Motor control method, device and system

Abstract

The application provides a motor control method, device and system, and relates to the technical field of motors.The method comprises the following steps: sampling and acquiring operation parameters of a motor; calculating the length of an ideal voltage vector and the angle of the ideal voltage vector relative to a stationary coordinate system; determining the sector position of the ideal voltage vector in a voltage vector hexagon; selecting a candidate voltage vector according to the sector position of the ideal voltage vector; calculating a duty cycle based on the length relationship between the ideal voltage vector and the candidate voltage vector, adding the duty cycle modulation to the candidate voltage vector, and obtaining an optimal voltage vector; and calculating the first action time, the second action time and the third action time of three-phase voltage switching devices based on the optimal voltage vector, so as to control the motor.In the above design, the optimal voltage vector has a certain direction discreteness and a continuously adjustable length, can effectively reduce torque ripple and flux linkage ripple, and has good control performance.

Description

Technical Field

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

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in aerospace, electric vehicles, high-speed rail traction systems, and other fields due to their advantages such as small size, high power density, high efficiency, and high reliability. To achieve predictive control before synchronization errors occur and improve their dynamic response speed, model predictive control (MMC) is an important method. Model predictive direct torque motor control (MTC) offers advantages such as fast dynamic response, high steady-state accuracy, and strong robustness, making it one of the high-performance control algorithms for AC motors. It selects the optimal voltage vector by predicting the motor state and substituting the predicted values ​​into a performance index value function, making it more effective in selecting the optimal vector. However, traditional MTC methods are typically finite-set MTC methods, evaluating and calculating only a finite number of voltage vectors. This method still suffers from certain drawbacks, such as large torque, flux linkage pulsation, and harmonic distortion. Summary of the Invention

[0003] In order to at least overcome the above-mentioned deficiencies in the prior art, the purpose of this application is to provide a motor control method, device and system.

[0004] In a first aspect, embodiments of this application provide a motor control method, the motor control method comprising:

[0005] The operating parameters of the motor are sampled and acquired, including the speed setpoint and the speed feedback value;

[0006] Based on the operating parameters, calculate the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system;

[0007] Based on the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system, determine the sector position of the ideal voltage vector in the voltage vector hexagon;

[0008] Select the candidate voltage vector based on the sector location of the ideal voltage vector;

[0009] The duty cycle is calculated based on the magnitude relationship between the ideal voltage vector and the candidate voltage vector. Duty cycle modulation is then added to the candidate voltage vector to obtain the optimal voltage vector.

[0010] The first, second, and third action times of the three-phase voltage switching device are calculated based on the optimal voltage vector to control the motor.

[0011] In one possible implementation, the step of determining the sector position of the ideal voltage vector within a voltage vector hexagon based on the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system includes:

[0012] Based on the switching states on multiple arms of the three-phase voltage switching device, obtain the native voltage vector corresponding to the switching states on multiple arms of the three-phase voltage switching device;

[0013] In the stationary coordinate system, the voltage vector hexagon is divided into six 60° sectors counterclockwise;

[0014] The sector is divided into N sub-sectors, each sub-sector including a non-zero voltage vector, and the voltage vector hexagon includes (N-1)×6 virtual voltage vectors;

[0015] Based on the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system, the sub-sector position of the ideal voltage vector in the voltage vector hexagon is determined.

[0016] In one possible implementation, the step of obtaining the native voltage vector corresponding to the switching states on the multiple arms of the three-phase voltage switching device includes:

[0017] Let the switching state signal of phase a of the three-phase two-level voltage source inverter be the first switching state signal S. a The switching status signal of the b-phase bridge arm of the three-phase two-level voltage source inverter is the second switching status signal S. b The switching status signal of the c-phase bridge arm of the three-phase two-level voltage source inverter is the third switching status signal Sc; the first switching status signal S a The second switch status signal S b and the third switch status signal S c It equals 0 or 1;

[0018] Based on the switching states of the three-phase bridge arms of the three-phase two-level voltage source inverter, eight native voltage vectors are obtained. The native voltage vectors include non-zero native voltage vectors and zero native voltage vectors. The non-zero native voltage vectors include the first native voltage vector u1, the second native voltage vector u2, the third native voltage vector u3, the fourth native voltage vector u4, the fifth native voltage vector u5, and the sixth native voltage vector u6. The zero native voltage vectors include the seventh native voltage vector u7 and the eighth native voltage vector u0.

[0019] In one possible implementation, the step of calculating the first action time, second action time, and third action time of the three-phase voltage switching device based on the optimal voltage vector includes:

[0020] Based on the magnitude relationship between the ideal voltage vector and the candidate voltage vector, the duration of action of the non-zero native voltage vector and the duration of action of the zero native voltage vector are calculated.

[0021] Based on the duration of action of the non-zero native voltage vector and the duration of action of the zero native voltage vector, the duration of action of the optimal voltage vector is calculated, thereby obtaining the first duration of action, the second duration of action, and the third duration of action.

[0022] In one possible implementation, the duration d of the non-zero native voltage vector is... m The duration d0 of the zero-native voltage vector is calculated as follows:

[0023]

[0024] The candidate voltage vector u sel The modulus length is calculated in the following way:

[0025]

[0026] Among them, u min Let α be the voltage vector with the smallest magnitude in the sub-sector, and let u be the voltage vector with the smallest magnitude. min with u sel The included angle, u dc This is the DC bus voltage.

[0027] In one possible implementation, the step of calculating the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system based on the operating parameters includes:

[0028] Based on the operating parameters, the stator flux setpoint and torque setpoint are generated according to the PI controller;

[0029] Based on the given values ​​of the stator flux linkage and torque, the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system are calculated using a deadbeat-free method.

[0030] In one possible implementation, the step of sampling and acquiring the motor's operating parameters includes:

[0031] Sample and obtain the motor's operating parameters at any time k;

[0032] The steps of calculating the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system include:

[0033] Based on the given values ​​of the stator flux linkage and torque at time k, the given values ​​of the stator flux linkage and torque at time k+1 are calculated for delay compensation.

[0034] Based on the given values ​​of the stator flux linkage and torque at time k+1, the stator flux linkage and torque at time k+2 are calculated using the torque flux linkage prediction model.

[0035] Based on the given values ​​of the stator flux linkage and torque at time k+2, the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system are obtained through a deadbeat-free method.

[0036] In one possible implementation, the magnitude of the ideal voltage vector and the angle χ of the ideal voltage vector relative to the stationary coordinate system are calculated as follows:

[0037]

[0038]

[0039] Among them, u sy u sy Representing the ideal voltage vector u ide In the stator flux linkage coordinate system, the x-axis and y-axis components ε represent the ideal voltage vector u. ide Angle relative to the stator flux linkage coordinate system;

[0040] χ=ε+θ s

[0041] Where ε is the angle between the stator flux increment and the stator flux coordinate system, and θ s The angle of the stator flux linkage relative to the stationary coordinate system.

[0042] Secondly, embodiments of this application also provide a motor control device, the motor control device comprising:

[0043] Sampling module: Samples and acquires the motor's operating parameters, including the speed setpoint and speed feedback value;

[0044] Calculation module: Based on the operating parameters, calculates the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system;

[0045] Determination module: Based on the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system, determine the sector position of the ideal voltage vector in a voltage vector hexagon;

[0046] Selection module: Selects the candidate voltage vector based on the sector location of the ideal voltage vector;

[0047] Correction module: Calculates the duty cycle based on the magnitude relationship between the ideal voltage vector and the candidate voltage vector, and adds duty cycle modulation to the candidate voltage vector to obtain the optimal voltage vector;

[0048] Control module: Calculates the first, second, and third action times of the three-phase voltage switching devices based on the optimal voltage vector to control the motor.

[0049] Thirdly, embodiments of this application also provide a motor control system, which includes a processor and a machine-readable storage medium. The machine-readable storage medium stores machine-executable instructions, which, when executed by the processor, implement the methods described in any of the above aspects.

[0050] Based on any of the above aspects, the motor control method, apparatus, and system provided in this application determine the sector position of the ideal voltage vector by calculating the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system. This allows for the selection of a candidate voltage vector within the voltage vector hexagon, and the magnitude of the candidate voltage vector is modulated according to the relationship between the magnitudes of the ideal voltage vector and the candidate voltage vector, thereby obtaining the optimal voltage vector. The optimal voltage vector, while maintaining a certain directional dispersion, has a continuously adjustable magnitude, effectively reducing torque ripple and flux linkage ripple, and exhibiting good control performance. Attached Figure Description

[0051] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings required in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 A schematic flowchart illustrating the motor control method provided in an embodiment of this application;

[0053] Figure 2 A schematic diagram of the sub-steps of step S300 provided in the embodiments of this application;

[0054] Figure 3 A schematic diagram of the sub-sector division of the voltage vector hexagon provided in the embodiments of this application;

[0055] Figure 4 This is a schematic diagram illustrating the change of a non-zero voltage vector provided in an embodiment of this application;

[0056] Figure 5A schematic diagram of the sub-steps of step S310 provided in the embodiments of this application;

[0057] Figure 6 A schematic diagram of the sub-steps of step S600 provided in the embodiments of this application;

[0058] Figure 7 This is a schematic diagram of voltage vector magnitude variation provided in an embodiment of this application;

[0059] Figure 8 A schematic diagram of the sub-steps of step S200 provided in the embodiments of this application;

[0060] Figure 9 A schematic diagram of the sub-steps of step S220 provided in the embodiments of this application;

[0061] Figure 10 A schematic diagram illustrating the experimental results of the motor control method provided in the embodiments of this application;

[0062] Figure 11 This is a schematic diagram of the structure of the motor control system provided in an embodiment of this application;

[0063] Figure 12 This is a schematic diagram of the structure of the motor control device provided in the embodiments of this application.

[0064] Icons: 800 - Motor control system; 810 - Processor; 820 - Machine-readable storage medium; 830 - Motor control device; 831 - Sampling module; 832 - Calculation module; 833 - Determination module; 834 - Selection module; 835 - Calibration module; 836 - Control module. Detailed Implementation

[0065] 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, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0066] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0067] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0068] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0069] It should be noted that, where there is no conflict, different features in the embodiments of this application can be combined with each other.

[0070] The specific embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0071] Please refer to Figure 1 , Figure 1 Example: A flowchart of a motor control method provided in this embodiment is shown. The method may include the following steps.

[0072] Step S100: Sample and acquire the operating parameters of the motor, including the speed setpoint and the speed feedback value.

[0073] In this embodiment, the speed setpoint is the speed to be controlled to reach, i.e., the target speed; the speed feedback value is the speed detected at the current moment. Specifically, the operating parameters may also include: the operating time of the three-phase voltage switching devices in the current control cycle, the bus voltage, and the rotor position.

[0074] Step S200: Based on the operating parameters, calculate the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system.

[0075] In this embodiment, based on the operating parameters obtained in step S100, the stator flux given value and the torque given value can be obtained, thereby calculating the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system.

[0076] Step S300: Determine the sector position of the ideal voltage vector in the voltage vector hexagon based on the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system.

[0077] In this embodiment, the voltage vector hexagon is composed of six non-zero native voltage vectors, forming six sectors. During motor driving, the voltage vectors are controlled to operate within the range of the voltage vector hexagon.

[0078] Step S400: Select a candidate voltage vector based on the sector location of the ideal voltage vector.

[0079] In this embodiment, by discretizing the voltage vector direction, the magnitude of the candidate voltage vector is fixed and relatively large. If the magnitude of the ideal voltage vector is small while the magnitude of the candidate voltage vector is large, directly applying control to the candidate voltage vector will lead to a large steady-state error. Therefore, it is necessary to modulate the magnitude of the candidate voltage vector.

[0080] Step S500: Calculate the duty cycle based on the magnitude relationship between the ideal voltage vector and the candidate voltage vector, and add duty cycle modulation to the candidate voltage vector to obtain the optimal voltage vector.

[0081] In this embodiment, the magnitude of the candidate voltage vector is modulated by the magnitude relationship between the ideal voltage vector and the candidate voltage vector, so that the magnitude of the candidate voltage vector is equal to the magnitude of the ideal voltage vector, thereby obtaining the optimal voltage vector.

[0082] Step S600: Calculate the first action time, second action time, and third action time of the three-phase voltage switching device based on the optimal voltage vector, in order to control the motor.

[0083] In this embodiment, the three-phase voltage switching device can be a three-phase two-level voltage-source inverter. In the three-phase bridge arm of this three-phase two-level voltage-source inverter, each phase bridge arm includes two switching transistors with anti-parallel diodes, that is, the three-phase two-level voltage-source inverter includes a total of six switching transistors with anti-parallel diodes. These six switching transistors are denoted as switching transistor S. a1 Switch S a2 Switch S b1 Switch S b2 Switch S c1 Switch S c2 .

[0084] Specifically, the motor control method provided in this application can be applied to the motion control of the workpiece stage of a lithography equipment. The workpiece stage of a lithography equipment typically uses an AC motor as the execution unit for its multiple motion directions. The AC motor is generally composed of a permanent magnet servo motor.

[0085] It is worth noting that the controlled object of the motor control method can be a permanent magnet synchronous motor or other types of motors, and no specific limitation is made here.

[0086] As can be seen, based on the above design, the motor control method, device and system provided in this application selects the candidate voltage vector in the voltage vector hexagon by the sector position of the ideal voltage vector, and modulates the magnitude of the candidate voltage vector according to the magnitude relationship between the ideal voltage vector and the candidate voltage vector, thereby obtaining the optimal voltage vector. The optimal voltage vector has a certain directional dispersion while its magnitude is continuously adjustable, which can effectively reduce torque ripple and flux linkage ripple and improve the robustness of system control.

[0087] In one possible implementation, please refer to Figure 2 Step S300 may also include the following sub-steps.

[0088] Step S310: Based on the switching states on the multiple arms of the three-phase voltage switching device, obtain the native voltage vector corresponding to the switching states on the multiple arms of the three-phase voltage switching device.

[0089] Step S320: On the stationary coordinate system, the voltage vector hexagon is divided into six 60° sectors counterclockwise.

[0090] In this embodiment, the voltage vector hexagon is composed of six non-zero native voltage vectors. After dividing the voltage vector hexagon into six sectors counterclockwise, the sectors are named sector 1 to sector 6, numbered sequentially in a counterclockwise direction. For example, in sector 1, the non-zero native voltage vectors u1 and u2 have the largest magnitudes, and... Among them, u dc This indicates the DC bus voltage.

[0091] Step S330: Divide the sector into N sub-sectors, each sub-sector including a non-zero voltage vector, and the voltage vector hexagon includes (N-1)×6 virtual voltage vectors.

[0092] In this embodiment, please refer to Figure 3 The equilateral triangles with a 60° included angle in the voltage vector hexagon are discretized into N equal parts. The side length of the voltage vector hexagon is also divided into N equal parts, that is, each sector is divided into N sub-sectors. The voltage vector hexagon includes (N-1)×6 virtual voltage vectors. One of the non-zero voltage vectors in each sub-sector can be a native voltage vector or a virtual voltage vector. The discretized voltage vector hexagon includes m voltage vectors, the included angle between two adjacent voltage vectors is θ, the dispersion is N, N≥1 and N is an integer, where...

[0093]

[0094] The starting angle of the sub-sector is f i The ending angle is g i Where i = 0, ..., N, for example, the starting angle and ending angle of sub-sector 1 can be calculated in the following way:

[0095]

[0096] Specifically, d represents the duty cycle of the bridge arm in different switching states among adjacent non-zero native voltage vectors. The direction of change of d gradually increases from the "0" state of the bridge arm in different switching states to the "1" state. l indicates the position of the change of d. When l is 0 or N, it represents the native voltage vector; when l is other values, it represents the virtual voltage vector. For example, please refer to... Figure 4 When N = 3, and the value of d is from When the direction changes, S a The corresponding values ​​will change, and the switching state combination (S) corresponding to the non-zero voltage vector will change. a S b S c The specific status is as follows:

[0097] The switching state combination corresponding to the non-zero voltage vector u3 is (0, 1, 0).

[0098] The non-zero voltage vector u a The corresponding switch state combination is (1 / 3, 1, 0).

[0099] The non-zero voltage vector u b The corresponding switch state combination is (2 / 3, 1, 0).

[0100] The switching state combination corresponding to the non-zero voltage vector u2 is (1, 1, 0).

[0101] When N = 3, and the value of d changes from When the direction changes, S c The corresponding values ​​will change, and the switching state combination (S) corresponding to the non-zero voltage vector will change. a S b S c The specific status is as follows:

[0102] The switching state combination corresponding to the non-zero voltage vector u3 is (0, 1, 0).

[0103] The non-zero voltage vector u c The corresponding switch state combination is (0, 1, 1 / 3).

[0104] The non-zero voltage vector u dThe corresponding switch state combination is (0, 1, 2 / 3).

[0105] The switching state combination corresponding to the non-zero voltage vector u4 is (0, 1, 1).

[0106] Step S340: Determine the sub-sector position of the ideal voltage vector in the voltage vector hexagon based on the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system.

[0107] In one possible implementation, please refer to Figure 5 Step S310 may also include the following sub-steps.

[0108] Step S311: Record the switching state signal of phase a bridge arm of the three-phase two-level voltage source inverter as the first switching state signal S. a The switching status signal of the b-phase bridge arm of the three-phase two-level voltage source inverter is the second switching status signal S. b The switching status signal of the c-phase bridge arm of the three-phase two-level voltage source inverter is the third switching status signal Sc; the first switching status signal S a The second switch status signal S b and the third switch status signal S c It equals 0 or 1.

[0109] In this embodiment, the switching state signal S of phase a bridge arm of the three-phase two-level voltage source inverter is... a The switching status signal S of phase b bridge arm b The switching status signal S of phase c bridge arm c The specific actions are as follows:

[0110] S a =1 indicates that the a-phase bridge arm switch S of the three-phase two-level voltage-type inverter is... a1 On, switch S a2 Turn off.

[0111] S a =0 indicates that the a-phase bridge arm switch S of a three-phase two-level voltage type inverter is 0. a1 Turn off, switch S a2 Conduction.

[0112] S b =1 indicates that the b-phase bridge arm switch S of the three-phase two-level voltage source inverter is... b1 On, switch S b2 Turn off.

[0113] S b =0 indicates that the b-phase bridge arm switch S of a three-phase two-level voltage-source inverter is 0. b1 Turn off, switch Sb2 Conduction.

[0114] S c =1 indicates that the C-phase bridge arm switch S of a three-phase two-level voltage-source inverter is... c1 On, switch S c2 Turn off.

[0115] S c =0 indicates that the c-phase bridge arm switch S of a three-phase two-level voltage source inverter is... c1 Turn off, switch S c2 Conduction.

[0116] Step S312: Based on the switching states of the three-phase bridge arms of the three-phase two-level voltage source inverter, eight native voltage vectors are obtained. The native voltage vectors include non-zero native voltage vectors and zero native voltage vectors. The non-zero native voltage vectors include the first native voltage vector u1, the second native voltage vector u2, the third native voltage vector u3, the fourth native voltage vector u4, the fifth native voltage vector u5, and the sixth native voltage vector u6. The zero native voltage vectors include the seventh native voltage vector u7 and the eighth native voltage vector u0.

[0117] In this embodiment, the switching state combination (S) corresponding to the native voltage vector a S b S c The specific status is as follows:

[0118] The switching state combination corresponding to the first native voltage vector u1 is (1, 0, 0).

[0119] The switching state combination corresponding to the second native voltage vector u2 is (1, 1, 0).

[0120] The switching state combination corresponding to the third native voltage vector u3 is (0, 1, 0).

[0121] The switching state combination corresponding to the fourth primary voltage vector u4 is (0, 1, 1).

[0122] The switching state combination corresponding to the fifth native voltage vector u5 is (0, 0, 1).

[0123] The switching state combination corresponding to the sixth native voltage vector u6 is (1, 0, 1).

[0124] The switching state combination corresponding to the seventh primary voltage vector u7 is (1, 1, 1).

[0125] The switching state combination corresponding to the eighth native voltage vector u0 is (0, 0, 0).

[0126] In one possible implementation, please refer to Figure 6 Step S600 may also include the following sub-steps.

[0127] Step S610: Based on the magnitude relationship between the ideal voltage vector and the candidate voltage vector, calculate the duration of action of the non-zero native voltage vector and the duration of action of the zero native voltage vector.

[0128] In this embodiment, the duration d of the non-zero native voltage vector m The duration d0 of the zero-native voltage vector is calculated as follows:

[0129]

[0130] The candidate voltage vector u sel The modulus length is calculated in the following way:

[0131]

[0132] Among them, u min Let α be the voltage vector with the smallest magnitude in the sub-sector, and let u be the voltage vector with the smallest magnitude. min with u sel The included angle, u dc This is the DC bus voltage.

[0133] Please refer to Figure 7 u min Let be the voltage vector represented by the median of the equilateral triangle, and If the voltage vector connecting the origin to the side of the vector hexagon is u, then from A→B→C, the magnitude of u first decreases and then increases, where the maximum value of the magnitude of u is...

[0134] Step S620: Based on the action time of the non-zero native voltage vector and the action time of the zero native voltage vector, calculate the action time of the optimal voltage vector, thereby obtaining the first action time, the second action time, and the third action time.

[0135] In this embodiment, by calculating the duration of the optimal voltage vector, the three bridge arms S of the voltage vector can be determined. a S b and S c The duty cycle is determined to obtain the first action time, the second action time, and the third action time acting on the three-phase voltage switching device, so as to achieve motor control.

[0136] In one possible implementation, please refer to Figure 8Step S200 may also include the following sub-steps.

[0137] Step S210: Based on the operating parameters, generate the stator flux setpoint and torque setpoint according to the PI regulator.

[0138] In this embodiment, the operating parameters may include the speed setpoint, the speed feedback value, the operating time of the three-phase voltage switching devices in the current control cycle, the bus voltage, and the rotor position. The torque setpoint can be calculated by subtracting the speed setpoint from the speed feedback value using a PI regulator, and the stator flux setpoint can be obtained using the maximum torque-to-current ratio control method. Specifically, the PI regulator, also called a PI controller, can determine the control deviation between the setpoint and the actual output value. The proportional (P) and integral (I) of the deviation are linearly combined to form the control quantity, which controls the controlled object, thus obtaining the torque setpoint.

[0139] Step S220: Based on the given values ​​of the stator flux linkage and torque, calculate the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system using a deadbeat-free method.

[0140] In one possible implementation, when sampling and acquiring the motor's operating parameters, the motor's operating parameters at any time k are sampled and acquired.

[0141] Please refer to Figure 9 Step S220 may also include the following sub-steps.

[0142] Step S221: Based on the given value of the stator flux linkage and the given value of the torque at time k, calculate the stator flux linkage and the torque at time k+1 for delay compensation.

[0143] In this embodiment, delay compensation is used to compensate for the unavoidable one-beat delay of the digital controller, thereby reducing the time delay problem.

[0144] Step S222: Based on the given value of the stator flux linkage and the given value of the torque at time k+1, calculate the stator flux linkage and the torque at time k+2 using the torque flux linkage prediction model.

[0145] Step S223: Based on the given values ​​of the stator flux linkage and torque at time k+2, the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system are obtained by a deadbeat-free method.

[0146] The magnitude of the ideal voltage vector and the angle χ of the ideal voltage vector relative to the stationary coordinate system are calculated in the following way:

[0147]

[0148]

[0149] Among them, u sy u sy Representing the ideal voltage vector u ide In the stator flux linkage coordinate system, the x-axis and y-axis components ε represent the ideal voltage vector u. ide The angle relative to the stator flux linkage coordinate system.

[0150] χ=ε+θ s

[0151] Where ε is the angle between the stator flux increment and the stator flux coordinate system, and θ s The angle of the stator flux linkage relative to the stationary coordinate system.

[0152] To verify the validity of this application, experimental verification was conducted.

[0153] The virtual voltage vector algorithm that completely discretizes the direction and magnitude of the voltage vector is denoted as DMPTC-DVVS, and the motor control method provided in this application is denoted as DMPTC-EVVS.

[0154] Please refer to Figure 10 , Figure 10 Experimental comparisons of torque ripple, flux linkage ripple, and current harmonics between DMPTC-DVVS and DMPTC-EVVS are presented. Compared to DMPTC-DVVS, DMPTC-EVVS exhibits smaller torque ripple and stator flux linkage waveform ripple, and its current harmonic content is lower. Furthermore, compared to DMPTC-DVVS, DMPTC-EVVS has a discrete voltage vector direction and continuously adjustable magnitude.

[0155] This embodiment also provides a motor control system 800, please refer to... Figure 11 , Figure 11The example is a block diagram of the motor control system 800. The motor control system includes a processor 810, a machine-readable storage medium 820, and a motor control device 830. The machine-readable storage medium 820 and the processor 810 are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The motor control device 830 includes multiple software function modules that can be stored as software or firmware in the machine-readable storage medium 820 or embedded in the operating system (OS) of the motor control device 830. The processor 810 is used to execute the executable modules stored in the machine-readable storage medium 820, such as the software function modules and computer programs included in the motor control device 830.

[0156] The machine-readable storage medium 820 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc. The machine-readable storage medium 820 is used to store a program, which the processor 810 executes upon receiving an execution instruction.

[0157] The processor 810 may be an integrated circuit chip with signal processing capabilities. The processor 810 may be a general-purpose processor 810, including a central processing unit (CPU), a network processor (NP), etc.; it may 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 810 may be a microprocessor 810, or any conventional processor 810, etc.

[0158] Please refer to Figure 12This application also provides a motor control device 830, which includes multiple functional modules that can be stored in machine-readable storage medium 820 in software form. Functionally, the motor control device 830 may include a sampling module 831, a calculation module 832, a determination module 833, a selection module 834, a correction module 835, and a control module 836.

[0159] in:

[0160] The sampling module 831 is used to sample and acquire the operating parameters of the motor, including the speed setpoint and the speed feedback value.

[0161] In this embodiment, the sampling module 831 can be used to perform... Figure 1 For a detailed description of the sampling module 831, please refer to the description of step S100 shown.

[0162] The calculation module 832 is used to calculate the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system based on the operating parameters.

[0163] In this embodiment, the computing module 832 can be used to perform... Figure 1 For a detailed description of the calculation module 832, please refer to the description of step S200 shown.

[0164] The determining module 833 is used to determine the sector position of the ideal voltage vector in a voltage vector hexagon based on the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system.

[0165] In this embodiment, the determining module 833 can be used to perform... Figure 1 For a detailed description of the determining module 833, please refer to the description of step S300 shown.

[0166] The selection module 834 is used to select a candidate voltage vector based on the sector position of the ideal voltage vector.

[0167] In this embodiment, the selection module 834 can be used to perform... Figure 1 For a detailed description of the selection module 834, please refer to the description of step S400 shown.

[0168] The correction module 835 is used to calculate the duty cycle based on the magnitude relationship between the ideal voltage vector and the candidate voltage vector, and to add duty cycle modulation to the candidate voltage vector to obtain the optimal voltage vector.

[0169] In this embodiment, the correction module 835 can be used to perform... Figure 1 For a detailed description of the correction module 835, please refer to the description of step S500 shown.

[0170] The control module 836 is used to calculate the first action time, the second action time, and the third action time of the three-phase voltage switching device based on the optimal voltage vector, so as to control the motor.

[0171] In this embodiment, the control module 836 can be used to execute... Figure 1 For a detailed description of the control module 836, please refer to the description of step S600 shown.

[0172] In summary, the motor control method, apparatus, and system provided in this application, based on the motor's operating parameters, determine the sector position of the ideal voltage vector by calculating its magnitude and angle relative to the stationary coordinate system. This allows for the selection of a candidate voltage vector within a voltage vector hexagon. Furthermore, the magnitude of the candidate voltage vector is modulated according to the relationship between the magnitudes of the ideal voltage vector and the candidate voltage vector, resulting in an optimal voltage vector for motor control. In this design, the optimal voltage vector, while maintaining a certain directional dispersion, has a continuously adjustable magnitude, effectively reducing torque and flux pulsation and exhibiting good control performance.

[0173] It should be noted that, in this document, relational terms such as "first" and "second" are used only 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.

[0174] The above description is merely a preferred embodiment of this application and is not intended to limit 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 protection scope of this application.

Claims

1. A motor control method, characterized in that, include: The operating parameters of the motor are sampled and acquired, including the speed setpoint and the speed feedback value; Based on the operating parameters, calculate the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system; Based on the magnitude of the ideal voltage vector and its angle relative to the stationary coordinate system, the sector position of the ideal voltage vector within the voltage vector hexagon is determined, specifically including the following steps: Based on the switching states on multiple arms of the three-phase voltage switching device, obtain the native voltage vector corresponding to the switching states on multiple arms of the three-phase voltage switching device. In the stationary coordinate system, the voltage vector hexagon is divided into six 60° sectors counterclockwise; The sector is divided into N sub-sectors, each sub-sector including a non-zero voltage vector, and the voltage vector hexagon includes... A virtual voltage vector; Based on the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system, determine the sub-sector position of the ideal voltage vector within the voltage vector hexagon; Select the candidate voltage vector based on the sector location of the ideal voltage vector; The duty cycle is calculated based on the magnitude relationship between the ideal voltage vector and the candidate voltage vector. Duty cycle modulation is then added to the candidate voltage vector to obtain the optimal voltage vector. The first, second, and third action times of the three-phase voltage switching device are calculated based on the optimal voltage vector to control the motor. Based on the magnitude relationship between the ideal voltage vector and the candidate voltage vector, the duration of action of the non-zero native voltage vector and the duration of action of the zero native voltage vector are calculated. Based on the duration of action of the non-zero native voltage vector and the duration of action of the zero native voltage vector, the duration of action of the optimal voltage vector is calculated, thereby obtaining the first duration of action, the second duration of action, and the third duration of action. The duration of the non-zero native voltage vector and the duration of action of the zero native voltage vector It is obtained through the following calculation method: ； The candidate voltage vector The modulus length is calculated in the following way: ； in, This is the voltage vector with the smallest magnitude in the sub-sector. for and The included angle, This is the DC bus voltage.

2. The motor control method according to claim 1, characterized in that, The step of obtaining the native voltage vector corresponding to the switching states on the multiple arms of the three-phase voltage switching device includes: Let the switching state signal of phase a of the three-phase two-level voltage source inverter be the first switching state signal S. a The switching status signal of the b-phase bridge arm of the three-phase two-level voltage source inverter is the second switching status signal S. b The switching status signal of the c-phase bridge arm of a three-phase two-level voltage source inverter is the third switching status signal S. c The first switch status signal S a The second switch status signal S b and the third switch status signal S c It equals 0 or 1; Based on the switching states of the three-phase bridge arms of the three-phase two-level voltage-source inverter, eight native voltage vectors are obtained. These native voltage vectors include non-zero native voltage vectors and zero native voltage vectors; the non-zero native voltage vectors include the first native voltage vector. Second native voltage vector Third native voltage vector Fourth primary voltage vector Fifth primary voltage vector and the sixth primary voltage vector The zero native voltage vector includes the seventh native voltage vector. and the eighth native voltage vector .

3. The motor control method according to claim 1, characterized in that, The step of calculating the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system based on the operating parameters includes: Based on the operating parameters, the stator flux setpoint and torque setpoint are generated according to the PI controller; Based on the given values ​​of the stator flux linkage and torque, the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system are calculated using a deadbeat-free method.

4. The motor control method according to claim 3, characterized in that, The step of sampling and acquiring the motor's operating parameters includes: Sample and obtain the motor's operating parameters at any time k; The steps of calculating the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system include: Based on the given values ​​of the stator flux linkage and torque at time k, the given values ​​of the stator flux linkage and torque at time k+1 are calculated for delay compensation. Based on the given values ​​of the stator flux linkage and torque at time k+1, the stator flux linkage and torque at time k+2 are calculated using the torque flux linkage prediction model. Based on the given values ​​of the stator flux linkage and torque at time k+2, the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system are obtained through a deadbeat-free method.

5. The motor control method according to claim 4, characterized in that, The magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system. It is obtained through the following calculation method: ； ； in, , They represent the ideal voltage vectors respectively. x-axis and y-axis components in the stator flux linkage coordinate system Represents the ideal voltage vector Angle relative to the stator flux linkage coordinate system; ； in, The angle between the stator flux increment and the stator flux coordinate system. The angle of the stator flux linkage relative to the stationary coordinate system.

6. A motor control device, employing the motor control method as described in any one of claims 1 to 5, characterized in that, include: Sampling module: Samples and acquires the motor's operating parameters, including the speed setpoint and speed feedback value; Calculation module: Based on the operating parameters, calculates the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system; Determination module: Based on the magnitude of the ideal voltage vector and the angle of the ideal voltage vector relative to the stationary coordinate system, determine the sector position of the ideal voltage vector in a voltage vector hexagon; Selection module: Selects the candidate voltage vector based on the sector location of the ideal voltage vector; Correction module: Calculates the duty cycle based on the magnitude relationship between the ideal voltage vector and the candidate voltage vector, and adds duty cycle modulation to the candidate voltage vector to obtain the optimal voltage vector; Control module: Calculates the first, second, and third action times of the three-phase voltage switching devices based on the optimal voltage vector to control the motor.

7. A motor control system, characterized in that, The motor control system includes a processor and a machine-readable storage medium. The machine-readable storage medium stores machine-executable instructions, which, when executed by the processor, implement the method described in any one of claims 1-5.

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