A starting control device, method and motor of a motor

Abstract

The present invention discloses a starting control device, method and motor for a motor. The device includes: a speed comparison module that, during the starting process of the motor, acquires the actual speed of the motor and compares the magnitude relationship between the actual speed of the motor and the given speed of the motor to obtain a comparison result; a notch filter module that, according to the comparison result, switches its own notch gain state and filters out the fluctuation components in the actual signals of the speed loop and the current loop with the switched notch gain state; a switching regulation module that, according to the comparison result, switches its own regulation mode and regulates the change situation of the difference between the actual speed and the given speed of the motor in the speed loop with the switched regulation mode. The solution of the present invention can reduce the influence of DC bus voltage fluctuation on the motor starting process and improve the success rate of motor starting.

Description

Technical Field

[0001] The present invention belongs to the technical field of motors, and particularly relates to a starting control device, method and motor of a motor, and more particularly to a starting control device, method and motor of a permanent magnet synchronous motor without electrolytic capacitors. Background Art

[0002] The permanent magnet synchronous motor is a motor with simple structure, low cost and high efficiency, and is widely used in industrial engineering fields such as aerospace, numerical control machine tools and electric vehicles. The permanent magnet synchronous motor drive system is a vector control system, and the vector control system uses two closed-loop feedback control loops of a speed loop and a current loop to control the drive voltage of the permanent magnet synchronous motor, so as to drive the permanent magnet synchronous motor to operate stably under the given speed and load conditions. The power supply system of the permanent magnet synchronous motor includes components such as an AC power supply, a rectifier circuit and an inverter, and it supplies power to the motor by rectifying the AC power supply voltage into a DC voltage and then converting the DC voltage into a motor drive voltage through the inverter. In some solutions, a large-capacitance electrolytic capacitor is connected in parallel on the DC voltage bus side of the power supply system, and this electrolytic capacitor plays a role in stabilizing the DC bus voltage and absorbing current harmonics. The electrolytic capacitor absorbs and stores electrical energy by the internal electrolyte, and its volume is usually large, the cost is high, and it is easy to be damaged in an environment with a large temperature difference, which greatly reduces the reliability of the circuit system.

[0003] The non-electrolytic capacitor control technology uses a thin-film capacitor with a small capacitance value to replace the large electrolytic capacitor connected in parallel at the DC side bus end. The thin-film capacitor with a small capacitance value has a low cost and good stability, and the control ability and system stability of the replaced control system will be improved. However, since the capacitance value of the changed thin-film capacitor is small and it cannot absorb a large amount of electrical energy, the DC side bus voltage in the replaced control system will generate a fluctuation phenomenon, and this voltage fluctuation phenomenon will have a negative impact on the control system and the motor operation, such as affecting the motor starting process.

[0004] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is the prior art. Summary of the Invention

[0005] The purpose of the present invention is to provide a starting control device, method and motor of a motor, so as to solve the problem that the DC side bus voltage in the motor speed regulation system without electrolytic capacitors will generate a fluctuation phenomenon and affect the motor starting process, and achieve the effect of reducing the influence of the DC bus voltage fluctuation on the motor starting process and improving the success rate of motor starting.

[0006] The present invention provides a starting control device for a motor, comprising: a speed comparison module, a notch filter module, and a switching regulator module; the notch filter module is arranged in the actual signal feedback loop of the speed loop and the current loop of the motor speed control system of the motor; the speed comparison module and the switching regulator module are arranged in the speed loop; wherein, the speed comparison module is configured to obtain the actual speed of the motor during the starting process of the motor, and compare the magnitude relationship between the actual speed of the motor and the given speed of the motor to obtain a comparison result; the notch filter module is configured to switch its own notch gain state according to the comparison result, and filter out the fluctuation components in the actual signals of the speed loop and the current loop with the switched notch gain state; the switching regulator module is configured to switch its own regulation mode according to the comparison result, and regulate the change situation of the difference between the actual speed and the given speed of the motor in the speed loop with the switched regulation mode.

[0007] In some embodiments, the actual signals include: the actual speed of the motor in the speed loop, and the actual d-axis current and actual q-axis current of the motor in the current loop; the comparison result includes: the actual speed of the motor is less than the given speed of the motor; or, the actual speed of the motor is greater than or equal to the given speed of the motor.

[0008] In some embodiments, the notch filter module includes: a first notch filter, a second notch filter, a third notch filter, and a notch gain regulator; wherein, the notch filter module switches its own notch gain state according to the comparison result, including: the notch gain regulator is configured to, if the actual speed of the motor is less than the given speed of the motor, adjust the notch gain states of the first notch filter, the second notch filter, and the third notch filter to a high notch gain state; if the actual speed of the motor is greater than or equal to the given speed of the motor, adjust the notch gain states of the first notch filter, the second notch filter, and the third notch filter to a low notch gain state; the notch filter module filters out the fluctuation components in the actual signals of the speed loop and the current loop with the switched notch gain state, including: the first notch filter is configured to filter out the fluctuation components in the actual speed of the motor; the second notch filter is configured to filter out the fluctuation components in the actual d-axis current of the motor; the third notch filter is configured to filter out the fluctuation components in the actual q-axis current of the motor.

[0009] In some embodiments, any one of the first notch filter, the second notch filter, and the third notch filter includes: a filter having double zeros and double poles.

[0010] In some embodiments, the switching regulation module includes a speed PD module, a regulation mode switch, and a speed PI module. Among them, the switching regulation module switches its own regulation mode according to the comparison result, including: the regulation mode switch is configured to switch its own regulation mode to the speed PD regulation mode if the actual speed of the motor is less than the given speed of the motor; if the actual speed of the motor is greater than or equal to the given speed of the motor, its own regulation mode is switched to the speed PI regulation mode. The switching regulation module adjusts the change of the difference between the actual speed and the given speed of the motor in the speed loop in the switched regulation mode, including: the speed PD module is configured to perform PD regulation on the speed difference between the given speed and the actual speed of the motor in the speed PD regulation mode, and output the given q-axis current of the motor under the given speed condition of the motor; the speed PI module is configured to perform PI regulation on the speed difference between the given speed and the actual speed of the motor in the speed PI regulation mode, and output the given q-axis current of the motor under the given speed condition of the motor.

[0011] In some embodiments, the speed PD module includes a proportional control link, a differential control link, and a feedback differential control link. Among them, the speed PD module performs PD regulation on the speed difference between the given speed and the actual speed of the motor, including: the proportional control link is configured to eliminate the dynamic speed error of the speed loop during the starting and speed-up process of the motor; the differential control link is configured to cancel the signal delay phenomenon generated by the filtering effect in the speed loop; the feedback differential control link is configured to perform feedback differential regulation on the difference between the input and output variables of the limiter module in the speed loop to further eliminate the integral saturation error of the actual signal part introduced by other control links in the input variable of the speed loop. The other control links include a filtering link.

[0012] In some embodiments, the proportional coefficient of the speed PD module is greater than the proportional coefficient of the speed PI module.

[0013] Matched with the above device, on the other hand, the present invention provides a motor, including: the starting control device of the motor described above.

[0014] Matched with the above motor, on the other hand, the present invention provides a starting control method for a motor, including: during the starting process of the motor, obtaining the actual speed of the motor, comparing the magnitude relationship between the actual speed of the motor and the given speed of the motor to obtain a comparison result; according to the comparison result, switching the notch gain state of the notch filter module, and filtering the fluctuation components in the actual signals of the speed loop and the current loop with the switched notch gain state; according to the comparison result, switching the adjustment mode of the switching type adjustment module, and adjusting the change situation of the difference between the actual speed and the given speed of the motor in the speed loop with the switched adjustment mode.

[0015] In some embodiments, the actual signals include the actual speed of the motor in the speed loop, and the actual d-axis current and actual q-axis current of the motor in the current loop; the comparison result includes that the actual speed of the motor is less than the given speed of the motor; or, the actual speed of the motor is greater than or equal to the given speed of the motor.

[0016] In some embodiments, the switching the notch gain state of the notch filter module according to the comparison result includes: through a notch gain regulator, if the actual speed of the motor is less than the given speed of the motor, adjusting the notch gain states of the first notch filter, the second notch filter and the third notch filter to a high notch gain state; if the actual speed of the motor is greater than or equal to the given speed of the motor, adjusting the notch gain states of the first notch filter, the second notch filter and the third notch filter to a low notch gain state; the filtering the fluctuation components in the actual signals of the speed loop and the current loop with the switched notch gain state includes: filtering the fluctuation components in the actual speed of the motor through the first notch filter; filtering the fluctuation components in the actual d-axis current of the motor through the second notch filter; filtering the fluctuation components in the actual q-axis current of the motor through the third notch filter.

[0017] In some embodiments, switching the adjustment mode of the switching type adjustment module according to the comparison result includes: through an adjustment mode switcher, if the actual speed of the motor is less than the given speed of the motor, switch its own adjustment mode to the speed PD adjustment mode; if the actual speed of the motor is greater than or equal to the given speed of the motor, switch its own adjustment mode to the speed PI adjustment mode; adjusting the change of the difference between the actual speed and the given speed of the motor in the speed loop in the switched adjustment mode includes: through a speed PD module, in the speed PD adjustment mode, perform PD adjustment on the speed difference between the given speed and the actual speed of the motor, and output the given q-axis current of the motor under the given speed condition of the motor; through a speed PI module, in the speed PI adjustment mode, perform PI adjustment on the speed difference between the given speed and the actual speed of the motor, and output the given q-axis current of the motor under the given speed condition of the motor.

[0018] In some embodiments, performing PD adjustment on the speed difference between the given speed and the actual speed of the motor through a speed PD module includes: through a proportional control link, eliminating the dynamic speed error of the speed loop during the motor starting and speed increasing process; through a differential control link, canceling the signal delay phenomenon generated by the filtering effect in the speed loop; through a feedback differential control link, performing feedback differential adjustment on the difference between the input and output variables of the limiter module in the speed loop to further eliminate the integral saturation error of the actual signal part introduced by other control links in the input variable of the speed loop; wherein, the proportional coefficient of the speed PD module is greater than the proportional coefficient of the speed PI module.

[0019] Thus, the solution of the present invention, by setting a notch filter module in the actual signal feedback loop of the speed loop and the current loop of the motor speed control system, and setting the adjustment module in the speed loop as a switching type adjustment module that switches between a PD regulator and a PI regulator, switching to a PD regulator during the motor starting and speed increasing process and switching to a PI regulator when the actual speed of the motor increases to the given speed, can reduce the influence of DC bus voltage fluctuation on the motor starting process and improve the success rate of motor starting.

[0020] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention.

[0021] The technical solution of the present invention will be further described in detail below through the accompanying drawings and embodiments. Description of the Drawings

[0022] Figure 1Schematic structural diagram of an embodiment of the starting control device for the motor of the present invention;

[0023] Figure 2 Schematic structural diagram of an embodiment of a vector control system for a permanent magnet synchronous motor;

[0024] Figure 3 Schematic structural diagram of an embodiment of the starting control device for the motor of the present invention, specifically, schematic structural diagram of an embodiment of a non-electrolytic capacitor permanent magnet synchronous motor speed regulation system and starting control device;

[0025] Figure 4 Schematic structural diagram of an embodiment of a speed loop switchable regulator in the starting control device for the motor of the present invention;

[0026] Figure 5 Schematic diagram of the starting control process of the motor in an embodiment of the starting control device for the motor of the present invention;

[0027] Figure 6 Schematic diagram of the DC side bus voltage waveform of a non-electrolytic capacitor control system;

[0028] Figure 7 Schematic diagram for comparing the actual starting q-axis current waveforms of a non-electrolytic capacitor control system before and after applying the starting control method for the motor of the present invention under the condition of 1800 (rpm) speed;

[0029] Figure 8 Schematic diagram for comparing the actual starting speeds of a non-electrolytic capacitor control system before and after applying the starting control method for the motor of the present invention under the condition of 1800 (rpm) speed;

[0030] Figure 9 Schematic diagram for comparing the actual starting q-axis current waveforms of a non-electrolytic capacitor control system before and after applying the starting control method for the motor of the present invention under the condition of 3000 (rpm) speed;

[0031] Figure 10 Schematic diagram for comparing the actual starting speeds of a non-electrolytic capacitor control system before and after applying the starting control method for the motor of the present invention under the condition of 3000 (rpm) speed;

[0032] Figure 11 Bode diagrams when the notch gain ζ of a notch filter with a notch frequency of 100 Hz is 0.15 and 0.6 respectively; n

[0033] Figure 12 Schematic diagram of the equivalent transformation method of the system function of a speed loop feedback system;

[0034] Figure 13 ​Schematic flowchart of an embodiment of the starting control method for the motor of the present invention. Detailed implementation manners

[0035] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] According to an embodiment of the present invention, a starting control device for a motor is provided. Refer to Figure 1 Schematic structural diagram of an embodiment of the device of the present invention as shown. The starting control device for the motor can be applied to the starting control process of a motor (such as a permanent magnet synchronous motor) in a motor speed regulation system (such as a permanent magnet synchronous motor speed regulation system without electrolytic capacitors). During the starting control process of the motor (such as a permanent magnet synchronous motor), the starting control device for the motor includes: a speed comparison module, a notch filter module, and a switching regulation module. The notch filter module is arranged in the actual signal feedback loop of the speed loop and the current loop of the motor speed regulation system of the motor. The speed comparison module and the switching regulation module are arranged in the speed loop.

[0037] Specifically, the speed comparison module is configured to obtain the actual speed of the motor (such as the actual speed ω of the motor) and the given speed of the motor (such as the given speed ω* of the motor) during the starting process of the motor, and compare the magnitude relationship between the actual speed of the motor and the given speed of the motor to obtain a comparison result.

[0038] Among them, the comparison result includes: during the starting process of the motor, the actual speed of the motor is less than the given speed of the motor, that is, the motor is in the starting and speed-up state during the starting process; or, during the starting process of the motor, the actual speed of the motor is greater than or equal to the given speed of the motor, that is, the motor is in the stable operation state after the speed-up is completed during the starting process. The given speed of the motor is pre-given. The actual speed of the motor is detected by a detection module in the motor control system. During the motor starting control process, the circuit parameters required by the control system are collected: the given speed ω* of the motor, and this signal is externally set and input into the control system (that is, the motor speed regulation system); the actual speed ω of the motor, and this signal is obtained by the speed detection module of the control system; the actual d-q axis current of the motor, that is, the actual d-axis current i d and the actual q-axis current i q, the actual d-q axis currents of this part are obtained by the current sampling module of the control system detecting the motor running phase currents, and through internal chips, coordinate transformation (such as Clarke transformation, Park transformation) and other calculations are performed on the motor phase currents to obtain them.

[0039] Specifically, the notch filter module is configured to switch its own notch gain state according to the comparison result, and filter out the fluctuation components in the actual signals of the speed loop and the current loop with the switched notch gain state. For example: structural improvements have been made to the speed loop and current loop of the permanent magnet synchronous motor speed regulation system. A notch filter module with a notch frequency of twice the AC input power supply voltage frequency is added to the actual signal feedback loops of the speed loop and the current loop to suppress the fluctuation phenomenon of the actual drive current and increase the average value of the actual drive current, so that the motor can maintain a relatively large actual drive current to increase the speed during the starting process. By setting a notch filter module in the actual signal feedback loops of the speed loop and the current loop of the motor speed regulation system, during the motor starting process, the probability of abnormal phenomena caused by the decrease in the average value of the drive current during the motor starting process is reduced.

[0040] Among them, the actual signals include: the actual speed of the motor in the speed loop, and the actual d-axis current and actual q-axis current of the motor in the current loop (such as the actual d-axis current i d and the actual q-axis current i q ). That is, the notch filter module is set in the feedback loop of the actual speed of the speed loop of the motor speed regulation system of the motor, and the feedback loop of the actual d-q axis currents of the current loop.

[0041] In some embodiments, the notch filter module includes: a first notch filter, a second notch filter, a third notch filter, and a notch gain regulator; that is, the notch filter module includes a notch gain regulator and three groups of notch filters, which are respectively configured on the actual speed feedback loop of the speed loop and the two groups of actual d-q axis current feedback loops of the current loop, and the gain coefficients of the three groups of notch filters are synchronously controlled by the notch gain regulator.

[0042] During the motor starting control process, after the control system (i.e., the motor speed control system) obtains the given speed w* and the actual speed w, the speed comparison module in the speed loop of the control system (i.e., the motor speed control system) compares the given speed w* and the actual speed w during the motor starting and speed increasing stage, and transmits the result of the speed comparison to the notch filter module. The notch filter module includes a notch gain regulator and three groups of notch filters, which are respectively configured on the actual speed feedback loop of the speed loop and the two groups of actual d-q axis current feedback loops of the current loop, and the gain coefficients of the three groups of notch filters are synchronously controlled by the notch gain regulator. The notch frequency of each notch filter in the three groups of notch filters is set to twice the voltage frequency of the AC input power supply, and this frequency is consistent with the DC side bus voltage fluctuation frequency. When the motor is in the starting and speed increasing state, the notch filter is adjusted to the high notch gain mode. The notch filter in the high notch gain mode can filter out most of the pulsating components in the actual signal, improve the average values of the actual speed and the actual drive current during the motor starting process, and ensure that the motor speeds up with the maximum drive current. When the motor is in the stable operation state, the notch filter is adjusted to the low notch gain mode. The notch filter in the low notch gain mode will work in the low notch gain state to retain some of the pulsating components in the actual signal, so that the actual speed and the actual drive current of the motor fluctuate synchronously with the DC side bus voltage, maintaining the "same frequency and same phase" state to improve the input power factor of the control system (i.e., the motor speed control system).

[0043] Among them, the notch filter module switches its own notch gain state according to the comparison result, including: the notch gain regulator is configured to adjust the notch gain states of the first notch filter, the second notch filter and the third notch filter to the high notch gain state if the actual speed of the motor is less than the given speed of the motor; and adjust the notch gain states of the first notch filter, the second notch filter and the third notch filter to the low notch gain state if the actual speed of the motor is greater than or equal to the given speed of the motor. Among them, the high notch gain state and the low notch gain state are relative terms.

[0044] Specifically, when adjusting the notch gain, the notch gain regulator adjusts the gain coefficient ζ of the notch filter according to different operating states during motor starting. nWhen the actual rotational speed w is less than the given rotational speed w*, the notch gain regulator determines this state as the starting and speed-up state, and adjusts the notch filter to the high notch gain state. At this time, the notch filtering ability of the notch filter is enhanced, and most of the fluctuation components in the actual rotational speed and the actual drive current that have the same frequency as the DC bus voltage ripple are filtered out; when the actual rotational speed w is equal to or greater than the given rotational speed w*, the notch gain regulator determines this state as the stable operation state, and adjusts the notch filter to the low notch gain state. At this time, the notch filtering ability of the notch filter is weakened, and the fluctuation components in the actual rotational speed and the actual drive current that have the same frequency as the DC bus voltage ripple are retained to a certain extent. The purpose is to make the actual rotational speed and the actual drive current of the motor fluctuate synchronously with the DC bus voltage, and maintain the "same frequency and same phase" state to improve the input power factor of the control system (i.e., the motor speed control system).

[0045] The notch filter module filters out the fluctuation components in the actual signals of the speed loop and the current loop in the switched notch gain state, including at least one of the following filtering processes:

[0046] The first filtering process: The first notch filter is set between the rotor position detection module and the inverting input terminal of the first comparator in the speed loop, and is configured to filter out the fluctuation components in the actual rotational speed of the motor, that is, perform notch filtering on the actual rotational speed w of the motor.

[0047] The second filtering process: The second notch filter is set between the output terminal of the actual d-axis current i of the Park transformation module in the current loop and the inverting input terminal of the second comparator, and is configured to filter out the fluctuation components in the actual d-axis current of the motor, that is, perform notch filtering on the actual d-axis current i d output. d The third filtering process: The third notch filter is set between the output terminal of the actual q-axis current i of the Park transformation module in the current loop and the inverting input terminal of the third comparator, and is configured to filter out the fluctuation components in the actual q-axis current of the motor, that is, perform notch filtering on the actual q-axis current i

[0048] output. q The third filtering process: The third notch filter is set between the output terminal of the actual q-axis current i of the Park transformation module in the current loop and the inverting input terminal of the third comparator, and is configured to filter out the fluctuation components in the actual q-axis current of the motor, that is, perform notch filtering on the actual q-axis current i q output.

[0049] Specifically, the notch filter is a notch filter with adjustable notch gain. That is, during the motor starting and speed-up process, the notch filter is switched to a high notch gain state, enabling the notch filter to filter out the fluctuation components in the actual speed and actual drive current as much as possible, and improving the average values of the actual speed and actual drive current. For example, during the motor starting and speed-up process, the fluctuation phenomenon of the actual drive current of the motor is suppressed, so that the motor maintains a speed-up with an actual drive current greater than the set current during the starting and speed-up process. That is to say, the actual drive current of the motor during the starting and speed-up process is greater than the set current. When the actual speed of the motor speeds up to the given speed and reaches the stable operation state, the notch filter will be switched to the low notch gain state, and the filtering ability of the notch filter for the fluctuation components in the actual signal of the control system is reduced, so that the actual speed, actual drive current and DC bus voltage in the steady state maintain a synchronous fluctuation state, and the input power factor of the control system in the steady state is improved.

[0050] Thus, through the notch gain regulator, the notch gain of the notch filter is adjusted according to the speed change during motor starting, so that the notch filter maintains a high notch filtering ability during the motor starting and speed-up process and filters out most of the actual signal fluctuation components; when the motor is in steady-state operation, the notch filter maintains a low notch filtering ability, so that a certain degree of the fluctuation components in the actual signal are retained, thereby enabling the actual signal of the control system to fluctuate synchronously with the DC bus voltage and improving the input power factor of the control system.

[0051] In some embodiments, any one of the first notch filter, the second notch filter and the third notch filter includes: a filter having double zeros and double poles. The filter having double zeros and double poles can eliminate signals within a specific narrow frequency band without affecting signals of other frequencies.

[0052] Specifically, the switching regulator module, as the regulator module (such as the speed regulator) of the speed loop, is configured to switch its own regulation mode according to the comparison result, and regulate the change of the difference between the actual speed and the given speed of the motor in the speed loop in the switched regulation mode. By setting the switching regulator module in the speed loop, the error between the actual signal and the given signal in the control link is reduced, the tracking control ability of the control system is improved, the success rate of motor starting is increased, and the stability of the control system is strengthened.

[0053] Thus, by setting a notch filter module in the actual signal feedback loops of the speed loop and the current loop of the motor speed control system, and setting a switching regulator module in the speed loop, during the motor starting process, through the notch filter module, it is possible to filter out the fluctuating signal components contained in the actual speed and the actual drive current fed back to the control system in the speed loop and the current loop of the control system without electrolytic capacitors, improve the average values of the actual speed and the actual drive current, and enable the motor to maintain a state of increasing speed with a large drive current during the starting process; through the switching regulator module (i.e., the switchable regulator module), it is possible to adjust the control structure of the speed loop according to the speed change during the motor starting and speed increasing process, thereby reducing the influence of the DC bus voltage fluctuation on the motor starting process and improving the success rate of motor starting.

[0054] In some embodiments, the switching regulator module includes: a speed PD module, a regulation mode switcher, and a speed PI module. During the starting control process of the motor, after the control system (i.e., the motor speed control system) obtains the given speed w* and the actual speed w, the speed comparison module in the speed loop of the control system (i.e., the motor speed control system) compares the given speed w* and the actual speed w during the motor starting and speed increasing stage, and switches the regulation mode of the speed loop regulator according to the result of the speed comparison. During the operation of the control system (i.e., the motor speed control system), the switching operation of switching the regulation mode of the speed regulator is synchronized with the switching operation of switching the notch gain of the notch filter. When switching the speed regulation mode, the speed comparison module outputs the comparison result of the given speed w* and the actual speed w to the regulation mode switcher, and the regulation mode switcher switches the regulation mode of the speed loop regulator according to the obtained speed comparison result. When the actual speed w is less than the given speed w*, the regulation mode switcher determines this state as the starting and speed increasing state, and switches the speed loop regulator to a proportional derivative (PD) regulator; when the actual speed w is equal to or greater than the given speed w*, the regulation mode switcher determines this state as the stable operation state, and switches the speed loop regulator to a proportional integral (PI) regulator.

[0055] Among them, the switching regulator module switches its own regulation mode according to the comparison result, including: the regulation mode switcher is configured to switch its own regulation mode to the speed PD regulation mode if the actual speed of the motor is less than the given speed of the motor. If the actual speed of the motor is greater than or equal to the given speed of the motor, it switches its own regulation mode to the speed PI regulation mode.

[0056] Specifically, the adjustment mode switcher is configured to switch the structure of the switchable regulator module according to the change in the real-time rotational speed (such as the actual rotational speed ω) when the motor starts. When the motor is in the starting and accelerating state, the actual rotational speed ω of the motor is less than the given rotational speed ω*. At this time, the adjustment mode switcher switches the speed loop regulator to the proportional derivative (PD) regulator mode. When the actual rotational speed ω of the motor accelerates to the given rotational speed ω* and reaches the steady-state operation state, the actual rotational speed ω of the motor is equal to or greater than the given rotational speed ω*. At this time, the adjustment mode switcher switches the speed loop regulator to the proportional integral (PI) regulator mode.

[0057] In some embodiments, the switchable adjustment module adjusts the change in the difference between the actual rotational speed and the given rotational speed of the motor in the speed loop in the adjusted mode after switching, including at least one of the following adjustment processes:

[0058] The first adjustment process: The speed PD module is configured to perform PD adjustment on the change in the actual rotational speed of the motor in the speed loop in the speed PD adjustment mode, that is, perform PD adjustment on the rotational speed difference between the given rotational speed of the motor and the actual rotational speed of the motor, and output the given q-axis current of the motor under the given rotational speed condition of the motor.

[0059] Specifically, the speed PD module can be a proportional derivative (PD) regulator, which is configured to perform proportional derivative adjustment on the difference between the given rotational speed ω* of the motor and the actual rotational speed ω of the motor, and output the given motor q-axis current i q *. The proportional derivative regulator is configured to track and control the motor speed during the motor acceleration process.

[0060] The second adjustment process: The speed PI module is configured to perform PI adjustment on the change in the actual rotational speed of the motor in the speed loop in the speed PI adjustment mode, that is, perform PI adjustment on the rotational speed difference between the given rotational speed of the motor and the actual rotational speed of the motor, and output the given q-axis current of the motor under the given rotational speed condition of the motor.

[0061] Specifically, the speed PI module can be a proportional integral (PI) regulator, which is configured to perform proportional integral adjustment on the difference between the given rotational speed ω* of the motor and the actual rotational speed ω of the motor, and output the given motor q-axis current i q*。The proportional-integral regulator is configured to track and control the motor speed when the motor has completed its speed increase and reached the steady-state operation state. The integral control link of the proportional-integral regulator is mainly used to eliminate the steady-state speed error during the operation of the motor. When the motor starts to accelerate to the given speed w* or the control system (i.e., the motor speed control system) detects that the actual speed w of the motor is greater than the given speed w*, the adjustment mode switch determines that the motor is in the stable operation state and switches the speed regulator to a proportional-integral (PI) regulator with an integral control link. The integral control link of the proportional-integral regulator can eliminate the steady-state speed error of the motor and achieve the effect of making the motor operate stably.

[0062] Thus, during the starting and accelerating process of the motor, by switching to the PD regulation mode of the PD regulator to perform PD regulation on the speed difference during the starting and accelerating process of the motor, the dynamic error and integral overshoot phenomenon between the given speed and the actual speed in the speed loop are eliminated, and the delay phenomenon of the signal phase lag generated by the notch filter module is cancelled out; when the actual speed of the motor accelerates to the given speed, it is switched to the PI regulation mode of the PI regulator to perform PI regulation on the speed difference when the actual speed of the motor accelerates to the given speed, so as to eliminate the steady-state speed error during the operation of the motor.

[0063] In some embodiments, the speed PD module includes: a proportional control link, a differential control link, and a feedback differential control link.

[0064] Among them, the speed PD module, in the PD regulation mode of the speed, performs PD regulation on the change of the actual speed of the motor in the speed loop, that is, performs PD regulation on the speed difference between the given speed of the motor and the actual speed of the motor, including the adjustment process of any of the following links:

[0065] The adjustment process of the first link: The proportional control link is configured to eliminate the dynamic speed error of the speed loop during the starting and accelerating process of the motor.

[0066] The adjustment process of the second link: The differential control link is configured to cancel out the signal delay phenomenon generated by the filtering effect in the speed loop.

[0067] The adjustment process of the third link: The feedback differential control link is configured to perform feedback differential regulation on the input-output variable difference of the limiter module in the speed loop to further eliminate the integral saturation error of the actual signal part introduced by other control links in the input variable of the speed loop; the other control links include: a filtering link.

[0068] Specifically, the proportional control link of the PD regulator is configured to adjust the dynamic error between the given rotational speed w* and the actual rotational speed w to complete the tracking control process; the differential control link is configured to eliminate the signal delay phenomenon caused by the influence of the filtering link in the control system (i.e., the motor speed regulation system) on the controlled signal and suppress the appearance of the steady-state error in the control signal in advance.

[0069] Thus, the integral control link in the speed loop regulator (such as the speed PI regulation module) is removed from the proportional-derivative regulator, and the overshoot phenomenon of the speed error caused by the integral control link during the motor starting and speed-up process is eliminated. By improving the control structure of the speed loop, the structure of the speed PI module (i.e., the PI regulator) is improved to a switchable PD regulator - PI regulator module. During the motor starting and speed-up process, the switchable regulator module can switch the speed loop regulator to a PD regulator without an integral link to eliminate the speed overshoot phenomenon caused by the integral error, and at the same time, the differential link in the PD regulator is used to cancel the delay phenomenon of the signal phase lag caused by the notch filter module; when the actual speed of the motor rises to the given speed, the speed loop regulator is switched to a PI regulator to eliminate the steady-state error during motor operation.

[0070] In some embodiments, the proportional coefficient of the speed PD module is greater than the proportional coefficient of the speed PI module. Among them, the large proportional coefficient of the proportional control link in the proportional-derivative regulator is configured to quickly eliminate the dynamic speed error during the motor starting and speed-up process.

[0071] Specifically, since the error between the given rotational speed w* and the actual rotational speed w is large during the motor starting process, taking a larger proportional regulation coefficient can eliminate the rotational speed dynamic error during the starting process faster. Therefore, the value of the proportional coefficient in the PD regulator is different from the value of the proportional coefficient in the PI regulator, and the proportional coefficient of the PD regulator takes a larger value. When the motor is in the starting and speed-up state, the speed loop regulator is switched to a PD regulator without an integral control link and with a larger proportional coefficient K P value, then there will be no integral accumulation of the speed error during the motor starting and speed-up process, so the speed overshoot phenomenon is suppressed.

[0072] In this way, the value of the proportional coefficient in the PD regulator is different from the value of the proportional coefficient in the PI regulator. The proportional coefficient of the PI regulator takes a smaller value within a reasonable range because, during the steady-state operation of the motor, a larger proportional regulation coefficient will prolong the time for the control system (i.e., the motor speed regulation system) to adjust the error and return to the steady state, and the stability of the control system (i.e., the motor speed regulation system) will be reduced.

[0073] After a large number of experimental verifications, by adopting the technical solution of the present invention, the control structure of the speed loop and the current loop is improved by adding a notch filter module to the feedback links of the speed loop and the current loop in the non-electrolytic capacitor control system (i.e., the non-electrolytic capacitor motor speed regulation system), so that the fluctuation components in the actual speed and the actual drive current generated by the DC bus voltage fluctuation and fed back to the control system are suppressed, the average value of the drive current during the motor starting process is increased, the motor starting success rate is further increased, and the probability of abnormal phenomena caused by the reduction of the average value of the drive current during the motor starting process is reduced.

[0074] According to an embodiment of the present invention, there is also provided a motor corresponding to the starting control device of the motor. The motor may include: the starting control device of the motor described above.

[0075] When the electrolytic capacitor with a large capacitance value at the DC side bus terminal of the permanent magnet synchronous motor drive system is replaced with a thin film capacitor with a small capacitance value, the ability of the bus capacitor to absorb electric energy is greatly reduced. Therefore, the DC bus voltage will change from a stable DC voltage to a voltage of an approximate sine signal with fluctuations. This fluctuating voltage signal is obtained by the rectifier circuit processing the AC input voltage signal. Therefore, the fluctuation frequency of this fluctuating voltage signal is twice the frequency of the AC input voltage. Compared with the stable DC bus voltage, the average value of the fluctuating DC bus voltage will decrease, which will cause the average value of the motor drive voltage to decrease when the motor speeds up during the motor starting process, and the average value of the motor drive current to decrease, and further cause the motor to fail to speed up normally, resulting in phenomena such as rotor jamming and shutdown; at the same time, the fluctuating DC bus voltage will cause the phase current of the motor to have fluctuations with the same frequency, further increasing the error between the feedback current and the given current when the motor starts and speeds up. An excessive error will cause the PI regulator in the motor control system to be unable to complete the tracking control process well, resulting in phenomena such as motor speed deviation or speed overshoot.

[0076] That is to say, the control system without electrolytic capacitors is affected by the reduction of the capacitance value of its DC bus capacitor, and has the characteristic that the DC bus voltage fluctuates at a frequency twice that of the AC input power voltage. If the AC input power voltage frequency is 50Hz, affected by the characteristics of the rectifier circuit, the DC bus voltage fluctuation frequency of the control system without electrolytic capacitors is twice that of 50Hz, that is, 100Hz. Compared with the relatively stable DC bus voltage in the control system using electrolytic capacitors, the average value of this 100Hz periodically fluctuating DC bus voltage will be reduced due to the fluctuation effect. During the starting and speed-up process of the permanent magnet synchronous motor, the control system needs to control the motor to run at the maximum drive current to quickly increase the motor speed to a given speed. If the DC bus voltage of the control system fluctuates, the average drive voltage of the motor will decrease, and the average drive current of the motor will decrease accordingly. The motor cannot maintain the speed increase at the maximum drive current, and there will be abnormal starting, loss of step, shutdown and other phenomena.

[0077] In some embodiments, the scheme of the present invention, in view of the characteristics of the electrolytic capacitor-free control system, designs a motor starting scheme applied in the electrolytic capacitor-free control system, that is, a starting control scheme for a permanent magnet synchronous motor without an electrolytic capacitor, specifically a starting control method for a permanent magnet synchronous motor without an electrolytic capacitor and a starting control device for a motor using the method, which relates to the field of variable frequency drive of permanent magnet synchronous motors. The starting control method for a permanent magnet synchronous motor without an electrolytic capacitor and a starting control device for a motor using the method provided by the scheme of the present invention are suitable for electrolytic capacitor-free systems or small capacitance DC bus capacitor motor control systems, can reduce the influence of DC bus voltage fluctuations on the motor starting process, improve the success rate of motor starting, and enhance the stability of the control system.

[0078] In the scheme of the present invention, by adding a notch filter module to the feedback link of the speed loop and the current loop in the electrolytic capacitor-free control system (i.e., the electrolytic capacitor-free motor speed control system), the control structure of the speed loop and the current loop is improved, so that the fluctuation component in the actual speed and the actual driving current generated by the DC bus voltage fluctuation and fed back to the control system is suppressed, the average value of the driving current in the motor starting process is improved, the motor starting success rate is further increased, and the probability of abnormal phenomena caused by the reduction of the average value of the driving current in the motor starting process is reduced. Thus, the problem of abnormal motor starting caused by the reduction of the average value of the motor driving voltage due to the fluctuation of the DC bus voltage in the process of controlling the motor starting of the electrolytic capacitor-free permanent magnet synchronous motor control system is solved.

[0079] In the solution of the present invention, a notch filter module is used to suppress the fluctuation components of the actual signals in the speed loop and the current loop, convert the actual signals in the control link into relatively stable controlled signals, reduce the error between the actual signal and the given signal in the control link, and improve the tracking control ability of the control system. Thus, the problem that the error between the given d-q axis currents and the actual d-q axis currents in the current loop part is too large due to the DC bus voltage fluctuation during the motor starting process of the permanent magnet synchronous motor control system without electrolytic capacitors is solved, and the stability of the actual d-q axis currents during the motor starting process is improved.

[0080] In the solution of the present invention, a variable structure regulator control method is applied in the speed loop, and the PI regulator in the speed loop is improved into a control structure of a switchable proportional derivative (PD) regulator - proportional integral (PI) regulator module. During the motor starting and speed increasing process, the PD regulator with a large proportional coefficient is applied to eliminate the dynamic error and integral overshoot phenomenon between the given speed and the actual speed, and at the same time, the signal delay phenomenon caused by the notch filter module in the feedback loop is cancelled out by using the differential link in the regulator, so that the speed overshoot amount during the motor starting process is reduced and the actual speed error during the starting process is decreased. When the motor speed rises to the given speed and enters the steady-state operation range, the PD regulator is switched to the PI regulator with a relatively small proportional coefficient to eliminate the steady-state error of the motor speed, achieving the effect of accurately controlling the steady-state operation of the motor. Thus, the problem of motor speed overshoot caused by the accumulation of motor speed errors during the motor starting process of the permanent magnet synchronous motor control system without electrolytic capacitors is solved, and the motor speed overshoot phenomenon is suppressed by improving the control structure of the speed loop.

[0081] It can be seen that the starting control solution provided by the solution of the present invention can specifically be a starting control method and a starting control device for a permanent magnet synchronous motor without electrolytic capacitors. A variable structure PI-PD switchable regulator structure is applied in the speed loop of the control system, and a notch filter is used to suppress the current fluctuation phenomenon during motor starting, improve the average value of the starting current, and increase the probability of successful motor starting.

[0082] Among them, in the solution of the present invention, there is no integral control link in the PD regulator, and the differential link is composed of a normal differentiator and a feedback differentiator; the proportional coefficient and the differential coefficient of the PD regulator are modified according to the characteristics of the control system and are not fixed values; there is no integral link in the PD regulator with anti-saturation characteristics. When the motor starts, the integral link is removed and only the proportional link is used for linear control, which can suppress the speed overshoot phenomenon, and the differential link added to the PD regulator is used to eliminate the signal delay phenomenon brought by the filtering link in the control system and can also eliminate the dynamic integral error introduced by other control links during motor starting.

[0083] The following is combined withFigures 2 to 12 The following example is used to illustrate the specific implementation process of the solution of the present invention by way of example.

[0084] Figure 2 It is a schematic structural diagram of an embodiment of a permanent magnet synchronous motor vector control system. As Figure 2 shown in the permanent magnet synchronous motor vector control system, it includes: a power supply system and a motor speed regulation system.

[0085] In Figure 2 the example shown, the power supply system includes: an AC power supply U in , an inductor L, a resistor R, a rectifier circuit, an electrolytic capacitor C1, and an inverter. The rectifier circuit includes: a rectifier bridge composed of rectifier diodes. The first end of the AC power supply is connected to the first input end of the rectifier circuit via the inductor L and the resistor R, and the second end of the AC power supply is connected to the second input end of the rectifier circuit. After the output end of the rectifier circuit is connected in parallel with the electrolytic capacitor C1, it is output to the input end of the inverter. The output end of the inverter is output to the permanent magnet synchronous motor.

[0086] In Figure 2 the example shown, the motor speed regulation system includes: a speed loop, a current loop, and other control modules. The speed loop includes: a first comparator and a speed PI module. The current loop includes: a second comparator, a q-axis current PI module, a third comparator, and a d-axis current PI module. The other control modules include: a current detection module, a Clarke transformation module, a Park transformation module, a Park inverse transformation module, a rotor position detection module, and an SVPWM (Space Vector Pulse Width Modulation) module.

[0087] In Figure 2 the example shown, the current detection module can detect the first current i a and the second current i b at the output end of the inverter, that is, at the input end of the permanent magnet synchronous motor. The first current i a and the second current i b , after being processed by the Clarke transformation of the Clarke transformation module, obtain the first Clarke transformation current i α , and the second Clarke transformation current i β . The Clarke transformation current i α and i β , after being processed by the Park transformation of the Park transformation module, obtain the actual d-axis current i d and the actual q-axis current i q .

[0088] In Figure 2In the example shown, the rotor position detection module can detect the actual speed ω of the permanent magnet synchronous motor. The given speed ω* is input to the non-inverting input terminal of the first comparator, and the actual speed ω detected by the rotor position detection module is input to the inverting input terminal of the first comparator. The output terminal of the first comparator is output to the input terminal of the speed PI module, and the output terminal of the speed PI module outputs the given q-axis current i q * to the non-inverting input terminal of the second comparator, and the actual q-axis current i output by the Park transformation module is input to the inverting input terminal of the second comparator q , the output terminal of the second comparator is output to the input terminal of the q-axis current PI module, and the output terminal of the q-axis current PI module outputs the given q-axis voltage u q * to the first input terminal of the Park inverse transformation module. The given d-axis current i d * is input to the non-inverting input terminal of the third comparator, and the actual d-axis current i d is input to the inverting input terminal of the third comparator, and the output terminal of the third comparator outputs the given d-axis voltage u d * to the second input terminal of the Park inverse transformation module. The first output terminal of the Park inverse transformation module outputs the Park inverse transformation voltage u q * of the given q-axis voltage u α * to the first input terminal of the SVPWM module. The second output terminal of the Park inverse transformation module outputs the Park inverse transformation voltage u d * of the given d-axis voltage u β * to the second input terminal of the SVPWM module. The output terminal of the SVPWM module is output to the inverter.

[0089] Among them, the Park transformation (i.e., the Park transformation) projects the a, b, and c phase currents of the stator onto the direct axis (d-axis) that rotates with the rotor, the quadrature axis (q-axis), and the zero axis (0-axis) perpendicular to the d-q plane, thereby realizing the diagonalization of the stator inductance matrix and simplifying the operation analysis of the synchronous motor, that is, transforming the variables in the abc coordinate system to the d-q coordinate system. The Park inverse transformation is the inverse transformation of the Park transformation. The Park transformation is to transform the variables in the abc coordinate system to the rotating d-q coordinate system. The Clarke transformation is to transform the variables in the abc coordinate system to the stationary α-β coordinate system.

[0090] Figure 3 FIG. is a schematic structural diagram of an embodiment of the starting control device of the motor of the present invention, specifically a schematic structural diagram of an embodiment of a permanent magnet synchronous motor speed regulation system without electrolytic capacitors and a starting control device.

[0091] In some embodiments, such as Figure 3 shown in the example, in Figure 2Based on the examples shown, structural improvements have been made to the speed loop and current loop of the permanent magnet synchronous motor speed regulation system. A notch filter module with a notch frequency of twice the AC input power supply voltage frequency is added to the actual signal feedback loop of the speed loop and current loop to suppress the fluctuation phenomenon of the actual drive current and increase the average value of the actual drive current, so that the motor can maintain a relatively large actual drive current to increase the speed during the starting process. In Figure 3 the example shown, Figure 2 the electrolytic capacitor C1 in the example shown is replaced by a thin film capacitor C2.

[0092] Such as Figure 3 the example shown, in Figure 2 Based on the example shown, the control structure of the speed loop is improved, and the Figure 2 structure of the speed PI module (i.e., PI regulator) in the example shown is improved to a switchable PD regulator - PI regulator module. During the starting and speed - increasing process of the motor, the switchable regulator module can switch the speed loop regulator to a PD regulator without an integral link to eliminate the overshoot phenomenon of the speed caused by the integral error, and at the same time, apply the differential link in the PD regulator to cancel the delay phenomenon of the signal phase lag caused by the notch filter module; when the actual speed of the motor increases to the given speed, the speed loop regulator is switched to a PI regulator to eliminate the steady - state error during the operation of the motor.

[0093] In Figure 3 the example shown, the notch filter module and the switchable PD regulator - PI regulator module need to work simultaneously in the control system to achieve the effects shown in the experimental results.

[0094] In some embodiments, in Figure 3 the example shown, the notch filter module includes: three notch filters and a notch gain regulator. Among them, the three notch filters can be the first notch filter, the second notch filter, and the third notch filter. The first notch filter is set between the rotor position detection module and the inverting input terminal of the first comparator, and can perform notch filtering on the actual speed w of the motor. The second notch filter is set between the output terminal of the actual d - axis current i d of the Park transformation module and the inverting input terminal of the second comparator, and can perform notch filtering on the actual d - axis current i d The third notch filter is set between the output terminal of the actual q - axis current i q of the Park transformation module and the inverting input terminal of the third comparator, and can perform notch filtering on the actual q - axis current i qNotch filtering is performed. The input end of the notch gain regulator is connected to a switching regulation module (such as a switchable regulator module, a switchable PD regulator - PI regulator module, etc.), specifically to the speed comparison module in the switching regulation module; the first output end of the notch gain regulator is connected to the first notch filter; the second output end of the notch gain regulator is connected to the second notch filter; the third output end of the notch gain regulator is connected to the third notch filter.

[0095] In this way, through the notch filter module, it is possible to filter out the fluctuation signal components contained in the actual speed and the actual drive current fed back to the control system in the speed loop and the current loop of the non - electrolytic capacitor control system, improve the average values of the actual speed and the actual drive current, and enable the motor to maintain a state of increasing speed with a large drive current during the starting process.

[0096] In some embodiments, any one of the first notch filter, the second notch filter, and the third notch filter is a filter having double zeros and double poles. A filter having double zeros and double poles can eliminate signals within a specific narrow frequency band without affecting signals of other frequencies.

[0097] The notch filter structure adopted in the solution of the present invention is a notch filter structure with adjustable notch gain. That is, during the starting and speed - increasing process of the motor, the notch filter is switched to a high notch gain state, so that the notch filter filters out as much as possible the fluctuation components in the actual speed and the actual drive current, and improves the average values of the actual speed and the actual drive current; when the actual speed of the motor increases to the given speed and reaches the stable operation state, the notch filter will be switched to a low notch gain state, and the filtering ability of the notch filter for the fluctuation components in the actual signal of the control system is reduced, so that the actual speed and the actual drive current in the steady - state condition maintain a synchronous fluctuation state with the DC - side bus voltage, and the input power factor of the control system in the steady - state is improved.

[0098] Specifically, the above - mentioned notch gain regulator is configured to adjust the notch gain of the notch filter according to the speed change during motor starting, so that the notch filter maintains a high notch filtering ability during the starting and speed - increasing process of the motor, filtering out most of the actual signal fluctuation components; when the motor is in steady - state operation, the notch filter maintains a low notch filtering ability, so that a certain degree of the fluctuation components in the actual signal are retained, thereby enabling the actual signal of the control system to fluctuate synchronously with the DC - side bus voltage and improving the input power factor of the control system.

[0099] In some embodiments, the switchable regulator module described above is configured in the speed loop, and a speed comparison module is also provided in the speed loop. The switchable regulator module includes: a speed PD module (such as a proportional derivative regulator), a speed PI module (such as a proportional integral regulator), and a regulation mode switch. The output end of the first comparator is respectively connected to the input end of the speed comparison module, the first input end of the speed PD module, and the first input end of the speed PI module. The first output end of the speed comparison module is connected to the input end of the regulation mode switch. The second output end of the speed comparison module is connected to the input end of the notch gain regulator. The first output end of the regulation mode switch is connected to the second input end of the speed PD module. The output end of the speed PD module is connected to the non-inverting input end of the second comparator. The second output end of the regulation mode switch is connected to the second input end of the speed PI module. The output end of the speed PI module is connected to the non-inverting input end of the second comparator.

[0100] In this way, through the switchable regulator module, the control structure of the speed loop can be adjusted according to the speed change during the motor starting and speed-up process.

[0101] Figure 4 It is a schematic structural diagram of an embodiment of the switchable regulator of the speed loop in the starting control device of the motor of the present invention. In the example as Figure 4 shown, the regulation mode switch is configured to switch the structure of the switchable regulator module according to the change of the real-time speed (such as the actual speed w) when the motor starts. When the motor is in the starting and speed-up state, the actual speed w of the motor is less than the given speed w*. At this time, the regulation mode switch switches the speed loop regulator to the proportional derivative (PD) regulator mode; when the actual speed w of the motor speeds up to the given speed w* and reaches the steady-state operation state, the actual speed w of the motor is equal to or greater than the given speed w*. At this time, the regulation mode switch switches the speed loop regulator to the proportional integral (PI) regulator mode.

[0102] Refer to the part shown by the dotted line in Figure 4 for the regulation mode switch. This regulation mode switch can be a judgment module, which selects which regulation mode, the PD mode or the PI mode, according to the magnitude relationship between the speed difference and 0.

[0103] In Figure 3 and Figure 4 the shown example, the comparator in the front end of the speed comparison module is used to solve the difference between the given speed and the actual speed, and input this difference into the subsequent speed loop regulator to complete the regulation process. The speed comparison module is used to compare the state of this speed difference, detect whether it is greater than or equal to 0 or less than 0, so as to switch the regulator mode and the notch filter gain.

[0104] Proportional-integral (PI) regulator, comprising: proportional control link K p2 and integral control link K i / s. The proportional-integral (PI) regulator is configured to perform proportional-integral regulation on the difference between the given speed w* of the motor and the actual speed w of the motor, and output the given motor q-axis current i q * under the condition of the given speed w* of the motor. The proportional-integral regulator is configured to track and control the motor speed when the motor speed-up is completed and reaches steady-state operation. The integral control link of the proportional-integral regulator is mainly used to eliminate the steady-state error during motor operation.

[0105] Proportional control link K p2 and integral control link K i / s, which is the frequency-domain transfer function form of the proportional link and the integral link. The operation form of the PI regulator is that the input variable difference is multiplied by K p2 and K i / s respectively, and the sum of the two products is the output variable of the PI regulator. The PD regulator is the same.

[0106] Proportional-derivative (PD) regulator, comprising: proportional control link K p1 , derivative control link K d ·s / (s + 1) and feedback derivative control link 1 / K p1 . The proportional-derivative (PD) regulator is configured to perform proportional-derivative regulation on the difference between the given speed w* of the motor and the actual speed w of the motor, and output the given motor q-axis current i q * under the condition of the given speed w* of the motor. The proportional-derivative regulator is configured to track and control the motor speed during the motor speed-up process. The large proportional coefficient of the proportional control link in the proportional-derivative regulator is configured to quickly eliminate the dynamic speed error during the motor starting and speed-up process; the derivative control link in the proportional-derivative regulator is configured to cancel the signal delay phenomenon generated by the filtering effect in the control link; the feedback derivative control link in the proportional-derivative regulator is configured to perform feedback derivative regulation on the difference between the input and output variables of the limiter module to further eliminate the integral saturation error of the actual signal part introduced by other control links in the speed loop input variable; the said other control links include: filtering link.

[0107] Wherein, the integral control link in the speed loop regulator (such as the speed PI regulation module) is removed from the proportional-derivative regulator, and the speed error overshoot phenomenon caused by the integral control link during the motor starting and speed-up process is eliminated.

[0108] It can be seen that in a starting control method for a permanent magnet synchronous motor without electrolytic capacitors and a starting control device for the motor provided by the solution of the present invention, by improving the control structure of the electrolytic-capacitor-free control system, a notch filter with variable gain is added on the basis of the electrolytic-capacitor-free control system of the permanent magnet synchronous motor to suppress the fluctuation components in the actual speed and the actual drive current in the control system, increase the average values of the actual speed and the actual drive current, control the motor to start and accelerate with a relatively high drive current, and improve the success rate of motor starting. At the same time, in the solution of the present invention, the speed loop control structure of the electrolytic-capacitor-free control system is improved, and a switchable regulator structure is adopted to control the motor starting and accelerating process and the motor steady-state operation process respectively, so that the integral error overshoot phenomenon in the motor accelerating process is suppressed, and the signal delay phenomenon generated by the filtering link in the motor accelerating process is improved to a certain extent.

[0109] Figure 5 It is a schematic diagram of the starting control process of the motor for an embodiment of the starting control device of the motor of the present invention. As Figure 5 shown, the starting control process of the motor in the solution of the present invention includes:

[0110] Step 1: Collect the circuit parameters required by the control system. The circuit parameters required by the solution of the present invention include: a. The given speed w* of the motor, which is set externally and input into the control system (i.e., the motor speed regulation system); b. The actual speed w of the motor, which is obtained by the speed detection module of the control system; c. The actual d-q axis currents of the motor, that is, the actual d axis current i d and the actual q axis current i q , and the actual d-q axis currents in this part are detected by the current sampling module of the control system to obtain the motor running phase current, and coordinate transformation (such as Clarke transformation, Park transformation) and other calculation processes are performed on the motor phase current through an internal chip.

[0111] Step 2: After the control system (i.e., the motor speed regulation system) obtains the given speed w* and the actual speed w, the speed comparison module in the speed loop of the control system (i.e., the motor speed regulation system) compares the given speed w* and the actual speed w in the motor starting and accelerating stage, and transmits the result of the speed comparison to the notch filter module.

[0112] Step 3: The notch filter module includes a notch gain regulator and three groups of notch filters, which are respectively configured on the actual speed feedback loop of the speed loop and the two actual d-q axis current feedback loops of the current loop. The gain coefficients of the three groups of notch filters are synchronously controlled by the notch gain regulator. The notch frequency of each notch filter in the three groups of notch filters is set to twice the voltage frequency of the AC input power supply, which is consistent with the DC bus voltage fluctuation frequency. When the motor is in the starting and speed-up state, the notch filter is adjusted to the high notch gain mode. The notch filter in the high notch gain mode can filter out most of the pulsating components in the actual signal, improve the average values of the actual speed and the actual drive current during the motor starting process, and ensure that the motor accelerates with the maximum drive current. When the motor is in the stable operation state, the notch filter is adjusted to the low notch gain mode. The notch filter in the low notch gain mode will work in the low notch gain state to retain some of the pulsating components in the actual signal, so that the actual speed and the actual drive current of the motor fluctuate synchronously with the DC bus voltage, maintaining the "same frequency and same phase" state to improve the input power factor of the control system (i.e., the motor speed control system). The transfer function of the notch filter is shown in Equation (1):

[0113]

[0114] In Equation (1), w n is the notch frequency. In the system without electrolytic capacitors, the notch frequency is set to twice the voltage frequency of the AC input power supply, which is consistent with the DC bus voltage fluctuation frequency. ζ n is the damping ratio, also known as the notch gain. It is a value with a minimum of 0 and a maximum of 1, which can determine the notch attenuation degree of the notch filter. The larger the value of the notch gain, the stronger the notch ability of the notch filter; the smaller the value of the notch gain, the weaker the notch ability of the notch filter. Figure 11 The Bode diagrams when the notch frequency of the notch filter is 100Hz and the notch gains ζ n are 0.15 and 0.6 respectively are shown. It can be obtained from Figure 11 that when the notch gain is 0.15, the attenuation gain of the 100Hz signal is about -288.8dB; when the notch gain is 0.6, the attenuation gain of the 100Hz signal is about -305.7dB. And in the two Bode diagrams, the larger the notch gain, the flatter the notch edge of the signal, the greater the damping effect of the notch filter on the notch frequency and its nearby frequency signals, and the stronger the ability to absorb the notch frequency signal; the smaller the notch gain, the steeper the notch edge of the signal, the smaller the damping effect of the notch filter on the notch frequency and its nearby frequency signals, and the weaker the ability to absorb the notch frequency signal.

[0115] Among them, Equation (1) is the transfer function of the notch filter. In practical applications, the notch frequency wn and damping ratio ζ n It needs to be set and adjusted according to the actual situation of the control system.

[0116] When adjusting the notch gain, the notch gain regulator adjusts the gain coefficient ζ of the notch filter according to different operating states during motor startup. n . When the actual speed w is less than the given speed w*, the notch gain regulator determines this state as the starting and speed-up state, and adjusts the notch filter to the high notch gain state. At this time, the notch filtering ability of the notch filter is enhanced, and most of the fluctuations with the same frequency as the DC bus voltage ripple frequency in the actual speed and actual drive current will be filtered out; when the actual speed w is equal to or greater than the given speed w*, the notch gain regulator determines this state as the stable operation state, and adjusts the notch filter to the low notch gain state. At this time, the notch filtering ability of the notch filter is weakened, and the fluctuations with the same frequency as the DC bus voltage ripple frequency in the actual speed and actual drive current are retained to a certain extent. The purpose is to make the actual speed and actual drive current of the motor fluctuate synchronously with the DC bus voltage, maintaining the "same frequency and same phase" state to improve the input power factor of the control system (i.e., the motor speed control system).

[0117] Step 4: After the control system (i.e., the motor speed control system) obtains the given speed w* and the actual speed w, the speed comparison module in the speed loop of the control system (i.e., the motor speed control system) compares the given speed w* and the actual speed w during the motor startup and speed-up stage, and switches the adjustment mode of the speed loop regulator according to the result of the speed comparison. During the operation of the control system (i.e., the motor speed control system), the switching operation of switching the adjustment mode of the speed regulator and the switching of the notch gain of the notch filter are carried out synchronously.

[0118] When switching the speed adjustment mode, the speed comparison module outputs the comparison result of the given speed w* and the actual speed w to the adjustment mode switch, and the adjustment mode switch switches the adjustment mode of the speed loop regulator according to the obtained speed comparison result. When the actual speed w is less than the given speed w*, the adjustment mode switch determines this state as the starting and speed-up state, and switches the speed loop regulator to a proportional derivative (PD) regulator; when the actual speed w is equal to or greater than the given speed w*, the adjustment mode switch determines this state as the stable operation state, and switches the speed loop regulator to a proportional integral (PI) regulator.

[0119] Step 5: When the motor is in the starting and speed-up control process, the initial speed of the motor is 0, and the motor generates the maximum magnetic force with the maximum drive current, driving the motor rotor to rotate with the maximum acceleration to quickly reach the given speed. During the process of the motor accelerating from a speed of 0 to the given speed w*, there is a large error between the given speed w* and the actual speed w of the motor. Figure 2In the example shown, the permanent magnet synchronous motor control system (i.e., the motor speed regulation system) adopts a double-loop feedback control method. The motor speed is controlled by the difference between the given speed and the actual speed through a proportional-integral (PI) regulator to achieve the effect of real-time tracking control. The time-domain expression of the PI regulator is shown in Equation (2):

[0120]

[0121] Among them, Equation (2) is the time-domain expression of the PI regulator. When using this formula, the coefficients K p and K i .

[0122] The integral link in the speed PI regulator will integrate the error between the given speed and the actual speed. When the motor starts and accelerates, the speed error is large, and the integration of the large error will cause the motor acceleration not to decrease in time when the motor reaches the given speed, and the motor speed will further increase in a short time, resulting in the phenomenon of speed overshoot. The control system (i.e., the motor speed regulation system) needs a longer time to process the overshoot error generated by the speed overshoot phenomenon, and the stability of the control system (i.e., the motor speed regulation system) will be reduced. Therefore, the fundamental reason for the speed overshoot phenomenon during the motor starting process is the error integration control link in the PI regulator. To eliminate the speed overshoot phenomenon, during the motor starting process, the integral control link in the speed loop regulator can be cancelled. Based on this improvement strategy, when the adjustment mode switcher described in step 4 determines that the motor is in the starting and accelerating state, the speed regulator is switched to a proportional-derivative (PD) regulator without an integral control link. The time-domain expression of the proportional-derivative regulator is shown in Equation (3):

[0123]

[0124] In Equation (3), K P is the proportional coefficient, and K D is the derivative coefficient. The larger K P , the faster the regulator adjusts the dynamic error, and the larger K D , the better the regulator's ability to lead and adjust the error. In the solution of the present invention, the value of the proportional coefficient in the PD regulator is different from the value of the proportional coefficient in the PI regulator. The value of the proportional coefficient of the PD regulator is larger because during the motor starting process, the error between the given speed w* and the actual speed w is large, and taking a larger proportional adjustment coefficient can eliminate the speed dynamic error during the starting process faster. When the motor is in the starting and accelerating state, the speed loop regulator is switched to a regulator without an integral control link, and the proportional coefficient K PFor a PD regulator with a large value, there will be no integral accumulation of the speed error during the motor starting and speed-up process. Therefore, the phenomenon of overshoot is suppressed.

[0125] Among them, Equation (3) is the time-domain expression of the PD regulator. When using this formula, the coefficients K P and K D .

[0126] The proportional control link of the above PD regulator is configured to adjust the dynamic error between the given speed w* and the actual speed w to complete the tracking control process; the differential control link is configured to eliminate the signal delay phenomenon caused by the influence of the filtering link in the control system (i.e., the motor speed control system) on the controlled signal, and suppress the appearance of the steady-state error of the control signal in advance. The control process of the differential control link can be described by the following example:

[0127] Taking the PD regulator without an integral control link applied in the motor starting and speed-up process of the method of the present invention as an example. Here, the mode of the PD regulator in the solution of the present invention is used as an example to introduce the function of the differential link to cancel the filtering delay phenomenon. This PD regulator itself does not contain an integral link (i.e., the I of the PI regulator), and before adding the differential D link to this PD regulator, its essence is a proportional regulator, that is, a P regulator. The purpose here is to introduce the effect of the regulator after adding the D link. In the motor control system (i.e., the motor speed control system), if the speed loop of the control system does not contain an integral control link and does not introduce a differential control link, it is considered that the control system only uses the proportional regulator control method to control during the motor starting and speed-up. At this time, the speed loop can be equivalent to a first-order inertial link, and its transfer function is shown in Equation (4):

[0128]

[0129] In Equation (4), s is the input variable of the speed loop, G(s) is the output variable of the speed loop, K is the gain coefficient of the speed loop, and T is the time-delay time constant of the speed loop. Equation (4) is the expression form of the transfer function of the speed loop of a general control system (i.e., the motor speed control system). If there is a filtering link in the feedback control link of the speed loop, the form of the closed-loop transfer function of the speed loop will change. Taking a relatively common second-order low-pass filter as an example, the transfer function of the low-pass filter is shown in Equation (5):

[0130]

[0131] Among them, Equation (5) is the general transfer function of the second-order low-pass filter, which is the example used in the mathematical derivation for verifying the principle of the differential regulator to improve signal delay.

[0132] In Equation (5), w0 is the filter cut-off frequency, and A r is the amplification factor of the filter. Changing the amplification factor can change the gain of the output signal of the low-pass filter. After introducing a second-order low-pass filter into the feedback link of the speed loop, the closed-loop transfer function (negative feedback signal) of the speed loop will be transformed into the transfer function form shown in Figure 12 as shown in Equation (6):

[0133]

[0134] Among them, Equation (6) is an example of the system closed-loop transfer function after adding a low-pass filter. Figure 12 is a schematic diagram of the equivalent transformation method of the system function of the speed loop feedback system during the derivation of adding a PD regulator to reduce the signal delay phenomenon.

[0135] In Equation (6), the coefficients of each term of the s term are all constants. It can be obtained from Equation (6) that after adding a second-order low-pass filter to the feedback link of the speed loop, an additional integral link is introduced into the speed loop (that is, the highest degree of the s polynomial in the denominator increases to 3 times and is greater than the highest degree of the s polynomial in the numerator), and the controlled signal will show the phenomenon of signal delay. At the same time, the integral link introduced by the filter will still cause the accumulation of integral errors. If a first-order differential control link is introduced into the speed loop regulator, then Equation (4) can be transformed into the expression form of Equation (7):

[0136]

[0137] Among them, Equation (7) is the transfer function of the first-order proportional differential PD regulator, which is the form after adding a differential term to Equation (4).

[0138] τ in Equation (7) d is the differential time constant. Substituting Equation (7) into Equation (6), then Equation (6) can be further sorted out into the form of Equation (8):

[0139]

[0140] It can be obtained from Equation (8) that the highest degrees of the numerator polynomial and the denominator polynomial of the closed-loop transfer function of the improved control system (that is, the motor speed regulation system) are the same, both 3 times. If the numerator polynomial and the denominator polynomial in Equation (8) can be kept in a linear proportional relationship, then the reasonable coefficients τ d , T, A r, K, w0. These five groups of coefficients are all constants. Therefore, by introducing a differential control link, it is possible to cancel out the integral control link that is the highest-degree term of the denominator polynomial in Equation (8), improving the phase delay and integral error phenomenon of the controlled signal. Even if the parameters that can make the numerator polynomial and the denominator polynomial in Equation (8) maintain a proportional relationship cannot be solved, the control parameters that can make the highest-degree term of the numerator polynomial in Equation (8) have a higher degree than the highest-degree term of the denominator polynomial can be solved (that is, using the cubic term of s in the numerator polynomial to cancel out the cubic term of s in the denominator polynomial), and the effect of canceling out the integral term can also be obtained. If the filter introduced in the control link is of other types, the coefficients of the differential control link to be introduced can be solved in a similar way to solving the coefficients of Equation (8), and the effect of improving the phase delay and integral error phenomenon of the controlled signal can also be achieved.

[0141] Among them, Equation (8) is the improved closed-loop transfer function. The highest-degree terms of both the numerator and denominator polynomials are of the third degree, and there is no situation where the highest-degree term of the denominator polynomial is higher than the highest-degree term of the numerator polynomial. Therefore, the integral link of the filter is canceled out.

[0142] Among them, Equations (4)-(8) are the mathematical derivations and verifications of the improvement effect of the differential term (D term) in the PD regulator on the delay effect introduced by the filtering link in the control signal. Equations (4)-(8) are all examples, and the application methods of the PD regulator to improve signal delay are not limited to these four formulas.

[0143] Step 6: When the motor starts to accelerate to the given speed w* or the control system (i.e., the motor speed control system) detects that the actual speed w of the motor is greater than the given speed w*, the adjustment mode switcher described in Step 3 determines that the motor is in a stable operation state and switches the speed regulator to a proportional-integral (PI) regulator with an integral control link. The integral control link of the proportional-integral regulator can eliminate the steady-state error of the motor speed, achieving the effect of making the motor operate stably. In the solution of the present invention, the value of the proportional coefficient in the PD regulator is different from the value of the proportional coefficient in the PI regulator. The proportional coefficient of the PI regulator is taken to be smaller within a reasonable range because when the motor is in steady-state operation, a larger proportional adjustment coefficient will prolong the time for the control system (i.e., the motor speed control system) to adjust the error and return to the steady state, and the stability of the control system (i.e., the motor speed control system) will be reduced.

[0144] To verify the control effect of the method of the present invention, a non-electrolytic capacitor control system (i.e., a motor speed regulation system) applying the method and control device of the present invention is used to drive a certain permanent magnet synchronous motor, and the control effect during the motor starting and speed-up process is experimentally detected before and after applying the method and control device of the present invention. The experiment uses a non-electrolytic capacitor control system (i.e., a motor speed regulation system) with a DC bus capacitor of 10 uF. Compared with the traditional vector control system (i.e., a motor speed regulation system), the DC side bus capacitor value of this non-electrolytic capacitor control system (i.e., a motor speed regulation system) is greatly reduced; the control system (i.e., a motor speed regulation system) uses a 220V, 50Hz AC power supply as the input power supply. Through calculation, it can be obtained that the fluctuation frequency of the DC side bus voltage is twice that of 50Hz, i.e., 100Hz; the notch filter gain coefficient in the motor starting control device is set as an adjustable gain coefficient. When the motor is in the starting and speed-up state, the notch gain coefficient ζ n is 0.6, and the notch filter is in the high notch ability state. When the motor is in the steady-state operation state, the notch gain coefficient ζ n is 0.15, and the notch filter is in the low notch ability state; two different given speeds: 1800 rpm (30Hz) and 3000 rpm (50Hz) are selected as the starting given speeds in the experiment. The motor starts with a fixed load torque to drive the load, and the starting method of i d =0 is adopted, that is, the starting method in which all driving currents are converted into q-axis currents. The experiment verifies the change states of the actual speed and actual driving current of the motor from starting to steady-state operation before and after the non-electrolytic capacitor control system adopts the starting control method of the present invention. In the subsequent technical description, the non-electrolytic capacitor control system (i.e., a motor speed regulation system) that does not apply the method and starting device of the present invention is briefly referred to as the "traditional system", and the non-electrolytic capacitor control coefficient that applies the method and starting device of the present invention is briefly referred to as the "improved system".

[0145] Figure 6 The figure shows the schematic diagram of the DC side bus voltage signal of the non-electrolytic capacitor control system (i.e., a motor speed regulation system). It can be obtained from the figure that the DC side bus voltage of the non-electrolytic capacitor control system (i.e., a motor speed regulation system) will produce a large-amplitude fluctuation phenomenon. The fluctuation period of the voltage signal in the figure is 0.01 s, and the fluctuation frequency can be calculated as 100 Hz. The maximum value of the voltage signal shown in the figure is 310V, and the effective value is 220V, which is the same as the effective value of the AC input voltage. However, the average value of the fluctuating DC bus voltage is about 250V as shown in the figure. Compared with the DC bus voltage with a stable maximum value of 310V, the average value of this fluctuating bus voltage is reduced by about 20%.

[0146] Figure 7Schematic diagram of the comparison of the actual starting q-axis current waveforms of the non-electrolytic capacitor control system (i.e., the motor speed control system) before and after applying the starting control method of the present invention under the given rotational speed of 1800 (rpm). Since the motor uses the starting method of i d = 0, that is, the starting method in which all driving currents are converted into q-axis currents, the total driving current of the motor can be approximately represented by the q-axis current. The dotted line signal shown in the figure is the actual q-axis current of the traditional system, and the solid line signal is the actual q-axis current of the improved system. It can be seen from the figure that the fluctuation degree of the actual q-axis current of the improved system is reduced, and the average value is increased. Through further calculation, it is obtained that the average value of the actual q-axis current of the traditional system is about 1.185 A, and the average value of the actual q-axis current of the improved system is about 1.522 A, and the average value of the actual q-axis current of the improved system is increased by about 28.4%.

[0147] Figure 8 Schematic diagram of the comparison of the actual starting rotational speeds of the non-electrolytic capacitor control system (i.e., the motor speed control system) before and after applying the starting control method of the present invention under the given rotational speed of 1800 (rpm). Figure 8 The dotted line signal in it is the actual starting rotational speed of the traditional system, and the solid line signal is the actual starting rotational speed of the improved system. From Figure 8 it can be obtained that the phenomenon of fluctuation of the actual starting rotational speed of the improved system is greatly reduced, and the starting rotational speed shows an ideal linear state, and most of the rotational speed overshoots are eliminated.

[0148] Figure 9 Schematic diagram of the comparison of the actual starting q-axis current waveforms of the non-electrolytic capacitor control system (i.e., the motor speed control system) before and after applying the starting control method of the present invention under the given rotational speed of 3000 (rpm). Since the motor uses the starting method of i d = 0, that is, the starting method in which all driving currents are converted into q-axis currents, the total driving current of the motor can be approximately represented by the q-axis current. Figure 9 The dotted line signal shown in it is the actual q-axis current of the traditional system, and the solid line signal is the actual q-axis current of the improved system. From Figure 9 it can be obtained that the fluctuation degree of the actual q-axis current of the improved system is reduced, and the average value is increased. Through further calculation, it is obtained that the average value of the actual q-axis current of the traditional system is about 1.064 A, and the average value of the actual q-axis current of the improved system is about 1.228 A, and the average value of the actual q-axis current of the improved system is increased by about 15.4%.

[0149] Figure 10 Schematic diagram of the comparison of the actual starting rotational speeds of the non-electrolytic capacitor control system (i.e., the motor speed control system) before and after applying the starting control method of the present invention under the given rotational speed of 3000 (rpm). Figure 10The dotted line signal is the actual starting speed of the traditional system, and the solid line signal is the actual starting speed of the improved system. It can be obtained from Figure 10 that the phenomenon of fluctuation in the actual starting speed of the improved system is significantly reduced, the starting speed shows an ideal linear state, and the improved system can increase the motor speed to the given speed faster. Based on the experimental results under the given speeds of 1800 rpm and 3000 rpm, it can be concluded that the method of the present invention and the starting control device of the motor applying the method of the present invention can effectively suppress the phenomenon of motor drive current fluctuation caused by the DC bus voltage fluctuation of the non-electrolytic capacitor control system (i.e., the motor speed control system) during the motor starting and speed increasing process, increase the average value of the drive current during the motor starting and speed increasing process, and suppress the overshoot phenomenon and the signal delay phenomenon brought by the filtering link during the motor speed increasing process.

[0150] In Figure 6 , the horizontal axis coordinate is time (s), and the vertical axis coordinate is the DC bus voltage (V). In Figure 7 , the horizontal axis coordinate is time (s), and the vertical axis coordinate is the q-axis current (A). In Figure 8 , the horizontal axis coordinate is time (s), and the vertical axis coordinate is the speed (rpm, revolutions per minute). In Figure 9 , the horizontal axis coordinate is time (s), and the vertical axis coordinate is the q-axis current (A). In Figure 10 , the horizontal axis coordinate is time (s), and the vertical axis coordinate is the speed (rpm, revolutions per minute). In Figure 11 , the horizontal axis coordinate is frequency (Hz), and the vertical axis coordinate is amplitude (dB, decibels).

[0151] Figure 12 In, R(s) is the input variable, C(s) is the output variable, G(s) is the open-loop transfer function, and G L (s) is the feedback transfer function. Figure 12 is a schematic diagram of the transfer function equivalent transformation method of a closed-loop control system with a feedback transfer function, which is used to show the transfer function equivalent transformation method in the example of the integral cancellation effect of the PD regulator.

[0152] Since the processing and functions implemented by the motor in this embodiment basically correspond to the embodiments, principles, and examples of the device shown in the foregoing Figure 1 , for the details not described in the description of this embodiment, reference can be made to the relevant descriptions in the foregoing embodiments and will not be elaborated here.

[0153] After a large number of experimental verifications, by adopting the technical solution of the present invention, the fluctuation components of the actual signals in the speed loop and the current loop are suppressed by using the notch filter module, so that the actual signals in the control link are converted into relatively stable controlled signals, the error between the actual signals and the given signals in the control link is reduced, and the tracking control ability of the control system is improved; and a PD regulator with a large proportional coefficient is applied during the motor starting and speed-up process to eliminate the dynamic error and integral overshoot phenomenon between the given speed and the actual speed, and at the same time, the signal delay phenomenon caused by the notch filter module in the feedback loop is cancelled by using the differential link in the regulator, so that the speed overshoot amount during the motor starting process is reduced and the actual speed error during the starting process is reduced.

[0154] According to an embodiment of the present invention, there is also provided a starting control method for a motor corresponding to the motor, as Figure 13 shown in the flowchart of an embodiment of the method of the present invention. This starting control method of the motor can be applied to the starting control process of a motor (such as a permanent magnet synchronous motor) in a motor speed regulation system (such as a permanent magnet synchronous motor speed regulation system without electrolytic capacitors). During the starting control process of the motor (such as a permanent magnet synchronous motor), the starting control method of the motor (such as a permanent magnet synchronous motor) includes: step S110 to step S130.

[0155] At step S110, during the starting process of the motor, the actual speed of the motor (such as the actual speed w of the motor) and the given speed of the motor (such as the given speed w* of the motor) are obtained through the speed comparison module, and the magnitude relationship between the actual speed of the motor and the given speed of the motor is compared to obtain a comparison result.

[0156] Among them, the comparison result includes: during the starting process of the motor, the actual speed of the motor is less than the given speed of the motor, that is, the motor is in the starting and speed-up state during the starting process; or, during the starting process of the motor, the actual speed of the motor is greater than or equal to the given speed of the motor, that is, the motor is in the stable operation state after the speed-up is completed during the starting process. The given speed of the motor is pre-given. The actual speed of the motor is detected by the current detection module in the motor speed regulation system. During the starting control process of the motor, the circuit parameters required by the control system are collected: the given speed w* of the motor, this signal is externally set and input into the control system (that is, the motor speed regulation system); the actual speed w of the motor, this signal is obtained by the speed detection module of the control system; the actual d-q axis current of the motor, that is, the actual d-axis current i d and the actual q-axis current i qThe actual d-q axis current of this part is obtained by the current sampling module of the control system detecting the phase current of the motor during operation, and through internal chips, coordinate transformation (such as Clarke transformation, Park transformation) and other calculations are performed on the motor phase current to obtain it.

[0157] At step S120, according to the comparison result, the notch gain state of the notch filter module is switched. For example, the notch filter module can switch its own notch gain state according to the comparison result, and filter the fluctuation components in the actual signals of the speed loop and the current loop with the switched notch gain state. For example: the speed loop and the current loop of the permanent magnet synchronous motor speed regulation system are structurally improved. A notch filter module with a notch frequency of twice the AC input power supply voltage frequency is added to the actual signal feedback loop of the speed loop and the current loop to suppress the fluctuation phenomenon of the actual drive current and increase the average value of the actual drive current, so that the motor can maintain a relatively large actual drive current to increase the speed during the starting process. By setting a notch filter module in the actual signal feedback loop of the speed loop and the current loop of the motor speed regulation system, during the motor starting process, the probability of abnormal phenomena caused by the decrease in the average value of the drive current during the motor starting process is reduced.

[0158] Among them, the actual signals include: the actual speed of the motor in the speed loop, and the actual d-axis current and actual q-axis current of the motor in the current loop (such as the actual d-axis current i d and the actual q-axis current i q ). That is, the notch filter module is set in the feedback loop of the actual speed of the speed loop of the motor speed regulation system of the motor and the feedback loop of the actual d-q axis current of the current loop.

[0159] In some embodiments, the notch filter module includes: a first notch filter, a second notch filter, a third notch filter, and a notch gain regulator; that is, the notch filter module includes a notch gain regulator and three groups of notch filters, which are respectively configured on the actual speed feedback loop of the speed loop and the two groups of actual d-q axis current feedback loops of the current loop, and the gain coefficients of the three groups of notch filters are synchronously controlled by the notch gain regulator.

[0160] During the motor starting control process, after the control system (i.e., the motor speed control system) obtains the given speed w* and the actual speed w, the speed comparison module in the speed loop of the control system (i.e., the motor speed control system) compares the given speed w* and the actual speed w during the motor starting and speed-up stage, and transmits the result of the speed comparison to the notch filter module. The notch filter module includes a notch gain regulator and three groups of notch filters, which are respectively configured on the actual speed feedback loop of the speed loop and the two actual d-q axis current feedback loops of the current loop, and the gain coefficients of the three groups of notch filters are synchronously controlled by the notch gain regulator. The notch frequency of each notch filter in the three groups of notch filters is set to twice the voltage frequency of the AC input power supply, and this frequency is consistent with the DC bus voltage fluctuation frequency. When the motor is in the starting and speed-up state, the notch filter is adjusted to the high notch gain mode. The notch filter in the high notch gain mode can filter out most of the pulsating components in the actual signal, improve the average values of the actual speed and the actual drive current during the motor starting process, and ensure that the motor accelerates at the maximum drive current; when the motor is in the stable operation state, the notch filter is adjusted to the low notch gain mode. The notch filter in the low notch gain mode will work in the low notch gain state to retain some of the pulsating components in the actual signal, so that the actual speed and the actual drive current of the motor fluctuate synchronously with the DC bus voltage, maintaining the "same frequency and same phase" state to improve the input power factor of the control system (i.e., the motor speed control system).

[0161] Among them, switching the notch gain state of the notch filter module according to the comparison result in step S120 includes: through the notch gain regulator, if the actual speed of the motor is less than the given speed of the motor, then adjust the notch gain states of the first notch filter, the second notch filter, and the third notch filter to the high notch gain state; if the actual speed of the motor is greater than or equal to the given speed of the motor, then adjust the notch gain states of the first notch filter, the second notch filter, and the third notch filter to the low notch gain state. Among them, the high notch gain state and the low notch gain state are relative.

[0162] Specifically, when adjusting the notch gain, the notch gain regulator adjusts the gain coefficient ζ of the notch filter according to different operating states during motor starting. nWhen the actual rotational speed w is less than the given rotational speed w*, the notch gain regulator determines this state as the starting and speed-up state, and adjusts the notch filter to the high notch gain state. At this time, the notch filtering ability of the notch filter is enhanced, and most of the fluctuation components in the actual rotational speed and the actual drive current that have the same frequency as the DC bus voltage ripple are filtered out; when the actual rotational speed w is equal to or greater than the given rotational speed w*, the notch gain regulator determines this state as the stable operation state, and adjusts the notch filter to the low notch gain state. At this time, the notch filtering ability of the notch filter is weakened, and the fluctuation components in the actual rotational speed and the actual drive current that have the same frequency as the DC bus voltage ripple are retained to a certain extent. The purpose is to make the actual rotational speed and the actual drive current of the motor synchronously fluctuate with the DC bus voltage, maintaining the "same frequency and same phase" state to improve the input power factor of the control system (i.e., the motor speed control system).

[0163] In some embodiments, filtering the fluctuation components in the actual signals of the speed loop and the current loop in the switched notch gain state in step S120 includes at least one of the following filtering processes:

[0164] The first filtering process: Passing through the first notch filter, which is set between the rotor position detection module and the inverting input terminal of the first comparator in the speed loop, to filter the fluctuation components in the actual rotational speed of the motor, that is, performing notch filtering on the actual rotational speed w of the motor.

[0165] The second filtering process: Passing through the second notch filter, which is set between the output terminal of the actual d-axis current i of the Park transformation module and the inverting input terminal of the second comparator in the current loop, to filter the fluctuation components in the actual d-axis current of the motor, that is, performing notch filtering on the actual d-axis current i d output. d The third filtering process: Passing through the third notch filter, which is set between the output terminal of the actual q-axis current i of the Park transformation module and the inverting input terminal of the third comparator in the current loop, to filter the fluctuation components in the actual q-axis current of the motor, that is, performing notch filtering on the actual q-axis current i

[0166] output. q output. q The third filtering process: Passing through the third notch filter, which is set between the output terminal of the actual q-axis current i of the Park transformation module and the inverting input terminal of the third comparator in the current loop, to filter the fluctuation components in the actual q-axis current of the motor, that is, performing notch filtering on the actual q-axis current i

[0167] Specifically, the notch filter is a notch filter with adjustable notch gain. That is, during the motor starting and speed-up process, the notch filter is switched to the high notch gain state, enabling the notch filter to filter out the fluctuation components in the actual speed and actual drive current as much as possible, and improving the average values of the actual speed and actual drive current. For example, during the motor starting and speed-up process, the fluctuation phenomenon of the actual drive current of the motor is suppressed, so that the motor maintains a speed-up with an actual drive current greater than the set current during the starting and speed-up process. That is to say, the actual drive current of the motor during the starting and speed-up process is greater than the set drive current. When the actual speed of the motor speeds up to the given speed and reaches the stable operation state, the notch filter will be switched to the low notch gain state, and the filtering ability of the notch filter for the fluctuation components in the actual signal of the control system is reduced, so that the actual speed, actual drive current, and DC bus voltage in the steady state maintain a synchronous fluctuation state, improving the input power factor of the control system in the steady state.

[0168] Thus, through the notch gain regulator, the notch gain of the notch filter is adjusted according to the speed change during motor starting, enabling the notch filter to maintain a high notch filtering ability during the motor starting and speed-up process and filtering out most of the actual signal fluctuation components; when the motor is in steady-state operation, the notch filter maintains a low notch filtering ability, allowing a certain degree of retention of the fluctuation components in the actual signal, so that the actual signal of the control system fluctuates synchronously with the DC bus voltage, improving the input power factor of the control system.

[0169] At step S130, according to the comparison result, the adjustment mode of the switching adjustment module is switched. For example, through the switching adjustment module, as the adjustment module (such as a speed regulator) of the speed loop, according to the comparison result, its own adjustment mode is switched, and the change of the difference between the actual speed and the given speed of the motor in the speed loop is adjusted in the switched adjustment mode. By setting a switching adjustment module in the speed loop, the error between the actual signal and the given signal in the control link is reduced, the tracking control ability of the control system is improved, the success rate of motor starting is increased, and the stability of the control system is strengthened.

[0170] Among them, there are a speed comparison module, a notch filter module, and a switching adjustment module; the notch filter module is arranged in the actual signal feedback loop of the speed loop and the current loop of the motor speed control system of the motor; the speed comparison module and the switching adjustment module are arranged in the speed loop.

[0171] Thus, by setting a notch filter module in the actual signal feedback loops of the speed loop and the current loop of the motor speed control system, and setting a switching regulator module in the speed loop, during the motor starting process, through the notch filter module, the fluctuation signal components contained in the actual speed and the actual drive current fed back to the control system in the speed loop and the current loop of the control system without electrolytic capacitors can be filtered out, the average values of the actual speed and the actual drive current can be increased, and the motor can maintain a state of increasing the speed with a large drive current during the starting process; through the switching regulator module (i.e., the switchable regulator module), the control structure of the speed loop can be adjusted according to the speed change during the motor starting and speed increasing process, so that the influence of the DC bus voltage fluctuation on the motor starting process can be reduced, and the success rate of the motor starting can be improved.

[0172] In some embodiments, the switching regulator module includes: a speed PD module, a regulation mode switcher, and a speed PI module; during the starting control process of the motor, after the control system (i.e., the motor speed control system) obtains the given speed w* and the actual speed w, the speed comparison module in the speed loop of the control system (i.e., the motor speed control system) compares the given speed w* and the actual speed w during the motor starting and speed increasing stage, and switches the regulation mode of the speed loop regulator according to the result of the speed comparison. During the operation of the control system (i.e., the motor speed control system), the switching operation of switching the regulation mode of the speed regulator and switching the notch gain of the notch filter are synchronized. When switching the speed regulation mode, the speed comparison module outputs the comparison result of the given speed w* and the actual speed w to the regulation mode switcher, and the regulation mode switcher switches the regulation mode of the speed loop regulator according to the obtained speed comparison result. When the actual speed w is less than the given speed w*, the regulation mode switcher determines this state as the starting and speed increasing state, and switches the speed loop regulator to a proportional derivative (PD) regulator; when the actual speed w is equal to or greater than the given speed w*, the regulation mode switcher determines this state as the stable operation state, and switches the speed loop regulator to a proportional integral (PI) regulator.

[0173] Among them, in step S130, switching the regulation mode of the switching regulator module according to the comparison result includes: through the regulation mode switcher, if the actual speed of the motor is less than the given speed of the motor, then switch its own regulation mode to the speed PD regulation mode; if the actual speed of the motor is greater than or equal to the given speed of the motor, then switch its own regulation mode to the speed PI regulation mode.

[0174] Specifically, the adjustment mode switcher is configured to switch the structure of the switchable regulator module according to the change in the real-time rotational speed (such as the actual rotational speed ω) when the motor starts. When the motor is in the starting and accelerating state, the actual rotational speed ω of the motor is less than the given rotational speed ω*. At this time, the adjustment mode switcher switches the speed loop regulator to the proportional derivative (PD) regulator mode. When the actual rotational speed ω of the motor accelerates to the given rotational speed ω* and reaches the steady-state operation state, the actual rotational speed ω of the motor is equal to or greater than the given rotational speed ω*. At this time, the adjustment mode switcher switches the speed loop regulator to the proportional integral (PI) regulator mode.

[0175] In some embodiments, adjusting the change in the difference between the actual rotational speed and the given rotational speed of the motor in the speed loop in the switched adjustment mode in step S130 includes at least one of the following adjustment processes:

[0176] The first adjustment process: Through the speed PD module, in the speed PD adjustment mode, perform PD adjustment on the change in the actual rotational speed of the motor in the speed loop, that is, perform PD adjustment on the rotational speed difference between the given rotational speed of the motor and the actual rotational speed of the motor, and output the given q-axis current of the motor under the given rotational speed condition of the motor.

[0177] Specifically, the speed PD module can be a proportional derivative (PD) regulator, which is configured to perform proportional derivative adjustment on the difference between the given rotational speed ω* of the motor and the actual rotational speed ω of the motor, and output the given motor q-axis current i q * under the given rotational speed ω* of the motor. The proportional derivative regulator is configured to track and control the motor speed during the motor acceleration process.

[0178] The second adjustment process: Through the speed PI module, in the speed PI adjustment mode, perform PI adjustment on the change in the actual rotational speed of the motor in the speed loop, that is, perform PI adjustment on the rotational speed difference between the given rotational speed of the motor and the actual rotational speed of the motor, and output the given q-axis current of the motor under the given rotational speed condition of the motor.

[0179] Specifically, the speed PI module can be a proportional integral (PI) regulator, which is configured to perform proportional integral adjustment on the difference between the given rotational speed ω* of the motor and the actual rotational speed ω of the motor, and output the given motor q-axis current i q*。The proportional-integral regulator is configured to track and control the motor speed when the motor has completed its speed-up and reached steady-state operation. The integral control link of the proportional-integral regulator is mainly used to eliminate the steady-state error during motor operation. When the motor starts to accelerate to the given speed w* or the control system (i.e., the motor speed regulation system) detects that the actual motor speed w is greater than the given speed w*, the regulation mode switcher determines that the motor is in a stable operation state and switches the speed regulator to a proportional-integral (PI) regulator with an integral control link. The integral control link of the proportional-integral regulator can eliminate the steady-state error of the motor speed and achieve the effect of making the motor operate stably.

[0180] Thus, during the starting and accelerating process of the motor, by switching to the PD regulation mode of PD regulator regulation, the speed loop during the starting and accelerating process of the motor is PD regulated to eliminate the dynamic error and integral overshoot phenomenon between the given speed and the actual speed in the speed loop, and cancel the delay phenomenon of signal phase lag generated by the notch filter module; when the actual speed of the motor accelerates to the given speed, switch to the PI regulation mode of the PI regulator and perform PI regulation on the speed loop when the actual speed of the motor accelerates to the given speed to eliminate the steady-state error during the operation of the motor.

[0181] In some embodiments, the speed PD module includes: a proportional control link, a differential control link, and a feedback differential control link.

[0182] Among them, through the speed PD module, in the PD regulation mode of the speed, the change of the actual speed of the motor in the speed loop is PD regulated, that is, the speed difference between the given speed of the motor and the actual speed of the motor is PD regulated, including the regulation process of any of the following links:

[0183] The regulation process of the first link: Through the proportional control link, eliminate the dynamic speed error of the speed loop during the starting and accelerating process of the motor.

[0184] The regulation process of the second link: Through the differential control link, cancel the signal delay phenomenon generated by the filtering effect in the speed loop.

[0185] The regulation process of the third link: Through the feedback differential control link, perform feedback differential regulation on the input-output variable difference of the limiter module in the speed loop to further eliminate the integral saturation error introduced into the actual signal part by other control links in the input variable of the speed loop; the other control links include: the filtering link.

[0186] Specifically, the proportional control link of the PD regulator is configured to adjust the dynamic error between the given speed w* and the actual speed w to complete the tracking control process; the differential control link is configured to eliminate the signal delay phenomenon caused by the controlled signal being affected by the filtering link in the control system (i.e., the motor speed control system), and to suppress the occurrence of steady-state errors in the control signal in advance.

[0187] Therefore, the integral control link in the speed loop regulator (such as the speed PI regulation module) is removed from the proportional differential regulator, eliminating the speed error overshoot phenomenon caused by the integral control link during the motor starting and speed-up process. By improving the control structure of the speed loop, the speed PI module (i.e., PI regulator) structure is improved to a switchable PD regulator-PI regulator module. During the motor starting and speed-up process, the switchable regulator module can switch the speed loop regulator to a PD regulator without an integral link to eliminate the speed overshoot phenomenon caused by the integral error, and at the same time, the differential link in the PD regulator is used to cancel the delay phenomenon of the signal phase lag caused by the notch filter module; when the actual speed of the motor is increased to a given speed, the speed loop regulator is switched to a PI regulator to eliminate the steady-state error during the operation of the motor.

[0188] In some embodiments, the proportional coefficient of the speed PD module is greater than the proportional coefficient of the speed PI module. The large proportional coefficient of the proportional control link in the proportional differential regulator is configured to quickly eliminate the dynamic speed error during the motor starting and speed increase process.

[0189] Specifically, since the error between the given speed w* and the actual speed w is large during the motor starting process, a larger proportional adjustment coefficient can eliminate the dynamic speed error during the starting process more quickly. Therefore, the proportional coefficient value in the PD regulator is different from the proportional coefficient value in the PI regulator, and the proportional coefficient value of the PD regulator is larger. When the motor is in the starting speed-up state, the speed loop regulator is switched to a non-integral control link, and the proportional coefficient K P If a PD regulator with a larger value is used, there will be no integral accumulation of speed error during the motor starting and speed increase process, so the speed overshoot phenomenon is suppressed.

[0190] In this way, the proportional coefficient value in the PD regulator is different from the proportional coefficient value in the PI regulator. The proportional coefficient of the PI regulator is smaller within a reasonable range. The reason is that when the motor is running in a steady state, a larger proportional adjustment coefficient will prolong the time for the control system (i.e., the motor speed control system) to adjust the error and restore the steady state, and the stability of the control system (i.e., the motor speed control system) will be reduced.

[0191] Since the processing and functions implemented by the method of this embodiment are basically corresponding to the foregoing embodiments, principles and examples of the motor, for the details not described in the description of this embodiment, reference may be made to the relevant descriptions in the foregoing embodiments, and details will not be repeated here.

[0192] Through a large number of experimental verifications, by adopting the technical solution of this embodiment, a notch filter module is set in the actual signal feedback loop of the speed loop and the current loop of the motor speed regulation system, and the adjustment module in the speed loop is set as a switching adjustment module that switches between a PD regulator and a PI regulator. It switches to the PD regulator during the motor starting and speed-up process, and switches to the PI regulator when the actual speed of the motor rises to the given speed. It can effectively suppress the motor drive current fluctuation phenomenon caused by the DC bus voltage fluctuation of the non-electrolytic capacitor control system (i.e., the motor speed regulation system) during the motor starting and speed-up process, improve the average value of the drive current during the motor starting and speed-up process, and suppress the overshoot phenomenon and the signal delay phenomenon brought by the filtering link during the motor speed increase process.

[0193] In summary, it is easy for those skilled in the art to understand that, on the premise of no conflict, the above-mentioned advantageous ways can be freely combined and superimposed.

[0194] The above are only the embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A starting control device for an electric motor, characterized in that, Including: A rotational speed comparison module, a notch filter module, and a switching regulation module; The notch filter module is arranged in the actual signal feedback loop of the speed loop and the current loop of the motor speed regulation system of the motor; the rotational speed comparison module and the switching regulation module are arranged in the speed loop; wherein, The rotational speed comparison module is configured to obtain the actual rotational speed of the motor during the starting process of the motor, and compare the magnitude relationship between the actual rotational speed of the motor and the given rotational speed of the motor to obtain a comparison result; The notch filter module is configured to switch its own notch gain state according to the comparison result, and filter out the fluctuation components in the actual signals of the speed loop and the current loop with the switched notch gain state; wherein, the notch filter module switches its own notch gain state according to the comparison result, including: if the actual rotational speed of the motor is less than the given rotational speed of the motor, then adjust the notch gain state to a high notch gain state; if the actual rotational speed of the motor is greater than or equal to the given rotational speed of the motor, then adjust the notch gain state to a low notch gain state; The switching regulation module is configured to switch its own regulation mode according to the comparison result, and regulate the change situation of the difference between the actual rotational speed and the given rotational speed of the motor in the speed loop with the switched regulation mode; wherein, the switching regulation module switches its own regulation mode according to the comparison result, including: if the actual rotational speed of the motor is less than the given rotational speed of the motor, then switch the regulation mode to a rotational speed PD regulation mode; if the actual rotational speed of the motor is greater than or equal to the given rotational speed of the motor, then switch the regulation mode to a rotational speed PI regulation mode.

2. The starting control device for an electric motor according to claim 1, characterized in that, Wherein, The actual signals include: the actual rotational speed of the motor in the speed loop, and the actual d-axis current and actual q-axis current of the motor in the current loop; The comparison result includes: the actual rotational speed of the motor is less than the given rotational speed of the motor; or, the actual rotational speed of the motor is greater than or equal to the given rotational speed of the motor.

3. The starting control device for an electric motor according to claim 2, characterized in that, The notch filter module includes: a first notch filter, a second notch filter, a third notch filter, and a notch gain regulator; wherein, The notch filter module switches its own notch gain state according to the comparison result, specifically including: The notch gain regulator is configured to, if the actual rotational speed of the motor is less than the given rotational speed of the motor, then adjust the notch gain states of the first notch filter, the second notch filter, and the third notch filter to a high notch gain state; if the actual rotational speed of the motor is greater than or equal to the given rotational speed of the motor, then adjust the notch gain states of the first notch filter, the second notch filter, and the third notch filter to a low notch gain state; The notch filter module filters out the fluctuation components in the actual signals of the speed loop and the current loop with the switched notch gain state, including: The first notch filter is configured to filter out the fluctuation components in the actual rotational speed of the motor; The second notch filter is configured to filter out the fluctuation component in the actual d-axis current of the motor; The third notch filter is configured to filter out the fluctuation component in the actual q-axis current of the motor.

4. The starting control device for an electric motor according to claim 3, characterized in that, Any one of the first notch filter, the second notch filter and the third notch filter includes: a filter having double zeros and double poles.

5. The starting control device for an electric motor according to any one of claims 2 to 4, characterized in that, The switching regulation module includes: a speed PD module, a regulation mode switcher and a speed PI module; wherein, The switching regulation module switches its own regulation mode according to the comparison result, specifically including: The regulation mode switcher is configured to switch its own regulation mode to the speed PD regulation mode if the actual speed of the motor is less than the given speed of the motor; and switch its own regulation mode to the speed PI regulation mode if the actual speed of the motor is greater than or equal to the given speed of the motor; The switching regulation module regulates the change of the difference between the actual speed and the given speed of the motor in the speed loop in the switched regulation mode, including: The speed PD module is configured to perform PD regulation on the speed difference between the given speed of the motor and the actual speed of the motor in the speed PD regulation mode, and output the given q-axis current of the motor under the given speed condition of the motor; The speed PI module is configured to perform PI regulation on the speed difference between the given speed of the motor and the actual speed of the motor in the speed PI regulation mode, and output the given q-axis current of the motor under the given speed condition of the motor.

6. The starting control device for an electric motor according to claim 5, characterized in that, The speed PD module includes: a proportional control link, a differential control link and a feedback differential control link; wherein, The speed PD module performs PD regulation on the speed difference between the given speed of the motor and the actual speed of the motor, including: The proportional control link is configured to eliminate the dynamic speed error of the speed loop during the starting and speed-up process of the motor; The differential control link is configured to cancel the signal delay phenomenon caused by the filtering effect in the speed loop; The feedback differential control link is configured to perform feedback differential regulation on the difference between the input and output variables of the limiter module in the speed loop to further eliminate the integral saturation error of the actual signal part introduced by other control links in the input variable of the speed loop; the other control links include: a filtering link.

7. The starting control device for an electric motor according to claim 5, characterized in that, Wherein, The proportional coefficient of the speed PD module is greater than the proportional coefficient of the speed PI module.

8. An electric motor, characterized in that, Including: The starting control device of the motor according to any one of claims 1 to 7.

9. A starting control method for an electric motor, characterized in that, Including: During the starting process of the motor, obtain the actual speed of the motor, and compare the magnitude relationship between the actual speed of the motor and the given speed of the motor to obtain a comparison result; According to the comparison result, switch the notch gain state of the notch filter module, and filter the fluctuation components in the actual signals of the speed loop of the motor speed control system of the motor and the current loop of the motor speed control system of the motor with the switched notch gain state; wherein, according to the comparison result, switching its own notch gain state includes: if the actual speed of the motor is less than the given speed of the motor, then adjust the notch gain state to the high notch gain state; if the actual speed of the motor is greater than or equal to the given speed of the motor, then adjust the notch gain state to the low notch gain state; According to the comparison result, switch the adjustment mode of the switching adjustment module, and adjust the change situation of the difference between the actual speed and the given speed of the motor in the speed loop with the switched adjustment mode; wherein, according to the comparison result, switching its own adjustment mode includes: if the actual speed of the motor is less than the given speed of the motor, then switch the adjustment mode to the speed PD adjustment mode; if the actual speed of the motor is greater than or equal to the given speed of the motor, then switch the adjustment mode to the speed PI adjustment mode.

10. The starting control method for an electric motor according to claim 9, characterized in that, Wherein, The actual signals include: the actual speed of the motor in the speed loop, and the actual d-axis current and actual q-axis current of the motor in the current loop; The comparison result includes: the actual speed of the motor is less than the given speed of the motor; or, the actual speed of the motor is greater than or equal to the given speed of the motor.

11. The starting control method for an electric motor according to claim 10, characterized in that, The switching the notch gain state of the notch filter module according to the comparison result includes: Through the notch gain regulator, if the actual speed of the motor is less than the given speed of the motor, then adjust the notch gain states of the first notch filter, the second notch filter and the third notch filter to the high notch gain state; if the actual speed of the motor is greater than or equal to the given speed of the motor, then adjust the notch gain states of the first notch filter, the second notch filter and the third notch filter to the low notch gain state; The filtering the fluctuation components in the actual signals of the speed loop and the current loop with the switched notch gain state includes: Filter the fluctuation components in the actual speed of the motor through the first notch filter; Filter the fluctuation components in the actual d-axis current of the motor through the second notch filter; Filter the fluctuation components in the actual q-axis current of the motor through the third notch filter.

12. The starting control method for an electric motor according to claim 10 or 11, characterized in that, The switching the adjustment mode of the switching adjustment module according to the comparison result includes: Through the adjustment mode switcher, if the actual speed of the motor is less than the given speed of the motor, then switch its own adjustment mode to the speed PD adjustment mode; if the actual speed of the motor is greater than or equal to the given speed of the motor, then switch its own adjustment mode to the speed PI adjustment mode; The adjusting the change situation of the difference between the actual speed and the given speed of the motor in the speed loop with the switched adjustment mode includes: Through the speed PD module, in the speed PD regulation mode, perform PD regulation on the speed difference between the given speed of the motor and the actual speed of the motor, and output the given q-axis current of the motor under the given speed condition of the motor; Through the speed PI module, in the speed PI regulation mode, perform PI regulation on the speed difference between the given speed of the motor and the actual speed of the motor, and output the given q-axis current of the motor under the given speed condition of the motor.

13. The starting control method for an electric motor according to claim 12, characterized in that, Through the speed PD module, performing PD regulation on the speed difference between the given speed of the motor and the actual speed of the motor includes: Through the proportional control link, eliminate the dynamic speed error of the speed loop during the starting and speed-up process of the motor; Through the differential control link, cancel the signal delay phenomenon generated by the filtering effect in the speed loop; Through the feedback differential control link, perform feedback differential regulation on the difference between the input and output variables of the limiter module in the speed loop to further eliminate the integral saturation error of the actual signal part introduced by other control links in the input variable of the speed loop; Wherein, the proportional coefficient of the speed PD module is greater than the proportional coefficient of the speed PI module.

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