Control method for dual-winding permanent magnet synchronous motor and corresponding control module, electronic device and computer-readable storage medium

Abstract

Provided is a control method for a dual-winding permanent magnet synchronous motor and its corresponding control module, electronic device and computer-readable storage medium, belonging to the technical field of motors. The method comprises: step 1, distributing the torque current of the dual-winding permanent magnet synchronous motor based on the initial value of the dynamic torque distribution coefficient; step 2, collecting the instantaneous efficiency of the motor; step 3, calculating the efficiency difference between the current moment and the previous moment; step 4, judging whether the absolute value of the difference is greater than the reference value; if it is less than or equal to the reference value, maintaining the current torque current distribution; if it is greater than the reference value, applying a disturbance to the initial value of the dynamic torque distribution coefficient based on the difference to obtain an updated dynamic torque distribution coefficient; step 5, distributing the torque current of the motor based on the updated dynamic torque distribution coefficient; step 6, repeating steps 2 to 5 until the absolute value of the difference is less than or equal to the reference value. The control method achieves the highest efficiency output under different working conditions.

Description

Technical Field

[0001] The present application relates to the technical field of motors, and in particular to a control method for a dual-winding permanent magnet synchronous motor (DWPMSM) and its corresponding control module, electronic device and computer-readable storage medium. Background Art

[0002] Dual-winding permanent magnet synchronous motors have been widely used in electric vehicles, industrial drive systems and other fields due to their high power density, high efficiency and good dynamic response characteristics.

[0003] At present, dual-winding permanent magnet synchronous motors usually use vector control methods to control the motor speed and torque by adjusting the amplitude and phase of the current. However, traditional vector control strategies are often designed based on constant load conditions. When the motor runs at different operating points, the actual efficiency of the motor will deviate from the optimal state due to changes in magnetic circuit saturation, iron loss and copper loss.

[0004] Therefore, how to achieve the highest efficiency output of the dual-winding permanent magnet synchronous motor under different working conditions has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In order to solve the existing technical problems, the embodiments of the present application provide a control method for a dual-winding permanent magnet synchronous motor and its corresponding control module, electronic device and computer-readable storage medium.

[0006] In a first aspect, an embodiment of the present application provides a control method for a dual-winding permanent magnet synchronous motor, the method comprising:

[0007] Step 1, distributing the torque current of the dual-winding permanent magnet synchronous motor based on the initial value of the dynamic torque distribution coefficient;

[0008] Step 2, collecting the instantaneous efficiency of the dual-winding permanent magnet synchronous motor;

[0009] Step 3, calculating the difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the efficiency at the previous moment;

[0010] Step 4, determining whether the absolute value of the difference is greater than a reference value;

[0011] If the absolute value of the difference is less than or equal to the reference value, maintaining the current torque current distribution;

[0012] If the absolute value of the difference is greater than the reference value, applying a disturbance to the initial value of the dynamic torque distribution coefficient based on the difference to obtain an updated dynamic torque distribution coefficient;

[0013] Step 5, distributing the torque current of the dual-winding permanent magnet synchronous motor based on the updated dynamic torque distribution coefficient;

[0014] Step 6, repeating steps 2 to 5 until the absolute value of the difference is less than or equal to the reference value.

[0015] Optionally, the step 2 includes:

[0016] Step 201, obtaining the load torque of the dual-winding permanent magnet synchronous motor according to the shaft current and bus voltage of the dual-winding permanent magnet synchronous motor;

[0017] Step 202: Calculate the efficiency of the dual-winding permanent magnet synchronous motor based on the load torque, DC bus voltage, bus current and speed feedback.

[0018] Optionally, the method further comprises:

[0019] Step 101, determining an initial value of the dynamic torque distribution coefficient based on a torque command, a DC bus voltage and a speed feedback of a dual-winding permanent magnet synchronous motor.

[0020] Optionally, if the absolute value of the difference is greater than the reference value, applying a disturbance to the initial value of the dynamic torque distribution coefficient based on the difference comprises:

[0021] Step 401, in response to the difference being greater than zero, applying a positive disturbance to the initial value of the dynamic torque distribution;

[0022] Step 402 : in response to the difference being less than zero, applying a reverse disturbance to the initial value of the dynamic torque distribution.

[0023] Optionally, the reference value is greater than or equal to 0, and less than or equal to 0.1%.

[0024] Optionally, a step length of applying a disturbance to an initial value of the dynamic torque distribution coefficient based on the difference is greater than or equal to 1 switching cycle and less than or equal to 10 switching cycles.

[0025] Optionally, the initial value of the dynamic torque distribution coefficient is equal to 0.5.

[0026] Optionally, the efficiency of the dual-winding permanent magnet synchronous motor calculated based on the load torque, the DC bus voltage, the bus current and the speed feedback also satisfies:

[0027]

[0028] in, is the efficiency of the dual-winding permanent magnet synchronous motor at time k; is the load torque; is the rotation speed feedback; is the DC bus voltage; is the bus current.

[0029] Optionally, step 1 satisfies:

[0030]

[0031] in, is the torque current of the dual-winding permanent magnet synchronous motor; The torque current allocated to any winding of the dual-winding permanent magnet synchronous motor; a torque current allocated to another winding of the dual-winding permanent magnet synchronous motor; is the dynamic torque distribution coefficient.

[0032] In a second aspect, an embodiment of the present application further provides a control module for a dual-winding permanent magnet synchronous motor, which is applied to the control method provided in any of the above embodiments, and the control module includes:

[0033] A torque distribution unit is configured to distribute the torque current of the dual-winding permanent magnet synchronous motor based on a dynamic torque distribution coefficient;

[0034] A sampling unit, configured to calculate and collect the instantaneous efficiency of the dual-winding permanent magnet synchronous motor;

[0035] a comparing unit, configured to calculate a difference between the efficiency of the dual-winding permanent magnet synchronous motor at a current moment and the efficiency of the dual-winding permanent magnet synchronous motor at a previous moment, and compare an absolute value of the difference with a reference value;

[0036] The disturbance unit is configured to apply a disturbance to the dynamic torque distribution coefficient based on the difference.

[0037] Optionally, the comparison unit is further configured to determine whether the difference is greater than zero or less than zero.

[0038] In a third aspect, an embodiment of the present application provides an electronic device, comprising a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the transceiver, the memory, and the processor are connected via the bus, and the computer program, when executed by the processor, implements the steps of any one of the control methods described above.

[0039] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps in any one of the control methods described above are implemented.

[0040] The control method for a dual-winding permanent magnet synchronous motor provided by the embodiment of the present application and its corresponding control module, electronic device and computer-readable storage medium realize the dynamic distribution of torque current by distributing the torque current of the dual-winding permanent magnet synchronous motor through the dynamic torque distribution coefficient; by sampling the instantaneous efficiency of the dual-winding permanent magnet synchronous motor, according to the efficiency difference between the dual-winding permanent magnet synchronous motor at the current moment and the previous moment, applying disturbance to the dynamic torque distribution coefficient, obtaining an updated dynamic torque distribution coefficient, and redistributing the torque current based on the updated dynamic torque distribution coefficient, repeating the above steps until the difference between the efficiency at the current moment of sampling and the efficiency at the previous moment is less than or equal to the preset reference value, at which time the motor efficiency reaches the highest. By repeatedly sampling and repeatedly applying disturbance, the efficiency value after redistributing the torque current approaches the highest efficiency, and finally the highest efficiency point tracking of the dual-winding permanent magnet synchronous motor under different working conditions is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0042] Figure 1 An optional schematic diagram of a drive system architecture of a dual-winding permanent magnet synchronous motor is shown;

[0043] Figure 2 An optional flow chart of a control method for a dual-winding permanent magnet synchronous motor provided in an embodiment of the present application is shown;

[0044] Figure 3 An optional schematic diagram of a control method for a dual-winding permanent magnet synchronous motor provided in an embodiment of the present application is shown;

[0045] Figure 4 An optional schematic diagram of the optimization of the torque distribution coefficient provided in the embodiment of the present application is shown;

[0046] Figure 5 The efficiency sampling of a certain type of dual-winding permanent magnet synchronous motor under light load conditions is shown;

[0047] Figure 6 The efficiency sampling of a certain type of dual-winding permanent magnet synchronous motor under heavy load conditions is shown;

[0048] Figure 7 The figure shows the change of the torque distribution coefficient when a certain type of dual-winding motor is driven according to the control method provided in the embodiment of the present application under light load conditions;

[0049] Figure 8The figure shows the change of the torque distribution coefficient when a certain type of dual-winding motor is driven according to the control method provided in the embodiment of the present application under heavy load conditions;

[0050] Fig. 9 An optional structural schematic diagram of a control module for a dual-winding permanent magnet synchronous motor provided in an embodiment of the present application is shown;

[0051] Fig.10 A schematic structural diagram of an electronic device for executing a control method for a dual-winding permanent magnet synchronous motor provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0052] In the description of the embodiments of the present application, those skilled in the art should know that the embodiments of the present application can be implemented as methods, devices, electronic devices, and computer-readable storage media. Therefore, the embodiments of the present application can be specifically implemented in the following forms: complete hardware, complete software (including firmware, resident software, microcode, etc.), a combination of hardware and software. In addition, in some embodiments, the embodiments of the present application can also be implemented in the form of a computer program product in one or more computer-readable storage media, and the computer-readable storage medium contains computer program code.

[0053] The above-mentioned computer-readable storage medium may adopt any combination of one or more computer-readable storage media. Computer-readable storage media include: electrical, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or devices, or any combination of the above. More specific examples of computer-readable storage media include: portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM), flash memories (Flash Memory), optical fibers, compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices or any combination of the above. In an embodiment of the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device, or device.

[0054] The computer program code contained in the above-mentioned computer-readable storage medium can be transmitted by any appropriate medium, including: wireless, wire, optical cable, radio frequency (RF) or any suitable combination thereof.

[0055] The computer program code for executing the operation of the embodiment of the present application can be written in assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, integrated circuit configuration data, or in one or more programming languages ​​or a combination thereof, wherein the programming language includes an object-oriented programming language, such as Java, Smalltalk, C++, and also includes a conventional procedural programming language, such as C language or a similar programming language. The computer program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on the remote computer, and completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer or to an external computer through any type of network, including a local area network (LAN) or a wide area network (WAN).

[0056] The embodiments of the present application describe the provided methods, devices, and electronic devices through flowcharts and / or block diagrams.

[0057] It should be understood that each box in the flowchart and / or block diagram and the combination of boxes in the flowchart and / or block diagram can be implemented by computer-readable program instructions. These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine, and these computer-readable program instructions are executed by a computer or other programmable data processing device to produce a device that implements the functions / operations specified by the boxes in the flowchart and / or block diagram.

[0058] These computer-readable program instructions may also be stored in a computer-readable storage medium that enables a computer or other programmable data processing device to work in a specific manner. In this way, the instructions stored in the computer-readable storage medium produce an instruction device product including functions / operations specified in the blocks in the flowchart and / or block diagram.

[0059] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device, so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby enabling the instructions executed on the computer or other programmable data processing apparatus to provide a process for implementing the functions / operations specified in the blocks in the flowchart and / or block diagram.

[0060] Figure 1 The main circuit architecture of the dual-winding permanent magnet synchronous motor is shown in Figure 1. Figure 1 , T refis the torque command, U dc is the DC bus voltage, I abc and I def are the three-phase currents of the two sets of windings, T emp is the winding temperature, θ is the electrical angle of the motor rotor, PWM-G 1 and PWM-G 2 are driving signals for the two sets of windings, respectively. In the prior art, in order to reduce the control difficulty of the motor, the two windings of the dual-winding permanent magnet synchronous motor are usually made to output the same torque, that is, the torque is evenly distributed. However, this driving strategy causes the dual-winding permanent magnet synchronous motor to be unable to output at the highest efficiency under low speed (corresponding to heavy load) and high speed (corresponding to light load) conditions. In this regard, an embodiment of the present application provides a control method for a dual-winding permanent magnet synchronous motor.

[0061] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0062] Figure 2 FIG. 1 is a flow chart showing a control method for a dual-winding permanent magnet synchronous motor provided in an embodiment of the present application. Specifically, Figure 2 and Figure 3 As shown, the method at least includes steps 1 to 6.

[0063] Step 1, distribute the torque current of the dual-winding permanent magnet synchronous motor based on the initial value of the dynamic torque distribution coefficient. The dynamic torque distribution coefficient is taken in the interval [0, 1]. It can be understood that the initial value of the dynamic torque distribution coefficient is the torque distribution coefficient when the dual-winding permanent magnet synchronous motor is started or the working state changes, which limits the size of the torque current distributed to each winding. Generally, the initial value of the dynamic torque distribution coefficient is set to 0.5.

[0064] Step 2: Collect the instantaneous efficiency of the dual-winding permanent magnet synchronous motor.

[0065] Step 3, calculating the difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the efficiency at the previous moment. The difference is used to determine whether the dual-winding permanent magnet synchronous motor has reached the highest efficiency.

[0066] Step 4: determine whether the absolute value of the difference is greater than the reference value.

[0067] If the absolute value of the difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the efficiency at the previous moment is less than or equal to the reference value, the current torque current distribution is maintained. The reference value is a value preset according to the design requirements or operating conditions. Generally, the reference value is 0 or a positive number close to 0. If the absolute value of the efficiency difference between the current moment and the previous moment is less than or equal to the reference value, it means that the efficiency of the dual-winding permanent magnet synchronous motor reaches or is close to the maximum efficiency. At this time, the current torque current distribution can be maintained according to the dynamic torque distribution coefficient at the current moment (that is, the initial value of the dynamic torque distribution coefficient) to achieve the highest efficiency tracking.

[0068] If the absolute value of the difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the efficiency at the previous moment is greater than the reference value, it indicates that the deviation of the efficiency of the dual-winding permanent magnet synchronous motor from the maximum efficiency at this moment does not meet the expectation. At this time, based on the efficiency difference between the current moment and the previous moment, a disturbance is applied to the dynamic torque distribution coefficient at the current moment (i.e., the initial value of the dynamic torque distribution coefficient) to obtain an updated dynamic torque distribution coefficient.

[0069] Step 5: distribute the torque current of the dual-winding permanent magnet synchronous motor based on the updated dynamic torque distribution coefficient. In other words, the torque current is redistributed using the updated dynamic torque distribution coefficient as the initial value of the dynamic torque distribution coefficient.

[0070] Step 6, repeat the above steps 2 to 5 until the absolute value of the difference between the efficiency of the dual-winding permanent magnet synchronous motor at any moment and the efficiency at the moment before the moment is less than or equal to the reference value.

[0071] More specifically, the torque current is distributed according to the dynamic torque distribution coefficient to satisfy:

[0072]

[0073] In formula (1), is the torque current of the double-winding permanent magnet synchronous motor; The torque current allocated to any winding of the dual-winding permanent magnet synchronous motor; The torque current allocated to the other winding of the double-winding permanent magnet synchronous motor; is the dynamic torque distribution coefficient.

[0074] Furthermore, collecting the instantaneous efficiency of the dual-winding permanent magnet synchronous motor includes:

[0075] Step 201, obtaining the load torque of the dual-winding permanent magnet synchronous motor according to the shaft current and the DC bus voltage of the dual-winding permanent magnet synchronous motor;

[0076] Step 202, calculating the efficiency of the dual-winding permanent magnet synchronous motor based on the load torque, the DC bus voltage, the bus current and the speed feedback.

[0077] It should be noted that, in addition to the method described in step 201, the load torque of the dual-winding permanent magnet synchronous motor can also be obtained by other methods known to those skilled in the art. For example, the load torque of the dual-winding permanent magnet synchronous motor can be obtained by using a load torque observer.

[0078] Furthermore, the efficiency of the dual-winding permanent magnet synchronous motor calculated based on the load torque, DC bus voltage, bus current and speed feedback also satisfies:

[0079]

[0080] in, For a dual-winding permanent magnet synchronous motor k Efficiency of the moment; is the load torque; It is the speed feedback; is the DC bus voltage; is the bus current.

[0081] According to an implementation of the present application, when the absolute value of the difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the efficiency at the previous moment is greater than a reference value, a disturbance is applied to the dynamic torque distribution coefficient, specifically including:

[0082] Step 401, in response to the difference being greater than zero, applying a positive disturbance to the initial value of the dynamic torque distribution;

[0083] Step 402 , in response to the difference being less than zero, applying a reverse disturbance to the initial value of the dynamic torque distribution.

[0084] More specifically, if Figure 2 and Figure 3 As shown, assuming that the efficiency of the dual-winding permanent magnet synchronous motor at the current time k is , its efficiency at the last moment k-1 is , the maximum efficiency of the double-winding permanent magnet synchronous motor is .like , it indicates At this time, the dynamic torque distribution coefficient corresponding to the current moment k is Apply disturbance value Get a new dynamic torque distribution coefficient , which is called positive disturbance in this paper; if , it indicates At this time, the dynamic torque distribution coefficient corresponding to the current moment k is Apply disturbance value Get a new dynamic torque distribution coefficient , which is called reverse disturbance in this paper. With the updated dynamic torque distribution coefficient Redistribute the torque current to the initial value until the absolute value of the difference between the efficiency at any moment and the efficiency at the previous moment is less than or equal to the reference value. The reference value is equal to 0 or a positive number close to 0. Exemplarily, the reference value is greater than or equal to 0, and less than or equal to 0.1%. According to an embodiment of the present application, the disturbance value is optionally selected from (0, 0.1], preferably, the disturbance value is 0.01.

[0085] According to some optional embodiments of the present application, when the initial value of the dynamic torque distribution coefficient is disturbed based on the above-mentioned difference, the step length of the disturbance is greater than or equal to 1 switching cycle and less than or equal to 10 switching cycles. In this way, the response speed of the dual-winding permanent magnet synchronous motor when the working conditions change can be guaranteed, and the adjustment accuracy can also be improved, so that the efficiency of the dual-winding permanent magnet synchronous motor is closer to its maximum efficiency.

[0086] According to some optional embodiments of the present application, the control method provided by the present application also includes determining the torque current based on the torque command, the DC bus voltage and the speed feedback of the dual-winding permanent magnet synchronous motor. Exemplarily, the excitation current and torque current of the dual-winding permanent magnet synchronous motor are obtained by looking up the table according to the torque command, the DC bus voltage and the speed feedback. The table lookup refers to calculating the relationship between the excitation current and the torque current and other motor parameters based on the test data of the motor, and arranging them into a table form, where each row in the table represents a specific operating point.

[0087] Example 1

[0088] Example 1 provides efficiency sampling of a certain type of dual-winding permanent magnet synchronous motor. Figure 5 The curve showing the change of system efficiency with torque distribution coefficient of this type of dual-winding permanent magnet synchronous motor under light load conditions. Figure 6 The curve of the torque distribution coefficient of this type of double-winding permanent magnet synchronous motor under heavy load conditions is shown. Figure 5 , under light load conditions, when the torque distribution coefficient is 0 or 1, the system efficiency is highest. Figure 6 , Under heavy load conditions, when the torque distribution coefficient is 0.5, the system efficiency is highest.

[0089] Example 2

[0090] Embodiment 2 is an embodiment according to the present application. Figure 7 The figure shows the change of the torque distribution coefficient when driving the motor according to the control method for a dual-winding permanent magnet synchronous motor provided in an embodiment of the present application under light load conditions. Figure 8 The figure shows the change of the torque distribution coefficient when the motor is driven by the control method for the dual-winding permanent magnet synchronous motor provided by the embodiment of the present application under heavy load conditions. Figure 7According to the control method provided in the embodiment of the present application, the torque distribution coefficient under light load conditions is gradually optimized from the initial value 0.5 to 0, which takes 20 milliseconds. Figure 5 , at which point the system efficiency of this type of motor reaches its peak. Figure 8 According to the control method provided in the embodiment of the present application, the initial value of the torque distribution coefficient under heavy load conditions is 0, and after an 8-millisecond optimization process, it gradually stabilizes at 0.5, see Figure 6 , at which point the system efficiency of this type of motor reaches its peak.

[0091] Therefore, the control method for a dual-winding permanent magnet synchronous motor in the embodiment of the present application realizes dynamic distribution of torque current by distributing the torque current of the dual-winding permanent magnet synchronous motor through the dynamic torque distribution coefficient; by sampling the instantaneous efficiency of the dual-winding permanent magnet synchronous motor, according to the positive and negative difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the previous moment and the absolute value of the difference, the dynamic torque distribution coefficient is applied to obtain an updated dynamic torque distribution coefficient, and the torque current is redistributed based on the updated dynamic torque distribution coefficient, and the above steps are repeated until the difference between the efficiency at the current moment of the sampling and the efficiency at the previous moment is less than or equal to the preset reference value, at which time the motor efficiency reaches the highest. By repeatedly sampling and repeatedly applying disturbances, the efficiency value after the torque current is redistributed approaches the highest efficiency, and finally the highest efficiency point tracking of the dual-winding permanent magnet synchronous motor under different working conditions is achieved.

[0092] Combination of the above Figures 1 to 8 , describes in detail the method for a dual-winding permanent magnet synchronous motor provided by an embodiment of the present application, which can also be implemented by corresponding modules. Fig. 9 , a control module for a dual-winding permanent magnet synchronous motor provided in an embodiment of the present application is described in detail.

[0093] Fig. 9 FIG. 1 shows a schematic diagram of a control module for a dual-winding permanent magnet synchronous motor provided in an embodiment of the present application. Fig. 9 As shown, the control module for the dual-winding permanent magnet synchronous motor includes:

[0094] A torque distribution unit is configured to distribute the torque current of the dual-winding permanent magnet synchronous motor based on a dynamic torque distribution coefficient;

[0095] A sampling unit, configured to calculate and collect the instantaneous efficiency of the dual-winding permanent magnet synchronous motor;

[0096] A comparison unit is configured to calculate the difference between the efficiency of the dual-winding permanent magnet synchronous motor at a current moment and the efficiency of the dual-winding permanent magnet synchronous motor at a previous moment, and compare the absolute value of the difference with a reference value;

[0097] The disturbance unit is configured to apply a disturbance to the dynamic torque distribution coefficient based on the difference.

[0098] Therefore, the control module for a dual-winding permanent magnet synchronous motor provided in the embodiment of the present application distributes the torque current of the dual-winding permanent magnet synchronous motor based on the dynamic torque distribution coefficient through a torque distribution unit; collects the instantaneous efficiency of the dual-winding permanent magnet synchronous motor through a sampling unit; calculates the difference between the efficiency of the dual-winding permanent magnet synchronous motor at a current moment and the efficiency at a previous moment through a comparison unit, and compares the absolute value of the difference with the reference value, so as to determine whether a disturbance needs to be applied and the direction of the disturbance; disturbs the dynamic torque distribution coefficient through a disturbance unit, and repeatedly applies disturbance through disturbance observation until the efficiency of the dual-winding permanent magnet motor reaches the expected maximum efficiency.

[0099] In addition, an embodiment of the present application also provides an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor. The transceiver, the memory, and the processor are respectively connected via a bus. When the computer program is executed by the processor, each process of the above-mentioned control method embodiment for a dual-winding permanent magnet synchronous motor is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0100] For details, see Fig.10 As shown, an embodiment of the present application further provides an electronic device, which includes a bus 1110 , a processor 1120 , a transceiver 1130 , a bus interface 1140 , a memory 1150 and a user interface 1160 .

[0101] In the embodiment of the present application, the electronic device further includes: a computer program stored in the memory 1150 and executable on the processor 1120, and when the computer program is executed by the processor 1120, the following steps are implemented:

[0102] Step 1, distributing the torque current of the dual-winding permanent magnet synchronous motor based on the initial value of the dynamic torque distribution coefficient;

[0103] Step 2, collecting the instantaneous efficiency of the dual-winding permanent magnet synchronous motor;

[0104] Step 3, calculating the difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the efficiency at the previous moment;

[0105] Step 4: determine whether the absolute value of the difference is greater than the reference value.

[0106] If the absolute value of the difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the efficiency at the previous moment is less than or equal to the reference value, the current torque current distribution is maintained;

[0107] If the absolute value of the difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the efficiency at the previous moment is greater than the reference value, it indicates that the deviation of the efficiency of the dual-winding permanent magnet synchronous motor from the maximum efficiency at this moment does not meet expectations;

[0108] Step 5, distributing the torque current of the dual-winding permanent magnet synchronous motor based on the updated dynamic torque distribution coefficient;

[0109] Step 6, repeat the above steps 2 to 5 until the absolute value of the difference between the efficiency of the dual-winding permanent magnet synchronous motor at any moment and the efficiency at the moment before the moment is less than or equal to the reference value.

[0110] Optionally, when the computer program is executed by a processor, the following steps may also be implemented:

[0111] The torque current is determined based on the torque command, the DC bus voltage and the speed feedback of the dual-winding permanent magnet synchronous motor.

[0112] Optionally, when the computer program is executed by the processor to perform the step of “collecting the instantaneous efficiency of the dual-winding permanent magnet synchronous motor”, the processor specifically implements the following steps:

[0113] Step 201, obtaining the load torque of the dual-winding permanent magnet synchronous motor according to the shaft current and the DC bus voltage of the dual-winding permanent magnet synchronous motor;

[0114] Step 202, calculating the efficiency of the dual-winding permanent magnet synchronous motor based on the load torque, the DC bus voltage, the bus current and the speed feedback.

[0115] Optionally, when the processor 1120 executes the step of “for an absolute value of a difference between the efficiency of the dual-winding permanent magnet synchronous motor at a current moment and the efficiency at a previous moment being greater than a reference value, applying a disturbance to the dynamic torque distribution coefficient”, the computer program causes the processor to specifically implement the following steps:

[0116] Step 401, in response to the difference being greater than zero, applying a positive disturbance to the initial value of the dynamic torque distribution;

[0117] Step 402 , in response to the difference being less than zero, applying a reverse disturbance to the initial value of the dynamic torque distribution.

[0118] The transceiver 1130 is configured to receive and send data under the control of the processor 1120 .

[0119] In an embodiment of the present application, a bus architecture (represented by bus 1110 ) may include any number of interconnected buses and bridges, and bus 1110 connects various circuits including one or more processors represented by processor 1120 and a memory represented by memory 1150 .

[0120] Bus 1110 represents one or more of any of several types of bus structures, including a memory bus and memory controller, a peripheral bus, an Accelerate Graphical Port (AGP), a processor, or a local bus using any of a variety of bus architectures. By way of example and not limitation, such architectures include: Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, Video Electronics Standards Association (VESA), Peripheral Component Interconnect (PCI) bus.

[0121] The processor 1120 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiment may be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processors include: a general-purpose processor, a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a programmable logic array (PLA), a microcontroller unit (MCU) or other programmable logic devices, discrete gates, transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. For example, the processor may be a single-core processor or a multi-core processor, and the processor may be integrated into a single chip or located on multiple different chips.

[0122] Processor 1120 can be a microprocessor or any conventional processor. The method steps disclosed in the embodiments of the present application can be directly executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a readable storage medium known in the art, such as a random access memory (RAM), a flash memory (FlashMemory), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a register, etc. The readable storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0123] The bus 1110 may also connect various other circuits such as peripheral devices, voltage regulators or power management circuits, and the bus interface 1140 provides an interface between the bus 1110 and the transceiver 1130, which are well known in the art. Therefore, the embodiments of the present application will not be further described.

[0124] The transceiver 1130 may be one element or multiple elements, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices on a transmission medium. For example, the transceiver 1130 receives external data from other devices, and the transceiver 1130 is used to send data processed by the processor 1120 to other devices. Depending on the nature of the computer system, a user interface 1160 may also be provided, such as a touch screen, a physical keyboard, a display, a mouse, a speaker, a microphone, a trackball, a joystick, and a stylus.

[0125] It should be understood that in the embodiment of the present application, the memory 1150 may further include a memory remotely arranged relative to the processor 1120, and these remotely arranged memories may be connected to the server through a network. One or more parts of the above-mentioned network may be an ad hoc network, an intranet, an extranet, a virtual private network (VPN), a local area network (LAN), a wireless local area network (WLAN), a wide area network (WAN), a wireless wide area network (WWAN), a metropolitan area network (MAN), the Internet, a public switched telephone network (PSTN), a plain old telephone service network (POTS), a cellular telephone network, a wireless network, a wireless fidelity (Wi-Fi) network, and a combination of two or more of the above-mentioned networks. For example, the cellular telephone network and the wireless network can be a Global System for Mobile Communications (GSM) system, a Code Division Multiple Access (CDMA) system, a Worldwide Interoperability for Microwave Access (WiMAX) system, a General Packet Radio Service (GPRS) system, a Wideband Code Division Multiple Access (WCDMA) system, a Long Term Evolution (LTE) system, a LTE Frequency Division Duplex (FDD) system, a LTE Time Division Duplex (TDD) system, an Advanced Long Term Evolution (LTE-A) system, a Universal Mobile Telecommunications (UMTS) system, an Enhanced Mobile Broadband (eMBB) system, a Massive Machine Type of Communication (mMTC) system, an Ultra Reliable Low Latency Communications (uRLLC) system, etc.

[0126] It should be understood that the memory 1150 in the embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both a volatile memory and a non-volatile memory. Among them, the non-volatile memory includes: Read-Only Memory (ROM), Programmable ROM (PROM), Erasable Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM) or Flash Memory.

[0127] Volatile memory includes: Random Access Memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as: Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM) and Direct Rambus RAM (DRRAM). The memory 1150 of the electronic device described in the embodiments of the present application includes but is not limited to the above and any other suitable types of memory.

[0128] In the embodiment of the present application, the memory 1150 stores the following elements of the operating system 1151 and the application 1152: executable modules, data structures, or subsets thereof, or extended sets thereof.

[0129] Specifically, the operating system 1151 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application 1152 includes various applications, such as a media player (Media Player) and a browser (Browser), which are used to implement various application services. The program that implements the method of the embodiment of the present application may be included in the application 1152. The application 1152 includes applets, objects, components, logic, data structures, and other computer system executable instructions that perform specific tasks or implement specific abstract data types.

[0130] In addition, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned control method embodiment for a dual-winding permanent magnet synchronous motor are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0131] Specifically, when the computer program is executed by a processor, the following steps can be implemented:

[0132] Step 1, distributing the torque current of the dual-winding permanent magnet synchronous motor based on the initial value of the dynamic torque distribution coefficient;

[0133] Step 2, collecting the instantaneous efficiency of the dual-winding permanent magnet synchronous motor;

[0134] Step 3, calculating the difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the efficiency at the previous moment;

[0135] Step 4: determine whether the absolute value of the difference is greater than the reference value.

[0136] If the absolute value of the difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the efficiency at the previous moment is less than or equal to the reference value, the current torque current distribution is maintained;

[0137] If the absolute value of the difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the efficiency at the previous moment is greater than the reference value, it indicates that the deviation of the efficiency of the dual-winding permanent magnet synchronous motor from the maximum efficiency at this moment does not meet expectations;

[0138] Step 5, distributing the torque current of the dual-winding permanent magnet synchronous motor based on the updated dynamic torque distribution coefficient;

[0139] Step 6, repeat the above steps 2 to 5 until the absolute value of the difference between the efficiency of the dual-winding permanent magnet synchronous motor at any moment and the efficiency at the moment before the moment is less than or equal to the reference value.

[0140] Optionally, when the computer program is executed by a processor, the following steps may also be implemented:

[0141] The torque current is determined based on the torque command, the DC bus voltage and the speed feedback of the dual-winding permanent magnet synchronous motor.

[0142] Optionally, when the computer program is executed by the processor to perform the step of “collecting the instantaneous efficiency of the dual-winding permanent magnet synchronous motor”, the processor specifically implements the following steps:

[0143] Step 201, obtaining the load torque of the dual-winding permanent magnet synchronous motor according to the shaft current and the DC bus voltage of the dual-winding permanent magnet synchronous motor;

[0144] Step 202, calculating the efficiency of the dual-winding permanent magnet synchronous motor based on the load torque, the DC bus voltage, the bus current and the speed feedback.

[0145] Optionally, when the computer program is executed by the processor of the step of “for an absolute value of a difference between the efficiency of the dual-winding permanent magnet synchronous motor at a current moment and the efficiency at a previous moment being greater than a reference value, applying a disturbance to the dynamic torque distribution coefficient”, the processor specifically implements the following steps:

[0146] Step 401, in response to the difference being greater than zero, applying a positive disturbance to the initial value of the dynamic torque distribution;

[0147] Step 402 , in response to the difference being less than zero, applying a reverse disturbance to the initial value of the dynamic torque distribution.

[0148] Computer readable storage media include: transient and non-transient, permanent and non-permanent, removable and non-removable media, which are tangible devices that can retain and store instructions for use by instruction execution devices. Computer readable storage media include: electronic storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, and any suitable combination of the above. Computer readable storage media include: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassette storage, magnetic tape disk storage or other magnetic storage devices, memory sticks, mechanical encoding devices (such as punched cards or raised structures in grooves with instructions recorded thereon) or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined in the embodiments of the present application, computer-readable storage media does not include temporary signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (such as light pulses passing through fiber optic cables), or electrical signals transmitted through wires.

[0149] In the several embodiments provided in the present application, it should be understood that the disclosed devices, electronic devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or it can be an electrical, mechanical or other form of connection.

[0150] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, and may be located in one location or distributed over multiple network units. Some or all of the units may be selected according to actual needs to solve the problem to be solved by the embodiments of the present application.

[0151] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0152] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or partly contributed to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (including: a personal computer, a server, a data center or other network device) to perform all or part of the steps of the method described in each embodiment of the present application. The above-mentioned storage medium includes various media that can store program codes as listed above.

[0153] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the embodiment of the present application, which should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for a dual-winding permanent magnet synchronous motor, characterized in that: The method comprises: Step 1, distributing the torque current of the dual-winding permanent magnet synchronous motor based on the initial value of the dynamic torque distribution coefficient; Step 2, collecting the instantaneous efficiency of the dual-winding permanent magnet synchronous motor; Step 3, calculating the difference between the efficiency of the dual-winding permanent magnet synchronous motor at the current moment and the efficiency at the previous moment; Step 4, determining whether the absolute value of the difference is greater than a reference value; If the absolute value of the difference is less than or equal to the reference value, maintaining the current torque current distribution; If the absolute value of the difference is greater than the reference value, applying a disturbance to the initial value of the dynamic torque distribution coefficient based on the difference to obtain an updated dynamic torque distribution coefficient; Step 5, distributing the torque current of the dual-winding permanent magnet synchronous motor based on the updated dynamic torque distribution coefficient; Step 6, repeating steps 2 to 5 until the absolute value of the difference is less than or equal to the reference value.

2. The control method according to claim 1, characterized in that: The step 2 comprises: Step 201, obtaining the load torque of the dual-winding permanent magnet synchronous motor according to the shaft current and the DC bus voltage of the dual-winding permanent magnet synchronous motor; Step 202: Calculate the efficiency of the dual-winding permanent magnet synchronous motor based on the load torque, DC bus voltage, bus current and speed feedback.

3. The control method according to claim 1, characterized in that: The method further comprises: Step 101, determining the torque current based on the torque command, the DC bus voltage and the speed feedback of the dual-winding permanent magnet synchronous motor.

4. The control method according to any one of claims 1 to 3, characterized in that: If the absolute value of the difference is greater than the reference value, applying a disturbance to the initial value of the dynamic torque distribution coefficient based on the difference comprises: Step 401, in response to the difference being greater than zero, applying a positive disturbance to the initial value of the dynamic torque distribution; Step 402 : in response to the difference being less than zero, applying a reverse disturbance to the initial value of the dynamic torque distribution.

5. The control method according to any one of claims 1 to 3, characterized in that: The reference value is greater than or equal to 0 and less than or equal to 0.1%.

6. The control method according to any one of claims 1 to 3, characterized in that: A step length of applying a disturbance to an initial value of the dynamic torque distribution coefficient based on the difference is greater than or equal to 1 switching cycle and less than or equal to 10 switching cycles.

7. The control method according to any one of claims 1 to 3, characterized in that: The initial value of the dynamic torque distribution coefficient is equal to 0.

5.

8. The control method according to claim 2, characterized in that: The efficiency of the dual-winding permanent magnet synchronous motor calculated based on the load torque, DC bus voltage, bus current and speed feedback also satisfies: in, is the efficiency of the dual-winding permanent magnet synchronous motor at time k; is the load torque; is the rotation speed feedback; is the DC bus voltage; is the bus current.

9. The control method according to claim 1, characterized in that: The step 1 satisfies: ； in, is the torque current of the dual-winding permanent magnet synchronous motor; The torque current allocated to any winding of the dual-winding permanent magnet synchronous motor; a torque current allocated to another winding of the dual-winding permanent magnet synchronous motor; is the dynamic torque distribution coefficient.

10. A control module for a dual-winding permanent magnet synchronous motor, suitable for the control method as claimed in any one of claims 1 to 9, characterized in that: The control module comprises: A torque distribution unit is configured to distribute the torque current of the dual-winding permanent magnet synchronous motor based on a dynamic torque distribution coefficient; A sampling unit, configured to calculate and collect the instantaneous efficiency of the dual-winding permanent magnet synchronous motor; a comparing unit, configured to calculate a difference between the efficiency of the dual-winding permanent magnet synchronous motor at a current moment and the efficiency of the dual-winding permanent magnet synchronous motor at a previous moment, and compare an absolute value of the difference with a reference value; The disturbance unit is configured to apply a disturbance to the dynamic torque distribution coefficient based on the difference.

11. The control module according to claim 10, characterized in that: The comparison unit is further configured to determine whether the difference is greater than zero or less than zero.

12. An electronic device, characterized in that: The electronic device includes a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor. The transceiver, the memory, and the processor are connected via the bus. When the computer program is executed by the processor, the steps of the control method described in any one of claims 1 to 9 are implemented.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 9 are implemented.

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