Motor control method and device, model building method and electrical equipment

Abstract

The application discloses a motor control method and device, a model building method and electrical equipment. The control method comprises the following steps: constructing a rotating speed loop model and a current loop model based on a double closed-loop control strategy, wherein the current loop model is an ADRC current loop model with a variable compensation factor; acquiring an actual rotating speed parameter of the motor and an output control quantity of the current loop model; determining whether to start an anti-saturation function according to the output control quantity and a preset saturation quantity; determining a real-time compensation factor according to the actual rotating speed parameter after the anti-saturation function is started; updating the variable compensation factor of the current loop model according to the real-time compensation factor to obtain an anti-saturation current loop model; and performing closed-loop control on the motor according to an anti-saturation control quantity output by the anti-saturation current loop model. The application adjusts the control quantity output by the ADRC through the variable compensation factor, reduces the control quantity oscillation caused by the actuator speed limit, reduces the current fluctuation amplitude, and improves the control precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, and particularly relates to a motor control method and device, a model building method and an electrical equipment. BACKGROUND

[0002] The permanent magnet synchronous motor generally adopts a double closed-loop control strategy, the outer ring is a speed ring, and the inner ring is a current ring. In the control system of the current ring, the output of the speed ring is used as an input parameter, and the control quantity is closed-loop regulated based on the deviation between the input parameter and the feedback value of the current ring.

[0003] In the prior art, a PID controller is generally arranged in the motor closed-loop control system or an active disturbance rejection control (ADRC) technology is adopted to realize closed-loop regulation.

[0004] In the control system based on the PID, the closed-loop regulation of the control quantity is realized through error integral feedback, and the following problems exist: the feedback of the closed-loop system is lagged, and problems such as oscillation and control quantity saturation are prone to occur.

[0005] In the control system based on the ADRC, the state and total disturbance of the system are estimated in real time through an extended state observer (ESO), and the estimated total disturbance is compensated, and the following problems exist: the existing ADRC control system has no anti-saturation function or only has an error compensation anti-saturation function, the rate of the actuator is limited, the control quantity output by the ADRC is prone to saturation, the system control effect is affected, and the system cannot be applied to scenes with severe changes in operating conditions; in the ADRC control system with only error compensation anti-saturation function, the compensation effect for extreme conditions is poor, the control quantity fluctuates greatly, and the practicability is poor. SUMMARY

[0006] The present application provides a motor control method, device, model building method and electrical equipment to solve the problem that the existing motor closed-loop control system lacks effective anti-saturation strategy, the control quantity fluctuates greatly, and the practicability is poor, and to improve the robustness and anti-interference ability of the motor control system.

[0007] According to an aspect of the present application, a motor control method is provided, comprising:

[0008] A speed ring model and a current ring model are constructed based on a motor double closed-loop control strategy, and the current ring model is an ADRC current ring model with a variable compensation factor;

[0009] An actual speed parameter of the motor and an output control quantity of the current ring model are obtained;

[0010] determine whether to open an anti-saturation function according to the output control quantity and a preset saturation quantity;

[0011] determine a real-time compensation factor according to the actual speed parameter after the anti-saturation function is opened;

[0012] update a variable compensation factor of the current loop model according to the real-time compensation factor to obtain an anti-saturation current loop model;

[0013] perform closed-loop control on the motor according to an anti-saturation control quantity output by the anti-saturation current loop model.

[0014] Optionally, the determining of the real-time compensation factor according to the actual speed parameter comprises:

[0015] obtaining a speed-inductance relationship list between motor speed and motor inductance;

[0016] comparing the actual speed parameter with motor speed in the speed-inductance relationship list to obtain a target motor speed;

[0017] determining the real-time compensation factor according to the motor inductance corresponding to the target motor speed.

[0018] Optionally, the obtaining of the speed-inductance relationship list between motor speed and motor inductance comprises: obtaining a saturation speed value and a saturation torque value of the motor when the motor works in a control quantity saturation state, the control quantity saturation state including a full-load variable-speed test state; determining reference current parameters including d-axis reference current parameters and q-axis reference current parameters according to the saturation speed value and the saturation torque value; obtaining a current-inductance relationship list of the motor; and determining the speed-inductance relationship list according to the reference current parameters and the current-inductance relationship list.

[0019] Optionally, the ADRC current loop model comprises a d-axis ADRC current control model and a q-axis ADRC current control model;

[0020] after the anti-saturation function is opened, the method comprises:

[0021] updating the d-axis ADRC current control model based on a preset d-axis anti-saturation coefficient;

[0022] updating the q-axis ADRC current control model based on a preset q-axis anti-saturation coefficient;

[0023] determining the anti-saturation current loop model according to the updated control model.

[0024] Optionally, the preset saturation quantity comprises a preset d-axis saturation voltage and a preset q-axis saturation voltage.

[0025] determining whether to start the anti-saturation function according to the output control quantity and a preset saturation quantity, comprising:

[0026] obtaining a d-axis voltage control quantity and a q-axis voltage control quantity in the output control quantity;

[0027] determining whether the d-axis voltage control quantity is greater than a preset d-axis saturation voltage, to obtain a first determination result;

[0028] determining whether to start a d-axis anti-saturation function according to the first determination result;

[0029] determining whether the q-axis voltage control quantity is greater than a preset q-axis saturation voltage, to obtain a second determination result;

[0030] determining whether to start a q-axis anti-saturation function according to the second determination result.

[0031] Optionally, the obtaining of the actual speed parameter of the motor and the output control quantity of the current loop model comprises:

[0032] obtaining a required speed parameter of the motor;

[0033] adjusting a difference between the actual speed parameter and the required speed parameter based on the speed loop model, to obtain a reference current parameter;

[0034] obtaining an actual current parameter of the motor;

[0035] adjusting a difference between the actual current parameter and the reference current parameter based on the ADRC current loop model, to obtain the output control quantity.

[0036] Optionally, the speed loop model is a speed loop model based on PID adjustment or PI adjustment or a speed loop model based on ADRC.

[0037] According to another aspect of the present application, a motor model building method is provided, comprising:

[0038] constructing a d-axis ADRC current control model based on a d-axis current and a q-axis ADRC current control model based on a q-axis current based on a motor double-closed-loop control strategy;

[0039] establishing a preset d-axis anti-saturation coefficient and a preset q-axis anti-saturation coefficient based on a working state calibration of the motor;

[0040] updating the d-axis ADRC current control model according to the preset d-axis anti-saturation coefficient;

[0041] update the q-axis ADRC current control model according to a preset q-axis anti-saturation coefficient;

[0042] determine an anti-saturation current loop model according to the updated control model.

[0043] According to another aspect of the present application, there is provided a motor control device comprising:

[0044] a model creating unit configured to construct a speed loop model and a current loop model based on a motor double closed loop control strategy, the current loop model being an ADRC current loop model with a variable compensation factor;

[0045] a detecting unit configured to acquire an actual speed parameter of the motor and an output control quantity of the current loop model;

[0046] an anti-saturation judging unit configured to determine whether to start an anti-saturation function according to the output control quantity and a preset saturation quantity;

[0047] a compensation factor acquiring unit configured to determine a real-time compensation factor according to the actual speed parameter;

[0048] the model creating unit is further configured to update the variable compensation factor of the current loop model according to the real-time compensation factor to obtain an anti-saturation current loop model after the anti-saturation function is started;

[0049] a motor driving unit configured to perform closed loop control on the motor according to an anti-saturation control quantity output by the anti-saturation current loop model.

[0050] According to another aspect of the present application, there is provided an electrical equipment comprising a controlled motor and the above motor control device, the motor control device being configured to perform the above motor control method to perform closed loop regulation on the controlled motor.

[0051] The technical scheme of the embodiment of the present application sets the speed loop model and the current loop model, the current loop model being an ADRC current loop model with a variable compensation factor; acquires an actual speed parameter of the motor and an output control quantity of the current loop model; determines whether to start an anti-saturation function according to the output control quantity and a preset saturation quantity; determines a real-time compensation factor according to the actual speed parameter after the anti-saturation function is started; updates the variable compensation factor of the current loop model according to the real-time compensation factor to obtain an anti-saturation current loop model; and performs closed loop control on the motor according to an anti-saturation control quantity output by the anti-saturation current loop model, thereby eliminating the influence of controller saturation through negative feedback and solving the problem of large control quantity fluctuation and poor practicability of the existing motor closed loop control system due to lack of effective anti-saturation strategy, reducing control quantity shock caused by actuator rate saturation, reducing current fluctuation amplitude, improving control precision, effectively improving the robustness and anti-interference ability of motor closed loop regulation, and ensuring stable operation of the motor.

[0052] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 A flowchart of a motor control method provided by the present invention;

[0055] Figure 2 A control block diagram of a current loop model provided by the present invention;

[0056] Figure 3 A flowchart of another motor control method provided by the present invention;

[0057] Figure 4 A flowchart of yet another motor control method provided by the present invention;

[0058] Figure 5 A flowchart of yet another motor control method provided by the present invention;

[0059] Figure 6 A control block diagram of a motor control method provided by the present invention;

[0060] Figure 7 A flowchart of a method for building a motor model provided by the present invention;

[0061] Figure 8 This is a schematic diagram of the structure of a motor control device provided by the present invention. Detailed Implementation

[0062] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0063] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and in the above drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0064] Figure 1 A flowchart of a motor control method provided by the present application, the embodiment can be applicable to the application scenario of closed-loop adjustment of motor control quantity based on variable compensation factor anti-saturation ADRC control technology, and the method can be executed by a motor control device which can be realized in the form of hardware and / or software. As shown in the figure, the method comprises the following steps. Figure 1

[0065] As shown in the figure, the motor control method comprises the following steps. Figure 1

[0066] Step S1: constructing a speed loop model and a current loop model based on a motor double closed-loop control strategy, the current loop model being an ADRC current loop model with a variable compensation factor, and the compensation factor being a control quantity gain coefficient.

[0067] The principle of the motor double closed-loop control strategy is to close-loop adjust motor speed and torque based on negative feedback of speed and current, connect the speed loop model and the current loop model in series, take the output parameter of the speed loop model as the input parameter of the current loop model, and then control the driving device of the inverter bridge thyristor by using the control quantity output by the current loop model to control the motor torque through the stator current.

[0068] In some embodiments, the speed loop model can be provided with a PID controller, a PI controller or an ADRC controller, and the specific closed-loop structure is not limited.

[0069] In some embodiments, the current loop model comprises a d-axis ADRC current control model and a q-axis ADRC current control model. The d-axis ADRC current control model and the q-axis ADRC current control model can be provided with independent variable compensation factors, which are used to eliminate the control error caused by the actuator rate saturation, so as to realize independent anti-saturation adjustment of the d-axis current loop and the q-axis current loop, and improve the flexibility and practicability of the system.

[0070] ​​Step S2: Obtain the actual speed parameters of the motor and the output control quantity of the current loop model.

[0071] The output control quantities of the current loop model include the d-axis control quantity u. d and q-axis control quantity u q .

[0072] In embodiments of the present invention, a speed sensor or a speed-position sensor can be used to collect the actual speed parameters of the controlled motor.

[0073] In some embodiments, the current loop model can be built based on a first-order linear ADRC controller. Figure 2 This invention provides a control block diagram for a current loop model.

[0074] like Figure 2 As shown, the core of this first-order linear ADRC controller includes: a differential tracker (TD), an extended state observer (ESO), and a nonlinear state error feedback controller (NLSEF). The ESO observes internal and external disturbances and compensates the control signal based on a real-time compensation factor. The NLSEF calculates the error feedback control quantity based on the various orders of errors between the tracking differential and the ESO, and calculates the final control quantity by compensating for the total disturbance.

[0075] For example, combined Figure 2 As shown, taking the d-axis current loop as an example, the mathematical expression for ESO based on the d-axis current can be expressed by the following formula 1, and the mathematical expression for NLSEF based on the d-axis current can be expressed by the following formula 2:

[0076]

[0077]

[0078] Where, β d1 β d2 and β 01 The z1 represents the state observer gain coefficient; e and e1 represent the system error; z1 represents the state estimate of the actual d-axis current by the ESO. The derivative of parameter z1; i d Indicates the actual output of the d-axis current; i d * z1 represents the reference value of the d-axis current; z2 represents the observed value of the disturbance signal. The derivative of parameter z2; u d This represents the output voltage of the motor's d-axis; u d0 Indicates the output signal of NLSEF; kd represents a proportional coefficient; b d represents a d-axis compensation factor, b d = 1 / L d ; fal(e, a, d) and fal(e1, a1, d1) represent system functions, a and a1 represent nonlinear factors, and d and d1 represent linear interval widths.

[0079] In the linear ADRC, fal(·) = e, the control quantity u based on the NLSEF output of the d-axis current can be expressed by the following formula three:

[0080]

[0081] wherein, k d represents a proportional coefficient; b d represents a d-axis compensation factor represents a reference value of the d-axis current, and z1 represents the state estimation of the actual d-axis current by the ESO; z2 represents the observation value of the disturbance signal.

[0082] In the embodiments of the present application, the real-time compensation factor can be obtained based on the actual speed parameter n by table lookup.

[0083] Step S3: determining whether to start the anti-saturation function according to the output control quantity and the preset saturation quantity.

[0084] wherein, the preset saturation quantity is the upper limit value of the system actuator, and typically, the preset saturation quantity includes the d-axis saturation quantity and the q-axis saturation quantity established by calibration.

[0085] In some embodiments, the preset saturation quantity includes: a preset d-axis saturation voltage u d_lim and a preset q-axis saturation voltage u q_lim . Determining whether to start the anti-saturation function according to the output control quantity and the preset saturation quantity includes: obtaining the d-axis voltage control quantity and the q-axis voltage control quantity in the output control quantity; judging whether the d-axis voltage control quantity is greater than the preset d-axis saturation voltage to obtain a first judgment result; determining whether to start the d-axis anti-saturation function according to the first judgment result; judging whether the q-axis voltage control quantity is greater than the preset q-axis saturation voltage to obtain a second judgment result; and determining whether to start the q-axis anti-saturation function according to the second judgment result.

[0086] Specifically, the current loop model includes a d-axis current loop and a q-axis current loop, the d-axis current loop performs anti-saturation function judgment based on the d-axis saturation quantity, and the q-axis current loop performs anti-saturation function judgment based on the q-axis saturation quantity. If the anti-saturation function is started, the subsequent step S4 is executed; if the anti-saturation function is not started, the anti-saturation compensation factor of the ADRC current loop model is set to a preset value.

[0087] Step S4: determining a real-time compensation factor according to the actual speed parameter n.

[0088] The real-time compensation factor can be a gain coefficient in the ADRC current loop model that affects the disturbance observation value and the controller output signal (i.e., the control amount). Typically, the real-time compensation factor can be defined as the parameter b.

[0089] As can be known from the above formulas 1 to 3, the real-time compensation factor can be applied to the ESO and the NLSEF to calculate the compensation control signal after updating the compensation factor.

[0090] Specifically, if the anti-saturation function is not started, the compensation factor can be calculated by the reciprocal of the nominal value of the motor d-axis inductance or q-axis inductance; if the anti-saturation function is started, a corresponding relationship list between the motor speed and the compensation factor can be established through calibration, the real-time compensation factor can be obtained by table lookup, and then the compensation factor can be applied to the ADRC controller to improve the state estimation accuracy of the output control amount.

[0091] Step S5: updating the variable compensation factor of the current loop model according to the real-time compensation factor to obtain an anti-saturation current loop model.

[0092] The updating of the variable compensation factor of the current loop model according to the real-time compensation factor includes: replacing and updating the gain coefficient in the current loop model by using the real-time compensation factor.

[0093] Step S6: performing closed-loop control on the motor according to the anti-saturation control amount output by the anti-saturation current loop model.

[0094] The anti-saturation control amount includes the d-axis control amount u d and the q-axis control amount u q output after anti-saturation compensation.

[0095] In the embodiments of the application, in combination with the motor vector control strategy, a dynamic coordinate system (i.e., d-q coordinate system) is introduced to decompose the motor current into a d-axis current component i d that generates magnetic flux and a q-axis current component i q that generates torque. The closed-loop regulation of the current loop includes: converting the d-axis control amount u d and the q-axis control amount u q in the dq coordinate system into voltage amounts u α and u βThen, duty cycles are generated by a space vector pulse width modulation (SVPWM) algorithm, the switching states of the inverter bridge thyristors are controlled by the duty cycles, actual three-phase voltages and actual three-phase currents are generated, the actual three-phase currents are converted into d-axis feedback current i d and q-axis feedback current i q by three-phase two-phase conversion and Park inverse conversion, and current loop closed-loop control is realized.

[0096] Specifically, as shown in Figure 1 and Figure 2 , the current loop is provided with a d-axis ADRC current control model and a q-axis ADRC current control model based on a variable compensation factor, taking the d-axis current loop as an example, the d-axis ADRC current control model calculates a d-axis control amount u based on the deviation between a d-axis reference current parameter d and the d-axis feedback current i d , and compares the d-axis control amount u d with a d-axis saturation amount to determine whether to start the d-axis anti-saturation function. If the d-axis control amount u d is greater than the d-axis saturation amount, the anti-saturation function is started. After the anti-saturation function is started, a real-time compensation factor is determined according to the actual speed parameter of the controlled motor, and the d-axis ADRC current control model adjusts the d-axis control amount u d according to the real-time compensation factor to compensate the system control amount and the total disturbance until the system exits the saturation state; after the system exits the saturation state, the compensation factor is set to a preset value (for example, the inverse of the inductance), and the d-axis control amount u d is adjusted again based on the compensation factor until the disturbance is eliminated.

[0097] It should be noted that the ADRC design principle of the q-axis current loop is the same as that of the d-axis, and will not be described here.

[0098] Therefore, the technical scheme of the present application introduces the error term before and after the amplitude limiting of the current loop output control amount into the integral element, adjusts the system control amount in combination with the anti-saturation and variable compensation factor strategy, solves the problem that the existing motor closed-loop control system lacks effective anti-saturation strategy, resulting in large control amount fluctuation and poor practicability, reduces the control amount shock caused by the actuator rate saturation, reduces the current fluctuation amplitude, improves the control precision, effectively improves the robustness and anti-interference ability of the motor closed-loop regulation, and ensures the stable operation of the motor.

[0099] Figure 3 The flowchart of another motor control method provided by the present application is based on Figure 1 , and exemplarily shows a specific implementation manner of determining the compensation factor by the table lookup method.

[0100] As Figure 3 shown, the motor control method comprises the following steps:

[0101] Step S1: Construct a speed loop model and a current loop model based on a motor double closed-loop control strategy, and the current loop model is an ADRC current loop model with a variable compensation factor.

[0102] Step S2: Obtain an actual speed parameter of the motor and an output control amount of the current loop model.

[0103] Step S3: Determine whether to start the anti-saturation function according to the output control amount and a preset saturation amount.

[0104] Step S401: Obtain a speed-inductance relationship list between the speed of the motor and the inductance of the motor.

[0105] The speed-inductance relationship list can be a corresponding relationship between the speed of the motor and the inductance of the motor, which is calibrated and established when the controlled motor operates in a working condition in which the output control amount of the current loop is prone to saturation.

[0106] In some embodiments, obtaining the speed-inductance relationship list between the speed of the motor and the inductance of the motor comprises: obtaining a saturated speed value and a saturated torque value of the motor when the motor operates in a control amount saturation state, the control amount saturation state including a full-load variable speed test state; determining reference current parameters including d-axis reference current parameters and q-axis reference current parameters according to the saturated speed value and the saturated torque value; obtaining a current-inductance relationship list of the motor, wherein the current-inductance relationship list can be a corresponding relationship between the current and the inductance given by the motor manufacturer; and determining the speed-inductance relationship list according to the reference current parameters and the current-inductance relationship list.

[0107] For example, taking the motor operating in a full-load variable speed test state as an example, at a lower speed, the maximum torque value of the motor is given (for example, 2850 N·m), and then the speed of the motor is controlled to increase from the lowest test speed (for example, 200 rpm) to the maximum speed (for example, 3000 rpm), the working condition of the current loop is observed, the saturated speed value and the saturated torque value when the control amount saturation occurs are obtained and recorded, the d-axis reference current parameters and the q-axis reference current parameters are calculated in combination with the maximum torque current ratio (MTPA) and the maximum torque voltage ratio (MTPV) strategies. Further, the d-axis reference current parameters and the q-axis reference current parameters are used to look up the current-inductance relationship list to determine the corresponding relationship between the speed and the inductance.

[0108] Step S402: Compare the actual speed parameter with the speed of the motor in the speed-inductance relationship list to obtain a target motor speed.

[0109] The target motor speed is a speed value in the speed-inductance relationship list that is equal to the actual speed parameter of the controlled motor.

[0110] Step S403: Determine a real-time compensation factor according to the motor inductance corresponding to the target motor speed.

[0111] In this step, the reciprocal of the motor inductance corresponding to the target motor speed can be determined as the real-time compensation factor.

[0112] Step S5: Update the variable compensation factor of the current loop model according to the real-time compensation factor, to obtain an anti-saturation current loop model.

[0113] Step S6: Perform closed-loop control on the motor according to the anti-saturation control quantity output by the anti-saturation current loop model.

[0114] Specifically, the above steps S401 to S403 describe a specific implementation of determining a real-time compensation factor according to an actual speed parameter. Through saturation condition testing, a speed-inductance relationship list is established. After the anti-saturation function is turned on, the real-time speed parameter is used to compare the motor speed in the speed-inductance relationship list, and the real-time compensation factor is determined. By establishing the speed-inductance relationship list under extreme conditions, the variable compensation factor under the anti-saturation function is determined by table lookup, which is beneficial to simplify the anti-saturation compensation algorithm, reduce the requirement of the system on the hardware performance, and improve the response speed and control performance.

[0115] Optionally, Figure 4 A flowchart of another motor control method provided by the present application is shown in Figure 1 Based on the above, a specific implementation of applying an anti-saturation function to an ADRC is exemplarily shown.

[0116] As Figure 4 shown, the method comprises the following steps:

[0117] Step S410: Update the d-axis ADRC current control model based on a preset d-axis anti-saturation coefficient k cd .

[0118] Step S420: Update the q-axis ADRC current control model based on a preset q-axis anti-saturation coefficient k cq .

[0119] Step S430: Determine an anti-saturation current loop model according to the updated control model.

[0120] Specifically, as shown in Figure 2 and Figure 4 , after introducing the anti-saturation coefficient, the mathematical expression of the d-axis ESO can be represented by Formula Four:

[0121]

[0122] wherein e represents a system error amount; z1 represents a state estimation of the ESO to the actual d-axis current; represents a derivative of the parameter z1; z2 represents an observation value of the disturbance signal; represents a derivative of the parameter z2; y represents an actual feedback current parameter, for example, i d ; b d represents a d-axis compensation factor, b d may be determined by looking up a table; u d represents an output voltage of the motor d-axis; β d1 and β d2 represent state observer gain coefficients; e ansat_d represents a d-axis current loop anti-saturation amount, e ansat_d may be expressed by the following Formula Five:

[0123] e ansat_d =k cd *(u d_lim -u d ) (Formula Five)

[0124] wherein k cd represents a d-axis anti-saturation coefficient; u d_lim represents a d-axis saturation voltage.

[0125] It should be noted that the anti-saturation coefficient of the q-axis current loop has the same principle of action as the d-axis, which will not be described here.

[0126] Optionally, Figure 5 a flowchart of another motor control method provided by the present application; Figure 6 a control block diagram of a motor control method provided by the present application.

[0127] In combination with the method shown in Figure 5 and Figure 6 , the method comprises the following steps:

[0128] Step S1: constructing a speed loop model and a current loop model based on a motor double closed-loop control strategy, and the current loop model is an ADRC current loop model with a variable compensation factor.

[0129] Step S201: obtaining a required speed parameter of the motor.

[0130] Step S202: adjusting a difference between an actual speed parameter and the required speed parameter based on the speed loop model to obtain a reference current parameter.

[0131] wherein the reference current parameter comprises a d-axis reference current parameter i d * and a q-axis reference current parameter iq * .

[0132] Step S203: Obtain the actual current parameters of the motor.

[0133] Among them, the actual current parameters include the d-axis actual current i d and the actual q-axis current i q d-axis actual current i d and the actual q-axis current i q It can be obtained through Clark transform and inverse Park transform.

[0134] Step S204: Adjust the difference between the actual current parameter and the reference current parameter based on the ADRC current loop model to obtain the output control quantity.

[0135] The output control quantities include the d-axis control quantity u. d and q-axis control quantity u q .

[0136] Step S3: Determine whether to enable the anti-saturation function based on the output control quantity and the preset saturation quantity.

[0137] Step S4: Determine the real-time compensation factor based on the actual rotational speed parameters.

[0138] Step S5: Update the variable compensation factor of the current loop model according to the real-time compensation factor to obtain the anti-saturation current loop model.

[0139] Step S6: Perform closed-loop control on the motor based on the anti-saturation control quantity output by the anti-saturation current loop model.

[0140] Specifically, steps S201 to S204 above describe a specific implementation method for determining the output control quantity based on a speed loop model and an ADRC current loop model. (Refer to the reference...) Figure 6 As shown, the speed loop model can be configured with a PI controller; the ADRC current loop model can be configured with a d-axis ADRC current controller and a q-axis ADRC current controller, with independent anti-saturation coefficients set for the d-axis and q-axis ADRC current controllers. After obtaining the required motor speed parameter N... ref After obtaining the actual speed parameters, the PI regulator of the speed loop adjusts the speed based on the required speed parameter N. ref The difference between the actual and actual speed parameters is used to adjust the required torque. This is combined with strategies such as MTPA (maximum torque-to-current ratio) and field weakening control, along with the required speed parameter N. ref This allows us to obtain the d-axis reference current parameter i required for the ADRC current loop model. d * and q-axis reference current parameter i q *The deviation between the dq-axis reference current parameter and the actual current (d-axis actual current i d and q-axis actual current i q ) is calculated, then whether to start the anti-saturation function is judged through the corresponding ADRC current controller, and the real-time compensation factor corresponding to the actual speed is determined based on the look-up table method to adjust the output control quantity (d-axis control quantity u d and q-axis control quantity u q ). After obtaining the d-axis control quantity u d and q-axis control quantity u q , the d-axis control quantity u d and q-axis control quantity u q in the dq coordinate system are converted into voltage quantities u α and u β in the αβ coordinate system through Park transformation, then the duty cycle is generated through the space vector pulse width modulation (SVPWM) algorithm, the switching state of the three-phase inverter thyristor is controlled through the duty cycle, so as to generate actual three-phase voltage and actual three-phase current, and the actual three-phase current is converted into d-axis actual current i d and q-axis actual current i q through Clark transformation and Park inverse transformation, realizing current loop closed-loop control. Through setting the PI regulator in the speed loop and the ADRC controller in the current loop, the double closed-loop strategy of motor control is realized, the problem of PI regulation system hysteresis is improved, the control precision is high; through introducing independent anti-saturation function in the d-axis and the q-axis, the system flexibility and practicability are improved, and the robustness and anti-interference ability of motor closed-loop regulation are effectively improved.

[0141] Based on the same inventive concept, the application provides a motor model building method, which is realized based on the anti-saturation and variable compensation factor strategy. Typically, the motor model can be an ADRC current loop model with a variable compensation factor.

[0142] Figure 7 A flowchart of the motor model building method provided by the application is shown in the figure.

[0143] As shown in Figure 7 , the current loop model building method comprises the following steps:

[0144] Step S10: constructing a d-axis ADRC current control model based on d-axis current and a q-axis ADRC current control model based on q-axis current based on the motor double closed-loop control strategy.

[0145] Step S20: establishing a preset d-axis anti-saturation coefficient and a preset q-axis anti-saturation coefficient based on the working state calibration of the motor.

[0146] Step S30: updating the d-axis ADRC current control model according to the preset d-axis anti-saturation coefficient.

[0147] Step S40: updating the q-axis ADRC current control model according to the preset q-axis anti-saturation coefficient.

[0148] Step S50: determining the anti-saturation current loop model according to the updated control model.

[0149] In combination Figure 2 and Figure 4 As shown in the above formula four and formula five, the mathematical expression of the d-axis ADRC current control model can be represented after introducing the anti-saturation coefficient.

[0150] It should be noted that the anti-saturation coefficient of the q-axis current loop has the same principle as the d-axis, which will not be repeated here.

[0151] Therefore, the technical scheme of the present application sets the ADRC current controller in the current loop, and introduces independent anti-saturation coefficients into the dq-axis current loop respectively to adjust the corresponding anti-saturation function, which is flexible in model use and has strong practicability; by establishing the corresponding relationship between the speed and inductance, the anti-saturation compensation factor is updated in real time, which effectively improves the dq-axis current fluctuation of ADRC under the saturation working condition and improves the model control precision.

[0152] Based on the same inventive concept, the present application provides a motor control device for executing the motor control method provided by any of the above embodiments, having the function modules and beneficial effects required for the execution method.

[0153] Figure 8 A structural schematic diagram of a motor control device provided by the present application is shown.

[0154] As Figure 8 shown, the motor control device 00 includes:

[0155] A model creation unit 101 is configured to construct a speed loop model and a current loop model based on a motor double-closed-loop control strategy, and the current loop model is an ADRC current loop model with a variable compensation factor;

[0156] A detection unit 102 is configured to obtain an actual speed parameter of the motor and an output control quantity of the current loop model;

[0157] An anti-saturation judgment unit 103 is configured to determine whether to start the anti-saturation function according to the output control quantity and a preset saturation quantity;

[0158] A compensation factor acquisition unit 104 is configured to determine a real-time compensation factor according to the actual speed parameter;

[0159] The model creating unit 101 is further configured to update the variable compensation factor of the current loop model according to the real-time compensation factor after the anti-saturation function is turned on, to obtain an anti-saturation current loop model.

[0160] The motor driving unit 105 is configured to perform closed-loop control on the motor according to the anti-saturation control quantity output by the anti-saturation current loop model.

[0161] Optionally, the compensation factor obtaining unit 104 is configured to obtain a speed-inductance relationship list between the motor speed and the motor inductance; compare the actual speed parameter with the motor speed in the speed-inductance relationship list to obtain a target motor speed; and determine the real-time compensation factor according to the motor inductance corresponding to the target motor speed.

[0162] Optionally, obtaining the speed-inductance relationship list between the motor speed and the motor inductance comprises: obtaining a saturation speed value and a saturation torque value of the motor when the motor operates in a control quantity saturation state, the control quantity saturation state including a full-load variable-speed test state; determining reference current parameters including d-axis reference current parameters and q-axis reference current parameters according to the saturation speed value and the saturation torque value; obtaining a current-inductance relationship list of the motor; and determining the speed-inductance relationship list according to the reference current parameters and the current-inductance relationship list.

[0163] Optionally, the ADRC current loop model comprises a d-axis ADRC current control model and a q-axis ADRC current control model.

[0164] In some embodiments, the model creating unit 101 is further configured to update the d-axis ADRC current control model based on a preset d-axis anti-saturation coefficient after the anti-saturation function is turned on; update the q-axis ADRC current control model based on a preset q-axis anti-saturation coefficient; and determine the anti-saturation current loop model according to the updated control models.

[0165] Optionally, the preset saturation quantity comprises a preset d-axis saturation voltage and a preset q-axis saturation voltage. The anti-saturation judging unit 103 is configured to obtain a d-axis voltage control quantity and a q-axis voltage control quantity in the output control quantity; determine whether the d-axis voltage control quantity is greater than the preset d-axis saturation voltage to obtain a first determination result; determine whether to turn on the d-axis anti-saturation function according to the first determination result; determine whether the q-axis voltage control quantity is greater than the preset q-axis saturation voltage to obtain a second determination result; and determine whether to turn on the q-axis anti-saturation function according to the second determination result.

[0166] Optionally, the detecting unit 102 is configured to obtain a demand speed parameter of the motor; adjust a difference between the actual speed parameter and the demand speed parameter based on the speed loop model to obtain reference current parameters; obtain actual current parameters of the motor; and adjust a difference between the actual current parameters and the reference current parameters based on the ADRC current loop model to obtain the output control quantity.

[0167] In some embodiments, the speed loop model is a PID regulation / PI regulation based speed loop model or an ADRC based speed loop model.

[0168] According to another aspect of the present application, there is provided an electrical device comprising a controlled motor and the motor control device as described above, the motor control device being configured to perform the motor control method as described in any of the embodiments above to close-loop regulate the controlled motor.

[0169] The technical solution of the embodiment of the present application sets the speed loop model and the current loop model, the current loop model being an ADRC current loop model with a variable compensation factor; acquires the actual speed parameter of the motor and the output control quantity of the current loop model; determines whether to start the anti-saturation function according to the output control quantity and a preset saturation quantity; after the anti-saturation function is started, determines the real-time compensation factor according to the actual speed parameter; updates the variable compensation factor of the current loop model according to the real-time compensation factor to obtain an anti-saturation current loop model; and performs close-loop control on the motor according to the anti-saturation control quantity output by the anti-saturation current loop model, eliminates the influence of the controller saturation through negative feedback, solves the problem that the existing motor close-loop control system lacks effective anti-saturation strategies, resulting in large control quantity fluctuation and poor practicability, reduces the control quantity shock caused by actuator rate saturation and other shortcomings, effectively improves the robustness and anti-interference ability of the motor close-loop regulation, and ensures the stable operation of the motor.

[0170] It should be understood that the various forms of flow shown above can be reordered, added to, or deleted from, as appropriate. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solution of the present application can be achieved, which is not limited herein.

[0171] The above detailed description does not constitute a limitation on the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A motor control method, characterized in that, include: Based on the dual closed-loop control strategy of the motor, a speed loop model and a current loop model are constructed. The current loop model is an ADRC current loop model with a variable compensation factor. Obtain the actual speed parameters of the motor and the output control quantity of the current loop model; Whether to enable the anti-saturation function is determined based on the output control quantity and the preset saturation quantity. After the anti-saturation function is activated, a real-time compensation factor is determined based on the actual rotational speed parameters; The variable compensation factor of the current loop model is updated according to the real-time compensation factor to obtain the anti-saturation current loop model. The motor is subjected to closed-loop control based on the anti-saturation control quantity output by the anti-saturation current loop model. The step of determining the real-time compensation factor based on the actual rotational speed parameters includes: Obtain a list of speed-inductance relationships between motor speed and motor inductance; obtain the saturation speed and saturation torque values ​​of the motor when the motor is operating in a control quantity saturation state, the control quantity saturation state including the full-load speed change test state; The target motor speed is obtained by comparing the actual speed parameters with the motor speeds in the speed-inductance relationship list. The real-time compensation factor is determined based on the motor inductance corresponding to the target motor speed.

2. The method according to claim 1, characterized in that, The list of speed-inductance relationships between motor speed and motor inductance also includes: The reference current parameters are determined based on the saturation speed value and the saturation torque value. The reference current parameters include the d-axis reference current parameters and the q-axis reference current parameters. Obtain the current-inductance relationship list of the motor; The speed-inductance relationship list is determined based on the reference current parameters and the current-inductance relationship list.

3. The method according to claim 1, characterized in that, The ADRC current loop model includes a d-axis ADRC current control model and a q-axis ADRC current control model; After the anti-saturation function is activated, the method includes: The d-axis ADRC current control model is updated based on the preset d-axis anti-saturation coefficient; The q-axis ADRC current control model is updated based on the preset q-axis anti-saturation coefficient; The anti-saturation current loop model is determined based on the updated control model.

4. The method according to claim 1, characterized in that, The preset saturation values ​​include: preset d-axis saturation voltage and preset q-axis saturation voltage; The step of determining whether to enable the anti-saturation function based on the output control quantity and the preset saturation quantity includes: Obtain the d-axis voltage control quantity and the q-axis voltage control quantity from the output control quantity; Determine whether the d-axis voltage control quantity is greater than the preset d-axis saturation voltage to obtain a first determination result; Determine whether to enable the d-axis anti-saturation function based on the first judgment result; Determine whether the q-axis voltage control quantity is greater than the preset q-axis saturation voltage to obtain a second determination result; Based on the second judgment result, determine whether to enable the q-axis anti-saturation function.

5. The method according to claim 1, characterized in that, The process of obtaining the actual speed parameters of the motor and the output control quantity of the current loop model includes: Obtain the required speed parameters of the motor; Based on the speed loop model, the difference between the actual speed parameter and the required speed parameter is adjusted to obtain the reference current parameter; Obtain the actual current parameters of the motor; The output control quantity is obtained by adjusting the difference between the actual current parameter and the reference current parameter based on the ADRC current loop model.

6. The method according to any one of claims 1-5, characterized in that, The speed loop model is a speed loop model based on PID control or PI control, or a speed loop model based on ADRC.

7. A method for building a motor model, applicable to the motor control method as described in any one of claims 1-6, characterized in that, include: Based on the dual closed-loop control strategy of motor, a d-axis ADRC current control model based on d-axis current and a q-axis ADRC current control model based on q-axis current are constructed. Based on the motor's operating state calibration, a preset d-axis anti-saturation coefficient and a preset q-axis anti-saturation coefficient are established. The d-axis ADRC current control model is updated based on the preset d-axis anti-saturation coefficient; The q-axis ADRC current control model is updated based on the preset q-axis anti-saturation coefficient; The anti-saturation current loop model is determined based on the updated control model.

8. A motor control device, characterized in that, include: The model creation unit is used to construct a speed loop model and a current loop model based on the motor dual closed-loop control strategy. The current loop model is an ADRC current loop model with a variable compensation factor. The detection unit is used to acquire the actual speed parameters of the motor and the output control quantity of the current loop model; An anti-saturation determination unit is used to determine whether to enable the anti-saturation function based on the output control quantity and the preset saturation quantity. The compensation factor acquisition unit is used to determine the real-time compensation factor based on the actual speed parameters; to acquire a list of speed-inductance relationships between motor speed and motor inductance; to acquire the saturated speed and saturated torque values ​​of the motor when the motor is operating in a control quantity saturation state, including the full-load variable speed test state; to compare the actual speed parameters with the motor speeds in the speed-inductance relationship list to obtain the target motor speed; and to determine the real-time compensation factor based on the motor inductance corresponding to the target motor speed. The model creation unit is also used to update the variable compensation factor of the current loop model according to the real-time compensation factor after the anti-saturation function is enabled, so as to obtain the anti-saturation current loop model. The motor drive unit is used to perform closed-loop control of the motor based on the anti-saturation control quantity output by the anti-saturation current loop model.

9. An electrical device, characterized in that, include: The controlled motor and the motor control device according to claim 8, wherein the motor control device is used to execute the motor control method according to any one of claims 1-6 to perform closed-loop regulation of the controlled motor.

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