A motor drive control method, system, device and readable storage medium

Abstract

The application discloses a motor driving control method, system and device, and a readable storage medium. The method comprises the following steps: acquiring frequency converter current data, motor speed data and motor position data; inputting the frequency converter current data and the motor position data into a hardware conversion circuit to obtain a current D-axis component and a current Q-axis component; inputting the motor speed data, the motor position data, the current D-axis component and the current Q-axis component into the hardware conversion circuit to obtain a voltage alpha-axis component and a voltage beta-axis component; generating a frequency converter control modulation wave according to the voltage alpha-axis component and the voltage beta-axis component, and sending the frequency converter control modulation wave to the frequency converter. The motor driving control method can improve the operation speed of the motor driving control system and improve the performance of the motor driving control system.

Description

TECHNICAL FIELD

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

[0002] The existing motor vector control algorithm is realized by developing algorithm software in a dedicated micro control unit, and the algorithm software runs in the central processor of the micro control unit. In the motor vector control algorithm, complex operations of various data are involved. In actual application, the central processor not only needs to run the algorithm software of the motor vector control algorithm, but also needs to control the digital-to-analog conversion unit for current sampling, control the space vector pulse width modulation unit to generate a modulation waveform, etc. Therefore, a large amount of central processor running time is occupied, which reduces the performance of the motor drive control system. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a motor drive control method, which can improve the running speed of the motor drive control system and improve the performance of the motor drive control system.

[0004] The present application also provides a motor drive control system, device and computer readable storage medium.

[0005] The motor drive control method according to the first aspect embodiment of the present application comprises the following steps:

[0006] Obtaining frequency converter current data, motor speed data and motor position data;

[0007] Inputting the frequency converter current data and the motor position data into a hardware conversion circuit to obtain a current D-axis component and a current Q-axis component;

[0008] Inputting the motor speed data, the motor position data, the current D-axis component and the current Q-axis component into the hardware conversion circuit to obtain a voltage α-axis component and a voltage β-axis component;

[0009] Generating a frequency converter control modulation wave according to the voltage α-axis component and the voltage β-axis component, and sending the frequency converter control modulation wave to a frequency converter.

[0010] The motor drive control method according to the embodiment of the present application has at least the following beneficial effects:

[0011] The output information of the motor frequency converter can be obtained by acquiring the frequency converter current data, the motor speed data and the motor position data, the current D-axis component and the current Q-axis component can be obtained by inputting the frequency converter current data and the motor position data into the hardware conversion circuit, and the motor driving state feedback quantity can be obtained by performing data operation through hardware. The motor speed data, the motor position data, the current D-axis component and the current Q-axis component are input into the hardware conversion circuit to obtain the voltage alpha-axis component and the voltage beta-axis component, and the error between the motor driving state feedback quantity and the target value can be dynamically adjusted through hardware. After the operation of the hardware conversion circuit is completed, the operation result of the hardware conversion circuit is called, and the frequency converter control modulation wave is generated according to the voltage alpha-axis component and the voltage beta-axis component through software, so as to drive and control the frequency converter. The operation of the data of part of the motor vector control process is performed through the hardware conversion circuit, the operation load of the central processing unit is reduced, and the operation speed of the motor driving control system is accelerated. The motor driving control method of the embodiment of the application realizes motor driving control through the combination of software and hardware, can improve the operation speed of the motor driving control system, and improves the performance of the motor driving control system.

[0012] According to some embodiments of the application, the hardware conversion circuit comprises a multiplier and a Park converter; and the inputting of the frequency converter current data and the motor position data into the hardware conversion circuit to obtain the current D-axis component and the current Q-axis component comprises the following steps:

[0013] The frequency converter current data is input into a Clarke conversion sub-hardware operation unit to obtain the current alpha-axis component and the current beta-axis component, and a first operation result identifier is generated, and the Clarke conversion sub-hardware operation unit is obtained by using the multiplier;

[0014] In response to the first operation result identifier, the current alpha-axis component and the current beta-axis component are obtained according to the first operation result identifier;

[0015] The current alpha-axis component, the current beta-axis component and the motor position data are input into the Park converter to obtain the current D-axis component and the current Q-axis component.

[0016] According to some embodiments of the application, the inputting of the frequency converter current data into the Clarke conversion sub-hardware operation unit to obtain the current alpha-axis component and the current beta-axis component, and the generation of the first operation result identifier comprises the following steps:

[0017] The frequency converter current data is input into the Clarke conversion sub-hardware operation unit to obtain the current alpha-axis component and the current beta-axis component;

[0018] The current α-axis component and the current β-axis component are saved into registers of the Clarke transformation sub-hardware operation unit, and the first operation result identifier is generated.

[0019] According to some embodiments of the present application, the hardware transformation circuit further comprises a divider and a square root circuit; the inputting the motor speed data, the motor position data, the current D-axis component and the current Q-axis component into the hardware transformation circuit to obtain a voltage α-axis component and a voltage β-axis component comprises the following steps:

[0020] The motor speed data is inputted into a PI regulation sub-hardware operation unit after being subtracted from a preset reference speed value, to obtain a current Q-axis reference value, and a second operation result identifier is generated, which is obtained by the PI regulation sub-hardware operation unit using the divider, the multiplier and the square root circuit;

[0021] In response to the second operation result identifier, the current Q-axis reference value is obtained according to the second operation result identifier;

[0022] The current Q-axis reference value is inputted into the PI regulation sub-hardware operation unit after being subtracted from the current Q-axis component, to obtain a voltage Q-axis component, and the second operation result identifier is updated;

[0023] In response to the second operation result identifier, the voltage Q-axis component is obtained according to the second operation result identifier;

[0024] A preset current D-axis reference value is inputted into the PI regulation sub-hardware operation unit after being subtracted from the current D-axis component, to obtain a voltage D-axis component, and the second operation result identifier is updated;

[0025] In response to the second operation result identifier, the voltage D-axis component is obtained according to the second operation result identifier;

[0026] The voltage Q-axis component, the voltage D-axis component and the motor position data are inputted into the Park transformer to obtain the voltage α-axis component and the voltage β-axis component.

[0027] According to some embodiments of the present application, the hardware transformation circuit further comprises an inverse tangent operator; the motor drive control method further comprises the following steps:

[0028] The voltage α-axis component, the voltage β-axis component, the current α-axis component and the current β-axis component are input into a position and speed estimator hardware operation unit to obtain estimated speed data and estimated position data, and a third operation result identifier is generated; the estimated speed data is used to update the motor speed data, and the estimated position data is used to update the motor position data, and the position and speed estimator hardware operation unit is obtained by using the multiplier, the divider, the arctangent operator and the square root circuit;

[0029] In response to the third operation result identifier, the estimated speed data and the estimated position data are obtained according to the third operation result identifier.

[0030] The motor drive control system according to the second aspect of the present application comprises:

[0031] A data acquisition unit is configured to acquire frequency converter current data, motor speed data and motor position data.

[0032] A first operation unit is configured to input the frequency converter current data and the motor position data into a hardware conversion circuit to obtain a current D-axis component and a current Q-axis component.

[0033] A second operation unit is configured to input the motor speed data, the motor position data, the current D-axis component and the current Q-axis component into the hardware conversion circuit to obtain a voltage α-axis component and a voltage β-axis component.

[0034] A control modulation wave generation unit is configured to generate a frequency converter control modulation wave according to the voltage α-axis component and the voltage β-axis component, and send the frequency converter control modulation wave to a frequency converter.

[0035] The motor drive control system according to the present application has at least the following beneficial effects:

[0036] The frequency converter current data, the motor speed data and the motor position data are acquired by the data acquisition unit, so that the output information of the frequency converter of the motor can be obtained, the frequency converter current data and the motor position data are input into the hardware conversion circuit by the first operation unit, so that the current D-axis component and the current Q-axis component can be obtained, and the motor driving state feedback can be obtained by hardware operation. The motor speed data, the motor position data, the current D-axis component and the current Q-axis component are input into the hardware conversion circuit by the second operation unit, so that the voltage α-axis component and the voltage β-axis component can be obtained, and the error between the motor driving state feedback and the target value can be dynamically adjusted by hardware. After the operation of the hardware conversion circuit is completed, the operation result of the hardware conversion circuit is called by the control modulation wave generation unit, the frequency converter control modulation wave is generated according to the voltage α-axis component and the voltage β-axis component by software, so that the frequency converter is driven and controlled. The data of part of the motor vector control process is operated by the hardware conversion circuit, the operation load of the central processing unit is reduced, and the operation speed of the motor driving control system is accelerated. The motor driving control system of the embodiment of the application realizes motor driving control by the combination of software and hardware, can improve the operation speed of the motor driving control system, and improves the performance of the motor driving control system.

[0037] According to some embodiments of the application, the motor driving control device further comprises an operation result polling unit configured to acquire an operation result identifier of the hardware conversion circuit.

[0038] According to the third aspect of the application, the motor driving control device comprises:

[0039] The sampling unit is configured to acquire frequency converter current data, motor speed data and motor position data.

[0040] The hardware conversion circuit is configured to receive the frequency converter current data and the motor position data and output a current D-axis component and a current Q-axis component, and receive the motor speed data, the motor position data, the current D-axis component and the current Q-axis component and output a voltage α-axis component and a voltage β-axis component.

[0041] The master control unit is configured to execute the motor driving control method according to the first aspect of the application.

[0042] According to the motor driving control device of the application, at least the following beneficial effects can be achieved:

[0043] The frequency converter current data, motor speed data and motor position data can be acquired by the sampling unit, and the output information of the motor frequency converter is obtained, the current D-axis component and the current Q-axis component are obtained by inputting the frequency converter current data and the motor position data into the hardware conversion circuit, and the motor driving state feedback quantity can be obtained by hardware data operation. The motor speed data, motor position data, current D-axis component and current Q-axis component are input into the hardware conversion circuit, and the voltage alpha-axis component and the voltage beta-axis component are obtained, and the error between the motor driving state feedback quantity and the target value can be dynamically adjusted by hardware. After the hardware conversion circuit operation is completed, the main control unit calls the operation result of the hardware conversion circuit, and the frequency converter control modulation wave is generated according to the voltage alpha-axis component and the voltage beta-axis component through software, so as to drive and control the frequency converter. The hardware conversion circuit is used to operate part of the motor vector control process data, so as to reduce the operation load of the central processing unit and accelerate the operation speed of the motor driving control system. The motor driving control method of the embodiment of the application realizes motor driving control by combining software and hardware, can improve the operation speed of the motor driving control system and improve the performance of the motor driving control system.

[0044] According to some embodiments of the application, the hardware conversion circuit comprises a divider, a multiplier, an inverse tangent operator, a Park converter and a square root circuit.

[0045] The computer readable storage medium according to the fourth aspect of the embodiment of the application stores computer executable instructions for executing the motor driving control method according to the first aspect of the embodiment. Since the computer readable storage medium adopts all the technical solutions of the motor driving control method according to the above embodiments, it has all the beneficial effects brought by the technical solutions of the above embodiments.

[0046] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the following description, or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0047] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0048] Figure 1 is a control principle block diagram of FOC of the embodiment of the application;

[0049] Figure 2 is a system block diagram of the motor driving control device of the embodiment of the application;

[0050] Figure 3 is a corresponding diagram of the hardware conversion circuit and the FOC control algorithm core of the embodiment of the application;

[0051] Figure 4 is a flowchart of a motor drive control method of an embodiment of the present application.

[0052] Reference Signs:

[0053] a sampling unit 100;

[0054] a hardware conversion circuit 200, a divider 210, a multiplier 220, an arctangent operator 230, a Park converter 240, a square root circuit 250;

[0055] a main control unit 300. DETAILED DESCRIPTION

[0056] Embodiments of the present application will be described in detail below with reference to the drawings, examples of which are shown in the accompanying drawings, in which the same or similar components are denoted by the same or similar reference numerals throughout. The embodiments described below by reference to the drawings are exemplary and are for the purpose of explanation only and are not to be understood as limiting the present application.

[0057] In the description of the present application, if there is a description to first, second, etc., it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the order of the indicated technical features.

[0058] In the description of the present application, it is to be understood that the orientation description, such as up, down, etc., indicates the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the purpose of facilitating the description of the present application and simplifying the description, and is not to indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0059] In the description of the present application, it is to be understood that the words such as setting, mounting, connecting, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0060] FOC (field-oriented control) is a magnetic field-oriented control, also known as vector control, which is a technology for controlling a three-phase motor using a frequency converter. The output of the frequency converter is adjusted in terms of frequency, output voltage size and rotation angle to control the output of the motor. The control principle block diagram of FOC is as follows: Figure 1As shown, in the FOC control algorithm, firstly, the speed, position, current size and other information of the motor rotor need to be obtained, and then a series of mathematical operations are performed to obtain the motor driving state feedback, and then the error between the motor driving state feedback and the target value is dynamically adjusted, and finally the three-phase sine wave is output to drive the motor to rotate.

[0061] The existing technical means is to develop FOC control algorithm software in a dedicated micro control unit (MCU). The software runs in the central processing unit (CPU) of the MCU. In actual application, the CPU needs to run the FOC control algorithm software, and also needs to control the digital-to-analog conversion unit for current sampling, control the space vector pulse width modulation unit to generate the modulation waveform, etc. However, the FOC control algorithm involves complex operations of multiple data, including square root, division, multiplication, coordinate transformation, etc. If all the operations are performed by software, it will occupy a lot of CPU running time, resulting in reduced performance of the motor driving control system.

[0062] Based on this, the motor driving control method, system, device and readable storage medium provided by the embodiments of the present application realize the FOC control algorithm in a combination of software and hardware, which can improve the running speed of the motor driving control system and improve the performance of the motor driving control system. It should be noted that the same idea can also be used to realize other algorithms or control methods, and the FOC control algorithm cannot be regarded as a limitation of the present application.

[0063] The motor driving control method and device provided by the embodiments of the present application include a sampling unit 100, a hardware conversion circuit 200 and a main control unit 300. The sampling unit 100 is used to collect frequency converter current data, motor speed data and motor position data. The hardware conversion circuit 200 is used to receive the frequency converter current data and the motor position data and output the current D-axis component and the current Q-axis component, and receive the motor speed data, the motor position data, the current D-axis component and the current Q-axis component and output the voltage α-axis component and the voltage β-axis component. The main control unit 300 is used to execute the motor driving control method of the embodiments of the present application.

[0064] The motor driving control method of the embodiments of the present application will be described in detail below. Figures 1 to 4 The motor driving control method of the embodiments of the present application will be described in detail below.

[0065] The motor driving control method according to the first aspect of the embodiments of the present application comprises the following steps:

[0066] Obtain the frequency converter current data, the motor speed data and the motor position data.

[0067] The frequency converter current data and the motor position data are input into the hardware conversion circuit 200 to obtain a current D-axis component and a current Q-axis component.

[0068] The motor speed data, the motor position data, the current D-axis component and the current Q-axis component are input into the hardware conversion circuit 200 to obtain a voltage α-axis component and a voltage β-axis component.

[0069] A frequency converter control modulation wave is generated according to the voltage α-axis component and the voltage β-axis component, and the frequency converter control modulation wave is sent to the frequency converter.

[0070] The frequency converter current data is obtained after being collected by the sampling unit 100 and being subjected to analog-digital conversion. There are two cases for determining the motor speed data and the motor position data: with a sensor and without a sensor. For the case with a sensor, the motor sensor (generally an encoder) can feed back the position information of the motor rotor, so that the motor speed data and the motor position data can be directly detected, and the control is relatively simple compared with the case without a sensor, but the requirement for the control performance is higher for the application of the motor with a sensor. For the case without a sensor, the frequency converter current data and the voltage α-axis component and the voltage β-axis component obtained by the motor drive control method of the embodiment of the application are input into the hardware conversion circuit 200 to obtain the motor speed data and the motor position data. It should be noted that the above two methods are both applicable to the motor drive control method of the embodiment of the application, and the specific acquisition mode of the motor speed data and the motor position data cannot be regarded as a limitation of the application.

[0071] The core steps of the FOC control algorithm include Clarke transformation, Park transformation, position and speed estimation, integral adjustment (PI) and Park inverse transformation, etc. After obtaining the frequency converter current data, the motor speed data and the motor position data, the frequency converter current data and the motor position data are input into the hardware conversion circuit 200 to perform data operation by hardware, so as to obtain the current D-axis component and the current Q-axis component corresponding to the Clarke transformation and the Park transformation in the FOC control algorithm. After the operation of the hardware conversion circuit 200 is completed, the main control unit 300 calls the current D-axis component and the current Q-axis component, and inputs the motor speed data, the motor position data, the current D-axis component and the current Q-axis component into the hardware conversion circuit 200 to perform data operation by hardware, so as to obtain the voltage α-axis component and the voltage β-axis component corresponding to the integral adjustment (PI) and the Park inverse transformation in the FOC control algorithm. After the operation of the hardware conversion circuit 200 is completed, the main control unit 300 calls the voltage α-axis component and the voltage β-axis component, and calculates the vector and the sector information of the sub-sectors by the SVPWM algorithm to generate the frequency converter control modulation wave, so as to drive and control the frequency converter.

[0072] It should be noted that the specific working principle and working process of the FOC control algorithm are prior art known to those skilled in the art, and will not be repeated here.

[0073] According to the motor drive control method of the embodiment of the application, the output information of the frequency converter of the motor can be obtained by acquiring the frequency converter current data, the motor speed data and the motor position data, the current D-axis component and the current Q-axis component can be obtained by inputting the frequency converter current data and the motor position data into the hardware conversion circuit 200, and the motor drive state feedback quantity can be obtained by performing data operation through hardware. The motor speed data, the motor position data, the current D-axis component and the current Q-axis component are input into the hardware conversion circuit 200, and the voltage α-axis component and the voltage β-axis component are obtained, so that the error between the motor drive state feedback quantity and the target value can be dynamically adjusted through hardware. After the operation of the hardware conversion circuit 200 is completed, the operation result of the hardware conversion circuit 200 is called, the frequency converter control modulation wave is generated according to the voltage α-axis component and the voltage β-axis component through software, and the frequency converter is driven and controlled. The operation of the data of part of the motor vector control process through the hardware conversion circuit 200 reduces the operation load of the central processing unit and accelerates the operation speed of the motor drive control system. The motor drive control method of the embodiment of the application realizes motor drive control through the combination of software and hardware, can improve the operation speed of the motor drive control system and improve the performance of the motor drive control system.

[0074] In some embodiments of the application, the reference Figures 1 to 3 The hardware conversion circuit 200 includes a multiplier 220 and a Park converter 240; the frequency converter current data and the motor position data are input into the hardware conversion circuit 200 to obtain the current D-axis component and the current Q-axis component, including the following steps:

[0075] The frequency converter current data is input into the Clarke conversion sub-hardware operation unit to obtain the current α-axis component and the current β-axis component, and a first operation result identifier is generated, and the Clarke conversion sub-hardware operation unit is obtained by using the multiplier 220;

[0076] In response to the first operation result identifier, the current α-axis component and the current β-axis component are obtained according to the first operation result identifier;

[0077] The current α-axis component, the current β-axis component and the motor position data are input into the Park converter 240 to obtain the current D-axis component and the current Q-axis component.

[0078] The inverter current data is two-phase current in the output current of the inverter, denoted as phase-a current and phase-b current. The inverter current data is input into the Clarke transformation sub-hardware operation unit to perform multiplication operation, and the first operation result is denoted as the operation result identifier of the multiplier 220. After polling the operation result identifier of the multiplier 220, the main control unit 300 obtains the multiplication operation result in the register of the multiplier 220, and obtains the current α-axis component and the current β-axis component corresponding to the Clarke transformation in the FOC control algorithm. The main control unit 300 inputs the current α-axis component, the current β-axis component and the motor position data into the Park transformer 240 to perform Park transformation operation, and obtains the current D-axis component and the current Q-axis component corresponding to the Park transformation in the FOC control algorithm. The hardware transformation circuit 200 is used to perform data operation on part of the process in the FOC control algorithm, so that the operation load of the central processing unit is reduced, and the operation speed of the motor drive control system is accelerated.

[0079] It should be noted that the Clarke transformation sub-hardware operation unit is obtained by using the multiplier 220, and does not mean that the Clarke transformation sub-hardware operation unit only includes the multiplier 220. The Clarke transformation sub-hardware operation unit can be obtained by other circuit structures and the multiplier 220 together. The multiplier 220 mainly participates in the multiplication operation in the Clarke transformation, and the specific structure of the Clarke transformation sub-hardware operation unit cannot be regarded as a limitation of the present application.

[0080] In some embodiments, after inputting the current α-axis component, the current β-axis component and the motor position data into the Park transformer 240 to obtain the current D-axis component and the current Q-axis component, the main control unit 300 polls the fourth operation result identifier of the Park transformer 240. If the fourth operation result identifier is 1, it indicates that the operation is completed, and the main control unit 300 can obtain the current D-axis component and the current Q-axis component in the register of the Park transformer 240.

[0081] If the first operation result identifier or the fourth operation result identifier obtained by the main control unit 300 is 0, it indicates that the operation is not completed, and then the operation result is obtained after waiting until the first operation result identifier or the fourth operation result identifier is 1. It should be noted that the assignment rule of the operation result identifier is not limited here, as long as it can distinguish the two states of operation completion and operation not completed.

[0082] In some embodiments of the present application, the Clarke transformation sub-hardware operation unit is obtained by referring to Figures 1 to 3 The inverter current data is input into the Clarke transformation sub-hardware operation unit to obtain the current α-axis component and the current β-axis component, and a first operation result identifier is generated, including the following steps:

[0083] The frequency converter current data is input into the Clarke transformation sub-hardware operation unit for operation to obtain a current alpha axis component and a current beta axis component;

[0084] The current alpha axis component and the current beta axis component are stored in the register of the Clarke transformation sub-hardware operation unit, and a first operation result identifier is generated.

[0085] The operation result is stored in the register, so that the main control unit 300 can retrieve the operation result in the register after polling the first operation result identifier of the Clarke transformation sub-hardware operation unit to be 1, and the operation result in the register cannot be retrieved if the first operation result identifier is 0. It should be noted that the working principle of the register is a prior art known to those skilled in the art, and will not be described here.

[0086] In some embodiments of the present application, with reference to Figures 1 to 3 The hardware transformation circuit 200 further comprises a divider 210 and a square root circuit 250; the motor speed data, the motor position data, the current D-axis component and the current Q-axis component are input into the hardware transformation circuit 200 to obtain the voltage alpha axis component and the voltage beta axis component, comprising the following steps:

[0087] The motor speed data is input into the PI adjustment sub-hardware operation unit after being subtracted from the preset reference speed value to obtain a current Q-axis reference value, and a second operation result identifier is generated, which is obtained by the PI adjustment sub-hardware operation unit using the divider 210, the multiplier 220 and the square root circuit 250;

[0088] In response to the second operation result identifier, the current Q-axis reference value is obtained according to the second operation result identifier;

[0089] The current Q-axis reference value is input into the PI adjustment sub-hardware operation unit after being subtracted from the current Q-axis component to obtain a voltage Q-axis component, and the second operation result identifier is updated;

[0090] In response to the second operation result identifier, the voltage Q-axis component is obtained according to the second operation result identifier;

[0091] The preset current D-axis reference value is input into the PI adjustment sub-hardware operation unit after being subtracted from the current D-axis component to obtain a voltage D-axis component, and the second operation result identifier is updated;

[0092] In response to the second operation result identifier, the voltage D-axis component is obtained according to the second operation result identifier;

[0093] The voltage Q-axis component, the voltage D-axis component and the motor position data are input into the Park transformer 240 to obtain the voltage alpha axis component and the voltage beta axis component.

[0094] The main control unit 300 inputs the difference between the motor speed data and the preset reference speed value into the PI regulator hardware operation unit obtained by using the divider 210, the multiplier 220 and the square root circuit 250 to perform operation, and the second operation result is marked as the operation result mark of the divider 210, the multiplier 220 or the square root circuit 250. After the divider 210, the multiplier 220 and the square root circuit 250 respectively complete operation, the corresponding operation result mark is generated. After the main control unit 300 polls the operation result marks of the divider 210, the multiplier 220 and the square root circuit 250 respectively to 1, the operation result in the corresponding register is called to obtain the corresponding current Q-axis reference value after PI regulation in the FOC control algorithm. The main control unit 300 controls the difference between the current Q-axis reference value and the current Q-axis component to be input into the PI regulator hardware operation unit to obtain the corresponding voltage Q-axis component after PI regulation in the FOC control algorithm. The main control unit 300 controls the difference between the preset current D-axis reference value and the current D-axis component to be input into the PI regulator hardware operation unit to obtain the corresponding voltage D-axis component after PI regulation in the FOC control algorithm. After obtaining the voltage Q-axis component and the voltage D-axis component through hardware operation, the main control unit 300 inputs the voltage Q-axis component, the voltage D-axis component and the motor position data into the Park converter 240 to obtain the corresponding voltage α-axis component and the voltage β-axis component after Park inverse conversion in the FOC control algorithm. The hardware conversion circuit 200 is used to perform data operation on part of the process in the FOC control algorithm, and the operation load of the central processing unit is reduced through the combination of software and hardware, and the operation speed of the motor drive control system is accelerated.

[0095] It should be noted that the PI regulator hardware operation unit is obtained by using the divider 210, the multiplier 220 and the square root circuit 250, and does not mean that the PI regulator hardware operation unit only includes the divider 210, the multiplier 220 and the square root circuit 250. The PI regulator hardware operation unit can be obtained by other circuit structures and the divider 210, the multiplier 220 and the square root circuit 250 together. The divider 210 mainly participates in the division operation in PI regulation, the multiplier 220 mainly participates in the multiplication operation in PI regulation, and the square root circuit 250 mainly participates in the square root operation in PI regulation. The specific structure of the PI regulator hardware operation unit cannot be regarded as a limitation of the present application.

[0096] In some embodiments of the present application, the reference Figures 1 to 3 The motor drive control method further comprises the following steps:

[0097] The voltage α-axis component, the voltage β-axis component, the current α-axis component and the current β-axis component are input into the position and speed estimator hardware operation unit to obtain estimated speed data and estimated position data, and a third operation result identifier is generated; the estimated speed data is used to update the motor speed data, and the estimated position data is used to update the motor position data, and the position and speed estimator hardware operation unit is obtained by using the multiplier 220, the divider 210, the inverse tangent operator 230 and the square root circuit 250;

[0098] In response to the third operation result identifier, the estimated speed data and the estimated position data are obtained according to the third operation result identifier.

[0099] There are two cases for determining the motor speed data and the motor position data: with sensor and without sensor. For the case with sensor, the motor speed data and the motor position data can be directly detected because the sensor (generally an encoder) of the motor can feed back the position information of the motor rotor, and the control is relatively simple compared with the case without sensor, but the requirement for the control performance is higher for the motor with sensor. For the case without sensor, the estimated speed data and the estimated position data are obtained by hardware operation through inputting the current α-axis component, the current β-axis component, the voltage α-axis component and the voltage β-axis component obtained in the last time according to the motor drive control method of the embodiment of the application into the position and speed estimator hardware operation unit obtained by using the multiplier 220, the divider 210, the inverse tangent operator 230 and the square root circuit 250, and the estimated speed data and the estimated position data are used to update the motor speed data and the motor position data for the next time of closed-loop control. It should be noted that the above two methods are both applicable to the motor drive control method of the embodiment of the application, and the specific acquisition mode of the motor speed data and the motor position data cannot be regarded as a limitation of the application.

[0100] It should be noted that the position and speed estimator hardware operation unit is obtained by using the multiplier 220, the divider 210, the inverse tangent operator 230 and the square root circuit 250, which does not mean that the position and speed estimator hardware operation unit only includes the multiplier 220, the divider 210, the inverse tangent operator 230 and the square root circuit 250, but can be other circuit structures and the multiplier 220, the divider 210, the inverse tangent operator 230 and the square root circuit 250 jointly participate in obtaining the position and speed estimator hardware operation unit, the multiplier 220 mainly participates in the multiplication operation in the position and speed estimation, the divider 210 mainly participates in the division operation in the position and speed estimation, the inverse tangent operator 230 mainly participates in the inverse tangent operation in the position and speed estimation, and the square root circuit 250 mainly participates in the square root operation in the position and speed estimation, and the specific structure of the position and speed estimator hardware operation unit cannot be regarded as a limitation of the application.

[0101] After the above description, in order to better reflect the advantages of the motor drive control method of the embodiment of the application, the following will be described through a specific example, and the motor drive control method of the embodiment of the application specifically includes but is not limited to the following steps:

[0102] The frequency converter current data is input into the Clarke conversion sub-hardware operation unit for operation to obtain the current alpha axis component and the current beta axis component, and the Clarke conversion sub-hardware operation unit utilizes the multiplier 220 to obtain the current alpha axis component and the current beta axis component;

[0103] The current alpha axis component and the current beta axis component are saved into the register of the Clarke conversion sub-hardware operation unit, and the first operation result identifier is generated;

[0104] In response to the first operation result identifier, the current alpha axis component and the current beta axis component are obtained from the register of the Clarke conversion sub-hardware operation unit according to the first operation result identifier;

[0105] The current alpha axis component, the current beta axis component and the motor position data are input into the Park converter 240 to obtain the current D-axis component and the current Q-axis component, and the fourth operation result identifier is generated;

[0106] In response to the fourth operation result identifier, the current D-axis component and the current Q-axis component are obtained according to the fourth operation result identifier;

[0107] The motor speed data is input into the PI adjustment sub-hardware operation unit after being subtracted from the preset reference speed value to obtain the current Q-axis reference value, and the second operation result identifier is generated, and the PI adjustment sub-hardware operation unit utilizes the divider 210, the multiplier 220 and the square root circuit 250 to obtain the current Q-axis reference value;

[0108] In response to the second operation result identifier, the current Q-axis reference value is obtained according to the second operation result identifier;

[0109] The current Q-axis reference value and the current Q-axis component are input into the PI adjustment sub-hardware operation unit after being subtracted to obtain the voltage Q-axis component, and the second operation result identifier is updated;

[0110] In response to the second operation result identifier, the voltage Q-axis component is obtained according to the second operation result identifier;

[0111] The preset current D-axis reference value and the current D-axis component are input into the PI adjustment sub-hardware operation unit after being subtracted to obtain the voltage D-axis component;

[0112] In response to the second operation result identifier, the voltage D-axis component is obtained according to the second operation result identifier;

[0113] The voltage Q-axis component, the voltage D-axis component and the motor position data are input into the Park converter 240 to obtain the voltage alpha-axis component and the voltage beta-axis component, and the second operation result identifier is updated;

[0114] In response to the second operation result identifier, the sector information of the vector and the sub-sectors thereof is calculated according to the voltage alpha-axis component, the voltage beta-axis component and the SVPWM algorithm, the inverter control modulation wave is generated, and the inverter control modulation wave is sent to the inverter.

[0115] The motor drive control method of the embodiment of the present application can obtain the output information of the inverter of the motor by obtaining the inverter current data, the motor speed data and the motor position data, can realize the data operation by hardware to obtain the motor drive state feedback by inputting the inverter current data and the motor position data into the hardware conversion circuit 200 to obtain the current D-axis component and the current Q-axis component. The voltage alpha-axis component and the voltage beta-axis component can be obtained by inputting the motor speed data, the motor position data, the current D-axis component and the current Q-axis component into the hardware conversion circuit 200, and the error between the motor drive state feedback and the target value can be dynamically adjusted by hardware. After the operation of the hardware conversion circuit 200 is completed, the operation result of the hardware conversion circuit 200 is retrieved, the inverter control modulation wave is generated according to the voltage alpha-axis component and the voltage beta-axis component by software, and thus the inverter is driven and controlled. The operation load of the central processing unit is reduced and the operation speed of the motor drive control system is accelerated by operating part of the data of the motor vector control process by the hardware conversion circuit 200. The motor drive control method of the embodiment of the present application realizes the motor drive control by the combination of software and hardware, can improve the operation speed of the motor drive control system and improve the performance of the motor drive control system.

[0116] The motor drive control system according to the embodiment of the present application will be described below Figures 1 to 4 The motor drive control system according to the embodiment of the present application will be described below

[0117] The motor drive control system according to the embodiment of the present application will be described below The motor drive control system according to the embodiment of the present application will be described below

[0118] The inverter current data is obtained after being collected by the sampling unit 100 and being analog-digital converted. There are two cases for determining the motor speed data and the motor position data: with sensor and without sensor. For the case with sensor, the motor speed data and the motor position data can be directly detected because the sensor (generally an encoder) of the motor can feedback the position information of the motor rotor, and the control is relatively simple without sensor, but the requirement for the control performance is higher for the application of the motor with sensor. For the case without sensor, the motor speed data and the motor position data are obtained by inputting the inverter current data and the voltage α-axis component and the voltage β-axis component obtained by the motor drive control system of the embodiment of the application into the hardware conversion circuit 200. It should be noted that the above two methods are both applicable to the motor drive control system of the embodiment of the application, and the specific acquisition mode of the motor speed data and the motor position data cannot be regarded as a limitation of the application.

[0119] The core steps of the FOC control algorithm include Clarke transformation, Park transformation, position and speed estimation, integral adjustment (PI) and Park inverse transformation. After obtaining the inverter current data, the motor speed data and the motor position data, the inverter current data and the motor position data are input into the hardware conversion circuit 200, and data operation is performed by hardware to obtain the current D-axis component and the current Q-axis component corresponding to the Clarke transformation and the Park transformation in the FOC control algorithm. After the operation of the hardware conversion circuit 200 is completed, the main control unit 300 calls the current D-axis component and the current Q-axis component, and inputs the motor speed data, the motor position data, the current D-axis component and the current Q-axis component into the hardware conversion circuit 200, and data operation is performed by hardware to obtain the voltage α-axis component and the voltage β-axis component corresponding to the integral adjustment (PI) and the Park inverse transformation in the FOC control algorithm. After the operation of the hardware conversion circuit 200 is completed, the main control unit 300 calls the voltage α-axis component and the voltage β-axis component, and calculates the vector and the sector information of the sub-sector thereof by the SVPWM algorithm to generate the inverter control modulation wave, thereby driving and controlling the inverter.

[0120] It should be noted that the specific working principle and working process of the FOC control algorithm are known prior art for those skilled in the art, and will not be described here.

[0121] The motor drive control system according to the embodiment of the present application obtains the frequency converter current data, the motor speed data and the motor position data through the data acquisition unit, and thus the output information of the frequency converter of the motor can be obtained. The frequency converter current data and the motor position data are input into the hardware conversion circuit 200 through the first operation unit, and thus the current D-axis component and the current Q-axis component can be obtained, and the motor drive state feedback quantity can be obtained through the hardware operation. The motor speed data, the motor position data, the current D-axis component and the current Q-axis component are input into the hardware conversion circuit 200 through the second operation unit, and thus the voltage alpha-axis component and the voltage beta-axis component can be obtained, and the error between the motor drive state feedback quantity and the target value can be dynamically adjusted through the hardware. After the operation of the hardware conversion circuit 200 is completed, the operation result of the hardware conversion circuit 200 is called through the control modulation wave generation unit, and the frequency converter control modulation wave is generated according to the voltage alpha-axis component and the voltage beta-axis component through the software, and thus the frequency converter can be driven and controlled. The data of part of the motor vector control process is operated through the hardware conversion circuit 200, the operation load of the central processing unit is reduced, and the operation speed of the motor drive control system is accelerated. The motor drive control system according to the embodiment of the present application realizes the motor drive control through the combination of the software and the hardware, the operation speed of the motor drive control system can be improved, and the performance of the motor drive control system can be improved.

[0122] In some embodiments of the present application, the operation result polling unit is further included, and the operation result polling unit is used to obtain the operation result identifier of the hardware conversion circuit 200. The hardware conversion circuit 200 includes the divider 210, the multiplier 220, the inverse tangent operator 230, the Park converter 240 and the square root circuit 250, and the divider 210, the multiplier 220, the inverse tangent operator 230, the Park converter 240 and the square root circuit 250 all include registers used to store the operation result, and the divider 210, the multiplier 220, the inverse tangent operator 230, the Park converter 240 and the square root circuit 250 can all generate the operation result identifier. The main control unit 300 inputs the variable data to be operated into the divider 210, the multiplier 220, the inverse tangent operator 230, the Park converter 240 or the square root circuit 250 to perform the operation and store the result in the register, and the operation result polling unit polls the corresponding operation result identifier. If the operation result identifier is 1, it indicates that the operation is completed, and the main control unit 300 can call the operation result in the register to perform the next data operation. It should be noted that the assignment rule of the operation result identifier is not limited herein, and as long as the two states of the completed operation and the uncompleted operation can be distinguished.

[0123] The above will be described in detail below Figures 1 to 4The motor drive control device of the embodiments of the present application is described clearly and completely. Obviously, the following described embodiments are part of the embodiments of the present application, not all the embodiments.

[0124] The motor drive control device according to the third aspect embodiment of the present application comprises a sampling unit 100, a hardware conversion circuit 200 and a master control unit 300. The sampling unit 100 is used to collect frequency converter current data, motor speed data and motor position data. The hardware conversion circuit 200 is used to receive the frequency converter current data and the motor position data and output current D-axis component and current Q-axis component, and receive the motor speed data, the motor position data, the current D-axis component and the current Q-axis component and output voltage α-axis component and voltage β-axis component. The master control unit 300 is used to execute the motor drive control method of the first aspect embodiment.

[0125] The hardware conversion circuit 200 is connected with the master control unit 300 through a peripheral bus. The frequency converter current data is obtained after being collected by the sampling unit 100 and being analog-digital converted. There are two cases for determining the motor speed data and the motor position data: with sensor and without sensor. For the case with sensor, the motor speed data and the motor position data can be directly detected because the sensor (generally encoder) of the motor can feedback the position information of the motor rotor, and the control is relatively simple compared with the case without sensor, but the requirement for the control performance is higher for the motor with sensor. For the case without sensor, the frequency converter current data and the voltage α-axis component and the voltage β-axis component obtained through the motor drive control method of the embodiments of the present application are input into the hardware conversion circuit 200 to obtain the motor speed data and the motor position data. It should be noted that the above two methods are both applicable to the motor drive control method of the embodiments of the present application, and the specific acquisition method of the motor speed data and the motor position data cannot be regarded as the limitation of the present application.

[0126] The core steps of the FOC control algorithm include Clarke transformation, Park transformation, position and speed estimation, integral adjustment (PI) and Park inverse transformation. After obtaining the frequency converter current data, motor speed data and motor position data, the frequency converter current data and the motor position data are input into the hardware transformation circuit 200, and data operation is performed by hardware to obtain the current D-axis component and the current Q-axis component corresponding to the Clarke transformation and the Park transformation in the FOC control algorithm. After the operation of the hardware transformation circuit 200 is completed, the main control unit 300 calls the current D-axis component and the current Q-axis component, and inputs the motor speed data, the motor position data, the current D-axis component and the current Q-axis component into the hardware transformation circuit 200, and data operation is performed by hardware to obtain the voltage α-axis component and the voltage β-axis component corresponding to the integral adjustment (PI) and the Park inverse transformation in the FOC control algorithm. After the operation of the hardware transformation circuit 200 is completed, the main control unit 300 calls the voltage α-axis component and the voltage β-axis component, and calculates the vector and the sector information of the sub-sector by the SVPWM algorithm to generate the frequency converter control modulation wave, thereby driving and controlling the frequency converter.

[0127] It should be noted that the specific working principle and working process of the FOC control algorithm are known prior art to those skilled in the art, and will not be described here.

[0128] According to the motor drive control device provided in the embodiments of the present application, the frequency converter current data, the motor speed data and the motor position data can be obtained by the sampling unit 100, the output information of the frequency converter of the motor is obtained, the current D-axis component and the current Q-axis component are obtained by inputting the frequency converter current data and the motor position data into the hardware transformation circuit 200, and the motor drive state feedback quantity can be obtained by performing data operation by hardware. The motor speed data, the motor position data, the current D-axis component and the current Q-axis component are input into the hardware transformation circuit 200, and the voltage α-axis component and the voltage β-axis component are obtained, and the error between the motor drive state feedback quantity and the target value can be dynamically adjusted by hardware. After the operation of the hardware transformation circuit 200 is completed, the main control unit 300 calls the operation result of the hardware transformation circuit 200, and the frequency converter control modulation wave is generated according to the voltage α-axis component and the voltage β-axis component by software, thereby driving and controlling the frequency converter. The data of part of the motor vector control process is operated by the hardware transformation circuit 200, the running load of the central processing unit is reduced, and the running speed of the motor drive control system is accelerated. The motor drive control method provided in the embodiments of the present application realizes motor drive control by the combination of software and hardware, can improve the running speed of the motor drive control system, and improves the performance of the motor drive control system.

[0129] In some embodiments of the present application, reference is made to Figure 2 and Figure 3The hardware conversion circuit 200 includes a divider 210, a multiplier 220, an arctangent operator 230, a Park converter 240, and a square root circuit 250. The main function of the divider 210 is to implement a division operation of 32-bit signed integers and save the operation result, waiting for the host unit 300 to read the division operation result. The main function of the multiplier 220 is to implement a multiplication operation of 32-bit signed integers and save the operation result, waiting for the host unit 300 to read the multiplication operation result. The main function of the arctangent operator 230 (Cordic) is to implement an angle evaluation operation of coordinate vectors and save the operation result, waiting for the host unit 300 to read the angle operation result. The main function of the Park converter 240 is to implement a Park coordinate transformation evaluation operation of 16-bit signed data and save the operation result, waiting for the host unit 300 to read the Park transformation operation result. The main function of the square root circuit 250 is to implement a square root operation of 32-bit unsigned integers and save the operation result, waiting for the host unit 300 to read the square root operation result. The divider 210, the multiplier 220, the arctangent operator 230, the Park converter 240, and the square root circuit 250 all include registers for storing operation results, and the divider 210, the multiplier 220, the arctangent operator 230, the Park converter 240, and the square root circuit 250 can all generate operation result identifiers. The host unit 300 inputs variable data that needs to be operated into the divider 210, the multiplier 220, the arctangent operator 230, the Park converter 240, or the square root circuit 250 for operation and stores the result in the register. When the operation is completed, the operation result identifier is 1, and when the operation is not completed, the operation result identifier is 0. It should be noted that the assignment rule of the operation result identifier is not limited here, as long as it can distinguish between the two states of operation completion and operation not completed.

[0130] It should be noted that the divider 210, the multiplier 220, the arctangent operator 230, the Park converter 240, and the square root circuit 250 are all prior art and can directly use existing devices, but the specific circuit structure and model are not limited.

[0131] In addition, an embodiment of the present application also provides a control device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor and the memory can be connected through a bus or other means.

[0132] The memory, as a non-transitory computer readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory that is remotely arranged relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0133] The non-transitory software programs and instructions required to implement the motor drive control method of the above-mentioned embodiments are stored in the memory, and when executed by the processor, the motor drive control method in the above-mentioned embodiments is executed.

[0134] The device embodiments described above are only illustrative, and units described as separate components can or can not be physically separated, that is, they can be located in one place, or they can be distributed to multiple network units. According to actual needs, part or all of the modules can be selected to achieve the purpose of the present embodiment.

[0135] In addition, one embodiment of the present application also provides a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are executed by a processor or a controller, so that the above-mentioned processor executes the motor drive control method in the above-mentioned embodiments.

[0136] As will be appreciated by one of ordinary skill in the art, all or some of the steps, systems, and techniques disclosed herein can be embodied in software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application- specific integrated circuit. Such software can be distributed on computer readable media, which can comprise computer storage media (or non-transitory media), and communication media (or transitory media). As will be appreciated by one of ordinary skill in the art, the term computer storage media includes all physical and tangible computer storage media, such as a volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, as will be appreciated by one skilled in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

[0137] The above detailed description of the embodiments of the present application has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the application to the precise form disclosed. Many modifications and variations are possible in light of this disclosure. It is intended that the scope of the application be limited not with this detailed description, but rather by the claims appended hereto.

Claims

1. A motor drive control method characterized by, The method comprises the following steps: Obtaining frequency converter current data, motor speed data and motor position data; The variable frequency converter current data is input into a Clarke transformation sub-hardware operation unit for operation to obtain current α axis components and currents β axis components, which are obtained by the Clarke transformation sub-hardware operation unit using a multiplier of a hardware transformation circuit; The current α The axis component and the current β The axis component is saved into the register of the Clarke transformation sub-hardware operation unit, and a first operation result identifier is generated; In response to the first operation result identifier, the current is acquired according to the first operation result identifier α axis component and the current β axis component; The current α The axis component, the current β The axis component and the motor position data are input into a Park transformer of the hardware conversion circuit to obtain a current D-axis component and a current Q-axis component. The motor speed data is subtracted from a preset reference speed value and input into a PI regulator hardware operation unit to obtain a current Q-axis reference value, and a second operation result identifier is generated, wherein the PI regulator hardware operation unit is obtained by using a divider of the hardware conversion circuit, a multiplier and a square root circuit of the hardware conversion circuit; In response to the second operation result identifier, the current Q-axis reference value is obtained according to the second operation result identifier; The current Q-axis reference value is subtracted from the current Q-axis component and input into the PI regulator hardware operation unit to obtain a voltage Q-axis component, and the second operation result identifier is updated; In response to the second operation result identifier, the voltage Q-axis component is obtained according to the second operation result identifier; The preset current D-axis reference value is subtracted from the current D-axis component and input into the PI regulator hardware operation unit to obtain a voltage D-axis component, and the second operation result identifier is updated; In response to the second operation result identifier, the voltage D-axis component is obtained according to the second operation result identifier; inputting the voltage Q-axis component, the voltage D-axis component and the motor position data into the Park converter to obtain voltage α axis component and voltage β axis component; According to the voltage α The axial component and the voltage β The axial component generates a frequency converter control modulation wave and transmits the frequency converter control modulation wave to a frequency converter.

2. The motor drive control method according to claim 1, characterized by, The hardware conversion circuit further comprises an inverse tangent operator, and the motor drive control method further comprises the following steps: the voltage α the voltage β the voltage α the voltage β a position and speed estimator hardware operation unit, which obtains estimated speed data and estimated position data and generates a third operation result identifier; the estimated speed data is used to update the motor speed data, and the estimated position data is used to update the motor position data, and the position and speed estimator hardware operation unit is obtained by using the multiplier, the divider, the arctangent operator, and the square root circuit. In response to the third operation result identifier, the estimated speed data and the estimated position data are obtained according to the third operation result identifier.

3. An electric motor drive control system characterized by comprising: Comprise: A data acquisition unit is configured to obtain frequency converter current data, motor speed data and motor position data; a first operation unit for inputting the frequency converter current data into a Clarke transformation sub-hardware operation unit to perform operation, obtaining current α axis components and the current β axis components, the Clarke transformation sub-hardware operation unit obtaining the current α axis components and the current β axis components into a register of the Clarke transformation sub-hardware operation unit, and generating a first operation result identifier; In response to the first operation result identifier, the current is acquired according to the first operation result identifier α axis component and the current β axis component; the current α axis component, the current β axis component and the motor position data are input into a Park converter of the hardware conversion circuit to obtain a current D-axis component and a current Q-axis component; A second operation unit is configured to subtract the motor speed data from a preset reference speed value and input into a PI regulator hardware operation unit to obtain a current Q-axis reference value, and generate a second operation result identifier, wherein the PI regulator hardware operation unit is obtained by using a divider of the hardware conversion circuit, a multiplier and a square root circuit of the hardware conversion circuit; in response to the second operation result identifier, the current Q-axis reference value is obtained according to the second operation result identifier; the current Q-axis reference value is subtracted from the current Q-axis component and input into the PI regulator hardware operation unit to obtain a voltage Q-axis component, and the second operation result identifier is updated; In response to the second operation result identifier, the voltage Q-axis component is obtained according to the second operation result identifier; the preset current D-axis reference value is subtracted from the current D-axis component and input into the PI regulator hardware operation unit to obtain a voltage D-axis component, and the second operation result identifier is updated; in response to the second operation result identifier, the voltage D-axis component is obtained according to the second operation result identifier; inputting the voltage Q-axis component, the voltage D-axis component and the motor position data into the Park converter to obtain voltage α axis component and voltage β axis component; a control modulation wave generating unit for generating a control modulation wave in accordance with the voltage α the axis component and the voltage β the axis component generates a frequency converter control modulation wave and transmits the frequency converter control modulation wave to a frequency converter.

4. The motor drive control system of claim 3, wherein Further comprising an operation result polling unit, the operation result polling unit is configured to obtain the operation result identifier of the hardware conversion circuit, the operation result identifier comprises the first operation result identifier and the second operation result identifier, if the operation result identifier is 1, it indicates that the operation is completed, so as to carry out the next step of data operation.

5. An electric motor drive control device characterized by comprising: Comprise: A sampling unit is configured to collect frequency converter current data, motor speed data and motor position data; hardware conversion circuitry including a multiplier, a Park transformer, a divider, an inverse tangent operator and a square root circuit; a main control unit connected with the multiplier, the Park transformer, the divider, the inverse tangent operator and the square root circuit respectively, the main control unit being configured to execute the motor drive control method according to claim 1 or 2.

6. A computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, cause the processor to perform operations comprising: The computer executable instructions are configured to execute the motor drive control method according to claim 1 or 2.

Images