Voltage compensation method and voltage compensation device

Abstract

The application relates to a voltage compensation method and a voltage compensation device. The method comprises the following steps: in a first duty cycle calculation period, a first output voltage, a first output voltage corresponding expected output voltage, a standard bus voltage and a first motor vector voltage are obtained; an error voltage between the first output voltage and the expected output voltage reflects changes of the bus voltage and the motor vector voltage; the first motor vector voltage is compensated according to the error voltage; a first compensation duty cycle is determined according to the compensated first compensation vector voltage and the first motor vector voltage; in a first duty cycle update period, the output voltage of an inverter control system is controlled according to the first compensation duty cycle, so that the output voltage is equal to the expected output voltage, and the error voltage generated in the last duty cycle update period is compensated. The voltage compensation method does not change the carrier frequency, thereby avoiding the influence of the switching loss and the dead zone on the output voltage caused by the increase of the carrier frequency.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a voltage compensation method and a voltage compensation device. Background Technology

[0002] In an inverter control system, when the PWM duty cycle is known, the output voltage of the inverter control system is proportional to the DC bus voltage. Therefore, fluctuations in the DC bus voltage will affect the output voltage. Due to the inherent calculation delay of the inverter control system, the PWM duty cycle calculated in the current carrier cycle will only be updated in the next carrier cycle. When the DC bus voltage fluctuates, it will cause a certain error between the final output voltage of the inverter control system and the motor vector voltage. This error is especially pronounced when the DC bus voltage fluctuation is large, as the duty cycle update delay leads to a greater error between the output voltage of the inverter control system and the motor vector voltage.

[0003] To mitigate the impact of bus voltage fluctuations on the output voltage of the inverter control system, existing methods involve increasing the carrier frequency. However, increasing the carrier frequency introduces switching losses and dead time, which negatively affect the output voltage. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a voltage compensation method and a voltage compensation device.

[0005] In a first aspect, this application provides a voltage compensation method, including:

[0006] Within the first duty cycle calculation period, the first output voltage, the expected output voltage corresponding to the first output voltage, the standard bus voltage, and the first motor vector voltage are obtained, wherein the first output voltage is the output voltage corresponding to the previous duty cycle update period before the first duty cycle calculation period.

[0007] Based on the error voltage between the first output voltage and the desired output voltage, voltage compensation is performed on the first motor vector voltage to obtain the first compensated vector voltage;

[0008] The error compensation duty cycle is determined based on the first compensation vector voltage and the standard bus voltage.

[0009] During the first duty cycle update cycle, the output voltage of the inverter control system is controlled according to the error compensation duty cycle, wherein the error compensation duty cycle is used to control the output voltage of the inverter control system during the first duty cycle update cycle to be equal to the desired output voltage, and to compensate for the error voltage generated in the previous duty cycle update cycle.

[0010] Optionally, the desired output voltage is obtained, including:

[0011] The standard bus voltage and the second motor vector voltage collected within the second duty cycle calculation period are obtained, wherein the second duty cycle calculation period is a duty cycle calculation period earlier than the first duty cycle calculation period;

[0012] The desired output voltage is generated based on the standard bus voltage and the second motor vector voltage.

[0013] Optionally, generating the desired output voltage based on the standard bus voltage and the second motor vector voltage includes:

[0014] The desired duty cycle is generated based on the standard bus voltage and the second motor vector voltage.

[0015] The desired output voltage is generated based on the product of the standard bus voltage and the desired duty cycle.

[0016] Optionally, after generating the desired duty cycle based on the standard bus voltage and the second motor vector voltage, the method further includes:

[0017] During the second duty cycle calculation period, the inverter control system outputs the first output voltage according to the desired duty cycle.

[0018] Optionally, obtaining the first output voltage includes:

[0019] The first bus voltage, the second bus voltage, and the desired duty cycle are obtained, wherein the first bus voltage is the bus voltage collected within the first duty cycle calculation period, the second bus voltage is the bus voltage collected within the second duty cycle update period, and the second duty cycle update period is a duty cycle update period that is adjacent to and earlier than the first duty cycle calculation period.

[0020] The first output voltage is generated based on the first bus voltage, the second bus voltage, and the desired duty cycle.

[0021] Optionally, generating the first output voltage based on the first bus voltage, the second bus voltage, and the desired duty cycle includes:

[0022] The average bus voltage is obtained by adding the first bus voltage and the second bus voltage together.

[0023] The first output voltage is generated based on the product of the average bus voltage and the desired duty cycle.

[0024] Optionally, the step of performing voltage compensation on the first motor vector voltage based on the error voltage between the first output voltage and the desired output voltage to obtain a first compensated vector voltage includes:

[0025] An error compensation coefficient is generated based on the error voltage between the first output voltage and the desired output voltage;

[0026] The first motor vector voltage is compensated according to the error compensation coefficient to obtain the first compensated vector voltage.

[0027] Optionally, generating an error compensation coefficient based on the error voltage between the first output voltage and the desired output voltage includes:

[0028] An error voltage is generated based on the difference between the first output voltage and the desired output voltage;

[0029] An error compensation coefficient is generated based on the ratio of the error voltage to the desired output voltage.

[0030] Optionally, the step of performing voltage compensation on the first motor vector voltage according to the error compensation coefficient to obtain a first compensated vector voltage includes:

[0031] The compensation voltage is determined based on the product of the error compensation coefficient and the vector voltage of the second motor.

[0032] The first motor vector voltage is compensated according to the compensation voltage to obtain the first compensation vector voltage.

[0033] Secondly, this application provides a voltage compensation device, comprising:

[0034] The acquisition module is used to acquire, within the first duty cycle calculation period, a first output voltage, a desired output voltage corresponding to the first output voltage, a standard bus voltage, and a first motor vector voltage, wherein the first output voltage is the output voltage corresponding to the previous duty cycle update period before the first duty cycle calculation period.

[0035] The voltage compensation module is used to perform voltage compensation on the first motor vector voltage based on the error voltage between the first output voltage and the desired output voltage, so as to obtain a first compensated vector voltage.

[0036] The duty cycle calculation module is used to determine the error compensation duty cycle based on the first compensation vector voltage and the standard bus voltage.

[0037] The control module is used to control the output voltage of the inverter control system according to the error compensation duty cycle during the first duty cycle update cycle. The error compensation duty cycle is used to control the output voltage of the inverter control system during the first duty cycle update cycle to be equal to the desired output voltage, and to compensate for the error voltage generated in the previous duty cycle update cycle.

[0038] Based on the voltage compensation method described above, within the first duty cycle calculation period, the first output voltage, the desired output voltage, the standard bus voltage, and the first motor vector voltage are obtained. The first output voltage is the output voltage corresponding to the previous duty cycle update period prior to the first duty cycle calculation period. When the bus voltage changes, the output voltage of the inverter control system also changes accordingly. Therefore, within the first duty cycle calculation period, the error voltage between the first output voltage output in the previous duty cycle update period and the desired output voltage reflects the changes in the bus voltage and the motor vector voltage. The first motor vector voltage is compensated based on the error voltage. The error compensation duty cycle is determined based on the compensated first vector voltage and the first motor vector voltage. Within the first duty cycle update period, the output voltage of the inverter control system is controlled according to the error compensation duty cycle. That is, the error compensation duty cycle is used to control the output voltage of the inverter control system within the first duty cycle update period to be equal to the desired output voltage, thus compensating for the error voltage generated in the previous duty cycle update period. The voltage compensation method described above does not change the carrier frequency, thereby avoiding the impact of switching losses and dead time on the output voltage caused by increasing the carrier frequency. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a block diagram of a voltage compensation system in one embodiment;

[0042] Figure 2 This is a flowchart illustrating a voltage compensation method in one embodiment;

[0043] Figure 3 This is a flowchart illustrating a voltage compensation method in one embodiment;

[0044] Figure 4 This is a schematic diagram of the bus fluctuation effect before voltage compensation in one embodiment;

[0045] Figure 5 This is a schematic diagram of the bus fluctuation effect after voltage compensation in one embodiment;

[0046] Figure 6 This is a structural block diagram of a voltage compensation device in one embodiment;

[0047] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] Figure 1 This is a diagram illustrating the application environment of a voltage compensation method in one embodiment. (Refer to...) Figure 1 This voltage compensation method is applied to a voltage compensation system. The voltage compensation system includes a voltage compensation device 110 and an inverter control system 120. The voltage compensation device 110 and the inverter control system 120 are electrically connected.

[0050] In one embodiment, Figure 2 This is a flowchart illustrating a voltage compensation method in one embodiment, with reference to... Figure 2 A voltage compensation method is provided. This embodiment mainly applies this method to the above-mentioned... Figure 1 Taking the voltage compensation device 110 as an example, the voltage compensation method specifically includes the following steps:

[0051] Step S210: Within the first duty cycle calculation period, obtain the first output voltage, the expected output voltage corresponding to the first output voltage, the standard bus voltage, and the first motor vector voltage, wherein the first output voltage is the output voltage corresponding to the previous duty cycle update period before the first duty cycle calculation period.

[0052] Specifically, the first duty cycle calculation period is one carrier cycle, used to calculate and generate the duty cycle. The first output voltage is the voltage output at the end of the previous carrier cycle before the first duty cycle calculation period. Without the influence of bus voltage changes, the first output voltage output at the end of the previous carrier cycle is equal to the desired output voltage, that is, the desired output voltage is the output voltage corresponding to the standard bus voltage. The standard bus voltage is the bus voltage before the initial change. However, due to the change in bus voltage, the output voltage of the inverter control system 120 also changes. Therefore, in order to compensate for the output voltage, the first output voltage and the desired output voltage must first be obtained to determine whether the bus voltage has changed.

[0053] The first motor vector voltage is the motor vector voltage detected within the first duty cycle calculation period. When the bus voltage remains unchanged, the first motor vector voltage is equivalent to the desired output voltage, that is, equal to the desired motor vector voltage corresponding to the desired output voltage. However, when the bus voltage changes, the first motor vector voltage is no longer equivalent to the desired output voltage.

[0054] Step S220: Based on the error voltage between the first output voltage and the desired output voltage, voltage compensation is performed on the first motor vector voltage to obtain the first compensated vector voltage.

[0055] Specifically, the ratio between the first output voltage and the first motor vector voltage is equivalent to the ratio between the desired output voltage and the desired motor vector voltage. Therefore, the error voltage between the first output voltage and the desired output voltage can be used to compensate the first motor vector voltage to obtain the first compensated vector voltage, which is then equivalent to the desired output voltage.

[0056] Step S230: Determine the error compensation duty cycle based on the first compensation vector voltage and the standard bus voltage.

[0057] Specifically, based on the calculation relationship between vector voltage, bus voltage and duty cycle, the corresponding duty cycle can be determined when the first compensation vector voltage and the standard bus voltage are known. This duty cycle is then used as the error compensation duty cycle, which is equivalent to adjusting the duty cycle of the output voltage of the inverter control system 120 after the first compensation vector voltage is compensated.

[0058] Step S240: During the first duty cycle update cycle, the output voltage of the inverter control system 120 is controlled according to the error compensation duty cycle. The error compensation duty cycle is used to control the output voltage of the inverter control system 120 during the first duty cycle update cycle to be equal to the desired output voltage, and to compensate for the error voltage generated in the previous duty cycle update cycle.

[0059] Specifically, upon entering the first duty cycle update cycle, the output voltage of the inverter control system 120 is controlled according to the error compensation duty cycle. The first duty cycle update cycle is adjacent to but later than the first duty cycle calculation cycle. Based on the error compensation duty cycle generated from the first compensation vector voltage after voltage compensation, a corresponding PWM control signal is generated. This PWM control signal is used to control the output voltage of the inverter control system 120 to be equivalent to the first compensation vector voltage, that is, to make the output voltage of the inverter control coefficient equal to the desired output voltage. If the output voltage of the inverter control system 120 is not controlled according to the error compensation duty cycle in the first duty cycle update cycle, the inverter control system 120 will still output voltage according to the duty cycle before adjustment, resulting in a large deviation between the output voltage and the desired output voltage. Therefore, the output voltage of the inverter control system 120 is controlled based on the adjusted error compensation duty cycle to complete the compensation of the output voltage. Since the above voltage compensation method does not change the carrier frequency, it avoids the impact of switching losses and dead time on the output voltage caused by increasing the carrier frequency.

[0060] In one embodiment, obtaining the desired output voltage includes:

[0061] The standard bus voltage and the second motor vector voltage collected within the second duty cycle calculation period are obtained, wherein the second duty cycle calculation period is a duty cycle calculation period earlier than the first duty cycle calculation period;

[0062] The desired output voltage is generated based on the standard bus voltage and the second motor vector voltage.

[0063] Specifically, the second duty cycle calculation period is any bus voltage calculation period that is earlier than the first duty cycle calculation period and in which no change has occurred. Specifically, it can be the earliest duty cycle calculation period or a duty cycle calculation period adjacent to the first duty cycle calculation period. In this embodiment, the second duty cycle calculation period is the earliest duty cycle calculation period that is adjacent to the first duty cycle calculation period, and is denoted as the first carrier period. The second duty cycle calculation period is followed by the second duty cycle update period, that is, the second duty cycle update period is the second carrier period. The first duty cycle calculation period is located after the second duty cycle update period, so the first duty cycle calculation period is also the third carrier period, and the first duty cycle update period is also the fourth carrier period.

[0064] The standard bus voltage is collected during the second duty cycle calculation period. That is, a bus voltage is collected in each cycle, and the bus voltages collected in each consecutive cycle are compared to determine whether the bus voltage has changed.

[0065] The second motor vector voltage is the motor vector voltage collected during the second duty cycle calculation period. Since the bus voltage during the second duty cycle calculation period is the standard bus voltage and remains unchanged, the second motor vector voltage collected during the second duty cycle calculation period is the aforementioned desired motor vector voltage. The desired output voltage is generated by calculating using the standard bus voltage and the desired motor vector voltage.

[0066] In one embodiment, generating the desired output voltage based on the standard bus voltage and the second motor vector voltage includes:

[0067] The desired duty cycle is generated based on the standard bus voltage and the second motor vector voltage.

[0068] The desired output voltage is generated based on the product of the standard bus voltage and the desired duty cycle.

[0069] Specifically, the output voltage includes three phase voltages corresponding to the three phases, namely U, V, and W. Each phase voltage corresponds to a duty cycle. Therefore, the desired duty cycle includes the phase duty cycles corresponding to the three phase voltages. The motor vector voltage corresponds to different sectors. The corresponding duty cycle calculation formula is selected according to the sector corresponding to the motor vector voltage. The phase duty cycles corresponding to the three phases are calculated according to the duty cycle calculation formula, the bus voltage, and the motor vector voltage. That is, the target duty cycle calculation formula is determined according to the sector where the second motor vector voltage is located. The desired duty cycle is calculated according to the target duty cycle calculation formula combined with the standard bus voltage and the second motor vector voltage.

[0070] For example, when the vector voltage of the second motor falls within sector I, the duty cycle of phase U is: The second motor vector voltage includes and U1 indicates the standard bus voltage acquired during the first carrier cycle, and the duty cycle of phase V is... The duty cycle of phase W is The desired duty cycle D is obtained from this, and the desired output voltage is U0 = U1 * D.

[0071] In one embodiment, after generating the desired duty cycle based on the standard bus voltage and the second motor vector voltage, the method further includes:

[0072] During the second duty cycle calculation period, the inverter control system 120 is controlled to output the first output voltage according to the desired duty cycle.

[0073] Specifically, each duty cycle calculation cycle is followed by a duty cycle update cycle. The desired duty cycle is calculated in the second duty cycle calculation cycle. In the second duty cycle update cycle, the output voltage of the inverter control system 120 is controlled according to the desired duty cycle. Thus, at the end of the second duty cycle update cycle, the first output voltage is output for the first duty cycle calculation cycle to collect and calculate the new duty cycle.

[0074] In one embodiment, obtaining the first output voltage includes:

[0075] The first bus voltage, the second bus voltage, and the desired duty cycle are obtained, wherein the first bus voltage is the bus voltage collected within the first duty cycle calculation period, the second bus voltage is the bus voltage collected within the second duty cycle update period, and the second duty cycle update period is a duty cycle update period that is adjacent to and earlier than the first duty cycle calculation period.

[0076] The first output voltage is generated based on the first bus voltage, the second bus voltage, and the desired duty cycle.

[0077] Specifically, since the first duty cycle calculation period is the third carrier cycle, the first bus voltage acquired during the first duty cycle calculation period is denoted as U3. The second duty cycle update period is the second carrier cycle, so the second bus voltage acquired during the second duty cycle update period is denoted as U2. Based on the bus voltages acquired during the second and third carrier cycles and the expected duty cycle calculated during the first carrier cycle, the first output voltage of the second carrier cycle is estimated.

[0078] In one embodiment, generating the first output voltage based on the first bus voltage, the second bus voltage, and the desired duty cycle includes:

[0079] The average bus voltage is obtained by adding the first bus voltage and the second bus voltage together.

[0080] The first output voltage is generated based on the product of the average bus voltage and the desired duty cycle.

[0081] Specifically, the average bus voltage is The first output voltage is

[0082] In one embodiment, the step of performing voltage compensation on the first motor vector voltage based on the error voltage between the first output voltage and the desired output voltage to obtain a first compensated vector voltage includes:

[0083] An error compensation coefficient is generated based on the error voltage between the first output voltage and the desired output voltage;

[0084] The first motor vector voltage is compensated according to the error compensation coefficient to obtain the first compensated vector voltage.

[0085] Specifically, the error voltage equals the first output voltage minus the desired output voltage, that is, the error voltage is... After converting the error voltage into the corresponding error compensation coefficient, the error compensation coefficient is used to compensate the first motor vector voltage, thereby obtaining the first compensated vector voltage.

[0086] In one embodiment, generating an error compensation coefficient based on the error voltage between the first output voltage and the desired output voltage includes:

[0087] An error voltage is generated based on the difference between the first output voltage and the desired output voltage;

[0088] An error compensation coefficient is generated based on the ratio of the error voltage to the desired output voltage.

[0089] Specifically, the error voltage is The error compensation coefficient is obtained based on the ratio between the error voltage and the desired output voltage. That is, the error compensation coefficient is...

[0090] In one embodiment, the step of performing voltage compensation on the first motor vector voltage according to the error compensation coefficient to obtain a first compensated vector voltage includes:

[0091] The compensation voltage is determined based on the product of the error compensation coefficient and the vector voltage of the second motor.

[0092] The first motor vector voltage is compensated according to the compensation voltage to obtain the first compensation vector voltage.

[0093] Specifically, because the vector voltage of the second motor includes and The compensation voltage includes a first compensation voltage corresponding to α and a second compensation voltage corresponding to β. The first compensation voltage is... The second compensation voltage is The first motor vector voltage includes and The first compensated vector voltage after voltage compensation of the first motor vector voltage based on the compensation voltage is as follows:

[0094]

[0095] Referring to the above process of calculating the duty cycle based on the second motor vector voltage and the standard bus voltage, the error compensation duty cycle is recalculated and generated based on the first compensated vector voltage after voltage compensation and the standard bus voltage. That is, the error compensation duty cycle is the duty cycle generated based on the compensated vector voltage. This error compensation duty cycle can make the output voltage of the inverter control system 120 equal to the desired output voltage in the first duty cycle update cycle, thereby eliminating the influence of bus voltage changes on the output voltage.

[0096] For example, such as Figure 3 As shown, during the first carrier cycle (second duty cycle calculation cycle), the standard bus voltage U1 and the second motor vector voltage are collected. The desired duty cycle D is calculated based on the first bus voltage and the first motor vector voltage.

[0097] When entering the second carrier cycle (second duty cycle update cycle), the second bus voltage is collected and the inverter output voltage is controlled according to the desired duty cycle D.

[0098] When entering the third carrier cycle (the first duty cycle calculation cycle), the first bus voltage U3 and the first motor vector voltage are collected. The actual output voltage at the end of the second carrier cycle, i.e., the first output voltage, is obtained; during the third carrier cycle, the error compensation coefficient is determined based on the first bus voltage, the second bus voltage, and the standard bus voltage. The first motor vector voltage is compensated according to the error compensation coefficient to determine the first compensated vector voltage (U). α U β Based on the first compensation vector voltage and the standard bus voltage, the error compensation duty cycle D1 is calculated.

[0099] When entering the fourth carrier cycle (first duty cycle update cycle), the output voltage of the inverter is controlled to reach the desired output voltage according to the error compensation duty cycle D1.

[0100] Figure 4 This diagram illustrates the effect of bus voltage fluctuations on output current fluctuations when the aforementioned voltage compensation method is not used. When the bus voltage fluctuation is 29V, the output voltage deviates due to the fluctuation, leading to significant fluctuations in the output current. At this point, the effective value of the output current is 82.5A. Figure 5 It can be seen that, in relation to Figure 1 Under the same carrier frequency and load, the bus voltage fluctuation is 36V. With a larger bus voltage fluctuation, the effective output current is 76.52A, and the current fluctuation is greater than before compensation. Figure 4 The output voltage fluctuation is significantly reduced, which reflects a significant reduction in the output voltage fluctuation.

[0101] Figure 2 This is a flowchart illustrating a voltage compensation method in one embodiment. It should be understood that, although... Figure 2 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0102] In one embodiment, such as Figure 6 As shown, a voltage compensation device 110 is provided, comprising:

[0103] The acquisition module 310 is used to acquire, within the first duty cycle calculation period, a first output voltage, a desired output voltage corresponding to the first output voltage, a standard bus voltage, and a first motor vector voltage, wherein the first output voltage is the output voltage corresponding to the previous duty cycle update period before the first duty cycle calculation period.

[0104] Voltage compensation module 320 is used to perform voltage compensation on the first motor vector voltage based on the error voltage between the first output voltage and the desired output voltage to obtain a first compensated vector voltage;

[0105] Duty cycle calculation module 330 is used to determine the error compensation duty cycle based on the first compensation vector voltage and the standard bus voltage;

[0106] The control module 340 is used to control the output voltage of the inverter control system 120 according to the error compensation duty cycle during the first duty cycle update cycle. The error compensation duty cycle is used to control the output voltage of the inverter control system 120 during the first duty cycle update cycle to be equal to the desired output voltage, and to compensate for the error voltage generated in the previous duty cycle update cycle.

[0107] In one embodiment, the acquisition module 310 is further configured to;

[0108] The standard bus voltage and the second motor vector voltage collected within the second duty cycle calculation period are obtained, wherein the second duty cycle calculation period is a duty cycle calculation period earlier than the first duty cycle calculation period;

[0109] The desired output voltage is generated based on the standard bus voltage and the second motor vector voltage.

[0110] In one embodiment, the acquisition module 310 is further configured to:

[0111] The desired duty cycle is generated based on the standard bus voltage and the second motor vector voltage.

[0112] The desired output voltage is generated based on the product of the standard bus voltage and the desired duty cycle.

[0113] In one embodiment, the control module 340 is further configured to:

[0114] During the second duty cycle calculation period, the inverter control system 120 is controlled to output the first output voltage according to the desired duty cycle.

[0115] In one embodiment, the acquisition module 310 is further configured to:

[0116] The first bus voltage, the second bus voltage, and the desired duty cycle are obtained, wherein the first bus voltage is the bus voltage collected within the first duty cycle calculation period, the second bus voltage is the bus voltage collected within the second duty cycle update period, and the second duty cycle update period is a duty cycle update period that is adjacent to and earlier than the first duty cycle calculation period.

[0117] The first output voltage is generated based on the first bus voltage, the second bus voltage, and the desired duty cycle.

[0118] In one embodiment, the acquisition module 310 is further configured to:

[0119] The average bus voltage is obtained by adding the first bus voltage and the second bus voltage together.

[0120] The first output voltage is generated based on the product of the average bus voltage and the desired duty cycle.

[0121] In one embodiment, the voltage compensation module 320 is further configured to:

[0122] An error compensation coefficient is generated based on the error voltage between the first output voltage and the desired output voltage;

[0123] The first motor vector voltage is compensated according to the error compensation coefficient to obtain the first compensated vector voltage.

[0124] In one embodiment, the voltage compensation module 320 is further configured to:

[0125] An error voltage is generated based on the difference between the first output voltage and the desired output voltage;

[0126] An error compensation coefficient is generated based on the ratio of the error voltage to the desired output voltage.

[0127] In one embodiment, the voltage compensation module 320 is further configured to:

[0128] The compensation voltage is determined based on the product of the error compensation coefficient and the vector voltage of the second motor.

[0129] The first motor vector voltage is compensated according to the compensation voltage to obtain the first compensation vector voltage.

[0130] Figure 7 An internal structural diagram of a computer device in one embodiment is shown. Specifically, this computer device may be... Figure 1 The voltage compensation device 110 in the middle. For example... Figure 7 As shown, the computer device includes a processor, memory, network interface, input device, and display screen connected via a system bus. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and may also store computer programs. When executed by the processor, these computer programs enable the processor to implement a voltage compensation method. The internal memory may also store computer programs, which, when executed by the processor, enable the processor to implement the voltage compensation method. The display screen can be an LCD screen or an e-ink screen. The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0131] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0132] In one embodiment, the voltage compensation device 110 provided in this application can be implemented as a computer program, and the computer program can be implemented in such a way as... Figure 7 The computer device shown operates on this device. The computer device's memory can store the various program modules that make up the voltage compensation device 110, for example, Figure 6The diagram shows an acquisition module 310, a voltage compensation module 320, a duty cycle calculation module 330, and a control module 340. The computer program comprised of these modules causes the processor to execute the steps of the voltage compensation methods in the various embodiments of this application described in this specification.

[0133] Figure 7 The computer equipment shown can be used as follows Figure 6 The acquisition module 310 in the voltage compensation device 110 shown acquires the first output voltage, the desired output voltage, the standard bus voltage, and the first motor vector voltage within a first duty cycle calculation period. The first output voltage is the output voltage corresponding to the previous duty cycle update period prior to the first duty cycle calculation period. The computer device can use the voltage compensation module 320 to perform voltage compensation on the first motor vector voltage based on the error voltage between the first output voltage and the desired output voltage, obtaining a first compensated vector voltage. The computer device can use the duty cycle calculation module 330 to determine the error compensation duty cycle based on the first compensated vector voltage and the standard bus voltage. The computer device can use the control module 340 to control the output voltage of the inverter control system 120 according to the error compensation duty cycle within the first duty cycle update period. The error compensation duty cycle is used to control the output voltage of the inverter control system 120 within the first duty cycle update period to be equal to the desired output voltage.

[0134] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in any of the above embodiments.

[0135] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the above embodiments.

[0136] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double-rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0137] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0138] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A voltage compensation method, characterized in that, The method includes: Within the first duty cycle calculation period, the first output voltage, the expected output voltage corresponding to the first output voltage, the standard bus voltage, and the first motor vector voltage are obtained, wherein the first output voltage is the output voltage corresponding to the previous duty cycle update period before the first duty cycle calculation period. Based on the error voltage between the first output voltage and the desired output voltage, voltage compensation is performed on the first motor vector voltage to obtain the first compensated vector voltage; The error compensation duty cycle is determined based on the first compensation vector voltage and the standard bus voltage. During the first duty cycle update cycle, the output voltage of the inverter control system is controlled according to the error compensation duty cycle, wherein the error compensation duty cycle is used to control the output voltage of the inverter control system during the first duty cycle update cycle to be equal to the desired output voltage, and to compensate for the error voltage generated in the previous duty cycle update cycle. Obtain the desired output voltage, including: The standard bus voltage and the second motor vector voltage collected within the second duty cycle calculation period are obtained, wherein the second duty cycle calculation period is one duty cycle calculation period earlier than the first duty cycle calculation period; The desired output voltage is generated based on the standard bus voltage and the second motor vector voltage. The step of generating the desired output voltage based on the standard bus voltage and the second motor vector voltage includes: The desired duty cycle is generated based on the standard bus voltage and the second motor vector voltage. The desired output voltage is generated based on the product of the standard bus voltage and the desired duty cycle. The process of obtaining the first output voltage includes: The first bus voltage, the second bus voltage, and the desired duty cycle are obtained, wherein the first bus voltage is the bus voltage collected within the first duty cycle calculation period, the second bus voltage is the bus voltage collected within the second duty cycle update period, and the second duty cycle update period is a duty cycle update period that is adjacent to and earlier than the first duty cycle calculation period. The first output voltage is generated based on the first bus voltage, the second bus voltage, and the desired duty cycle; The step of generating the first output voltage based on the first bus voltage, the second bus voltage, and the desired duty cycle includes: The average bus voltage is obtained by adding the first bus voltage and the second bus voltage together. The first output voltage is generated based on the product of the average bus voltage and the desired duty cycle.

2. The method according to claim 1, characterized in that, After generating the desired duty cycle based on the standard bus voltage and the second motor vector voltage, the method further includes: During the second duty cycle calculation period, the inverter control system outputs the first output voltage according to the desired duty cycle.

3. The method according to claim 1, characterized in that, The step of performing voltage compensation on the first motor vector voltage based on the error voltage between the first output voltage and the desired output voltage to obtain a first compensated vector voltage includes: An error compensation coefficient is generated based on the error voltage between the first output voltage and the desired output voltage; The first motor vector voltage is compensated according to the error compensation coefficient to obtain the first compensated vector voltage.

4. The method according to claim 3, characterized in that, The step of generating an error compensation coefficient based on the error voltage between the first output voltage and the desired output voltage includes: An error voltage is generated based on the difference between the first output voltage and the desired output voltage; An error compensation coefficient is generated based on the ratio of the error voltage to the desired output voltage.

5. The method according to claim 3, characterized in that, The step of performing voltage compensation on the first motor vector voltage according to the error compensation coefficient to obtain a first compensated vector voltage includes: The compensation voltage is determined based on the product of the error compensation coefficient and the vector voltage of the second motor. The first motor vector voltage is compensated according to the compensation voltage to obtain the first compensation vector voltage.

6. A voltage compensation device, characterized in that, The device includes: The acquisition module is used to acquire, within the first duty cycle calculation period, a first output voltage, a desired output voltage corresponding to the first output voltage, a standard bus voltage, and a first motor vector voltage, wherein the first output voltage is the output voltage corresponding to the previous duty cycle update period before the first duty cycle calculation period. The voltage compensation module is used to perform voltage compensation on the first motor vector voltage based on the error voltage between the first output voltage and the desired output voltage, so as to obtain a first compensated vector voltage. The duty cycle calculation module is used to determine the error compensation duty cycle based on the first compensation vector voltage and the standard bus voltage. The control module is used to control the output voltage of the inverter control system according to the error compensation duty cycle during the first duty cycle update cycle, wherein the error compensation duty cycle is used to control the output voltage of the inverter control system during the first duty cycle update cycle to be equal to the desired output voltage, and to compensate for the error voltage generated in the previous duty cycle update cycle. The acquisition module is specifically used to acquire the standard bus voltage and the second motor vector voltage collected within the second duty cycle calculation period, wherein the second duty cycle calculation period is one duty cycle calculation period earlier than the first duty cycle calculation period. The desired duty cycle is generated based on the standard bus voltage and the second motor vector voltage. The desired output voltage is generated based on the product of the standard bus voltage and the desired duty cycle. The first bus voltage, the second bus voltage, and the desired duty cycle are obtained, wherein the first bus voltage is the bus voltage collected within the first duty cycle calculation period, the second bus voltage is the bus voltage collected within the second duty cycle update period, and the second duty cycle update period is a duty cycle update period that is adjacent to and earlier than the first duty cycle calculation period. The average bus voltage is obtained by adding the first bus voltage and the second bus voltage together. The first output voltage is generated based on the product of the average bus voltage and the desired duty cycle.

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