Motor control method and device, motor controller and storage medium

Abstract

The application relates to a motor control method and device, a motor controller and a storage medium. The method comprises the following steps: when corresponding target direct-axis current and target cross-axis current are obtained from a signal matrix table according to a motor torque instruction, a motor temperature instruction and a cooling water temperature at a current time, the motor is controlled to work according to the target direct-axis current and the target cross-axis current; when the target direct-axis current and the target cross-axis current are not obtained from the signal matrix table, the direct-axis current and the cross-axis current of the motor are continuously adjusted according to the motor torque instruction, an actual motor torque, the motor temperature instruction and an actual motor temperature; the direct-axis current in a stable state of the motor is obtained as the target direct-axis current, and the cross-axis current is obtained as the target cross-axis current; the motor torque instruction, the motor temperature instruction and the cooling water temperature in the stable state of the motor are taken as input items, and the corresponding direct-axis current and cross-axis current are taken as output items and stored in the signal matrix table. The method improves the motor control efficiency.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of motor control, and particularly relate to a motor control method and device, a motor controller and a storage medium. BACKGROUND

[0002] Under the background of energy shortage and environmental pollution becoming increasingly serious, developing electric vehicles is the common goal of the automobile industry all over the world. Permanent magnet synchronous motor is widely used as the power source of electric vehicles due to its high power density, high power factor, high overload energy and other advantages. In many application scenarios, the motor needs to be controlled to work at a specific torque and temperature.

[0003] Taking the high temperature and high humidity test of a permanent magnet synchronous motor as an example, first, the motor to be tested is connected to a dynamometer and placed in an environmental chamber. The environmental equipment applies external conditions of high temperature and high humidity to the environmental chamber, and the dynamometer drives the motor to be tested to operate at a specific torque, so that the motor to be tested works at a specific torque and temperature, thereby performing a high temperature and high humidity test on the motor to be tested.

[0004] However, since the motor needs to work at a large power to generate more heat, the dynamometer also needs to apply a large torque at this time, resulting in large load, large energy consumption and large loss of the dynamometer, and the control of the motor torque and temperature cannot be quickly realized. SUMMARY

[0005] Therefore, based on this, the embodiments of the present application provide a motor control method, device, motor controller and storage medium to solve the technical problems of slow control process and strict control conditions of the permanent magnet synchronous motor in the prior art.

[0006] In a first aspect, the embodiments of the present application provide a motor control method, comprising:

[0007] In a case where corresponding target direct-axis current and target quadrature-axis current are obtained from a signal matrix table according to a motor torque instruction, a motor temperature instruction and a cooling water temperature at a current time, the motor is controlled to work according to the target direct-axis current and the target quadrature-axis current; wherein the signal matrix table comprises corresponding input items and output items, the input items at least include the motor torque instruction, the motor temperature instruction and the cooling water temperature, and the output items at least include the direct-axis current and the quadrature-axis current;

[0008] In a case where corresponding target direct-axis current and target quadrature-axis current are not obtained from the signal matrix table according to the motor torque instruction, the motor temperature instruction and the cooling water temperature, the direct-axis current and the quadrature-axis current of the motor are constantly adjusted according to the motor torque instruction, the actual motor torque, the motor temperature instruction and the actual motor temperature;

[0009] The direct-axis current in the stable state of the motor is obtained as the target direct-axis current, and the quadrature-axis current in the stable state is obtained as the target quadrature-axis current.

[0010] The motor torque instruction, the motor temperature instruction and the cooling water temperature in the stable state of the motor are stored as input items in the signal matrix table, and the corresponding direct-axis current and quadrature-axis current are stored as output items.

[0011] In a second aspect, an embodiment of the present application provides a motor control device, comprising:

[0012] The control module is configured to, in a case where the target direct-axis current and the target quadrature-axis current corresponding to the motor torque instruction, the motor temperature instruction and the cooling water temperature of the motor at the current time are obtained from the signal matrix table, control the motor to work according to the target direct-axis current and the target quadrature-axis current; wherein the signal matrix table comprises corresponding input items and output items, the input items at least include the motor torque instruction, the motor temperature instruction and the cooling water temperature, and the output items at least include the direct-axis current and the quadrature-axis current.

[0013] The adjustment module is configured to, in a case where the target direct-axis current and the target quadrature-axis current corresponding to the motor torque instruction, the motor temperature instruction and the cooling water temperature are not obtained from the signal matrix table, constantly adjust the direct-axis current and the quadrature-axis current of the motor according to the motor torque instruction, the actual motor torque, the motor temperature instruction and the actual motor temperature.

[0014] The obtaining module is configured to obtain the direct-axis current in the stable state of the motor as the target direct-axis current, and obtain the quadrature-axis current in the stable state as the target quadrature-axis current.

[0015] The storage module is configured to store the motor torque instruction, the motor temperature instruction and the cooling water temperature in the stable state of the motor as input items in the signal matrix table, and store the corresponding direct-axis current and quadrature-axis current as output items.

[0016] In a third aspect, an embodiment of the present application provides a motor controller, comprising a memory and a processor, the memory stores a computer program, and the processor implements the steps of the motor control method provided in the first aspect of the present application when executing the computer program.

[0017] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the steps of the motor control method provided in the first aspect of the present application.

[0018] The technical scheme provided by the embodiment of the application, in the case that the corresponding target direct-axis current and target quadrature-axis current are obtained from the signal matrix table according to the motor torque instruction, the motor temperature instruction and the cooling water temperature at the current moment, the motor is controlled to work according to the target direct-axis current and the target quadrature-axis current, so that the permanent magnet synchronous motor reaches the working state corresponding to the motor torque instruction and the motor temperature instruction more quickly; meanwhile, in the case that the corresponding target direct-axis current and target quadrature-axis current are not obtained from the signal matrix table according to the motor torque instruction, the motor actual torque, the motor temperature instruction and the motor actual temperature, the direct-axis current and the quadrature-axis current of the motor are constantly adjusted according to the motor torque instruction, the motor actual torque, the motor temperature instruction and the motor actual temperature; the direct-axis current in the stable state of the motor is obtained as the target direct-axis current, and the quadrature-axis current in the stable state is obtained as the target quadrature-axis current; the motor torque instruction, the motor temperature instruction and the cooling water temperature in the stable state of the motor are taken as input items, and the corresponding direct-axis current and quadrature-axis current are taken as output items and stored in the signal matrix table, so that the corresponding target direct-axis current and target quadrature-axis current can be quickly obtained from the signal matrix table next time, and the motor is controlled to work based on the target direct-axis current and the target quadrature-axis current, so that the permanent magnet synchronous motor reaches the working state corresponding to the motor torque instruction and the motor temperature instruction more quickly, and the motor control efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A flowchart of a motor control method provided by the embodiment of the application is shown in the figure.

[0020] Figure 2 A signal matrix table provided by the embodiment of the application is shown in the figure.

[0021] Figure 3 Another flowchart of a motor control method provided by the embodiment of the application is shown in the figure.

[0022] Figure 4 A current motion trend decision diagram of a motor provided by the embodiment of the application is shown in the figure.

[0023] Figure 5 A structural diagram of a motor control device provided by the embodiment of the application is shown in the figure.

[0024] Figure 6 A structural diagram of a motor controller provided by the embodiment of the application is shown in the figure. DETAILED DESCRIPTION

[0025] The application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the application, but not to limit the application. In addition, it should be noted that, for the convenience of description, only parts related to the application are shown in the drawings, but not all structures.

[0026] Currently, when the motor needs to work at a specified torque and temperature, a dynamometer (or other power source device) is connected to the output shaft of the motor, the motor is driven to operate at a specific torque by the dynamometer, and at the same time, the motor is subjected to high temperature conditions by external environmental equipment, so that the motor operates at a specific temperature. However, this method needs to rely on the dynamometer to apply a large torque to heat the motor, which causes the load of the dynamometer to be large and the equipment to be quickly worn out. Therefore, the technical solution provided by the embodiments of the present application can quickly make the motor work at the required torque value and temperature value, and improve the control efficiency of the motor.

[0027] In order to make the purpose, technical solution and advantages of the present application clearer and more apparent, the technical solution in the embodiments of the present application will be further described in detail through the following embodiments and in conjunction with the drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0028] It should be noted that the execution subject of the following method embodiments can be a motor control device, which can be realized by software, hardware or a combination of software and hardware to become part or all of the motor controller. The following method embodiments are described by taking the motor controller as an example.

[0029] Figure 1 A flowchart of a motor control method provided by the embodiments of the present application. The method can be used to adjust the working state of the motor, so that the motor quickly reaches the working state corresponding to the set motor temperature instruction and motor torque instruction. As shown in Figure 1 , the method can include:

[0030] S101, in the case of obtaining the corresponding target direct-axis current and target quadrature-axis current from the signal matrix table according to the motor torque instruction, the motor temperature instruction and the cooling water temperature at the current time, controlling the motor to work according to the target direct-axis current and the target quadrature-axis current.

[0031] The signal matrix table includes corresponding input items and output items, the input items at least include motor torque instruction, motor temperature instruction and cooling water temperature, and the output items at least include direct-axis current and quadrature-axis current.

[0032] The motor torque instruction of the motor refers to a target torque instruction to be reached by the motor to meet a motor control requirement. The motor torque instruction includes a torque value to be reached by the motor. The motor temperature instruction of the motor refers to a target temperature instruction to be reached by the motor to meet a motor control requirement. The motor temperature instruction includes a temperature value to be reached by the motor. The cooling water temperature refers to a current temperature of cooling water in a cooling water system for adjusting a working temperature of the motor. When the motor is controlled to work at a certain temperature instruction and a certain torque instruction, the target direct-axis current and the target quadrature-axis current of the motor at the temperature instruction and the torque instruction are obtained, and then the motor controller controls the motor to work according to the obtained target direct-axis current and target quadrature-axis current.

[0033] Optionally, specific setting values of the motor torque instruction and the motor temperature instruction are related to a specific working state of the motor, and can be set by a person skilled in the art according to actual conditions, which are not limited in the embodiments of the application. Taking a high-temperature and high-humidity test of the motor as an example, as shown in Table 1, the motor temperature and the motor torque target value required by the motor self-heating can be obtained from the motor high-temperature and high-humidity test requirement, and the multiple sets of motor temperature and torque target values are used as the motor temperature instruction and the motor torque instruction in the high-temperature and high-humidity test.

[0034] Table 1

[0035] Motor torque command (Nm) 50 100 200 …… 400 500 550 Motor temperature command (°C) 90 100 110 …… 130 140 150

[0036] In the motor control process, the motor torque instruction, the motor temperature instruction and the cooling water temperature sent by the host computer can be received through the CAN bus.

[0037] In addition, the signal matrix table is an information chart including the motor torque instruction, the motor temperature instruction, the cooling water temperature, the target direct-axis current and the target quadrature-axis current. In the signal matrix table, the motor torque instruction, the motor temperature instruction and the cooling water temperature are input items, and the target direct-axis current and the target quadrature-axis current are output items, that is, if the motor torque instruction, the motor temperature instruction and the cooling water temperature are certain, the target direct-axis current and the target quadrature-axis current obtained can also be determined. It should be noted that the signal matrix table provided in the embodiments of the application does not refer to a table only, but a corresponding relationship between the above parameters, and any chart capable of reflecting the corresponding relationship between the above parameters is within the protection scope of the technical solutions of the embodiments of the application. Figure 2 The signal matrix table provided in the embodiments of the application reflects the corresponding relationship between the motor torque instruction, the motor temperature instruction, the cooling water temperature, the target direct-axis current and the target quadrature-axis current in the form of a three-dimensional coordinate system, from which the corresponding relationship between the motor torque instruction, the motor temperature instruction, the cooling water temperature, the target direct-axis current and the target quadrature-axis current can be clearly understood. Figure 2 It can be seen that the motor torque instruction, the motor temperature instruction and the cooling water temperature are determined, and the target direct-axis current and the target quadrature-axis current are also determined values. Figure 2The signal matrix table is not limited by way of example only.

[0038] The signal matrix table can be stored in the storage unit. When adjusting the operating state of the motor, the motor controller can query the signal matrix table according to the motor torque instruction, the motor temperature instruction and the cooling water temperature at the current time to obtain the corresponding target direct-axis current and target quadrature-axis current, and control the motor to operate according to the target direct-axis current and target quadrature-axis current, so that the motor quickly reaches the target operating state and improves the operating efficiency of the motor.

[0039] It can be understood that the signal matrix table is gradually established in the motor control process. In the initial stage of motor control, the data information stored in the signal matrix table is less and does not cover the target direct-axis current and target quadrature-axis current corresponding to all motor torque instructions, motor temperature instructions and cooling water temperatures. If the corresponding target direct-axis current and target quadrature-axis current are not obtained from the signal matrix table according to the motor torque instruction, the motor temperature instruction and the cooling water temperature, the following S102-S104 is executed.

[0040] S102, continuously adjusting the direct-axis current and the quadrature-axis current of the motor according to the motor torque instruction, the actual motor torque, the motor temperature instruction and the actual motor temperature.

[0041] The actual motor torque can be estimated by a torque estimation module. The torque estimation module can determine the actual motor torque according to the actual direct-axis current and the actual quadrature-axis current of the motor collected, and take the actual motor torque as an input parameter of the motor torque control process. Alternatively, the actual motor temperature can be collected by a motor temperature detection module. The motor temperature detection module can include a temperature sensor, i.e., the actual motor temperature can be obtained by a temperature sensor arranged on the permanent magnet synchronous motor, and the actual motor temperature can be taken as an input parameter of the motor temperature control process.

[0042] The motor controller can continuously adjust the direct-axis current and the quadrature-axis current of the motor according to the preset current adjustment rule based on the motor torque instruction, the actual motor torque, the motor temperature instruction and the actual motor temperature, so that the difference between the actual motor torque and the motor torque instruction gradually tends to zero, so that the motor operates at the torque value corresponding to the motor torque instruction, and the difference between the actual motor temperature and the motor temperature instruction gradually tends to zero, so that the motor operates at the temperature value corresponding to the motor temperature instruction. At this time, the motor is in a stable state.

[0043] S103, obtaining the direct-axis current in the stable state of the motor as the target direct-axis current, and obtaining the quadrature-axis current in the stable state of the motor as the target quadrature-axis current.

[0044] In the adjustment process of the direct-axis current and the quadrature-axis current by the motor controller in S102, if it is judged that the motor reaches a stable state, the direct-axis current corresponding to the stable state of the motor is recorded as a target direct-axis current, and the quadrature-axis current is recorded as a target quadrature-axis current.

[0045] Optionally, the stable state of the motor can include:

[0046] In a first preset time period, a temperature difference between the temperature value corresponding to the motor temperature instruction and the actual temperature of the motor is less than or equal to a first preset threshold value;

[0047] In a second preset time period, a torque difference between the torque value corresponding to the motor torque instruction and the actual torque of the motor is less than or equal to a second preset threshold value.

[0048] It can be understood that during the operation of the motor, there will be a certain error between the actual working torque and the actual working temperature of the motor and the working torque and temperature currently displayed by the motor. Therefore, in the embodiments of the present application, if the temperature difference between the actual temperature of the motor and the temperature corresponding to the current motor temperature instruction is within a certain temperature threshold value, i.e., the first preset threshold value, in the first preset time period, it can be considered that the motor has reached the working temperature corresponding to the current motor temperature instruction. Similarly, if the torque difference between the actual torque of the motor and the torque corresponding to the current motor torque instruction is within a certain torque threshold value, i.e., the second preset threshold value, in the second preset time period, it can be considered that the motor has reached the working torque corresponding to the current motor torque instruction. At this time, it can be considered that the motor has reached the stable state corresponding to the current motor temperature instruction and torque instruction.

[0049] Optionally, the first preset time period and the second preset time period can be set according to actual needs, i.e., they can be set as the same time period or different time periods, and the embodiments of the present application do not limit this.

[0050] Optionally, the first preset time period and the second preset time period are both greater than or equal to 1 min; the first preset threshold value is less than or equal to 1℃; and the second preset threshold value is less than or equal to 10 Nm.

[0051] Specifically, in 1 min, if the temperature difference between the actual temperature of the motor and the temperature corresponding to the current motor temperature instruction is less than or equal to 1℃, and the torque difference between the actual torque of the motor and the torque corresponding to the current torque instruction is less than or equal to 10 Nm, it can be considered that the motor reaches a stable state.

[0052] By setting appropriate first preset time period, second preset time period, first preset threshold value and second preset threshold value, it can be ensured that the motor has been stabilized at the torque value corresponding to the current torque instruction and the temperature value corresponding to the current temperature instruction at this time, so as to improve the motor control efficiency as much as possible within the allowable error range.

[0053] S104, store the motor torque instruction, the motor temperature instruction, the cooling water temperature in the stable state of the motor as input items, and the corresponding direct-axis current and the cross-axis current as output items into the signal matrix table.

[0054] After the motor has reached a stable state, the storage unit stores the motor torque instruction, the motor temperature instruction, the cooling water temperature, the direct-axis current and the cross-axis current corresponding to this stable state, forming a signal matrix table. Among them, the motor torque instruction, the motor temperature instruction, the cooling water temperature are input items, and the direct-axis current and the cross-axis current are output items. The direct-axis current and the cross-axis current at this time are the target direct-axis current and the target cross-axis current.

[0055] If at a certain time, the motor needs to be controlled to work at a certain motor torque instruction and motor temperature instruction stored in the signal matrix table, the motor controller can directly query the signal matrix table to obtain the corresponding target direct-axis current and target cross-axis current, thereby controlling the motor to work according to the target direct-axis current and target cross-axis current, so that the motor quickly works in the corresponding target working state.

[0056] The motor control method provided by the embodiment of the application, in the case that the corresponding target direct-axis current and target cross-axis current are obtained from the signal matrix table according to the motor torque instruction, the motor temperature instruction and the cooling water temperature of the motor at the current time, the motor is controlled to work according to the target direct-axis current and the target cross-axis current, so that the permanent magnet synchronous motor reaches the working state corresponding to the motor torque instruction and the motor temperature instruction more quickly; meanwhile, in the case that the corresponding target direct-axis current and target cross-axis current are not obtained from the signal matrix table according to the motor torque instruction, the motor actual torque, the motor temperature instruction and the motor actual temperature, the direct-axis current and the cross-axis current of the motor are constantly adjusted according to the motor torque instruction, the motor actual torque, the motor temperature instruction and the motor actual temperature; the direct-axis current in the stable state of the motor is obtained as the target direct-axis current, and the cross-axis current in the stable state is obtained as the target cross-axis current; the motor torque instruction, the motor temperature instruction and the cooling water temperature in the stable state of the motor are stored as input items, and the corresponding direct-axis current and cross-axis current are stored as output items in the signal matrix table, so that the corresponding target direct-axis current and target cross-axis current can be quickly obtained from the signal matrix table next time, thereby controlling the motor to work based on the target direct-axis current and the target cross-axis current, so that the permanent magnet synchronous motor reaches the working state corresponding to the motor torque instruction and the motor temperature instruction more quickly, and the motor control efficiency is improved.

[0057] As an optional implementation manner, as shown in Figure 3 The process of S102 can be:

[0058] S301, determine the torque difference of the motor according to the motor torque instruction and the motor actual torque of the motor.

[0059] Specifically, after obtaining the motor torque instruction and the motor actual torque, the torque difference of the motor can be determined by a closed-loop adjustment mode such as proportional integral (PI) or proportional-integral-differential (PID). The PI closed-loop adjustment mode or the PID closed-loop adjustment mode is a conventional means in the art, and the specific calculation process can refer to any prior art, which will not be described here.

[0060] S302, determining a temperature difference of the motor according to the motor temperature instruction and the motor actual temperature.

[0061] Specifically, after obtaining the motor temperature instruction and the motor actual temperature, the temperature difference of the motor can be determined by a closed-loop adjustment mode such as PI or PID. The PI closed-loop adjustment mode or the PID closed-loop adjustment mode is a conventional means in the art, and the specific calculation process can refer to any prior art, which will not be described here.

[0062] S303, obtaining a corresponding first current motion trend in the dq coordinate system according to the torque difference, and adjusting the quadrature axis current of the motor according to the first current motion trend, so as to control the motor to work under a corresponding constant torque current motion curve.

[0063] The torque value corresponding to the constant torque motion curve matches the torque value corresponding to the motor torque instruction.

[0064] Specifically, the first current motion trend is used to represent the trend of the quadrature axis current of the motor, which is related to the torque difference. Optionally, a mapping relationship between the torque difference and the current motion trend can be set in advance, so that after obtaining the torque difference, the first current motion trend corresponding to the torque difference can be obtained by querying the mapping relationship. Further, the motor controller controls the quadrature axis current of the motor to move according to the first current motion trend, and continuously adjusts the quadrature axis current of the motor until the motor works at the torque value required by the motor torque instruction.

[0065] Optionally, the first current motion trend corresponding to the torque difference in the dq coordinate system can be that when the torque difference is greater than zero, the quadrature axis current increases in the positive direction of the q axis; and when the torque difference is less than zero, the quadrature axis current increases in the negative direction of the q axis.

[0066] Referring to Figure 4For example, the current working point of the motor is B point on the constant torque current motion curve 1, the motor is in a stable state (the stable state refers to that the motor works at the torque value and the temperature value required by the motor torque instruction at the last moment). If the motor torque instruction is increased at this moment, the torque value required by the motor torque instruction is greater than the actual torque of the motor, that is, the torque difference of the motor is greater than zero, the BC segment trajectory can be determined as the first current motion trend, the motor control device controls the motor to move along the BC segment trajectory with B point as the starting point, that is, the motor control device controls the motor to increase the motor q-axis current in the positive direction of the q-axis. After reaching the C point, the motor enters the constant torque current motion curve 2, the torque value corresponding to the constant torque current motion curve 2 matches the torque value required by the motor torque instruction received at the B point, that is, the motor works at the torque value corresponding to the motor torque instruction. The torque values of the points in the constant torque current motion curve 2 are the same, that is, when the motor works on the constant torque current motion curve 2, the torque value of the motor remains unchanged.

[0067] If the motor torque instruction is reduced, the torque value required by the motor torque instruction is less than the actual torque of the motor, that is, the torque difference of the motor is less than zero, the BE segment trajectory can be determined as the first current motion trend, the motor control device controls the motor to move along the BE segment trajectory with B point as the starting point, that is, the motor control device controls the motor to increase the motor q-axis current in the negative direction of the q-axis. After reaching the E point, the motor enters another constant torque current motion curve, the torque value corresponding to the constant torque current motion curve matches the torque value required by the motor torque instruction received at the B point.

[0068] S304, determining a corresponding second current motion trend from the constant torque current motion curve according to the temperature difference, and adjusting the direct-axis current and the quadrature-axis current of the motor according to the second current motion trend to control the motor to work at the temperature value corresponding to the motor temperature instruction.

[0069] Specifically, the second current motion trend is used to represent the trend of the motor direct-axis current and the motor quadrature-axis current, which is related to the temperature difference. Optionally, a mapping relationship between the temperature difference and the current motion trend can be set in advance, so that after obtaining the temperature difference, the second current motion trend corresponding to the temperature difference can be obtained from the constant torque current motion curve by querying the mapping relationship. The motor control device controls the motor to move according to the second current motion trend, continuously adjusts the motor direct-axis current and the motor quadrature-axis current, until the temperature value required by the motor temperature instruction is reached, so that the motor works at the temperature value required by the motor temperature instruction.

[0070] Optionally, the second current motion trend corresponding to the temperature difference in the constant torque current motion curve can be: when the temperature difference is greater than zero, the quadrature axis current increases in the negative direction of the q-axis, and the direct axis current increases in the negative direction of the d-axis; when the temperature difference is less than zero, the quadrature axis current increases in the positive direction of the q-axis, and the direct axis current increases in the positive direction of the d-axis.

[0071] Continuing to refer to Figure 4 After the motor reaches the C point, at this time the motor works under the constant torque current motion curve 2, if the motor temperature instruction of the motor decreases or the actual temperature of the motor increases, resulting in that the temperature value required by the motor temperature instruction is less than the actual temperature of the motor, that is, the temperature difference of the motor is less than zero, then the trajectory in the CD direction of the constant torque current motion curve 2 can be determined as the second current motion trend, the quadrature axis current and the direct axis current of the motor are controlled to move along the CD direction with the C point as the starting point, that is, the quadrature axis current of the motor increases in the positive direction of the q-axis, and the direct axis current increases in the positive direction of the d-axis, until the temperature value required by the motor temperature instruction is reached. Conversely, if the motor temperature instruction of the motor increases or the actual temperature of the motor decreases at this time, resulting in that the temperature value required by the motor temperature instruction is greater than the actual temperature of the motor, that is, the temperature difference of the motor is greater than zero, then the trajectory in the CF direction of the constant torque current motion curve 2 can be determined as the second current motion trend, the quadrature axis current and the direct axis current of the motor are controlled to move along the CF direction with the C point as the starting point, that is, the quadrature axis current of the motor increases in the negative direction of the q-axis, and the direct axis current increases in the negative direction of the d-axis, until the temperature value required by the motor temperature instruction is reached. Accordingly, the dual-target control of the motor torque and the temperature is realized, and the motor torque and the temperature form respective closed loops, which can be freely adjusted without affecting each other until the stable state of the torque and the temperature is reached.

[0072] In the embodiment, the torque difference of the motor is determined according to the motor torque instruction and the actual torque of the motor, the temperature difference of the motor is determined according to the motor temperature instruction and the actual temperature of the motor, the first current motion trend corresponding to the torque difference in the dq coordinate system is obtained, and the quadrature axis current of the motor is adjusted according to the first current motion trend to control the motor to work under the corresponding constant torque current motion curve; the second current motion trend corresponding to the temperature difference is determined from the constant torque current motion curve, and the direct axis current and the quadrature axis current of the motor are adjusted according to the second current motion trend, so that the permanent magnet synchronous motor reaches the working state corresponding to the motor temperature instruction and the motor torque instruction more quickly, and the motor control efficiency is improved.

[0073] In actual application, when the motor starts from the static state, the motor can be controlled to quickly reach the required working state by referring to the process described in the following embodiments. Optionally, before S301, the method further comprises:

[0074] obtaining an initial motor torque instruction of the motor when the motor starts from a static state;

[0075] adjusting a q-axis current of the motor in a positive direction of the q-axis and adjusting a d-axis current of the motor in a negative direction of the d-axis according to the initial motor torque instruction, so as to control the motor to operate at a torque value corresponding to the initial motor torque instruction.

[0076] Specifically, the initial motor torque instruction refers to a target torque instruction to be reached by the motor when the motor starts from the static state to meet a motor control requirement. After obtaining the initial motor torque instruction, the motor controller can adjust the q-axis current of the motor in the positive direction of the q-axis and adjust the d-axis current of the motor in the negative direction of the d-axis based on the torque value required by the initial motor torque instruction, with the dq coordinate system origin as a starting point. The adjustment amplitudes of the q-axis current and the d-axis current are related to the torque value required by the initial motor torque instruction.

[0077] It is considered that the motor temperature changes relatively slowly, and the motor controller continues to receive the motor temperature instruction from the upper computer through the CAN bus. Figure 4 When the motor is in the static state, the q-axis current and the d-axis current of the motor correspond to point O in the dq coordinate system. After obtaining the initial motor torque instruction, the motor controller can control the q-axis current and the d-axis current of the motor to move along the OA direction from point O until the torque value required by the initial motor torque instruction is reached, at which time the motor operates under the constant torque current motion curve 1. Under the constant torque current motion curve 1, the actual torque value of the motor remains unchanged, which is the torque value corresponding to the initial motor torque instruction.

[0078] It is assumed that the motor current moves to point A after the motor operates at the torque value required by the initial torque instruction. At this time, the upper computer sends the motor temperature instruction through the CAN bus control. After receiving the motor temperature instruction, if the motor temperature instruction is greater than the actual motor temperature, i.e., the temperature difference is greater than zero, the AB direction trajectory in the constant torque current motion curve 1 can be determined as the third current motion trend, and the q-axis current and the d-axis current of the motor are adjusted according to the third current motion trend. That is, the q-axis current and the d-axis current of the motor are controlled to move along the AB direction from point A, i.e., the q-axis current of the motor is increased in the negative direction of the q-axis, and the d-axis current of the motor is increased in the negative direction of the d-axis, until the temperature value required by the motor temperature instruction is reached. If the motor temperature instruction is less than the actual motor temperature, i.e., the temperature difference is less than zero, the AG direction trajectory in the constant torque current motion curve 1 can be determined as the third current motion trend, and the q-axis current and the d-axis current of the motor are controlled to move along the AG direction from point A, i.e., the q-axis current of the motor is increased in the positive direction of the q-axis, and the d-axis current of the motor is increased in the positive direction of the d-axis, until the temperature value required by the motor temperature instruction is reached. Accordingly, the dual-target control of the motor torque and the temperature is realized.

[0079] Figure 5 A structural schematic diagram of a motor control device provided by an embodiment of the present application is shown in FIG. 1. As shown in the figure, the device can include a control module 501, an adjustment module 502, an acquisition module 503, and a storage module 504. Figure 5

[0080] Specifically, the control module 501 is configured to, in a case where corresponding target direct-axis current and target quadrature-axis current are acquired from a signal matrix table according to a motor torque instruction, a motor temperature instruction, and a cooling water temperature at a current time, control the motor to work according to the target direct-axis current and the target quadrature-axis current; wherein the signal matrix table includes corresponding input items and output items, the input items at least include the motor torque instruction, the motor temperature instruction, and the cooling water temperature, and the output items at least include the direct-axis current and the quadrature-axis current.

[0081] The adjustment module 502 is configured to, in a case where corresponding target direct-axis current and target quadrature-axis current are not acquired from the signal matrix table according to the motor torque instruction, the motor temperature instruction, and the cooling water temperature, constantly adjust the direct-axis current and the quadrature-axis current of the motor according to the motor torque instruction, an actual motor torque, the motor temperature instruction, and an actual motor temperature.

[0082] The acquisition module 503 is configured to acquire the direct-axis current in a stable state of the motor as the target direct-axis current, and acquire the quadrature-axis current in the stable state of the motor as the target quadrature-axis current.

[0083] The storage module 504 is configured to store the motor torque instruction, the motor temperature instruction, and the cooling water temperature in the stable state of the motor as input items, and store corresponding direct-axis current and quadrature-axis current as output items into the signal matrix table.

[0084] ​The motor control device provided by the embodiment of the application, in the case of obtaining the corresponding target direct-axis current and target quadrature-axis current from the signal matrix table according to the motor torque instruction, the motor temperature instruction and the cooling water temperature signal at the current time, controls the motor to work according to the target direct-axis current and the target quadrature-axis current, so that the permanent magnet synchronous motor reaches the working state corresponding to the motor torque instruction and the motor temperature instruction more quickly; meanwhile, in the case of not obtaining the corresponding target direct-axis current and target quadrature-axis current from the signal matrix table according to the motor torque instruction, the motor temperature instruction and the cooling water temperature signal, the direct-axis current and the quadrature-axis current of the motor are constantly adjusted according to the motor torque instruction, the actual motor torque, the motor temperature instruction and the actual motor temperature; the direct-axis current in the stable state of the motor is obtained as the target direct-axis current, and the quadrature-axis current in the stable state is obtained as the target quadrature-axis current; the motor torque instruction, the motor temperature instruction and the cooling water temperature in the stable state of the motor are taken as input items, and the corresponding direct-axis current and quadrature-axis current are taken as output items and stored in the signal matrix table, so that the corresponding target direct-axis current and target quadrature-axis current can be quickly obtained from the signal matrix table next time, and the motor is controlled to work based on the target direct-axis current and the target quadrature-axis current, so that the permanent magnet synchronous motor reaches the working state corresponding to the motor torque instruction and the motor temperature instruction more quickly, and the motor control efficiency is improved.

[0085] Optionally, on the basis of the above embodiment, the adjusting module 502 can comprise a first determining unit, a second determining unit, a first adjusting unit and a second adjusting unit.

[0086] Specifically, the first determining unit is configured to determine a torque difference of the motor according to the motor torque instruction and the actual motor torque.

[0087] The second determining unit is configured to determine a temperature difference of the motor according to the motor temperature instruction and the actual motor temperature.

[0088] The first adjusting unit is configured to obtain a corresponding first current motion trend in the dq coordinate system according to the torque difference, and adjust the quadrature-axis current of the motor according to the first current motion trend, so as to control the motor to work on a corresponding constant torque current motion curve; wherein the torque value corresponding to the constant torque motion curve matches the torque value corresponding to the motor torque instruction.

[0089] The second adjusting unit is configured to determine a corresponding second current motion trend from the constant torque current motion curve according to the temperature difference, and adjust the direct-axis current and the quadrature-axis current of the motor according to the second current motion trend, so as to control the motor to work at a temperature value corresponding to the motor temperature instruction.

[0090] On the basis of the above-mentioned embodiments, optionally, the first current motion trend corresponding to the torque difference in the dq coordinate system is that when the torque difference is greater than zero, the quadrature axis current increases in the positive direction of the q axis; and when the torque difference is less than zero, the quadrature axis current increases in the negative direction of the q axis.

[0091] On the basis of the above-mentioned embodiments, optionally, the second current motion trend corresponding to the temperature difference in the constant torque current motion curve is that when the temperature difference is greater than zero, the quadrature axis current increases in the negative direction of the q axis, and the direct axis current increases in the negative direction of the d axis; and when the temperature difference is less than zero, the quadrature axis current increases in the positive direction of the q axis, and the direct axis current increases in the positive direction of the d axis.

[0092] On the basis of the above-mentioned embodiments, optionally, the adjustment module 502 can further include an acquisition unit;

[0093] Specifically, the acquisition unit is configured to, in the case that the motor is started from a static state, acquire an initial motor torque instruction of the motor before the first determination unit determines the torque difference of the motor according to the motor torque instruction and the actual motor torque of the motor.

[0094] The first adjustment unit is further configured to, according to the initial motor torque instruction, adjust the quadrature axis current of the motor in the positive direction of the q axis and adjust the direct axis current of the motor in the negative direction of the d axis with the origin of the dq coordinate system as a starting point, so as to control the motor to work at a torque value corresponding to the initial motor torque instruction.

[0095] In one embodiment, a motor controller is provided, and an internal structure diagram of the motor controller can be as shown in Figure 6 The motor controller can include a processor 60, a memory 61, an input device 62 and an output device 63; the number of processors 60 in the motor controller can be one or more, Figure 6 and the processor 60 in the motor controller is taken as an example; the processor 60, the memory 61, the input device 62 and the output device 63 in the motor controller can be connected through a bus or other means, Figure 6 and the connection through the bus is taken as an example.

[0096] The memory 61, as a kind of computer readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules (for example, the control module 501, the adjustment module 502, the acquisition module 503 and the storage module 504 in the motor control device) corresponding to the motor control method in the embodiments of the present application. The processor 60 executes the software programs, instructions and modules stored in the memory 61, thereby performing various functional applications and data processing of the motor controller, that is, realizing the above-mentioned motor control method.

[0097] The memory 61 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; and the data storage area can store data created according to the use of the motor controller and the like. In addition, the memory 61 can include a high-speed random access memory, and can also include a non-volatile memory such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some examples, the memory 61 can further include a memory remotely arranged with respect to the processor 60, which can be connected to the device / terminal / server through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0098] The input device 62 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function controls of the motor controller. The output device 63 can include a display device such as a display screen.

[0099] The embodiments of the present application also provide a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to perform a motor control method, the method comprising:

[0100] In a case where corresponding target direct-axis current and target quadrature-axis current are obtained from a signal matrix table according to a motor torque instruction, a motor temperature instruction and a cooling water temperature of the motor at a current time, the motor is controlled to work according to the target direct-axis current and the target quadrature-axis current; wherein the signal matrix table includes corresponding input items and output items, the input items at least include the motor torque instruction, the motor temperature instruction and the cooling water temperature, and the output items at least include the direct-axis current and the quadrature-axis current;

[0101] In a case where corresponding target direct-axis current and target quadrature-axis current are not obtained from the signal matrix table according to the motor torque instruction, the motor temperature instruction and the cooling water temperature, the direct-axis current and the quadrature-axis current of the motor are constantly adjusted according to the motor torque instruction, the actual motor torque, the motor temperature instruction and the actual motor temperature;

[0102] The direct-axis current of the motor in a stable state is obtained as the target direct-axis current, and the quadrature-axis current in the stable state is obtained as the target quadrature-axis current;

[0103] The motor torque instruction, the motor temperature instruction and the cooling water temperature of the motor in the stable state are stored as input items in the signal matrix table, and the corresponding direct-axis current and quadrature-axis current are stored as output items.

[0104] Of course, the storage medium provided by the embodiment of the present application includes computer executable instructions, which are not limited to the method operations described above, and can also perform related operations in the motor control method provided by any embodiment of the present application.

[0105] Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary general hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, and the computer software product can be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a FLASH memory, a hard disk or an optical disk, etc., including a plurality of instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in various embodiments of the present application.

[0106] It is worth noting that in the above embodiment of the search device, each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, the specific name of each functional unit is only for easy mutual distinction, and does not limit the protection scope of the present application.

[0107] Note that the above is only the preferred embodiment of the present application and the technical principle applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method of controlling an electric machine, characterized by, The method comprises the following steps: In the case that the corresponding target direct-axis current and target quadrature-axis current are obtained from the signal matrix table according to the motor torque instruction, the motor temperature instruction and the cooling water temperature at the current time, the motor is controlled to work according to the target direct-axis current and the target quadrature-axis current; wherein, the signal matrix table comprises corresponding input items and output items, the input items at least comprise the motor torque instruction, the motor temperature instruction and the cooling water temperature, and the output items at least comprise the direct-axis current and the quadrature-axis current; In the case that the corresponding target direct-axis current and target quadrature-axis current are not obtained from the signal matrix table according to the motor torque instruction, the motor temperature instruction and the cooling water temperature, the direct-axis current and the quadrature-axis current of the motor are constantly adjusted according to the motor torque instruction, the actual motor torque, the motor temperature instruction and the actual motor temperature; The direct-axis current in the stable state of the motor is obtained as the target direct-axis current, and the quadrature-axis current in the stable state is obtained as the target quadrature-axis current; The motor torque instruction, the motor temperature instruction and the cooling water temperature in the stable state of the motor are taken as the input items, and the corresponding direct-axis current and quadrature-axis current are taken as the output items and stored in the signal matrix table; The constantly adjusting the direct-axis current and the quadrature-axis current of the motor according to the motor torque instruction, the actual motor torque, the motor temperature instruction and the actual motor temperature comprises: The torque difference of the motor is determined according to the motor torque instruction and the actual motor torque; The temperature difference of the motor is determined according to the motor temperature instruction and the actual motor temperature; The first current motion trend in the dq coordinate system is obtained according to the torque difference, and the quadrature-axis current of the motor is adjusted according to the first current motion trend, so that the motor works in the corresponding constant torque current motion curve; wherein, the torque value corresponding to the constant torque current motion curve matches the torque value corresponding to the motor torque instruction; The second current motion trend is determined from the constant torque current motion curve according to the temperature difference, and the direct-axis current and the quadrature-axis current of the motor are adjusted according to the second current motion trend, so that the motor works at the temperature value corresponding to the motor temperature instruction.

2. The method of claim 1, wherein, The first current motion trend in the dq coordinate system corresponding to the torque difference comprises: In the dq coordinate system, the first current motion trend corresponding to the torque difference is that when the torque difference is greater than zero, the quadrature-axis current increases in the positive direction of the q-axis; when the torque difference is less than zero, the quadrature-axis current increases in the negative direction of the q-axis.

3. The method of claim 1, wherein, The second current motion trend corresponding to the temperature difference in the constant torque current motion curve comprises: In the constant torque current motion curve, when the temperature difference is greater than zero, the quadrature-axis current increases in the negative direction of the q-axis, and the direct-axis current increases in the negative direction of the d-axis; when the temperature difference is less than zero, the quadrature-axis current increases in the positive direction of the q-axis, and the direct-axis current increases in the positive direction of the d-axis.

4. The method according to any one of claims 1 to 3, characterized in that, Before determining a torque difference of the motor according to a motor torque instruction of the motor and an actual motor torque of the motor, the method further comprises: acquiring an initial motor torque instruction of the motor when the motor starts from a static state; adjusting a q-axis current of the motor in a positive direction of a q-axis and adjusting a d-axis current of the motor in a negative direction of a d-axis according to the initial motor torque instruction, so as to control the motor to work at a torque value corresponding to the initial motor torque instruction.

5. The method of claim 1, wherein, The stable state of the motor comprises: in a first preset time period, a temperature difference between a temperature value corresponding to the motor temperature instruction and an actual temperature of the motor is less than or equal to a first preset threshold value; in a second preset time period, a torque difference between a torque value corresponding to the motor torque instruction and the actual motor torque is less than or equal to a second preset threshold value.

6. The method of claim 5, wherein, The first preset time period and the second preset time period are both greater than or equal to 1 min; the first preset threshold value is less than or equal to 1℃; and the second preset threshold value is less than or equal to 10 Nm.

7. An electric motor control device that controls using the electric motor control method according to any one of claims 1 to 6, characterized by comprise: a control module, configured to, in a case where corresponding target d-axis current and target q-axis current are acquired from a signal matrix table according to a motor torque instruction of the motor at a current time, a motor temperature instruction and a cooling water temperature signal, control the motor to work according to the target d-axis current and the target q-axis current; wherein the signal matrix table comprises corresponding input items and output items, the input items at least comprising the motor torque instruction, the motor temperature instruction and the cooling water temperature, and the output items at least comprising the d-axis current and the q-axis current; an adjustment module, configured to, in a case where corresponding target d-axis current and target q-axis current are not acquired from the signal matrix table according to the motor torque instruction, the motor temperature instruction and the cooling water temperature signal, constantly adjust the d-axis current and the q-axis current of the motor according to the motor torque instruction, an actual motor torque, the motor temperature instruction and an actual motor temperature; an acquisition module, configured to acquire the d-axis current in a stable state of the motor as the target d-axis current and the q-axis current in the stable state of the motor as the target q-axis current; a storage module, configured to store the motor torque instruction, the motor temperature instruction and the cooling water temperature in the stable state of the motor as input items and corresponding d-axis current and q-axis current as output items in the signal matrix table.

8. An electric machine controller comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to implement the steps of the method in any one of claims 1 to 6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 6.

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