Motor control method, system and related components with linear change of output electric power

Abstract

The present application discloses a motor control method, system, and related components for linearly changing output electric force, relating to the field of motor control and applicable to motors, including: upon receiving an electric force linear output instruction, determining a current change parameter based on the electric force linear output instruction; performing current control in each control cycle, the current control including: obtaining state parameters of the current control cycle, the state parameters including the motor's control current and / or the current linear change duration; and determining the control current of the next control cycle using a current calculation equation group based on the state parameters and current change parameters of the current control cycle, so as to control the operation of the motor in the next control cycle. The present application determines the control current of the next control cycle using a current calculation equation group within each control cycle, so that the torque of the motor changes linearly when controlled by the control current, thereby meeting the linear control requirements of the motor for torque in various operating conditions.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and in particular to a motor control method, system and related components with linearly varying output electric power. Background Art

[0002] In rail transit traction systems, it is usually necessary to control the electric braking force of the train to rise or fall linearly at a certain slope. For example, when the train brakes to a stop, the electric braking force and the mechanical braking force work together. To prevent the electric braking force from causing the train to pull in the opposite direction, the electric braking force must be completely withdrawn before the speed drops to zero, and the mechanical braking force takes over to stop the vehicle. The mutual handover of the electric braking force and the mechanical braking force during the parking process is called electro-pneumatic coordination. Figure 1 As shown in the figure, a speed point is usually agreed upon, such as 8km / h, to issue an electric brake exit signal. This signal is usually sent by the traction system to the network system and the braking system, or it can be sent uniformly by the network system to the traction system and the braking system. A delay time △t is then set, such as 400ms. After the delay, the electric braking force is controlled to start to decrease linearly and finally exit. At the same time, the mechanical braking force increases linearly according to the same slope, keeping the total braking force of the vehicle basically unchanged, so that the train can stop smoothly.

[0003] However, motor control can adopt torque control mode or current control mode. For example, a rotating motor can be closed-loop controlled by a given torque, so that the torque can be directly controlled with a constant step size to achieve linear control of the electric braking force. However, other non-torque controlled motors, such as linear motors, use closed-loop control with a given current to indirectly control the train's traction and electric braking force. Since current and torque are nonlinear, if the current changes in a constant step size, the torque changes nonlinearly, and linear control of the torque cannot be achieved, which greatly affects the effect of the train's electrical and air coordination.

[0004] Therefore, how to provide a solution to the above technical problems is a problem that those skilled in the art need to solve. Summary of the Invention

[0005] In view of this, the present invention aims to provide a motor control method, system, and related components with linearly varying output electric power. The specific solution is as follows:

[0006] A motor control method for linearly varying output electric power, applied to the motor, comprising:

[0007] When an electric power linear output instruction is received, current change parameters are determined according to the electric power linear output instruction, wherein the current change parameters include a change trend, a preset linear change time, a unit control cycle time, and an initial current;

[0008] Current control is performed in each control cycle, and the current control includes:

[0009] Acquire state parameters of a current control cycle, wherein the state parameters include a control current of the motor and / or a current linear change duration;

[0010] According to the state parameters and the current change parameters of the current control cycle, the control current of the next control cycle is determined using a current calculation equation group, so as to control the operation of the motor in the next control cycle; the current calculation equation group includes: a linear relationship between the torque of the motor and time, and an operating relationship between the torque and current.

[0011] Preferably, the process of determining the control current of the next control cycle by using the current calculation equation group according to the state parameter and the current change parameter of the current control cycle includes:

[0012] Determining the current step size of the next control cycle using a current calculation equation group according to the state parameter and the current change parameter of the current control cycle;

[0013] Based on the change trend, the control current of the current control cycle is adjusted according to the current step size to obtain the control current of the next control cycle.

[0014] Preferably, when the torque and the square of the current are linearly related in the operating relationship between the torque and the current, the process of determining the current step size of the next control cycle using the current calculation equation group according to the state parameter and the current change parameter of the current control cycle includes:

[0015] The current step length of the next control cycle is determined according to the step length calculation formula; the step length calculation formula is:

[0016]

[0017] Wherein, ΔI is the current step length, I0 is the initial current, T0 is the preset linear change duration, I is the control current of the current control cycle, and T is the unit control cycle duration.

[0018] Preferably, the process of adjusting the control current of the current control cycle according to the change trend and the current step size to obtain the control current of the next control cycle includes:

[0019] When the change trend is rising, summing the control current of the current control cycle and the current step size to obtain the control current of the next control cycle;

[0020] When the change trend is downward, the control current of the current control cycle is subtracted from the current step length to obtain the control current of the next control cycle.

[0021] Preferably, the process of determining the control current of the next control cycle by using the current calculation equation group according to the state parameter and the current change parameter of the current control cycle includes:

[0022] Determining the control current of the next control cycle using a current calculation formula according to the state parameter and the current change parameter of the current control cycle;

[0023] The current calculation formula is specifically obtained by substituting the operating relationship between the torque and the current into the linear relationship between the torque and the time of the motor to obtain the relationship between the current and the time.

[0024] Preferably, in the operating relationship between the torque and the current, the torque is linearly related to the square of the current.

[0025] Preferably, after receiving the electric power linear output instruction, the method further includes:

[0026] Determining whether the control mode of the motor is a current control mode or a torque control mode;

[0027] If the control mode is the current control mode, performing the step of determining the current change parameter according to the electric power linear output instruction;

[0028] If the control mode is the torque control mode, determining the torque change parameter according to the electric power linear output instruction, the torque change parameter including the change trend, the preset linear change time, the unit control cycle time, and the initial torque;

[0029] Torque control is performed in each control cycle according to the torque variation parameter.

[0030] Preferably, the process of performing torque control in each control period according to the torque change parameter includes:

[0031] determining a constant step length according to the torque variation parameter;

[0032] Torque control is performed in each control period according to the constant step size.

[0033] Preferably, the operating relationship between the torque and the current is determined by performing curve fitting on the test operating data of the motor.

[0034] Preferably, after determining the control current of the next control cycle by using the current calculation equation group according to the state parameter and the current change parameter of the current control cycle, the method further includes:

[0035] According to the state parameter, the control current of the next control cycle is limited.

[0036] Accordingly, the present application also discloses a motor control system with linearly varying output electric power, which is applied to a motor and includes:

[0037] a receiving module, configured to, upon receiving an electric power linear output instruction, determine a current change parameter according to the electric power linear output instruction, wherein the current change parameter includes a change trend, a preset linear change duration, a unit control cycle duration, and an initial current;

[0038] A control module, configured to perform current control in each control cycle, the control module comprising:

[0039] an acquisition unit, configured to acquire state parameters of a current control cycle, wherein the state parameters include a control current of the motor and / or a current linear change duration;

[0040] a calculation unit, configured to determine a control current for a next control cycle using a current calculation equation group based on the state parameter and the current change parameter of the current control cycle; the current calculation equation group comprising: a linear relationship between the torque of the motor and time, and an operating relationship between the torque and current;

[0041] The action unit is used to control the operation of the motor by using the control current of the next control cycle in the next control cycle.

[0042] Accordingly, the present application also discloses an electronic device, comprising:

[0043] memory for storing computer programs;

[0044] A processor is configured to implement the steps of the motor control method for linearly changing the output electric power as described in any one of the above items when executing the computer program.

[0045] Accordingly, the present application also discloses a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the motor control method for linearly changing the output electric power as described in any one of the above items are implemented.

[0046] Accordingly, the present application also discloses a train power system, comprising:

[0047] Electronic devices as mentioned above;

[0048] A motor connected to the electronic device.

[0049] This application uses a set of current calculation equations in each control cycle to determine the control current of the next control cycle, so that the torque of the motor changes linearly when controlled by the control current, thereby meeting the linear control requirements of the motor for torque in various operating conditions and expanding the scope of application of other motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0051] Figure 1 A diagram showing a relationship between electric and air coordination in an embodiment of the present invention;

[0052] Figure 2 This is a flowchart of the steps of a motor control method with linearly changing output electric power according to an embodiment of the present invention;

[0053] Figure 3 1 is a diagram showing the operating relationship between current and torque of a motor according to an embodiment of the present invention;

[0054] Figure 4 1 is a structural distribution diagram of a motor control system with linearly varying output electric power according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0056] Non-torque-controlled motors, such as linear motors, use closed-loop control of current to indirectly control the train's traction and electric braking force. Since current and torque have a nonlinear relationship, if the current changes in a constant step size, the torque will also change nonlinearly, and linear control of the torque cannot be achieved, which greatly affects the effect of the train's electrical and pneumatic coordination.

[0057] This application uses a set of current calculation equations in each control cycle to determine the control current of the next control cycle, so that the torque of the motor changes linearly when controlled by the control current, thereby meeting the linear control requirements of the motor for torque in various operating conditions and expanding the scope of application of other motors.

[0058] The embodiment of the present invention discloses a motor control method for linearly changing output electric power, which is applied to the motor, see Figure 2 Shown, including:

[0059] S1: When an electric power linear output instruction is received, current change parameters are determined according to the electric power linear output instruction. The current change parameters include change trend, preset linear change time, unit control cycle time, and initial current;

[0060] Among them, the change trend includes an upward trend and a downward trend. The braking stop requirement is that the electric force output by the motor is the braking force and decreases linearly from the current size to zero. During operation, the electric force follows the change of the driver's handle position. The electric force is traction force during traction and braking force during braking. In order to ensure smooth operation of the train, the electric force is usually required to change linearly rather than step change. This change is limited by the impact rate, which is usually required to be no more than 0.75m / s 3 As the final output power of the motor and its transmission system, electric power is proportional to the output torque of the motor. The linear change of the output torque of the motor is determined by controlling the torque parameters or current parameters of the motor. There is an application scenario in the electric power linear output instruction that requires a high accuracy of the electric power linear output, that is, the electric power linear output instruction is specifically the instruction generated when the motor and the train braking system jointly perform electric-pneumatic coordinated braking, such as Figure 1 As shown, at this time, the sum of the electric braking force and the mechanical braking force of the motor is required to remain unchanged, the absolute values ​​of the slopes of the electric braking force and the mechanical braking force are equal, and the signs are opposite. Once the output of the electric braking force is nonlinear, the resultant force of the electro-pneumatic coordination braking will change, resulting in unstable electro-pneumatic coordination. This embodiment can just meet the high requirements for the linear output of the electric force in the electro-pneumatic coordination.

[0061] In some specific embodiments, the preset linear change duration is usually determined by the braking level P of the electric force, the impact rate coefficient J and the acceleration coefficient a. For example, when braking to a stop, that is, when the change trend is a downward trend and the electric force linear output instruction requires the electric force output by the motor to linearly drop to zero, the time required for the electric force to completely exit can be calculated as T0 = P × a / J. The time required for exit is also the preset linear change duration T0. For example, when braking to a stop using the full handle level, P = 100%; the impact rate coefficient J for braking exit is set to 0.75m / s 3 , set the acceleration coefficient a during braking deceleration to 1.1m / s 2 , then the preset linear change time length T0 = 100% * 1.1 / 0.75 = 1.47s.

[0062] Furthermore, the unit control cycle duration is the duration of each control cycle, which can be set to 0.01s or other durations; the initial current is the motor current before current control is performed, which is used as the control basis of the initial control cycle to determine the new control current during current control.

[0063] S2: Current control is performed in each control cycle. Current control includes S21-S22, where:

[0064] S21: Obtaining state parameters of the current control cycle, where the state parameters include the motor's control current and / or the current linear change duration;

[0065] S22: Based on the state parameters and current change parameters of the current control cycle, the control current of the next control cycle is determined using the current calculation equation group, so as to control the operation of the motor in the next control cycle; the current calculation equation group includes: a linear relationship between the torque and time of the motor, and an operating relationship between the torque and current.

[0066] It can be understood that when determining the control current of the next cycle, the control current step of the current control cycle can be determined first, and the current control current and the control current step can be calculated to determine the control current of the next control cycle. The relationship between current and time can also be directly obtained through the relationship between torque and time and the relationship between torque and current in the current calculation equation group to determine the control current of the next control cycle.

[0067] It is understandable that the operating relationship between torque and current here is generally nonlinear. The specific relationship can be determined by combining theoretical formulas with curve fitting of the motor's experimental operating data. For example, a linear motor can only be statically tested on a ground combination test bench, and it is impossible to simulate the motor characteristics during high-speed operation. It is necessary to calibrate the motor characteristics during the line debugging stage to obtain complete experimental operating data.

[0068] Specifically, the operating relationship between torque and current can be fitted in a manner that the torque and the square of the current are in a linear relationship. When there is a requirement for higher fitting accuracy, segmented fitting can be performed, that is, the operating relationship between torque and current is divided into multiple segments, and the torque and the square of the current in each segment are in a linear relationship. The linear coefficient corresponding to each segment is determined by fitting according to the data, specifically determined according to the test operation data of the motor.

[0069] It is understandable that if Figure 3 A current calculation equation group is shown. When current control is performed in step S2, since the control current of the next control cycle is determined by the current calculation equation group, the torque and time in the current calculation equation group are in a linear relationship. Therefore, the torque output by the motor when running according to the control current of the next cycle still maintains a linear relationship with time.

[0070] Furthermore, after determining the control current of the next control cycle using the current calculation equation group according to the state parameter and the current change parameter of the current control cycle in step S22, the method further includes:

[0071] According to the state parameter, the control current of the next control cycle is limited.

[0072] It can be understood that even if the control current of the next control cycle corresponding to the linear electric force is calculated through step S22, it is necessary to further consider whether the control current meets the constraints of the state parameters, that is, it is necessary to use the constraints of the state parameters to limit the current of the next cycle, including but not limited to limiting the rate of change of the control current, and / or limiting the numerical value of the control current.

[0073] The rate of change limit refers to whether the absolute value of the difference between the control current of the current control cycle and the control current of the next control cycle calculated in step S22 can be achieved under the current braking level P and impact rate coefficient J, that is, whether the current step is less than the maximum rated step; further, it is judged whether the target current corresponding to the end position is within the current step range. If so, there is no need for rate of change limit, and the control current of the next control cycle is directly taken as the target current. If the target current exceeds the current step range, the control current of the next control cycle is limited according to the rate of change limit.

[0074] The control current is primarily limited at the end of the control phase, requiring that the control current value not exceed the value at the end position of the preset linear change time as the change trend changes. For example, during braking and stopping, the current value corresponding to the end position is 0. The control current gradually decreases to 0 over the control cycle, but cannot be less than 0. If the control current of the current control cycle is positive and the control current of the next control cycle is calculated to be negative, the target current is already within the current step range, and the control current of the next control cycle is directly output as 0. Similarly, the value of the end position in other scenarios changes in real time with the current braking level P of the train.

[0075] It can be seen that the embodiment of the present application determines the control current of the next control cycle by using the current calculation equation group in each control cycle, so that the torque of the motor changes linearly when it is controlled by the control current, thereby meeting the linear control requirements of the motor for torque in various operating conditions and expanding the scope of application of other motors.

[0076] The embodiment of the present invention discloses a specific motor control method with linear variation in output electric power. Compared with the previous embodiment, this embodiment further illustrates and optimizes the technical solution.

[0077] Specifically, when determining the control current of the next cycle, the control current step of the current control cycle can be determined first, and the current control current and the control current step can be calculated to determine the control current of the next control cycle. The relationship between current and time can also be directly obtained through the relationship between torque and time and the relationship between torque and current in the current calculation equation group to determine the control current of the next control cycle.

[0078] Specifically, when calculating the control current of the next cycle by determining the control current step size, the process of determining the control current of the next control cycle by using the current calculation equation group according to the state parameters and current change parameters of the current control cycle includes:

[0079] According to the state parameters and current change parameters of the current control cycle, the current step size of the next control cycle is determined by using the current calculation equation group;

[0080] Based on the change trend, the control current of the current control cycle is adjusted according to the current step size to obtain the control current of the next control cycle.

[0081] It can be understood that the process of adjusting the control current of the current control cycle according to the change trend and the current step size to obtain the control current of the next control cycle includes:

[0082] When the change trend is rising, the control current of the current control cycle is summed with the current step size to obtain the control current of the next control cycle;

[0083] When the change trend is downward, the control current of the current control cycle is subtracted from the current step size to obtain the control current of the next control cycle.

[0084] Furthermore, when the torque and the square of the current are linearly related in the operating relationship between the torque and the current, the process of determining the current step size of the next control cycle using the current calculation equation group according to the state parameters and the current change parameters of the current control cycle includes:

[0085] According to the step length calculation formula, the current step length of the next control cycle is determined; the step length calculation formula is:

[0086]

[0087] Wherein, ΔI is the current step size, I0 is the initial current, T0 is the preset linear change duration, I is the control current of the current control cycle, and T is the unit control cycle duration.

[0088] It can be understood that when the torque is linearly related to the square of the current, assuming F0 is the initial torque, assuming the current control cycle is the nth control cycle, t n and t n+1are the time of the current control cycle and the time corresponding to the next control cycle, respectively, F n and F n+1 are the control torques corresponding to the current control cycle and the next control cycle, I n and I n+1 are the control currents corresponding to the current control cycle and the next control cycle, respectively. Based on the linear relationship between torque and time, taking the downward trend as an example, the following relationship exists between the above parameters:

[0089]

[0090] According to the above formula, we can deduce:

[0091] again

[0092] Therefore, it can be concluded It is further concluded that the step length calculation formula corresponding to the current control period is any control period:

[0093] It is understandable that although the step size calculation formula here takes a downward trend as an example, it can also be applied to scenarios where the trend is upward. It is only necessary to pay attention to the sign and direction of the current step size.

[0094] In addition to the step size calculation method, the control current of the next control cycle can also be directly calculated. Specifically, based on the state parameters and current change parameters of the current control cycle, the process of determining the control current of the next control cycle using the current calculation equation group includes:

[0095] According to the state parameters and current change parameters of the current control cycle, the control current of the next control cycle is determined using the current calculation formula;

[0096] The current calculation formula is specifically a relationship between current and time obtained by substituting the operating relationship between torque and current into the linear relationship between torque and time of the motor.

[0097] In some specific embodiments, the torque and the square of the current are linearly related in the operating relationship between torque and current. It is understandable that, taking the linear relationship between torque and the square of the current and the linear decrease between torque and time as an example, the following relationship still exists:

[0098]

[0099] According to the above relationship, we can deduce that:

[0100] or

[0101] The above formula is used as the current calculation formula.

[0102] Of course, in addition to this formula, the current calculation formula also includes other forms, which can be selected according to the computing power and accuracy requirements.

[0103] It is understandable that in addition to directly calculating the current, it is also possible to consider the linear relationship between the current torque and time and determine the control torque of the next control cycle in a constant step control torque manner, such as F n+1 =F n -ΔF, and then the control current I of the next control cycle is obtained from the operating relationship between torque and current such as I=fun(F) n+1 = fun(F n+1 ), and then based on the target current at the end point, the control current of the next cycle is limited, or the step size of the control current is calculated and further limited. Different calculation schemes can be selected according to the control requirements.

[0104] The embodiment of the present invention discloses a specific motor control method with linear variation in output electric power. Compared with the previous embodiment, this embodiment further illustrates and optimizes the technical solution.

[0105] Specifically, after receiving the electric power linear output instruction, it also includes:

[0106] Determine whether the motor's control mode is current control mode or torque control mode;

[0107] If the control mode is the current control mode, the step of determining the current change parameter according to the electric power linear output instruction is executed;

[0108] If the control mode is torque control mode, the torque change parameters are determined according to the electric power linear output command. The torque change parameters include the change trend, the preset linear change time, the unit control cycle time, and the initial torque.

[0109] Torque control is performed in each control cycle according to the torque variation parameter.

[0110] Furthermore, the process of performing torque control in each control cycle according to the torque variation parameter includes:

[0111] Determine the constant step size based on the torque variation parameter;

[0112] Torque control is performed in each control cycle according to a constant step size.

[0113] It can be understood that for the requirement of linear change of output electric force, the change of current in the current control mode is a variable step size, while the change of torque is a constant step size, specifically the product of the slope of the linear change of electric force and the length of the unit control cycle, where the slope of the linear change of electric force can be further calculated by the ratio of the initial torque to the preset linear change length.

[0114] It is understandable that the control modes of the motor include torque control mode and current control mode, but some motors may only have one control mode. Therefore, it is necessary to first judge the control mode of the motor to be controlled and then select the mode applicable to the motor for control, and finally achieve the effect of linear change of the output electric force.

[0115] Specifically, taking full handle brake parking as an example, with brake level P = 100%, the initial current I0 locked at the time of electric brake release is set to 200A, the initial torque F0 locked at the time of electric brake release is set to 1400Nm, the impact rate coefficient of electric brake force release is set to J = 0.75m / s3, the acceleration coefficient a during braking deceleration is set to 1.1m / s2, and the control period T is set to 0.01s. The preset linear change time T0 is then 100% × 1.1 ÷ 0.75 = 1.47s.

[0116] If the control mode is torque control mode, the constant step size is △F=F0×T / T0=9.52Nm, and the control torque F of the next control cycle is n+1 =F n -△F=F n -9.52;

[0117] If the control mode is current control mode, variable step current control is adopted, and the current step is:

[0118] △I=I0 2 ×T / (2×T0×I n )=136.05 / I n ;

[0119] Among them I n is the control current of the current control cycle, and the control current of the next control cycle is I n+1 =I n -△I=I n -136.05 / I n .

[0120] Alternatively, if the control mode is current control mode, the control current of the next control cycle is obtained by directly calculating the current:

[0121]

[0122]

[0123] Alternatively, if the control mode is current control mode, the relationship between torque and current is F = 0.035I 2 , then the control current of the next control cycle is:

[0124] When a negative value appears in the parameter (force, time or current) for calculating the next control cycle, the output of the parameter is zero.

[0125] It is understood that, according to the solution of this embodiment, the control current or control torque in the first control cycle is the initial current or initial torque. Of course, the method of determining the control current of the next control cycle based on the control current of the current control cycle in this embodiment can also be adjusted to determine the control current of the current control cycle based on the control current of the previous control cycle, specifically determining the control current of the current control cycle based on the selection of the time and control cycle position in actual working conditions.

[0126] Accordingly, the present application also discloses a motor control system with linearly changing output electric power, which is applied to the motor, see Figure 4 Shown, including:

[0127] Receiving module 1, configured to, upon receiving an electric power linear output instruction, determine current change parameters according to the electric power linear output instruction, wherein the current change parameters include a change trend, a preset linear change duration, a unit control cycle duration, and an initial current;

[0128] The control module 2 is configured to perform current control in each control cycle. The control module 2 includes:

[0129] An acquisition unit 21 is configured to acquire state parameters of a current control cycle, wherein the state parameters include a control current of the motor and / or a current linear change duration;

[0130] a calculation unit 22 for determining a control current for a next control cycle using a current calculation equation group based on the state parameter and the current change parameter of the current control cycle; the current calculation equation group including: a linear relationship between the torque of the motor and time, and an operating relationship between the torque and current;

[0131] The action unit 23 is configured to control the operation of the motor in the next control cycle by using the control current of the next control cycle.

[0132] This application uses a set of current calculation equations in each control cycle to determine the control current of the next control cycle, so that the torque of the motor changes linearly when controlled by the control current, thereby meeting the linear control requirements of the motor for torque in various operating conditions and expanding the scope of application of other motors.

[0133] In some specific embodiments, the process of the calculation unit 22 determining the control current of the next control cycle using the current calculation equation group according to the state parameter and the current change parameter of the current control cycle includes:

[0134] Determining the current step size of the next control cycle using a current calculation equation group according to the state parameter and the current change parameter of the current control cycle;

[0135] Based on the change trend, the control current of the current control cycle is adjusted according to the current step size to obtain the control current of the next control cycle.

[0136] In some specific embodiments, when the torque and the square of the current are linearly related in the operating relationship between the torque and the current, the calculation unit 22 determines the current step size of the next control cycle using the current calculation equation group according to the state parameter and the current change parameter of the current control cycle, including:

[0137] The current step length of the next control cycle is determined according to the step length calculation formula; the step length calculation formula is:

[0138]

[0139] Wherein, ΔI is the current step length, I0 is the initial current, T0 is the preset linear change duration, I is the control current of the current control cycle, and T is the unit control cycle duration.

[0140] In some specific embodiments, the calculation unit 22 adjusts the control current of the current control cycle according to the change trend and the current step size to obtain the control current of the next control cycle, including:

[0141] When the change trend is rising, summing the control current of the current control cycle and the current step size to obtain the control current of the next control cycle;

[0142] When the change trend is downward, the control current of the current control cycle is subtracted from the current step length to obtain the control current of the next control cycle.

[0143] In some specific embodiments, the process of the calculation unit 22 determining the control current of the next control cycle using the current calculation equation group according to the state parameter and the current change parameter of the current control cycle includes:

[0144] Determining the control current of the next control cycle using a current calculation formula according to the state parameter and the current change parameter of the current control cycle;

[0145] The current calculation formula is specifically obtained by substituting the operating relationship between the torque and the current into the linear relationship between the torque and the time of the motor to obtain the relationship between the current and the time.

[0146] In some specific embodiments, in the operating relationship between the torque and the current, the torque is linearly related to the square of the current.

[0147] In some specific embodiments, after receiving the electric power linear output instruction, the receiving module 1 is further configured to:

[0148] Determining whether the control mode of the motor is a current control mode or a torque control mode;

[0149] If the control mode is the current control mode, performing the step of determining the current change parameter according to the electric power linear output instruction;

[0150] If the control mode is the torque control mode, the torque change parameters are determined according to the electric power linear output instruction, and the torque change parameters include the change trend, the preset linear change duration, the unit control cycle duration, and the initial torque; the control module 2 is triggered to perform torque control in each control cycle according to the torque change parameters.

[0151] In some specific embodiments, the process of the control module 2 performing torque control in each control period according to the torque variation parameter includes:

[0152] determining a constant step length according to the torque variation parameter;

[0153] Torque control is performed in each control period according to the constant step size.

[0154] In some specific embodiments, the operating relationship between the torque and the current is determined by performing curve fitting on the test operating data of the motor.

[0155] In some specific embodiments, the electric power linear output instruction is specifically an instruction generated when the motor and the train braking system jointly perform electro-pneumatic coordinated braking.

[0156] Accordingly, an embodiment of the present application further discloses an electronic device, including:

[0157] memory for storing computer programs;

[0158] A processor is configured to implement the steps of the motor control method for linearly changing the output electric power as described in any one of the above items when executing the computer program.

[0159] Correspondingly, an embodiment of the present application also discloses a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the motor control method for linearly changing the output electric force as described in any of the above items are implemented.

[0160] Accordingly, the present application also discloses a train power system, including:

[0161] Electronic devices as mentioned above;

[0162] A motor connected to the electronic device.

[0163] The details of the motor control method for linearly changing the output electric force can be referred to the relevant description in the above embodiment and will not be repeated here.

[0164] Among them, the electronic device, readable storage medium, and train power system in this embodiment all have the same technical effects as the motor control method with linear change in output electric power described above, and will not be repeated here.

[0165] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0166] The above is a detailed introduction to the motor control method, system and related components for linearly changing output electric power provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A motor control method for linearly changing output electric power, characterized in that: Applied to motors, including: When an electric power linear output instruction is received, current change parameters are determined according to the electric power linear output instruction, wherein the current change parameters include a change trend, a preset linear change time, a unit control cycle time, and an initial current; Current control is performed in each control cycle, and the current control includes: Acquire state parameters of a current control cycle, wherein the state parameters include a control current of the motor and / or a current linear change duration; Determining a control current for a next control cycle using a current calculation equation group based on the state parameter and the current change parameter of the current control cycle, so as to control the operation of the motor in the next control cycle; the current calculation equation group includes: a linear relationship between the torque of the motor and time, and an operating relationship between the torque and current; The process of determining the control current of the next control cycle by using a current calculation equation group according to the state parameter and the current change parameter of the current control cycle includes: Determining the current step size of the next control cycle using a current calculation equation group according to the state parameter and the current change parameter of the current control cycle; According to the change trend, the control current of the current control cycle is adjusted according to the current step size to obtain the control current of the next control cycle; When the torque and the square of the current are linearly related in the operating relationship between the torque and the current, the process of determining the current step size of the next control cycle using the current calculation equation group according to the state parameter and the current change parameter of the current control cycle includes: The current step length of the next control cycle is determined according to the step length calculation formula; the step length calculation formula is: ； in, is the current step size, is the initial current, is the preset linear change duration, is the control current of the current control cycle, The unit control cycle duration; The process of adjusting the control current of the current control cycle according to the change trend and the current step size to obtain the control current of the next control cycle includes: When the change trend is rising, summing the control current of the current control cycle and the current step size to obtain the control current of the next control cycle; When the change trend is downward, the control current of the current control cycle is subtracted from the current step length to obtain the control current of the next control cycle.

2. The motor control method according to claim 1, characterized in that: The process of determining the control current of the next control cycle by using a current calculation equation group according to the state parameter and the current change parameter of the current control cycle includes: Determining the control current of the next control cycle using a current calculation formula according to the state parameter and the current change parameter of the current control cycle; The current calculation formula is specifically obtained by substituting the operating relationship between the torque and the current into the linear relationship between the torque and the time of the motor to obtain the relationship between the current and the time.

3. The motor control method according to claim 2, characterized in that: In the operating relationship between the torque and the current, the torque is linearly related to the square of the current.

4. The motor control method according to claim 1, wherein: After receiving the electric power linear output instruction, the method further includes: Determining whether the control mode of the motor is a current control mode or a torque control mode; If the control mode is the current control mode, performing the step of determining the current change parameter according to the electric power linear output instruction; If the control mode is the torque control mode, determining the torque change parameter according to the electric power linear output instruction, the torque change parameter including the change trend, the preset linear change time, the unit control cycle time, and the initial torque; Torque control is performed in each control cycle according to the torque variation parameter.

5. The motor control method according to claim 4, characterized in that: The process of performing torque control in each control period according to the torque change parameter includes: determining a constant step length according to the torque variation parameter; Torque control is performed in each control period according to the constant step size.

6. The motor control method according to any one of claims 1 to 5, characterized in that: The operating relationship between the torque and the current is determined by performing curve fitting on the test operating data of the motor.

7. The motor control method according to claim 6, characterized in that: After determining the control current of the next control cycle using the current calculation equation group according to the state parameter and the current change parameter of the current control cycle, the method further includes: According to the state parameter, the control current of the next control cycle is limited.

8. A motor control system with linearly varying output electric power, characterized in that: Applied to motors, including: a receiving module, configured to, upon receiving an electric power linear output instruction, determine a current change parameter according to the electric power linear output instruction, wherein the current change parameter includes a change trend, a preset linear change duration, a unit control cycle duration, and an initial current; A control module, configured to perform current control in each control cycle, the control module comprising: an acquisition unit, configured to acquire state parameters of a current control cycle, wherein the state parameters include a control current of the motor and / or a current linear change duration; a calculation unit, configured to determine a control current for a next control cycle using a current calculation equation group based on the state parameter and the current change parameter of the current control cycle; the current calculation equation group comprising: a linear relationship between the torque of the motor and time, and an operating relationship between the torque and current; an action unit, configured to control the operation of the motor by utilizing the control current of the next control cycle in the next control cycle; The process of the calculation unit determining the control current of the next control cycle by using the current calculation equation group according to the state parameter and the current change parameter of the current control cycle includes: Determining the current step size of the next control cycle using a current calculation equation group according to the state parameter and the current change parameter of the current control cycle; According to the change trend, the control current of the current control cycle is adjusted according to the current step size to obtain the control current of the next control cycle; When the torque and the square of the current are linearly related in the operating relationship between the torque and the current, the process of determining the current step size of the next control cycle using the current calculation equation group according to the state parameter and the current change parameter of the current control cycle includes: The current step length of the next control cycle is determined according to the step length calculation formula; the step length calculation formula is: ； in, is the current step size, is the initial current, is the preset linear change duration, is the control current of the current control cycle, The unit control cycle duration; The process of adjusting the control current of the current control cycle according to the change trend and the current step size to obtain the control current of the next control cycle includes: When the change trend is rising, summing the control current of the current control cycle and the current step size to obtain the control current of the next control cycle; When the change trend is downward, the control current of the current control cycle is subtracted from the current step length to obtain the control current of the next control cycle.

9. An electronic device, characterized in that: include: memory for storing computer programs; A processor is configured to implement the steps of the motor control method with linear variation of output electric power as claimed in any one of claims 1 to 7 when executing the computer program.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the motor control method with linear change in output electric power as claimed in any one of claims 1 to 7.

11. A train power system, characterized in that: include: The electronic device according to claim 9; A motor connected to the electronic device.

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