Motor control method, device and vehicle

Abstract

This invention discloses a motor control method, device, and vehicle, relating to the field of vehicle control. The method includes: acquiring motor operating parameters during synchronous modulation of the motor, wherein the operating parameters include at least: the motor's operating voltage, the corresponding operating current, and the motor speed; obtaining a current synchronous modulation number based on the operating parameters, wherein the current synchronous modulation number characterizes the number of electrical angle controls within one electrical cycle; optimizing the current synchronous modulation number based on synchronous modulation conditions to obtain a target synchronous modulation number, wherein the target synchronous modulation number is less than or equal to the current synchronous modulation number; and controlling the motor to perform synchronous modulation based on the target synchronous modulation number. This invention solves the technical problem of low motor efficiency caused by the unreasonable selection of synchronous modulation numbers when the motor is running at high speed in related technologies.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more specifically, to a motor control method, device, and vehicle. Background Technology

[0002] When a motor is running at high speed, excessive switching frequency of power devices may cause damage to the power devices, thereby affecting the working efficiency of the motor drive system. In current related technologies, the switching frequency of power devices is usually reduced by decreasing the number of synchronous modulations of the motor. However, reducing the number of synchronous modulations of the motor will inevitably lead to a decrease in the working capacity of the power devices, which in turn leads to low working efficiency of the motor drive system.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a motor control method, device, and vehicle to at least solve the technical problem of low motor efficiency caused by unreasonable selection of synchronization modulation numbers when the motor is running at high speed.

[0005] According to one aspect of the present invention, a motor control method is provided, comprising: acquiring motor operating parameters during synchronous modulation of the motor, wherein the operating parameters include at least: the motor operating voltage, the operating current corresponding to the operating voltage, and the motor speed; determining a current synchronous modulation number corresponding to the operating parameters, wherein the current synchronous modulation number is used to characterize the number of times the electrical angle of the motor is controlled within a preset period; optimizing the current synchronous modulation number based on synchronous modulation conditions to obtain a target synchronous modulation number, wherein the target synchronous modulation number is less than or equal to the current synchronous modulation number; and controlling the motor to perform synchronous modulation based on the target synchronous modulation number.

[0006] Optionally, optimizing the current synchronous modulation number based on the synchronous modulation condition to obtain the target synchronous modulation number includes: determining whether the current synchronous modulation number is a multiple of a first preset value; determining the current synchronous modulation number as the target synchronous modulation number in response to the current synchronous modulation number being a multiple of the first preset value; and obtaining the first multiple of the first preset value in response to the current synchronous modulation number not being a multiple of the first preset value to obtain the target synchronous modulation number, wherein the difference between the first multiple of the first preset value and the current synchronous modulation number is less than the difference between other multiples of the first preset value and the current synchronous modulation number, and other multiples are multiples other than the first multiple.

[0007] Optionally, determining the current synchronization modulation number corresponding to the operating parameters includes: obtaining a preset switching frequency corresponding to the operating voltage and operating current, wherein the preset switching frequency is used to characterize the frequency at which preset devices in the motor are turned on or off; and obtaining the current synchronization modulation number based on the preset switching frequency and the motor speed.

[0008] Optionally, obtaining the preset switching frequency corresponding to the operating voltage and operating current includes: determining the preset switching frequency corresponding to the operating voltage and operating current based on the preset parameter preset relationship of the preset device, wherein the preset parameter preset relationship is used to characterize the correspondence between different voltages, different currents and switching frequencies.

[0009] Optionally, obtaining the motor's operating parameters includes: obtaining the operating voltage; and determining the operating current corresponding to the operating voltage based on the motor's external characteristics, wherein the external characteristics are used to characterize the relationship between the operating current and the operating voltage when the motor speed meets preset conditions.

[0010] Optionally, controlling the motor to perform synchronous modulation based on the target synchronous modulation number includes: acquiring the current electrical angle of the motor; determining a preset electrical angle for synchronous modulation of the motor according to the target synchronous modulation number; and controlling the motor to perform one synchronous modulation in response to the current electrical angle being a multiple of the preset electrical angle.

[0011] Optionally, the above method further includes: controlling a preset device in the motor to close in response to the current electrical angle being a multiple of a preset electrical angle; and controlling the preset device to open in response to the current electrical angle not being a multiple of a preset electrical angle.

[0012] According to another aspect of the present invention, a motor control device is also provided, comprising: a parameter acquisition module, configured to acquire motor operating parameters during synchronous modulation of the motor, wherein the operating parameters include at least: the motor operating voltage, the operating current corresponding to the operating voltage, and the motor speed; a synchronous modulation number determination module, configured to determine the current synchronous modulation number corresponding to the operating parameters, wherein the current synchronous modulation number is used to characterize the number of times the electrical angle of the motor is controlled within a preset period; an optimization processing module, configured to optimize the current synchronous modulation number based on synchronous modulation conditions to obtain a target synchronous modulation number, wherein the target synchronous modulation number is less than or equal to the current synchronous modulation number; and a synchronous modulation module, configured to control the motor to perform synchronous modulation based on the target synchronous modulation number.

[0013] According to another aspect of the present invention, a vehicle is also provided, characterized in that it includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform any of the methods described above.

[0014] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the above-described motor control method.

[0015] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the above-described motor control method when it runs.

[0016] In this embodiment of the invention, during the synchronous modulation of the motor, the motor's operating parameters are acquired, and the corresponding current synchronous modulation number is obtained based on the acquired operating parameters. The current synchronous modulation number is then optimized based on the synchronous modulation conditions to obtain a target synchronous modulation number. Finally, the motor is controlled for synchronous modulation based on the target synchronous modulation number. It is important to note that by optimizing the current synchronous modulation number to obtain a more suitable target synchronous modulation number that meets the synchronous modulation conditions, and by synchronously modulating the motor based on the optimized target synchronous modulation number, the working capacity of the power devices is maximized. This achieves the technical effect of controlling the motor using a suitable synchronous modulation number, improving the output capacity of the motor assembly, and thus solving the technical problem of low motor efficiency caused by an unreasonable synchronous modulation number selected when the motor is running at high speed. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0018] Figure 1 This is a schematic diagram of an electric drive control system for a pure electric vehicle according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram illustrating the relationship between current output capability and temperature rise of power devices according to an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram illustrating the relationship between current output capability and switching frequency according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram illustrating the relationship between motor speed and synchronous modulation number according to an embodiment of the present invention;

[0022] Figure 5 This is a flowchart of a motor control method according to an embodiment of the present invention;

[0023] Figure 6This is a flowchart of a synchronization modulation number optimization according to an embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram comparing the synchronization modulation number before and after optimization according to an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of a motor control device according to an embodiment of the present invention. Detailed Implementation

[0026] 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.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Figure 1 This is a schematic diagram of an electric drive control system for a pure electric vehicle according to an embodiment of the present invention, as shown below. Figure 1 As shown, given a motor torque command, it is decoupled into q-axis and d-axis current commands through the maximum torque-to-current ratio. These commands are then transformed by the current controller using coordinate transformation and sinusoidal pulse width modulation. The input bus phase voltage is then decoupled into a-phase, b-phase, and c-phase voltages by the three-phase inverter and input to the permanent magnet synchronous motor. The motor rotor position, a-phase current, b-phase current, and c-phase current are obtained. These parameters are then transformed by coordinate transformation, and the actual values ​​of the q-axis and d-axis currents are input to the current controller for closed-loop control.

[0029] Figure 2 This is a schematic diagram illustrating the relationship between current output capability and temperature rise of power devices according to an embodiment of the present invention, as shown below. Figure 2As shown, the current output capability of a power device is affected by its own temperature rise. Under the same control frequency, the greater the current output capability, the greater the temperature rise of the power device.

[0030] Figure 3 This is a schematic diagram illustrating the relationship between current output capability and switching frequency according to an embodiment of the present invention, such as... Figure 3 As shown, when the load is fixed, the higher the switching frequency of the power device, the higher its temperature rise, which will eventually burn out the power device. Therefore, the current output capability of the power device can be considered to be affected by the switching frequency. The lower the switching frequency, the larger the allowable load, that is, the greater the current output capability of the electric drive system.

[0031] Figure 4 This is a schematic diagram illustrating the relationship between motor speed and synchronous modulation number according to an embodiment of the present invention, as shown below. Figure 4 As shown, in the high-speed range of the motor, the motor generally adopts a synchronous modulation strategy to reduce the number of switching operations of the power devices. As the motor speed increases, the number of synchronous modulation operations gradually decreases.

[0032] The technical terms used in this invention are explained as follows:

[0033] Insulated Gate Bipolar Transistor (IGBT): IGBT power devices have low drive power, fast switching speed, and low saturation voltage, making them very suitable for use in power conversion systems with DC voltage of 600V and above, such as AC motors, frequency converters, switching power supplies, lighting circuits, traction drives, and other fields. They are core devices for energy conversion and transmission.

[0034] Example 1

[0035] According to an embodiment of the present invention, a motor control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0036] Figure 5 This is a flowchart of a motor control method according to an embodiment of the present invention, such as... Figure 5 As shown, the method includes the following steps:

[0037] Step S502: During the synchronous modulation of the motor, the operating parameters of the motor are acquired. The operating parameters include at least the motor's operating voltage, the operating current corresponding to the operating voltage, and the motor speed.

[0038] Synchronous modulation can be understood as controlling the switching of power devices inside the motor. In this embodiment of the invention, taking an insulated gate bipolar transistor (IGBT) power device as an example, during the high-speed operation of the motor, the current output capability of the IGBT power device is affected by its own temperature rise. When the load is fixed, the higher the switching frequency of the IGBT power device, the higher its own temperature rise, which will burn out the power device. Therefore, it is necessary to control the switching of the IGBT power device to prevent the device from being damaged, thereby affecting the working efficiency of the motor.

[0039] In an optional embodiment, the operating voltage of the motor can be obtained by a voltage sensor, and the operating current corresponding to the operating voltage can be determined by the external characteristics of the motor. The motor speed can be obtained by a speed sensor. The external characteristics of the motor can be understood as the characteristic of keeping the throttle opening (or fuel injection advance angle) at a certain position under normal temperature, normal oil pressure, and optimal adjustment of the ignition advance angle (or fuel injection advance angle) and fuel supply system.

[0040] Step S504: Determine the current synchronization modulation number corresponding to the operating parameters, wherein the current synchronization modulation number is used to characterize the number of times the electric angle of the motor is controlled within a preset period.

[0041] The preset cycle can be a pre-set electrical cycle, that is, the time it takes for the alternating current to change once. For example, it can be 20ms. The specific value can be modified according to actual needs. The electrical angle can be understood as the angle by which the electromotive force of the conductor changes for one cycle for each pair of magnetic poles. The electrical angle is determined by the number of pole pairs of the motor. The specific formula is: α = 360° * K, where α is the electrical angle and K is the number of pole pairs of the motor. The number of pole pairs of the motor can be understood as the number of magnetic poles of the motor. Since magnetic poles are divided into N poles and S poles, the number of magnetic poles is generally even, such as 2-pole motors and 4-pole motors. Generally, one N pole and one S pole are called a pair of magnetic poles. For example, when a motor has only one N pole and one S pole, the motor is a 2-pole motor with 1 pole pair and an electrical angle of 360°. Assuming that the current synchronization modulation number is 9, it is equivalent to controlling the electrical angle of the motor 9 times, that is, controlling it once every 40°.

[0042] In one alternative embodiment, the current synchronization modulation number corresponding to the operating parameters can be calculated using mathematical formulas.

[0043] Step S506: Optimize the current synchronization modulation number based on the synchronization modulation conditions to obtain the target synchronization modulation number, wherein the target synchronization modulation number is less than or equal to the current synchronization modulation number.

[0044] Among them, the synchronous modulation condition can be a pre-set restriction on the synchronous modulation number. By limiting the synchronous modulation number through this condition, the maximum capability of the power device can be utilized and the output capability of the motor can be improved. Generally, the synchronous modulation condition can limit the synchronous modulation number to a multiple of 3. Its specific value can be modified according to actual needs. The optimization process can be based on the current synchronous modulation number and the synchronous modulation condition to determine a more suitable synchronous modulation number, that is, the target synchronous modulation number.

[0045] It should be noted that since the current synchronization modulation number may not meet the synchronization modulation conditions, it is necessary to optimize the current synchronization modulation number that does not meet the synchronization modulation conditions to obtain a more suitable target synchronization modulation number, so as to ensure that the power device can be brought into full play.

[0046] In an optional embodiment, the current synchronous modulation number can be optimized based on the synchronous modulation conditions by a motor control device. That is, it can be determined whether the current synchronous modulation number meets the synchronous modulation conditions. If it does not meet the conditions, a target synchronous modulation number that meets the synchronous modulation conditions and is less than or equal to the current synchronous modulation number can be selected.

[0047] It is understandable that since the current synchronization modulation number is already the maximum synchronization modulation number that the motor can withstand during high-speed operation, if it exceeds this current synchronization modulation number, it will inevitably cause damage to the power devices. Therefore, in the process of optimizing the current synchronization modulation number, it is necessary to select a target synchronization modulation number that meets the synchronization modulation conditions and is less than or equal to the current synchronization modulation number.

[0048] Step S508: Control the motor to perform synchronous modulation based on the target synchronous modulation number.

[0049] Among them, controlling the motor to perform synchronous modulation based on the optimized target synchronous modulation number can maximize the working capacity of the power devices and improve the output capacity of the motor assembly. Furthermore, since the more times the motor is controlled to perform synchronous modulation, the smaller the motor current harmonics and motor torque fluctuations are, the more effective the motor control to perform synchronous modulation based on the optimized target synchronous modulation number can also ensure that the motor current harmonics and motor torque fluctuations are within the most reasonable range.

[0050] In an alternative embodiment, the motor can be controlled to perform synchronous modulation based on the target synchronous modulation number by a motor control device.

[0051] Through the above steps, during the synchronous modulation of the motor, the motor's operating parameters are acquired, and the corresponding current synchronous modulation number is obtained based on these parameters. This current synchronous modulation number is then optimized based on the synchronous modulation conditions to obtain the target synchronous modulation number. Finally, the motor is controlled for synchronous modulation based on the target synchronous modulation number. It is important to note that by optimizing the current synchronous modulation number to obtain a more suitable target synchronous modulation number that meets the synchronous modulation conditions, and by synchronously modulating the motor based on this optimized target synchronous modulation number, the working capacity of the power devices is maximized. This achieves the technical effect of controlling the motor with a suitable synchronous modulation number, improving the output capacity of the motor assembly, and thus solving the technical problem of low motor efficiency caused by an unreasonable synchronous modulation number selected when the motor is running at high speed.

[0052] Optionally, optimizing the current synchronous modulation number based on the synchronous modulation condition to obtain the target synchronous modulation number includes: determining whether the current synchronous modulation number is a multiple of a first preset value; determining the current synchronous modulation number as the target synchronous modulation number in response to the current synchronous modulation number being a multiple of the first preset value; and obtaining the first multiple of the first preset value in response to the current synchronous modulation number not being a multiple of the first preset value to obtain the target synchronous modulation number, wherein the difference between the first multiple of the first preset value and the current synchronous modulation number is less than the difference between other multiples of the first preset value and the current synchronous modulation number, and other multiples are multiples other than the first multiple.

[0053] The first preset value can be understood as the pre-set limitation of the synchronization modulation condition in step S506 above. Generally, the first preset value can be set to 3. Its specific value can be modified according to actual needs. The first multiple can be a multiple of the first preset value. It should be noted that the first multiple is a multiple of the first preset value that is closest to the current synchronization modulation number and less than the current synchronization modulation number. For example, assuming the first preset value is 3 and the current synchronization modulation number is 10, the first multiple needs to be a multiple of 3 that is closest to 10 but less than 10, which is 9. That is, the target synchronization modulation number after optimization is 9.

[0054] In one optional embodiment, it can be manually determined whether the current synchronization modulation number is a multiple of the first preset value. Similarly, in response to the current synchronization modulation number being a multiple of the first preset value, the current synchronization modulation number can be manually determined as the target synchronization modulation number. In response to the current synchronization modulation number not being a multiple of the first preset value, the first multiple of the first preset value can be manually obtained.

[0055] It should be noted that determining whether the current synchronous modulation number is a multiple of the first preset value, that is, determining whether the current synchronous modulation number meets the synchronous modulation condition, is crucial. If the current synchronous modulation number is a multiple of the first preset value, it can be considered that the current synchronous modulation number meets the synchronous modulation condition and does not require optimization. In this case, the current synchronous modulation number is the target synchronous modulation number. If the current synchronous modulation number is not a multiple of the first preset value, it can be considered that the current synchronous modulation number does not meet the synchronous modulation condition and needs to be optimized. That is, a first multiple that is closest to the current synchronous modulation number and less than the first preset value of the current synchronous modulation number is selected. This first multiple can be used as the target synchronous modulation number, and the motor is synchronously modulated based on the target synchronous modulation number.

[0056] Optionally, determining the current synchronization modulation number corresponding to the operating parameters includes: obtaining a preset switching frequency corresponding to the operating voltage and operating current, wherein the preset switching frequency is used to characterize the frequency at which preset devices in the motor are turned on or off; and obtaining the current synchronization modulation number based on the preset switching frequency and the motor speed.

[0057] The preset switching frequency can be the maximum switching frequency corresponding to different voltages and currents of the preset device. The preset device can be a power device, which is a high-power electronic device mainly used in the power conversion and control circuits of power equipment. There are many types of power devices that can be used. In this embodiment of the invention, considering that IGBT power devices have advantages such as low driving power and fast switching speed, IGBT power devices are mainly used, but they are not limited to IGBT power devices and can be modified according to actual needs.

[0058] In one optional embodiment, the preset switching frequency corresponding to the operating voltage and operating current can be obtained by looking up a parameter table. The current synchronization modulation number can be calculated by using a mathematical formula based on the preset switching frequency and the motor speed. The specific formula is: Freq=Spd / (60*P*N), where Freq represents the preset switching frequency, Spd represents the motor speed, P represents the number of pole pairs of the motor, and N represents the current synchronization modulation number.

[0059] Optionally, obtaining the preset switching frequency corresponding to the operating voltage and operating current includes: determining the preset switching frequency corresponding to the operating voltage and operating current based on the preset parameter preset relationship of the preset device, wherein the preset parameter preset relationship is used to characterize the correspondence between different voltages, different currents and switching frequencies.

[0060] Among them, the parameter preset relationship can be a maximum switching frequency that is preset by the developer based on the characteristics of the power device. This parameter preset relationship can be used to characterize the maximum switching frequency of the power device when it is in different voltage and current operating environments. It can be displayed in the form of a table in the power device manual. By using the parameter preset relationship, the maximum switching frequency of the power device can be obtained by looking up the table based on the current operating voltage and current of the power device.

[0061] It should be noted that the maximum switching frequency can be understood as the maximum frequency at which a power device can be turned on or off under the current operating environment. Since the maximum switching frequency that a power device can withstand is related to the performance of the device and is a fixed value, a parameter preset relationship can be set in advance to help users understand the limit of the switching frequency that the power device can withstand and minimize unnecessary power device damage events.

[0062] Optionally, obtaining the motor's operating parameters includes: obtaining the operating voltage; and determining the operating current corresponding to the operating voltage based on the motor's external characteristics, wherein the external characteristics are used to characterize the relationship between the operating current and the operating voltage when the motor speed meets preset conditions.

[0063] The external characteristics of the motor can be understood as the characteristic that, under normal temperature, normal oil pressure, and optimal ignition advance angle (or fuel injection advance angle) and fuel supply system adjustment, the throttle opening (or fuel supply adjustment lever) remains constant at a certain position. This characteristic is used to characterize the relationship between the working current and the working voltage when the motor speed meets the preset conditions. It can be visually displayed as the U = f(i) curve, where U represents the working voltage, i represents the working current, and the U = f(i) function represents the equal relationship between the working voltage and the working current. When the motor speed is constant, it can be considered that the motor speed meets the preset conditions.

[0064] In one alternative embodiment, the operating voltage can be obtained by a voltage sensor, and the external characteristics of the motor can be obtained by motor simulation, thereby determining the operating current corresponding to the operating voltage. Motor simulation can be understood as a process of analyzing or calculating motor control, motor electromagnetic field, and temperature field on a computer using simulation software, such as Matrix Laboratory (Mat Lab) or finite element calculation software.

[0065] Optionally, controlling the motor to perform synchronous modulation based on the target synchronous modulation number includes: acquiring the current electrical angle of the motor; determining a preset electrical angle for synchronous modulation of the motor according to the target synchronous modulation number; and controlling the motor to perform one synchronous modulation in response to the current electrical angle being a multiple of the preset electrical angle.

[0066] The current electrical angle can be understood as the angle by which the electromotive force of the conductor changes for one cycle when the magnetic field rotates through a pair of magnetic poles under the current working environment of the motor. The preset electrical angle can be understood as the electrical angle that needs to be synchronously modulated on the motor, obtained according to the target synchronous modulation number.

[0067] In one optional embodiment, the current electrical angle of the motor can be obtained by an angle sensor. The preset electrical angle for synchronous modulation of the motor can be determined by calculating the quotient of an electrical angle value and a target synchronous modulation number. For example, if an electrical angle of a two-pole motor is 360°, and the target synchronous modulation number is 9, then the preset electrical angle is the quotient of 360° and 9, which is 40°. The current electrical angle can be determined by a sensing device installed in the motor to determine whether it is a multiple of the preset electrical angle, and the motor can be controlled by a motor control device to perform synchronous modulation.

[0068] It should be noted that, in response to the current electrical angle being a multiple of the preset electrical angle, the motor is controlled to perform a synchronous modulation. This can be understood as the motor needing to perform a synchronous modulation every time it encounters a multiple of the preset electrical angle. For example, when the target synchronous modulation number of a secondary motor is 9, the motor needs to be synchronously modulated 9 times. That is, an electrical angle needs to be divided into 9 equal 40° electrical angles, and a synchronous modulation needs to be performed every 40°. This is equivalent to performing a synchronous modulation every time an electrical angle that is a multiple of 40° is encountered.

[0069] Optionally, the above method further includes: controlling a preset device in the motor to close in response to the current electrical angle being a multiple of a preset electrical angle; and controlling the preset device to open in response to the current electrical angle not being a multiple of a preset electrical angle.

[0070] In one alternative embodiment, a motor control device can be used to control preset devices in the motor to turn off or on.

[0071] It is understandable that since controlling the motor to perform one synchronization modulation is equivalent to controlling the preset device in the motor to turn off once, in response to the current electrical angle being a multiple of the preset electrical angle, the motor needs to be synchronized, that is, the preset device in the motor needs to be turned off; in response to the current electrical angle not being a multiple of the preset electrical angle, the motor does not need to be synchronized, that is, the preset device needs to be turned on.

[0072] Figure 6 This is a flowchart of a synchronization modulation number optimization according to an embodiment of the present invention, such as... Figure 6As shown, the specific process for optimizing the synchronous modulation number is as follows: Based on the external characteristics of the motor, obtain the operating current and motor speed corresponding to the current operating voltage. Then, obtain the maximum switching frequency corresponding to the operating current by looking up the parameter table. Next, calculate the current synchronous modulation number using the formula: Maximum switching frequency = Motor speed / (60 * Number of motor pole pairs * Current synchronous modulation number). Finally, optimize the current synchronous modulation number to obtain the target synchronous modulation number.

[0073] Figure 7 This is a schematic diagram comparing the synchronization modulation number before and after optimization according to an embodiment of the present invention, as shown below. Figure 7 As shown, it can be seen that the optimized synchronous modulation number is less than or equal to the original synchronous modulation number, which can maximize the working capacity of the power devices, improve the output capacity of the motor assembly, and ensure that the motor current harmonics and motor torque fluctuations are within the most reasonable range.

[0074] Example 2

[0075] According to another aspect of the present invention, a motor control device is also provided, which can execute the motor control method in Embodiment 1 above. The specific implementation scheme and application scenario in this embodiment are the same as those in Embodiment 1 above, and will not be repeated here.

[0076] Figure 8 This is a schematic diagram of a motor control device according to an embodiment of the present invention, such as... Figure 8 As shown, the device includes: a parameter acquisition module 802, used to acquire the motor's operating parameters during synchronous modulation of the motor, wherein the operating parameters include at least: the motor's operating voltage, the operating current corresponding to the operating voltage, and the motor speed; a synchronous modulation number determination module 804, used to determine the current synchronous modulation number corresponding to the operating parameters, wherein the current synchronous modulation number is used to characterize the number of times the motor's electrical angle is controlled within a preset period; an optimization processing module 806, used to optimize the current synchronous modulation number based on synchronous modulation conditions to obtain a target synchronous modulation number, wherein the target synchronous modulation number is less than or equal to the current synchronous modulation number; and a synchronous modulation module 808, used to control the motor to perform synchronous modulation based on the target synchronous modulation number.

[0077] The parameter acquisition module 802 includes: a voltage acquisition unit for acquiring the operating voltage; and a current determination unit for determining the operating current corresponding to the operating voltage based on the external characteristics of the motor, wherein the external characteristics are used to characterize the relationship between the operating current and the operating voltage when the motor speed meets preset conditions.

[0078] The synchronization modulation number determination module 804 includes: a switching frequency acquisition unit, used to acquire a preset switching frequency corresponding to the operating voltage and operating current, wherein the preset switching frequency is used to characterize the frequency at which preset devices in the motor are turned on or off; and a synchronization modulation number acquisition unit, used to obtain the current synchronization modulation number based on the preset switching frequency and the motor speed.

[0079] The switching frequency acquisition unit includes a switching frequency determination subunit, which is used to determine the preset switching frequency corresponding to the operating voltage and operating current based on the preset parameter preset relationship of the preset device. The preset parameter preset relationship is used to characterize the correspondence between different voltages, different currents and switching frequencies.

[0080] The optimization processing module 806 includes: a multiple judgment unit, used to determine whether the current synchronous modulation number is a multiple of a first preset value; a synchronous modulation number determination module, used to determine the current synchronous modulation number as the target synchronous modulation number in response to the current synchronous modulation number being a multiple of the first preset value; and a multiple acquisition module, used to acquire the first multiple of the first preset value in response to the current synchronous modulation number not being a multiple of the first preset value, thereby obtaining the target synchronous modulation number, wherein the difference between the first multiple of the first preset value and the current synchronous modulation number is less than the difference between other multiples of the first preset value and the current synchronous modulation number, and other multiples are multiples other than the first multiple.

[0081] The synchronous modulation module 808 includes: an electrical angle acquisition unit for acquiring the current electrical angle of the motor; an electrical angle determination unit for determining a preset electrical angle for synchronous modulation of the motor based on a target synchronous modulation number; and a motor control unit for controlling the motor to perform one synchronous modulation in response to the current electrical angle being a multiple of the preset electrical angle.

[0082] The aforementioned device further includes: a first control module, used to control a preset device in the motor to close in response to the current electrical angle being a multiple of a preset electrical angle; and a second control module, used to control a preset device to open in response to the current electrical angle not being a multiple of a preset electrical angle.

[0083] Example 3

[0084] According to another aspect of the present invention, a vehicle is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform any of the methods described above.

[0085] Example 4

[0086] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the above-described motor control method.

[0087] Example 5

[0088] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the above-described motor control method when it runs.

[0089] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0090] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0091] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0092] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0093] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0094] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0095] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of controlling an electric machine, characterized by, include: During the synchronous modulation of the motor, the operating parameters of the motor are obtained, wherein the operating parameters include at least: the operating voltage of the motor, the operating current corresponding to the operating voltage, and the motor speed; Determine the current synchronization modulation number corresponding to the operating parameters, wherein the current synchronization modulation number is used to characterize the number of times the electrical angle of the motor is controlled within a preset period; The current synchronization modulation number is optimized based on the synchronization modulation condition to obtain a target synchronization modulation number, wherein the target synchronization modulation number is less than or equal to the current synchronization modulation number; The motor is controlled to perform synchronous modulation based on the target synchronous modulation number; Optimizing the current synchronization modulation number based on synchronization modulation conditions to obtain a target synchronization modulation number includes: determining whether the current synchronization modulation number is a multiple of a first preset value; determining the current synchronization modulation number as the target synchronization modulation number in response to the current synchronization modulation number being a multiple of the first preset value; and obtaining a first multiple of the first preset value in response to the current synchronization modulation number not being a multiple of the first preset value to obtain the target synchronization modulation number, wherein the difference between the first multiple of the first preset value and the current synchronization modulation number is less than the difference between other multiples of the first preset value and the current synchronization modulation number, and the other multiples are multiples other than the first multiple.

2. The motor control method according to claim 1, characterized by, Determining the current synchronization modulation number corresponding to the operating parameters includes: Obtain a preset switching frequency corresponding to the operating voltage and the operating current, wherein the preset switching frequency is used to characterize the frequency at which preset devices in the motor are turned on or off; The current synchronization modulation number is obtained based on the preset switching frequency and the motor speed.

3. The motor control method according to claim 2, characterized in that, Obtaining the preset switching frequency corresponding to the operating voltage and the operating current includes: Based on the preset parameter relationship of the preset device, the preset switching frequency corresponding to the operating voltage and the operating current is determined, wherein the preset parameter relationship is used to characterize the correspondence between different voltages, different currents and switching frequencies.

4. The motor control method of claim 1, wherein Obtaining the operating parameters of the motor includes: Obtain the operating voltage; Based on the external characteristics of the motor, the operating current corresponding to the operating voltage is determined, wherein the external characteristics are used to characterize the relationship between the operating current and the operating voltage when the motor speed meets a preset condition.

5. The motor control method of claim 1, wherein Controlling the motor to perform synchronous modulation based on the target synchronous modulation number includes: Obtain the current electrical angle of the motor; The preset electrical angle for synchronous modulation of the motor is determined based on the target synchronous modulation number; In response to the current electrical angle being a multiple of the preset electrical angle, the motor is controlled to perform a synchronous modulation.

6. The motor control method according to claim 5, characterized by, The method further includes: In response to the current electrical angle being a multiple of the preset electrical angle, the preset device in the motor is controlled to shut down; In response to the fact that the current electrical angle is not a multiple of the preset electrical angle, the preset device is controlled to open.

7. An electric motor control device characterized by comprising: The device includes: The parameter acquisition module is used to acquire the operating parameters of the motor during the synchronous modulation process of the motor, wherein the operating parameters include at least: the operating voltage of the motor, the operating current corresponding to the operating voltage, and the motor speed; A synchronization modulation number determination module is used to determine the current synchronization modulation number corresponding to the operating parameters, wherein the current synchronization modulation number is used to characterize the number of times the electrical angle of the motor is controlled within a preset period; An optimization processing module is used to optimize the current synchronization modulation number based on the synchronization modulation conditions to obtain a target synchronization modulation number, wherein the target synchronization modulation number is less than or equal to the current synchronization modulation number; A synchronization modulation module is used to control the motor to perform synchronization modulation based on the target synchronization modulation number; The optimization processing module is further configured to determine whether the current synchronization modulation number is a multiple of a first preset value; in response to the current synchronization modulation number being a multiple of the first preset value, determine the current synchronization modulation number as the target synchronization modulation number; in response to the current synchronization modulation number not being a multiple of the first preset value, obtain a first multiple of the first preset value to obtain the target synchronization modulation number, wherein the difference between the first multiple of the first preset value and the current synchronization modulation number is less than the difference between other multiples of the first preset value and the current synchronization modulation number, and the other multiples are multiples other than the first multiple.

8. A processor, comprising: in, When the processor's program is executed, it performs the motor control method according to any one of claims 1 to 6.

9. A vehicle characterized by comprising: include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 6.

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