Motor control method, motor, and computer-readable storage medium

Abstract

The present invention provides a motor control method, a motor, and a computer-readable storage medium, wherein the control method includes: determining a corresponding command speed signal according to a control signal of the motor; determining a real-time speed signal of the motor; determining the operating state of the motor according to the command speed signal and the real-time speed signal; and controlling the motor to perform a target operation based on the fact that the operating state is a deceleration state. By applying an embodiment of the present invention, the current operating state of the motor is accurately determined by the command speed signal and the real-time speed signal of the motor, specifically, whether the motor is in a deceleration state. If it is determined that the motor is in a deceleration state, the feedback energy fluctuations that may be generated by the motor during the deceleration process are avoided through the target operation, thereby preventing the risk of bus voltage pumping and damaging the small-capacitance bus capacitor controller, and effectively improving the safety and stability of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a motor control method, a motor, and a computer-readable storage medium. Background Art

[0002] In related technologies, the feedback energy fluctuations generated by feedback braking during the deceleration phase of the motor can easily cause the bus voltage to pump up. For motors with small-capacitance bus capacitor controllers, there is a risk of damage to the small-capacitance bus capacitor controller, affecting system safety. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first aspect of the present invention provides a method for controlling a motor.

[0005] A second aspect of the present invention provides an electric motor.

[0006] A third aspect of the present invention provides a computer-readable storage medium.

[0007] In view of this, the first aspect of the present invention provides a method for controlling a motor, comprising: determining a corresponding command speed signal based on a control signal of the motor; determining a real-time speed signal of the motor; determining the operating state of the motor based on the command speed signal and the real-time speed signal; and controlling the motor to perform a target operation based on the operating state being a deceleration state.

[0008] In this technical solution, the control signal of the motor includes a command speed signal, which corresponds to the real-time target speed of the motor at the current time point, that is, a signal for the motor to rotate. Specifically, if the speed needs to be adjusted during the operation of the motor, such as acceleration or deceleration, the speed of the motor is adjusted in real time through the control signal. Since the speed adjustment of the motor is a linear progressive process, after determining the target speed that needs to be adjusted, the command speed signal is gradually adjusted from the command speed corresponding to the current actual speed to the command speed corresponding to the final target speed. Therefore, if the speed of the motor changes, the command speed signal is actually a signal that changes with time.

[0009] After acquiring the command speed signal, the real-time speed signal of the motor is further acquired. This real-time speed signal can reflect the current physical speed of the motor. Therefore, based on the command speed signal and the real-time speed signal of the motor, the current operating state of the motor can be determined, such as whether it is in a deceleration state, an acceleration state, or a constant speed state. If the motor's operating state is determined to be a deceleration state, the motor is controlled to perform the target operation to avoid feedback energy fluctuations that may be generated during the motor's deceleration process.

[0010] By applying the embodiments of the present invention, the motor's command speed signal and real-time speed signal are used to accurately determine the current motor operating state, specifically whether the motor is in a deceleration state. If the motor is determined to be in a deceleration state, targeted operations are implemented to avoid feedback energy fluctuations that may occur during the deceleration process. This, in turn, prevents the risk of bus voltage pumping and damage to the small-capacitance bus capacitor controller, effectively improving system safety and stability.

[0011] In addition, the motor control method in the above technical solution provided by the present invention may also have the following additional technical features:

[0012] In the above technical solution, the motor includes an intelligent power module, the intelligent power module includes an upper bridge arm switching device and a lower bridge arm switching device, and the steps of controlling the motor to perform the target operation specifically include: controlling the upper bridge arm switching device to operate in a first switching state, and controlling the lower bridge arm switching device to operate in a second switching state; wherein the first switching state and the second switching state are opposite.

[0013] In this technical solution, the motor includes an intelligent power module, or IPM (Intelligent Power Module). By providing the intelligent power module, the motor's control circuit can be effectively simplified, the system size can be reduced, and reliability can be increased. Specifically, when the motor is in a deceleration state, the switching devices of the upper bridge arm of the intelligent power module are all turned on, while the switching devices of the lower bridge arm of the intelligent power module are all turned off. Alternatively, the switching devices of the upper bridge arm of the power module are all turned off, while the switching devices of the lower bridge arm of the intelligent power module are all turned on.

[0014] That is, the switching devices of the upper bridge arm and the switching devices of the lower bridge arm are controlled to operate in the opposite first switching state and second switching state respectively, so that the energy generated by the feedback braking of the motor during the deceleration process is consumed through the motor winding, and therefore the bus capacitor will not be charged through the anti-parallel diode of the intelligent power module, thereby preventing the risk of bus voltage pumping and damaging the small-capacitance bus capacitor controller, thereby ensuring the reliability of the small-capacitance bus capacitor controller.

[0015] In any of the above technical solutions, the motor also includes a current loop control module, a speed loop control module and a voltage feedforward decoupling control module. The steps of controlling the motor to perform the target operation also include: clearing the output variables of the current loop control module and the speed loop control module; and updating the voltage feedforward decoupling parameters corresponding to the voltage feedforward control module according to the real-time speed signal.

[0016] In this technical solution, the motor control system also includes a current loop control module, a speed loop control module, and a voltage feedforward decoupling control module. Precise closed-loop control of the motor is achieved through the decoupling of the current loop, speed loop, and voltage feedforward. Specifically, when the motor is in a deceleration state, the motor's current and speed are not controlled by the current loop and speed loop. Therefore, during the deceleration process, the output variables of the current loop control module are reset to zero, and the output variables of the speed loop are also reset to zero. This prevents the output variables of the current loop and speed loop generated during the deceleration process from affecting the motor control after the deceleration is exited, thereby improving the motor's control effect.

[0017] At the same time, during the deceleration process, the voltage feedforward decoupling parameters corresponding to the voltage feedforward control module are updated in real time according to the real-time speed signal, which can effectively improve the dynamic development speed of the current loop after exiting the deceleration execution process, reduce system fluctuations, and thus improve the control effect of the motor.

[0018] In any of the above technical solutions, the step of determining the operating state of the motor based on the command speed signal and the real-time speed signal specifically includes: determining the first direction corresponding to the command speed signal and the second direction corresponding to the real-time speed signal; based on the difference between the first direction and the second direction, determining that the operating state is a deceleration state.

[0019] In this technical solution, the direction corresponding to the command speed signal, i.e., the first direction, is first obtained, and the direction corresponding to the real-time speed signal, i.e., the second direction, is determined. If the first and second directions are different, it can be determined that the actual operating state of the current motor is a deceleration state.

[0020] Specifically, for example, if the real-time speed signal of the motor is counterclockwise rotation, but the direction of the command speed signal is clockwise rotation, it means that the current motor is about to change direction under the control of the command speed signal. Therefore, the motor must first go through the step of decelerating from the current speed to zero before reversing. Therefore, it can be determined that the current motor must be in a deceleration state. Executing the target operation at this time can effectively prevent the risk of bus voltage pumping up and damaging the small-capacitance bus capacitor controller, thereby ensuring the reliability of the small-capacitance bus capacitor controller.

[0021] In any of the above technical solutions, based on the situation that the first direction of rotation is the same as the second direction of rotation, the step of determining the operating state of the motor according to the command speed signal and the real-time speed signal also includes: determining the target speed according to the control signal; based on the situation that the speed corresponding to the real-time speed signal is greater than the target speed, determining that the operating state is a deceleration state.

[0022] In this technical solution, if the speed corresponding to the command speed signal of the motor, i.e., the first speed, is in the same direction as the real-time speed signal of the motor, i.e., the second speed, then the final target speed corresponding to the control signal of the motor is further obtained. If the target speed is less than the speed corresponding to the real-time speed signal, i.e., the actual physical speed of the current motor is greater than the target speed to be achieved, then it means that if the motor wants to reach the target speed, the current physical speed needs to be reduced. Therefore, it can be determined that the current motor must be in a deceleration state. At this time, executing the target operation can effectively prevent the risk of bus voltage pumping up and damaging the small-capacitance bus capacitor controller, thereby ensuring the reliability of the small-capacitance bus capacitor controller.

[0023] In any of the above technical solutions, based on the fact that the real-time speed signal is equal to the target speed, the value of the command speed signal is set to the value of the real-time speed signal to make the motor leave the deceleration state.

[0024] In this technical solution, when the real-time speed signal is equal to the target speed, it means that the motor has completed the speed adjustment. At this time, the real-time speed, that is, the value of the real-time speed signal, is assigned to the speed generation instruction of the motor control system to make the value of the instruction speed signal equal to the real-time speed signal. At this time, the motor can be controlled to exit the deceleration state. At the same time, it can avoid the situation where the motor speed reaches the target speed and the motor speed drops below the target speed due to the untimely update of the instruction speed signal after the actual motor speed reaches the target speed, and the acceleration state needs to be executed again, thereby improving the sensitivity of motor control.

[0025] In any of the above technical solutions, the step of determining the real-time speed signal of the motor specifically includes: obtaining the voltage and current of the motor in the target coordinate system, and obtaining the phase resistance of the motor; determining the stator flux of the motor in the target coordinate system based on the voltage, current and phase resistance, and determining the real-time speed signal based on the stator flux.

[0026] In this technical solution, a flux observer calculates flux to determine the real-time speed signal. Specifically, a target coordinate system is established, and the motor's stator flux in that target coordinate system is determined based on the voltage, current, and phase resistance of the motor. The stator flux is then used to determine the rotor position, and thus the real-time speed signal.

[0027] Specifically, taking the motor as a permanent magnet synchronous motor and the target coordinate system as a two-phase stationary coordinate system as an example, the voltage equation of the motor is:

[0028]

[0029] Among them, the two stationary phases are α and β, and the target coordinate system includes the α axis and the β axis, ψ α is the magnetic flux on the α axis, u αis the voltage on the α axis, i α is the current on the α axis, u β is the voltage on the β axis, ψ β is the magnetic flux on the β axis, i β is the current on the β axis, R s is the phase resistance of the motor.

[0030] From the above formula, the corresponding magnetic flux calculation formula is:

[0031]

[0032] Among them, in the target coordinate system, ψ α is the magnetic flux on the α axis, u α is the voltage on the α axis, i α is the current on the α axis, u β is the voltage on the β axis, ψ β is the magnetic flux on the β axis, i β is the current on the β axis, R s is the phase resistance of the motor.

[0033] The voltage model stator flux observer calculates the stator flux based on the measured current, voltage and phase resistance based on the mathematical model in the two-phase stationary coordinate system (target coordinate system). As long as the direction of the permanent magnet flux is obtained from the stator flux calculation, the motor rotor position can be obtained, and then the real-time motor speed can be obtained, thereby realizing accurate speed calculation without a position sensor.

[0034] In any of the above technical solutions, based on the fact that the operating state is a deceleration state, the input voltage of the flux observer of the motor is set to 0.

[0035] In this technical solution, since the switching devices of the upper bridge arm and the switching devices of the lower bridge arm of the intelligent power module respectively operate in the first switching state and the second switching state which are opposite to each other, the output voltage of the intelligent power module is zero. At this time, the input voltage of the voltage model stator flux observer is set to zero, that is, u in the formula is set to zero. α and u β The value of is set to 0, and then combined with the voltage, current and stator phase resistance obtained by real-time sampling, the motor rotor position is obtained in real time and the real-time speed signal is fed back.

[0036] The second aspect of the present invention provides a motor, including a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of the motor control method provided in any of the above technical solutions. Therefore, the motor also includes all the beneficial effects of the steps of the motor control method provided in any of the above technical solutions, which will not be repeated here.

[0037] In the above technical solution, the motor further includes: a control component, the control component is provided with a bus capacitor, wherein the capacitance of the bus capacitor is greater than 0 μF and less than 15 μF.

[0038] In this technical solution, the motor specifically includes a motor with a small-capacitance bus capacitor control component. The motor is also provided with a control component, which includes a bus capacitor. The bus capacitor has a relatively small capacitance. Specifically, the capacitance range of the bus capacitor is 0μF to 15μF. The current operating state of the motor is accurately judged based on the command speed signal and the real-time speed signal of the machine, specifically, whether the motor is in a deceleration state. If it is determined that the motor is in a deceleration state, the feedback energy fluctuations that may be generated by the motor during the deceleration process are avoided through target operation, thereby preventing the risk of bus voltage pumping and damaging the small-capacitance bus capacitor controller, effectively improving the safety and stability of the system.

[0039] The third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it can implement the steps of the motor control method provided in any of the above technical solutions. Therefore, the computer-readable storage medium also includes all the beneficial effects of the steps of the motor control method provided in any of the above technical solutions, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0041] Figure 1 One of the flow charts of the method for controlling a motor according to an embodiment of the present invention is shown;

[0042] Figure 2 A second flowchart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0043] Figure 3 A third flowchart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0044] Figure 4 A fourth flowchart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0045] Figure 5 A fifth flowchart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0046] Figure 6 A sixth flowchart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0047] Figure 7Flowchart seven of the method for controlling a motor according to an embodiment of the present invention is shown;

[0048] Figure 8 An eighth flowchart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0049] Figure 9 A ninth flowchart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0050] Figure 10 A tenth flowchart of a method for controlling a motor according to an embodiment of the present invention is shown;

[0051] Figure 11 FIG1 shows one of the schematic diagrams of the speed command and the speed generation command during the deceleration phase according to an embodiment of the present invention;

[0052] Figure 12 A second schematic diagram showing a speed command and a speed generation command during a deceleration phase according to an embodiment of the present invention is shown;

[0053] Figure 13 shows a logic diagram of motor speed control according to an embodiment of the present invention;

[0054] Figure 14 A structural block diagram of a motor according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0055] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0056] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0057] Refer to the following Figures 1 to 14 A motor control method, a motor, and a computer-readable storage medium according to some embodiments of the present invention are described.

[0058] Example 1

[0059] Figure 1 A flow chart of a method for controlling a motor according to an embodiment of the present invention is shown. Specifically, the method may include the following steps:

[0060] Step 102: Acquire a control signal and determine a command speed signal corresponding to the motor according to the control signal;

[0061] Step 104, obtaining a real-time speed signal of the motor;

[0062] Step 106, determining the real-time operating state of the motor according to the command speed signal and the real-time speed signal;

[0063] Step 108 : When the real-time operating state of the motor is a deceleration state, the motor is controlled to perform a preset target operation.

[0064] In an embodiment of the present invention, the control signal of the motor includes a command speed signal, which corresponds to the real-time target speed of the motor at the current time point, that is, a signal for the motor to rotate. Specifically, if the speed needs to be adjusted during the operation of the motor, such as acceleration or deceleration, the speed of the motor is adjusted in real time through the control signal. Since the speed adjustment of the motor is a linear progressive process, after determining the target speed that needs to be adjusted, the command speed signal is gradually adjusted from the command speed corresponding to the current actual speed to the command speed corresponding to the final target speed. Therefore, if the speed of the motor changes, the command speed signal is actually a signal that changes with time.

[0065] After acquiring the command speed signal, the real-time speed signal of the motor is further acquired. This real-time speed signal can reflect the current physical speed of the motor. Therefore, based on the command speed signal and the real-time speed signal of the motor, the current operating state of the motor can be determined, such as whether it is in a deceleration state, an acceleration state, or a constant speed state. If the motor's operating state is determined to be a deceleration state, the motor is controlled to perform the target operation to avoid feedback energy fluctuations that may be generated during the motor's deceleration process.

[0066] By applying the embodiments of the present invention, the motor's command speed signal and real-time speed signal are used to accurately determine the current motor operating state, specifically whether the motor is in a deceleration state. If the motor is determined to be in a deceleration state, targeted operations are implemented to avoid feedback energy fluctuations that may occur during the deceleration process. This, in turn, prevents the risk of bus voltage pumping and damage to the small-capacitance bus capacitor controller, effectively improving system safety and stability.

[0067] Example 2

[0068] In an embodiment of the present invention, the motor specifically includes an intelligent power module, which is provided with an upper arm switching device and a lower arm switching device. Figure 2 The second flowchart of the motor control method according to the embodiment of the present invention is shown. Specifically, the method may include the following steps:

[0069] Step 202: Acquire a control signal, and determine a command speed signal corresponding to the motor according to the control signal;

[0070] Step 204, obtaining a real-time speed signal of the motor;

[0071] Step 206, determining the real-time operating state of the motor according to the command speed signal and the real-time speed signal;

[0072] Step 208 : When the real-time operating state of the motor is a deceleration state, the upper bridge arm switching device is controlled to operate in a first switching state, and the lower bridge arm switching device is controlled to operate in a second switching state.

[0073] In step 208 , the first switch state and the second switch state are opposite, that is, when the first switch state is on, the second switch state is off; when the first switch state is off, the second switch state is on.

[0074] In an embodiment of the present invention, the motor includes an intelligent power module (IPM). By providing the IPM, the control circuit of the motor can be effectively simplified, the system volume can be reduced, and the reliability can be increased.

[0075] Specifically, after obtaining the command speed signal, a real-time speed signal of the motor is further obtained, which can reflect the current physical speed of the motor. When it is determined that the operating state of the motor is a deceleration state, the switching devices of the upper bridge arm of the intelligent power module are all turned on, and the switching devices of the lower bridge arm of the intelligent power module are all turned off. Alternatively, the switching devices of the upper bridge arm of the power module are all turned off, and the switching devices of the lower bridge arm of the intelligent power module are all turned on.

[0076] That is, the switching devices of the upper bridge arm and the switching devices of the lower bridge arm are controlled to operate in the opposite first switching state and second switching state respectively, so that the energy generated by the feedback braking of the motor during the deceleration process is consumed through the motor winding, and therefore the bus capacitor will not be charged through the anti-parallel diode of the intelligent power module, thereby preventing the risk of bus voltage pumping and damaging the small-capacitance bus capacitor controller, thereby ensuring the reliability of the small-capacitance bus capacitor controller.

[0077] Example 3

[0078] In an embodiment of the present invention, the motor specifically includes an intelligent power module, which is provided with an upper arm switching device and a lower arm switching device, and also includes a current loop control module, a speed loop control module and a voltage feedforward decoupling control module.

[0079] Figure 3 The third flowchart of the motor control method according to the embodiment of the present invention is shown. Specifically, the method may include the following steps:

[0080] Step 302: Acquire a control signal and determine a command speed signal corresponding to the motor according to the control signal;

[0081] Step 304, obtaining a real-time speed signal of the motor;

[0082] Step 306, determining the real-time operating state of the motor according to the command speed signal and the real-time speed signal;

[0083] Step 308 , when the real-time operating state of the motor is a deceleration state, controlling the upper bridge arm switching device to operate in a first switching state, and controlling the lower bridge arm switching device to operate in a second switching state;

[0084] Step 310, clearing the output variables of the current loop and the speed loop;

[0085] Step 312: Update the voltage feedforward decoupling parameters corresponding to the voltage feedforward control module.

[0086] In an embodiment of the present invention, the motor includes an intelligent power module (IPM). This IPM effectively simplifies the motor's control circuitry, reduces system size, and increases reliability. The motor's control system also includes a current loop control module, a speed loop control module, and a voltage feedforward decoupling control module. These three loops, speed loop, and voltage feedforward decoupling, enable precise closed-loop control of the motor.

[0087] Specifically, after obtaining the command speed signal, a real-time speed signal of the motor is further obtained, which can reflect the current physical speed of the motor. When it is determined that the operating state of the motor is a deceleration state, the switching devices of the upper bridge arm of the intelligent power module are all turned on, and the switching devices of the lower bridge arm of the intelligent power module are all turned off. Alternatively, the switching devices of the upper bridge arm of the power module are all turned off, and the switching devices of the lower bridge arm of the intelligent power module are all turned on.

[0088] While controlling the switching devices of the upper and lower bridge arms of the intelligent power module, since the current and speed of the motor are not controlled by the current loop and the speed loop in the deceleration state, the output variables of the current loop control module are cleared to zero during the deceleration execution process, and the output variables of the speed loop are also cleared to zero. This can prevent the output variables of the current loop and the speed loop generated during the deceleration process from affecting the motor control after exiting the deceleration, thereby improving the control effect of the motor.

[0089] At the same time, during the deceleration process, the voltage feedforward decoupling parameters corresponding to the voltage feedforward control module are updated in real time according to the real-time speed signal, which can effectively improve the dynamic development speed of the current loop after exiting the deceleration execution process, reduce system fluctuations, and thus improve the control effect of the motor.

[0090] Example 4

[0091] Figure 4 The fourth flowchart of the method for controlling a motor according to an embodiment of the present invention is shown. Specifically, the method may include the following steps:

[0092] Step 402: Acquire a control signal, and determine a command speed signal corresponding to the motor according to the control signal;

[0093] Step 404, obtaining a real-time speed signal of the motor;

[0094] Step 406, determining a first direction corresponding to the command speed signal and a second direction corresponding to the real-time speed signal;

[0095] Step 408: When the first direction of rotation is different from the second direction of rotation, determine that the operating state is a deceleration state.

[0096] In an embodiment of the present invention, a command speed signal is first acquired, and after the command speed signal is acquired, a real-time speed signal of the motor is further acquired.

[0097] After obtaining the command speed signal and the real-time speed signal, the directions corresponding to the command speed signal and the real-time speed signal are respectively determined, i.e., a first direction and a second direction. If the obtained first direction and the second direction are different, it can be determined that the actual operating state of the current motor is a deceleration state.

[0098] Specifically, for example, if the real-time speed signal of the motor is counterclockwise rotation, but the direction of the command speed signal is clockwise rotation, it means that the current motor is about to change direction under the control of the command speed signal. Therefore, the motor must first go through the step of decelerating from the current speed to zero before reversing. Therefore, it can be determined that the current motor must be in a deceleration state. Executing the target operation at this time can effectively prevent the risk of bus voltage pumping up and damaging the small-capacitance bus capacitor controller, thereby ensuring the reliability of the small-capacitance bus capacitor controller.

[0099] Example 5

[0100] Figure 5 The fifth flowchart of the method for controlling a motor according to an embodiment of the present invention is shown. Specifically, the method may include the following steps:

[0101] Step 502: Acquire a control signal, and determine a command speed signal corresponding to the motor according to the control signal;

[0102] Step 504, obtaining a real-time speed signal of the motor;

[0103] Step 506, determining a first direction corresponding to the command speed signal and a second direction corresponding to the real-time speed signal;

[0104] Step 508, when the first direction of rotation is the same as the second direction of rotation, determining the target speed according to the control signal;

[0105] In step 510 , if the speed corresponding to the real-time speed signal is greater than the target speed, it is determined that the operating state is a deceleration state.

[0106] In an embodiment of the present invention, a command speed signal is first acquired, and after the command speed signal is acquired, a real-time speed signal of the motor is further acquired.

[0107] After obtaining the command speed signal and the real-time speed signal, the directions corresponding to the command speed signal and the real-time speed signal are respectively determined, i.e., a first direction and a second direction. If the obtained first direction and the second direction are different, it can be determined that the actual operating state of the current motor is a deceleration state.

[0108] If the first and second directions are the same, the final target speed corresponding to the motor control signal is further obtained, and the difference between the target speed and the speed corresponding to the real-time speed signal is determined. If the target speed is less than the speed corresponding to the real-time speed signal, that is, the current actual physical speed of the motor is greater than the target speed to be achieved, it means that the current physical speed needs to be reduced to achieve the target speed. Therefore, it can be determined that the current motor must be in a deceleration state. Executing the target operation at this time can effectively prevent the risk of bus voltage pumping up and damaging the small-capacitance bus capacitor controller, thereby ensuring the reliability of the small-capacitance bus capacitor controller.

[0109] Example 6

[0110] Figure 6 The sixth flowchart of the method for controlling a motor according to an embodiment of the present invention is shown. Specifically, the method may include the following steps:

[0111] Step 602: Acquire a control signal, and determine a command speed signal corresponding to the motor according to the control signal;

[0112] Step 604, obtaining a real-time speed signal of the motor;

[0113] Step 606, determining the real-time operating state of the motor according to the command speed signal and the real-time speed signal;

[0114] Step 608: When the real-time operating state of the motor is a deceleration state, control the motor to perform a preset target operation;

[0115] Step 610: After executing the target operation, when the real-time speed signal is equal to the target speed, the value of the command speed signal is set to the value of the real-time speed signal to make the motor leave the deceleration state.

[0116] In an embodiment of the present invention, a command speed signal is determined based on a control signal. After obtaining the command speed signal, a real-time speed signal of the motor is further obtained. The real-time speed signal can reflect the current physical speed of the motor. Therefore, based on the command speed signal and the real-time speed signal of the motor, the current operating state of the motor can be determined, such as whether it is in a deceleration state, an acceleration state, or a uniform speed operation state. When it is determined that the operating state of the motor is a deceleration state, the motor is controlled to perform a target operation to avoid feedback energy fluctuations that may be generated by the motor during the deceleration process through the target operation.

[0117] After executing the target operation, if the real-time speed signal is equal to the target speed, it means that the motor has completed the speed adjustment. At this time, the real-time speed, that is, the value of the real-time speed signal is assigned to the speed generation instruction of the motor control system to make the value of the instruction speed signal equal to the real-time speed signal. At this time, the motor can be controlled to exit the deceleration state. At the same time, it can avoid the situation where the motor speed reaches the target speed and the motor speed drops below the target speed due to the untimely update of the instruction speed signal after the actual motor speed reaches the target speed, and the acceleration state needs to be executed again, thereby improving the sensitivity of motor control.

[0118] Example 7

[0119] Figure 7 The seventh flowchart of the method for controlling a motor according to an embodiment of the present invention is shown. Specifically, the method may include the following steps:

[0120] Step 702: Obtain the voltage and current of the motor in the target coordinate system, and obtain the phase resistance of the motor;

[0121] Step 704 : Determine the stator flux of the motor in the target coordinate system according to the voltage, current, and phase resistance, and determine a real-time speed signal according to the stator flux.

[0122] When the operation state is the deceleration state, the input voltage of the flux observer of the motor is set to 0.

[0123] In an embodiment of the present invention, when determining the real-time speed signal, a flux observer can be used to calculate flux, and the real-time speed signal is determined based on the calculated flux. Specifically, a target coordinate system is established, and the stator flux of the motor in the target coordinate system is determined based on the voltage, current, and phase resistance of the motor in the target coordinate system. The stator flux is used to determine the rotor position, and the real-time speed signal is then determined.

[0124] Specifically, taking the motor as a permanent magnet synchronous motor and the target coordinate system as a two-phase stationary coordinate system as an example, the voltage equation of the motor is:

[0125]

[0126] Among them, the two stationary phases are α and β, and the target coordinate system includes the α axis and the β axis, ψ α is the magnetic flux on the α axis, u α is the voltage on the α axis, i α is the current on the α axis, u β is the voltage on the β axis, ψ β is the magnetic flux on the β axis, i β is the current on the β axis, R s is the phase resistance of the motor.

[0127] From the above formula, the corresponding magnetic flux calculation formula is:

[0128]

[0129] Among them, in the target coordinate system, ψ α is the magnetic flux on the α axis, u α is the voltage on the α axis, i α is the current on the α axis, u β is the voltage on the β axis, ψ β is the magnetic flux on the β axis, i β is the current on the β axis, R s is the phase resistance of the motor.

[0130] The voltage model stator flux observer calculates the stator flux based on the measured current, voltage and phase resistance based on the mathematical model in the two-phase stationary coordinate system (target coordinate system). As long as the direction of the permanent magnet flux is obtained from the stator flux calculation, the motor rotor position can be obtained, and then the real-time motor speed can be obtained, thereby realizing accurate speed calculation without a position sensor.

[0131] At the same time, since the switching devices of the upper bridge arm and the switching devices of the lower bridge arm of the intelligent power module work in the first switching state and the second switching state respectively, the output voltage of the intelligent power module is zero. At this time, the input voltage of the voltage model stator flux observer is set to zero, that is, u in the formula is set to α and u β The value of is set to 0, and then combined with the voltage, current and stator phase resistance obtained by real-time sampling, the motor rotor position is obtained in real time and the real-time speed signal is fed back.

[0132] By applying the embodiments of the present invention, the motor's command speed signal and real-time speed signal are used to accurately determine the current motor operating state, specifically whether the motor is in a deceleration state. If the motor is determined to be in a deceleration state, targeted operations are implemented to avoid feedback energy fluctuations that may occur during the deceleration process. This, in turn, prevents the risk of bus voltage pumping and damage to the small-capacitance bus capacitor controller, effectively improving system safety and stability.

[0133] Example 8

[0134] In the embodiment of the present invention, a permanent magnet synchronous motor having a small-capacitance bus capacitor control component is taken as an example to illustrate the embodiment of the present invention.

[0135] The control method provided by an embodiment of the present invention determines whether to perform a deceleration execution process based on a speed command and a real-time speed obtained by a flux observer. During the deceleration execution process, the motor is decelerated by a deceleration action and the real-time speed of the motor is obtained in real time through a flux observer. The deceleration exit process is performed until the real-time speed is less than the target speed command or decelerates to zero.

[0136] Figure 8 FIG8 is a flowchart of a method for controlling a motor according to an embodiment of the present invention, which includes:

[0137] Step 802, determining whether the direction of the motor's real-time speed is the same as the direction of the commanded speed; if so, proceed to step 804, otherwise proceed to step 810;

[0138] Step 804, determine whether the deceleration execution flag or the deceleration exit flag is set; if so, proceed to step 806, otherwise end;

[0139] Step 806, determine whether the motor is in the deceleration stage, if yes, proceed to step 808, otherwise end;

[0140] Step 808, determine whether the real-time speed is greater than the target speed or the command speed; if so, proceed to step 810, otherwise end;

[0141] Step 810: Set the deceleration execution flag.

[0142] If the deceleration execution flag is set, it means that the motor has started the deceleration process and needs to be further determined whether it is currently in the deceleration state. If the deceleration exit flag is set, it means that the motor has completed the deceleration process and no further deceleration action is required, that is, no target operation needs to be performed.

[0143] Specifically, taking the motor as a permanent magnet synchronous motor and the target coordinate system as a two-phase stationary coordinate system as an example, the voltage equation of the motor is:

[0144]

[0145] Among them, the two stationary phases are α and β, and the target coordinate system includes the α axis and the β axis, ψ α is the magnetic flux on the α axis, u α is the voltage on the α axis, i α is the current on the α axis, u β is the voltage on the β axis, ψ β is the magnetic flux on the β axis, iβ is the current on the β axis, R s is the phase resistance of the motor.

[0146] According to formula (1), the corresponding magnetic flux calculation formula is:

[0147]

[0148] Among them, in the target coordinate system, ψ α is the magnetic flux on the α axis, u α is the voltage on the α axis, i α is the current on the α axis, u β is the voltage on the β axis, ψ β is the magnetic flux on the β axis, i β is the current on the β axis, R s is the phase resistance of the motor.

[0149] As can be seen from formula (2), the voltage model stator flux observer calculates the stator flux based on the measured current, voltage and stator resistance based on the mathematical model in the two-phase stationary coordinate system (i.e., the target coordinate system, or simply referred to as the αβ coordinate system). As long as the direction of the permanent magnet flux is obtained from the stator flux, the motor rotor position can be obtained, and then the real-time motor speed can be obtained.

[0150] Figure 9 FIG9 shows a ninth flow chart of a method for controlling a motor according to an embodiment of the present invention, which includes:

[0151] Step 902, determine whether the deceleration execution flag is set; if yes, proceed to step 904, otherwise end;

[0152] Step 904, determine whether the real-time motor speed and the command speed are in the same direction; if yes, proceed to step 906, otherwise proceed to step 908;

[0153] Step 906, determine whether the absolute value of the real-time speed is less than the absolute value of the command speed; if so, proceed to step 910, otherwise proceed to step 914;

[0154] Step 908, determine whether the real-time speed is less than or equal to 0; if so, proceed to step 910, otherwise proceed to step 914;

[0155] Step 910: Reset the deceleration execution flag;

[0156] Step 912, set the deceleration exit flag;

[0157] Step 914, performing a deceleration action;

[0158] Step 916, setting the flux observer input voltage assignment to zero;

[0159] Step 918: Clear the current loop and speed loop output variables, and update the voltage feedforward decoupling parameters.

[0160] The deceleration determination process determines whether the current motor operating state requires deceleration. If the motor is currently decelerating, the deceleration determination process does not need to be performed, thus avoiding increasing program runtime and reducing efficiency. The deceleration determination process is not necessary until the motor exits the deceleration process.

[0161] The deceleration judgment conditions are:

[0162] If the motor real-time speed and the target speed command are in different directions (i.e. the target speed command is zero or the target speed command is opposite to the motor real-time speed), the deceleration execution process is entered.

[0163] If the motor's real-time speed and the target speed command have the same direction, then when the speed generation command is in the deceleration stage (i.e., the absolute value of the target speed command is less than the absolute value of the current speed command), and the real-time speed absolute value is greater than the target speed absolute value or the real-time speed absolute value is greater than the current speed command absolute value, the deceleration execution process is entered.

[0164] The difference between the target speed command and the speed generation command is that the target speed command is the speed that the motor needs to reach starting from the current speed command, and the speed generation command is the speed command actually used in controlling the motor from the current command speed to the target speed command.

[0165] The deceleration process is designed to quickly control the motor to reach the target speed command or decelerate to zero, while ensuring that the bus voltage does not risk pumping. This deceleration is achieved by turning off all the upper-side switches of the IPM (Intelligent Power Module) and turning on all the lower-side switches; or turning on all the upper-side switches of the IPM (Intelligent Power Module) and turning off all the lower-side switches.

[0166] The deceleration execution step can consume the energy of the motor rotation through the motor winding. Especially when the motor speed is high, the bus capacitor can be charged without the anti-parallel diode in the IPM (Intelligent Power Module) module, ensuring the reliability of the small-capacitance bus capacitor controller.

[0167] If the real-time speed of the motor and the target speed command are in different directions, the motor will be decelerated to zero through the deceleration execution process; if the real-time speed of the motor and the target speed command are in the same direction, the motor will be decelerated to a speed less than the target speed command through the deceleration execution process, so that the motor enters the driving state after exiting the deceleration execution process to prevent the motor from entering the braking state and causing overvoltage of the bus capacitor.

[0168] It should be noted that when performing deceleration, because the output voltage of the IPM (Intelligent Power Module) module is zero, the input voltage of the voltage model stator flux observer should be set to zero. Then, combined with the current and stator resistance obtained by real-time sampling, the real-time motor position and real-time speed can be obtained.

[0169] In addition, because the current and speed of the motor are not controlled by the current loop and the speed loop during the deceleration process, the output variables of the current loop and the speed loop are cleared to zero during the deceleration process. This can prevent the output variables of the current loop and the speed loop from affecting the motor control after exiting the deceleration process.

[0170] At the same time, updating the voltage feedforward decoupling parameters in real time during the deceleration execution process can improve the dynamic response of the current loop and reduce speed fluctuations after exiting the deceleration execution process.

[0171] Figure 10 FIG10 shows a flowchart of a method for controlling a motor according to an embodiment of the present invention, which includes:

[0172] Step 1002, determine whether the deceleration exit flag is set; if so, proceed to step 1004, otherwise end;

[0173] Step 1004, the real-time speed amplitude is given to the speed generation instruction;

[0174] Step 1006: Reset the deceleration exit flag.

[0175] The deceleration exit process is designed to assign the real-time speed to the speed generation command if the real-time speed reaches the target speed command before the speed generation command. This prevents the motor from needing to accelerate to the speed generation command after reaching the target speed command, and then decelerate to the target speed command following the speed generation command. Furthermore, the deceleration exit flag must be reset.

[0176] In an embodiment of the present invention, Figure 11 One of the schematic diagrams of the command speed and the speed generation instruction in the deceleration stage according to an embodiment of the present invention is shown, wherein the current command speed is the command speed of the motor at the current moment, the target command speed is the target speed controlled by the motor, and the speed generation instruction controls the command speed of the motor to gradually decrease from the current command speed until it is equal to the target command speed.

[0177] Figure 12 The second schematic diagram of the deceleration phase command speed and the speed generation instruction according to an embodiment of the present invention is shown, wherein the real-time speed of the motor is obtained in real time. If the real-time speed reaches the target speed before the command speed corresponding to the speed generation instruction, the real-time speed amplitude is increased to the speed generation instruction.

[0178] Figure 13 A logical schematic diagram of motor speed control according to an embodiment of the present invention is shown. Taking q-axis control as an example, after receiving the target speed command, the command speed generated by the speed command is combined with the real-time speed feedback of the motor and input into the speed loop. The speed loop generates a current command, and after combining it with the current feedback of the motor, it is input into the current converter. The current converter decouples the voltage reference and voltage feedforward and inputs the switching signal into the IMP (Intelligent Power Module) module to control the operation of the motor.

[0179] In the embodiment of the present invention, the kinetic energy of the motor rotation is consumed through the motor winding during the deceleration control process, and no energy is absorbed from the bus or fed back to the bus, thereby ensuring that the bus voltage does not have an overvoltage problem during the deceleration process, ensuring the reliability of the small-capacitance bus capacitor controller, and the method is simple and easy to implement.

[0180] Embodiment 9

[0181] Figure 14 A structural block diagram of a motor according to an embodiment of the present invention is shown. Specifically, the motor 1400 includes a memory 1402 and a processor 1404. The memory 1402 is used to store computer programs, and the processor 1404 is used to execute the computer programs stored in the memory to implement the steps of the motor control method provided in any of the above embodiments. Therefore, the motor also includes all the beneficial effects of the steps of the motor control method provided in any of the above embodiments, which will not be repeated here.

[0182] In the above embodiment, the motor 1400 further includes: a control component 1406 , and the control component 1406 is provided with a bus capacitor, wherein the capacitance of the bus capacitor is greater than 0 μF and less than 15 μF.

[0183] In an embodiment of the present invention, the motor specifically includes a motor having a small-capacitance bus capacitor control component. The motor is also provided with a control component, which includes a bus capacitor having a relatively small capacitance. Specifically, the capacitance range of the bus capacitor is 0μF to 15μF. The current operating state of the motor is accurately determined based on the command speed signal and the real-time speed signal of the machine, specifically, whether the motor is in a deceleration state. If it is determined that the motor is in a deceleration state, the feedback energy fluctuations that may be generated by the motor during the deceleration process are avoided through target operation, thereby preventing the risk of bus voltage pumping and damaging the small-capacitance bus capacitor controller, thereby effectively improving the safety and stability of the system.

[0184] Example 10

[0185] In an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it can implement the steps of the motor control method provided in any of the above embodiments. Therefore, the computer-readable storage medium also includes all the beneficial effects of the steps of the motor control method provided in any of the above embodiments, which will not be repeated here.

[0186] In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise expressly defined, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship described in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention. The terms "connection", "installation", "fixed", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0187] In the description of the present invention, the terms "one embodiment," "some embodiments," "specific embodiments," etc., mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In the present invention, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0188] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for controlling a motor, characterized in that: include: Determining a corresponding command speed signal according to the control signal of the motor; Determining a real-time speed signal of the motor; determining the operating state of the motor according to the command speed signal and the real-time speed signal; Based on the fact that the operating state is a deceleration state, controlling the motor to perform a target operation; The motor further includes a current loop control module, a speed loop control module, and a voltage feedforward decoupling control module. The step of controlling the motor to perform a target operation further includes: clearing the output variables of the current loop control module and the speed loop control module; and updating the voltage feedforward decoupling parameter corresponding to the voltage feedforward control module according to the real-time speed signal; If the rotational speed of the motor changes, the command rotational speed signal is a signal that changes with time.

2. The motor control method according to claim 1, characterized in that: The motor includes an intelligent power module, and the intelligent power module includes an upper bridge arm switching device and a lower bridge arm switching device. The step of controlling the motor to perform a target operation specifically includes: Controlling the upper bridge arm switching device to operate in a first switching state, and controlling the lower bridge arm switching device to operate in a second switching state; The first switch state and the second switch state are opposite.

3. The motor control method according to claim 1 or 2, characterized in that: The step of determining the operating state of the motor according to the command speed signal and the real-time speed signal specifically includes: determining a first direction corresponding to the command speed signal and a second direction corresponding to the real-time speed signal; Based on the fact that the first steering direction is different from the second steering direction, the operating state is determined to be the deceleration state.

4. The motor control method according to claim 3, characterized in that: Based on the fact that the first direction of rotation is the same as the second direction of rotation, the step of determining the operating state of the motor according to the command speed signal and the real-time speed signal further includes: determining a target speed according to the control signal; Based on the fact that the rotation speed corresponding to the real-time rotation speed signal is greater than the target rotation speed, the operating state is determined to be the deceleration state.

5. The motor control method according to claim 4, characterized in that: Also includes: Based on the fact that the real-time rotation speed signal is equal to the target rotation speed, the value of the command rotation speed signal is set to the value of the real-time rotation speed signal, so as to make the motor leave the deceleration state.

6. The motor control method according to claim 1 or 2, characterized in that: The motor includes the step of determining the real-time speed signal of the motor, specifically comprising: Obtaining the voltage and current of the motor in a target coordinate system, and obtaining the phase resistance of the motor; The stator flux of the motor in a target coordinate system is determined according to the voltage, the current, and the phase resistance, and the real-time speed signal is determined according to the stator flux.

7. The motor control method according to claim 6, characterized in that: Based on the fact that the operating state is a deceleration state, the input voltage of the flux observer of the motor is set to 0.

8. A motor, characterized in that: include: a memory having a computer program stored thereon; A processor is configured to implement the motor control method according to any one of claims 1 to 7 when executing the computer program.

9. The motor according to claim 8, characterized in that The motor further comprises: The control component is provided with a bus capacitor, wherein the capacitance of the bus capacitor is greater than 0 μF and the capacitance is less than 15 μF.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for controlling the motor according to any one of claims 1 to 7 is implemented.

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