Permanent magnet synchronous motor control method and device

Abstract

The present application is applicable to the field of motor control technology and provides a permanent magnet synchronous motor control method and device. The above permanent magnet synchronous motor control method first obtains the stator current of the motor, where the stator current is any two-phase current in the three-phase current of the motor stator. The stator current is then subjected to a CLARKE transformation to obtain the current component of the stator current in a two-phase stationary coordinate system, and the rotor position and rotor speed of the motor are calculated based on the current component, voltage component and motor body parameters. The motor body parameters include stator inductance, stator phase resistance and back electromotive force constant. The voltage component is the voltage component of the stator voltage in a two-phase stationary coordinate system. Finally, a motor control signal is generated based on the rotor position and rotor speed. The motor control signal is used to control the rotation of the motor. This method can obtain the position and speed of the rotor without installing a physical rotor position sensor, and can achieve stable and reliable operation of the permanent magnet synchronous motor within the full speed range.

Description

Technical Field

[0001] The present application belongs to the field of motor control technology, and in particular relates to a permanent magnet synchronous motor control method and device. Background Art

[0002] The electric hydraulic power steering system of electric vehicles uses an electric hydraulic pump assembly and a corresponding motor driver. The motor driver drives the motor to rotate and convert electrical energy into mechanical energy, and then the hydraulic oil pump converts the mechanical energy into hydraulic power to assist the vehicle in steering.

[0003] Permanent magnet synchronous motors (PMSMs) utilize permanent magnets for excitation, offering low power loss, high power density, and excellent reliability. Combined with a hydraulic oil pump, they form a PMSM electric hydraulic pump assembly, which has been widely used in electric power steering systems in electric vehicles. PMSM drives typically employ vector control strategies. To obtain the real-time position and speed of the motor rotor, a rotor position sensor is required, increasing system cost and reducing reliability.

[0004] Sensorless control technology enables stable and reliable operation of permanent magnet synchronous motors without the need for a physical rotor position sensor. Patent application publication number CN109450328A discloses a sliding-mode control algorithm. This algorithm estimates rotor position based on the motor's back-electromotive force (BEMF). However, because the BEMF is zero or very small during motor startup and low-speed operation, accurate rotor position and speed cannot be determined. Therefore, this method is only suitable for medium- to high-speed operating conditions and cannot be used during zero-speed startup or low-speed operation. Summary of the Invention

[0005] The embodiments of the present application provide a permanent magnet synchronous motor control method and device, which can solve the problem that position sensorless control technology cannot be applied to zero-speed starting and low-speed operation conditions.

[0006] In a first aspect, an embodiment of the present application provides a permanent magnet synchronous motor control method, comprising:

[0007] Obtaining the stator current of the motor, wherein the stator current is any two-phase current of the three-phase current of the motor stator;

[0008] Performing a CLARKE transformation on the stator current to obtain current components of the stator current in a two-phase stationary coordinate system;

[0009] The rotor position and rotor speed of the motor are calculated based on the current component, the voltage component, and the motor body parameters, wherein the motor body parameters include the stator inductance, the stator phase resistance, and the back electromotive force constant, and the voltage component is the voltage component of the stator voltage in a two-phase stationary coordinate system;

[0010] A motor control signal is generated according to the rotor position and the rotor speed, wherein the motor control signal is used to control the rotation of the motor.

[0011] In a possible implementation of the first aspect, calculating the rotor position and rotor speed of the motor according to the current component, the voltage component, and the motor body parameters includes:

[0012] The permanent magnet flux is calculated based on the back electromotive force constant of the motor;

[0013] Calculating an induced electromotive force according to the voltage component, the current component, the stator inductance, the stator phase resistance, and the permanent magnet flux;

[0014] Determining a compensation electromotive force according to the induced electromotive force, and calculating an estimated rotor flux according to the induced electromotive force and the compensation electromotive force;

[0015] performing an inverse tangent calculation on the estimated magnetic flux to obtain the rotor position;

[0016] The rotor position is differentiated to obtain the rotor speed.

[0017] In a possible implementation of the first aspect, a calculation formula for the permanent magnet flux linkage is:

[0018]

[0019] Among them, PM is the permanent magnet flux, K e is the back electromotive force constant, and PolePairs is the number of pole pairs of the permanent magnet synchronous motor.

[0020] In a possible implementation of the first aspect, a calculation formula for the induced electromotive force is:

[0021]

[0022]

[0023] Among them, E sα and E sβ is the induced electromotive force, u sα and u sβ is the voltage component, i sα and i sβ is the current component, L s is the stator inductance, R s is the stator phase resistance.

[0024] In a possible implementation of the first aspect, a calculation formula for the estimated rotor flux is:

[0025]

[0026]

[0027] in, and Estimate the flux linkage for the rotor, E comp.sα and E comp.sβ To compensate for the electromotive force, E sα and E sβ is the induced electromotive force;

[0028] The calculation formula of the compensation electromotive force is:

[0029]

[0030]

[0031] K p To adaptively adjust the gain, and is the flux linkage Ψ through the permanent magnet PM Calculated rotor reference flux;

[0032] The calculation formula of the rotor reference flux is:

[0033]

[0034]

[0035] θ e is the rotor position, Ψ PM is the permanent magnet flux.

[0036] In a possible implementation of the first aspect, generating a motor control signal according to the rotor position and the rotor speed includes:

[0037] Performing a PARK transformation on the current component and the rotor position to obtain a feedback current of the stator current in a two-phase rotating coordinate system;

[0038] Calculating the quadrature axis voltage according to the rotor speed, the given speed and the feedback current;

[0039] The direct-axis voltage is calculated according to the feedback current and the direct-axis given current;

[0040] Performing an IPARK transformation according to the quadrature-axis voltage, the direct-axis voltage, and the rotor position to obtain the voltage component;

[0041] The voltage component is modulated by SVPWM to generate the motor control signal.

[0042] In a possible implementation of the first aspect, calculating the quadrature-axis voltage according to the rotor speed, the given speed, and the feedback current includes:

[0043] determining a first error value according to the rotor speed and the given speed;

[0044] Performing proportional-integral adjustment on the first error value to obtain a quadrature-axis given current;

[0045] determining a second error value according to the quadrature-axis given current and the feedback current;

[0046] Proportional-integral adjustment is performed on the second error value to obtain the quadrature-axis voltage.

[0047] In a possible implementation of the first aspect, calculating the direct-axis voltage according to the feedback current and the direct-axis given current includes:

[0048] determining a third error value according to the feedback current and the direct-axis given current;

[0049] Proportional-integral adjustment is performed on the third error value to obtain the direct-axis voltage.

[0050] In a second aspect, an embodiment of the present application provides a permanent magnet synchronous motor control device, comprising:

[0051] A stator current acquisition module, configured to acquire the stator current of the motor, wherein the stator current is any two-phase current of the three-phase stator current of the motor;

[0052] a CLARKE transformation module, configured to perform a CLARKE transformation on the stator current to obtain current components of the stator current in a two-phase stationary coordinate system;

[0053] a calculation module, configured to calculate the rotor position and rotor speed of the motor based on the current component, the voltage component, and motor body parameters, wherein the motor body parameters include stator inductance, stator phase resistance, and back electromotive force constant, and the voltage component is the voltage component of the stator voltage in a two-phase stationary coordinate system;

[0054] The motor control signal generating module is configured to generate a motor control signal according to the rotor position and the rotor speed, wherein the motor control signal is used to control the rotation of the motor.

[0055] In a third aspect, an embodiment of the present application provides a terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a method as described in any one of the first aspects when executing the computer program.

[0056] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described in any one of the first aspects is implemented.

[0057] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute any of the methods described in the first aspect above.

[0058] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0059] The permanent magnet synchronous motor control method provided in this embodiment first obtains the stator current of the motor, wherein the stator current is any two-phase current in the three-phase stator current of the motor. Then, the stator current is subjected to a CLARKE transformation to obtain the current component of the stator current in a two-phase stationary coordinate system, and the rotor position and rotor speed of the motor are calculated based on the current component, the voltage component, and the motor body parameters, wherein the motor body parameters include the stator inductance, the stator phase resistance, and the back electromotive force constant, and the voltage component is the voltage component of the stator voltage in a two-phase stationary coordinate system. Finally, a motor control signal is generated based on the rotor position and rotor speed, wherein the motor control signal is used to control the rotation of the motor. This method can obtain the position and speed of the rotor without installing a physical rotor position sensor, and can achieve stable and reliable operation of the permanent magnet synchronous motor within the full speed range.

[0060] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0062] Figure 1 This is a flow chart of a permanent magnet synchronous motor control method provided in one embodiment of the present application;

[0063] Figure 2 1 is a flow chart of a method for determining a rotor position and a rotor speed provided in an embodiment of the present application;

[0064] Figure 3 1 is a flow chart of a method for determining a motor control signal provided in an embodiment of the present application;

[0065] Figure 4 This is a principle block diagram of a permanent magnet synchronous motor control system provided by an embodiment of the present application;

[0066] Figure 5 Schematic diagram of the structure of the permanent magnet synchronous motor control device provided in an embodiment of the present application;

[0067] Figure 6 It is a structural diagram of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0068] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0069] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0070] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0071] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0072] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0073] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0074] Sensorless control technology enables stable and reliable operation of permanent magnet synchronous motors without the need for physical rotor position sensors. Traditional sensorless control utilizes a sliding-mode control algorithm, which estimates rotor position based on the motor's back-EMF. However, because the back-EMF is zero or very small during motor startup and low-speed operation, accurate rotor position and speed cannot be determined. Therefore, this method is only suitable for medium- to high-speed operating conditions and cannot be used during zero-speed startup or low-speed operation.

[0075] Based on the above problems, an embodiment of the present application provides a permanent magnet synchronous motor control method, which first obtains the stator current of the motor, wherein the stator current is any two-phase current in the three-phase current of the motor stator. Then the stator current is subjected to a CLARKE transformation to obtain the current component of the stator current in a two-phase stationary coordinate system, and the rotor position and rotor speed of the motor are calculated based on the current component, the voltage component and the motor body parameters, wherein the motor body parameters include the stator inductance, the stator phase resistance and the back electromotive force constant, and the voltage component is the voltage component of the stator voltage in a two-phase stationary coordinate system. Finally, a motor control signal is generated based on the rotor position and the rotor speed, wherein the motor control signal is used to control the rotation of the motor. This method can obtain the position and speed of the rotor without installing a physical rotor position sensor, and can achieve stable and reliable operation of the permanent magnet synchronous motor within the full speed range.

[0076] Figure 1 FIG2 shows a flow chart of a permanent magnet synchronous motor control method provided by an embodiment of the present application. Figure 1 , the permanent magnet synchronous motor control method may include:

[0077] S101, obtaining the stator current of the motor.

[0078] Specifically, the stator current of the motor stator can be collected through the analog quantity collection circuit, and the stator current is any two-phase current of the three-phase current of the motor stator.

[0079] Exemplarily, the stator current of the motor includes iu 、i v and i w , the stator current can be selected as i u and i v .

[0080] S102 , performing a Clarke transformation on the stator current to obtain current components of the stator current in a two-phase stationary coordinate system.

[0081] For example, the stator current is i u and i v , current i u and i v The specific formula for Clarke transformation is:

[0082] i sα =i u

[0083]

[0084] i u +i v +i w =0

[0085] The i obtained sα and i sβ That is, the current component of the stator current in the two-phase stationary coordinate system.

[0086] S103, calculating the rotor position and rotor speed of the motor according to the current component, the voltage component and the motor body parameters.

[0087] Specifically, the motor body parameters include stator inductance L s , stator phase resistance R s and back electromotive force constant K e , the voltage component is the voltage component of the stator voltage in the two-phase stationary coordinate system.

[0088] S104: Generate a motor control signal according to the rotor position and the rotor speed.

[0089] Specifically, the FOC algorithm is used to generate a motor control signal according to the rotor position and the rotor speed, and the motor control signal can control the rotation of the motor.

[0090] For example, Figure 2 As shown, step S103 may specifically include:

[0091] S201, calculating the permanent magnet flux linkage according to the back electromotive force constant of the motor.

[0092] For example, the calculation formula of the permanent magnet flux is:

[0093]

[0094] Among them, PM is the permanent magnet flux, K e is the back electromotive force constant, and PolePairs is the number of pole pairs of the permanent magnet synchronous motor.

[0095] S202 , calculating the induced electromotive force based on the voltage component, the current component, the stator inductance, the stator phase resistance, and the permanent magnet flux.

[0096] For example, the calculation formula of the induced electromotive force is:

[0097]

[0098]

[0099] Among them, E sα and E sβ is the induced electromotive force, u sα and u sβ is the voltage component, i sα and i sβ is the current component, L s is the stator inductance, R s is the stator phase resistance.

[0100] S203 , determining the compensation electromotive force according to the induced electromotive force, and calculating the estimated rotor flux according to the induced electromotive force and the compensation electromotive force.

[0101] For example, the calculation formula for the estimated rotor flux is:

[0102]

[0103]

[0104] and Estimate the flux linkage for the rotor, E comp.sα and E comp.sβ To compensate for the electromotive force, E sα and E sβ is the induced electromotive force.

[0105] The compensation electromotive force is generated by the calculation module through adaptive adjustment according to the induced electromotive force. For example, the calculation formula of the compensation electromotive force is:

[0106]

[0107]

[0108] K p To adaptively adjust the gain, and is the flux linkage Ψ through the permanent magnet PM Calculated rotor reference flux.

[0109] Exemplarily, the calculation formula of the rotor reference flux is:

[0110]

[0111]

[0112] θ e is the rotor position, Ψ PM is the permanent magnet flux.

[0113] S204, performing an inverse tangent calculation on the estimated magnetic flux to obtain the rotor position.

[0114] Exemplarily, the calculation formula of the rotor position is:

[0115]

[0116] S205: Perform differential calculation on the rotor position to obtain the rotor speed.

[0117] For example, the rotor speed is calculated as:

[0118]

[0119] The rotor position θ can be obtained through steps S201 to S205. e and rotor speed ω e .

[0120] For example, Figure 3 As shown, step S104 may specifically include:

[0121] S301 , performing PARK transformation on the current component and the rotor position to obtain the feedback current of the stator current in a two-phase rotating coordinate system.

[0122] Exemplarily, the calculation formula of the feedback current is:

[0123] i d =i sα *cosθ e +i sβ *sinθ e

[0124] i q =-i sα *sinθ e +i sβ *cosθ e

[0125] S302, calculating and obtaining the quadrature-axis voltage according to the rotor speed, the given speed and the feedback current.

[0126] Exemplarily, step S302 may specifically include:

[0127] Step A1: determining a first error value according to the rotor speed and a given speed.

[0128] For example, the rotor speed ω e and given speed Input into the subtractor to obtain the first error value.

[0129] Step B1, performing proportional-integral adjustment on the first error value to obtain a quadrature-axis given current.

[0130] For example, the first error value is input into the speed loop integral separation module for proportional integral adjustment to obtain the quadrature axis given current

[0131] Step C1, determining a second error value according to the quadrature-axis given current and the feedback current.

[0132] For example, the quadrature axis given current and feedback current i q Input into the subtractor to obtain the second error value.

[0133] Step D1 , performing proportional-integral adjustment on the second error value to obtain the quadrature-axis voltage.

[0134] For example, the second error value is input into the current loop integral separation module for proportional integral adjustment to obtain the quadrature axis voltage u q .

[0135] S303: Calculate the direct-axis voltage according to the feedback current and the direct-axis given current.

[0136] Exemplarily, step S303 may specifically include:

[0137] Step A2: determining a third error value according to the feedback current and the direct-axis given current.

[0138] For example, the feedback current i d and direct axis given current Input into the subtractor to obtain the third error value.

[0139] Step B2: Perform proportional-integral adjustment on the third error value to obtain the direct-axis voltage.

[0140] For example, the third error value is input into the current loop integral separation module for proportional integral adjustment to obtain the direct axis voltage u d .

[0141] S304 , performing IPARK transformation according to the quadrature-axis voltage, the direct-axis voltage, and the rotor position to obtain a voltage component.

[0142] For example, the quadrature axis voltage u q , direct axis voltage u d and the rotor position θ e Perform IPARK transformation to obtain the voltage component u sα and u sβ .

[0143] S305 , modulate the voltage component through SVPWM to generate a motor control signal.

[0144] Specifically, the voltage component u sα and u sβ After SVPWM modulation, PWM1~PWM6 signals are generated. PWM1~PWM6 signals control the power integrated module IGBT to invert the DC bus voltage into a three-phase AC voltage with adjustable frequency and amplitude to drive the permanent magnet synchronous motor to operate as required.

[0145] In order to clearly illustrate the working process of the permanent magnet synchronous motor control method, a specific embodiment is used as an example for explanation below. Figure 4 A principle block diagram of a permanent magnet synchronous motor control system provided in an embodiment of the present application is shown.

[0146] S401, collect the stator current of the motor, and obtain the current component i through Clarke transformation. sα and i sβ .

[0147] S402, the calculation module calculates the current component (i sα 、i sβ ), voltage component (u sα 、u sβ ) and motor parameters (L s 、R s , K e ) calculates the rotor position θ e and rotor speed ω e .

[0148] S403, by the rotor speed ω e , given speed and feedback current i q Perform calculations to obtain the quadrature axis voltage u q By the rotor position θ e and feedback current i d Perform calculation to get the direct axis voltage u d .

[0149] S404, the direct axis voltage u d and quadrature axis voltage u q Perform IPARK transformation to obtain the voltage component (u sα 、u sβ ).

[0150] S405, voltage component u sα and u sβ After SVPWM modulation, PWM1~PWM6 signals are generated. PWM1~PWM6 signals control the power integrated module IGBT to invert the DC bus voltage into a three-phase AC voltage with adjustable frequency and amplitude to drive the permanent magnet synchronous motor to operate as required.

[0151] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0152] Figure 5 A structural schematic diagram of a permanent magnet synchronous motor control device provided in an embodiment of the present application is shown. The permanent magnet synchronous motor control device may include a stator current acquisition module 51, a CLARKE transformation module 52, a calculation module 53 and a motor control signal generation module 54.

[0153] A stator current acquisition module 51 is used to acquire the stator current of the motor, wherein the stator current is any two-phase current of the three-phase current of the motor stator;

[0154] a CLARKE transformation module 52 for performing a CLARKE transformation on the stator current to obtain current components of the stator current in a two-phase stationary coordinate system;

[0155] a calculation module 53 for calculating the rotor position and rotor speed of the motor based on the current component, the voltage component, and motor body parameters, wherein the motor body parameters include stator inductance, stator phase resistance, and back electromotive force constant, and the voltage component is the voltage component of the stator voltage in a two-phase stationary coordinate system;

[0156] The motor control signal generating module 54 is configured to generate a motor control signal according to the rotor position and the rotor speed, wherein the motor control signal is used to control the rotation of the motor.

[0157] In one embodiment of the present application, the calculation module 53 may include a permanent magnet flux determination unit, an induced electromotive force determination unit, a rotor estimated flux determination unit, a rotor position determination unit, and a rotor speed determination unit.

[0158] A permanent magnet flux determination unit, configured to calculate the permanent magnet flux according to the back electromotive force constant of the motor;

[0159] an induced electromotive force determination unit, configured to calculate the induced electromotive force according to the voltage component, the current component, the stator inductance, the stator phase resistance, and the permanent magnet flux linkage;

[0160] a rotor estimated flux determination unit, configured to determine a compensation electromotive force according to the induced electromotive force, and calculate the rotor estimated flux according to the induced electromotive force and the compensation electromotive force;

[0161] a rotor position determination unit, configured to perform an inverse tangent calculation on the estimated magnetic flux to obtain the rotor position;

[0162] The rotor speed determination unit is configured to perform differential calculation on the rotor position to obtain the rotor speed.

[0163] In one embodiment of the present application, the calculation formula of the permanent magnet flux is:

[0164]

[0165] Among them, PM is the permanent magnet flux, K e is the back electromotive force constant, and PolePairs is the number of pole pairs of the permanent magnet synchronous motor.

[0166] In one embodiment of the present application, the calculation formula of the induced electromotive force is:

[0167]

[0168]

[0169] Among them, E sα and E sβ is the induced electromotive force, u sα and u sβ is the voltage component, i sα and i sβ is the current component, L s is the stator inductance, R s is the stator phase resistance.

[0170] In one embodiment of the present application, the calculation formula for the estimated rotor flux is:

[0171]

[0172]

[0173] in, and Estimate the flux linkage for the rotor, E comp.sα and E comp.sβTo compensate for the electromotive force, E sα and E sβ is the induced electromotive force;

[0174] The calculation formula of the compensation electromotive force is:

[0175]

[0176]

[0177] K p To adaptively adjust the gain, and is the flux linkage Ψ through the permanent magnet PM Calculated rotor reference flux;

[0178] The calculation formula of the rotor reference flux is:

[0179]

[0180]

[0181] θ e is the rotor position, Ψ PM is the permanent magnet flux.

[0182] In one embodiment of the present application, the motor control signal generating module 54 may include a feedback current determining unit, a quadrature-axis voltage determining unit, a direct-axis voltage determining unit, a voltage component determining unit, and a motor control signal generating unit.

[0183] a feedback current determining unit, configured to perform a PARK transformation on the current component and the rotor position to obtain a feedback current of the stator current in a two-phase rotating coordinate system;

[0184] a quadrature-axis voltage determination unit, configured to calculate the quadrature-axis voltage according to the rotor speed, the given speed, and the feedback current;

[0185] a direct-axis voltage determining unit, configured to calculate the direct-axis voltage according to the feedback current and the direct-axis given current;

[0186] a voltage component determining unit, configured to perform an IPARK transformation according to the quadrature-axis voltage, the direct-axis voltage, and the rotor position to obtain the voltage component;

[0187] The motor control signal generating unit is configured to modulate the voltage component through SVPWM to generate the motor control signal.

[0188] In one embodiment of the present application, the quadrature-axis voltage determination unit may include a first error value determination unit, a quadrature-axis given current determination unit, a second error value determination unit, and a quadrature-axis voltage determination subunit.

[0189] a first error value determining unit, configured to determine a first error value according to the rotor speed and the given speed;

[0190] a quadrature-axis given current determining unit, configured to perform proportional-integral adjustment on the first error value to obtain the quadrature-axis given current;

[0191] a second error value determining unit, configured to determine a second error value according to the quadrature-axis given current and the feedback current;

[0192] The quadrature-axis voltage determination subunit is configured to perform proportional-integral adjustment on the second error value to obtain the quadrature-axis voltage.

[0193] In one embodiment of the present application, the direct-axis voltage determining unit may include a third error value determining unit and a direct-axis voltage determining sub-unit.

[0194] a third error value determining unit, configured to determine a third error value according to the feedback current and the direct-axis given current;

[0195] The direct-axis voltage determination subunit is configured to perform proportional-integral adjustment on the third error value to obtain the direct-axis voltage.

[0196] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0197] in addition, Figure 5 The permanent magnet synchronous motor control device shown can be a software unit, a hardware unit, or a combination of software and hardware units built into an existing terminal device, or can be integrated into the terminal device as an independent pendant, or can exist as an independent terminal device.

[0198] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0199] Figure 6 This is a schematic diagram of the structure of the terminal device provided in the embodiment of the present application. Figure 6 As shown, the terminal device 6 of this embodiment may include: at least one processor 61 ( Figure 6 Only one processor 61 is shown in the figure), a memory 62, and a computer program 63 stored in the memory 62 and executable on the at least one processor 61. When the processor 61 executes the computer program 63, the steps in any of the above-mentioned method embodiments are implemented, for example Figure 1 Steps S101 to S104 in the embodiment shown. When the processor 61 executes the computer program 63, the functions of the modules / units in the above-mentioned device embodiments are realized, for example Figure 5 The functions of modules 51 to 54 are shown.

[0200] Exemplarily, the computer program 63 may be divided into one or more modules / units, which are stored in the memory 62 and executed by the processor 61 to implement the present invention. The one or more modules / units may be a series of computer program 63 instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program 63 in the terminal device 6.

[0201] In some embodiments, the memory 62 may be an internal storage unit of the terminal device 6, such as a hard disk or memory of the terminal device 6. In other embodiments, the memory 62 may also be an external storage device of the terminal device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 6. Furthermore, the memory 62 may include both an internal storage unit of the terminal device 6 and an external storage device. The memory 62 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program 63. The memory 62 may also be used to temporarily store data that has been output or is about to be output.

[0202] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program 63. When the computer program 63 is executed by the processor 61, the steps in the above-mentioned method embodiments can be implemented.

[0203] An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0204] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program 63. The computer program 63 can be stored in a computer-readable storage medium. When the computer program 63 is executed by the processor 61, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program 63 includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0205] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0206] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0207] In the embodiments provided in this application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0208] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0209] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A permanent magnet synchronous motor control method, characterized in that: include: Obtaining the stator current of the motor, wherein the stator current is any two-phase current of the three-phase current of the motor stator; Performing a CLARKE transformation on the stator current to obtain current components of the stator current in a two-phase stationary coordinate system; The rotor position and rotor speed of the motor are calculated based on the current component, the voltage component, and the motor body parameters, wherein the motor body parameters include the stator inductance, the stator phase resistance, and the back electromotive force constant, and the voltage component is the voltage component of the stator voltage in a two-phase stationary coordinate system; generating a motor control signal according to the rotor position and the rotor speed, wherein the motor control signal is used to control the rotation of the motor; The step of calculating the rotor position and rotor speed of the motor according to the current component, the voltage component and the motor body parameters includes: The permanent magnet flux is calculated based on the back electromotive force constant of the motor; Calculating an induced electromotive force according to the voltage component, the current component, the stator inductance, and the stator phase resistance; Determining a compensation electromotive force according to the permanent magnet flux, and calculating an estimated rotor flux according to the induced electromotive force and the compensation electromotive force; performing an inverse tangent calculation on the estimated magnetic flux to obtain the rotor position; The rotor position is differentiated to obtain the rotor speed.

2. The permanent magnet synchronous motor control method according to claim 1, characterized in that: The calculation formula of the permanent magnet flux is: Among them, PM is the permanent magnet flux, K e is the back electromotive force constant, and PolePairs is the number of pole pairs of the permanent magnet synchronous motor.

3. The permanent magnet synchronous motor control method according to claim 1, characterized in that: The calculation formula of the induced electromotive force is: Among them, E sα and E sβ is the induced electromotive force, u sα and u sβ is the voltage component, i sα and i sβ is the current component, L s is the stator inductance, R s is the stator phase resistance.

4. The permanent magnet synchronous motor control method according to claim 1, characterized in that: The calculation formula of the compensation electromotive force is: K p To adaptively adjust the gain, and is the flux linkage Ψ through the permanent magnet PM Calculated rotor reference flux.

5. The permanent magnet synchronous motor control method according to claim 1, characterized in that: The calculation formula for the rotor estimated flux is: in, and Estimate the flux linkage for the rotor, E comp.sα and E comp.sβ To compensate for the electromotive force, E sα and E sβ is the induced electromotive force; The calculation formula of the rotor reference flux is: θ e is the rotor position, Ψ PM is the permanent magnet flux.

6. The permanent magnet synchronous motor control method according to claim 1, characterized in that: Generating a motor control signal according to the rotor position and the rotor speed includes: Performing a PARK transformation on the current component and the rotor position to obtain a feedback current of the stator current in a two-phase rotating coordinate system; The quadrature axis voltage is calculated according to the rotor speed, the given speed and the feedback current; The direct-axis voltage is calculated according to the feedback current and the direct-axis given current; Performing an IPARK transformation according to the quadrature-axis voltage, the direct-axis voltage, and the rotor position to obtain the voltage component; The voltage component is modulated by SVPWM to generate the motor control signal.

7. The permanent magnet synchronous motor control method according to claim 6, characterized in that: The calculating the quadrature-axis voltage according to the rotor speed, the given speed and the feedback current includes: determining a first error value according to the rotor speed and the given speed; Performing proportional-integral adjustment on the first error value to obtain a quadrature-axis given current; determining a second error value according to the quadrature-axis given current and the feedback current; Proportional-integral adjustment is performed on the second error value to obtain the quadrature-axis voltage.

8. The permanent magnet synchronous motor control method according to claim 6, characterized in that: The calculating and obtaining the direct-axis voltage according to the feedback current and the direct-axis given current includes: determining a third error value according to the feedback current and the direct-axis given current; Proportional-integral adjustment is performed on the third error value to obtain the direct-axis voltage.

9. A permanent magnet synchronous motor control device, characterized in that: include: A stator current acquisition module, configured to acquire the stator current of the motor, wherein the stator current is any two-phase current of the three-phase stator current of the motor; a CLARKE transformation module, configured to perform a CLARKE transformation on the stator current to obtain current components of the stator current in a two-phase stationary coordinate system; a calculation module, configured to calculate the rotor position and rotor speed of the motor based on the current component, the voltage component, and motor body parameters, wherein the motor body parameters include stator inductance, stator phase resistance, and back electromotive force constant, and the voltage component is the voltage component of the stator voltage in a two-phase stationary coordinate system; a motor control signal generating module, configured to generate a motor control signal according to the rotor position and the rotor speed, wherein the motor control signal is used to control the rotation of the motor; The calculation module includes a permanent magnet flux determination unit, an induced electromotive force determination unit, a rotor estimated flux determination unit, a rotor position determination unit and a rotor speed determination unit; A permanent magnet flux determination unit, configured to calculate the permanent magnet flux according to the back electromotive force constant of the motor; an induced electromotive force determining unit, configured to calculate the induced electromotive force according to the voltage component, the current component, the stator inductance, and the stator phase resistance; a rotor estimated flux determination unit, configured to determine a compensation electromotive force according to the permanent magnet flux, and calculate the rotor estimated flux according to the induced electromotive force and the compensation electromotive force; a rotor position determination unit, configured to perform an inverse tangent calculation on the estimated magnetic flux to obtain the rotor position; The rotor speed determination unit is configured to perform differential calculation on the rotor position to obtain the rotor speed.

Images