A motor output torque control method, device and electronic equipment

Abstract

The application discloses a motor output torque control method and device and electronic equipment, and the control method comprises the following steps: obtaining a dq-axis voltage control value of the motor; determining a rotation angle compensation value of the motor based on the dq-axis voltage control value; determining a rotor rotation position control value based on a current rotor rotation position acquisition value and the rotation angle compensation value; and adjusting the output torque of the motor based on the rotor rotation position control value. The application takes the dq-axis voltage as a control variable, controls the dq-axis voltage, and reduces the motor rotation position fluctuation, so that the motor torque fluctuation is suppressed.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of motor control, in particular to a motor output torque control method and device and electronic equipment. BACKGROUND

[0002] Due to high energy density and high efficiency, permanent magnet synchronous motors are widely used in the field of new energy vehicles. Electromagnetic torque is an important external characteristic variable of the motor, and in most automotive applications, it needs to be quickly and accurately controlled to meet people's performance requirements for vehicles. However, due to the distribution form of the winding used in the motor itself, the tooth slot effect, the magnetic pole arrangement and other factors, the air gap magnetic field of the motor is distorted, the flux linkage harmonic is generated, and further the motor back electromotive force harmonic is generated; at the same time, due to the nonlinear characteristics of power electronic devices used in the frequency converter, such as the tube voltage drop of the switching tube and the dead time, the motor generates current harmonics. The back electromotive force harmonic and the current harmonic interact to cause the permanent magnet synchronous motor to generate torque fluctuation, which seriously affects the control accuracy and running stability of the motor system, and thus becomes one of the key problems to be solved in motor design and control. SUMMARY

[0003] Therefore, the purpose of the present disclosure is to provide a motor output torque control method, device, storage medium and electronic equipment to solve the technical problem that the prior art cannot effectively reduce motor torque fluctuation.

[0004] To achieve the above purpose, in a first aspect, the present disclosure provides a motor output torque control method, comprising: obtaining a dq-axis voltage control value of the motor; determining a rotation angle compensation value of the motor based on the dq-axis voltage control value; determining a rotor rotation position control value based on a current rotor rotation position acquisition value and the rotation angle compensation value; and adjusting the output torque of the motor based on the rotor rotation position control value.

[0005] In some embodiments, the obtaining of the dq-axis voltage control value of the motor comprises: acquiring a three-phase current value of the motor; performing coordinate transformation on the three-phase current value to obtain a dq-axis current control value in a rotating coordinate system; and obtaining the dq-axis voltage control value based on the dq-axis current control value.

[0006] In some embodiments, the determining of the rotation angle compensation value of the motor based on the dq-axis voltage control value comprises: performing average value filtering on the dq-axis voltage control value to obtain a dq-axis voltage instruction value; performing PID control on the dq-axis voltage control value and the dq-axis voltage instruction value to obtain a PID control output value; and determining the rotation angle compensation value based on the PID control output value.

[0007] In some embodiments, the PID control based on the dq-axis voltage control value and the dq-axis voltage instruction value to obtain a PID control output value comprises: obtaining a difference value based on the dq-axis voltage control value and the dq-axis voltage instruction value; and inputting the difference value into a PID controller to obtain the PID control output value.

[0008] In some embodiments, the determination of the rotor rotation angle compensation value based on the PID control output value further comprises: performing a limiting operation on the PID control output value.

[0009] In some embodiments, the adjustment of the output torque of the motor based on the rotor rotation angle control value comprises: determining a d-axis current reference value and a q-axis current reference value based on the rotor rotation angle control value and the three-phase current value; performing PID control based on a d-axis current control value and the d-axis current reference value to obtain a compensated d-axis voltage control value, and performing PID control based on a q-axis current control value and the q-axis current reference value to obtain a compensated q-axis voltage control value; and adjusting the output torque of the motor based on the compensated d-axis voltage control value and the compensated q-axis voltage control value.

[0010] In some embodiments, the motor is a permanent magnet synchronous motor.

[0011] In a second aspect, the present disclosure further provides a device for controlling the output torque of a motor, comprising:

[0012] an acquisition module configured to acquire a dq-axis voltage control value of the motor; a first determination module configured to determine a rotor rotation angle compensation value of the motor based on the dq-axis voltage control value; a second determination module configured to determine a rotor rotation angle control value based on a current rotor rotation angle acquisition value and the rotor rotation angle compensation value; and an adjustment module configured to adjust the output torque of the motor based on the rotor rotation angle control value.

[0013] In a third aspect, the present disclosure further provides a storage medium storing a computer program, wherein the computer program is executed by a processor to implement the steps of the method in any of the above technical solutions.

[0014] In a fourth aspect, the present disclosure further provides an electronic device comprising at least a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in any of the above technical solutions when executing the computer program stored in the memory.

[0015] The embodiment of the present disclosure adopts dq-axis voltage as a control variable, determines a rotation angle compensation value of the motor by controlling the dq-axis voltage, determines a rotor rotation angle control value based on a current rotor rotation angle acquisition value and the rotation angle compensation value, and finally adjusts the output torque of the motor based on the rotor rotation angle control value; starting from reducing motor rotation angle fluctuation, the motor torque fluctuation is suppressed. The control method provided by the present disclosure is realized by pure software, which is zero cost.

[0016] In order to make the above objectives, characteristics and advantages of the present disclosure more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments described in the present disclosure, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0018] Figure 1 is a step schematic diagram of the motor output torque control method provided by the present disclosure;

[0019] Figure 2 is a step schematic diagram of obtaining the dq-axis voltage control value of the motor provided by the present disclosure;

[0020] Figure 3 is a control block diagram of the angle correction module provided by the present disclosure;

[0021] Figure 4 is a step schematic diagram of determining the rotation angle compensation value of the motor provided by the present disclosure;

[0022] Figure 5 is a step schematic diagram of obtaining the PID control output value provided by the present disclosure;

[0023] Figure 6 is a step schematic diagram of adjusting the output torque of the motor based on the rotor rotation angle control value provided by the present disclosure;

[0024] Figure 7 is a permanent magnet synchronous motor torque fluctuation control block diagram provided by the present disclosure;

[0025] Figure 8 is a structure block diagram of the motor output torque control device provided by the present disclosure

[0026] Figure 9 is a structure schematic diagram of the electronic device provided by the present disclosure. DETAILED DESCRIPTION

[0027] Hereinafter, specific embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, but the present disclosure is not limited thereto.

[0028] It is to be understood that various modifications can be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limiting, but merely as exemplification of the embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the present disclosure.

[0029] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0030] These and other characteristics, features and advantages of the present disclosure will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of non-limiting examples, the principles of the present disclosure.

[0031] It is also to be understood that, although a certain advantage of the present disclosure is referred to in the background art, the present disclosure is not necessarily limited to this advantage alone and other advantages can be realized and attained.

[0032] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, which illustrate, by way of non-limiting examples, the principles of the present disclosure.

[0033] Hereinafter, specific embodiments of the present disclosure will be described with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure, which can be implemented in various ways. Well-known and / or repetitive functions and structures are not described in detail to avoid unnecessary or redundant details that obscure the present disclosure. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but are merely used as a basis for the claims and a representative basis for teaching those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0034] It should be noted that the terms "first", "second", and the like in the description and claims of the present disclosure and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0035] The specification can use the phrases "in one embodiment", "in another embodiment", "in yet another embodiment", or "in other embodiments", which can all refer to one or more of the same or different embodiments under the present disclosure.

[0036] The present disclosure will be further described below in conjunction with the drawings and specific embodiments.

[0037] Embodiment 1

[0038] The first embodiment of the present disclosure relates to the field of permanent magnet synchronous motor, specifically to a motor output torque control method. The motor here is a permanent magnet synchronous motor, which is applied to new energy vehicles.

[0039] The embodiment of the present disclosure can reduce the motor rotary variable position fluctuation, adjust the output torque of the motor based on the rotor rotary variable position control value, and achieve the suppression of motor torque fluctuation.

[0040] As shown in Figure 1 The motor output torque control method comprises the following steps:

[0041] S101, obtaining the dq axis voltage control value of the motor.

[0042] In this step, the dq axis voltage control value of the motor is obtained. The motor includes an axial flux permanent magnet synchronous motor, the magnetic flux direction of the AFPMSM is axial, and it has the advantages of simple structure, small size, flexible control and high efficiency. The motor usually adopts rotor field oriented vector control method, which is suitable for pure electric vehicles. The motor is a three-phase motor, and the method for obtaining the dq axis voltage control value of the motor is as shown in Figure 2 The method comprises the following steps:

[0043] S201, collecting the three-phase current value of the motor.

[0044] First, the three-phase current values of the motor are collected, and the three-phase current values of the motor are collected through a current sensor, i.e. a ,i b , and i c .

[0045] S202, the three-phase current values are coordinate transformed to obtain the dq-axis current control values in the rotating coordinate system.

[0046] After completing the above step S201, in this step, the three-phase current values are coordinate transformed to obtain the dq-axis current control values in the rotating coordinate system.

[0047] Specifically, the collected three-phase current values i a , i b , and i c values are transformed through Clarke transformation to obtain the current in the two-phase stationary coordinate system, and then the current in the two-phase stationary coordinate system is transformed through Park transformation to obtain the dq-axis current control values in the two-phase rotating coordinate system.

[0048] S203, the dq-axis voltage control values are obtained based on the dq-axis current control values.

[0049] After obtaining the dq-axis current control values, in this step, the dq-axis voltage control values are obtained based on the dq-axis current control values. According to the motor voltage equation, after obtaining the dq-axis current control, the dq-axis voltage control values are obtained through the current controller.

[0050] S102, the rotation angle compensation value of the motor is determined based on the dq-axis voltage control values.

[0051] After completing the above step S101, in this step, the rotation angle compensation value of the motor is determined based on the dq-axis voltage control values through an angle correction module as shown in Figure 3 . The specific steps of determining the rotation angle compensation value of the motor include: Figure 4

[0052] S301, the average value filter is filtered based on the dq-axis voltage control values to obtain the dq-axis voltage instruction value.

[0053] First, the average value filter is filtered based on the dq-axis voltage control values to obtain the dq-axis voltage instruction value. Since the dq-axis voltage control values are obtained based on the dq-axis current, since the dq-axis current has fluctuations, the dq-axis voltage also has fluctuations, that is, the dq-axis voltage control values fluctuate within a certain range. To avoid the influence of fluctuations, in the angle correction process, the dq-axis voltage fluctuation value can be filtered through an average value filter to obtain the corresponding dq-axis voltage instruction value.

[0054] S302, PID control is performed based on the dq-axis voltage control value and the dq-axis voltage instruction value to obtain a PID control output value.

[0055] After the above step S301 is completed, in this step, PID control is performed based on the dq-axis voltage control value and the dq-axis voltage instruction value to obtain a PID control output value.

[0056] According to the dq-axis voltage control value and the dq-axis voltage instruction value, a corresponding control output value can be obtained through a corresponding control algorithm, such as a proportional-integral-derivative control algorithm or a linear-quadratic-Gaussian control algorithm, etc. For example, in this embodiment, a PID algorithm is used to obtain a PID control output value. As shown in FIG. 4, the PID algorithm includes the following steps: Figure 5

[0057] S401, a difference value is obtained based on the dq-axis voltage control value and the dq-axis voltage instruction value.

[0058] First, the dq-axis voltage control value and the dq-axis voltage instruction value are subtracted to obtain a difference value of the dq-axis voltage control value and the dq-axis voltage instruction value.

[0059] S402, the difference value is input into a PID controller to obtain a PID control output value.

[0060] After the difference value is obtained, the difference value is input into a PID controller to obtain a PID control output value.

[0061] S303, the rotor rotation angle compensation value is determined based on the PID control output value.

[0062] After the PID control output value is obtained, in this step, the rotor rotation angle compensation value is determined based on the PID control output value. Specifically, the PID control output value is subjected to a limiting operation to obtain the rotor rotation angle compensation value, which can avoid the size of the output angle exceeding a preset limit.

[0063] S103, a rotor rotation position control value is determined based on the current rotor rotation position acquisition value and the rotor rotation angle compensation value.

[0064] After the above step S102 is completed, in this step, a rotor rotation position control value is determined based on the current rotor rotation position acquisition value and the rotor rotation angle compensation value; the obtained rotor rotation angle compensation value is subtracted from the current rotor rotation position acquisition value to obtain a rotor rotation position control value.

[0065] S104, the output torque of the motor is adjusted based on the rotor rotation position control value. ​

[0066] After obtaining the rotor rotation position control value, the output torque of the motor is adjusted based on the control value, including the following steps: Figure 6

[0067] S501, based on the rotor rotation position control value and the three-phase current value, determine the d-axis current reference value and the q-axis current reference value.

[0068] Figure 7 The motor torque fluctuation control block diagram is shown. As shown in the figure, in some embodiments, first, based on the rotor rotation position control value and the three-phase current value, the d-axis current reference value and the q-axis current reference value are determined. Specifically, the three-phase current of the target motor is subjected to Clarke coordinate transformation at the new included angle value to obtain the d-axis current reference value and the q-axis current reference value in the rotating coordinate system.

[0069] S502, based on the d-axis current control value and the d-axis current reference value, PID control is performed to obtain the compensated d-axis voltage control value, and based on the q-axis current control value and the q-axis current reference value, PID control is performed to obtain the compensated q-axis voltage control value.

[0070] After determining the d-axis current reference value and the q-axis current reference value, the determined d-axis current reference value and the d-axis current control value are subjected to PID control to obtain the compensated d-axis voltage control value; the q-axis current control value and the q-axis current reference value are subjected to PID control to obtain the compensated q-axis voltage control value. The d-axis current control value and the q-axis current control value are obtained based on the current torque of the motor and the maximum torque current ratio MTPA.

[0071] S503, based on the compensated d-axis voltage control value and the compensated q-axis voltage control value, adjust the output torque of the motor.

[0072] After completing the above step S502, in this step, based on the compensated d-axis voltage control value and the compensated q-axis voltage control value, the output torque of the motor is adjusted. Specifically, the compensated d-axis voltage control value and the compensated q-axis voltage control value are subjected to sine pulse width modulation to obtain three-phase control pulse signals, which are used as control signals of the three-phase inverter. According to the control signals and the input voltage Udc of the three-phase inverter, the three-phase inverter is inverted to finally obtain the transformed three-phase voltage value.

[0073] ​According to the method for controlling motor output torque provided by the embodiment of the present disclosure, the dq-axis voltage is used as the control variable, the rotation angle compensation value of the motor is determined by controlling the dq-axis voltage, the rotor rotation position control value is determined based on the current rotor rotation position acquisition value and the rotation angle compensation value, and finally the output torque of the motor is adjusted based on the rotor rotation position control value, so that the motor torque fluctuation is suppressed from the perspective of reducing the motor rotation position fluctuation. The control method disclosed in the present disclosure is realized by pure software, which is zero cost.

[0074] Embodiment 2

[0075] In order to better implement the above method, the second aspect of the present disclosure further provides a control device for motor output torque, which can be integrated on an electronic device.

[0076] For example, as shown in Figure 8 The control device 200 can include an acquisition module 210, a first determination module 220, a second determination module 230, and an adjustment module 240, as follows:

[0077] (1) The acquisition module 210 is configured to acquire the dq-axis voltage control value of the motor.

[0078] Specifically, the acquisition module 210 can include an acquisition unit, a conversion unit, and an acquisition unit, wherein the acquisition unit acquires the three-phase current value of the motor, the conversion unit performs coordinate transformation on the three-phase current value to obtain the dq-axis current control value in the rotating coordinate system, and the acquisition unit acquires the dq-axis voltage control value based on the dq-axis current control value.

[0079] (2) The first determination module 220 is configured to determine the rotation angle compensation value of the motor based on the dq-axis voltage control value.

[0080] Specifically, the first determination module 220 can include an instruction value obtaining unit, an output value obtaining unit, and a compensation value determining unit, wherein the instruction value obtaining unit obtains the dq-axis voltage instruction value by performing average value filtering based on the dq-axis voltage control value, the output value obtaining unit obtains the PID control output value by performing PID control based on the dq-axis voltage control value and the dq-axis voltage instruction value, and the compensation value determining unit determines the rotation angle compensation value based on the PID control output value.

[0081] (3) The second determination module 230 is configured to determine the rotor rotation position control value based on the current rotor rotation position acquisition value and the rotation angle compensation value.

[0082] (4) The adjustment module 240 is configured to adjust the output torque of the motor based on the rotor rotation position control value.

[0083] Specifically, the adjusting module 240 can include a reference value determining unit, a voltage control value obtaining unit and an adjusting unit. The reference value determining unit determines a d-axis current reference value and a q-axis current reference value based on the rotor rotation variable position control value and the three-phase current value; the voltage control value obtaining unit performs PID control based on a d-axis current control value and the d-axis current reference value to obtain a compensated d-axis voltage control value, and performs PID control based on a q-axis current control value and the q-axis current reference value to obtain a compensated q-axis voltage control value; and the adjusting unit adjusts the output torque of the motor based on the compensated d-axis voltage control value and the compensated q-axis voltage control value.

[0084] The control device for motor output torque provided by the embodiments of the present disclosure adopts dq-axis voltage as a control variable, determines a rotation variable angle compensation value of the motor by controlling the dq-axis voltage, determines a rotor rotation variable position control value based on a current rotor rotation variable position acquisition value and the rotation variable angle compensation value, and finally adjusts the output torque of the motor based on the rotor rotation variable position control value, thereby achieving suppression of motor torque fluctuation from the perspective of reducing motor rotation variable position fluctuation. The control method disclosed in the present disclosure is implemented by pure software, with zero cost.

[0085] Embodiment 3

[0086] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by related hardware controlled by the instructions, which can be stored in a computer readable storage medium and loaded and executed by a processor.

[0087] To this end, the third embodiment of the present disclosure provides a storage medium, which is a computer readable medium and stores a computer program. The computer program is executed by a processor to implement the method provided by the embodiments of the present disclosure, including the following steps S11 to S14:

[0088] S11, obtaining a dq-axis voltage control value of the motor;

[0089] S12, determining a rotation variable angle compensation value of the motor based on the dq-axis voltage control value;

[0090] S13, determining a rotor rotation variable position control value based on a current rotor rotation variable position acquisition value and the rotation variable angle compensation value;

[0091] S14, adjusting the output torque of the motor based on the rotor rotation variable position control value.

[0092] Further, the computer program is executed by the processor to implement other methods provided by any one of the above embodiments of the present disclosure.

[0093] The control method of the motor output torque provided by the embodiment of the present disclosure adopts dq-axis voltage as a control variable, determines a rotation angle compensation value of the motor by controlling the dq-axis voltage, determines a rotor rotation position control value based on a current rotor rotation position acquisition value and the rotation angle compensation value, and finally adjusts the output torque of the motor based on the rotor rotation position control value, thereby achieving the suppression of the motor torque fluctuation from the perspective of reducing the motor rotation position fluctuation. The control method provided by the present disclosure is realized by pure software, and has zero cost.

[0094] Embodiment 4

[0095] The fourth embodiment of the present disclosure provides an electronic device, as shown in the figure, which at least includes a processor 401 and a memory 402, the memory 402 stores a computer program, and the processor 401 implements the method provided by any embodiment of the present disclosure when executing the computer program on the memory 402. For example, the method executed by the electronic device computer program is as follows: Figure 9

[0096] S21, obtaining a dq-axis voltage control value of the motor;

[0097] S22, determining a rotation angle compensation value of the motor based on the dq-axis voltage control value;

[0098] S23, determining a rotor rotation position control value based on a current rotor rotation position acquisition value and the rotation angle compensation value;

[0099] S24, adjusting the output torque of the motor based on the rotor rotation position control value.

[0100] When specifically implemented, the above-mentioned obtaining module 210, the first determining module 220, the second determining module 230 and the adjusting module 240 are stored in the memory 402 as program units, and the corresponding functions are realized by the processor 401 executing the above-mentioned program units stored in the memory 402.

[0101] The control method of the motor output torque provided by the embodiment of the present disclosure adopts dq-axis voltage as a control variable, determines a rotation angle compensation value of the motor by controlling the dq-axis voltage, determines a rotor rotation position control value based on a current rotor rotation position acquisition value and the rotation angle compensation value, and finally adjusts the output torque of the motor based on the rotor rotation position control value; from the perspective of reducing the motor rotation position fluctuation, the suppression of the motor torque fluctuation is achieved. The control method provided by the present disclosure is realized by pure software, and has zero cost.

[0102] ​The storage medium described above can be included in the electronic device described above; or can exist independently of the electronic device.

[0103] The storage medium described above carries one or more programs, when the one or more programs are executed by the electronic device, the electronic device is caused to: acquire at least two Internet protocol addresses; send a node evaluation request including the at least two Internet protocol addresses to a node evaluation device, wherein the node evaluation device selects an Internet protocol address from the at least two Internet protocol addresses and returns; receive the Internet protocol address returned by the node evaluation device; and wherein the acquired Internet protocol address indicates an edge node in a content distribution network.

[0104] Alternatively, the storage medium described above carries one or more programs, when the one or more programs are executed by the electronic device, the electronic device is caused to: receive a node evaluation request including at least two Internet protocol addresses; select an Internet protocol address from the at least two Internet protocol addresses; return the selected Internet protocol address; and wherein the received Internet protocol address indicates an edge node in a content distribution network.

[0105] Computer program code for carrying out operations of the present disclosure can be written in any one or more programming languages, or combinations of languages, including object oriented languages, such as Java, Smalltalk, C++, or conventional procedural languages, such as the "C" programming language, or similar programming languages. The program code can execute entirely on the passenger computer, partly on the passenger computer, as a stand-alone software package, partly on the passenger computer and partly on a remote computer, or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the passenger computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0106] It should be noted that the storage medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the above two. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus. In the present disclosure, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any storage medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus. The program code contained in the storage medium can be transmitted by any suitable medium, including but not limited to a wire, a cable, a RF (radio frequency) or the like, or any suitable combination of the above.

[0107] The flow diagrams and block diagrams in the drawings are schematic illustrations of possible architectures, functions and operations of systems, methods and computer program products in accordance with various embodiments of the present disclosure. In this regard, each block in the flow diagrams and block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may, in fact, be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations of blocks in the block diagrams and / or flow diagrams, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0108] The units described in the embodiments of the present disclosure can be implemented by means of software, or by hardware. In some cases, the name of the unit does not constitute a limitation on the unit itself.

[0109] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Application-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

[0110] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of a program of a processor, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0111] The above description is merely exemplary of the disclosure and the application of the principles thereof. It is not intended to limit the disclosure to the specific form set forth above. Rather, the disclosure is to cover by the appended claims whatever falls within the true scope of the disclosure, including equivalents.

[0112] Furthermore, while operations are depicted in a particular, chronological sequence in this disclosure, this should not be understood as requiring that such operations be performed in the order described or that all operations be performed. In certain circumstances, multitasking and parallel processing can be advantageous. Likewise, the specific sequence of operations illustrated in the above discussion can not be required in all instances. Rather, the operations described above in association with one or more particular embodiments can be modified, combined, or re-ordered in any number of ways, and the specific sequence of operations can not be required in all instances.

[0113] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

[0114] The above detailed description of the present disclosure has been given for the purposes of understanding the various embodiments of the present disclosure and is not intended to limit the present disclosure to the precise steps or materials described. The described embodiments are intended to include all modifications and equivalents of the methods and materials within the scope of the present disclosure, as defined by the appended claims.

Claims

1. A method of controlling an output torque of an electric motor, characterized by, The method comprises: obtaining a dq-axis voltage control value of the motor; determining a rotation angle compensation value of the motor based on the dq-axis voltage control value; determining a rotor rotation position control value based on a current rotor rotation position acquisition value and the rotation angle compensation value; adjusting an output torque of the motor based on the rotor rotation position control value; wherein the determining the rotation angle compensation value of the motor based on the dq-axis voltage control value comprises: performing average value filtering on the dq-axis voltage control value to obtain a dq-axis voltage instruction value; performing PID control based on the dq-axis voltage control value and the dq-axis voltage instruction value to obtain a PID control output value; determining the rotation angle compensation value based on the PID control output value; the obtaining the dq-axis voltage control value of the motor comprises: acquiring three-phase current values of the motor; performing coordinate transformation on the three-phase current values to obtain dq-axis current control values in a rotating coordinate system; the dq-axis current control values pass through a current controller to obtain the dq-axis voltage control values.

2. The control method according to claim 1, characterized by, the performing PID control based on the dq-axis voltage control value and the dq-axis voltage instruction value to obtain a PID control output value comprises: obtaining a difference value based on the dq-axis voltage control value and the dq-axis voltage instruction value; inputting the difference value into a PID controller to obtain the PID control output value.

3. The control method according to claim 1, characterized by, the determining the rotation angle compensation value based on the PID control output value further comprises: performing amplitude limiting operation on the PID control output value.

4. The control method according to claim 1, characterized by, the adjusting the output torque of the motor based on the rotor rotation position control value comprises: determining d-axis current reference values and q-axis current reference values based on the rotor rotation position control value and the three-phase current values; performing PID control based on d-axis current control values and the d-axis current reference values to obtain compensated d-axis voltage control values, and performing PID control based on q-axis current control values and the q-axis current reference values to obtain compensated q-axis voltage control values; adjusting the output torque of the motor based on the compensated d-axis voltage control values and the compensated q-axis voltage control values.

5. The control method according to claim 1, characterized by, The motor is a permanent magnet synchronous motor.

6. A control device of an output torque of an electric motor characterized by comprising: The method comprises: an obtaining module, configured to obtain a dq-axis voltage control value of the motor; a first determining module, configured to determine a rotation angle compensation value of the motor based on the dq-axis voltage control value; a second determining module, configured to determine a rotor rotation position control value based on a current rotor rotation position acquisition value and the rotation angle compensation value; an adjusting module, configured to adjust an output torque of the motor based on the rotor rotation position control value; wherein the determining the rotation angle compensation value of the motor based on the dq-axis voltage control value comprises: performing average value filtering on the dq-axis voltage control value to obtain a dq-axis voltage instruction value; performing PID control based on the dq-axis voltage control value and the dq-axis voltage instruction value to obtain a PID control output value; determining the rotation angle compensation value based on the PID control output value; the obtaining the dq-axis voltage control value of the motor comprises: acquiring three-phase current values of the motor; performing coordinate transformation on the three-phase current values to obtain dq-axis current control values in a rotating coordinate system; the dq-axis current control values pass through a current controller to obtain the dq-axis voltage control values. the performing PID control based on the dq-axis voltage control value and the dq-axis voltage instruction value to obtain a PID control output value comprises: obtaining a difference value based on the dq-axis voltage control value and the dq-axis voltage instruction value; inputting the difference value into a PID controller to obtain the PID control output value. the determining the rotation angle compensation value based on the PID control output value further comprises: performing amplitude limiting operation on the PID control output value. the adjusting the output torque of the motor based on the rotor rotation position control value comprises: determining d-axis current reference values and q-axis current reference values based on the rotor rotation position control value and the three-phase current values; performing PID control based on d-axis current control values and the d-axis current reference values to obtain compensated d-axis voltage control values, and performing PID control based on q-axis current control values and the q-axis current reference values to obtain compensated q-axis voltage control values; adjusting the output torque of the motor based on the compensated d-axis voltage control values and the compensated q-axis voltage control values. The motor is a permanent magnet synchronous motor. The three-phase current values are subjected to coordinate transformation to obtain dq-axis current control values in a rotating coordinate system; The dq-axis current control values are subjected to current controller to obtain the dq-axis voltage control values.

7. A storage medium storing a computer program, characterized by The computer program, when executed by a processor, implements the steps of the method of any one of claims 1 to 5.

8. An electronic device comprising at least a memory, a processor, said memory having stored thereon a computer program, characterized in that, The processor, when executing the computer program on the memory, implements the steps of the method of any one of claims 1 to 5. The processor, when executing the computer program on the memory, implements the steps of the method of any one of claims 1 to 5.

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