A motor vector control method, device, equipment and storage medium

Abstract

This application discloses a motor vector control method, apparatus, device, and storage medium. The method includes: obtaining the feedforward modulation degree of the motor based on a preset voltage-frequency (V / F) curve; obtaining the three-phase feedforward modulation wave of the motor based on the feedforward modulation degree; obtaining the final three-phase modulation wave of the motor based on the three-phase feedforward modulation wave and the three-phase pre-feedforward modulation wave; and performing vector control on the motor based on the final three-phase modulation wave. The motor vector control method in this application can smoothly control the motor speed when the motor load changes abruptly. Furthermore, the motor vector control apparatus in this application is simple to implement, low in cost, and easy to engineering design and implement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric machines, and particularly relates to an electric machine vector control method, device, equipment and storage medium. BACKGROUND

[0002] In recent years, permanent magnet synchronous machines have been widely applied due to their advantages in power density, efficiency and the like. In the control of permanent magnet synchronous machines, vector control has attracted wide attention due to its advantages in precise control of torque. At present, vector control mainly includes two types of schemes with a speed sensor and without a speed sensor. In the vector control with a speed sensor, the motor speed can be directly fed forward to the controller to realize real-time tracking of the motor speed when the motor load changes. In the vector control without a speed sensor, the motor speed can be obtained by a position sensorless detection unit and fed forward to the controller to realize real-time tracking of the motor speed when the motor load changes. However, in the two types of schemes, the output voltage of the frequency converter needs to be adjusted by closed-loop control, which has a delay in control and has a certain influence on the smooth control of the motor speed. Therefore, how to further improve the smooth control of the motor speed when the load changes is a main technical problem of the vector control of the permanent magnet synchronous machine.

[0003] It should be noted that the statements herein only provide background information related to the present application and do not necessarily constitute the prior art. SUMMARY

[0004] In view of the above problems, the present application proposes an electric machine vector control method, device, equipment and storage medium which can overcome the above problems or at least partially solve the above problems.

[0005] The embodiments of the present application adopt the following technical solutions:

[0006] In a first aspect, the embodiments of the present application provide an electric machine vector control method, which comprises: obtaining a feedforward modulation degree of the electric machine according to a preset voltage-frequency V / F curve of the electric machine; obtaining three-phase feedforward modulation waves of the electric machine according to the feedforward modulation degree of the electric machine; obtaining final three-phase modulation waves of the electric machine according to the three-phase feedforward modulation waves of the electric machine and a feedforward three-phase modulation wave of the electric machine; and performing vector control on the electric machine according to the final three-phase modulation waves of the electric machine.

[0007] Optionally, the obtaining of the feedforward modulation degree of the electric machine according to the preset voltage-frequency V / F curve of the electric machine comprises: obtaining a feedforward voltage value of the electric machine according to the preset voltage-frequency V / F curve of the electric machine; and obtaining the feedforward modulation degree of the electric machine according to the feedforward voltage value of the electric machine and a direct-current side voltage value of the electric machine.

[0008] Optionally, the three-phase feed-forward modulation wave of the motor is obtained according to the feed-forward modulation degree of the motor, comprising: the three-phase feed-forward modulation wave of the motor is obtained according to the three-phase motor rotor position relationship by the following formula,

[0009] wherein, m fa , m fb , m fc is the three-phase feed-forward modulation wave, M f is the feed-forward modulation degree.

[0010] Optionally, the feed-forward three-phase modulation wave of the motor is obtained by Clark inverse transformation according to the torque axis control voltage and the flux linkage control voltage of the motor.

[0011] Optionally, the torque axis control voltage is obtained according to the following formula:

[0012] wherein, U qref is the torque axis control voltage, i q * is the current in the torque current instruction, i q is the q-axis component of the three-phase output current, K P2 is the proportional coefficient of the current regulator, K I2 is the integral coefficient of the current regulator, and s is the Laplace operator.

[0013] The flux linkage control voltage is obtained according to the following formula:

[0014] wherein, U dref is the flux linkage control voltage, i d * is the current in the flux linkage current instruction, i d is the d-axis component of the three-phase output current, K P3 is the proportional coefficient of the current regulator, K I3 is the integral coefficient of the current regulator, and s is the Laplace operator.

[0015] Optionally, the torque current instruction is calculated by a speed regulator according to the motor rotor speed given value and the rotor speed obtained by the position sensorless detection unit.

[0016] Optionally, the method further comprises: obtaining the three-phase instantaneous output current i a , i b , i c of the motor by a motor frequency converter; performing Clark transformation on the three-phase instantaneous output current to obtain the output currents I α and I β in the two-phase stationary coordinate system; and obtaining the three-phase feed-forward modulation wave of the motor according to the output currents I α and Iβ The rotor flux linkage position and rotor speed of the motor are detected by a sensorless detection unit; based on the rotor flux linkage position, a Park transformation is performed on the three-phase instantaneous output current of the motor to obtain the d-axis component i of the output current in the rotating coordinate system. d and q-axis component i q .

[0017] Secondly, embodiments of this application also provide a motor vector control device, the device comprising: a feedforward modulation degree acquisition unit, configured to acquire the feedforward modulation degree of the motor according to a preset voltage-frequency V / F curve of the motor; a three-phase feedforward modulation wave acquisition unit, configured to acquire the three-phase feedforward modulation wave of the motor according to the feedforward modulation degree of the motor; a three-phase modulation wave acquisition unit, configured to acquire the final three-phase modulation wave of the motor according to the three-phase feedforward modulation wave of the motor and the feedforward pre-three-phase modulation wave of the motor; and a vector control unit, configured to perform vector control on the motor according to the final three-phase modulation wave of the motor.

[0018] Thirdly, embodiments of this application also provide an electric motor device, including: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform any of the methods described in the first aspect.

[0019] Fourthly, embodiments of this application also provide a computer-readable storage medium storing one or more programs that, when executed by a motor device including multiple applications, cause the motor device to perform any of the methods described in the first aspect.

[0020] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects:

[0021] This application provides a vector control method for permanent magnet synchronous motors based on voltage-frequency (V / F) curve feedforward. This method avoids the control delay problem caused by closed-loop control, and achieves smooth control of motor speed when the load of the permanent magnet synchronous motor changes abruptly, ensuring efficient, reliable, and stable system operation. Furthermore, the implementation device for this motor vector control method is simple, low-cost, and easy to implement in engineering design.

[0022] As can be seen from the above, the technical solution of this application is described above only as an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0023] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0024] Figure 1 This is a schematic flowchart of the motor vector control method in the embodiments of this application;

[0025] Figure 2 This is a block diagram of the motor vector control method in the embodiments of this application;

[0026] Figure 3 This is a schematic diagram of the motor vector control device in an embodiment of this application;

[0027] Figure 4 This is a schematic diagram of the motor device structure in an embodiment of this application. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] The concept of this application is to address the poor speed smoothing control of motors under sudden load changes in existing technologies by designing an automated and universally applicable motor vector control method. This method can improve the smooth control of motor speed under sudden load changes, significantly improve the efficiency and accuracy of motor vector control, and improve motor performance and user experience.

[0030] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0031] The inventors conducted extensive research on motor vector control, discovering that achieving smooth speed control during sudden changes in motor load is a major technical challenge for motor vector control devices. Some methods, such as those based on high-frequency rotary injection, suffer from output voltage delays and poor speed smoothing during load changes. Other methods achieve smooth speed control through precise rotor position calculations, but neglect precise adjustment of the inverter output voltage, resulting in still poor speed smoothing during load changes.

[0032] To address this issue, this application provides a motor vector control method, apparatus, device, and storage medium, which effectively solves the problem of poor speed smoothness control when the motor load changes abruptly. For example... Figure 1 The diagram shows a schematic flow chart of a motor vector control method in an embodiment of this application. The method includes at least the following steps S110 to S140:

[0033] Step S110: Obtain the feedforward modulation of the motor based on the preset voltage-frequency V / F curve of the motor.

[0034] Voltage / frequency (V / F) control is not highly dependent on motor parameters. V / F control aims to achieve ideal torque and speed characteristics by adjusting the power supply frequency to regulate speed while maintaining constant motor flux. This control method is commonly used in general-purpose frequency converters. V / F control frequency converters have a very simple structure and employ open-loop control, allowing for rapid motor control.

[0035] In practice, it is based on the rated voltage U of the controlled motor. em Rated frequency f em The preset voltage-frequency V / F curve is obtained, and the curve equation is: U = kU em ω r / f em Where k is the adjustment coefficient, the voltage-frequency V / F curve equation can be finely adjusted according to different motor characteristics.

[0036] like Figure 2 As shown, the sensorless detection unit of the motor can detect the rotor flux position θ. r and rotor speed ω r The corresponding feedforward voltage value U is obtained based on the preset voltage-frequency V / F curve of the load motor characteristics. The feedforward voltage U is then divided by the DC side voltage value U. dc The feedforward modulation scheme M is obtained. f The calculation formula is as follows:

[0037]

[0038] Step S120: Obtain the three-phase feedforward modulation wave of the motor according to the feedforward modulation system of the motor.

[0039] A modulated wave is a waveform that carries the fundamental frequency information of the output signal. The frequency of the output signal can be modulated by changing the period of the modulated wave, and the voltage can be adjusted by changing the amplitude of the modulated wave. By using appropriate control methods, the voltage and frequency of the output signal can be coordinated, such as SPWM modulation.

[0040] In practice, the motor feedforward modulation index will be obtained based on the motor's preset voltage-frequency V / F curve, and the three-phase feedforward modulation wave m will be calculated separately. fa m fb m fc The calculation formula is as follows:

[0041]

[0042] Step S130: Obtain the final three-phase modulation wave of the motor based on the three-phase feedforward modulation wave of the motor and the feedforward three-phase modulation wave of the motor.

[0043] like Figure 2 As shown, during motor operation, closed-loop control generates a three-phase modulated wave to control the motor. The torque shaft control voltage U... qref With magnetic flux control voltage U dref The waveform is converted into a three-phase modulated wave u in a three-phase stationary coordinate system before feedforward using the Clark inverse transform. a *、u b *、u c * and based on the motor's feedforward modulation scheme, the three-phase feedforward modulation wave m of the motor is obtained. fa m fb m fc The final three-phase modulated wave u is obtained through processing. ao u bo u co Then, the SPWM module generates drive pulses to control the inverter output. The calculation formula is as follows:

[0044]

[0045] Step S140: Perform vector control on the motor based on the final three-phase modulation wave of the motor.

[0046] In this application, the final three-phase modulated wave is generated and used to generate drive pulses through the SPWM module to control the inverter to output control commands, thereby driving the motor to control its speed.

[0047] In some embodiments of this application, obtaining the feedforward modulation degree of the motor based on the preset voltage-frequency V / F curve of the motor includes: obtaining the feedforward voltage value of the motor based on the preset voltage-frequency V / F curve of the motor; and obtaining the feedforward modulation degree of the motor based on the feedforward voltage value of the motor and the DC side voltage value of the motor.

[0048] In practice, it is based on the rated voltage U of the controlled motor. em Rated frequency f em The preset voltage-frequency V / F curve is obtained, and the curve equation is: U = kUem ω r / f em , where k is the adjustment coefficient, which can be finely adjusted according to the characteristics of different motors.

[0049] like Figure 2 As shown, the position sensor detection unit of the motor can detect the position θ of the motor rotor flux linkage. r and rotor speed ω r The corresponding feedforward voltage value U is obtained based on the preset voltage-frequency V / F curve of the load motor characteristics. The feedforward voltage U is then divided by the DC side voltage value U. dc The feedforward modulation scheme M is obtained. f The calculation formula is as follows:

[0050]

[0051] In some embodiments of this application, obtaining the three-phase feedforward modulation wave of the motor according to the feedforward modulation scheme of the motor includes: obtaining the three-phase feedforward modulation wave of the motor according to the rotor position relationship of the three-phase motor using the following formula.

[0052] Where, m fa m fb m fc For a three-phase feedforward modulated wave, M f It is a feedforward adjustment system.

[0053] In practice, the motor feedforward modulation M will be obtained based on the motor's preset voltage-frequency V / F curve and the rotor position relationship of the three-phase motor. f Calculate the three-phase feedforward modulation wave m respectively fa m fb m fc The calculation formula is as follows:

[0054]

[0055] In some examples of this application, the feedforward three-phase modulation wave of the motor is obtained by Clark inverse transformation based on the torque axis control voltage and flux linkage control voltage of the motor.

[0056] like Figure 2 As shown, based on the torque axis control voltage U qref Magnetic flux control voltage U dref After Clark inverse transform, it is converted into a three-phase modulated wave u before feedforward in a three-phase stationary coordinate system. a *、u b *、u c *, its calculation formula is:

[0057]

[0058] In some instances of this application, the three-phase instantaneous output current i of the motor is obtained through a motor frequency converter. a i b i c Perform a Clark transform on the three-phase instantaneous output current to obtain the output current I in the two-phase stationary coordinate system. α with I β According to the output current I α with I β The rotor flux position and rotor speed of the motor are detected by a sensorless detection unit; the torque current command is calculated by a speed regulator based on the given rotor speed and the rotor speed obtained by the sensorless detection unit; the torque shaft control voltage is obtained according to the following formula: Among them, U qref For torque axis control voltage, i q * represents the current in the torque current command, i q K represents the q-axis component of the three-phase output current. P2 K is the proportional coefficient of the current regulator. I2 is the integral coefficient of the current regulator, and s is the Laplace operator; the flux control voltage is obtained according to the following formula:

[0059] Among them, U dref For flux linkage control voltage, i d * represents the current in the flux linkage current command, i d K represents the d-axis component of the three-phase output current. P3 K is the proportional coefficient of the current regulator. I3 is the integral coefficient of the current regulator, and s is the Laplace operator.

[0060] like Figure 2 As shown, the specific implementation involves the following steps:

[0061] Step 1: The motor detects the three-phase instantaneous output current i of the frequency converter online through the current sampling unit. a i b i c ;

[0062] Step 2, the three-phase instantaneous output current i sampled in Step 1 is... a i b i c Perform a coordinate transformation, specifically the Clark transformation, to convert the output current α component I in a two-phase stationary coordinate system. α With β component I β The calculation formula is as follows:

[0063]

[0064] Step 3, based on the α component I of the three-phase output current α With β component I β The rotor flux position θ is detected by a sensorless detection unit. r and rotor speed ω r ;

[0065] Step 4, based on the magnetic flux position θ obtained in Step 3 r Through synchronous rotation coordinate transformation, i.e., Park transformation, the three-phase instantaneous output current i sampled by the current sampling unit is transformed. a i b i c Converting to the d-axis component of the three-phase output current in a rotating coordinate system d and q-axis component i q The formula for its calculation is:

[0066]

[0067] Step 5, based on the motor speed setpoint ω r *and the rotor speed ω obtained by the sensorless detection unit r , and according to i d * = 0 Motor vector control, through the speed regulator, i.e. PI1, calculates the system torque current command i. q * where the motor speed setpoint ω r * This is a manually set value, which can be any value depending on the requirements. System torque current command i q The calculation formula is:

[0068]

[0069] Among them, K P1 K is the proportional coefficient of the speed regulator. I1 is the integral coefficient of the speed regulator, and s is the Laplace operator;

[0070] Step 6, according to the torque current command i obtained in step 5 q *and the q-axis component of the three-phase output current obtained in step 4 q The torque shaft control voltage U is calculated using the current regulator, PI2. qref The formula for its calculation is:

[0071]

[0072] Among them, K P2 K is the proportional coefficient of the current regulator. I2is the integral coefficient of the current regulator, and s is the Laplace operator;

[0073] Step 7: Given the flux linkage current command id* and the d-axis component id of the three-phase output current obtained in Step 4, calculate the flux linkage control voltage U through the current regulator, i.e., PI3. dref The formula for its calculation is:

[0074]

[0075] Among them, K P3 K is the proportional coefficient of the current regulator. I3 is the integral coefficient of the current regulator, and s is the Laplace operator;

[0076] The motor vector control method in this application is based on the voltage-frequency (V / F) curve feedforward. By combining open-loop and closed-loop control, it solves the control delay problem caused by closed-loop control alone, achieving smooth speed control of the permanent magnet synchronous motor when the load changes abruptly, ensuring efficient, reliable, and stable system operation. Furthermore, this motor vector control method is simple to implement, low in cost, and easy to engineering design and implement.

[0077] This application embodiment also provides a motor vector control device 300, such as Figure 3 As shown, a schematic diagram of the motor vector control device structure in an embodiment of this application is provided. The device 300 includes at least: a feedforward modulation acquisition unit 310, a three-phase feedforward modulation wave acquisition unit 320, a three-phase modulation wave acquisition unit 330, and a vector control unit 340, wherein:

[0078] In one embodiment of this application, the feedforward modulation acquisition unit 310 is specifically used to: acquire the feedforward modulation of the motor according to the preset voltage-frequency V / F curve of the motor.

[0079] Voltage / frequency (V / F) control is not highly dependent on motor parameters. V / F control aims to achieve ideal torque and speed characteristics by adjusting the power supply frequency to regulate speed while maintaining constant motor flux. This control method is commonly used in general-purpose frequency converters. V / F control frequency converters have a very simple structure and employ open-loop control, allowing for rapid motor control.

[0080] In practice, it is based on the rated voltage U of the controlled motor. em Rated frequency f em The preset voltage-frequency V / F curve is obtained, and the curve equation is: U = kU em ω r / f em , where k is the adjustment coefficient, which can be finely adjusted according to the characteristics of different motors.

[0081] The position sensor detection unit of the motor can detect the position θ of the motor rotor flux linkage. r and rotor speed ω r The corresponding feedforward voltage value U is obtained based on the preset voltage-frequency V / F curve of the load motor characteristics. The feedforward voltage U is then divided by the DC side voltage value U. dc The feedforward modulation scheme M is obtained. f The calculation formula is as follows:

[0082]

[0083] In one embodiment of this application, the three-phase feedforward modulation wave acquisition unit 320 is specifically used to: acquire the three-phase feedforward modulation wave of the motor according to the feedforward modulation of the motor.

[0084] A modulated wave is a waveform that carries the fundamental frequency information of the output signal. The frequency of the output signal can be modulated by changing the period of the modulated wave, and the voltage can be adjusted by changing the amplitude of the modulated wave. By using appropriate control methods, the voltage and frequency of the output signal can be coordinated, such as SPWM modulation.

[0085] In practice, the motor feedforward modulation index will be obtained based on the motor's preset voltage-frequency V / F curve, and the three-phase feedforward modulation wave m will be calculated separately. fa m fb m fc The calculation formula is as follows:

[0086]

[0087] In one embodiment of this application, the three-phase modulation wave acquisition unit 330 is specifically used to: acquire the final three-phase modulation wave of the motor based on the three-phase feedforward modulation wave of the motor and the feedforward three-phase modulation wave of the motor.

[0088] like Figure 2 As shown, during motor operation, closed-loop control generates a three-phase modulated wave to control the motor and adjust the torque axis control voltage U. qref , and magnetic flux control voltage U dref The waveform is converted into a three-phase modulated wave before feedforward in a three-phase stationary coordinate system using the Clark inverse transform. a *、u b *、u c * and based on the motor's feedforward modulation scheme, the three-phase feedforward modulation wave m of the motor is obtained. fa m fb m fc The final three-phase modulated wave u is obtained through processing. ao u bo uco Then, the SPWM module generates drive pulses to control the inverter output. The calculation formula is as follows:

[0089]

[0090] In one embodiment of this application, the vector control unit 340 is specifically used to: perform vector control on the motor according to the final three-phase modulation wave of the motor.

[0091] In this application, the final three-phase modulated wave is generated and used to generate drive pulses through the SPWM module to control the inverter to output control commands, thereby driving the motor to control its speed.

[0092] It is understood that the above-mentioned motor vector control device can realize each step of the motor vector control method provided in the foregoing embodiments. The relevant explanations of the motor vector control method are applicable to the motor vector control device, and will not be repeated here.

[0093] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Please refer to it. Figure 4 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and memory. The memory may include main memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the device may also include other hardware required for its operation.

[0094] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0095] Memory is used to store programs. Specifically, programs may include program code, which includes computer operation instructions. Memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0096] The processor reads the corresponding computer program from non-volatile memory into main memory and then executes it, forming a motor vector control device at the logical level. The processor executes the program stored in memory and specifically performs the following operations:

[0097] Based on the preset voltage-frequency (V / F) curve of the motor, the feedforward modulation degree of the motor is obtained; based on the feedforward modulation degree of the motor, the three-phase feedforward modulation wave of the motor is obtained; based on the three-phase feedforward modulation wave of the motor and the feedforward three-phase modulation wave of the motor, the final three-phase modulation wave of the motor is obtained; vector control of the motor is performed based on the final three-phase modulation wave of the motor.

[0098] The above is as stated in this application. Figure 1 The method executed by the motor vector control device disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0099] The motor device can also perform Figure 1 The method of executing the motor vector control device, and realizing the motor vector control device in Figure 1 The functions of the embodiments shown are not described in detail here.

[0100] This application also proposes a computer-readable storage medium that stores one or more programs, the programs including instructions that, when executed by a motor device comprising multiple applications, enable the motor device to perform... Figure 1 The method executed by the motor vector control device in the illustrated embodiment is specifically used to perform:

[0101] Based on the preset voltage-frequency (V / F) curve of the motor, the feedforward modulation degree of the motor is obtained; based on the feedforward modulation degree of the motor, the three-phase feedforward modulation wave of the motor is obtained; based on the three-phase feedforward modulation wave of the motor and the feedforward three-phase modulation wave of the motor, the final three-phase modulation wave of the motor is obtained; vector control of the motor is performed based on the final three-phase modulation wave of the motor.

[0102] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0103] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0104] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0105] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0106] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0107] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0108] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0109] It should also be noted that 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.

[0110] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A motor vector control method, characterized in that, The method includes: The feedforward modulation degree of the motor is obtained based on the preset voltage-frequency V / F curve of the motor. According to the rated voltage U of the controlled motor em Rated frequency f em The preset voltage-frequency V / F curve is obtained, and the curve equation is: U = kU em ω r / f em Where k is the adjustment coefficient, and the voltage-frequency V / F curve equation can be finely adjusted according to different motor characteristics; The sensorless detection unit of the motor can detect the rotor flux position θ. r and rotor speed ω r The corresponding feedforward voltage value U is obtained based on the preset voltage-frequency V / F curve of the load motor characteristics. The feedforward voltage U is then divided by the DC side voltage value U. dc The feedforward modulation scheme M is obtained. f The calculation formula is as follows: Based on the feedforward modulation scheme of the motor, the three-phase feedforward modulation wave of the motor is obtained; Based on the motor's preset voltage-frequency (V / F) curve, the motor's feedforward modulation degree is obtained, and the three-phase feedforward modulation wave m is calculated respectively. fa m fb m fc The calculation formula is as follows: Based on the three-phase feedforward modulation wave of the motor and the feedforward three-phase modulation wave of the motor, the final three-phase modulation wave of the motor is obtained. During operation, the motor generates a three-phase modulated wave through closed-loop control, thereby controlling the motor and adjusting the torque axis control voltage U. qref With magnetic flux control voltage U dref The waveform is converted into a three-phase modulated wave u in a three-phase stationary coordinate system before feedforward using the Clark inverse transform. a *、u b *、u c * and based on the motor's feedforward modulation scheme, the three-phase feedforward modulation wave m of the motor is obtained. fa m fb m fc The final three-phase modulated wave u is obtained through processing. ao u bo u co Then, the SPWM module generates drive pulses to control the inverter output. The calculation formula is as follows: Vector control of the motor is performed based on the final three-phase modulation wave of the motor.

2. The method as described in claim 1, characterized in that, The feedforward three-phase modulation wave of the motor is obtained by Clark inverse transformation based on the motor's torque axis control voltage and flux linkage control voltage.

3. The method as described in claim 2, characterized in that, The torque shaft control voltage is obtained according to the following formula: Among them, U qref For torque axis control voltage, i q * represents the current in the torque current command, i q K represents the q-axis component of the three-phase output current. P2 K is the proportional coefficient of the current regulator. I2 is the integral coefficient of the current regulator, and s is the Laplace operator; The flux linkage control voltage is obtained according to the following formula: Among them, U dref For flux linkage control voltage, i d * represents the current in the flux linkage current command, i d K represents the d-axis component of the three-phase output current. P3 K is the proportional coefficient of the current regulator. I3 is the integral coefficient of the current regulator, and s is the Laplace operator.

4. The method as described in claim 3, characterized in that, The torque current command is calculated by the speed regulator based on the given value of the motor rotor speed and the rotor speed obtained by the sensorless detection unit.

5. The method as described in claim 1, characterized in that, The method further includes: The three-phase instantaneous output current i of the motor is obtained through the motor frequency converter. a i b i c ; Perform Clark transformation on the three-phase instantaneous output current to obtain the output current I in the two-phase stationary coordinate system. α with I β ; According to the output current I α with I β The rotor flux position and rotor speed of the motor are detected by a sensorless detection unit. Based on the rotor flux linkage position of the motor, a Park transformation is performed on the three-phase instantaneous output current of the motor to obtain the d-axis component i of the output current in the rotating coordinate system. d and q-axis component i q .

6. A motor vector control device, characterized in that, The device includes: The feedforward modulation acquisition unit is used to acquire the feedforward modulation of the motor according to the preset voltage-frequency V / F curve of the motor. According to the rated voltage U of the controlled motor em Rated frequency f em The preset voltage-frequency V / F curve is obtained, and the curve equation is: U = kU em ω r / f em Where k is the adjustment coefficient, and the voltage-frequency V / F curve equation can be finely adjusted according to different motor characteristics; The sensorless detection unit of the motor can detect the rotor flux position θ. r and rotor speed ω r The corresponding feedforward voltage value U is obtained based on the preset voltage-frequency V / F curve of the load motor characteristics. The feedforward voltage U is then divided by the DC side voltage value U. dc The feedforward modulation scheme M is obtained. f The calculation formula is as follows: The three-phase feedforward modulation wave acquisition unit is used to acquire the three-phase feedforward modulation wave of the motor according to the feedforward modulation system of the motor. Based on the motor's preset voltage-frequency (V / F) curve, the motor's feedforward modulation degree is obtained, and the three-phase feedforward modulation wave m is calculated respectively. fa m fb m fc The calculation formula is as follows: The three-phase modulation wave acquisition unit is used to acquire the final three-phase modulation wave of the motor based on the three-phase feedforward modulation wave of the motor and the feedforward three-phase modulation wave of the motor. During operation, the motor generates a three-phase modulated wave through closed-loop control, thereby controlling the motor and adjusting the torque axis control voltage U. qref With magnetic flux control voltage U dref The waveform is converted into a three-phase modulated wave u in a three-phase stationary coordinate system before feedforward using the Clark inverse transform. a *、u b *、u c * and based on the motor's feedforward modulation scheme, the three-phase feedforward modulation wave m of the motor is obtained. fa m fb m fc The final three-phase modulated wave u is obtained through processing. ao u bo u co Then, the SPWM module generates drive pulses to control the inverter output. The calculation formula is as follows: The vector control unit is used to perform vector control on the motor based on the final three-phase modulation wave of the motor.

7. An electric motor device, comprising: processor; And a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the method of any one of claims 1 to 5.

8. A computer-readable storage medium storing one or more programs, which, when executed by an electrical device including a plurality of applications, cause the electrical device to perform the method of any one of claims 1 to 5.

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