A decoupled vector control method and system for an electric motor and related components

Abstract

The application discloses a motor decoupling-based vector control method and system and related components, relates to the field of motor control, and is applied to a motor whose input end is connected with an inverter through an LC filter. The method comprises the following steps: determining a control rotating speed according to a current rotating speed and a reference rotating speed; performing PI adjustment on the control rotating speed to generate a reference current; determining a control current according to the reference current, a filter current and a filter input current; performing PI adjustment on the control current to generate a reference voltage; determining a control voltage according to the reference voltage, a first voltage, a second voltage and a third voltage; and generating a modulation signal according to the control voltage to drive the inverter. The application realizes the motor decoupling-based vector control with the LC filter through a double closed loop. In the method, the number of control parameters is small, the system bandwidth is improved, the dynamic response capability and the system robustness of the system are enhanced, the system is simple to debug, and the method is more conducive to coding implementation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of motor control, in particular to a motor decoupling-based vector control method, system and related components. BACKGROUND

[0002] High-speed permanent magnet synchronous motor has the characteristics of small inductance and high frequency. During operation, the three-phase current harmonic content increases, which increases the motor current and torque ripple, seriously affecting the normal operation of the motor. It is necessary to connect LC sine wave filter at the end of high-speed motor to suppress the harmonic content of the input motor to ensure the normal operation of the motor.

[0003] At present, the high-speed permanent magnet synchronous motor vector control with LC sine wave filter recognized at home and abroad is four-closed-loop cascade control mode. This four-closed-loop control structure has the following shortcomings: more parameters need to be controlled, which is not conducive to code programming and debugging; the system bandwidth is low, the system dynamic response performance and system robustness are poor; under the condition of general frequency converter hardware, an observer must be built to realize effective control, which further reduces the system bandwidth.

[0004] Therefore, how to provide a solution to the above technical problems is a problem that needs to be solved by the technical personnel in the field at present. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a double-closed-loop, simple, efficient and stable motor decoupling-based vector control method, system and related components. The specific scheme is as follows:

[0006] A motor decoupling-based vector control method applied to a motor whose input end is connected with an inverter through an LC filter, the method comprising:

[0007] obtaining the current speed of the motor, the filtered input current of the LC filter, and the filtered output current of the LC filter;

[0008] determining a control speed according to the current speed and a reference speed;

[0009] performing PI adjustment on the control speed to generate a reference current;

[0010] determining a control current according to the reference current and the filtered current, and the filtered input current; the filtered current is specifically the difference between the filtered input current and the filtered output current;

[0011] performing PI adjustment on the control current to generate a reference voltage;

[0012] determine a control voltage according to the reference voltage and a first voltage, a second voltage, and a third voltage, wherein the first voltage is a product of the filtered output current and an inductance of the motor and an electrical angular velocity, the second voltage is a product of the filtered input current and a filter inductance of the LC filter and the electrical angular velocity, and the third voltage is a product of the filtered current and a disturbance feedback gain coefficient;

[0013] generate a modulation signal according to the control voltage to drive the inverter.

[0014] Preferably, the inductance of the motor includes a d-axis motor inductance and a q-axis motor inductance.

[0015] The filtered input current includes a d-axis filtered input current and a q-axis filtered input current.

[0016] The filtered output current includes a d-axis filtered output current and a q-axis filtered output current.

[0017] The filtered current includes a d-axis filtered current and a q-axis filtered current, wherein the d-axis filtered current is a difference between the d-axis filtered input current and the d-axis filtered output current, and the q-axis filtered current is a difference between the q-axis filtered input current and the q-axis filtered output current.

[0018] The reference current includes a d-axis reference current and a q-axis reference current.

[0019] The control current includes a d-axis control current and a q-axis control current.

[0020] The reference voltage includes a d-axis reference voltage and a q-axis reference voltage.

[0021] The first voltage includes a d-axis first voltage and a q-axis first voltage, wherein the d-axis first voltage is a product of the q-axis filtered output current and the q-axis motor inductance and the electrical angular velocity, and the q-axis first voltage is a product of the d-axis filtered output current and the d-axis motor inductance and the electrical angular velocity.

[0022] The second voltage includes a d-axis second voltage and a q-axis second voltage, wherein the d-axis second voltage is a product of the q-axis filtered input current and the filter inductance and the electrical angular velocity, and the q-axis second voltage is a product of the d-axis filtered input current and the filter inductance and the electrical angular velocity.

[0023] The third voltage includes a d-axis third voltage and a q-axis third voltage, wherein the d-axis third voltage is a product of the d-axis filtered current and the disturbance feedback gain coefficient, and the q-axis third voltage is a product of the q-axis filtered current and the disturbance feedback gain coefficient.

[0024] The control voltage comprises a d-axis control voltage and a q-axis control voltage.

[0025] Preferably, the process of determining the control current according to the reference current and the filter current, the filter input current comprises:

[0026] The d-axis reference current is subtracted by the d-axis filter current, and then subtracted by the d-axis filter input current to obtain the d-axis control current.

[0027] The q-axis reference current is added to the q-axis filter current, and then subtracted by the q-axis filter input current to obtain the q-axis control current.

[0028] Preferably, the process of determining the control voltage according to the reference voltage and the first voltage, the second voltage, the third voltage comprises:

[0029] The d-axis reference voltage is sequentially subtracted by the d-axis first voltage, the d-axis second voltage, and the d-axis third voltage to obtain the d-axis control voltage.

[0030] The q-axis reference voltage, the q-axis first voltage, and the q-axis second voltage are summed, and then subtracted by the q-axis third voltage to obtain the q-axis control voltage.

[0031] Preferably, the process of determining the q-axis control voltage by summing the q-axis reference voltage, the q-axis first voltage, and the q-axis second voltage, and then subtracting the q-axis third voltage comprises:

[0032] The q-axis reference voltage, the q-axis first voltage, the q-axis second voltage, and the fourth voltage are summed, and then subtracted by the q-axis third voltage to obtain the q-axis control voltage.

[0033] The fourth voltage is specifically the product of the flux linkage of the motor and the electrical angular velocity.

[0034] Preferably, the disturbance feedback gain coefficient is determined according to the filter inductance, filter capacitance, and parasitic resistance of the LC filter, and the inductance and phase resistance of the motor.

[0035] Preferably, the disturbance feedback gain coefficient is specifically:

[0036]

[0037] Wherein, k is the disturbance feedback gain coefficient, Lf, Cf, and Rf are the filter inductance, filter capacitance, and parasitic resistance of the LC filter, and Ls is the inductance and Rs is the phase resistance of the motor.

[0038] Correspondingly, the application further discloses a motor decoupling-based vector control system applied to a motor whose input end is connected with an inverter through an LC filter.

[0039] An acquisition module is configured to acquire a current rotating speed of the motor, a filtered input current of the LC filter, and a filtered output current of the LC filter.

[0040] A rotating speed module is configured to determine a control rotating speed according to the current rotating speed and a reference rotating speed.

[0041] A first PI module is configured to perform PI adjustment on the control rotating speed to generate a reference current.

[0042] A current module is configured to determine a control current according to the reference current, a filtered current, and the filtered input current; the filtered current is specifically a difference between the filtered input current and the filtered output current.

[0043] A second PI module is configured to perform PI adjustment on the control current to generate a reference voltage.

[0044] A voltage module is configured to determine a control voltage according to the reference voltage, a first voltage, a second voltage, and a third voltage; the first voltage is a product of the filtered output current and an inductance of the motor and an electrical angular velocity, the second voltage is a product of the filtered input current and a filtered inductance of the LC filter and the electrical angular velocity, and the third voltage is a product of the filtered current and a disturbance feedback gain coefficient.

[0045] A modulation module is configured to generate a modulation signal according to the control voltage to drive the inverter.

[0046] Correspondingly, the application further discloses a motor decoupling-based vector control device, which comprises:

[0047] A memory is configured to store a computer program.

[0048] A processor is configured to perform the computer program to realize steps of the motor decoupling-based vector control method according to any one of the above.

[0049] Correspondingly, the application further discloses a readable storage medium, wherein the readable storage medium stores a computer program, and the computer program is executed by a processor to realize steps of the motor decoupling-based vector control method according to any one of the above.

[0050] The application discloses a motor decoupling-based vector control method, which is applied to a motor whose input end is connected with an inverter through an LC filter, and the method comprises the following steps: obtaining a current rotating speed of the motor, a filtered input current of the LC filter and a filtered output current of the LC filter; determining a control rotating speed according to the current rotating speed and a reference rotating speed; performing PI adjustment on the control rotating speed to generate a reference current; determining a control current according to the reference current, a filtered current and the filtered input current; the filtered current is specifically a difference between the filtered input current and the filtered output current; performing PI adjustment on the control current to generate a reference voltage; determining a control voltage according to the reference voltage, a first voltage, a second voltage and a third voltage; the first voltage is a product of the filtered output current and an inductance of the motor and an electrical angular velocity, the second voltage is a product of the filtered input current and a filtered inductance of the LC filter and the electrical angular velocity, and the third voltage is a product of the filtered current and a disturbance feedback gain coefficient; and generating a modulation signal according to the control voltage to drive the inverter. The motor with the LC filter is controlled based on the decoupling vector control through the double closed loop, the control parameters are few in the method, the system bandwidth is improved, the dynamic response capability and the system robustness of the system are enhanced, the system is simple to debug, and the encoding implementation is more favorable. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on the provided drawings.

[0052] Figure 1 The step flow chart of the motor decoupling-based vector control method in the embodiment of the present application;

[0053] Figure 2 The flow chart of the motor decoupling-based vector control method in the embodiment of the present application;

[0054] Figure 3 The implementation block diagram of the active damping control strategy;

[0055] Figure 4 The Bode diagram of the motor decoupling-based vector control method in the embodiment of the present application;

[0056] Figure 5 The structure distribution diagram of the motor decoupling-based vector control system in the embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of the present application.

[0058] At present, the high-speed permanent magnet synchronous motor vector control with LC sine wave filter recognized at home and abroad is a four-closed-loop cascade control mode. The four-closed-loop control structure has the following disadvantages: more parameters need to be controlled, which is not conducive to code programming and debugging; the system bandwidth is low, the system dynamic response performance and system robustness are poor; and under the hardware condition of a general frequency converter, an observer must be constructed to realize effective control, which further reduces the system bandwidth.

[0059] The application realizes the decoupling-based vector control of the motor with the LC filter through a double-closed-loop mode. In the method, the control parameters are few, the system bandwidth is improved, the dynamic response capability and the system robustness of the system are enhanced, the system is simple to debug, and the code implementation is more conducive.

[0060] The embodiment of the present application discloses a motor decoupling-based vector control method, which is applied to a motor with an LC filter connected to an inverter at an input end, as shown in the figure. Figure 1 The method comprises the following steps.

[0061] S1: obtaining a current speed of the motor, a filtered input current of the LC filter and a filtered output current of the LC filter;

[0062] S2: determining a control speed according to the current speed and a reference speed;

[0063] Specifically, the current speed n of the motor is determined by derivation of the potential angle θ of the motor. When the control speed is determined in step S2, the control speed is obtained by subtracting the current speed n from the reference speed n ref .

[0064] S3: performing PI regulation on the control speed to generate a reference current;

[0065] It can be understood that the PI regulation is realized by using a speed regulator.

[0066] S4: determining a control current according to the reference current, the filtered current and the filtered input current; the filtered current is specifically a difference between the filtered input current and the filtered output current;

[0067] S5: performing PI regulation on the control current to generate a reference voltage;

[0068] S6: determining a control voltage according to the reference voltage and the first voltage, the second voltage and the third voltage; wherein the first voltage is a product of the filtered output current and the inductance of the motor and the electrical angular velocity, the second voltage is a product of the filtered input current and the filtered inductance of the LC filter and the electrical angular velocity, and the third voltage is a product of the filtered current and the disturbance feedback gain coefficient;

[0069] S7: generating a modulation signal according to the control voltage to drive the inverter.

[0070] It can be understood that the motor in the embodiment is generally based on the decoupled vector control method with reference to the dq coordinate axis, and a flowchart thereof is shown in FIG. 1. In the dq coordinate axis, each parameter is set as follows: Figure 2

[0071] The inductance of the motor includes the d-axis motor inductance L d and the q-axis motor inductance L q .

[0072] The filtered input current includes the d-axis filtered input current i Ad and the q-axis filtered input current i Aq .

[0073] The filtered output current includes the d-axis filtered output current i sd and the q-axis filtered output current i sq .

[0074] Specifically, the filtered input current is sampled at the input end of the LC filter in the form of abc three-phase current, and the d-axis filtered input current i Ad and the q-axis filtered input current i Aq in the form of dq coordinate axis can be obtained after signal processing of the current in the form of abc three-phase current, and the filtered output current is the same.

[0075] The filtered current includes the d-axis filtered current i cd and the q-axis filtered current i cq , the d-axis filtered current is the difference between the d-axis filtered input current and the d-axis filtered output current, and the q-axis filtered current is the difference between the q-axis filtered input current and the q-axis filtered output current, i.e. i cd = i Ad - i sd , i cq = i Aq - i sq .

[0076] The reference current includes the d-axis reference current and the q-axis reference current;

[0077] The control current includes the d-axis control current and the q-axis control current;

[0078] ​The reference voltage comprises a d-axis reference voltage and a q-axis reference voltage;

[0079] The first voltage comprises a d-axis first voltage and a q-axis first voltage, wherein the d-axis first voltage is a product of the d-axis motor inductance L sq and the electrical angular velocity ωe, and the q-axis first voltage is a product of the q-axis motor inductance L q and the electrical angular velocity ωe. sd and the electrical angular velocity ωe, and the q-axis second voltage is a product of the q-axis filter inductance L d and the electrical angular velocity ωe.

[0080] The second voltage comprises a d-axis second voltage and a q-axis second voltage, wherein the d-axis second voltage is a product of the d-axis filter inductance L Aq and the electrical angular velocity ωe, and the q-axis second voltage is a product of the q-axis filter inductance L f and the electrical angular velocity ωe. Ad and the electrical angular velocity ωe, and the q-axis third voltage is a product of the q-axis filter inductance L f and the electrical angular velocity ωe.

[0081] The third voltage comprises a d-axis third voltage and a q-axis third voltage, wherein the d-axis third voltage is a product of the d-axis filter current i cd and the disturbance feedback gain coefficient k, and the q-axis third voltage is a product of the q-axis filter current i cq and the disturbance feedback gain coefficient k.

[0082] The control voltage comprises a d-axis control voltage u Ad_ref and a q-axis control voltage u Aq_ref .

[0083] Further, on the basis of the dq coordinate axis, the step S4 determines the control current according to the reference current and the filter current, the filter input current, and the process comprises:

[0084] The d-axis reference current is subtracted by the d-axis filter current i cd , and then the d-axis filter input current i Ad is subtracted, to obtain the d-axis control current;

[0085] The q-axis reference current is added by the q-axis filter current i cq , and then the q-axis filter input current i Aq is subtracted, to obtain the q-axis control current.

[0086] Wherein, the operation of adding and subtracting the filter current on the basis of the reference current realizes the capacitance current compensation of the speed loop in the motor based on the decoupling vector control.

[0087] And different from the prior art using the filtered output current as closed-loop feedback to control the motor current, the embodiment uses the filtered input current as closed-loop feedback to indirectly control the motor current in the case of ensuring high power factor output of the permanent magnet synchronous motor, so as to facilitate improvement of current loop bandwidth during observation of the observer.

[0088] After that, when the control current is PI regulated in step S5, the q-axis control current is regulated by a q-axis current regulator and the d-axis control current is regulated by a d-axis current regulator.

[0089] Further, on the basis of the dq coordinate axis, step S6 determines the control voltage according to the reference voltage and the first voltage, the second voltage and the third voltage, and the process comprises:

[0090] The d-axis reference voltage is sequentially subtracted by the d-axis first voltage, the d-axis second voltage and the d-axis third voltage to obtain the d-axis control voltage.

[0091] The q-axis reference voltage, the q-axis first voltage and the q-axis second voltage are summed and then subtracted by the q-axis third voltage to obtain the q-axis control voltage.

[0092] Further, the process of obtaining the q-axis control voltage by summing the q-axis reference voltage, the q-axis first voltage and the q-axis second voltage and then subtracting the q-axis third voltage comprises:

[0093] The q-axis reference voltage, the q-axis first voltage, the q-axis second voltage and the fourth voltage are summed and then subtracted by the q-axis third voltage to obtain the q-axis control voltage.

[0094] The fourth voltage is specifically the flux of the motor and the product of the electrical angular velocity ωe.

[0095] The operation of the first voltage and the fourth voltage actually calculates the cross-axis voltage component and the direct-axis voltage component of the motor through the filtered output current of the LC filter, and further realizes the mathematical model decoupling of the current loop in the motor vector control, that is, the terminal voltage decoupling.

[0096] Similarly, the operation of the second voltage is actually to calculate the voltage drop on the filter inductance through the filtered input current of the LC filter, and further realizes the filter inductance decoupling of the current loop in the motor vector control.

[0097] Similarly, the operation of the third voltage is actually to calculate the disturbance of the filter capacitor of the LC filter to the motor by multiplying the filtered current of the LC filter by a coefficient, and further realizes the disturbance compensation decoupling of the current loop in the motor vector control.

[0098] The application discloses a motor decoupling-based vector control method, which is applied to a motor whose input end is connected with an inverter through an LC filter, and the method comprises the following steps: obtaining a current rotating speed of the motor, a filtered input current of the LC filter and a filtered output current of the LC filter; determining a control rotating speed according to the current rotating speed and a reference rotating speed; performing PI adjustment on the control rotating speed to generate a reference current; determining a control current according to the reference current, the filtered current and the filtered input current; performing PI adjustment on the control current to generate a reference voltage; and determining a control voltage according to the reference voltage, a first voltage, a second voltage and a third voltage.

[0099] The embodiment of the application discloses a specific motor decoupling-based vector control method, and the embodiment further describes and optimizes the technical scheme compared with the previous embodiment.

[0100] Specifically, the disturbance feedback gain coefficient is determined according to the filter inductance, filter capacitance, parasitic resistance of the LC filter and the inductance and phase resistance of the motor.

[0101] Specifically, the disturbance feedback gain coefficient can be obtained by the following formula.

[0102]

[0103] Wherein, k is the disturbance feedback gain coefficient, Lf, Cf and Rf are the filter inductance, filter capacitance and parasitic resistance of the LC filter respectively, and Ls and Rs are the inductance and phase resistance of the motor respectively.

[0104] It can be understood that the current loop decoupling comprises filter inductance decoupling of the LC sinusoidal filter, motor terminal voltage decoupling and disturbance decoupling. Since the filtered input current, that is, the inverter output current, is used for closed loop, the differential expression of the inverter output current is shown in formula (1).

[0105]

[0106] In the formula, u

[0107] u d_inv is the d-axis voltage (V) of the inverter output in the motor rotating dq coordinate system;

[0108] u q_inv is the q-axis voltage (V) of the inverter output in the motor rotating dq coordinate system;

[0109] i d_inv Let d be the d-axis current (A) output by the inverter in the dq coordinate system of the rotating motor.

[0110] i q_inv Let q be the q-axis current (A) output by the inverter in the dq coordinate system of the rotating motor.

[0111] L d The d-axis inductance (H) of the permanent magnet synchronous motor;

[0112] L q The q-axis inductance (H) of the permanent magnet synchronous motor;

[0113] L s For the direct-axis and quadrature-axis inductance, L in a salient-pole motor q and L d The same applies; L can be used directly. s Replace; in a salient-pole motor, L d and L q Different, generally L is taken q As L s ;

[0114] L f The filter inductor (H) is for an LC sine wave filter;

[0115] R f The parasitic resistance (Ω) on the filter inductor;

[0116] R s The phase resistance (Ω) of the permanent magnet synchronous motor;

[0117] u d_coupl The voltage across the d-axis (V);

[0118] u q_coupl The voltage across the q-axis is (V).

[0119] u d_coupl and u d_coupl The expression for is shown in equation (2).

[0120]

[0121] As can be seen from equation (2), the coupling terms of the inner current loop include the cross coupling of the LC sine wave filter inductor, the cross coupling of the motor end quadrature and direct axis inductors, and the disturbance coupling of the filter capacitor.

[0122] Current decoupling compensation has obvious improvement on dynamic control performance of PMSM system. If there is no current feedforward compensation, when PMSM is in steady state, the moving electromotive force is basically unchanged, and the influence on the system can be compensated by current PI control output. However, when the system is in transient state, the moving electromotive force is changing, and the current PI control may not be able to compensate the influence caused by the moving electromotive force in time, and the transient response of the current may be affected.

[0123] It can be seen that formula (1) and formula (2) together constitute a decoupling control mathematical model of Figure 2 .

[0124] There is a forward resonance point after the LC sine wave filter of the permanent magnet synchronous motor. If the resonance point cannot be well suppressed, the system will become unstable. The most commonly used passive damping control strategy is to connect a damping resistor in series with the filter capacitor. However, because the damping resistor is connected in series with the filter capacitor, the filter characteristic of the filter will be deteriorated, and the active loss of the motor will be increased. Therefore, the active damping control strategy embodies its superiority. The active damping mainly simulates the control mode of passive damping, and realizes the control mode of passive damping through software control mode. The implementation block diagram of the active damping control strategy is shown as Figure 3 .

[0125] After adding the capacitor current state feedback, the transfer function between the input current ia_inv and the input voltage ua_inv of the permanent magnet synchronous motor with LC filter is:

[0126]

[0127] k is the disturbance feedback gain coefficient.

[0128] After adding the capacitor current state feedback, the transfer function between the input voltage and the motor terminal current of the permanent magnet synchronous motor with LC filter is:

[0129]

[0130] From the above formula, it can be seen that by increasing the capacitor current state feedback, the damping of the second-order oscillation in the entire system can be changed, and finally the resonance can be suppressed. Through analysis, it can be known that the system at high frequency can be equivalent to a system composed of an integral element and a second-order oscillation element. It can be known that the resonance is caused by the second-order system. Taking the damping of the second-order system as 0.707, the value of k in the above two formulas can be calculated as follows:

[0131]

[0132] According to the above control strategy, the bode diagram of the control block diagram can be obtained, as shown in the figure. Figure 4 As can be seen from the figure, Figure 4 It can be seen that after adding the capacitor current feedback, the positive resonance peak value of the system can be suppressed.

[0133] Correspondingly, the application also discloses a motor decoupling-based vector control system, which is applied to a motor whose input end is connected with an inverter through an LC filter, as shown in the figure. Figure 5 The system comprises:

[0134] An acquisition module 1 is configured to acquire a current speed of the motor, a filtered input current of the LC filter, and a filtered output current of the LC filter.

[0135] A speed module 2 is configured to determine a control speed according to the current speed and a reference speed.

[0136] A first PI module 3 is configured to perform PI adjustment on the control speed to generate a reference current.

[0137] A current module 4 is configured to determine a control current according to the reference current, the filtered current, and the filtered input current, wherein the filtered current is a difference between the filtered input current and the filtered output current.

[0138] A second PI module 5 is configured to perform PI adjustment on the control current to generate a reference voltage.

[0139] A voltage module 6 is configured to determine a control voltage according to the reference voltage, a first voltage, a second voltage, and a third voltage, wherein the first voltage is a product of the filtered output current and an inductance of the motor and an electrical angular velocity, the second voltage is a product of the filtered input current and a filtered inductance of the LC filter and the electrical angular velocity, and the third voltage is a product of the filtered current and a disturbance feedback gain coefficient.

[0140] A modulation module 7 is configured to generate a modulation signal according to the control voltage to drive the inverter.

[0141] The embodiment realizes the motor decoupling-based vector control with the LC filter through the double closed loop, the control parameters are few in the embodiment, the system bandwidth is improved, the dynamic response capability and the system robustness of the system are enhanced, the control effect close to the permanent magnet motor vector control without the LC filter is achieved, the system debugging is simple, and the coding implementation is more favorable.

[0142] In some specific embodiments, the inductance of the motor comprises a d-axis motor inductance and a q-axis motor inductance.

[0143] The filtered input current comprises a d-axis filtered input current and a q-axis filtered input current.

[0144] The filtered output current comprises a d-axis filtered output current and a q-axis filtered output current;

[0145] The filtered current comprises a d-axis filtered current and a q-axis filtered current, the d-axis filtered current being a difference between the d-axis filtered input current and the d-axis filtered output current, the q-axis filtered current being a difference between the q-axis filtered input current and the q-axis filtered output current;

[0146] The reference current comprises a d-axis reference current and a q-axis reference current;

[0147] The control current comprises a d-axis control current and a q-axis control current;

[0148] The reference voltage comprises a d-axis reference voltage and a q-axis reference voltage;

[0149] The first voltage comprises a d-axis first voltage and a q-axis first voltage, wherein the d-axis first voltage is a product of the q-axis filtered output current and the q-axis motor inductance and the electrical angular velocity, the q-axis first voltage is a product of the d-axis filtered output current and the d-axis motor inductance and the electrical angular velocity;

[0150] The second voltage comprises a d-axis second voltage and a q-axis second voltage, wherein the d-axis second voltage is a product of the q-axis filtered input current and the filter inductance and the electrical angular velocity, the q-axis second voltage is a product of the d-axis filtered input current and the filter inductance and the electrical angular velocity;

[0151] The third voltage comprises a d-axis third voltage and a q-axis third voltage, wherein the d-axis third voltage is a product of the d-axis filtered current and the disturbance feedback gain coefficient, the q-axis third voltage is a product of the q-axis filtered current and the disturbance feedback gain coefficient;

[0152] The control voltage comprises a d-axis control voltage and a q-axis control voltage.

[0153] In some specific embodiments, the current module 4 is specifically configured to:

[0154] Subtract the d-axis filtered current from the d-axis reference current, and then subtract the d-axis filtered input current to obtain the d-axis control current;

[0155] Add the q-axis filtered current to the q-axis reference current, and then subtract the q-axis filtered input current to obtain the q-axis control current.

[0156] In some specific embodiments, the voltage module 6 is specifically configured to:

[0157] Subtract the d-axis first voltage, the d-axis second voltage and the d-axis third voltage from the d-axis reference voltage in sequence to obtain the d-axis control voltage.

[0158] Sum the q-axis reference voltage, the q-axis first voltage and the q-axis second voltage, and then subtract the q-axis third voltage to obtain the q-axis control voltage.

[0159] In some specific embodiments, the process of summing the q-axis reference voltage, the q-axis first voltage and the q-axis second voltage, and then subtracting the q-axis third voltage to obtain the q-axis control voltage by the voltage module 6 comprises:

[0160] Sum the q-axis reference voltage, the q-axis first voltage, the q-axis second voltage and a fourth voltage, and then subtract the q-axis third voltage to obtain the q-axis control voltage.

[0161] The fourth voltage is specifically the product of the flux linkage of the motor and the electrical angular velocity.

[0162] In some specific embodiments, the disturbance feedback gain coefficient is determined according to the filter inductance, filter capacitance, parasitic resistance of the LC filter, and the inductance and phase resistance of the motor.

[0163] In some specific embodiments, the disturbance feedback gain coefficient is specifically:

[0164]

[0165] wherein k is the disturbance feedback gain coefficient, Lf, Cf and Rf are the filter inductance, filter capacitance and parasitic resistance of the LC filter respectively, and Ls is the inductance and Rs is the phase resistance of the motor respectively.

[0166] Correspondingly, the embodiment of the application further discloses a motor decoupling-based vector control device, comprising:

[0167] a memory for storing a computer program;

[0168] a processor for executing the computer program to implement the steps of the motor decoupling-based vector control method according to any one of the above.

[0169] Correspondingly, the embodiment of the application further discloses a readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of the motor decoupling-based vector control method according to any one of the above.

[0170] In the embodiment, the specific details of the motor decoupling-based vector control method can be referred to the relevant description of the above embodiments, which will not be repeated here.

[0171] Wherein, the motor based on the decoupled vector control device and the readable storage medium in the embodiment has the same technical effects as the motor based on the decoupled vector control method in the above embodiment, which will not be repeated here.

[0172] Finally, it should be noted that in this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0173] The above provides a detailed description of the motor based on the decoupled vector control method, system and related components provided by the application. In this document, specific examples are applied to explain the principles and implementation modes of the application. The above example is only used to help understand the method and core idea of the application. For those skilled in the art, according to the idea of the application, the specific implementation mode and application range will be changed. In summary, the content of the specification should not be understood as a limitation of the application.

Claims

1. A decoupled vector control method for an electric machine, characterized in that, The method is applied to a motor connected with an inverter through an LC filter at an input end, and the method comprises the following steps: acquiring a current rotating speed of the motor, a filtered input current of the LC filter, and a filtered output current of the LC filter; determining a control rotating speed according to the current rotating speed and a reference rotating speed; performing PI regulation on the control rotating speed to generate a reference current; determining a control current according to the reference current, a filter current, and the filtered input current, wherein the filter current is a difference between the filtered input current and the filtered output current; performing PI regulation on the control current to generate a reference voltage; determining a control voltage according to the reference voltage, a first voltage, a second voltage, and a third voltage, wherein the first voltage is a product of the filtered output current and an inductance of the motor and an electrical angular velocity, the second voltage is a product of the filtered input current and a filter inductance of the LC filter and the electrical angular velocity, and the third voltage is a product of the filter current and a disturbance feedback gain coefficient; generating a modulation signal according to the control voltage to drive the inverter.

2. The motor decoupling-based vector control method according to claim 1, wherein: the inductance of the motor comprises a d-axis motor inductance and a q-axis motor inductance; the filtered input current comprises a d-axis filtered input current and a q-axis filtered input current; the filtered output current comprises a d-axis filtered output current and a q-axis filtered output current; the filter current comprises a d-axis filter current and a q-axis filter current, wherein the d-axis filter current is a difference between the d-axis filtered input current and the d-axis filtered output current, and the q-axis filter current is a difference between the q-axis filtered input current and the q-axis filtered output current; the reference current comprises a d-axis reference current and a q-axis reference current; the control current comprises a d-axis control current and a q-axis control current; the reference voltage comprises a d-axis reference voltage and a q-axis reference voltage; the first voltage comprises a d-axis first voltage and a q-axis first voltage, wherein the d-axis first voltage is a product of the q-axis filtered output current and the q-axis motor inductance and the electrical angular velocity, and the q-axis first voltage is a product of the d-axis filtered output current and the d-axis motor inductance and the electrical angular velocity; the second voltage comprises a d-axis second voltage and a q-axis second voltage, wherein the d-axis second voltage is a product of the q-axis filtered input current and the filter inductance and the electrical angular velocity, and the q-axis second voltage is a product of the d-axis filtered input current and the filter inductance and the electrical angular velocity; the third voltage comprises a d-axis third voltage and a q-axis third voltage, wherein the d-axis third voltage is a product of the d-axis filter current and the disturbance feedback gain coefficient, and the q-axis third voltage is a product of the q-axis filter current and the disturbance feedback gain coefficient; the control voltage comprises a d-axis control voltage and a q-axis control voltage.

3. The decoupled field oriented control method of claim 2, wherein, the process of determining the control current according to the reference current, the filter current, and the filtered input current comprises: The d-axis reference current is subtracted by the d-axis filter current, and then subtracted by the d-axis filter input current to obtain the d-axis control current; The q-axis reference current is added by the q-axis filter current, and then subtracted by the q-axis filter input current to obtain the q-axis control current.

4. The decoupled field oriented control method of claim 2, wherein, The process of determining the control voltage according to the reference voltage and the first voltage, the second voltage, and the third voltage comprises: The d-axis reference voltage is sequentially subtracted by the d-axis first voltage, the d-axis second voltage, and the d-axis third voltage to obtain the d-axis control voltage; The q-axis reference voltage, the q-axis first voltage, and the q-axis second voltage are summed, and then subtracted by the q-axis third voltage to obtain the q-axis control voltage.

5. The decoupled field oriented control method of claim 4, wherein, The process of determining the q-axis control voltage according to the q-axis reference voltage, the q-axis first voltage, and the q-axis second voltage, and then subtracting the q-axis third voltage comprises: The q-axis reference voltage, the q-axis first voltage, the q-axis second voltage, and the fourth voltage are summed, and then subtracted by the q-axis third voltage to obtain the q-axis control voltage. The fourth voltage is specifically a product of a flux of the motor and the electrical angular velocity.

6. The decoupled field oriented control method of claim 1 to 5, wherein, The disturbance feedback gain coefficient is determined according to a filter inductance, a filter capacitance, a parasitic resistance of the LC filter, an inductance of the motor, and a phase resistance.

7. The decoupled field oriented control method of claim 6, wherein, The disturbance feedback gain coefficient is specifically: ； wherein, is the disturbance feedback gain coefficient, , and are the filter inductance, filter capacitance, and parasitic resistance of the LC filter, respectively, is the inductance of the motor, is the phase resistance of the motor.

8. A decoupled vector control system for an electric machine, characterized in that, The system is applied to a motor whose input end is connected with an inverter through an LC filter, and the system comprises: An acquisition module is configured to acquire a current rotating speed of the motor, a filter input current of the LC filter, and a filter output current of the LC filter; A rotating speed module is configured to determine a control rotating speed according to the current rotating speed and a reference rotating speed; A first PI module is configured to perform PI adjustment on the control rotating speed to generate a reference current; A current module is configured to determine a control current according to the reference current, a filter current, and a filter input current; the filter current is specifically a difference between the filter input current and the filter output current; A second PI module is configured to perform PI adjustment on the control current to generate a reference voltage; A voltage module is configured to determine a control voltage according to the reference voltage and a first voltage, a second voltage, and a third voltage; the first voltage is a product of the filter output current and an inductance of the motor and an electrical angular velocity, the second voltage is a product of the filter input current and a filter inductance of the LC filter and the electrical angular velocity, and the third voltage is a product of the filter current and a disturbance feedback gain coefficient; A modulation module is configured to generate a modulation signal according to the control voltage to drive the inverter.

9. A decoupled vector control apparatus for an electric machine, characterized by comprising: The system comprises: A memory is configured to store a computer program; A processor is configured to implement steps of the motor decoupling-based vector control method according to any one of claims 1 to 7 when executing the computer program.

10. A readable storage medium, characterized by, A computer program is stored on the readable storage medium, and the computer program is executed by the processor to implement steps of the motor decoupling-based vector control method according to any one of claims 1 to 7.

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