A motor drive controller, motor drive control method and system

Abstract

The application provides a motor drive controller, a motor drive control method and system, comprising a detection module, a switching module, an adjustment module and a control module; the detection module is used to obtain a DC bus voltage value, a q-axis actual current value, a d-axis actual current value, a rotor speed and a position angle; the switching module is used to obtain a mode switching control instruction and perform switching of a first mode and a second mode based on the mode switching control instruction; the adjustment module is used to obtain a q-axis given current value and a d-axis given current value in a corresponding mode and determine a q-axis voltage vector and a d-axis voltage vector; and the control module is used to obtain a pulse width modulation signal based on the q-axis voltage vector, the d-axis voltage vector, the DC bus voltage value and the position angle. The application can achieve good control of the bus voltage without the need of an additional energy consumption resistor in series with the bus or the need of increasing the energy storage capacity of the bus capacitor, thereby reducing the size and cost of the hardware system and simplifying the system complexity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric machines, and in particular to an electric machine drive controller, an electric machine drive control method and system. BACKGROUND

[0002] Permanent magnet synchronous motor is a kind of electric motor with simple structure, low cost and high efficiency, which is widely used in industrial engineering fields such as aerospace, numerical control machine tool and electric vehicle. The permanent magnet synchronous motor drive system is a vector control system, which uses two groups of closed-loop feedback control loops of speed loop and current loop to control the driving voltage of the permanent magnet synchronous motor, so that the permanent magnet synchronous motor can run stably under the given speed and load condition. Usually, the motor is in the generating mode during deceleration, and the generated voltage will be pumped back to the bus to pump up the bus voltage. If the voltage is pumped up too high, it will cause the components used in the drive circuit to be broken down due to overvoltage, and even eventually cause the bus to short circuit to ground.

[0003] In order to avoid damage to the inverter circuit and other devices caused by the pumped voltage, the prior art connects a power dissipation resistor in series between the positive and negative poles of the bus to absorb the pumped energy. However, if the motor is frequently braked, the internal environment temperature of the motor will rise, which will affect the reliability of the system. In addition, the capacity of the bus capacitor can also be increased to store the electrical energy generated by the pumped voltage in the capacitor. However, the increase of the capacity of the capacitor will directly lead to the increase of the size and cost of the hardware system, and the surge current will also be generated during the charging of the capacitor, which increases the complexity of the system. SUMMARY

[0004] The purpose of the present application is to provide an electric machine drive controller, an electric machine drive control method and system to solve the technical problem of high voltage pumping of the DC bus during the deceleration of the motor.

[0005] In a first aspect, the application provides a motor drive controller, which comprises a detection module, a switching module, an adjusting module and a control module; the detection module is configured to obtain a DC bus voltage value, a q-axis actual current value, a d-axis actual current value, a rotor speed and a position angle; the switching module is connected to the detection module and configured to obtain a mode switching control instruction based on the DC bus voltage value and the rotor speed, and perform switching between a first mode and a second mode based on the mode switching control instruction; the adjusting module is connected to the switching module and configured to obtain a q-axis given current value and a d-axis given current value in a corresponding mode based on the DC bus voltage value and the rotor speed, and determine a q-axis voltage vector and a d-axis voltage vector based on the q-axis given current value, the d-axis given current value, the q-axis actual current value and the d-axis actual current value; the control module is connected to the adjusting module and configured to obtain a pulse width modulation signal based on the q-axis voltage vector, the d-axis voltage vector, the DC bus voltage value and the position angle.

[0006] In the application, the DC bus voltage can be well controlled without additional energy consumption resistors in series or additional energy storage capacity of the bus capacitor, thereby reducing the size and cost of the hardware system and simplifying the system complexity.

[0007] In an implementation form of the first aspect, the switching module comprises a comparison unit, an instruction generation unit and a switching unit.

[0008] The comparison unit comprises a first hysteresis comparator and a second hysteresis comparator, the first hysteresis comparator is configured to compare the size relationship between the DC bus voltage value and a first bus voltage threshold, and the second hysteresis comparator is configured to compare the size relationship between the rotor speed and a given target speed.

[0009] The instruction generation unit and the comparison unit are connected, configured to output a mode switching control instruction 1 when the DC bus voltage value is greater than the first bus voltage threshold and the rotor speed is greater than the given target speed, and output a mode switching control instruction 0 when the DC bus voltage value is less than or equal to the first bus voltage threshold or the rotor speed is less than or equal to the given target speed.

[0010] The switching unit is connected to the instruction generation unit, configured to switch to the first mode when the mode switching control instruction is 0, and switch to the second mode when the mode switching control instruction is 1.

[0011] In the implementation form, the real-time monitoring and accurate judgment of the bus voltage pump-up energy are realized, and the sensitive switching between the speed control mode and the bus voltage protection mode is realized.

[0012] In an implementation form of the first aspect, the first mode is a speed control mode; and the second mode is a bus voltage protection mode.

[0013] In an implementation form of the first aspect, the adjusting module comprises a speed loop regulator configured to obtain the q-axis given current value in the first mode by calculating a difference between the rotor speed and the given target rotor speed, and performing proportional integral adjustment on the difference.

[0014] In an implementation form of the first aspect, the adjusting module comprises a voltage loop regulator configured to obtain the q-axis given current value in the second mode by calculating a difference between the DC bus voltage value and a second bus voltage threshold, and performing proportional integral adjustment on the difference.

[0015] In the implementation form, the q-axis current given value is determined by the voltage loop, and automatic control of the energy feedback speed in the motor is achieved.

[0016] In an implementation form of the first aspect, the adjusting module comprises a deviation control unit configured to determine the d-axis given current value in the second mode by using a formula where Is_max is the maximum current value that the motor can withstand, and Iq2_ref is the q-axis given current value in the second mode.

[0017] In the implementation form, by setting the motor current to the maximum current value allowed, the bus pump-up voltage energy can be consumed to the maximum extent, and good bus pump-up voltage suppression effect is achieved.

[0018] In an implementation form of the first aspect, the adjusting module comprises a current loop regulator comprising a first deviation calculation unit, a first proportional integral unit, a second deviation calculation unit and a second proportional integral unit.

[0019] The first deviation calculation unit is connected to the speed loop regulator or the voltage loop regulator, and is configured to, when the first deviation calculation unit is connected to the speed loop regulator, calculate a difference between the q-axis actual current value and the q-axis given current value in the first mode; and when the first deviation calculation unit is connected to the voltage loop regulator, calculate a difference between the q-axis actual current value and the q-axis given current value in the second mode.

[0020] The first proportional integral unit is connected to the first deviation calculation unit, and is configured to perform proportional integral adjustment on the difference between the q-axis actual current value and the q-axis given current value, and take the adjusted result as the q-axis voltage vector.

[0021] The second deviation calculation unit is connected with the deviation control unit, and is configured to calculate a difference between the d-axis actual current value and a d-axis given current value in the second mode; the second deviation calculation unit is further configured to calculate a difference between the d-axis actual current value and a d-axis given current value in the first mode, the d-axis given current value in the first mode having different values according to different motor types and working conditions of the motor.

[0022] The second proportional integral unit is connected with the second deviation calculation unit, and is configured to perform proportional integral adjustment on the difference between the d-axis actual current value and the d-axis given current value, and take the adjusted result as the d-axis voltage vector.

[0023] In an implementation form of the first aspect, the control module is configured to perform coordinate transformation and space vector modulation on the q-axis voltage vector and the d-axis voltage vector to obtain the pulse width modulation signal, and drive the motor to operate based on the pulse width modulation signal.

[0024] In a second aspect, the present application provides a motor driving control method, comprising the following steps:

[0025] obtaining a direct current bus voltage value, a q-axis actual current value, a d-axis actual current value, a rotor speed and a position angle;

[0026] obtaining a mode switching control instruction based on the direct current bus voltage value and the rotor speed, and performing switching between the first mode and the second mode based on the mode switching control instruction;

[0027] obtaining a q-axis given current value and a d-axis given current value in a corresponding mode based on the direct current bus voltage value and the rotor speed, and determining a q-axis voltage vector and a d-axis voltage vector based on the q-axis given current value, the d-axis given current value, the q-axis actual current value and the d-axis actual current value;

[0028] obtaining a pulse width modulation signal based on the q-axis voltage vector, the d-axis voltage vector, the direct current bus voltage value and the position angle.

[0029] In a third aspect, the present application provides a motor driving control system, comprising the motor driving controller, the driver and the motor as described above.

[0030] The driver is configured to obtain a direct current bus voltage value, and send the direct current bus voltage value to the motor driving controller;

[0031] The motor is connected with the driver, and is used for operating based on the pulse width modulation signal fed back by the motor drive controller, obtaining three-phase current values, a rotor speed and a position angle when the motor operates, obtaining q-axis actual current values and d-axis actual current values based on the three-phase current values of the motor, and sending the q-axis actual current values, the d-axis actual current values, the rotor speed and the position angle to the motor drive controller;

[0032] The motor drive controller is connected with the driver and the motor respectively, and is used for obtaining a DC bus voltage value, q-axis actual current values, d-axis actual current values, a rotor speed and a position angle; obtaining a mode switching control instruction based on the DC bus voltage value and the rotor speed, and performing switching between the first mode and the second mode based on the mode switching control instruction; obtaining q-axis given current values and d-axis given current values in a corresponding mode based on the DC bus voltage value and the rotor speed, and determining q-axis voltage vectors and d-axis voltage vectors based on the q-axis given current values, the d-axis given current values, the q-axis actual current values and the d-axis actual current values; obtaining a pulse width modulation signal based on the q-axis voltage vectors, the d-axis voltage vectors, the DC bus voltage value and the position angle, and sending the pulse width modulation signal to the driver.

[0033] As described above, the motor drive controller, the motor drive control method and the system have the following beneficial effects:

[0034] (1) Without the need of additional series energy consumption resistance on the bus, and without the need of increasing the energy storage capacity of the bus capacitor, the bus voltage on the driver can be well controlled, the volume and cost of the hardware system are reduced, and the system complexity is simplified;

[0035] (2) Real-time monitoring and accurate judgment of the bus voltage pump-up energy are realized, and sensitive switching between the speed control mode and the bus voltage protection mode is realized;

[0036] (3) The q-axis current given value is determined by the voltage loop, and the automatic control of the energy feedback speed in the motor is realized;

[0037] (4) By setting the motor current to the maximum allowed current value, the bus pump-up voltage energy can be consumed to the maximum extent, and good bus pump-up voltage suppression effect is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 A structure schematic diagram of the motor drive controller in an embodiment of the present application is shown.

[0039] Figure 2 A detection module structure schematic diagram of the motor drive controller in an embodiment of the present application is shown.

[0040] Figure 3 A detection module structure diagram of the motor drive controller according to an embodiment of the present application.

[0041] Figure 4 A switching module structure diagram of the motor drive controller according to an embodiment of the present application.

[0042] Figure 5 A speed control mode structure diagram of the motor drive controller according to an embodiment of the present application.

[0043] Figure 6 A motor control structure diagram of the motor drive controller according to an embodiment of the present application with bus voltage protection mode.

[0044] Figure 7 A flow chart of the motor drive control method according to an embodiment of the present application.

[0045] Figure 8 A structure diagram of the motor drive control system according to an embodiment of the present application.

[0046] Element number explanation

[0047] 1 motor drive controller

[0048] 11 detection module

[0049] 111 sensor

[0050] 112 speed and position calculation unit

[0051] 12 switching module

[0052] 121 comparison unit

[0053] 122 instruction generation unit

[0054] 123 switching unit

[0055] 13 adjustment module

[0056] 131 speed loop regulator

[0057] 132 current loop regulator

[0058] 133 voltage loop regulator

[0059] 134 deviation control unit

[0060] 14 control module

[0061] 2 driver

[0062] 3 motors

[0063] S1~S4 Motor drive control method steps Detailed Implementation

[0064] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0065] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0066] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0067] The technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0068] like Figure 1 As shown, this embodiment provides a motor drive controller 1, which includes a detection module 11, a switching module 12, an adjustment module 13, and a control module 14.

[0069] The detection module 11 is used to acquire the DC bus voltage value, the actual q-axis current value, the actual d-axis current value, the rotor speed and position angle.

[0070] In one embodiment, the detection module 11 includes a bus voltage detection circuit for acquiring the DC bus voltage value on the driver. Specifically, the bus voltage detection circuit samples the voltage value across the DC bus in the driver at intervals to acquire multiple sets of voltage sampling data. To acquire the bus voltage more accurately, it is preferable to process the multiple sets of voltage sampling data using a method of averaging multiple samples, and use the processed result as the final DC bus voltage value.

[0071] In one embodiment, such as Figure 2 As shown, the detection module 11 includes a sensor 111, which is connected to the motor 3. Generally, a position sensor is used to obtain the rotor speed and position angle through direct measurement. The position sensor types include incremental photoelectric encoders, absolute photoelectric encoders, Hall position sensors, etc.

[0072] In one embodiment, such as Figure 3 As shown, the detection module 11 includes a speed and position calculation unit 112, which is used to directly calculate the rotor speed and position angle based on the three-phase current value, q-axis voltage vector value, and d-axis voltage vector value of the motor 3. The q-axis voltage vector value and d-axis voltage vector value are voltage feedback values ​​from the control module 14.

[0073] In one embodiment, determining the actual q-axis current value and the actual d-axis current value based on the three-phase current value of the motor and the position angle includes the following steps: acquiring the three-phase current value on the stator side of the motor through a current sensor; and performing coordinate transformation on the three-phase current value in combination with the position angle to obtain the actual q-axis current value and the actual d-axis current value.

[0074] The switching module 12 is connected to the detection module 11 and is used to obtain the mode switching control command based on the DC bus voltage value and the rotor speed, and to perform the switching between the first mode and the second mode based on the mode switching control command.

[0075] like Figure 4 As shown, the switching module 12 includes a comparison unit 121, an instruction generation unit 122, and a switching unit 123.

[0076] The comparison unit 121 includes a first hysteresis comparator and a second hysteresis comparator. The first hysteresis comparator is used to compare the magnitude relationship between the DC bus voltage value and the first bus voltage threshold, and the second hysteresis comparator is used to compare the magnitude relationship between the rotor speed and the given target speed.

[0077] The instruction generation unit 122 is connected to the comparison unit 121 and is used to output mode switching control instruction 1 when the DC bus voltage value is greater than the first bus voltage threshold and the rotor speed is greater than the given target speed; and to output mode switching control instruction 0 when the DC bus voltage value is less than or equal to the first bus voltage threshold or the rotor speed is less than or equal to the given target speed.

[0078] The switching unit 123 is connected to the instruction generation unit 122 and is used to switch to the first mode when the mode switching control instruction is 0 and to switch to the second mode when the mode switching control instruction is 1.

[0079] In one embodiment, the first mode is a speed control mode; the second mode is a bus voltage protection mode.

[0080] The switching module 12 functions similarly to a mode switching switch. Once it detects that the DC bus voltage exceeds a preset threshold and the rotor begins to decelerate continuously, it will directly control the motor to switch from speed control mode to bus voltage protection mode.

[0081] The adjustment module 13 is connected to the switching module 12 and is used to obtain the q-axis given current value and d-axis given current value in the corresponding mode based on the DC bus voltage value and the rotor speed, and to determine the q-axis voltage vector and d-axis voltage vector based on the q-axis given current value, the d-axis given current value, the q-axis actual current value and the d-axis actual current value.

[0082] like Figure 5 As shown, the speed control mode is a conventional dual-closed-loop control mode. In the speed control mode, the adjustment module 13 includes a speed loop regulator 131. The speed loop regulator 131 calculates the difference between the rotor speed and the given target speed, performs proportional-integral adjustment on the difference, and obtains the q-axis given current value.

[0083] In one embodiment, the speed loop regulator 131 includes a speed loop difference calculation unit and a speed loop proportional-integral unit; the speed loop difference calculation unit is used to calculate the difference between the rotor speed w_fd and the given target speed w_cmd; the speed loop proportional-integral unit PI1 is connected to the speed loop difference calculation unit, and PI1 is used to perform proportional-integral adjustment on the difference to obtain the q-axis given current value Iq1_ref.

[0084] It should be noted that the given current value Id1_ref for the d-axis varies depending on the type of motor and its operating conditions, and is not limited here.

[0085] The adjusting module 13 comprises a current loop regulator 132, which comprises a first deviation calculation unit, a first proportional integral unit, a second deviation calculation unit and a second proportional integral unit;

[0086] The first deviation calculation unit is connected with the speed loop regulator 131, and is configured to calculate a difference between the q-axis actual current value and the q-axis given current value;

[0087] The first proportional integral unit is connected with the first deviation calculation unit, and is configured to perform proportional integral adjustment on the difference between the q-axis actual current value and the q-axis given current value, and take the adjusted result as the q-axis voltage vector;

[0088] The second deviation calculation unit is configured to calculate a difference between the d-axis actual current value and the d-axis given current value;

[0089] The second proportional integral unit is connected with the second deviation calculation unit, and is configured to perform proportional integral adjustment on the difference between the d-axis actual current value and the d-axis given current value, and take the adjusted result as the d-axis voltage vector.

[0090] In an embodiment, the first deviation calculation unit is configured to calculate a difference between the q-axis actual current value Iq and the q-axis given current value Iq1_ref; the first proportional integral unit PI3 is connected with the first deviation calculation unit, and is configured to perform proportional integral adjustment on the difference between the q-axis actual current value Iq and the q-axis given current value Iq1_ref, and take the adjusted result as the q-axis voltage vector Uq; the second deviation calculation unit is configured to calculate a difference between the d-axis actual current value Id and the d-axis given current value Id1_ref; the second proportional integral unit is connected with the second deviation calculation unit, and is configured to perform proportional integral adjustment on the difference between the d-axis actual current value Id and the d-axis given current value Id1_ref, and take the adjusted result as the d-axis voltage vector Ud.

[0091] As shown in Figure 6 In the bus voltage protection mode, the adjusting module 13 comprises a voltage loop regulator 133, which obtains the q-axis given current value by calculating a difference between the DC bus voltage value and a second bus voltage threshold, and performing proportional integral adjustment on the difference.

[0092] The adjusting module 13 comprises a deviation control unit 134, which determines the d-axis given current value by using the formula where Is_max is the maximum current value that the motor can withstand, and Iq2_ref is the q-axis given current value.

[0093] In an embodiment, the maximum current value that the motor can withstand can be obtained from a technical manual.

[0094] In an embodiment, the current loop regulator 132 is shared in the rotational speed control mode and the bus voltage protection mode.

[0095] Specifically, in the bus voltage protection mode, the first deviation calculation unit is connected to the voltage loop regulator 133, and is configured to calculate a difference between the q-axis actual current value and the q-axis given current value.

[0096] The first proportional integral unit is connected to the first deviation calculation unit, and is configured to perform proportional integral regulation on the difference between the q-axis actual current value and the q-axis given current value, and take the regulated result as the q-axis voltage vector.

[0097] The second deviation calculation unit is connected to the deviation control unit 134, and is configured to calculate a difference between the d-axis actual current value and the d-axis given current value.

[0098] The second proportional integral unit is connected to the second deviation calculation unit, and is configured to perform proportional integral regulation on the difference between the d-axis actual current value and the d-axis given current value, and take the regulated result as the d-axis voltage vector.

[0099] The control module 14 is connected to the regulation module 13, and is configured to obtain a pulse width modulation signal based on the q-axis voltage vector, the d-axis voltage vector, the DC bus voltage value, and the position angle.

[0100] In an embodiment, the control module 14 includes a space vector pulse width modulation (SVPWM) unit, which is connected to the first proportional integral unit PI3 and the second proportional integral unit PI4 of the regulation module 13, and is configured to perform coordinate transformation and space vector modulation on the q-axis voltage vector and the d-axis voltage vector based on the DC bus voltage value Udc and the position angle θ, respectively, to obtain the pulse width modulation (PWM) signal, and drive the motor to operate based on the pulse width modulation signal. Specifically, the PWM signal can control the size of the load input voltage by adjusting the width of the pulse signal in each switching period (i.e., the length of time for which the switch is turned on).

[0101] As shown in Figure 7 The motor drive control method of the present application includes the following steps:

[0102] S1, obtaining a DC bus voltage value, a q-axis actual current value, a d-axis actual current value, a rotational speed of a rotor, and a position angle;

[0103] S2, obtain a mode switching control instruction based on the DC bus voltage value and the rotational speed of the rotor, and perform switching between the first mode and the second mode based on the mode switching control instruction;

[0104] S3, obtain q-axis given current value and d-axis given current value in the corresponding mode based on the DC bus voltage value and the rotational speed of the rotor, and determine q-axis voltage vector and d-axis voltage vector based on the q-axis given current value, the d-axis given current value, the q-axis actual current value and the d-axis actual current value;

[0105] S4, obtain a pulse width modulation signal based on the q-axis voltage vector, the d-axis voltage vector, the DC bus voltage value and the position angle.

[0106] Embodiments of the motor drive control method provided in the present application are the same as the above-described embodiments of the motor drive controller, and will not be described here again.

[0107] It should be noted that the protection scope of the motor drive control method described in the embodiments of the present application is not limited to the execution order of the steps listed in the embodiments, and any scheme realized by adding, replacing or modifying the steps of the prior art according to the principles of the present application is included in the protection scope of the present application.

[0108] The embodiments of the present application also provide a motor drive control system, which can implement the motor drive control method described in the present application, but the implementation device of the motor drive control method described in the present application includes but is not limited to the structure of the motor drive controller described in the present application, and any modification and replacement of the structure of the prior art according to the principles of the present application are included in the protection scope of the present application.

[0109] As shown in Figure 8 The motor drive control system of the present application includes the above-described motor drive controller 1, driver 2 and motor 3.

[0110] The driver 2 is configured to obtain a DC bus voltage value and send the DC bus voltage value to the motor drive controller 1.

[0111] The motor 3 is connected to the driver 2 and is configured to operate based on the pulse width modulation signal fed back by the motor drive controller 1, obtain three-phase current value, rotational speed and position angle of the rotor during motor operation, obtain q-axis actual current value and d-axis actual current value based on the three-phase current value of the motor, and send the q-axis actual current value, the d-axis actual current value, the rotational speed and the position angle of the rotor to the motor drive controller 1.

[0112] The motor drive controller 1 is connected with the driver 2 and the motor 3 respectively, and is configured to acquire a DC bus voltage value, a q-axis actual current value, a d-axis actual current value, a rotor speed and a position angle; acquire a mode switching control instruction based on the DC bus voltage value and the rotor speed, and perform switching between the first mode and the second mode based on the mode switching control instruction; acquire a q-axis given current value and a d-axis given current value in a corresponding mode based on the DC bus voltage value and the rotor speed, and determine a q-axis voltage vector and a d-axis voltage vector based on the q-axis given current value, the d-axis given current value, the q-axis actual current value and the d-axis actual current value; acquire a pulse width modulation signal based on the q-axis voltage vector, the d-axis voltage vector, the DC bus voltage value and the position angle, and send the pulse width modulation signal to the driver 2.

[0113] The related embodiments of the motor drive control system provided in the application are the same as the above-described embodiments of the motor drive controller, and will not be described again here.

[0114] In several embodiments provided in the application, it should be understood that the disclosed system, device or method can be implemented in other ways. For example, the above-described device embodiments are only schematic, for example, the division of the modules / units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of modules or units can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed modules / units can be indirect coupling or communication connection through some interfaces, devices or modules / units, and can be electrical, mechanical or other forms.

[0115] The modules / units described as separate components can or can not be physically separated, and the components displayed as modules / units can or can not be physical modules, that is, can be located in one place, or can be distributed on a plurality of network units. According to actual needs, part or all of the modules / units can be selected to achieve the purpose of the embodiments of the application. For example, the functional modules / units in each embodiment of the application can be integrated in one processing module, or each module / unit can be physically present, or two or more modules / units can be integrated in one module / unit.

[0116] In summary, the motor drive controller, motor drive control method and system described in the present application do not need to additionally connect a power consumption resistor in series on the bus, nor increase the energy storage capacity of the bus capacitor, so as to realize good control of the bus voltage on the driver, reduce the size and cost of the hardware system, and simplify the system complexity; realize real-time monitoring and accurate judgment of the bus voltage pumping energy, realize sensitive switching of the speed control mode and the bus voltage protection mode; adopt the voltage loop to determine the q-axis current given value, realize automatic control of the motor energy feedback speed; by setting the motor current to the maximum allowed current value, the bus pumping voltage energy can be consumed to the maximum extent, and good bus pumping voltage suppression effect is achieved. Therefore, the present application effectively overcomes the various shortcomings in the prior art and has high industrial utilization value.

[0117] The description of the flow or structure corresponding to each of the above-mentioned figures has its own emphasis, and the parts not described in detail in a certain flow or structure can be referred to the related description of other flows or structures.

[0118] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought of the present application should be covered by the claims of the present application.

Claims

1. A motor drive controller, characterized in that, The motor drive controller includes a detection module, a switching module, an adjustment module, and a control module; The detection module is used to acquire the DC bus voltage value, the actual q-axis current value, the actual d-axis current value, the rotor speed and position angle; The switching module is connected to the detection module and is used to obtain a mode switching control command based on the DC bus voltage value and the rotor speed, and to perform the switching between the first mode and the second mode based on the mode switching control command. The adjustment module is connected to the switching module and is used to obtain the q-axis given current value and d-axis given current value in the corresponding mode based on the DC bus voltage value and the rotor speed, and to determine the q-axis voltage vector and d-axis voltage vector based on the q-axis given current value, the d-axis given current value, the q-axis actual current value and the d-axis actual current value; The control module is connected to the adjustment module and is used to obtain a pulse width modulation signal based on the q-axis voltage vector, the d-axis voltage vector, the DC bus voltage value, and the position angle; The switching module includes a comparison unit, an instruction generation unit, and a switching unit; The comparison unit includes a first hysteresis comparator and a second hysteresis comparator. The first hysteresis comparator is used to compare the magnitude relationship between the DC bus voltage value and the first bus voltage threshold, and the second hysteresis comparator is used to compare the magnitude relationship between the rotor speed and the given target speed. The instruction generation unit is connected to the comparison unit and is used to output mode switching control instruction 1 when the DC bus voltage value is greater than the first bus voltage threshold and the rotor speed is greater than the given target speed; and to output mode switching control instruction 0 when the DC bus voltage value is less than or equal to the first bus voltage threshold or the rotor speed is less than or equal to the given target speed. The switching unit is connected to the instruction generation unit and is used to switch to the first mode when the mode switching control instruction is 0, and to switch to the second mode when the mode switching control instruction is 1. The first mode is the speed control mode; the second mode is the bus voltage protection mode; the speed control mode is the speed and current dual closed-loop control mode; the bus voltage protection mode generates a given current value through the DC bus voltage outer loop.

2. The motor drive controller according to claim 1, characterized in that, The adjustment module includes a speed loop regulator, which calculates the difference between the rotor speed and the given target speed, performs proportional-integral adjustment on the difference, and obtains the q-axis given current value in the first mode.

3. The motor drive controller according to claim 2, characterized in that, The adjustment module includes a voltage loop regulator, which calculates the difference between the DC bus voltage value and the second bus voltage threshold, performs proportional-integral adjustment on the difference, and obtains the q-axis given current value in the second mode.

4. The motor drive controller according to claim 3, characterized in that, The adjustment module includes a deviation control unit, which utilizes a formula... Determine the d-axis given current value in the second mode; where Is_max is the maximum current value that the motor can withstand, and Iq2_ref is the q-axis given current value in the second mode.

5. The motor drive controller according to claim 4, characterized in that, The adjustment module includes a current loop regulator, which includes a first deviation calculation unit, a first proportional-integral unit, a second deviation calculation unit, and a second proportional-integral unit. The first deviation calculation unit is connected to the speed loop regulator or the voltage loop regulator, and is used to calculate the difference between the actual q-axis current value and the q-axis given current value in the first mode when the first deviation calculation unit is connected to the speed loop regulator; and to calculate the difference between the actual q-axis current value and the q-axis given current value in the second mode when the first deviation calculation unit is connected to the voltage loop regulator. The first proportional-integral unit is connected to the first deviation calculation unit and is used to perform proportional-integral adjustment on the difference between the actual q-axis current value and the given q-axis current value, and use the adjustment result as the q-axis voltage vector. The second deviation calculation unit is connected to the deviation control unit and is used to calculate the difference between the actual d-axis current value and the given d-axis current value in the second mode; The second deviation calculation unit is also used to calculate the difference between the actual d-axis current value and the given d-axis current value in the first mode. The given d-axis current value in the first mode has different values ​​depending on the type of motor and the operating conditions of the motor. The second proportional-integral unit is connected to the second deviation calculation unit and is used to perform proportional-integral adjustment on the difference between the actual current value of the d-axis and the given current value of the d-axis, and use the adjustment result as the d-axis voltage vector.

6. The motor drive controller according to claim 1, characterized in that, The control module is used to perform coordinate transformation and space vector modulation on the q-axis voltage vector and the d-axis voltage vector to obtain the pulse width modulation signal, and drive the motor to run based on the pulse width modulation signal.

7. A motor drive control method, characterized in that, Includes the following steps: Obtain the DC bus voltage value, actual q-axis current value, actual d-axis current value, rotor speed and position angle; The mode switching control command is obtained based on the DC bus voltage value and the rotor speed, and the switching between the first mode and the second mode is executed based on the mode switching control command. Based on the DC bus voltage value and the rotor speed, the q-axis given current value and d-axis given current value in the corresponding mode are obtained, and the q-axis voltage vector and d-axis voltage vector are determined based on the q-axis given current value, the d-axis given current value, the q-axis actual current value and the d-axis actual current value; The pulse width modulation signal is obtained based on the q-axis voltage vector, the d-axis voltage vector, the DC bus voltage value, and the position angle; The process of obtaining a mode switching control command based on the DC bus voltage value and the rotor speed, and then performing the switching between the first mode and the second mode based on the mode switching control command, includes: Compare the magnitude of the DC bus voltage value with the first bus voltage threshold, and compare the magnitude of the rotor speed with the given target speed; When the DC bus voltage value is greater than the first bus voltage threshold and the rotor speed is greater than the given target speed, output mode switching control command 1; when the DC bus voltage value is less than or equal to the first bus voltage threshold, or the rotor speed is less than or equal to the given target speed, output mode switching control command 0. When the mode switching control command is 0, the system switches to the first mode; when the mode switching control command is 1, the system switches to the second mode. The first mode is the speed control mode; the second mode is the bus voltage protection mode; the speed control mode is the speed and current dual closed-loop control mode; the bus voltage protection mode generates a given current value through the DC bus voltage outer loop.

8. A motor drive control system, characterized in that, Includes the motor drive controller, driver, and motor as described in any one of claims 1-6; The driver is used to acquire the DC bus voltage value and send the DC bus voltage value to the motor drive controller; The motor is connected to the driver and is used to operate based on the pulse width modulation signal fed back by the motor drive controller. It acquires the three-phase current value, rotor speed and position angle during motor operation, acquires the actual q-axis current value and d-axis current value based on the three-phase current value of the motor, and sends the actual q-axis current value, the actual d-axis current value, the rotor speed and position angle to the motor drive controller. The motor drive controller is connected to the driver and the motor respectively, and is used to acquire the DC bus voltage value, the actual q-axis current value, the actual d-axis current value, the rotor speed and position angle; acquire mode switching control commands based on the DC bus voltage value and the rotor speed, and execute the switching between the first mode and the second mode based on the mode switching control commands; Based on the DC bus voltage value and the rotor speed, the q-axis and d-axis given current values ​​for the corresponding mode are obtained, and the q-axis voltage vector and d-axis voltage vector are determined based on the q-axis given current value, the d-axis given current value, the actual q-axis current value, and the actual d-axis current value. A pulse width modulation signal is obtained based on the q-axis voltage vector, the d-axis voltage vector, the DC bus voltage value, and the position angle, and the pulse width modulation signal is sent to the driver. The process of obtaining a mode switching control command based on the DC bus voltage value and the rotor speed, and then performing the switching between the first mode and the second mode based on the mode switching control command, includes: Compare the magnitude of the DC bus voltage value with the first bus voltage threshold, and compare the magnitude of the rotor speed with the given target speed; When the DC bus voltage value is greater than the first bus voltage threshold and the rotor speed is greater than the given target speed, output mode switching control command 1; when the DC bus voltage value is less than or equal to the first bus voltage threshold, or the rotor speed is less than or equal to the given target speed, output mode switching control command 0. When the mode switching control command is 0, the system switches to the first mode; when the mode switching control command is 1, the system switches to the second mode. The first mode is the speed control mode; the second mode is the bus voltage protection mode; the speed control mode is the speed and current dual closed-loop control mode; the bus voltage protection mode generates a given current value through the DC bus voltage outer loop.

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