Control method, device, electronic device and storage medium of variable angle injection motor

Abstract

The present invention discloses a control method, device, electronic device and storage medium for a variable angle injection motor. The control method for the variable angle injection motor comprises: injecting a first high frequency signal at an angle of φ ahead of the axis in the estimated rotating shaft system. Extracting the response current of the q' axis in the rotor position extraction shaft system, wherein the rotor position extraction shaft system is the shaft system in which the estimated rotating shaft system is ahead of the φ angle. Determine the actual rotor position of the permanent magnet synchronous motor based on the response current of the q' axis. After injecting the first high frequency signal at an angle of φ ahead of the axis in the estimated rotating shaft system, the response current of the q' axis can be directly extracted in the corresponding rotor position extraction shaft system, and because the first high frequency signal is injected at an angle of φ ahead of the axis in the estimated rotating shaft system, the extracted response current of the q' axis will not affect the fundamental frequency current, thereby improving the accuracy of the extracted rotor position.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a control method, device, electronic equipment and storage medium for a variable-angle injection motor. Background Art

[0002] In the current and speed double closed loop of the permanent magnet synchronous motor vector control, the current loop is the inner loop of the vector control and the speed loop is the outer loop. In the position-free control of the permanent magnet synchronous motor, the rotor position in the speed loop is often collected with deviations, and there may be further situations where the position sensor fails. In order to ensure the position-free control of the permanent magnet synchronous motor, the estimated Axis or The high frequency voltage signal is injected into the shaft to extract the estimated rotor position. Axis or Injecting a high-frequency voltage signal into the shaft will affect the fundamental frequency current, causing the fundamental frequency current to repeatedly pass through zero, affecting the accuracy of the rotor position. Summary of the Invention

[0003] The present invention provides a method for estimating Axis or A high-frequency voltage signal is injected into the shaft to solve the problem of the impact of the injection of the high-frequency voltage signal on the fundamental frequency current and improve the accuracy of the extracted rotor position.

[0004] According to one aspect of the present invention, a method for controlling a variable angle injection motor is provided, comprising:

[0005] In the estimated rotating axis system The first high-frequency signal is injected into the axis ahead of any angle φ;

[0006] Extracting the response current of the q' axis in the rotor position extraction axis system, wherein the rotor position extraction axis system is an axis system in which the estimated rotating axis system leads the estimated rotating axis system by the angle φ;

[0007] The actual rotor position of the permanent magnet synchronous motor is determined according to the response current of the q' axis.

[0008] Optionally, determining the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis includes:

[0009] determining an estimation function containing a rotor error according to the response current of the q' axis;

[0010] The actual rotor position of the permanent magnet synchronous motor is determined according to the estimation function.

[0011] Optionally, in the rotor position extraction shaft system, before extracting the response current of the q' axis, the method includes:

[0012] injecting a second high-frequency signal at any angle δ in the estimated rotating axis system;

[0013] determining a phase difference between a high-frequency current response and a fundamental frequency current response in the stationary shaft system according to the injected second high-frequency signal;

[0014] Extract the estimated rotation axis After the first high frequency signal is injected into the axis ahead of any φ angle, the estimated rotation axis Axis and The current response of the shaft;

[0015] When the rotor position estimation error is equal to zero, the estimated rotating axis After the first high frequency signal is injected into the axis ahead of any angle φ, Axis and The phase difference of the shaft current is equal to the phase difference between the high-frequency current response and the fundamental frequency current response in the stationary shaft system after the second high-frequency signal is injected at any angle δ in the estimated rotating shaft system.

[0016] Optionally, determining the phase difference between the high-frequency current response and the fundamental frequency current response in the stationary shaft system according to the injected second high-frequency signal includes:

[0017] Determining, according to the first decomposed injection signal, a first high-frequency current response generated by the excitation of the first decomposed injection signal;

[0018] determining, according to the second decomposed injection signal, a second high-frequency current response generated by the excitation of the second decomposed injection signal;

[0019] determining a high-frequency current response in the stationary shaft system according to the first high-frequency current response and the second high-frequency current response;

[0020] determining a phase difference between the high-frequency current response and the fundamental frequency current response in the stationary shaft system according to the high-frequency current response and the fundamental frequency current response in the stationary shaft system;

[0021] The first decomposition injection signal and the second decomposition injection signal are respectively the second high frequency signal decomposed into the estimated rotation axis system. Axis and Axis signal.

[0022] Optionally, the extraction of the estimated rotation axis After the first high frequency signal is injected into the axis ahead of any φ angle, the estimated rotation axis Axis and The current response of the shaft, including:

[0023] Extract the high-frequency current response of the d-axis and q-axis of the rotating shaft system;

[0024] Extract the fundamental frequency current response of the d-axis and q-axis of the rotating shaft system;

[0025] The estimated rotating axis system is determined based on the high frequency current response of the d-axis and q-axis and the fundamental frequency current response. Axis and The current response of the axis.

[0026] According to another aspect of the present invention, a control device for a variable angle injection motor is provided, comprising:

[0027] The first injection module is used to estimate the rotation axis in the The first high-frequency signal is injected into the axis ahead of any angle φ;

[0028] The first current extraction module is used to extract the response current of the q' axis under the rotor position extraction axis system, wherein the rotor position extraction axis system is the estimated rotating axis system A shaft system in which the shaft leads the angle φ;

[0029] The rotor position determination module is used to determine the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis.

[0030] Optionally, the rotor position determination module includes:

[0031] an estimation function determining unit, configured to determine an estimation function containing a rotor error according to the response current of the q' axis;

[0032] A rotor position determination unit is used to determine the actual rotor position of the permanent magnet synchronous motor according to the estimation function.

[0033] Optionally, the control device of the variable angle injection motor further includes:

[0034] A second input module, configured to inject a second high-frequency signal at any angle δ in the estimated rotating axis system;

[0035] a second current extraction module, configured to determine a phase difference between a high-frequency current response and a fundamental frequency current response in the stationary shaft system according to the injected second high-frequency signal;

[0036] The third current extraction module is used to extract the current of the estimated rotating axis system. After the first high frequency signal is injected into the axis ahead of any φ angle, the estimated rotation axis Axis and The current response of the shaft;

[0037] The phase difference determination module is used to determine the phase difference of the estimated rotating shaft when the rotor position estimation error is equal to zero. After the first high frequency signal is injected into the axis ahead of any angle φ, Axis and The phase difference of the shaft current is equal to the phase difference between the high-frequency current response and the fundamental frequency current response in the stationary shaft system after the second high-frequency signal is injected at any angle δ in the estimated rotating shaft system.

[0038] According to another aspect of the present invention, an electronic device is provided, comprising:

[0039] at least one processor; and

[0040] a memory communicatively connected to the at least one processor; wherein,

[0041] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the variable angle injection motor according to any embodiment of the present invention.

[0042] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the variable-angle injection motor according to any embodiment of the present invention when executed.

[0043] The control method of the variable angle injection motor provided by the embodiment of the present invention includes: estimating the rotation axis in the The first high-frequency signal is injected into the axis ahead of any φ angle. Under the rotor position extraction axis system, the response current of the q' axis is extracted, wherein the rotor position extraction axis system is the axis system of the estimated rotating axis system ahead of φ angle. The actual rotor position of the permanent magnet synchronous motor is determined based on the response current of the q' axis. After the first high frequency signal is injected into the axis ahead of any φ angle, the response current of the q' axis can be directly extracted under the corresponding rotor position extraction axis system, and because it is in the estimation of the rotating axis system The first high-frequency signal is injected ahead of the axis by any angle φ, so that the extracted response current of the q' axis will not affect the fundamental frequency current, thereby improving the accuracy of the extracted rotor position.

[0044] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 This is a flow chart of a method for controlling a variable angle injection motor according to a first embodiment of the present invention;

[0047] Figure 2 This is a position relationship diagram of an estimated rotating shaft system, an actual rotating shaft system, an actual stationary shaft system, and a rotor position extraction shaft system of a permanent magnet synchronous motor provided by the first embodiment of the present invention;

[0048] Figure 3 This is a flow chart of a control method for a variable angle injection motor provided according to a second embodiment of the present invention;

[0049] Figure 4 1 is a schematic structural diagram of a control device for a variable angle injection motor provided according to a third embodiment of the present invention;

[0050] Figure 5 It is a structural diagram of an electronic device for implementing a control method for a variable angle injection motor according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention 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 numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof 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 clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] Example 1

[0054] Figure 1 This is a flow chart of a control method for a variable angle injection motor provided by the first embodiment of the present invention. This embodiment is applicable to the case of controlling a permanent magnet synchronous motor based on position-free control technology. The method can be executed by a control device for a variable angle injection motor, which can be implemented in the form of hardware and / or software. Figure 1 As shown, the method includes:

[0055] S110: In the estimated rotating axis system The first high-frequency signal is injected into the axis ahead by any angle φ.

[0056] Figure 2 A position relationship diagram of an estimated rotating shaft system, an actual rotating shaft system, an actual stationary shaft system, and a rotor position extraction shaft system of a permanent magnet synchronous motor provided in the first embodiment of the present invention. The estimated rotating shaft system includes Axis and The actual rotating axis system includes the d axis and the q axis, the actual stationary axis system includes the α axis and the β axis, and the rotor position extraction axis system includes the d' axis and the q' axis. To estimate the rotor position in the axis system, θ is the actual rotor position in the rotating axis system, and Δθ is the rotor position estimation error. When analyzing vector control of permanent magnet synchronous motors, the DC motor control concept is often used. This involves transforming the three-phase stationary ABC system into the stationary axis system αβ, and then transforming the stationary axis system αβ into the rotating dq axis system, thereby decoupling the variables.

[0057] S120: extracting the response current of the q' axis in the rotor position extraction axis system, wherein the rotor position extraction axis system is an axis system in which the estimated rotating axis system leads by an angle φ.

[0058] The experiment proved that the estimated rotation axis After injecting the first high-frequency signal at any axis leading by an angle φ, the d'-axis and q'-axis response currents can be directly extracted from the axis system estimated to be leading by the angle φ, i.e., the rotor position extraction axis system described in this embodiment. Because the formula for the d'-axis response current includes a difficult-to-calculate factor, the q'-axis response current is extracted to facilitate subsequent calculation of the motor's actual rotor position.

[0059] Among them, the response current of q' axis Where Uγc is the first high-frequency signal injected, Δθ is the rotor position estimation error, and L d is the direct axis (d axis) inductance, L q is the quadrature-axis (q-axis) inductance.

[0060] S130: Determine the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis.

[0061] The rotor error estimation function f(Δθ) is determined based on the q'-axis response current. Using a phase-locked loop (PLL), the rotor position estimation error Δθ is phase-locked to zero. At this point, the estimated rotor position is equal to the actual rotor position, allowing the actual rotor position of the permanent magnet synchronous motor to be determined. The formula f(Δθ) contains the rotor position estimation error. By phase-locking the error to zero, the actual and estimated rotor positions are equal. The estimated rotor position is then equal to the actual rotor position.

[0062] In the estimated rotating axis system After the first high frequency signal is injected into the axis ahead of any φ angle, the response current of the q' axis can be directly extracted under the corresponding rotor position extraction axis system, and because it is in the estimation of the rotating axis system The first high-frequency signal is injected ahead of the axis by any angle φ, so that the extracted response current of the q' axis will not affect the fundamental frequency current, thereby improving the accuracy of the extracted rotor position.

[0063] Example 2

[0064] Figure 2 This is a flow chart of a control method for a variable angle injection motor provided by the second embodiment of the present invention, with reference to Figure 2 , the method comprising:

[0065] S111: Inject a second high-frequency signal at any angle δ in the estimated rotating axis system.

[0066] S121: Determine the phase difference between the high-frequency current response and the fundamental frequency current response in the stationary shaft system according to the injected second high-frequency signal.

[0067] Optionally, a first high-frequency current response generated by the first decomposed injection signal is determined according to the first decomposed injection signal.

[0068] The second high frequency signal can be decomposed into two equivalent signals, a first decomposition injection signal and a second decomposition injection signal, wherein the first decomposition injection signal is injected into the estimated rotating axis. Axis, the second decomposition injection signal is injected into the estimated rotating axis axis.

[0069] After the second high-frequency signal is injected into the rotating shaft system, the voltage expression of the estimated rotating shaft system is:

[0070]

[0071] in, After injecting the second high frequency signal, the estimated Shaft voltage, After injecting the second high frequency signal, the estimated A is the first decomposition injection signal, and B is the second decomposition injection signal.

[0072] Depend on The first high-frequency current response caused by the single excitation is:

[0073]

[0074] The first high frequency current response includes The first sub-current response caused by the α-axis in the stationary axis system and by The second sub-current response caused by the β axis of the stationary axis system in, is the estimated rotor position under the shaft system, θ is the actual rotor position under the rotating shaft system, Δθ is the rotor position estimation error, for The high-frequency current response generated on the α-axis of the stationary axis system is: for The high-frequency current response generated on the β-axis of the stationary shaft system, L1 is the mean inductance, L2 is the differential inductance, and Uγc1 is the amplitude of the injected signal.

[0075] The second high frequency current response generated by the second decomposition injection signal is determined according to the second decomposition injection signal. The first decomposition injection signal and the second decomposition injection signal are respectively the second high frequency signal decomposed into the estimated rotating axis system. Axis and Axis signal.

[0076] The principle is the same as that of the first high-frequency current response, determined by The second high-frequency current response caused by the single excitation is:

[0077]

[0078] The second high frequency current response includes The third sub-current response caused by the α-axis in the stationary axis system and by The fourth subcurrent response caused by the β axis in the stationary axis system in,

[0079] A high-frequency current response in the stationary shafting is determined based on the first high-frequency current response and the second high-frequency current response.

[0080] The high-frequency current response formula is:

[0081]

[0082] The high-frequency current response in the stationary shaft system includes the current response of the α-axis I αc and the β-axis current response I βc ,in,

[0083] The phase difference between the high-frequency current response and the fundamental frequency current response in the stationary shaft system is determined according to the high-frequency current response and the fundamental frequency current response in the stationary shaft system.

[0084] The amplitude function of the high-frequency current response in the stationary shaft system is:

[0085]

[0086] I αcF is the current amplitude of the α-axis in the stationary axis system, I βcF is the current amplitude of the β axis in the stationary shaft system, and T1 is the period of the current response in the stationary shaft system.

[0087] The vector angle of the high-frequency current can be obtained from the high-frequency current expression. In addition, the vector of the high-frequency current coincides with the vector of the fundamental frequency current, and the phase difference between the high-frequency current response and the fundamental frequency current response can be obtained:

[0088]

[0089] S131: Extract the estimated rotation axis After the first high frequency signal is injected into the axis ahead of any angle φ, the axis in the rotating axis system is estimated. Axis and The current response of the shaft.

[0090] Optionally, the high-frequency current responses of the d-axis and q-axis of the rotating shaft system are extracted.

[0091] Estimation of the rotating axis The first high-frequency signal U is injected into the axis ahead of any φ angle γC Then, the high-frequency current response of the d-axis of the rotating shaft system is extracted. and the high-frequency current response of the q-axis for:

[0092]

[0093] Extract the fundamental frequency current response of the d-axis and q-axis of the rotating shaft system.

[0094] Estimation of the rotating axis The first high-frequency signal U is injected into the axis ahead of any φ angle γC Then, the fundamental frequency current response of the d-axis of the rotating shaft system is extracted. and the high-frequency current response of the q-axis for:

[0095]

[0096] The estimated current in the rotating axis system is determined based on the high-frequency current response and fundamental frequency current response of the d-axis and q-axis. Axis and The current response of the shaft.

[0097] Estimation of the rotating axis The first high-frequency signal U is injected into the axis ahead of any φ angle γC Then, estimate the rotation axis Axis current response and Axis current response for:

[0098]

[0099] in,

[0100]

[0101] S141: When the rotor position estimation error is equal to zero, the estimated rotation axis After the first high frequency signal is injected into the axis ahead of any angle φ, Axis and The phase difference of the shaft current is equal to the phase difference between the high-frequency current response and the fundamental frequency current response in the stationary shaft system after the second high-frequency signal is injected at any angle δ in the estimated rotating shaft system.

[0102] When the rotor position estimation error Δθ approaches 0, Axis current response and Axis current response for:

[0103]

[0104] From the above formula, we can know that the estimated axis system Axis and The phase difference γ of the axis current is:

[0105]

[0106] in,

[0107] In summary, it is verified that when the rotor position estimation error is zero, the estimated rotation axis After the first high frequency signal is injected into the axis ahead of any angle φ, Axis and The phase difference of the current of the axis is equal to the phase difference γ between the high-frequency current response and the fundamental frequency current response in the stationary axis after the second high-frequency signal is injected at any angle δ in the estimated rotating axis. Therefore, in step S161, After the first high-frequency signal is injected into the shaft at any φ angle ahead, the rotor position and the response current of the q' axis under the shaft system can be directly extracted to determine the actual rotor position of the permanent magnet synchronous motor.

[0108] S151: In estimating the rotating axis The first high-frequency signal is injected into the axis ahead by any angle φ.

[0109] S161: extracting the response current of the q' axis in the rotor position extraction axis system, wherein the rotor position extraction axis system is an axis system that is estimated to be ahead of the rotating axis system by an angle φ.

[0110] The response current of the q' axis is:

[0111]

[0112] S171: Determine the actual rotor position of the permanent magnet synchronous motor based on the response current of the q' axis.

[0113] When the rotor position estimation error Δθ approaches zero, we can obtain:

[0114]

[0115] Optionally, an estimation function containing the rotor error is determined based on the response current of the q' axis.

[0116]

[0117] in,

[0118] The actual rotor position of the permanent magnet synchronous motor is determined according to the estimation function.

[0119] Since this function is a linear function containing only the rotor position estimation error information, it is locked at 0. When the function is zero, the rotor position estimation error is 0, and the estimated rotor position is equal to the actual rotor position, so the actual rotor position can be obtained.

[0120] This embodiment verifies the After the first high frequency signal is injected into the shaft at any φ angle, the response current of the q' axis can be directly extracted under the corresponding rotor position extraction shaft system, which verifies the feasibility of this case. The first high-frequency signal is injected ahead of the axis by any angle φ, so that the extracted response current of the q' axis will not affect the fundamental frequency current, thereby improving the accuracy of the extracted rotor position.

[0121] Example 3

[0122] This third embodiment provides a control device for a variable angle injection motor. Figure 4 This is a schematic diagram of a control device for a variable angle injection motor according to the third embodiment of the present invention. Figure 4 , the device comprises:

[0123] The first injection module 01 is used to estimate the rotation axis The first high-frequency signal is injected into the axis ahead of any angle φ;

[0124] The first current extraction module 02 is used to extract the response current of the q' axis under the rotor position extraction axis system, wherein the rotor position extraction axis system is used to estimate the current of the rotating axis system. Axis system with the axis leading by an angle of φ;

[0125] The rotor position determination module 03 is used to determine the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis.

[0126] Optionally, the rotor position determination module includes:

[0127] an estimation function determination unit, configured to determine an estimation function containing a rotor error according to a response current of the q' axis;

[0128] The rotor position determination unit is used to determine the actual rotor position of the permanent magnet synchronous motor according to the estimation function.

[0129] Optionally, the control device for the variable angle injection motor further includes:

[0130] A second input module is used to inject a second high-frequency signal at any angle δ in the estimated rotating axis system;

[0131] a second current extraction module, configured to determine a phase difference between a high-frequency current response and a fundamental frequency current response in the stationary shaft system according to the injected second high-frequency signal;

[0132] The third current extraction module is used to extract and estimate the current in the rotating axis system. After the first high frequency signal is injected into the axis ahead of any angle φ, the axis in the rotating axis system is estimated. Axis and The current response of the shaft;

[0133] The phase difference determination module is used to estimate the phase difference in the rotating shaft system when the rotor position estimation error is equal to zero. After the first high frequency signal is injected into the axis ahead of any angle φ, Axis and The phase difference of the shaft current is equal to the phase difference between the high-frequency current response and the fundamental frequency current response in the stationary shaft system after the second high-frequency signal is injected at any angle δ in the estimated rotating shaft system.

[0134] The control device of the variable angle injection motor provided in the embodiment of the present invention can execute the control method of the variable angle injection motor provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0135] Example 4

[0136] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0137] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0138] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0139] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the control method for the variable-angle injection motor.

[0140] In some embodiments, the control method of the variable angle injection motor can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the variable angle injection motor described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the control method of the variable angle injection motor by any other appropriate means (e.g., by means of firmware).

[0141] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0142] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0143] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0144] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0145] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0146] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0147] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0148] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A control method for a variable angle injection motor, characterized in that: include: In the estimated rotating axis system The first high-frequency signal is injected into the axis ahead of any angle φ; Extracting the response current of the q' axis in the rotor position extraction axis system, wherein the rotor position extraction axis system is an axis system different from the actual stationary axis system and the estimated rotating axis system leads the angle φ, and the q' axis is the q' axis in the rotor position extraction axis system; determining an estimation function containing a rotor error according to the response current of the q' axis; The actual rotor position of the permanent magnet synchronous motor is determined according to the estimation function.

2. The control method of the variable angle injection motor according to claim 1, characterized in that: In the rotor position extraction shaft system, before extracting the response current of the q' axis, the following steps are included: injecting a second high-frequency signal at any angle δ in the estimated rotating axis system; determining a phase difference between a high-frequency current response and a fundamental frequency current response in the stationary shaft system according to the injected second high-frequency signal; Extract the estimated rotation axis After the first high frequency signal is injected into the axis ahead of any φ angle, the estimated rotation axis Axis and The current response of the shaft; When the rotor position estimation error is equal to zero, the estimated rotating axis After the first high frequency signal is injected into the axis ahead of any angle φ, Axis and The phase difference of the shaft current is equal to the phase difference between the high-frequency current response and the fundamental frequency current response in the stationary shaft system after the second high-frequency signal is injected at any angle δ in the estimated rotating shaft system.

3. The control method of the variable angle injection motor according to claim 2, characterized in that: The determining of the phase difference between the high-frequency current response and the fundamental frequency current response in the stationary shaft system according to the injected second high-frequency signal comprises: Determining, according to the first decomposed injection signal, a first high-frequency current response generated by the excitation of the first decomposed injection signal; determining, according to the second decomposed injection signal, a second high-frequency current response generated by the excitation of the second decomposed injection signal; determining a high-frequency current response in the stationary shaft system according to the first high-frequency current response and the second high-frequency current response; determining a phase difference between the high-frequency current response and the fundamental frequency current response in the stationary shaft system according to the high-frequency current response and the fundamental frequency current response in the stationary shaft system; The first decomposition injection signal and the second decomposition injection signal are respectively the second high frequency signal decomposed into the estimated rotation axis system. Axis and Axis signal.

4. The control method of the variable angle injection motor according to claim 2, characterized in that: extracting the estimated rotation axis After the first high frequency signal is injected into the axis ahead of any φ angle, the estimated rotation axis Axis and The current response of the shaft, including: Extract the high-frequency current response of the d-axis and q-axis of the rotating shaft system; Extract the fundamental frequency current response of the d-axis and q-axis of the rotating shaft system; The estimated rotating axis system is determined based on the high frequency current response of the d-axis and q-axis and the fundamental frequency current response. Axis and The current response of the shaft.

5. A control device for a variable angle injection motor, characterized in that: include: The first injection module is used to estimate the rotation axis in the The first high-frequency signal is injected into the axis ahead of any angle φ; The first current extraction module is used to extract the response current of the q' axis under the rotor position extraction axis system, wherein the rotor position extraction axis system is different from the actual stationary axis system and the estimated rotating axis system The axis is ahead of the axis system by the angle φ, and the q' axis is the q' axis in the rotor position extraction axis system; a rotor position determination module, configured to determine the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis; The rotor position determination module includes: an estimation function determining unit, configured to determine an estimation function containing a rotor error according to the response current of the q' axis; A rotor position determination unit is used to determine the actual rotor position of the permanent magnet synchronous motor according to the estimation function.

6. The control device for the variable angle injection motor according to claim 5, characterized in that: Also includes: A second input module, configured to inject a second high-frequency signal at any angle δ in the estimated rotating axis system; a second current extraction module, configured to determine a phase difference between a high-frequency current response and a fundamental frequency current response in the stationary shaft system according to the injected second high-frequency signal; The third current extraction module is used to extract the current of the estimated rotating axis system. After the first high frequency signal is injected into the axis ahead of any φ angle, the estimated rotation axis Axis and The current response of the shaft; The phase difference determination module is used to determine the phase difference of the estimated rotating shaft when the rotor position estimation error is equal to zero. After the first high frequency signal is injected into the axis ahead of any angle φ, Axis and The phase difference of the shaft current is equal to the phase difference between the high-frequency current response and the fundamental frequency current response in the stationary shaft system after the second high-frequency signal is injected at any angle δ in the estimated rotating shaft system.

7. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor so as to enable the at least one processor to execute the control method of the variable-angle injection motor according to any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the variable-angle injection motor according to any one of claims 1 to 4 when executed.

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