A motor control method and related equipment

Abstract

The present application discloses a motor control method and related equipment. The method includes: obtaining the electrical angle information, target frequency angle information and three-phase current information of the target motor, wherein the target frequency angle information is the motor angle corresponding to the target frequency; determining the first reference angle information and the second reference angle information based on the electrical angle information and the target frequency angle information; determining the target voltage based on the first reference angle information, the second reference angle information, the three-phase current information, the electrical angle information, the harmonic given current information and the torque given current information; and controlling the target motor to operate based on the target voltage. The method provided in the present application can eliminate the current harmonic problem caused by bus voltage fluctuations, thereby achieving the effect of reducing motor noise. Other harmonic components generated by the bus voltage can be processed in the same way, and the scheme can also be extended to the automotive motor drive system, providing a feasible solution for electric vehicles to reduce the noise caused.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and more specifically, to a motor control method and related equipment. Background Art

[0002] When using a 380V industrial power supply inverter, a reactor or filter is installed at the input end of the inverter. Although these methods reduce the ripple of the bus voltage at the input end of the inverter, they cannot effectively weaken it, causing it to interfere with the normal operation of the permanent magnet motor, causing problems such as motor noise and motor heating.

[0003] One of the reasons why variable frequency speed regulating motors make noise during operation is that the output cable contains large high-order harmonic voltages and currents, which distorts the input voltage of the motor and further increases the high-order harmonics of the stator and rotor electromotive force. As a result, the phase electromotive force is seriously distorted, and the maximum value increases a lot, causing serious heating of the motor coil and insulation aging and breakdown. At the same time, the high-order harmonic magnetic field generated by the high-order harmonics produces additional variable frequency speed regulating torque, which makes the variable frequency speed regulating motor produce obvious vibration and sharp noise. At present, the design of the inverter adopts uncontrolled rectification means to convert the three-phase AC of the industrial frequency of 50HZ into DC bus voltage for use by the controller, and there are fixed harmonics of 6 times the industrial frequency. For the fluctuation of the DC bus voltage, the conventional means is to add filter capacitors to the hardware. However, this method cannot completely eliminate the harmonics of 6 times the industrial frequency in the bus voltage, which will eventually cause the output current of the inverter to have fixed harmonic components, resulting in increased motor noise and affecting the NVH (Noise, Vibration, Harshness) characteristics of the motor. Summary of the invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0005] In order to improve the accuracy of the vehicle dynamics calculation model, in a first aspect, the present invention provides a motor control method, the method comprising:

[0006] Obtaining electrical angle information, target frequency angle information and three-phase current information of the target motor, wherein the target frequency angle information is the motor angle corresponding to the target frequency;

[0007] Determine first reference angle information and second reference angle information based on the electrical angle information and the target frequency angle information;

[0008] Determine a target voltage based on the first reference angle information, the second reference angle information, the three-phase current information, the electrical angle information, the harmonic given current information and the torque given current information;

[0009] The target motor operation is controlled based on the target voltage.

[0010] Optionally, the determining of the first reference angle information and the second reference angle information based on the electrical angle information and the target frequency angle information includes:

[0011] Determine the sum of the electrical angle information and the target frequency angle as the first reference angle information;

[0012] The difference between the electrical angle information and the target frequency angle is determined as the second reference angle information.

[0013] Optionally, determining the target voltage based on the first reference angle information, the second reference angle information, the three-phase current information, the electrical angle information, the harmonic given current information and the torque given current information includes:

[0014] Determine the current harmonic compensation voltage according to the first reference angle information, the second reference angle information, the three-phase current information and the harmonic given current information;

[0015] Determine the torque voltage according to the three-phase current information, the electrical angle information and the torque given current information;

[0016] The target voltage is determined according to the current harmonic compensation voltage and the torque voltage.

[0017] Optionally, the current harmonic compensation voltage is determined according to the first reference angle information, the second reference angle information, the three-phase current information, and the harmonic given current information, including:

[0018] Obtaining first current information and second current information through PARK transformation according to the first reference angle information, the second reference angle information and the three-phase current information;

[0019] Performing low-pass filtering on the first current information and the second current information to obtain first filtered current information and second filtered current information;

[0020] The current harmonic compensation voltage is determined by performing PI adjustment according to the first filtered current information, the second filtered current information and the harmonic given current information.

[0021] Optionally, the above-mentioned current harmonic compensation voltage includes a first current harmonic compensation voltage and a second current harmonic compensation voltage;

[0022] The above-mentioned PI adjustment is performed according to the above-mentioned first filtered current information, the above-mentioned second filtered current information and the above-mentioned harmonic given current information to determine the above-mentioned current harmonic compensation voltage, including:

[0023] The difference between the harmonic given current information and the first filtered current information is PI-adjusted to determine the first current harmonic compensation voltage;

[0024] The difference between the above-mentioned harmonic given current information and the above-mentioned second filtered current information is PI-adjusted to determine the above-mentioned second current harmonic compensation voltage.

[0025] Optionally, the determining of the torque voltage according to the three-phase current information, the electrical angle information and the torque given current information includes:

[0026] Perform PARK transformation on the three-phase current information and the electrical angle information to obtain reference current information;

[0027] The torque voltage is determined by performing PI regulation based on the difference between the reference current information and the torque given current information.

[0028] Optionally, determining the target voltage according to the current harmonic compensation voltage and the torque voltage includes:

[0029] Determine the sum of the current harmonic compensation voltage and the torque voltage as a preset target voltage;

[0030] The preset target voltage is subjected to inverse PARK transformation and SVPWM modulation to obtain the target voltage.

[0031] In a second aspect, the present invention further provides a motor control device, comprising:

[0032] An acquisition unit, used to acquire electrical angle information, target frequency angle information and three-phase current information of a target motor, wherein the target frequency angle information is the motor angle corresponding to the target frequency;

[0033] A first determining unit, configured to determine first reference angle information and second reference angle information based on the electrical angle information and the target frequency angle information;

[0034] A second determining unit, configured to determine a target voltage based on the first reference angle information, the second reference angle information, the three-phase current information, the electrical angle information, the harmonic given current information, and the torque given current information;

[0035] A control unit is used to control the operation of the target motor based on the target voltage.

[0036] In a third aspect, an electronic device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the motor control method of any one of the first aspects described above when executing the computer program stored in the memory.

[0037] In a fourth aspect, the present invention further proposes a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the motor control method of any one of the above items in the first aspect is implemented.

[0038] In summary, the method provided in the embodiment of the present application obtains the electrical angle information, target frequency angle information and three-phase current information of the target motor, and determines the first reference angle information and the second reference angle information according to the electrical angle information and the target frequency angle information, and determines the target voltage based on the first reference angle information, the second reference angle information, the three-phase current information, the electrical angle information, the harmonic given current information and the torque given current information, and controls the target motor by adjusting the target voltage, thereby eliminating the current harmonic problem caused by bus voltage fluctuations and achieving the effect of reducing motor noise. Other harmonic components generated by the bus voltage can be processed in the same way, and the scheme can also be extended to the automotive motor drive system, providing a feasible solution for electric vehicles to reduce the noise caused.

[0039] The motor control method of the present invention, other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present specification. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0041] Figure 1 A schematic diagram of a motor control method flow chart provided in an embodiment of the present application;

[0042] Figure 2 A schematic diagram of the first motor control program structure provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of the structure of a second motor control program provided in an embodiment of the present application;

[0044] Figure 4 A schematic diagram of the structure of a third motor control program provided in an embodiment of the present application;

[0045] Figure 5 A schematic diagram of the structure of a fourth motor control program provided in an embodiment of the present application;

[0046] Figure 6 A schematic diagram of the structure of a fifth motor control program provided in an embodiment of the present application;

[0047] Figure 7 A sixth motor control program structure diagram provided in an embodiment of the present application;

[0048] Figure 8 A seventh motor control program structure schematic diagram provided in an embodiment of the present application;

[0049] Fig. 9 A schematic diagram of the structure of an eighth motor control program provided in an embodiment of the present application;

[0050] Fig.10 A ninth motor control program structure diagram provided in an embodiment of the present application;

[0051] Fig.11 A schematic diagram of the structure of the tenth motor control program provided in the embodiment of the present application;

[0052] Fig.12 A schematic diagram of the structure of the eleventh motor control program provided in the embodiment of the present application;

[0053] Fig.13 A schematic diagram of the effect of not using the motor control method in the present application provided in the embodiment of the present application;

[0054] Fig.14 A schematic diagram of the effect of using the motor control method in the present application provided in an embodiment of the present application;

[0055] Fig.15 A schematic diagram of the structure of a motor control device provided in an embodiment of the present application;

[0056] Fig.16 A schematic diagram of the structure of an electronic device for a motor control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The method provided in the embodiment of the present application obtains the electrical angle information, target frequency angle information and three-phase current information of the target motor, and determines the first reference angle information and the second reference angle information according to the electrical angle information and the target frequency angle information, and determines the target voltage based on the first reference angle information, the second reference angle information, the three-phase current information, the electrical angle information, the harmonic given current information and the torque given current information, and controls the target motor by adjusting the target voltage, thereby eliminating the current harmonic problem caused by bus voltage fluctuations and achieving the effect of reducing motor noise. Other harmonic components generated by the bus voltage can be processed in the same way, and the scheme can also be extended to the automotive motor drive system, providing a feasible solution for electric vehicles to reduce the noise caused.

[0058] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0059] See also Figure 1 , is a flow chart of a motor control method provided in an embodiment of the present application, which may specifically include:

[0060] S110, obtaining electrical angle information, target frequency angle information and three-phase current information of a target motor, wherein the target frequency angle information is the motor angle corresponding to the target frequency;

[0061] Exemplarily, the target motor is the motor to be controlled, the electrical angle information is the angle C_theta_e between the motor rotor magnetic field d-axis and the A-axis, the three-phase current information refers to Ia, Ib and Ic, and the target frequency angle information C_theta_e_0 can be calculated from the target frequency f0. Specifically, the angular velocity w0=2*π*f0, and the target frequency is the frequency corresponding to the harmonic that needs to be controlled.

[0062] S120, determining first reference angle information and second reference angle information based on the electrical angle information and the target frequency angle information;

[0063] Exemplarily, two reference angle information, namely, first reference angle information and second reference angle information, are determined according to the electrical angle information and the target frequency angle information. The first reference angle information and the second reference angle information may be the sum, difference, product, quotient or other calculation results of the electrical angle information and the target frequency angle information.

[0064] S130, determining a target voltage based on the first reference angle information, the second reference angle information, the three-phase current information, the electrical angle information, the harmonic given current information and the torque given current information;

[0065] Exemplarily, based on the acquisition of the first reference angle information and the second reference angle, the control voltage of the motor is readjusted according to the three-phase current information, the electrical angle information, and the harmonic given current information and the torque given current information, and the adjusted voltage is used as the target voltage. It should be noted that the harmonic given current information is the harmonic current generated by the bus-end harmonics. The harmonic given current is generally 0, and the harmonic given current can also be set to other values ​​other than 0. The method proposed in this application is mainly to suppress the bus-end harmonics.

[0066] S140, controlling the target motor to operate based on the target voltage.

[0067] Exemplarily, the target motor is controlled to operate according to the target voltage obtained in step S130, so as to achieve the purpose of suppressing the harmonics of the target motor.

[0068] In summary, the method provided in the embodiment of the present application obtains the electrical angle information, target frequency angle information and three-phase current information of the target motor, and determines the first reference angle information and the second reference angle information according to the electrical angle information and the target frequency angle information, and determines the target voltage based on the first reference angle information, the second reference angle information, the three-phase current information, the electrical angle information, the harmonic given current information and the torque given current information, and controls the target motor by adjusting the target voltage, thereby eliminating the current harmonic problem caused by bus voltage fluctuations and achieving the effect of reducing motor noise. Other harmonic components generated by the bus voltage can be processed in the same way, and the scheme can also be extended to the automotive motor drive system, providing a feasible solution for electric vehicles to reduce the noise caused.

[0069] In some examples, determining the first reference angle information and the second reference angle information based on the electrical angle information and the target frequency angle information includes:

[0070] Determine the sum of the electrical angle information and the target frequency angle as the first reference angle information;

[0071] The difference between the electrical angle information and the target frequency angle is determined as the second reference angle information.

[0072] For example, Figure 2 and Figure 3 As shown, the electrical angle information C_theta_e_0 is summed with the target frequency angle information C_theta_e to obtain the first reference angle information theta300, and the electrical angle information C_theta_e_0 is summed with the target frequency angle information C_theta_e to obtain the second reference angle information theta300N.

[0073] In some examples, determining the target voltage based on the first reference angle information, the second reference angle information, the three-phase current information, the electrical angle information, the harmonic given current information, and the torque given current information includes:

[0074] Determine the current harmonic compensation voltage according to the first reference angle information, the second reference angle information, the three-phase current information and the harmonic given current information;

[0075] Determine the torque voltage according to the three-phase current information, the electrical angle information and the torque given current information;

[0076] The target voltage is determined according to the current harmonic compensation voltage and the torque voltage.

[0077] Exemplarily, the first reference angle information theta300, the second reference angle information theta300N, the three-phase current information Ia, Ib, Ic, and the harmonic given current information Id300_G, Iq300_G, and Id300N_G, Iq300N_G are used to determine the current harmonic compensation voltages Ud300, Uq300, and Ud300N, Uq300N. The three-phase current information Ia, Ib, Ic, the electrical angle information C_theta_e_0, and the torque given current information IdG, IqG are used to determine the torque voltages Ud0, Uq0; the d-axis voltage Udout and the q-axis voltage Uqout are determined according to the current harmonic compensation voltages Id300_G, Iq300_G, Id300N_G, Iq300N_G, and the torque voltages Ud0, Uq0. The d-axis voltage Udout and the q-axis voltage Uqout are subjected to inverse PARK transformation and SVPWM modulation to obtain the target voltages Ua, Ub, and Uc

[0078] In summary, the motor control method provided in the embodiment of the present application takes into account the control of harmonics and torque, and effectively controls harmonic noise while ensuring accurate torque output.

[0079] In some examples, the current harmonic compensation voltage is determined according to the first reference angle information, the second reference angle information, the three-phase current information, and the harmonic given current information, including:

[0080] Obtaining first current information and second current information through PARK transformation according to the first reference angle information, the second reference angle information and the three-phase current information;

[0081] Performing low-pass filtering on the first current information and the second current information to obtain first filtered current information and second filtered current information;

[0082] The current harmonic compensation voltage is determined by performing PI adjustment according to the first filtered current information, the second filtered current information and the harmonic given current information.

[0083] For example, Figure 4 and Figure 5 As shown, the first current information Id300, Iq300 and the second current information Id300N, Iq300N are obtained through PARK transformation according to the first reference angle information theta300, the second reference angle information theta300N and the three-phase current information Ia, Ib, Ic; as shown Figure 6 and Figure 7 As shown, the first current information Id300, Iq300 and the second current information Id300N, Iq300N are low-pass filtered to obtain the first filtered current information Id300_LF, Iq300_LF and the second filtered current information Id300N_LF, Iq300N_LF; according to the first filtered current information Id300_LF, Iq300_LF, the second filtered current information Id300N_LF, Iq300N_LF and the harmonic given current information Id300_G, Iq300_G and Id300N_G, Iq300N_G, PI adjustment is performed to determine the current harmonic compensation voltages Ud300, Uq300 and Ud300N, Uq300N.

[0084] In some examples, the current harmonic compensation voltage includes a first current harmonic compensation voltage and a second current harmonic compensation voltage;

[0085] The above-mentioned PI adjustment is performed according to the above-mentioned first filtered current information, the above-mentioned second filtered current information and the above-mentioned harmonic given current information to determine the above-mentioned current harmonic compensation voltage, including:

[0086] The difference between the harmonic given current information and the first filtered current information is PI-adjusted to determine the first current harmonic compensation voltage;

[0087] The difference between the above-mentioned harmonic given current information and the above-mentioned second filtered current information is PI-adjusted to determine the above-mentioned second current harmonic compensation voltage.

[0088] For example, Figure 8 and Fig. 9 As shown, the difference between the harmonic given current information Id300_G, Iq300_G and the first filtered current information Id300_LF, Iq300_LF is PI-adjusted to determine the first current harmonic compensation voltage Ud300, Uq300; the difference between the harmonic given current information Id300N_G, Iq300N_G and the second filtered current information Id300N_LF, Iq300N_LF is PI-adjusted to determine the second current harmonic compensation voltage Ud300N, Uq300N.

[0089] In some examples, determining the torque voltage according to the three-phase current information, the electrical angle information, and the torque given current information includes:

[0090] Perform PARK transformation on the three-phase current information and the electrical angle information to obtain reference current information;

[0091] The torque voltage is determined by performing PI regulation based on the difference between the reference current information and the torque given current information.

[0092] For example, Fig.10 As shown, PARK transformation is performed through the three-phase current information Ia, Ib, Ic and the electrical angle information C_theta_e to obtain the reference current information Id0, Iq0; PI adjustment is performed based on the difference between the reference current information Id0, Iq0 and the torque given current information IdG, IqG to determine the torque voltage Ud0, Uq0.

[0093] It should be noted that PARK transformation (Park's Transformation) is the most commonly used coordinate transformation for analyzing the operation of synchronous motors. Park transformation projects the a, b, c three-phase currents of the stator onto the direct axis (d axis) rotating with the rotor, the quadrature axis (q axis) and the zero axis (0 axis) perpendicular to the dq plane, thereby achieving the diagonalization of the stator inductance matrix and simplifying the operation analysis of synchronous motors. That is, the abc coordinate system is transformed into the dq coordinate system.

[0094] In some examples, determining the target voltage according to the current harmonic compensation voltage and the torque voltage includes:

[0095] Determine the sum of the current harmonic compensation voltage and the torque voltage as a preset target voltage;

[0096] The preset target voltage is subjected to inverse PARK transformation and SVPWM modulation to obtain the target voltage.

[0097] For example, Fig.11 and 12 As shown, the preset target voltage d-axis voltage Udout = Ud0 + Ud300 + Ud300N, the preset target voltage q-axis voltage Uqout = Uq0 + Uq300 + Uq300N; the above preset target voltages Udout and Uqout are subjected to inverse PARK transformation to obtain the α-axis voltage Uα and the β-axis voltage Uβ; Uα and Uβ are modulated by SVPWM to obtain the output target voltages Ua, Ub, and Uc.

[0098] It should be noted that the anti-Pike transformation is the transformation of the dq coordinate system to the abc coordinate system. The main idea of ​​SVPWM (Space Vector Pulse Width Modulation) is to use the ideal stator flux circle of a three-phase symmetrical motor when it is powered by a three-phase symmetrical sinusoidal voltage as a reference standard, and to make appropriate switches in different switching modes of the three-phase inverter to form a PWM wave, and to track its accurate flux circle with the actual flux vector formed. The traditional SPWM method starts from the perspective of the power supply to generate a sinusoidal power supply with adjustable frequency and voltage, while the SVPWM method considers the inverter system and the asynchronous motor as a whole. The model is relatively simple and is also convenient for real-time control of the microprocessor.

[0099] In some examples, Fig.13 This is a schematic diagram of the effect obtained without using the motor control method in this application. Fig.14 This is a schematic diagram of the effect obtained by adopting the motor control method in this application. In the two figures, the horizontal axis is frequency, the unit is HZ, and the horizontal axis is the percentage of 300HZ harmonics to the fundamental wave. For a motor with a target frequency of 30HZ, it can be seen that the motor control method of this application reduces the motor from 0.397% at 270Hz to 0.00347%, and from 0.401% to 0.000901 at 330Hz. It can be seen that the current harmonic problem caused by bus voltage fluctuation can be eliminated by adopting this method, so as to achieve the effect of reducing motor noise.

[0100] See also Fig.15 , an embodiment of the motor control device in the embodiment of the present application may include:

[0101] An acquisition unit 21 is used to acquire electrical angle information, target frequency angle information and three-phase current information of a target motor, wherein the target frequency angle information is the motor angle corresponding to the target frequency;

[0102] A first determining unit 22, configured to determine first reference angle information and second reference angle information based on the electrical angle information and the target frequency angle information;

[0103] A second determination unit 23 is used to determine a target voltage based on the first reference angle information, the second reference angle information, the three-phase current information, the electrical angle information, the harmonic given current information and the torque given current information;

[0104] The control unit 24 is used to control the target motor to operate based on the target voltage.

[0105] like Fig.16 As shown, an embodiment of the present application also provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 320 and executable on the processor, and when the processor 320 executes the computer program 311, the steps of any one of the above-mentioned motor control methods are implemented.

[0106] Since the electronic device introduced in this embodiment is a device used to implement a motor control device in the embodiment of the present application, based on the method introduced in the embodiment of the present application, the technical personnel in this field can understand the specific implementation method of the electronic device of this embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of the present application is not introduced in detail here. As long as the equipment used by the technical personnel in this field to implement the method in the embodiment of the present application is within the scope of protection of this application.

[0107] In the specific implementation process, when the computer program 311 is executed by the processor, it can achieve Figure 3 Any implementation manner in the corresponding embodiments.

[0108] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0109] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0110] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0111] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0112] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0113] The present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device is caused to execute the following Figure 1 The process of the motor control method in the corresponding embodiment.

[0114] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integration. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)), etc.

[0115] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0116] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0117] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0118] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0119] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0120] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A motor control method, characterized in that: include: Obtaining electrical angle information, target frequency angle information, and three-phase current information of a target motor, wherein the target frequency angle information is the motor angle corresponding to the target frequency; Determining first reference angle information and second reference angle information based on the electrical angle information and the target frequency angle information includes: determining the sum of the electrical angle information and the target frequency angle as the first reference angle information; determining the difference between the electrical angle information and the target frequency angle as the second reference angle information; Determining a target voltage based on the first reference angle information, the second reference angle information, the three-phase current information, the electrical angle information, the harmonic given current information and the torque given current information includes: determining a current harmonic compensation voltage based on the first reference angle information, the second reference angle information, the three-phase current information and the harmonic given current information; determining a torque voltage based on the three-phase current information, the electrical angle information and the torque given current information; determining the target voltage based on the current harmonic compensation voltage and the torque voltage; wherein, determining a current harmonic compensation voltage based on the first reference angle information, the second reference angle information, the three-phase current information and the harmonic given current information includes: obtaining first current information and second current information through PARK transformation based on the first reference angle information, the second reference angle information and the three-phase current information; performing low-pass filtering on the first current information and the second current information to obtain first filtered current information and second filtered current information; performing PI regulation based on the first filtered current information, the second filtered current information and the harmonic given current information to determine the current harmonic compensation voltage; The target motor operation is controlled based on the target voltage.

2. The method according to claim 1, characterized in that The current harmonic compensation voltage includes a first current harmonic compensation voltage and a second current harmonic compensation voltage; The method of performing PI regulation according to the first filtered current information, the second filtered current information and the harmonic given current information to determine the current harmonic compensation voltage includes: Performing PI adjustment on the difference between the harmonic given current information and the first filtered current information to determine the first current harmonic compensation voltage; The difference between the harmonic given current information and the second filtered current information is PI-adjusted to determine the second current harmonic compensation voltage.

3. The method according to claim 1, characterized in that The determining of the torque voltage according to the three-phase current information, the electrical angle information and the torque given current information comprises: Performing PARK transformation on the three-phase current information and the electrical angle information to obtain reference current information; The torque voltage is determined by performing PI regulation based on the difference between the reference current information and the torque given current information.

4. The method according to claim 1, characterized in that The determining the target voltage according to the current harmonic compensation voltage and the torque voltage comprises: Determining the sum of the current harmonic compensation voltage and the torque voltage as a preset target voltage; The preset target voltage is subjected to inverse PARK transformation and SVPWM modulation to obtain the target voltage.

5. A motor control device, characterized in that: include: An acquisition unit, used to acquire electrical angle information, target frequency angle information and three-phase current information of a target motor, wherein the target frequency angle information is the motor angle corresponding to the target frequency; A first determining unit, configured to determine first reference angle information and second reference angle information based on the electrical angle information and the target frequency angle information, comprising: determining the sum of the electrical angle information and the target frequency angle as the first reference angle information; and determining the difference between the electrical angle information and the target frequency angle as the second reference angle information; The second determination unit is used to determine the target voltage based on the first reference angle information, the second reference angle information, the three-phase current information, the electrical angle information, the harmonic given current information and the torque given current information, including: determining the current harmonic compensation voltage according to the first reference angle information, the second reference angle information, the three-phase current information and the harmonic given current information; determining the torque voltage according to the three-phase current information, the electrical angle information and the torque given current information; determining the target voltage according to the current harmonic compensation voltage and the torque voltage; wherein, determining the current harmonic compensation voltage according to the first reference angle information, the second reference angle information, the three-phase current information and the harmonic given current information includes: obtaining the first current information and the second current information through PARK transformation according to the first reference angle information, the second reference angle information and the three-phase current information; performing low-pass filtering on the first current information and the second current information to obtain the first filtered current information and the second filtered current information; performing PI regulation according to the first filtered current information, the second filtered current information and the harmonic given current information to determine the current harmonic compensation voltage; A control unit is used to control the target motor to operate based on the target voltage.

6. An electronic device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is used to implement the steps of the motor control method as described in any one of claims 1 to 4 when executing the computer program stored in the memory.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the motor control method according to any one of claims 1 to 4 is implemented.

Images