Motor double-loop parameter adjustment method and device, electronic equipment and storage medium

Abstract

The application relates to the technical field of motor control, and discloses a motor double-loop parameter adjustment method and device, electronic equipment and a storage medium, which comprises the following steps: acquiring a speed loop input quantity and a current loop input quantity, determining an input fuzzy set and an input membership function; determining a speed loop fuzzy input quantity and a current loop fuzzy input quantity according to the input fuzzy set and the input membership function; acquiring an output membership function and a fuzzy output control table, determining a speed loop fuzzy output quantity and a current loop fuzzy output quantity according to the fuzzy output control table and the output membership function; performing inverse fuzzy calculation on the speed loop fuzzy output quantity and the current loop fuzzy output quantity to obtain a speed loop clear quantity and a current loop clear quantity; and adjusting double-loop parameters of the motor based on the speed loop clear quantity and the current loop clear quantity. The application realizes adaptive adjustment of motor parameters and improves the control precision of an air conditioning system.

Description

Technical Field

[0001] This application relates to the field of motor control technology, specifically to a method, device, electronic equipment, and storage medium for adjusting dual-loop parameters of a motor. Background Technology

[0002] The compressor in the outdoor unit of a variable frequency air conditioner is a permanent magnet synchronous motor (PMSM), and the control of the PMSM determines the stability of the air conditioning system. Currently, the control method for PMSMs typically employs vector control. This vector control method can be used similarly to control separately excited DC motors, as well as AC induction motors and synchronous motors. In separately excited DC motors, the field current and armature current can be controlled independently, and the controlled field current and armature current are perpendicular to each other, preventing mutual interference. This ensures that torque control does not affect the magnetic flux linkage that generates the magnetic field, ultimately achieving a rapid torque response.

[0003] In vector control, torque output is primarily controlled through speed and current loops, which are mainly controlled by a PI (Proportional-Integral) controller. The control parameters of this PI controller directly affect the motor's operational stability. However, air conditioner outdoor units often experience load disturbances and environmental changes during operation, which necessitates higher precision adjustments to the motor control parameters. Traditional PI parameter tuning methods have significant limitations; the control parameters cannot adapt to environmental changes, ultimately leading to inaccurate control of the air conditioning system. Summary of the Invention

[0004] This application provides a method, device, electronic device, and storage medium for adjusting dual-loop parameters of a motor, which can solve the technical problem of insufficient control accuracy in current air conditioning systems.

[0005] This application provides a method for adjusting dual-loop parameters of a motor, including:

[0006] Obtain the speed loop input and current loop input of the motor control system, and determine the input fuzzy set and input membership function corresponding to the speed loop input and current loop input, respectively;

[0007] Based on the input fuzzy set and the input membership function, determine the speed loop fuzzy input of the speed loop fuzzy controller corresponding to the speed loop input, and the current loop fuzzy input of the current loop fuzzy controller corresponding to the current loop input;

[0008] Obtain the output membership functions corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively, and the fuzzy output control tables corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively. Based on the fuzzy output control tables and the output membership functions, determine the speed loop fuzzy output corresponding to the speed loop fuzzy input and the current loop fuzzy output corresponding to the current loop fuzzy input.

[0009] The speed loop fuzzy output and the current loop fuzzy output are defuzzified to obtain the speed loop clear value and the current loop clear value. The dual-loop parameters of the motor are adjusted based on the speed loop clear value and the current loop clear value.

[0010] Furthermore, acquiring the speed loop input and current loop input of the motor control system includes:

[0011] Obtain the error and the rate of change of the closed-loop output of the motor control system compared with the actual value, and use the error and the rate of change of the error as the speed loop input;

[0012] Obtain the preset frequency and carrier frequency in the motor control system, and use the frequency and carrier frequency as the input quantities of the current loop.

[0013] Furthermore, determining the input fuzzy set and input membership function corresponding to the speed loop input and the current loop input, respectively, includes:

[0014] Obtain the first parameter range corresponding to the speed loop input quantity, divide the speed loop input fuzzy set equally within the first parameter range, and construct the speed loop input membership function corresponding to the speed loop input quantity according to the triangular membership function;

[0015] Obtain the second parameter range corresponding to the current loop input quantity, divide the current loop input fuzzy set equally within the second parameter range, and construct the current loop input membership function corresponding to the current loop input quantity according to the triangular membership function.

[0016] Furthermore, the speed loop input membership function includes a negative large range function, a negative medium range function, a negative small range function, a first medium range function, a positive small range function, a positive medium range function, and a positive large range function; the current loop input membership function includes a minimum range function, a second medium range function, and a maximum range function.

[0017] Furthermore, obtaining the output membership functions corresponding to the velocity loop fuzzy controller and the current loop fuzzy controller respectively includes:

[0018] Using the velocity loop bandwidth as the output variable of the velocity loop fuzzy controller and the current loop bandwidth as the output variable of the current loop fuzzy controller, the velocity loop output fuzzy set of the velocity loop bandwidth and the current loop output fuzzy set of the current loop bandwidth are obtained respectively.

[0019] Based on the triangular membership function and the output fuzzy set of the velocity loop, a first output membership function corresponding to the velocity loop fuzzy controller is constructed. Based on the triangular membership function and the output fuzzy set of the current loop, a second output membership function corresponding to the current loop fuzzy controller is constructed.

[0020] Furthermore, determining the velocity loop fuzzy output corresponding to the velocity loop fuzzy input and the current loop fuzzy output corresponding to the current loop fuzzy input based on the fuzzy output control table and the output membership function includes:

[0021] The first sub-membership function to which the speed loop fuzzy controller belongs in the first output membership function is determined according to the first fuzzy output control table corresponding to the speed loop fuzzy controller. The speed loop fuzzy input is input to the first sub-membership function, and the speed loop fuzzy output is calculated.

[0022] The second sub-membership function to which the current loop fuzzy controller belongs in the second output membership function is determined according to the second fuzzy output control table corresponding to the current loop fuzzy controller. The current loop fuzzy input is input to the second sub-membership function, and the current loop fuzzy output is calculated.

[0023] Furthermore, the step of performing defuzzification calculations on the fuzzy output of the velocity loop and the fuzzy output of the current loop to obtain the cleared output of the velocity loop and the cleared output of the current loop includes:

[0024] The velocity loop fuzzy output is combined to obtain the velocity loop combined value, and the current loop fuzzy output is combined to obtain the current loop combined value.

[0025] The speed loop clarity value is obtained by averaging the speed loop fuzzy output value and the speed loop merging value. The current loop clarity value is obtained by averaging the current loop fuzzy output value and the current loop merging value.

[0026] Accordingly, embodiments of this application provide a dual-loop parameter adjustment device for a motor, comprising:

[0027] The acquisition module is used to acquire the speed loop input and current loop input of the motor control system, and determine the input fuzzy set and input membership function corresponding to the speed loop input and current loop input, respectively.

[0028] The confirmation module is used to determine the speed loop fuzzy input quantity of the speed loop fuzzy controller corresponding to the speed loop input quantity, and the current loop fuzzy input quantity of the current loop fuzzy controller corresponding to the current loop input quantity, based on the input fuzzy set and the input membership function.

[0029] The calculation module is used to obtain the output membership functions corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively, and the fuzzy output control tables corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively. Based on the fuzzy output control tables and the output membership functions, the module determines the speed loop fuzzy output corresponding to the speed loop fuzzy input and the current loop fuzzy output corresponding to the current loop fuzzy input.

[0030] The adjustment module is used to perform anti-fuzzy calculations on the fuzzy output of the speed loop and the fuzzy output of the current loop to obtain the clear output of the speed loop and the clear output of the current loop, and to adjust the dual-loop parameters of the motor based on the clear output of the speed loop and the clear output of the current loop.

[0031] Furthermore, this application also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to implement the motor dual-loop parameter adjustment method provided in this application.

[0032] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer program adapted for loading by a processor to execute any of the motor dual-loop parameter adjustment methods provided in embodiments of this application.

[0033] Furthermore, this application also provides a computer program product, including a computer program that, when executed by a processor, implements any of the motor dual-loop parameter adjustment methods provided in this application.

[0034] In this embodiment, by acquiring the speed loop input and current loop input of the motor control system, the input fuzzy sets and input membership functions corresponding to the speed loop input and current loop input are determined respectively. Then, based on the input fuzzy sets and input membership functions, the speed loop fuzzy input of the speed loop fuzzy controller corresponding to the speed loop input, and the current loop fuzzy input of the current loop fuzzy controller corresponding to the current loop input are determined, thus realizing fuzzy calculation of the speed loop and current loop inputs. Finally, the output membership functions corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, and the fuzzy output control functions corresponding to the speed loop fuzzy controller and the current loop fuzzy controller are obtained respectively. By creating tables and using the fuzzy output control table and output membership function, the fuzzy output quantities corresponding to the fuzzy input quantities of the speed loop and the fuzzy output quantities corresponding to the fuzzy input quantities of the current loop are determined. This enables precise calculation of the fuzzy output quantities of the speed loop and current loop, allowing for adaptive adjustment of motor parameters. Finally, defuzzification calculations are performed on the fuzzy output quantities of the speed loop and current loop to obtain the clear quantities of the speed loop and current loop. Based on these clear quantities, the dual-loop parameters of the motor are adjusted, achieving adaptive adjustment of motor parameters. This improves the control accuracy and robustness of the air conditioning system, resulting in more precise air conditioning temperature control. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a flowchart illustrating the motor dual-ring parameter adjustment method provided in the embodiments of this application;

[0037] Figure 2 This is a schematic diagram of the structure of the motor dual-ring parameter adjustment device provided in the embodiments of this application;

[0038] Figure 3 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0039] 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. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] This application provides a method, apparatus, electronic device, and computer storage medium for adjusting dual-loop parameters of a motor. The dual-loop parameter adjustment apparatus can be integrated into an electronic device, which can be a server, a terminal, or other similar device.

[0041] The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), as well as big data and artificial intelligence platforms.

[0042] The terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, etc., but is not limited to these. The terminal and the server can be connected directly or indirectly through wired or wireless communication, which is not limited herein.

[0043] Furthermore, in the embodiments of this application, "multiple" refers to two or more. The terms "first" and "second," etc., in the embodiments of this application are used for distinguishing descriptions and should not be construed as implying relative importance.

[0044] The following sections provide detailed descriptions of each example. It should be noted that the order in which the embodiments are described is not intended to limit the preferred order of the embodiments.

[0045] Please see Figure 1 , Figure 1 This is a schematic flowchart of a method for adjusting dual-loop parameters of a motor according to an embodiment of this application. The method for adjusting dual-loop parameters of a motor may include:

[0046] S101. Obtain the speed loop input and current loop input of the motor control system, and determine the input fuzzy set and input membership function corresponding to the speed loop input and the current loop input, respectively.

[0047] In this embodiment, the motor control system is a system for controlling an air conditioner motor. The motor control system includes a speed loop fuzzy controller, a speed loop PI controller, position estimation, MTPA (Maximum Torque Per Ampere), PARK (Park's Transformation), a Q-axis current loop PI controller, a current loop fuzzy controller, a D-axis current loop PI controller, Clark Transformation, a PMSM (Permanent Magnet Synchronous Motor), SVPWM (Space Vector Pulse Width Modulation), and an inverter. The speed loop input and current loop input of the motor control system are obtained. The speed loop input includes the error e and the error change rate ec between the closed-loop output of the motor control system and the actual value. The current loop input consists of the set operating frequency F and carrier frequency C.

[0048] Then, the input fuzzy sets and input membership functions corresponding to the speed loop input and current loop input are determined, respectively. Specifically, the input fuzzy set corresponding to the speed loop input is {PSB, PSM, PSS, ZSE, NSS, NSM, NSB}, where PSB is the negative small range, PSM is the negative medium range, PSS is the negative large range, ZSE is the first medium range, NSS is the positive small range, NSM is the positive medium range, and NSB is the positive large range. The input fuzzy set corresponding to the current loop input is {CS, CM, CB}, where CS is the minimum range, CM is the second medium range, and CB is the maximum range. The input membership functions corresponding to the speed loop input and current loop input are both triangular membership functions. Based on the input fuzzy set and the triangular membership function, the input membership function corresponding to each range of variation in the input fuzzy set can be constructed. For example, the minimum range CS corresponds to the first input membership function, the second medium range CM corresponds to the second input membership function, and the maximum range CB corresponds to the third input membership function.

[0049] S102. Based on the input fuzzy set and the input membership function, determine the speed loop fuzzy input quantity of the speed loop fuzzy controller corresponding to the speed loop input quantity, and the current loop fuzzy input quantity of the current loop fuzzy controller corresponding to the current loop input quantity.

[0050] In this embodiment, upon obtaining the speed loop input quantity, its corresponding input fuzzy set, and input membership function, the range of variation of the speed loop input quantity is determined, and a corresponding input membership function is selected based on this range. Then, the output value of the speed loop input quantity within the input membership function is calculated, and this output value is the speed loop fuzzy input quantity. Similarly, upon obtaining the current loop input quantity, its corresponding input fuzzy set, and input membership function, the range of variation of the current loop input quantity is determined, and a corresponding input membership function is selected based on this range. The output value of the current loop input quantity within the input membership function is calculated, and this output value is the current loop fuzzy input quantity.

[0051] S103. Obtain the output membership functions corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, and the fuzzy output control tables corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively. Based on the fuzzy output control tables and the output membership functions, determine the speed loop fuzzy output corresponding to the speed loop fuzzy input and the current loop fuzzy output corresponding to the current loop fuzzy input.

[0052] In this embodiment, in the motor control system, the speed loop bandwidth Ws and current loop bandwidth Wc are variable values. By adjusting the speed loop bandwidth Ws and current loop bandwidth Wc, the PI parameters of the speed loop and current loop can be indirectly adjusted. Therefore, the speed loop bandwidth Ws is used as the speed loop fuzzy output corresponding to the speed loop fuzzy input, and the current loop bandwidth Wc is used as the current loop fuzzy output corresponding to the current loop fuzzy input. The fuzzy output control table includes a first fuzzy output control table and a second fuzzy output control table. The first fuzzy output control table can be constructed based on the changing relationship between the speed loop fuzzy input corresponding to the error e and the error change rate ec, respectively, and the speed loop bandwidth Ws; the second fuzzy output control table can be constructed based on the changing relationship between the current loop fuzzy input corresponding to the frequency F and the carrier frequency C, respectively, and the current loop bandwidth Wc. Therefore, when the fuzzy input quantities of the speed loop and the fuzzy input quantities of the current loop are obtained, the fuzzy output control table and the output membership function are acquired. Based on the fuzzy output table and the output membership function corresponding to the speed loop, the fuzzy output quantity of the speed loop corresponding to the current fuzzy input quantity can be determined, i.e., the speed loop bandwidth Ws; based on the fuzzy output table and the output membership function corresponding to the current loop, the fuzzy output quantity of the current loop corresponding to the current loop fuzzy input quantity can be determined, i.e., the current loop bandwidth Wc.

[0053] S104. Perform anti-fuzzy calculation on the speed loop fuzzy output and the current loop fuzzy output to obtain the speed loop clear value and the current loop clear value, and adjust the dual-loop parameters of the motor based on the speed loop clear value and the current loop clear value.

[0054] In this embodiment, the dual-loop parameters of the motor are the PI controller parameters for the speed loop and the PI controller parameters for the current loop, wherein the PI (Proportional-Integral) controller is a linear controller. When obtaining the fuzzy output values ​​of the speed loop and the current loop, defuzzification calculations are performed on these values ​​to obtain the cleared speed loop and current loop values. These cleared speed loop and current loop values ​​are then input to the motor's speed loop PI controller and current loop PI controller, respectively, to obtain the speed loop parameter adjustment values ​​and current loop parameter adjustment values. Based on these speed loop parameter adjustment values ​​and current loop parameter adjustment values, the motor is adaptively adjusted.

[0055] This embodiment uses fuzzy sets and membership functions to fuzzify the input and output quantities of the speed loop and current loop, and then performs inverse fuzzy output to obtain the clear quantities of the speed loop and current loop. Based on these clear quantities, the dual-loop parameters of the motor are adjusted, realizing the adaptive adjustment of the motor parameters, improving the control accuracy and robustness of the air conditioning system, and making the air conditioning temperature more accurate.

[0056] In some embodiments of this application, the above-mentioned acquisition of the speed loop input and current loop input of the motor control system includes:

[0057] Obtain the error and the rate of change of the closed-loop output of the motor control system compared with the actual value, and use the error and the rate of change of the error as the speed loop input;

[0058] Obtain the preset frequency and carrier frequency in the motor control system, and use the frequency and carrier frequency as the input quantities of the current loop.

[0059] In this embodiment, the motor control system is based on vector control. The motor vector control parameters include two closed-loop PI control parameters. When adjusting the temperature of the air conditioner, six parameters in the PI control parameters are mainly corrected. These six parameters are k pd (d-axis current loop proportionality coefficient), k id (d-axis current loop integral coefficient), k pq (q-axis current loop proportionality coefficient), k iq (q-axis current loop integral coefficient), k ps (speed ring proportional coefficient), k is(Speed ​​loop integral coefficient). Based on the PI calculation formulas corresponding to these six parameters, only the current loop bandwidth and speed loop bandwidth are variable values. The current loop bandwidth is used to assess the dynamic performance of the current loop. For example, a current loop bandwidth of 100Hz means that when the input current command signal is a 90Hz sinusoidal signal, the current loop can follow that current command signal. However, in actual motor current control, due to coordinate changes, the d-axis and q-axis currents of the current loop are DC given in steady state. Only during acceleration or sudden load changes will the speed loop output an equivalent step command, and the current loop bandwidth is equivalent to the speed at which the current responds to this step command. Adjusting the PI parameters of the speed loop and current loop is indirectly equivalent to adjusting the speed loop bandwidth and current loop bandwidth.

[0060] The speed loop bandwidth is determined by the error between the output and actual value of the motor control system, and the rate of change of the error. The current loop bandwidth is determined by the set frequency F and carrier frequency C. Therefore, the error and the rate of change of the error between the closed-loop output and actual value of the motor control system are obtained, and these errors and the rate of change of the error are used as the speed loop inputs. At the same time, the preset operating frequency and carrier frequency in the motor control system are obtained, and these frequencies and carrier frequencies are used as the current loop inputs.

[0061] This embodiment uses the error and rate of change between the closed-loop output and the actual value of the motor control system as the speed loop input, and the preset frequency and carrier frequency of the motor control system as the current loop input. This allows for precise control of the dual-loop PI parameters of the motor through the speed loop and current loop inputs, further improving the accuracy of air conditioning control.

[0062] In some embodiments of this application, the determination of the input fuzzy set and input membership function corresponding to the velocity loop input and the current loop input, respectively, includes:

[0063] Obtain the first parameter range corresponding to the speed loop input quantity, divide the speed loop input fuzzy set equally within the first parameter range, and construct the speed loop input membership function corresponding to the speed loop input quantity according to the triangular membership function;

[0064] Obtain the second parameter range corresponding to the current loop input quantity, divide the current loop input fuzzy set equally within the second parameter range, and construct the current loop input membership function corresponding to the current loop input quantity according to the triangular membership function.

[0065] In this embodiment, the first parameter range is the parameter variation range corresponding to the speed loop input quantity. Different speed loop input quantities correspond to different variation ranges. For example, the first parameter range of error e is {-15, 15}, and the first parameter range of error change rate ec is {-1.5, 1.5}. The second parameter range is the parameter variation range corresponding to the current loop input quantity. Different current loop input quantities correspond to different variation ranges. For example, the second parameter range of frequency F is {0, 200}, and the second parameter range of carrier frequency C is {0, 20}. The first parameter range corresponding to the speed loop input quantity is obtained, and the fuzzy set of speed loop inputs is equally divided within the first parameter range. A speed loop input membership function corresponding to the speed loop input quantity is constructed according to the triangular membership function. For different control systems, the universe of discourse is different, and the choice of membership function will also be different. In this embodiment, triangular membership functions are used for both inputs and outputs.

[0066] Specifically, the fuzzy sets corresponding to the velocity loop error and the error change rate are the same, both being {PSB, PSM, PSS, ZSE, NSS, NSM, NSB}. Dividing the velocity loop fuzzy set according to the first parameter range of the error e, we can determine that the first parameter range for PSB is {-15, -10}, for PSM it is {-15, -5}, for PSS it is {-10, 0}, for ZSE it is {-5, 5}, for NSS it is {0, 10}, for NSM it is {5, 15}, and for NSB it is {10, 15}. We then construct triangular membership functions corresponding to each first parameter range in the fuzzy set corresponding to the velocity loop error, obtaining the velocity loop error input membership function. Similarly, by dividing the fuzzy set {PSB, PSM, PSS, ZSE, NSS, NSM, NSB} according to the first parameter range of the velocity loop error change rate {-1.5, 1.5}, we can determine that the first parameter range for the velocity loop error change rate is {-1.5, -1} for PSB, {-1.5, -0.5} for PSM, {-1, 0} for PSS, {-0.5, 0.5} for ZSE, {0, 1} for NSS, {0.5, 1.5} for NSM, and {1, 1.5} for NSB.

[0067] The current loop inputs include carrier frequency C and frequency F. The second parameter range of carrier frequency C is {0, 20}, and the second parameter range of frequency F is {0, 200}. The fuzzy sets of the current loop inputs are equally divided within the second parameter range, and the current loop input membership functions corresponding to the current loop inputs are constructed according to the triangular membership function. The fuzzy sets of both carrier frequency and frequency are {CS, CM, CB}. Therefore, the second parameter range for the determined current loop carrier frequency CS is {0, 10}, for CM it is {5, 15}, and for CB it is {10, 20}; the second parameter range for the determined current loop frequency CS is {0, 100}, for CM it is {50, 150}, and for CB it is {100, 200}. For example, if the carrier frequency C in the current loop input is 6.5K, the range of this carrier frequency C can be determined to be between 0 and 10. The input fuzzy set corresponding to the current loop input is {CS, CM, CB}. According to the second parameter range of the carrier frequency C (0 to 20), the input membership function corresponding to the range of 0 to 10 is determined to be the minimum function CS, the input membership function corresponding to the range of 5 to 15 is determined to be the second function CM, and the speed loop input membership function corresponding to the range of 10 to 20 is determined to be the maximum function CB. Therefore, when the carrier frequency C is 6.5K, based on the input fuzzy set and input membership function corresponding to the carrier frequency, the input membership functions corresponding to this carrier frequency can be determined to be CS and CM. The two current loop fuzzy inputs C(CS) = 0.3 and C(CM) = 0.7 are calculated.

[0068] This embodiment obtains the variation ranges corresponding to the speed loop input and the current loop input, and determines the input membership function based on the variation range and fuzzy set, thereby realizing the acquisition of the fuzzy input membership function and further realizing the determination of various fuzzy parameters of the motor.

[0069] In some embodiments of this application, the velocity loop input membership function includes a negative large-range function, a negative medium-range function, a negative small-range function, a first medium-range function, a positive small-range function, a positive medium-range function, and a positive large-range function; the current loop input membership function includes a minimum-range function, a second medium-range function, and a maximum-range function.

[0070] In this embodiment, the input fuzzy sets corresponding to the speed loop error and the error change rate are the same, both being {PSB, PSM, PSS, ZSE, NSS, NSM, NSB}. The speed loop input fuzzy sets are divided based on the first parameter range and constructed according to the triangular membership function. The speed loop input membership functions corresponding to the speed loop input quantities include: the negative large-range function corresponding to PSB, the negative medium-range function corresponding to PSM, the negative small-range function corresponding to PSS, the first medium-range function corresponding to ZSE, the positive small-range function corresponding to NSS, the positive medium-range function corresponding to NSM, and the positive large-range function corresponding to NSB. The fuzzy sets corresponding to the current loop frequency and carrier frequency are {CS, CM, CB}. The current loop input fuzzy sets are divided based on the second parameter range and constructed according to the triangular membership function. The current loop input membership functions corresponding to the current loop input quantities include: the minimum range function corresponding to CS, the second medium-range function corresponding to CM, and the maximum range function corresponding to CB.

[0071] This embodiment uses the determined input membership functions of the speed loop and current loop to fuzzify the input quantities of the speed loop and current loop, further obtaining fuzzy input quantities. This allows the fuzzy parameters of the motor to be determined through the fuzzy input quantities, thereby realizing fuzzy control of the air conditioner and improving the control accuracy of the air conditioner.

[0072] In some embodiments of this application, obtaining the output membership functions corresponding to the velocity loop fuzzy controller and the current loop fuzzy controller respectively includes:

[0073] Using the velocity loop bandwidth as the output variable of the velocity loop fuzzy controller and the current loop bandwidth as the output variable of the current loop fuzzy controller, the velocity loop output fuzzy set of the velocity loop bandwidth and the current loop output fuzzy set of the current loop bandwidth are obtained respectively.

[0074] Based on the triangular membership function and the output fuzzy set of the velocity loop, a first output membership function corresponding to the velocity loop fuzzy controller is constructed. Based on the triangular membership function and the output fuzzy set of the current loop, a second output membership function corresponding to the current loop fuzzy controller is constructed.

[0075] In this embodiment, the output variable of the speed loop fuzzy controller is the speed loop bandwidth, and the output variable of the current loop fuzzy controller is the current loop bandwidth. Specifically, the speed loop output fuzzy set corresponding to the speed loop bandwidth is {SS, SM, SB}, and the current loop output fuzzy set corresponding to the current loop bandwidth is {CS, CM, CB}. In ascending order, SS represents the first speed loop range, SM represents the second speed loop range, SB represents the third speed loop range, CS represents the first current loop range, CM represents the second current loop range, and CB represents the third current loop range. When obtaining the speed loop output fuzzy set corresponding to the speed loop bandwidth and the current loop output fuzzy set corresponding to the current loop bandwidth, the first output membership function corresponding to the speed loop fuzzy controller is constructed based on the triangular membership function and the speed loop output fuzzy set; the second output membership function corresponding to the current loop fuzzy controller is constructed based on the triangular membership function and the current loop output fuzzy set. The first output membership function includes: the first velocity loop range function corresponding to SS, the second velocity loop range function corresponding to SM, and the third velocity loop range function corresponding to SB; the second output membership function includes: the first current loop range function corresponding to CS, the second current loop range function corresponding to CM, and the third current loop range function corresponding to CB.

[0076] This embodiment obtains the output membership functions corresponding to the speed loop and the current loop, so that the fuzzy output quantities of the speed loop and the current loop can be determined through the output membership functions, thereby improving the control accuracy.

[0077] In some embodiments of this application, determining the velocity loop fuzzy output corresponding to the velocity loop fuzzy input and the current loop fuzzy output corresponding to the current loop fuzzy input based on the fuzzy output control table and the output membership function includes:

[0078] The first sub-membership function to which the speed loop fuzzy controller belongs in the first output membership function is determined according to the first fuzzy output control table corresponding to the speed loop fuzzy controller. The speed loop fuzzy input is input to the first sub-membership function, and the speed loop fuzzy output is calculated.

[0079] The second sub-membership function to which the current loop fuzzy controller belongs in the second output membership function is determined according to the second fuzzy output control table corresponding to the current loop fuzzy controller. The current loop fuzzy input is input to the second sub-membership function, and the current loop fuzzy output is calculated.

[0080] In this embodiment, the fuzzy output control table is a control table summarized based on actual operation. The speed loop fuzzy controller corresponds to the first fuzzy output control table, and the current loop fuzzy controller corresponds to the second fuzzy output control table. In the first fuzzy output control table, the speed loop fuzzy output increases with the increase of the speed loop fuzzy input, and the range of the speed loop fuzzy output is the total range of the speed loop output fuzzy set. In the second fuzzy output control table, the current loop fuzzy output increases with the increase of the current loop fuzzy input, and the range of the current loop fuzzy input is the total range of the current loop output fuzzy set. The first and second fuzzy output control tables are shown in Tables 1 and 2 below:

[0081]

[0082] Table 1 First Fuzzy Output Control Table

[0083]

[0084] Table 2 Second Fuzzy Output Control Table

[0085] The speed loop fuzzy controller corresponds to a first output membership function. This first output membership function, according to the speed loop output fuzzy set, can be divided into multiple first sub-membership functions. The first speed loop range function, the second speed loop range function, and the third speed loop range function are all first sub-membership functions. Similarly, the current loop fuzzy controller corresponds to a second output membership function. This second output membership function, according to the current loop output fuzzy set, can be divided into multiple second sub-membership functions. When the first fuzzy output control table and the second fuzzy output control table are obtained, the first sub-membership function to which the current speed loop fuzzy controller belongs in the first output membership function can be determined based on the first fuzzy output control table, and the second sub-membership function to which the current current loop fuzzy controller belongs in the second output membership function can be determined based on the second fuzzy output control table. Inputting the speed loop fuzzy input to the determined first sub-membership function calculates the speed loop fuzzy output; inputting the current loop fuzzy input to the determined second sub-membership function calculates the current loop fuzzy output.

[0086] This embodiment uses a fuzzy output control table and sub-membership functions to achieve accurate calculation of the fuzzy output quantities of the speed loop and current loop, thereby improving the static control performance of fuzzy control.

[0087] In some embodiments of this application, the above-described defuzzification calculation of the velocity loop fuzzy output and the current loop fuzzy output to obtain the velocity loop sharpened output and the current loop sharpened output includes:

[0088] The velocity loop fuzzy output is combined to obtain the velocity loop combined value, and the current loop fuzzy output is combined to obtain the current loop combined value.

[0089] The speed loop clarity value is obtained by averaging the speed loop fuzzy output value and the speed loop merging value. The current loop clarity value is obtained by averaging the current loop fuzzy output value and the current loop merging value.

[0090] In this embodiment, different variation ranges in the velocity loop input fuzzy set may overlap. Similarly, different variation ranges in the current loop output fuzzy set may also overlap. When the value of the input quantity falls within this overlapping range, multiple fuzzy input quantities are calculated based on the membership functions of all inputs within the overlapping range. Taking a current loop input quantity with a carrier frequency of 6.5kHz as an example, this carrier frequency falls within the minimum range CS and the second range CM. Therefore, based on the first input membership function corresponding to the minimum range CS and the second input membership function corresponding to the second range CM, the current loop fuzzy input quantity corresponding to this carrier frequency can be determined to include the values ​​of C(CS) and C(CM), where C(CS) = 0.3 and C(CM) = 0.7.

[0091] By using the fuzzy output control tables corresponding to the velocity loop and current loop respectively, it can be determined that when an input quantity falls within the overlapping range of the input fuzzy set, there are multiple fuzzy input quantities. Based on this fuzzy input quantity, multiple different fuzzy output quantities can be obtained. After obtaining all the fuzzy output quantities of the velocity loop and all the fuzzy output quantities of the current loop, a union calculation is performed on all the fuzzy output quantities of the velocity loop to obtain the velocity loop union value; a union calculation is also performed on all the fuzzy output quantities of the current loop to obtain the current loop union value. The formula for calculating this union value is as follows:

[0092]

[0093] Among them, R j For the relations j = 1, 2, ..., N in the fuzzy output control table, form the total relation R = R1 ∪ R2 ∪ R3 ∪ ... ∪ R N .

[0094] When obtaining the combined values ​​of the velocity loop and the current loop, the velocity loop sharpness is calculated by averaging the fuzzy output of the velocity loop and the combined value of the velocity loop; similarly, the current loop sharpness is calculated by averaging the fuzzy output of the current loop and the combined value of the current loop. Taking a carrier frequency C of 6.5 kHz and a set frequency F of 55 Hz as an example, the calculated fuzzy input values ​​of the current loop for the carrier frequency are C(CS) = 0.3 and C(CM) = 0.7, and the fuzzy input values ​​of the current loop for the frequency are F(CS) = 0.1 and F(CM) = 0.9. Through union calculation, U = R1 * F(CS) + R2 * C(CM) can be obtained, and the current loop bandwidth is Wc = (7.5 + 32.5) / 2 * 0.3 + (47.5 + 52.5) ​​ / 2 * 0.9 = 48.

[0095] This embodiment performs anti-fuzzy calculations on the fuzzy output of the speed loop and the fuzzy output of the current loop to obtain the clear output of the speed loop and the clear output of the current loop, thereby achieving accurate mapping of the clear values ​​and improving the accuracy of motor control.

[0096] To facilitate better implementation of the motor dual-loop parameter adjustment method provided in this application, this application also provides an apparatus based on the above-described motor dual-loop parameter adjustment method. The meanings of the terms used are the same as in the above-described motor dual-loop parameter adjustment method, and specific implementation details can be found in the descriptions in the method embodiments.

[0097] For example, such as Figure 2 As shown, the dual-loop parameter adjustment device for the motor may include: an acquisition module 201, a confirmation module 202, a calculation module 203, and an adjustment module 204. Among them,

[0098] The acquisition module 201 is used to acquire the speed loop input and current loop input of the motor control system, and determine the input fuzzy set and input membership function corresponding to the speed loop input and the current loop input, respectively.

[0099] In one embodiment of this application, the acquisition module 201 includes:

[0100] The first acquisition unit is used to acquire the error and the rate of change of the closed-loop output of the motor control system with respect to the actual value, and to use the error and the rate of change of the error as the speed loop input.

[0101] The second acquisition unit is used to acquire the preset frequency and carrier frequency in the motor control system, and use the frequency and carrier frequency as the input quantity of the current loop.

[0102] In one embodiment of this application, the acquisition module 201 further includes:

[0103] The first construction unit is used to obtain the first parameter range corresponding to the speed loop input quantity, divide the speed loop input fuzzy set equally within the first parameter range, and construct the speed loop input membership function corresponding to the speed loop input quantity according to the triangular membership function.

[0104] The second construction unit is used to obtain the second parameter range corresponding to the current loop input quantity, divide the current loop input fuzzy set equally within the second parameter range, and construct the current loop input membership function corresponding to the current loop input quantity according to the triangular membership function.

[0105] The confirmation unit is used for the speed loop input membership functions, which include negative large-range functions, negative medium-range functions, negative small-range functions, first medium-range functions, positive small-range functions, positive medium-range functions, and positive large-range functions; and the current loop input membership functions, which include minimum-range functions, second medium-range functions, and maximum-range functions.

[0106] The confirmation module 202 is used to determine the speed loop fuzzy input quantity of the speed loop fuzzy controller corresponding to the speed loop input quantity, and the current loop fuzzy input quantity of the current loop fuzzy controller corresponding to the current loop input quantity, based on the input fuzzy set and the input membership function.

[0107] The calculation module 203 is used to obtain the output membership functions corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively, and the fuzzy output control tables corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively. Based on the fuzzy output control tables and the output membership functions, the module determines the speed loop fuzzy output corresponding to the speed loop fuzzy input and the current loop fuzzy output corresponding to the current loop fuzzy input.

[0108] In one embodiment of this application, the computing module 203 includes:

[0109] The third acquisition unit is used to take the speed loop bandwidth as the output variable of the speed loop fuzzy controller and the current loop bandwidth as the output variable of the current loop fuzzy controller, and acquire the speed loop output fuzzy set of the speed loop bandwidth and the current loop output fuzzy set of the current loop bandwidth respectively.

[0110] The third construction unit is used to construct the first output membership function corresponding to the velocity loop fuzzy controller based on the triangular membership function and the velocity loop output fuzzy set, and to construct the second output membership function corresponding to the current loop fuzzy controller based on the triangular membership function and the current loop output fuzzy set.

[0111] In one embodiment of this application, the above-mentioned calculation module 203 further includes:

[0112] The first calculation unit is used to determine the first sub-membership function to which the speed loop fuzzy controller belongs in the first output membership function according to the first fuzzy output control table corresponding to the speed loop fuzzy controller, input the speed loop fuzzy input to the first sub-membership function, and calculate the speed loop fuzzy output.

[0113] The second calculation unit is used to determine the second sub-membership function to which the current loop fuzzy controller belongs in the second output membership function according to the second fuzzy output control table corresponding to the current loop fuzzy controller, input the current loop fuzzy input quantity to the second sub-membership function, and calculate the current loop fuzzy output quantity.

[0114] The adjustment module 204 is used to perform anti-fuzzy calculation on the speed loop fuzzy output and the current loop fuzzy output to obtain the speed loop clear value and the current loop clear value, and adjust the dual-loop parameters of the motor based on the speed loop clear value and the current loop clear value.

[0115] In one embodiment of this application, the adjustment module 204 includes:

[0116] The third calculation unit is used to perform union calculation on the fuzzy output of the velocity loop to obtain the velocity loop union value, and to perform union calculation on the fuzzy output of the current loop to obtain the current loop union value.

[0117] The fourth calculation unit is used to calculate the speed loop clarity value by averaging the speed loop fuzzy output value and the speed loop merging value, and to calculate the current loop clarity value by averaging the current loop fuzzy output value and the current loop merging value.

[0118] The dual-loop parameter adjustment device for motors proposed in this application enables adaptive adjustment of motor parameters, improves the control accuracy and robustness of the air conditioning system, and makes the air conditioning temperature more precise.

[0119] In practice, each of the above modules can be implemented as an independent entity or can be combined arbitrarily to be implemented as the same or several entities. For the specific implementation methods and corresponding beneficial effects of each of the above modules, please refer to the previous method embodiments, which will not be repeated here.

[0120] This application also provides an electronic device, which may be a server or a terminal, etc. Figure 3 As shown, it illustrates a structural schematic diagram of the electronic device involved in the embodiments of this application, specifically:

[0121] The electronic device may include components such as a processor 601 with one or more processing cores, a memory 602 with one or more computer-readable storage media, a power supply 603, and an input unit 604. Those skilled in the art will understand that... Figure 3 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0122] The processor 601 is the control center of the electronic device, connecting various parts of the device via various interfaces and lines. It executes computer programs and / or modules stored in the memory 602, and calls data stored in the memory 602, to perform various functions and process data. Optionally, the processor 601 may include one or more processing cores; preferably, the processor 601 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 601.

[0123] The memory 602 can be used to store computer programs and modules. The processor 601 executes various functional applications and data processing by running the computer programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 602 may also include a memory controller to provide the processor 601 with access to the memory 602.

[0124] The electronic device also includes a power supply 603 that supplies power to the various components. Preferably, the power supply 603 can be logically connected to the processor 601 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 603 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0125] The electronic device may also include an input unit 604, which can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0126] Although not shown, the electronic device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 601 in the electronic device loads the executable files corresponding to the processes of one or more computer programs into the memory 602 according to the following instructions, and the processor 601 runs the computer programs stored in the memory 602 to realize various functions, such as:

[0127] Obtain the speed loop input and current loop input of the motor control system, and determine the input fuzzy set and input membership function corresponding to the speed loop input and current loop input, respectively;

[0128] Based on the input fuzzy set and the input membership function, determine the speed loop fuzzy input of the speed loop fuzzy controller corresponding to the speed loop input, and the current loop fuzzy input of the current loop fuzzy controller corresponding to the current loop input;

[0129] Obtain the output membership functions corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively, and the fuzzy output control tables corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively. Based on the fuzzy output control tables and the output membership functions, determine the speed loop fuzzy output corresponding to the speed loop fuzzy input and the current loop fuzzy output corresponding to the current loop fuzzy input.

[0130] The speed loop fuzzy output and the current loop fuzzy output are defuzzified to obtain the speed loop clear value and the current loop clear value. The dual-loop parameters of the motor are adjusted based on the speed loop clear value and the current loop clear value.

[0131] For details on the specific implementation methods and corresponding beneficial effects of each of the above operations, please refer to the detailed description of the motor dual-ring parameter adjustment method above, which will not be repeated here.

[0132] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by a computer program, or by a computer program controlling related hardware. The computer program can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0133] Therefore, embodiments of this application provide a computer-readable storage medium storing a computer program that can be loaded by a processor to execute the steps in any of the motor dual-loop parameter adjustment methods provided in embodiments of this application. For example, the computer program can execute the following steps:

[0134] Obtain the speed loop input and current loop input of the motor control system, and determine the input fuzzy set and input membership function corresponding to the speed loop input and current loop input, respectively;

[0135] Based on the input fuzzy set and the input membership function, determine the speed loop fuzzy input of the speed loop fuzzy controller corresponding to the speed loop input, and the current loop fuzzy input of the current loop fuzzy controller corresponding to the current loop input;

[0136] Obtain the output membership functions corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively, and the fuzzy output control tables corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively. Based on the fuzzy output control tables and the output membership functions, determine the speed loop fuzzy output corresponding to the speed loop fuzzy input and the current loop fuzzy output corresponding to the current loop fuzzy input.

[0137] The speed loop fuzzy output and the current loop fuzzy output are defuzzified to obtain the speed loop clear value and the current loop clear value. The dual-loop parameters of the motor are adjusted based on the speed loop clear value and the current loop clear value.

[0138] For details on the specific implementation methods and corresponding beneficial effects of the above operations, please refer to the previous embodiments, which will not be repeated here.

[0139] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0140] Since the computer program stored in the computer-readable storage medium can execute the steps in any of the motor dual-loop parameter adjustment methods provided in the embodiments of this application, the beneficial effects that any of the motor dual-loop parameter adjustment methods provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0141] According to one aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the aforementioned motor dual-loop parameter adjustment method.

[0142] The foregoing has provided a detailed description of a method, apparatus, electronic device, and computer storage medium for adjusting dual-ring parameters of a motor, as provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for adjusting dual-loop parameters of a motor, characterized in that, include: The speed loop input and current loop input of the motor control system are obtained, and the input fuzzy set and input membership function corresponding to the speed loop input and current loop input are determined respectively. The current loop input is the preset frequency and carrier frequency in the motor control system. Based on the input fuzzy set and the input membership function, determine the speed loop fuzzy input of the speed loop fuzzy controller corresponding to the speed loop input, and the current loop fuzzy input of the current loop fuzzy controller corresponding to the current loop input. The output variable of the speed loop fuzzy controller is the speed loop bandwidth, and the output variable of the current loop fuzzy controller is the current loop bandwidth. Obtain the output membership functions corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively, and the fuzzy output control tables corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively. Based on the fuzzy output control tables and the output membership functions, determine the speed loop fuzzy output corresponding to the speed loop fuzzy input and the current loop fuzzy output corresponding to the current loop fuzzy input. The speed loop fuzzy output and the current loop fuzzy output are defuzzified to obtain the speed loop clear value and the current loop clear value. The dual-loop parameters of the motor are adjusted based on the speed loop clear value and the current loop clear value.

2. The method for adjusting the dual-loop parameters of a motor according to claim 1, characterized in that, The acquisition of the speed loop input and current loop input of the motor control system includes: The error and the rate of change of the closed-loop output of the motor control system are obtained from the actual value, and the error and the rate of change of the error are used as the speed loop input.

3. The method for adjusting the dual-loop parameters of a motor according to claim 1, characterized in that, The process of determining the input fuzzy set and input membership function corresponding to the velocity loop input and the current loop input, respectively, includes: Obtain the first parameter range corresponding to the speed loop input quantity, divide the speed loop input fuzzy set equally within the first parameter range, and construct the speed loop input membership function corresponding to the speed loop input quantity according to the triangular membership function; Obtain the second parameter range corresponding to the current loop input quantity, divide the current loop input fuzzy set equally within the second parameter range, and construct the current loop input membership function corresponding to the current loop input quantity according to the triangular membership function.

4. The method for adjusting the dual-loop parameters of a motor according to claim 3, characterized in that, The speed loop input membership function includes a negative large range function, a negative medium range function, a negative small range function, a first medium range function, a positive small range function, a positive medium range function, and a positive large range function; the current loop input membership function includes a minimum range function, a second medium range function, and a maximum range function.

5. The method for adjusting the dual-loop parameters of a motor according to claim 1, characterized in that, The step of obtaining the output membership functions corresponding to the velocity loop fuzzy controller and the current loop fuzzy controller respectively includes: Obtain the speed loop output fuzzy set of the speed loop bandwidth and the current loop output fuzzy set of the current loop bandwidth, respectively. Based on the triangular membership function and the output fuzzy set of the velocity loop, a first output membership function corresponding to the velocity loop fuzzy controller is constructed. Based on the triangular membership function and the output fuzzy set of the current loop, a second output membership function corresponding to the current loop fuzzy controller is constructed.

6. The method for adjusting the dual-loop parameters of a motor according to claim 5, characterized in that, The step of determining the velocity loop fuzzy output corresponding to the velocity loop fuzzy input and the current loop fuzzy output corresponding to the current loop fuzzy input based on the fuzzy output control table and the output membership function includes: The first sub-membership function to which the speed loop fuzzy controller belongs in the first output membership function is determined according to the first fuzzy output control table corresponding to the speed loop fuzzy controller. The speed loop fuzzy input is input to the first sub-membership function, and the speed loop fuzzy output is calculated. The second sub-membership function to which the current loop fuzzy controller belongs in the second output membership function is determined according to the second fuzzy output control table corresponding to the current loop fuzzy controller. The current loop fuzzy input is input to the second sub-membership function, and the current loop fuzzy output is calculated.

7. The method for adjusting the dual-loop parameters of a motor according to claim 1, characterized in that, The step of performing defuzzification calculations on the fuzzy output values ​​of the velocity loop and the fuzzy output values ​​of the current loop to obtain the clear values ​​of the velocity loop and the current loop includes: The velocity loop fuzzy output is combined to obtain the velocity loop combined value, and the current loop fuzzy output is combined to obtain the current loop combined value. The speed loop clarity value is obtained by averaging the speed loop fuzzy output value and the speed loop merging value. The current loop clarity value is obtained by averaging the current loop fuzzy output value and the current loop merging value.

8. A dual-ring parameter adjustment device for a motor, characterized in that, include: The acquisition module is used to acquire the speed loop input and current loop input of the motor control system, and determine the input fuzzy set and input membership function corresponding to the speed loop input and the current loop input, respectively. The current loop input is the preset frequency and carrier frequency in the motor control system. The confirmation module is used to determine the speed loop fuzzy input quantity of the speed loop fuzzy controller corresponding to the speed loop input quantity, and the current loop fuzzy input quantity of the current loop fuzzy controller corresponding to the current loop input quantity, based on the input fuzzy set and the input membership function. The output variable of the speed loop fuzzy controller is the speed loop bandwidth, and the output variable of the current loop fuzzy controller is the current loop bandwidth. The calculation module is used to obtain the output membership functions corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively, and the fuzzy output control tables corresponding to the speed loop fuzzy controller and the current loop fuzzy controller, respectively. Based on the fuzzy output control tables and the output membership functions, the module determines the speed loop fuzzy output corresponding to the speed loop fuzzy input and the current loop fuzzy output corresponding to the current loop fuzzy input. The adjustment module is used to perform anti-fuzzy calculations on the fuzzy output of the speed loop and the fuzzy output of the current loop to obtain the clear output of the speed loop and the clear output of the current loop, and to adjust the dual-loop parameters of the motor based on the clear output of the speed loop and the clear output of the current loop.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a computer program, and the processor running the computer program in the memory to perform the motor dual-loop parameter adjustment method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program adapted for loading by a processor to execute the motor dual-loop parameter adjustment method according to any one of claims 1 to 7.

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