-described motor harmonic suppression method based on a parallel PR controller.

[0062] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application. It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on describing the differences from other embodiments. The same or similar parts between the various embodiments can be referred to mutually.

[0063] The system disclosed in the embodiments is described in a relatively simple manner because it corresponds to the method disclosed in the embodiments. For relevant details, please refer to the method section.

[0064] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0065] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for suppressing motor harmonics based on a parallel PR controller, characterized in that, The method includes: Obtain the motor's real-time speed, D-axis error current, and Q-axis error current; Based on the real-time rotational speed and the lower and upper speed limits of each PR controller, the switching status of each PR controller is determined. The multiple PR controllers are connected in parallel and are used to suppress current harmonics of different orders. The D-axis error current and Q-axis error current are input to the activated PR controller to obtain the D-axis harmonic compensation voltage and Q-axis harmonic compensation voltage. The D-axis error current and Q-axis error current are also input to the corresponding D-axis current loop controller and Q-axis current loop controller to obtain the D-axis voltage and Q-axis voltage. The D-axis harmonic compensation voltage is added to the D-axis voltage to obtain the D-axis target voltage, and the Q-axis harmonic compensation voltage is added to the Q-axis voltage to obtain the Q-axis target voltage. Based on the target voltage of the D-axis and the target voltage of the Q-axis, a control signal for driving the motor is generated.

2. The method according to claim 1, characterized in that, The determination of the on / off status of each PR controller based on the real-time rotational speed and the lower and upper speed limits corresponding to each PR controller among the multiple PR controllers includes: For each PR controller, if the real-time rotational speed is lower than the lower limit of the rotational speed corresponding to the PR controller, the PR controller is determined to be turned on. If the real-time rotational speed is higher than the upper limit of the rotational speed corresponding to the PR controller, it is determined that the PR controller is turned off; If the real-time rotational speed is higher than the lower limit of the rotational speed corresponding to the PR controller but lower than the upper limit of the rotational speed corresponding to the PR controller, the current state of the PR controller remains unchanged.

3. The method according to claim 1, characterized in that, The plurality of PR controllers include a PR controller for suppressing odd-order current harmonics, a PR controller for suppressing even-order current harmonics, and a PR controller for suppressing fractional-order current harmonics.

4. The method according to claim 1, characterized in that, Before obtaining the D-axis error current and Q-axis error current, the method further includes: Receive a given torque command; The torque command is converted based on the current distribution strategy to obtain the target current of the D-axis and the target current of the Q-axis.

5. The method according to claim 4, characterized in that, The acquisition of the D-axis error current and Q-axis error current includes: Obtain the actual D-axis current and Q-axis current of the motor; The difference between the target current on the D-axis and the actual current on the D-axis is used to obtain the D-axis error current. The difference between the target current on the Q-axis and the actual current on the Q-axis is used to obtain the Q-axis error current.

6. The method according to claim 4, characterized in that, The conversion of the torque command based on the current distribution strategy to obtain the D-axis target current and the Q-axis target current includes: The torque command is converted based on the current distribution strategy to obtain the initial current of the D-axis and the initial current of the Q-axis. The initial D-axis current is subjected to magnetic weakening control processing to obtain the target D-axis current; The operating mode is adjusted based on the initial Q-axis current to obtain the target Q-axis current.

7. The method according to claim 5, characterized in that, The process of obtaining the actual D-axis current and actual Q-axis current of the motor includes: Obtain the three-phase current and initial electrical angle of the motor; The three-phase currents are subjected to static coordinate transformation to obtain the α-axis current and β-axis current; Based on the target electrical angle, the α-axis current and β-axis current are rotated and transformed to obtain the actual D-axis current and Q-axis current. The target electrical angle is obtained by adding the initial electrical angle to the preset motor compensation electrical angle.

8. A motor harmonic suppression device based on a parallel PR controller, characterized in that, include: The data acquisition module is used to acquire the real-time speed of the motor, the D-axis error current, and the Q-axis error current. The switch determination module is used to determine the switching status of each PR controller based on the real-time rotational speed and the lower and upper speed limits of each PR controller in the plurality of PR controllers, wherein the plurality of PR controllers are connected in parallel and are used to suppress current harmonics of different orders respectively; The current processing module is used to input the D-axis error current and Q-axis error current to the activated PR controller to obtain the D-axis harmonic compensation voltage and Q-axis harmonic compensation voltage, and to input the D-axis error current and Q-axis error current to the corresponding D-axis current loop controller and Q-axis current loop controller to obtain the D-axis voltage and Q-axis voltage. The target voltage generation module is used to add the D-axis harmonic compensation voltage to the D-axis voltage to obtain the D-axis target voltage, and to add the Q-axis harmonic compensation voltage to the Q-axis voltage to obtain the Q-axis target voltage; The drive signal generation module is used to generate control signals for driving the motor based on the target voltage of the D-axis and the target voltage of the Q-axis.

9. An electronic device, characterized in that, The device includes: a processor, a memory, and a system bus; The processor and the memory are connected via the system bus; The memory is used to store a program, the program including instructions that, when executed by the processor, cause the processor to perform the steps of the motor harmonic suppression method based on a parallel PR controller as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed by a terminal device, implements the steps of the motor harmonic suppression method based on a parallel PR controller as described in any one of claims 1-7.

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