Motor control method, device, apparatus and storage medium

Abstract

The application discloses a motor control method, device and equipment and a storage medium, relates to the technical field of motor control, and comprises the following steps: acquiring a speed feedback signal and a speed given signal of a motor; generating a first reference signal based on a phase difference between the speed feedback signal and the speed given signal; generating a second reference signal based on a frequency difference between the speed feedback signal and the speed given signal; synthesizing the first reference signal and the second reference signal to obtain a third reference signal; performing spatial vector coordinate transformation based on the third reference signal to obtain a driving signal; and driving the motor by using the driving signal, so that the speed feedback signal and the speed given signal are in phase. According to the application, the phase difference between the speed feedback signal and the speed given signal is used to correct the quadrature-axis voltage in FOC control, so that the driving signal of the motor is adjusted, the speed feedback signal and the speed given signal are phase-locked, and the precision and stability of motor speed control are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, and in particular to a motor control method, device, equipment and storage medium. BACKGROUND

[0002] FOC (Field-Oriented Control, magnetic field oriented control) technology, also known as vector control (VC, Vector Control), is commonly used to control brushless DC motors or permanent magnet synchronous motors. FOC aims to control the size and direction of the magnetic field accurately, so that the movement torque of the motor is smooth, the noise is small, the efficiency is high, and the dynamic response is high speed. FOC usually has a speed loop, which is closed loop controlled according to the actual speed and given speed of the motor feedback, but the speed stability under FOC control is not high, which leads to that the motor cannot be applied in high-precision and high-stability occasions, such as printers. SUMMARY

[0003] The main purpose of the present application is to provide a motor control method, device, equipment and storage medium, which aims to solve the technical problems of low speed stability and control accuracy of the motor under FOC control in the prior art.

[0004] To achieve the above purpose, the present application provides a motor control method, which comprises the following steps:

[0005] obtaining a speed feedback signal and a speed given signal of the motor;

[0006] generating a first reference signal based on the phase difference between the speed feedback signal and the speed given signal;

[0007] generating a second reference signal based on the frequency difference between the speed feedback signal and the speed given signal;

[0008] synthesizing the first reference signal and the second reference signal to obtain a third reference signal;

[0009] performing spatial vector coordinate transformation based on the third reference signal to obtain a driving signal;

[0010] driving the motor by using the driving signal, so that the speed feedback signal and the speed given signal are in phase.

[0011] Optionally, generating the first reference signal based on the phase difference between the speed feedback signal and the speed given signal comprises:

[0012] selecting a time as a reference time;

[0013] determining a first time between the reference time and the time of the first potential jump of the speed feedback signal after the reference time;

[0014] determining a second time between the reference time and a time at which the speed given signal has a first potential jump after the reference time;

[0015] inputting the first time and the second time into a first proportional integral controller to obtain a first reference signal.

[0016] Optionally, selecting a time as the reference time comprises:

[0017] taking the speed feedback signal or the speed given signal as the reference signal, and taking a time at which the reference signal has a potential jump as the reference time.

[0018] Optionally, generating the second reference signal based on the frequency difference between the speed feedback signal and the speed given signal comprises:

[0019] inputting the speed feedback signal and the speed given signal into a second proportional integral controller, so that the second proportional integral controller generates the second reference signal according to the speed frequency difference between the speed feedback signal and the speed given signal.

[0020] Optionally, inputting the speed feedback signal and the speed given signal into the second proportional integral controller, so that the second proportional integral controller generates the second reference signal according to the frequency difference between the speed feedback signal and the speed given signal comprises:

[0021] inputting the speed feedback signal and the speed given signal into the second proportional integral controller, so that the second proportional integral controller generates the quadrature axis current reference signal according to the frequency difference between the speed feedback signal and the speed given signal;

[0022] obtaining a quadrature axis current feedback signal fed back by the motor;

[0023] inputting the quadrature axis current reference signal and the quadrature axis current feedback signal into a third proportional integral controller to obtain the second reference signal.

[0024] Optionally, performing the space vector coordinate transformation based on the third reference signal to obtain the driving signal comprises:

[0025] obtaining a direct axis current reference signal and a direct axis current feedback signal fed back by the motor;

[0026] inputting the direct axis current reference signal and the direct axis current feedback signal into a fourth proportional integral controller to obtain a direct axis voltage signal;

[0027] taking the third reference signal as a quadrature axis voltage signal, and performing the space vector coordinate transformation on the direct axis voltage signal and the quadrature axis voltage signal to obtain the driving signal.

[0028] Optionally, the motor comprises an excitation inductor coil;

[0029] Before acquiring the speed feedback signal of the motor, the method further comprises:

[0030] The speed of the motor is detected by using the excitation induction coil to obtain a detection signal;

[0031] The detection signal is amplified to obtain an amplified signal;

[0032] The amplified signal is processed by using a comparator to obtain a square wave signal, and the square wave signal is used as the speed feedback signal.

[0033] In addition, to achieve the above-mentioned purpose, the application further provides a motor control device, which comprises:

[0034] The receiving module is configured to acquire the speed feedback signal and the speed given signal of the motor;

[0035] The first calculation module is configured to generate a first reference signal based on the phase difference between the speed feedback signal and the speed given signal;

[0036] The second calculation module is configured to generate a second reference signal based on the frequency difference between the speed feedback signal and the speed given signal;

[0037] The third calculation module is configured to synthesize the first reference signal and the second reference signal to obtain a third reference signal;

[0038] The fourth calculation module is configured to perform spatial vector coordinate transformation based on the third reference signal to obtain a driving signal;

[0039] The driving module is configured to drive the motor by using the driving signal, so that the speed feedback signal and the speed given signal are in phase.

[0040] In addition, to achieve the above-mentioned purpose, the application further provides a motor control device, which comprises: a memory, a processor and a motor control program stored in the memory and executable on the processor, and the motor control program is executed by the processor to realize the motor control method as described above.

[0041] In addition, to achieve the above-mentioned purpose, the application further provides a storage medium, and the storage medium stores a motor control program, and the motor control program is executed by the processor to realize the motor control method as described above.

[0042] In the application, the speed feedback signal and the speed given signal of the motor are acquired, a first reference signal is generated based on the phase difference between the speed feedback signal and the speed given signal, a second reference signal is generated based on the frequency difference between the speed feedback signal and the speed given signal, then the first reference signal and the second reference signal are synthesized to obtain a third reference signal, the space vector coordinate transformation is carried out based on the third reference signal to obtain a driving signal, finally the motor is driven by using the driving signal, so that the speed feedback signal and the speed given signal are in phase. The phase difference between the speed feedback signal and the speed given signal is used to correct the quadrature axis voltage in the FOC control, so as to adjust the driving signal of the motor, so that the speed feedback signal and the speed given signal are phase-locked, and the precision and stability of the motor speed control are improved. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a structural schematic diagram of a motor control device of a hardware running environment related to an embodiment scheme of the application;

[0044] Figure 2 is a structural schematic diagram of an embodiment of the motor device of the application;

[0045] Figure 3 is a flow schematic diagram of a first embodiment of the motor control method of the application;

[0046] Figure 4 is a schematic diagram of a first embodiment of the FOC control logic of the application;

[0047] Figure 5 is a schematic diagram of a second embodiment of the FOC control logic of the application;

[0048] Figure 6 is a speed signal waveform diagram without phase-locked control of the application;

[0049] Figure 7 is a speed signal waveform diagram after phase-locked control of the application;

[0050] Figure 8 is a flow schematic diagram of a second embodiment of the motor control method of the application;

[0051] Figure 9 is a schematic diagram of a phase difference calculation method of the application;

[0052] Figure 10 is a structural block diagram of a first embodiment of the motor control device of the application.

[0053] BRIEF DESCRIPTION OF DRAWINGS

[0054] Reference Name Reference Name 1001 Processor 50 Inner and outer loop control modules 1002 Communication bus 60 Field induction coil circuit 1003 User interface 70 Power module 1004 Network interface 100 Receiving module 1005 Memory 200 First calculation module 10 First to fourth control signals 300 Second calculation module 20 Full-bridge inverter 400 Third calculation module 30 Pre-driver circuit 500 Fourth calculation module 40 FOC control module 600 Driving module

[0055] The objectives, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0057] Referring to Figure 1 , Figure 1 The structural schematic diagram of the motor control device related to the hardware running environment of the embodiments of the present application is shown in the figure.

[0058] As Figure 1 shown, the motor control device can include a processor 1001, for example, a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication among the components. The user interface 1003 can include a display screen (Display), and the optional user interface 1003 can further include a standard wired interface, a wireless interface. The wired interface of the user interface 1003 can be a USB interface in the present application. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 can be a high-speed random access memory (RAM) memory, or a stable memory (Non-volatile Memory, NVM), for example, a disk memory. The memory 1005 can also be an independent storage device from the aforementioned processor 1001.

[0059] Those skilled in the art can understand Figure 1 that the structure shown in the figure does not constitute a limitation on the motor control device, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0060] As Figure 1 shown, the memory 1005, which is identified as a computer storage medium, can include an operating system, a network communication module, a user interface module, and a motor control program.

[0061] In Figure 1The network interface 1004 is mainly used for connecting a background server and communicating data with the background server, and the user interface 1003 is mainly used for connecting a user device. The motor control device calls a motor control program stored in the memory 1005 through the processor 1001, and executes the motor control method provided by the embodiment of the application.

[0062] With reference to Figure 2 , Figure 2 The structure of an embodiment of the motor device is shown in FIG. 1. The motor device can include a motor 10, a full-bridge inverter 20, a pre-driver circuit 30, a FOC control module 40, an inner-outer loop control module 50, an excitation inductor circuit 60 and a power supply module 70. The power supply module 70 is used to provide power supply for each module. Since the requirements of each module for power supply are different, the power supply module 70 adopts a multi-output module to provide different kinds of power supply. The main difference between different kinds of power supply is the voltage. The input of the full-bridge inverter 20 is a direct current power supply, and the output is an alternating current. The full-bridge inverter 20 can be formed by an inverter circuit composed of MOS (Metal-Oxide-Semiconductor) transistors. The inverter circuit usually has six MOS transistors, and the gate of each MOS transistor is connected to the pre-driver circuit 30. The FOC control module 40 can output six control signals. After the control signals are boosted by the pre-driver circuit 30, they are applied to the gate of the MOS transistor, so as to control the conduction and turn-off of each bridge arm in the inverter circuit, thereby converting the direct current into alternating current.

[0063] The inner-outer loop control module 50 is used to calculate the input parameters and obtain a corresponding reference voltage signal. After the reference voltage signal is vector transformed by the FOC control module 40, a control signal is generated. The excitation inductor circuit 60 is mainly used to detect the speed of the motor. The detection result can be transmitted to the inner-outer loop control module 50 as the input of the speed loop. The FOC control module 40 and the inner-outer loop control module 50 can be respectively provided with independent controllers, or can be integrated into one controller. The motor control method proposed in the application is mainly executed by the controller formed by the FOC control module 40 and the inner-outer loop control module 50.

[0064] Of course, Figure 2 The structure shown in FIG. 1 does not constitute a limitation on the motor device, and can include more or fewer components than shown, or combine certain components, or different component arrangements.

[0065] Based on the above hardware structure, an embodiment of the motor control method of the application is proposed.

[0066] With reference to Figure 3 , Figure 3The flowchart of the motor control method is shown in the first embodiment of the motor control method.

[0067] In the first embodiment, the motor control method comprises the following steps.

[0068] Step S10: obtaining a speed feedback signal and a speed given signal of the motor.

[0069] It should be understood that the execution subject of the embodiment is the motor control device, specifically the controller in the motor control device, which has functions of data processing, data communication, and program running. Of course, it can also be other devices with similar functions, which are not limited in the present embodiment.

[0070] It should be noted that the speed feedback signal is a detection signal of the actual speed of the motor, which can be used to represent the actual speed of the motor. The speed given signal is the set speed of the motor, which is usually input by the user. The motor control device usually has an interactive component connected with the controller through a user interface. The interactive component can respond to the user's setting value of the motor speed and generate a corresponding speed given signal based on the setting value, thereby providing the speed given signal for the controller. The speed given signal can usually be a Clock signal, and the set speed can be adjusted by adjusting the frequency of the Clock signal.

[0071] In specific implementation, the speed feedback signal can be generated by the above-mentioned excitation induction coil circuit. By setting the excitation induction coil circuit on the motor, the excitation induction coil is used to detect the speed of the motor to obtain a detection signal; then the detection signal is amplified to obtain an amplified signal; finally, the amplified signal is waveform processed by a comparator to obtain a square wave signal, which is used as the speed feedback signal.

[0072] The excitation induction coil circuit mainly uses electromagnetic effect to generate a sinusoidal potential difference signal after cutting the magnetic field lines after the motor rotates, which is the detection signal. Since the strength of the sinusoidal potential difference signal is weak, an amplifier is used to amplify the sinusoidal potential difference signal, and a comparator is used for waveform processing to obtain a square wave signal. The square wave signal has a simple waveform, which is beneficial for subsequent analysis. The controller can be connected with the excitation induction coil circuit through a signal line to receive the square wave signal and obtain the speed feedback signal.

[0073] Step S20: generating a first reference signal based on the phase difference between the speed feedback signal and the speed given signal.

[0074] Referring to Figure 4 , Figure 4This is a schematic diagram of a first embodiment of the FOC control logic of the present invention. In this embodiment, the speed feedback signal and the speed setpoint signal are timed, and then the two timing results are input into the PI (proportional-integral) controller. The phase difference between the speed feedback signal and the speed setpoint signal is obtained by first calculating the time difference between the two timing results, and then a first reference signal Uq1 is generated based on this phase difference using a preset proportional-integral function.

[0075] Step S30: Generate a second reference signal based on the frequency difference between the speed feedback signal and the speed setpoint signal.

[0076] Continue to refer to Figure 4 In this embodiment, the given frequency is the frequency of the speed setpoint signal, and the output frequency is the frequency of the speed feedback signal. In a specific implementation, the speed feedback signal and the speed setpoint signal can be input to the second proportional-integral controller, so that the second proportional-integral controller generates a second reference signal Uq2 based on the speed frequency difference between the speed feedback signal and the speed setpoint signal.

[0077] Or, refer to Figure 5 , Figure 5 This is a schematic diagram of a second embodiment of the FOC control logic of the present invention. Figure 5 In this configuration, the FOC control logic employs a dual-loop control, with an outer speed loop and an inner current loop. The second reference signal Uq2 is the output signal of the current loop. Step S30 may include: inputting the speed feedback signal and the speed setpoint signal to the second proportional-integral controller, causing the second proportional-integral controller to generate a quadrature-axis current reference signal based on the frequency difference between the speed feedback signal and the speed setpoint signal; acquiring the quadrature-axis current feedback signal from the motor; and inputting the quadrature-axis current reference signal and the quadrature-axis current feedback signal to the third proportional-integral controller to obtain the second reference signal.

[0078] The quadrature-axis current feedback signal from the motor is provided by the current acquisition and reconstruction circuit. This circuit first acquires the current from the three-phase inverter, and then performs Clark and Park transformations to obtain the direct-axis current feedback signal. The Clark transformation is performed by the third coordinate transformer, and the Park transformation by the fourth coordinate transformer. The angle output circuit outputs the rotation angle of the motor rotor, providing a reference for the Park and inverse Park transformations. The angle output circuit, Clark transformation, and Park transformation are all mature technologies, and will not be described in detail here.

[0079] Step S40: Combine the first reference signal and the second reference signal to obtain the third reference signal.

[0080] It should be noted that in the FOC control logic of this embodiment, the reference voltage of the Q (quadrature) axis is directly given by the speed loop. The first reference signal Uq1 is used to correct the second reference signal Uq2 to achieve phase-locked loop (PLL) function. The correction mainly involves adjusting the frequency of the second reference signal. The frequency of the second reference signal is increased or decreased based on the amplitude or frequency of the first reference signal.

[0081] Step S50: Perform spatial vector coordinate transformation based on the third reference signal to obtain the driving signal.

[0082] It is understandable that space vector coordinate transformation mainly involves the inverse Park transform and the inverse Clark transform. The third reference signal Uq, as the quadrature-axis reference voltage, along with the direct-axis reference voltage Ud, undergoes the inverse Park transform to convert into voltages Uα and Uβ in α-β coordinates. Then, Uα and Uβ undergo the inverse Clark transform to convert into three-phase voltages Ur1, Ur2, and Ur3 in the three-phase coordinate system. The inverse Park transform is performed by the first coordinate transformer, and the inverse Clark transform is performed by the second coordinate transformer. The three-phase voltages Ur1, Ur2, and Ur3 are then modulated to generate corresponding drive signals. The inverse Clark transform and subsequent modulation process are commonly referred to as SVPWM (Space Vector Pulse Width Modulation) technology. Mature technologies for the inverse Park transform and SVPWM are available and will not be elaborated upon in this implementation.

[0083] It should be noted that the direct-axis reference voltage Ud is provided by the DC current loop. Specifically: first, the direct-axis current reference signal and the direct-axis current feedback signal from the motor are acquired; then, the direct-axis current reference signal and the direct-axis current feedback signal are input to the fourth proportional-integral controller to obtain the direct-axis voltage signal; finally, the third reference signal is used as the quadrature-axis voltage signal, and a space vector coordinate transformation is performed on the direct-axis voltage signal and the quadrature-axis voltage signal to obtain the drive signal. The direct-axis current feedback signal from the motor is provided by the current acquisition and reconstruction circuit, as detailed above.

[0084] Step S60: Drive the motor using the drive signal to make the speed feedback signal and the speed command signal in phase.

[0085] Understandably, the drive signal is used to turn each arm of the three-phase inverter bridge on and off, thereby converting DC power into AC power. The drive signal can adjust the frequency of the AC power, thereby adjusting the motor speed. Because this implementation incorporates a phase-locked loop (PLL) function, the speed feedback signal and the speed setpoint signal are in phase, improving the accuracy and stability of the speed.

[0086] Reference Figure 6 and Figure 7 ,Figure 6 This is a speed signal waveform diagram without phase-locked loop control in this invention. Figure 7 The image shows the speed signal waveform after incorporating phase-locked control in this invention. The Clock signal is the speed setpoint signal, and the FG signal is the speed feedback signal. Figure 6 As can be seen, without phase-locked loop (PLL) control, there is a phase difference between the speed command signal and the speed feedback signal, which can easily lead to unstable speed control. Figure 7 As can be seen, after adding phase-locked control, there is no phase difference between the speed setpoint signal and the speed feedback signal, resulting in more stable speed control. Specifically, during phase-locking, the rising edges of the speed setpoint signal and the speed feedback signal can be aligned, or the falling edges of the two signals can be aligned, or one rising edge can be aligned with one falling edge.

[0087] In this embodiment, the speed feedback signal and speed command signal of the motor are acquired; a first reference signal is generated based on the phase difference between the speed feedback signal and the speed command signal; a second reference signal is generated based on the frequency difference between the speed feedback signal and the speed command signal; then, the first reference signal and the second reference signal are combined to obtain a third reference signal; a spatial vector coordinate transformation is performed based on the third reference signal to obtain a drive signal; finally, the drive signal is used to drive the motor, making the speed feedback signal and the speed command signal in phase. This embodiment uses the phase difference between the speed feedback signal and the speed command signal to correct the quadrature-axis voltage in FOC control, thereby adjusting the motor drive signal, enabling phase locking between the speed feedback signal and the speed command signal, and improving the accuracy and stability of motor speed control.

[0088] Reference Figure 8 , Figure 8 This is a flowchart illustrating a second embodiment of the motor control method of the present invention. Based on the first embodiment described above, a second embodiment of the motor control method of the present invention is proposed.

[0089] In this embodiment, to facilitate the generation of a first reference signal using the phase difference between the velocity feedback signal and the velocity setpoint signal, step S20 may include:

[0090] Step S201: Select a time as the reference time.

[0091] It should be noted that both the speed feedback signal and the speed setpoint signal are typically clock signals. The set speed is adjusted by changing the frequency of the clock signal. Therefore, the duration of one cycle of the speed feedback signal and the speed setpoint signal differs when there are speed differences. The phase difference between the speed feedback signal and the speed setpoint signal can be checked using timing.

[0092] In practical implementation, to facilitate the selection of the reference time, the speed feedback signal or the speed command signal can be used as the reference signal, and the moment when the reference signal undergoes a potential jump can be used as the reference time. Since the potential jump of the signal is easy to detect, using the rising edge or falling edge as the reference time is more convenient to implement. At the same time, both the speed feedback signal and the speed command signal can be used as the reference signal, and this embodiment does not limit this.

[0093] Step S202: Determine the first time between the moment of the first potential jump of the velocity feedback signal after the reference time and the reference time.

[0094] Since the purpose of phase-locking in this embodiment is to align the change edges of the two signals, the first time can be obtained by comparing the times when the signals change.

[0095] Reference Figure 9 , Figure 9 This is a schematic diagram illustrating a phase difference calculation method according to the present invention. Figure 9 In this process, the Clock signal is used as the reference signal, and the time when the Clock signal (i.e., the speed command signal) interrupts its cycle (rising edge) is taken as the reference time a. Timing starts at the reference time a, and when the Clock signal reaches time c (falling edge), the first time is obtained, which is TIM1.

[0096] Step S203: Determine the second time between the moment of the first potential jump of the velocity given signal after the reference time and the reference time.

[0097] Continue to refer to Figure 9 Timing begins at reference time 'a'. When the FG signal (speed feedback signal) reaches time 'b' (rising edge), the first time, TIM2, is obtained. At this time, the phase difference between the speed feedback signal and the speed command signal is TIM1-TIM2. Of course, this process is only an example; the specific timing method can be set according to requirements, such as using the rising edge of the speed command signal as the reference time for timing.

[0098] Step S204: Input the first time and the second time to the first proportional-integral controller to obtain the first reference signal.

[0099] Understandably, to achieve phase-locked loop (PLL), the first and second times can be input to the first proportional-integral (PI) controller. Through function conversion within the first PLI controller, a first reference signal is obtained, forming a closed-loop control. The greater the time difference between the first and second times, the greater the amplitude or duty cycle of the first reference signal, and vice versa. The specific function within the first PLI controller can be set according to requirements; this implementation does not impose any limitations on this.

[0100] In this embodiment, a reference time is first selected; then, a first time interval between the moment of the first potential jump of the speed feedback signal after the reference time and the reference time is determined; a second time interval between the moment of the first potential jump of the speed setpoint signal after the reference time and the reference time is determined; then, the first and second times are input to the first proportional-integral controller to obtain the first reference signal. This embodiment detects the rising or falling edges of the speed feedback signal and the speed setpoint signal, determines the phase difference between them through timing, and converts the phase difference into the first reference signal using proportional-integral adjustment. This makes the generation of the first reference signal easier to implement, ensuring the speed accuracy and stability of FOC control.

[0101] Furthermore, this embodiment of the invention also proposes a storage medium storing a motor control program, which, when executed by a processor, implements the steps of the motor control method described above. Since this storage medium can employ the technical solutions of all the above embodiments, it at least possesses the beneficial effects brought about by the technical solutions of the above embodiments, and will not be elaborated further here.

[0102] In addition, refer to Figure 10 , Figure 10 This is a structural block diagram of a first embodiment of the motor control device of the present invention. The present invention also proposes a motor control device.

[0103] In this embodiment, the motor control device may include:

[0104] The receiving module 100 is used to acquire the speed feedback signal and speed command signal of the motor.

[0105] The first calculation module 200 is used to generate a first reference signal based on the phase difference between the velocity feedback signal and the velocity setpoint signal.

[0106] The second calculation module 300 is used to generate a second reference signal based on the frequency difference between the speed feedback signal and the speed setpoint signal.

[0107] The third calculation module 400 is used to synthesize the first reference signal and the second reference signal to obtain the third reference signal.

[0108] The fourth calculation module 500 is used to perform spatial vector coordinate transformation based on the third reference signal to obtain the driving signal.

[0109] The drive module 600 is used to drive the motor using the drive signal, so that the speed feedback signal and the speed command signal are in phase.

[0110] In this embodiment, the receiving module 100 acquires the motor's speed feedback signal and speed command signal; the first calculation module 200 generates a first reference signal based on the phase difference between the speed feedback signal and the speed command signal; the second calculation module 300 generates a second reference signal based on the frequency difference between the speed feedback signal and the speed command signal; the third calculation module 400 then synthesizes the first and second reference signals to obtain a third reference signal; the fourth calculation module 500 performs a spatial vector coordinate transformation based on the third reference signal to obtain a drive signal; finally, the drive module 600 uses the drive signal to drive the motor, making the speed feedback signal and the speed command signal in phase. This embodiment uses the phase difference between the speed feedback signal and the speed command signal to correct the quadrature-axis voltage in FOC control, thereby adjusting the motor's drive signal, enabling phase locking between the speed feedback signal and the speed command signal, and improving the accuracy and stability of motor speed control.

[0111] In one embodiment, the first calculation module 200 is further configured to select a moment as a reference moment; determine a first time between the moment when the velocity feedback signal undergoes its first potential jump after the reference moment and the reference moment; determine a second time between the moment when the velocity setpoint signal undergoes its first potential jump after the reference moment and the reference moment; and input the first time and the second time to a first proportional-integral controller to obtain a first reference signal.

[0112] In one embodiment, the first calculation module 200 is further configured to use the speed feedback signal or the speed setpoint signal as a reference signal, and to use the moment when the reference signal undergoes a potential jump as a reference time.

[0113] In one embodiment, the second calculation module 300 is further configured to input the speed feedback signal and the speed setpoint signal to the second proportional-integral controller, so that the second proportional-integral controller generates a second reference signal based on the frequency difference between the speed feedback signal and the speed setpoint signal.

[0114] In one embodiment, the second calculation module 300 is further configured to input the speed feedback signal and the speed setpoint signal to the second proportional-integral controller to obtain the quadrature-axis current reference signal; obtain the quadrature-axis current feedback signal fed back by the motor; and input the quadrature-axis current reference signal and the quadrature-axis current feedback signal to the third proportional-integral controller to obtain the second reference signal.

[0115] In one embodiment, the fourth calculation module 500 is further configured to acquire the direct-axis current reference signal and the direct-axis current feedback signal from the motor; input the direct-axis current reference signal and the direct-axis current feedback signal to the fourth proportional-integral controller to obtain the direct-axis voltage signal; use the third reference signal as the quadrature-axis voltage signal, and perform spatial vector coordinate transformation on the direct-axis voltage signal and the quadrature-axis voltage signal to obtain the drive signal.

[0116] In one embodiment, the motor includes an excitation induction coil; the motor control device further includes a detection module, which is used to detect the speed of the motor using the excitation induction coil to obtain a detection signal; amplify the detection signal to obtain an amplified signal; use a comparator to perform waveform processing on the amplified signal to obtain a square wave signal, and use the square wave signal as a speed feedback signal.

[0117] Other embodiments or specific implementations of the motor control device described in this invention can refer to the above-described method embodiments, and therefore have at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0118] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0119] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. In the unit claims listing several devices, several of these devices may be embodied by the same hardware item. The use of the terms first, second, and third, etc., does not indicate any order and can be interpreted as names.

[0120] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory image (ROM) / random access memory (RAM), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0121] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method of controlling an electric machine, characterized by, The motor control method comprises: obtaining a speed feedback signal and a speed given signal of the motor; generating a first reference signal based on a phase difference between the speed feedback signal and the speed given signal; generating a second reference signal based on a frequency difference between the speed feedback signal and the speed given signal; synthesizing the first reference signal and the second reference signal to obtain a third reference signal; performing space vector coordinate transformation based on the third reference signal to obtain a driving signal, wherein the space vector coordinate transformation comprises Park inverse transformation and Clark inverse transformation; driving the motor by using the driving signal, so that the speed feedback signal and the speed given signal are in phase; the space vector coordinate transformation based on the third reference signal to obtain a driving signal comprises: obtaining a direct-axis current reference signal and a direct-axis current feedback signal fed back by the motor; inputting the direct-axis current reference signal and the direct-axis current feedback signal into a fourth proportional integral controller to obtain a direct-axis voltage signal; taking the third reference signal as a quadrature-axis voltage signal, and performing space vector coordinate transformation on the direct-axis voltage signal and the quadrature-axis voltage signal to obtain a driving signal.

2. The motor control method of claim 1, wherein, the generation of the first reference signal based on the phase difference between the speed feedback signal and the speed given signal comprises: selecting a time as a reference time; determining a first time between the reference time and a time when the speed feedback signal first changes in potential after the reference time; determining a second time between the reference time and a time when the speed given signal first changes in potential after the reference time; inputting the first time and the second time into a first proportional integral controller to obtain a first reference signal.

3. The motor control method of claim 2, wherein, the selection of a time as a reference time comprises: taking the speed feedback signal or the speed given signal as a reference signal, and taking a time when the reference signal changes in potential as a reference time.

4. The motor control method of claim 1, wherein, the generation of the second reference signal based on the frequency difference between the speed feedback signal and the speed given signal comprises: inputting the speed feedback signal and the speed given signal into a second proportional integral controller, so that the second proportional integral controller generates a second reference signal according to a speed frequency difference between the speed feedback signal and the speed given signal.

5. The motor control method of claim 4, wherein, the inputting of the speed feedback signal and the speed given signal into the second proportional integral controller, so that the second proportional integral controller generates a second reference signal according to a frequency difference between the speed feedback signal and the speed given signal comprises: inputting the speed feedback signal and the speed given signal into a second proportional integral controller, so that the second proportional integral controller generates a quadrature-axis current reference signal according to a frequency difference between the speed feedback signal and the speed given signal; obtaining a quadrature-axis current feedback signal fed back by the motor; inputting the quadrature-axis current reference signal and the quadrature-axis current feedback signal into a third proportional integral controller to obtain a second reference signal.

6. The motor control method of any one of claims 1-5, wherein, the motor comprises an excitation induction coil; before the obtaining of the speed feedback signal of the motor, the method further comprises: The rotating speed of the motor is detected by using the excitation induction coil to obtain a detection signal; The detection signal is amplified to obtain an amplified signal; The amplified signal is processed by a comparator to obtain a square wave signal, and the square wave signal is used as a speed feedback signal.

7. An electric motor control device characterized by comprising: The motor control device comprises: a receiving module configured to obtain a speed feedback signal and a speed given signal of the motor; a first calculation module configured to generate a first reference signal based on a phase difference between the speed feedback signal and the speed given signal; a second calculation module configured to generate a second reference signal based on a frequency difference between the speed feedback signal and the speed given signal; a third calculation module configured to synthesize the first reference signal and the second reference signal to obtain a third reference signal; a fourth calculation module configured to perform a space vector coordinate transformation based on the third reference signal to obtain a driving signal, wherein the space vector coordinate transformation comprises a Park inverse transformation and a Clark inverse transformation; a driving module configured to drive the motor by using the driving signal, so that the speed feedback signal and the speed given signal are in phase; The fourth calculation module is further configured to obtain a direct-axis current reference signal and a direct-axis current feedback signal fed back by the motor; input the direct-axis current reference signal and the direct-axis current feedback signal into a fourth proportional integral controller to obtain a direct-axis voltage signal; use the third reference signal as a quadrature-axis voltage signal, and perform a space vector coordinate transformation on the direct-axis voltage signal and the quadrature-axis voltage signal to obtain the driving signal.

8. A motor control device characterized by comprising: The motor control device comprises a memory, a processor, and a motor control program stored on the memory and executable on the processor, and the motor control program is executed by the processor to implement the motor control method of any one of claims 1 to 6.

9. A storage medium, characterized by The storage medium stores a motor control program, and the motor control program is executed by the processor to implement the motor control method of any one of claims 1 to 6.

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