Dead zone compensation method and device, storage medium, and terminal equipment

Abstract

The present invention discloses a dead zone compensation method and apparatus, a storage medium, and a terminal device. The dead zone compensation method includes: obtaining the real-time load of the motor; when the real-time load reaches a preset load, obtaining the currents of each phase input to the motor, calculating the first phase of each phase current, and determining the target sector in which the first phase of each phase current is located; or, when the real-time load does not reach the preset load, obtaining the two-phase voltages of the rotor voltage of the motor, calculating the second phase of each phase voltage input to the motor based on the two-phase voltages of the rotor voltage, and determining the target sector in which the second phase of each phase voltage is located; and performing dead zone compensation on the voltage input to the motor at least according to the compensation direction corresponding to the target sector. The above technical solution can select an appropriate method for dead zone compensation according to the load condition of the motor.

Description

Technical Field

[0001] The present invention relates to the technical field of power supply, generator and motor control, and more specifically, to a dead zone compensation method and device, a storage medium and a terminal device. Background Art

[0002] Space Vector Pulse Width Modulation (SVPWM) has gained widespread application due to its advantages over other modulation techniques, including low harmonics, low torque ripple, low noise, and high DC voltage utilization. To prevent the upper and lower switches in the same inverter arm from turning on simultaneously, a dead time interval is inserted between the switching states of the upper and lower switches. This dead time distorts the inverter's output voltage, which in turn causes current distortion.

[0003] In order to eliminate the influence of the dead zone in the prior art, the phase current is collected to directly determine the polarity of the phase current, and the dead zone compensation is performed according to the determination result.

[0004] However, in the prior art, when the polarity of the phase current is determined when the motor is in a no-load state, the current in the motor is relatively small, which may easily lead to misjudgment of the polarity of the phase current, thereby causing erroneous dead zone compensation. Summary of the Invention

[0005] The technical problem solved by the present invention is how to improve the accuracy of dead zone compensation.

[0006] To solve the above technical problems, an embodiment of the present invention provides a dead zone compensation method, which includes: obtaining the real-time load of the motor; when the real-time load reaches the preset load, obtaining the phase currents of each phase input to the motor, calculating the first phase of each phase current, and determining the target sector where the first phase of each phase current is located based on the first phase of each phase current and a first correspondence relationship, wherein the first correspondence relationship is a mapping relationship between each first phase and a sector, and the polarity of the phase currents with the first phase located in the same sector is the same; or, when the real-time load does not reach the preset load, obtaining the two-phase voltages of the rotor voltage of the motor, calculating the second phase of each phase voltage input to the motor based on the two-phase voltages of the rotor voltage, and determining the target sector where the second phase of each phase voltage is located based on the second phase of each phase voltage and a second correspondence relationship, wherein the second correspondence relationship is a mapping relationship between each second phase and a sector; and performing dead zone compensation on the voltage input to the motor at least according to the compensation direction corresponding to the target sector.

[0007] Optionally, the calculation of the first phase of each phase current includes: performing coordinate system transformation on each phase current to obtain a two-phase current; performing low-pass filtering on the two-phase current; and calculating the first phase of each phase current using the two-phase current after low-pass filtering.

[0008] Optionally, performing coordinate system conversion on each phase current includes: performing Clarke transformation on the phase current to obtain the two-phase current.

[0009] Optionally, calculating the first phase of each phase current using the two-phase current after low-pass filtering includes: performing an inverse tangent operation on the two-phase current after low-pass filtering to obtain the first phase of each phase current.

[0010] Optionally, the second phase of each phase voltage input into the motor calculated based on the two-phase voltage of the rotor voltage includes: performing a coordinate system conversion on the two-phase voltage to obtain the converted two-phase voltage, the two-phase voltage is the voltage projected by the rotor voltage in the two-phase rotating coordinate system, and the converted two-phase voltage is the voltage projected by the stator voltage in the two-phase stationary coordinate system; performing phase calculation on the converted two-phase voltage to obtain the third phase of each phase voltage; and performing phase compensation on the third phase of each phase voltage to obtain the second phase of each phase voltage.

[0011] Optionally, performing coordinate system conversion on the two-phase voltage includes: performing an inverse Pike transformation on the two-phase voltage to obtain the converted two-phase voltage.

[0012] Optionally, the performing phase calculation on the converted two-phase voltages includes: performing an arc tangent operation on the converted two-phase voltages to obtain a third phase of each phase voltage.

[0013] Optionally, the phase compensation for the third phase of each phase voltage includes: performing phase compensation on the third phase according to the rotational speed of the motor, the rotational speed of the motor and the phase compensation value have a corresponding relationship, and the greater the rotational speed of the motor, the greater the phase compensation value.

[0014] Optionally, performing dead zone compensation on the voltage input to the motor at least according to the compensation direction corresponding to the target sector includes: obtaining a dead zone compensation time; and performing dead zone compensation on the voltage input to the motor during the dead zone compensation time according to the compensation direction corresponding to the target sector.

[0015] Optionally, obtaining the real-time load of the motor includes: obtaining a current value of a bus current of the motor, where the bus current of the motor is used to represent the real-time load.

[0016] An embodiment of the present invention also discloses a dead zone compensation device, which includes: a load acquisition module for acquiring the real-time load of the motor; a first sector determination module for acquiring each phase current input to the motor when the real-time load reaches a preset load, calculating the first phase of each phase current, and determining the target sector where the first phase of each phase current is located based on the first phase of each phase current and a first correspondence relationship, wherein the first correspondence relationship is a mapping relationship between each first phase and a sector, and the polarity of phase currents with the first phase located in the same sector is the same; a second sector determination module for acquiring the two-phase voltage of the rotor voltage of the motor when the real-time load does not reach the preset load, calculating the second phase of each phase voltage input to the motor based on the two-phase voltage of the rotor voltage, and determining the target sector where the second phase of each phase voltage is located based on the second phase of each phase voltage and a second correspondence relationship, wherein the second correspondence relationship is a mapping relationship between each second phase and a sector; a dead zone compensation module for performing dead zone compensation on the voltage input to the motor at least according to the compensation direction corresponding to the target sector.

[0017] An embodiment of the present invention further discloses a terminal device, including a memory and a processor, wherein the memory stores a computer program executable on the processor, and when the computer program is executed by the processor, the steps of any of the above-mentioned dead zone compensation methods are executed.

[0018] An embodiment of the present invention further discloses a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of any of the above-mentioned dead zone compensation methods are executed.

[0019] Compared with the prior art, the technical solution of the embodiment of the present invention has the following beneficial effects:

[0020] The present invention proposes a dead-zone compensation method that obtains the real-time load of a motor and determines whether the real-time load has reached a preset load. When the real-time load reaches the preset load, the currents of each phase of the input motor are obtained and the target sectors for the first phases of each phase current are determined by calculating the first phase of each phase current. Alternatively, when the real-time load does not reach the preset load, the two-phase voltages of the motor's rotor voltage are obtained and the target sectors for the second phases of the two-phase voltages are determined by calculating the second phases of the two-phase voltages. Finally, the motor is dead-zone compensated based on the compensation direction corresponding to the target sector. By comparing the real-time load with the preset load, the voltage can be used to determine the dead-zone compensation direction when the load is light. This is because the phase difference between the motor's phase voltage and phase current is smaller when the load is light, avoiding misjudgment of the phase current polarity that could lead to incorrect dead-zone compensation. When the real-time load reaches the preset load, the phase current in the motor increases, and the phase difference between the phase voltage and phase current increases. Directly determining the phase current polarity is more accurate, thus ensuring the accuracy of dead-zone compensation.

[0021] Furthermore, by performing low-pass filtering on the two-phase current, information in the two-phase current that may interfere with polarity determination can be processed, making the phases of the two-phase current more real and reliable, and ensuring the accuracy of current polarity determination.

[0022] Furthermore, by performing phase compensation on the third phase of each phase voltage, when the load is not high, the phase information of the phase voltage can be made closer to the phase information of the phase current, thereby improving the reliability of the phase current polarity judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural diagram of a three-phase inverter circuit in the prior art;

[0024] Figure 2 This is a waveform diagram of the output voltage of an inverter circuit in the prior art;

[0025] Figure 3 1 is a schematic structural diagram of a three-phase inverter circuit provided by an embodiment of the present invention;

[0026] Figure 4 This is an overall flow chart of a dead zone compensation method provided by an embodiment of the present invention;

[0027] Figure 5 This is a specific flow chart of determining a target sector based on a current vector provided by an embodiment of the present invention;

[0028] Figure 6 is a schematic diagram of a sector divided according to a first phase provided by an embodiment of the present invention;

[0029] Figure 7This is a specific flow chart of determining a target sector based on a voltage vector provided by an embodiment of the present invention;

[0030] Figure 8 1 is a schematic diagram of sectors divided according to phases of phase voltages provided by an embodiment of the present invention;

[0031] Figure 9 It is a structural schematic diagram of a dead zone compensation device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] As described in the background, when the upper and lower switches in the same arm of an inverter circuit are simultaneously turned on, a dead zone is required between their state transitions. This dead zone distorts the inverter circuit's output voltage, which in turn causes current distortion. To mitigate the effects of this dead zone, existing techniques directly determine the polarity of the phase current by sampling the phase current and then perform dead zone compensation based on the result. However, when the motor is unloaded, this direct determination of the phase current polarity is prone to misjudgment, resulting in incorrect dead zone compensation.

[0033] Figure 1 It is a structural diagram of a three-phase inverter circuit in the prior art.

[0034] Specifically, if Figure 1 As shown, the three-phase inverter circuit is a three-phase voltage source inverter circuit. The three-phase voltage source inverter circuit can provide a driving signal for the motor.

[0035] The inverter circuit's A-phase bridge arm is coupled between the first and fourth switching transistors T1 and T4. The inverter circuit's B-phase bridge arm is coupled between the second and fifth switching transistors T2 and T5. The inverter circuit's C-phase bridge arm is coupled between the third and sixth switching transistors T3 and T6. Each bridge arm has two upper and lower switching transistors. For example, the inverter circuit's B-phase bridge arm requires a dead time to prevent direct conduction between the upper and lower bridge arms.

[0036] The direction of the phase current flowing into the motor is defined as the positive direction. B >0, the fifth switch tube T5 is turned on and the second switch tube T2 is turned off; when the B phase current I B <0, the second switch tube T2 is turned on and the fifth switch tube T5 is turned off.

[0037] The voltage waveform output by the B-phase bridge arm of the inverter circuit is as follows: Figure 2 As shown, the ideal voltage output waveform is as follows Figure 2 As shown in (a), the voltage output waveform caused by the dead zone is as follows Figure 2 (b) shows that when the B phase current I B When >0, the actual voltage output waveform is as follows Figure 2As shown in (c); when the B phase current I B When <0, the actual voltage output waveform is as follows Figure 2 (d) shows the time involved, which includes four times: the dead time Td, the time from when the switch receives the turn-on control signal to when it is actually turned on, Ton, the time from when the switch receives the judgment control signal to when it is actually turned off, Toff, and the corresponding time Tcflow generated by the freewheeling current of the body diode (including the parasitic diode) of the switch.

[0038] It should be noted that the inverter circuit may be any practicable inverter circuit in an actual application scenario, and the embodiment of the present invention does not impose any limitation on this.

[0039] In an embodiment of the present invention, the real-time load of the motor is obtained to determine whether it has reached a preset load. When the real-time load reaches the preset load, the currents of each phase of the input motor are obtained, and the target sectors for the first phases of each phase current are determined by calculating the first phase of each phase current. Alternatively, when the real-time load does not reach the preset load, the two-phase voltages of the motor's rotor voltage are obtained, and the target sectors for the second phases of the two-phase voltages are determined by calculating the second phases of the two-phase voltages. Finally, dead-zone compensation is performed on the motor based on the compensation direction corresponding to the target sector. By comparing the real-time load with the preset load, the voltage can be used to determine the dead-zone compensation direction when the load is low. This is because the phase difference between the motor's phase voltage and phase current is small when the load is low, avoiding misjudgment of the phase current polarity that could lead to erroneous dead-zone compensation. When the real-time load reaches the preset load, the phase current in the motor increases, and the phase difference between the phase voltage and phase current increases. Directly determining the phase current polarity is more accurate, thereby ensuring the accuracy of dead-zone compensation.

[0040] Furthermore, by performing low-pass filtering on the two-phase current, information in the two-phase current that may interfere with polarity determination can be processed, making the phases of the two-phase current more real and reliable, and ensuring the accuracy of current polarity determination.

[0041] Furthermore, by performing phase compensation on the third phase of each phase voltage, when the load is not high, the phase information of the phase voltage can be made closer to the phase information of the phase current, thereby improving the reliability of the phase current polarity judgment.

[0042] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. It is apparent that the described embodiments are only some of the embodiments of the present invention, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0043] Figure 3It is a structural schematic diagram of a three-phase inverter circuit provided by an embodiment of the present invention.

[0044] Specifically, if Figure 3 As shown, the gates of the seventh, eighth, ninth, tenth, eleventh, and twelfth switching transistors T7, T8, T9, T10, T11, and T12 are coupled to a terminal device. By coupling to the gates of the switching transistors, the terminal device can control the on-off and off-times of each switching transistor to achieve dead-zone compensation. Furthermore, the terminal device can obtain real-time load information to determine whether the real-time load has reached a preset load, thereby determining an appropriate dead-zone compensation method.

[0045] Continue to refer to Figure 3 The first end of the resistor R1 is coupled to the drain of the tenth switch tube T10, the drain of the eleventh switch tube T11, and the drain of the twelfth switch tube T12. The second end of the resistor R1 is grounded to GND. The terminal device can couple the first and second ends of the resistor R1 to collect the voltage across the resistor R1. Specifically, the voltage across the resistor R1 can be obtained through an analog-to-digital converter in the terminal device to calculate the current value of the bus current of the motor. The resistance value of the resistor R1 can be obtained in advance. The current value of the bus current is used as the real-time load to determine whether the real-time load has reached the preset load.

[0046] Specifically, the terminal device may be a microcontroller unit (MCU), or other chips, chip modules or devices with processing capabilities.

[0047] Figure 4 This is an overall flow chart of a dead zone compensation method provided by an embodiment of the present invention.

[0048] In a specific implementation, the dead zone compensation method described in steps 401 to 405 below can be used in a terminal device. The above steps can be specifically performed by the terminal device, or by a chip with data processing capabilities in the terminal device, or by a chip or chip module with data processing capabilities in the terminal device, such as a microcontroller chip.

[0049] Specifically, if Figure 4 As shown, the dead zone compensation method may include steps 401 to 405 .

[0050] In step 401 , the real-time load of the motor is obtained.

[0051] In step 402 , it is determined whether the real-time load of the motor reaches a preset load. If so, step 403 is executed; otherwise, step 404 is executed.

[0052] In step 403, each phase current input to the motor is obtained, the first phase of each phase current is calculated, and the target sector for the first phase of each phase current is determined based on the first phase of each phase current and a first correspondence. The first correspondence is a mapping relationship between the first phase of the phase current and the sector. Phase currents with the same first phase in the same sector have the same polarity.

[0053] In step 404, two-phase voltages of the rotor voltage of the motor are obtained, a second phase of the two-phase voltages is calculated, and a target sector for the second phase of the two-phase voltages is determined based on the second phases of the two-phase voltages and a second corresponding relationship. The second corresponding relationship is a mapping relationship between the second phases of the two-phase voltages and sectors.

[0054] In step 405 , dead-zone compensation is performed on the voltage input to the motor at least according to the compensation direction corresponding to the target sector.

[0055] At this point, the dead zone compensation has been completed and the compensated voltage can be output.

[0056] In the specific implementation of step 401, the real-time load of the motor is obtained. The real-time load can be obtained by calculating the real-time power of the motor, or can be other parameters in the motor drive system that can represent the operating conditions.

[0057] In the specific implementation of step 402, it is determined whether the collected real-time load reaches the preset load. Specifically, reaching the preset load may mean that the real-time load is greater than the preset load, or the real-time load is greater than or equal to the preset load; not reaching the preset load may mean that the real-time load is less than the preset load, or the real-time load is less than or equal to the preset load. The preset load can be set by the user according to actual circumstances and is not limited here.

[0058] In a specific implementation, the real-time load of the motor can be represented by the current value of the motor's bus current. In this case, the preset load can be represented by a preset current value. Obtaining the real-time load of the motor is to obtain the current value of the motor's bus current, and judging whether the current value of the bus current reaches the preset current value. The bus current can be obtained by collecting the voltage across the sampling resistor on the bus and calculating it based on the sampling resistor value and the voltage value of the sampling resistor. The preset current value can be set according to a certain proportion of the rated current of the motor.

[0059] It should be noted that the real-time load of the motor may also be represented by other means, such as the operating power of the motor, etc., and the embodiment of the present invention does not limit this.

[0060] In the specific implementation of step 403, when the real-time load reaches the preset load, the phase current is used to determine the target sector where the first phase of each phase current is located. In the embodiment of the present invention, the phase current is a current vector.

[0061] like Figure 5 As shown, Figure 5 This is a specific flow chart for determining the target sector based on the current vector. Figure 5 Step 403 will be described in detail.

[0062] In the specific implementation of step 501, the phase current is obtained. Specifically, when the inverter circuit is a three-phase inverter circuit, the phase current I output by the three-phase inverter circuit is obtained. A , I B and I C .

[0063] In the specific implementation of step 502, Clark transformation is performed on the phase current to obtain the two-phase current. Specifically, the phase current I A , I B and I C Clarke transformation is performed to obtain the two-phase currents Iα and Iβ projected by the phase currents in the two-phase stationary coordinate system.

[0064] In the specific implementation of step 503, the two-phase currents are low-pass filtered. Low-pass filtering of the two-phase currents Iα and Iβ can be performed to prevent current vector phase jitter, making the phase information more reliable and accurate, and ensuring more accurate phase calculation results. Specifically, the cutoff frequency of the low-pass filter can be set according to a preset multiple of the motor's maximum speed. For example, the cutoff frequency of the low-pass filter can be three times the motor's maximum speed.

[0065] In the specific implementation of step 504, an inverse tangent operation is performed on the two-phase currents after low-pass filtering. Specifically, an inverse tangent operation is performed on the two-phase currents Iα and Iβ after low-pass filtering to obtain the first phase of each phase current.

[0066] In the specific implementation of step 505, the target sector where the first phase is located is determined based on the first phase of each phase current and the first corresponding relationship. The first corresponding relationship refers to the mapping relationship between the first phase of the phase current and the sector. The polarity of each phase current with the first phase in the same sector is the same.

[0067] Figure 6 is a schematic diagram of sectors divided according to the first phase, and Table 1 is a schematic diagram of the relationship between sectors and dead zone compensation directions. Figure 6Determine the target sector for the first phase, and then determine the dead zone compensation direction based on the correspondence between sectors and dead zone compensation directions in Table 1. Specifically, sectors have a unique correspondence with the polarity of each phase current. After determining the polarity of each phase current, the dead zone compensation direction corresponding to the sector can be determined based on the polarity of each phase current.

[0068] For example, the phase current I A The first phase is 15°, according to Figure 6 It can be seen that the phase current is in sector 1; according to Table 1, the phase current corresponding to sector 1 is I A The dead zone compensation direction is plus.

[0069] Table 1

[0070]

[0071] In the embodiment of the present invention, when the real-time load reaches the preset load, the phase current is obtained and the current polarity is determined based on the phase current. In this case, the phase current has less interference, and obtaining the phase current to determine the phase current polarity is more direct and accurate.

[0072] Continue to refer to Figure 4 In the specific implementation of step 404, when the real-time load does not reach the preset load, the two-phase voltage of the rotor voltage is used to determine the target sector where the second phase of each phase voltage is located. In this embodiment of the present invention, the phase voltage is a voltage vector.

[0073] like Figure 7 As shown, Figure 7 This is a specific flow chart for determining the target sector based on the voltage vector. Figure 7 Step 404 will be described in detail.

[0074] In step 701, the two-phase voltages of the rotor voltage of the motor are obtained. The two-phase voltages Vd and Vq of the rotor voltage are the voltages projected by the rotor voltage in the two-phase rotating coordinate system. Specifically, the two-phase voltages can be obtained by the phase current I A , I B and I C By performing PI operation, it is found that the interference of phase current when the motor load is small can be reduced or eliminated through PI operation.

[0075] In step 702, the two-phase voltages are subjected to a Park transformation. The two-phase voltages Vd and Vq are subjected to the Park transformation to obtain the transformed two-phase voltages Vα and Vβ. Vα and Vβ are the voltages projected by the stator voltages in the two-phase stationary coordinate system.

[0076] In step 703, an inverse tangent operation is performed on the converted two-phase voltages. Specifically, an inverse tangent operation is performed on the converted two-phase voltages Vα and Vβ to obtain the third phase of each phase voltage.

[0077] In step 704 , phase compensation is performed on the third phase of each phase voltage.

[0078] In a specific embodiment, phase compensation is performed on the third phase based on the motor speed. The motor speed corresponds to the phase compensation value. As the motor speed increases, the phase offset of the phase voltage increases, and thus the phase compensation value increases. The corresponding phase compensation value is determined based on the motor speed, and phase compensation is performed on the third phase to obtain the second phase.

[0079] In step 705, the target sector where the second phase is located is determined according to the second phase of each phase voltage and the second corresponding relationship. The second corresponding relationship refers to the mapping relationship between the second phases of the two-phase voltages and the sectors.

[0080] The specific implementation methods of the Clark operation, the inverse Park operation, and the inverse tangent operation can be referred to the prior art and will not be described in detail here.

[0081] Figure 8 This is a schematic diagram of sectors divided by the phase of the phase voltage. The Beta and Alpha axes define a two-phase stationary coordinate system.

[0082] Specifically, according to Figure 8 Determine the sector where the second phase is located to determine the polarity and compensation direction of the phase current. Since the phase difference between the phase voltage and the phase current is small when the motor load is small, the phase voltage polarity can be used to determine the phase current polarity when the motor load is small. For example, the phase voltage V A The second phase is 100°, according to Figure 8 It can be seen that the phase voltage is in sector 3. According to Table 1, the phase current I corresponding to sector 3 can be determined. A The dead zone compensation direction is decreasing.

[0083] In this embodiment of the present invention, the two-phase rotor voltage is acquired when the real-time load does not reach the preset load, and the polarity of the phase current is determined based on the phase of the phase voltage. When the motor load is light, the phase current is small, and the reliability of capturing the true phase current signal is low. Using the voltage vector to determine the polarity of the phase current can more accurately and reliably determine the phase current polarity, which is closer to the true phase current phase.

[0084] Continue to refer to Figure 4 In the specific implementation of step 405, the dead zone compensation time is obtained, and according to the compensation direction corresponding to the target sector, the dead zone compensation is performed on the voltage input to the motor during the dead zone compensation time.

[0085] In a specific implementation, the dead zone compensation time is calculated as follows: Terr = Td / 2 + Ton - Toff - Tcflow, where Terr is the dead zone compensation time, Td is the dead zone time, Ton is the time from when the switch tube receives the on-control signal to when it is actually on, Toff is the time from when the switch tube receives the off-control signal to when it is actually off, Tcflow is the corresponding time generated by the body diode (including parasitic diode) of the switch tube due to freewheeling, Td is a given Ton, Toff is determined by the hardware device, and Tcflow is the equivalent time generated by the diode due to freewheeling.

[0086] In a specific implementation, at the actual rising and falling edges of the output voltage pulse of the inverter circuit, the voltage pulse is compensated according to the dead zone compensation time. The length of time required to be compensated at the rising edge of the pulse and the length of time required to be compensated at the falling edge of the pulse can be Terr / 2, or can be set according to the test value.

[0087] like Figure 9 As shown, the embodiment of the present invention further discloses a dead zone compensation device. The dead zone compensation device 90 includes:

[0088] The load acquisition module 901 is used to acquire the real-time load of the motor.

[0089] a first sector determination module 902 configured to, when the real-time load reaches a preset load, obtain each phase current input to the motor, calculate the first phase of each phase current, and determine a target sector for the first phase of each phase current based on the first phase of each phase current and a first correspondence, wherein the first correspondence is a mapping relationship between each first phase and a sector, and phase currents with first phases in the same sector have the same polarity;

[0090] a second sector determination module 903 configured to, when the real-time load does not reach the preset load, obtain two-phase voltages of the rotor voltage of the motor, calculate a second phase of each phase voltage input to the motor based on the two-phase voltages of the rotor voltage, and determine a target sector for the second phase of each phase voltage based on the second phase of each phase voltage and a second correspondence relationship, where the second correspondence relationship is a mapping relationship between each second phase and a sector;

[0091] The dead zone compensation module 904 is configured to perform dead zone compensation on the voltage input to the motor at least according to the compensation direction corresponding to the target sector.

[0092] In a specific implementation, the above-mentioned dead zone compensation device can correspond to a chip with a dead zone compensation function in a terminal device, such as an SOC (System-On-a-Chip), a microcontroller chip, etc.; or correspond to a chip module in the terminal device that includes motor dead zone compensation; or correspond to a chip module with a data processing function chip, or correspond to a terminal device.

[0093] For more information about the working principle and working mode of the dead zone compensation device 90, please refer to Figure 4 、 Figure 5 and Figure 7 The relevant description in will not be repeated here.

[0094] Regarding the various modules / units contained in the various devices and products described in the above embodiments, they can be software modules / units, hardware modules / units, or partly software modules / units and partly hardware modules / units. For example, for various devices and products applied to or integrated in a chip, the various modules / units contained therein can all be implemented in the form of hardware such as circuits, or at least some of the modules / units can be implemented in the form of software programs, which run on the processor integrated inside the chip, and the remaining (if any) modules / units can be implemented in the form of hardware such as circuits; for various devices and products applied to or integrated in a chip module, the various modules / units contained therein can all be implemented in the form of hardware such as circuits, and different modules / units can be located in the same component of the chip module (such as a chip, circuit module, etc.) or in different components, or at least some of the modules / units can be implemented in the form of hardware such as circuits. The element can be implemented in the form of a software program, which runs on the processor integrated inside the chip module, and the remaining (if any) modules / units can be implemented in the form of hardware such as circuits; for various devices and products applied to or integrated in the terminal, the various modules / units contained therein can be implemented in the form of hardware such as circuits, and different modules / units can be located in the same component (for example, chip, circuit module, etc.) or different components in the terminal, or, at least some modules / units can be implemented in the form of a software program, which runs on the processor integrated inside the terminal, and the remaining (if any) modules / units can be implemented in the form of hardware such as circuits.

[0095] The embodiment of the present invention further discloses a storage medium, which is a computer-readable storage medium having a computer program stored thereon. When the computer program is run, the computer program can execute Figure 4 、 Figure 5 and Figure 7The steps of the method shown in . The storage medium may include ROM, RAM, magnetic disk or optical disk, etc. The storage medium may also include non-volatile memory or non-transitory memory, etc.

[0096] The embodiment of the present invention further discloses a terminal device, which may include a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor can execute the computer program when running the computer program. Figure 4 、 Figure 5 and Figure 7 The steps of the method shown in .

[0097] The term "plurality" used in the embodiments of the present application refers to two or more.

[0098] The first, second, etc. descriptions appearing in the embodiments of this application are only for illustration and distinction of the description objects. There is no order, nor does it indicate any special limitation on the number of devices in the embodiments of this application, and cannot constitute any limitation on the embodiments of this application.

[0099] It should be understood that in the embodiments of the present application, the processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0100] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0101] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired or wireless means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0102] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes 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 the present application.

[0103] In the several embodiments provided in this application, it should be understood that the disclosed methods, devices, and systems can be implemented in other ways. For example, the device embodiments described above are merely schematic; for example, the division of the units is merely a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical, or other forms.

[0104] 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.

[0105] In addition, the functional units in various embodiments of the present invention may be integrated into a single processing unit, each unit may be physically included separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional units.

[0106] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, and other media that can store program code.

[0107] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be based on the scope defined by the claims.

Claims

1. A dead zone compensation method, characterized in that: include: Get the real-time load of the motor; When the real-time load reaches a preset load, obtaining each phase current input to the motor, calculating the first phase of each phase current, and determining a target sector in which the first phase of each phase current is located based on the first phase of each phase current and a first corresponding relationship, wherein the first corresponding relationship is a mapping relationship between each first phase and a sector, and phase currents with first phases located in the same sector have the same polarity; When the real-time load does not reach the preset load, obtaining two-phase voltages of the rotor voltage of the motor, calculating a second phase of each phase voltage input to the motor based on the two-phase voltages of the rotor voltage, and determining a target sector for the second phase of each phase voltage based on the second phase of each phase voltage and a second corresponding relationship, where the second corresponding relationship is a mapping relationship between each second phase and a sector; Dead zone compensation is performed on the voltage input to the motor at least according to the compensation direction corresponding to the target sector.

2. The dead zone compensation method according to claim 1, characterized in that: Calculating the first phase of each phase current includes: Perform coordinate system transformation on each phase current to obtain two-phase current; performing low-pass filtering on the two-phase current; The first phase of each phase current is calculated using the two-phase current after low-pass filtering.

3. The dead zone compensation method according to claim 2, characterized in that: The coordinate system conversion of each phase current includes: Clarke transformation is performed on the phase current to obtain the two-phase current.

4. The dead zone compensation method according to claim 2, wherein: Calculating the first phase of each phase current by using the two-phase current after low-pass filtering includes: An arc tangent operation is performed on the two-phase current after low-pass filtering to obtain the first phase of each phase current.

5. The dead zone compensation method according to claim 1, wherein: The step of calculating the second phase of each phase voltage input to the motor according to the two-phase voltage of the rotor voltage comprises: Performing coordinate system conversion on the two-phase voltages to obtain converted two-phase voltages, wherein the two-phase voltages are voltages projected by the rotor voltages in the two-phase rotating coordinate system, and the converted two-phase voltages are voltages projected by the stator voltages in the two-phase stationary coordinate system; performing phase calculation on the converted two-phase voltages to obtain a third phase of each phase voltage; Phase compensation is performed on the third phase of each phase voltage to obtain the second phase of each phase voltage.

6. The dead zone compensation method according to claim 5, characterized in that: The coordinate system conversion of the two-phase voltage includes: Performing an anti-Pike transformation on the two-phase voltage to obtain the converted two-phase voltage.

7. The dead zone compensation method according to claim 5, characterized in that: The performing phase calculation on the converted two-phase voltages comprises: An arc tangent operation is performed on the converted two-phase voltages to obtain a third phase of each phase voltage.

8. The dead zone compensation method according to claim 5, characterized in that: The performing phase compensation on the third phase of each phase voltage includes: Phase compensation is performed on the third phase according to the rotational speed of the motor. The rotational speed of the motor corresponds to the phase compensation value. The greater the rotational speed of the motor, the greater the phase compensation value.

9. The dead zone compensation method according to claim 1, wherein: The performing dead zone compensation on the voltage input to the motor at least according to the compensation direction corresponding to the target sector includes: Get dead zone compensation time; According to the compensation direction corresponding to the target sector, dead zone compensation is performed on the voltage input to the motor during the dead zone compensation time.

10. The dead zone compensation method according to claim 1, wherein: The obtaining of the real-time load of the motor includes: A current value of a bus current of the motor is obtained, where the bus current of the motor is used to represent the real-time load.

11. A dead zone compensation device, characterized in that: include: Load acquisition module, used to obtain the real-time load of the motor; a first sector determination module, configured to, when the real-time load reaches a preset load, obtain each phase current input to the motor, calculate the first phase of each phase current, and determine a target sector in which the first phase of each phase current is located based on the first phase of each phase current and a first correspondence, wherein the first correspondence is a mapping relationship between each first phase and a sector, and phase currents with first phases located in the same sector have the same polarity; a second sector determination module, configured to, when the real-time load does not reach the preset load, obtain two-phase voltages of the rotor voltage of the motor, calculate a second phase of each phase voltage input to the motor based on the two-phase voltages of the rotor voltage, and determine a target sector for the second phase of each phase voltage based on the second phase of each phase voltage and a second corresponding relationship, wherein the second corresponding relationship is a mapping relationship between each second phase and a sector; A dead zone compensation module is used to perform dead zone compensation on the voltage input to the motor at least according to the compensation direction corresponding to the target sector.

12. A terminal device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor runs the computer program, the processor performs the steps of the dead zone compensation method according to any one of claims 1 to 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the dead zone compensation method according to any one of claims 1 to 10 are executed.

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