Motor drive method, controller, storage medium, and program product

Abstract

The application discloses a motor driving method, a controller, a storage medium and a program product. The method comprises the following steps: driving a motor based on a reference voltage vector, the reference voltage vector comprising N elements, the N elements corresponding to N-phase control voltages of the motor, and the value of the element comprising a first state value, a second state value or a third state value; the first state value is used for representing that the corresponding phase voltage is a high level, the second state value is used for representing that the corresponding phase voltage is a low level, and the third state value is used for representing that the corresponding phase circuit has no voltage input. The motor driving efficiency can be improved by using the method.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electromagnetic control, and in particular to a motor driving method, a controller, a storage medium and a program product. BACKGROUND

[0002] Permanent magnet DC motor is a kind of DC motor using permanent magnet to establish magnetic field, which has the characteristics of small size, light weight, simple structure and high efficiency, and is widely used in various electronic devices. The permanent magnet DC motor has driving modes such as brushless direct current (BLDC) and space vector pulse width modulation (SVPWM).

[0003] However, the above driving mode is often based on six-directional basic voltage vector synthesis to synthesize control voltage vector for driving motor, and the angle between adjacent basic voltage vectors is large, so that the effective work of the basic vector for synthesizing the control voltage vector is less, that is, the above driving mode has the problem of low motor driving efficiency. SUMMARY

[0004] In view of the above defects or deficiencies in the prior art, it is desirable to provide a motor driving method, a controller, a storage medium and a program product, which can improve the motor driving efficiency.

[0005] In a first aspect, the present application provides a motor driving method. The method comprises:

[0006] Driving the motor based on a reference voltage vector, the reference voltage vector comprising N elements, the N elements corresponding to N-phase control voltages of the motor, and the value of the element comprising a first state value, a second state value or a third state value; the first state value is used to represent that the corresponding phase voltage is high, the second state value is used to represent that the corresponding phase voltage is low, and the third state value is used to represent that the corresponding phase circuit has no voltage input.

[0007] In combination with the first aspect, in a possible implementation manner, the motor driving method further comprises: determining the reference voltage vector matched with the control voltage vector of the motor according to the input current of the motor.

[0008] In combination with the first aspect, in a possible implementation manner, determining the reference voltage vector matched with the control voltage vector of the motor according to the input current of the motor comprises: determining the voltage component of the control voltage vector of the motor in a two-phase coordinate system according to the input current; and determining the reference voltage vector matched with the control voltage vector according to the voltage component in the two-phase coordinate system.

[0009] In a possible implementation manner of the first aspect, the reference voltage vector matched with the control voltage vector is determined according to the voltage component in the two-phase coordinate system, including: determining a candidate voltage vector matched with the direction of the voltage component according to the voltage component in the two-phase coordinate system and a preset vector set, the preset vector set including a plurality of different preset voltage vectors and a plurality of different preset voltage vectors each corresponding to a ratio parameter; determining a ratio of the voltage component in the two-phase coordinate system; determining the reference voltage vector from the candidate voltage vector according to the ratio and the ratio parameter, the reference voltage vector being a voltage vector in the preset vector set corresponding to the ratio parameter matched with the ratio.

[0010] In a possible implementation manner of the first aspect, the reference voltage vector is a basic voltage vector and / or a dead-zone voltage vector; an element value of the basic voltage vector includes a first state value and a second state value, and an element value of the dead-zone voltage vector includes the first state value, the second state value and a third state value.

[0011] In a possible implementation manner of the first aspect, the basic voltage vector and the dead-zone voltage vector are sequentially and uniformly distributed in a circular region with the reference point as the center, and a vector region is formed between adjacent basic voltage vectors and dead-zone voltage vectors, the vector region being a sector.

[0012] In a possible implementation manner of the first aspect, the motor is driven based on the reference voltage vector, including: in the current current collection period, driving the motor according to N elements included in the vector corresponding to the control time length in the first standard vector, the second standard vector and the reference voltage vector within at least one control time length corresponding to the vector; an element value of the first standard vector includes a first state value, and an element value of the second standard vector includes a second state value.

[0013] In a possible implementation manner of the first aspect, in the current current collection period, the motor is driven according to N elements included in the vector corresponding to the control time length in the first standard vector, the second standard vector and the reference voltage vector within at least one control time length corresponding to the vector, including: if the sum of the control time lengths corresponding to the first standard vector, the second standard vector and the reference voltage vector is less than the time length of the current current collection period, then the motor is driven based on at least one of the first standard vector, the second standard vector and the reference voltage vector in the remaining time length of the current current collection period until the end of the current current collection period.

[0014] With reference to the first aspect, in a possible implementation manner, the driving the motor based on at least one of the first standard vector, the second standard vector and the reference voltage vector within the remaining time length of the current current collection period until the end of the current current collection period comprises: within the current current collection period, the vector execution order of the Nth motor driving based on the first standard vector, the second standard vector and the reference voltage vector is opposite to the vector execution order of the N+1th motor driving.

[0015] With reference to the first aspect, in a possible implementation manner, the motor driving method further comprises: determining the control time length according to voltage components of the control voltage vector in the two-phase coordinate system.

[0016] With reference to the first aspect, in a possible implementation manner, the determining the control time length according to the voltage components of the control voltage vector in the two-phase coordinate system comprises: comparing a vector value of the control voltage vector with a preset value; when the vector value of the control voltage vector is less than or equal to the preset value, determining a voltage component of the control voltage vector in a direction corresponding to the reference voltage vector according to the voltage components of the control voltage vector in the two-phase coordinate system, and determining the control time length based on the voltage component of the control voltage vector in the direction corresponding to the reference voltage vector; when the vector value of the control voltage vector is greater than the preset value, dividing the control voltage vector into a first control vector and a second control vector according to the preset value; determining a first control time length corresponding to the first control vector and a second control time length corresponding to the second control vector; and determining the control time length according to the first control time length and the second control time length.

[0017] With reference to the first aspect, in a possible implementation manner, the determining the first control time length corresponding to the first control vector and the second control time length corresponding to the second control vector comprises: determining voltage components of the first control vector in the two-phase coordinate system, determining a voltage component of the first control vector in a direction corresponding to the reference voltage vector according to the voltage components of the first control vector in the two-phase coordinate system, and determining the first control time length corresponding to the first control vector based on the voltage component of the first control vector in the direction corresponding to the reference voltage vector; determining voltage components of the second control vector in the two-phase coordinate system, determining a voltage component of the second control vector in a direction corresponding to a target voltage vector according to the voltage components of the second control vector in the two-phase coordinate system, and determining the second control time length corresponding to the second control vector based on the voltage component of the second control vector in the direction corresponding to the target voltage vector; the target voltage vector comprises a first target vector and a second target vector, the first target vector is a basic voltage vector in the reference voltage vector, and the second target vector is a basic voltage vector adjacent to the first target vector and adjacent to a dead-zone voltage vector in the reference voltage vector.

[0018] In a possible implementation manner of the first aspect, the control circuit of the motor comprises N-phase branches, the motor is driven based on the reference voltage vector, which comprises controlling the output voltage of each phase branch in the N-phase branches based on the N elements corresponding to the reference voltage vector respectively; the N elements correspond to the N-phase branches one by one; and the motor is driven based on the vector sum of the output voltages of the N-phase branches.

[0019] In a possible implementation manner of the first aspect, each phase branch comprises a first switch and a second switch, the output voltage of each phase branch in the N-phase branches is controlled based on the N elements corresponding to the reference voltage vector, which comprises adjusting the switch state of the first switch and the second switch of the corresponding phase branch based on the element, the switch state comprising conduction and non-conduction; and the corresponding output voltage is output based on the branch output after the switch state adjustment.

[0020] In the second aspect, the present application further provides a controller. The controller comprises a memory and a processor, the memory stores a computer program, and the processor implements the method in the first aspect when executing the computer program.

[0021] In the third aspect, the present application further provides a computer readable storage medium. The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method in the first aspect.

[0022] In the fourth aspect, the present application further provides a computer program product. The computer program product comprises a computer program, and the computer program is executed by a processor to implement the method in the first aspect.

[0023] The embodiments of the present application provide a motor driving method, a controller, a storage medium and a program product. The method drives a motor based on a reference voltage vector, wherein the voltage vector comprises N elements, the N elements correspond to N-phase control voltages of the motor, and the value of the element comprises a first state value, a second state value or a third state value; the first state value is used to represent that the corresponding phase voltage is high, the second state value is used to represent that the corresponding phase voltage is low, and the third state value is used to represent that the corresponding phase circuit has no voltage input. That is, the embodiments of the present application increase the number of basic voltage vectors used to synthesize the control voltage vector by increasing the state of the element corresponding to the voltage vector, so as to reduce the included angle between two adjacent basic voltage vectors, and then increase the part of the basic voltage vector used to synthesize the control voltage vector, that is, increase the effective work of the basic vector used to synthesize the control voltage vector, effectively reduce the invalid work of the basic vector, and achieve the effect of improving the motor driving efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] Other characteristics, objects and advantages of the present application will become more apparent from the following detailed description of the non-restrictive embodiments, made with reference to the accompanying drawings:

[0025] Figure 1 A six-directional fundamental voltage vector distribution diagram in one embodiment;

[0026] Figure 2 A work decomposition diagram of fundamental voltage vectors in one embodiment;

[0027] Figure 3 A twelve-directional voltage vector distribution diagram in one embodiment;

[0028] Figure 4 A work comparison diagram of six-directional fundamental voltage vectors and twelve-directional voltage vectors in one embodiment;

[0029] Figure 5 A flow diagram of a motor driving method in one embodiment;

[0030] Figure 6 Another flow diagram of a motor driving method in one embodiment;

[0031] Figure 7 Another flow diagram of a motor driving method in one embodiment;

[0032] Figure 8 Another flow diagram of a motor driving method in one embodiment;

[0033] Figure 9 Another flow diagram of a motor driving method in one embodiment;

[0034] Figure 10 A position relationship diagram between a two-phase static coordinate system and a two-phase rotating coordinate system in one embodiment;

[0035] Figure 11 An N-phase voltage vector waveform diagram in one embodiment;

[0036] Figure 12 An N-phase voltage vector waveform diagram in one embodiment;

[0037] Figure 13 Another flow diagram of a motor driving method in one embodiment;

[0038] Figure 14 Another flow diagram of a motor driving method in one embodiment. DETAILED DESCRIPTION

[0039] The application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related application, but not to limit the application. In addition, it should be noted that only the parts related to the application are shown in the drawings for the convenience of description.

[0040] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments. In addition, the term "and / or" in this paper is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. The terms "first" and "second" in the specification and claims of the embodiments of the present application are used to distinguish different objects, not to describe a specific order of the objects.

[0041] Permanent magnet DC motor is a kind of DC motor using permanent magnet to establish magnetic field, which has the characteristics of small size, light weight, simple structure and high efficiency, and is widely used in various electronic devices. The permanent magnet DC motor has BLDC, SVPWM and other driving modes. The BLDC mode avoids the calculation of trigonometric function by obtaining the sector through the Hall value, and is often used in consumer-level small motors; the SVPWM mode can accurately control the motor, and is often used in new energy vehicle motors.

[0042] The above driving mode is often based on the six-direction basic voltage vector (U1-U6) shown in Figure 1 to synthesize the control voltage vector (U ref ) used to drive the motor. As shown in Figure 2 , the angle between adjacent basic voltage vectors is large, so the part of the basic voltage vector (for example, U4) used to synthesize the control voltage vector (i.e. U41 in the figure) is less, so that the effective work of the basic vector used to synthesize the control voltage vector is less, that is, the motor driving efficiency is low.

[0043] In one embodiment, a motor driving method is provided, and the embodiment is exemplified by applying the method to a terminal. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and can be realized through the interaction of the terminal and the server. In the embodiment, the method includes the following steps:

[0044] Driving the motor based on the reference voltage vector.

[0045] In the embodiment of the present application, the magnetic field formed by the control voltage vector output by the N-phase inverter drives the motor to rotate, and in the actual driving process, the motor can be driven by the reference voltage vector matched with the control voltage vector.

[0046] Wherein, the control voltage vector is the synthesized voltage vector of the output voltage of each phase in the N-phase inverter.

[0047] The reference voltage vector includes N elements, and the N elements correspond to N-phase control voltages of the motor. That is, each element controls a phase control voltage, and the N-phase control voltages synthesize the control voltage vector of the motor. For example, when a motor is driven by a three-phase inverter, the voltage vector includes three elements, which correspond to three-phase control voltages, that is, each element controls the corresponding control voltage output by a phase branch of the inverter.

[0048] The value of the element includes a first state value, a second state value, or a third state value; the first state value is used to represent that the corresponding phase voltage is high, the second state value is used to represent that the corresponding phase voltage is low, and the third state value is used to represent that the corresponding phase circuit has no voltage input. The first state value can be 1, the second state value can be 0, and the third state value can be represented by X.

[0049] As shown in Figure 3 A twelve-direction voltage vector distribution diagram is provided. In the embodiment of the present application, the basic voltage vectors and the dead-zone voltage vectors are sequentially and uniformly distributed in the circular region with the calibration point as the center, thereby forming the twelve-direction vector distribution diagram shown in the figure.

[0050] The basic voltage vector is a synthesized vector of N-phase output voltages (for example, V1, V3, V5, V7, V9, V11), and the dead-zone voltage vector is a synthesized vector of output voltages of the remaining phases when one phase has no output voltage (for example, V2, V4, V6, V8, V10, V12).

[0051] The vector region formed between one basic voltage vector and one dead-zone voltage vector is a sector, which can be called a sector. It can be understood that the six-direction basic voltage vectors and the six-direction dead-zone voltage vectors divide the circular region into twelve sectors.

[0052] The distribution of the existing six-direction basic voltage vectors in the three-phase coordinate system is described in the inner circle text (U1-001 to U6-110). Each basic voltage vector in the six-direction basic voltage vector includes three elements, and each element includes two state values, which are 0 and 1.

[0053] In the present application, each element of the voltage vector includes three state values, and in the case that the voltage vector includes three elements, a 12-direction voltage vector can be generated, and the distribution in the three-phase coordinate system is as described in the outer circle text (V1-100~V12-10X) in the figure. The 12-direction voltage vector divides the coordinate system into 12 sectors, and each voltage vector corresponds to a sector, for example, V1-100 can correspond to the sector between V1-100 and V2-1X0, V2-1X0 can correspond to the sector between V2-1X0 and V3-110, and so on. Alternatively, two adjacent basic voltage vectors can correspond to a sector, for example, V1-100 and V2-1X0 can correspond to the sector between the two, V2-1X0 and V3-110 can correspond to the sector between the two, and so on.

[0054] It can be understood that when the control voltage vector of the voltage component synthesis coincides with one of the twelve-direction voltage vectors, the output voltage of each phase is controlled by the element corresponding to the voltage vector; when the control voltage vector of the voltage component synthesis is located in a sector, the output voltage of each phase is controlled based on the elements corresponding to the two voltage vectors corresponding to the sector. For example, when the control voltage vector of the voltage component synthesis is located in the sector between V1-100 and V2-1X0, the three-phase output voltage is controlled by 100 and 1X0.

[0055] In the embodiments of the present application, the reference voltage vector includes N elements, the N elements correspond to the N-phase control voltage of the motor, and also include the corresponding vector value in the corresponding direction of the reference voltage vector.

[0056] In the embodiments of the present application, the position or specific sector of the control voltage vector can be determined according to the direction, ratio and other parameters of the voltage component in the two-phase coordinate system, and then one voltage vector corresponding to the position or two voltage vectors corresponding to the sector is the reference voltage vector matched with the control voltage vector.

[0057] It can be understood that the reference voltage vector is a basic voltage vector and / or a dead-zone voltage vector. That is, when the control voltage vector coincides with a certain basic voltage vector, the reference voltage vector is the basic voltage vector; when the control voltage vector coincides with a certain dead-zone voltage vector, the reference voltage vector is the dead-zone voltage vector; when the control voltage vector is located in a sector, the reference voltage vector is the basic voltage vector and the dead-zone voltage vector corresponding to the sector.

[0058] The determination process of the dead-zone voltage vector can be: sequentially controlling one of the N-phase circuits to have no output, controlling the remaining phase circuits to output high or low, and synthesizing the output voltage vectors of the remaining phase circuits into the dead-zone voltage vector.

[0059] After the reference voltage vector is determined, in the actual driving process, the N-phase output voltages are controlled based on the N elements corresponding to the reference voltage vector, and different voltage outputs of the corresponding phase branches are controlled by controlling different state values of each element. For example, when the reference voltage vector is 1X0, the first phase branch is controlled to output a high level, the second phase branch is controlled not to output a voltage, and the third phase branch is controlled to output a low level. Then, the motor is driven based on the synthesized voltage of the N-phase branch output voltages (i.e. the control voltage vector).

[0060] The motor driving method provided by the embodiments of the present application drives the motor based on the reference voltage vector, wherein the voltage vector includes N elements, the N elements correspond to N-phase control voltages of the motor, and the value of the element includes a first state value, a second state value or a third state value; the first state value is used to represent that the corresponding phase voltage is a high level, the second state value is used to represent that the corresponding phase voltage is a low level, and the third state value is used to represent that the corresponding phase circuit has no voltage input. That is, the embodiments of the present application increase the number of basic voltage vectors used to synthesize the control voltage vector by increasing the state of the element corresponding to the voltage vector, so as to reduce the included angle between two adjacent basic voltage vectors, and then increase the part of the basic voltage vector used to synthesize the control voltage vector, i.e. increase the effective work of the basic vector used to synthesize the control voltage vector, as shown in Figure 4 , which effectively reduces the invalid work (the shaded area in the figure) of the basic vector, and achieves the effect of improving the motor driving efficiency.

[0061] The above embodiments introduce the scheme of driving the motor based on the reference voltage vector. In another embodiment of the present application, a method for determining the reference voltage vector is provided, and the method includes the following steps:

[0062] The reference voltage vector matched with the control voltage vector of the motor is determined according to the input current of the motor.

[0063] In the embodiments of the present application, the control voltage vector matched with the reference voltage vector can be determined first, and for the control voltage vector, the voltage component of the control voltage vector can be determined first, and then the control voltage vector is synthesized based on the voltage component. That is, the voltage component of the control voltage vector in the two-phase coordinate system, for example, the voltage component in the two-phase stationary coordinate system, can be determined first. Since the control voltage vector is actually related to the currents of each phase of the N-phase inverter, the embodiment can specifically include the steps as shown in Figure 5 .

[0064] In step 101, the voltage component of the control voltage vector of the motor in the two-phase coordinate system is determined according to the input current.

[0065] In step 102, the reference voltage vector matched with the control voltage vector is determined according to the voltage component in the two-phase coordinate system.

[0066] In this embodiment, the phase current of the N-phase inverter can be collected at a preset acquisition frequency, and then coordinate system transformation, PI control and other processing can be performed based on the phase current of the N-phase inverter to obtain the voltage component of the voltage vector in the two-phase coordinate system.

[0067] Let's take a three-phase inverter as an example to illustrate, such as Figure 6 As shown, the collected three-phase current i can be processed first. a i b i c Perform a Clark transformation to convert the current from a three-phase stationary coordinate system to a two-phase stationary coordinate system, and obtain i α i β Then, a Park transformation is performed on the two-phase currents to transform the currents from a two-phase stationary coordinate system to a two-phase rotating coordinate system, resulting in i. d i q Then, based on the motor's position and speed i d i q Parameters such as these are used to obtain the voltage component U of the motor's control voltage vector in a two-phase rotating coordinate system using the PI control method. d U q (i.e., V in the diagram) d V q Finally, regarding U d U q Performing the inverse Park transform yields the voltage component U of the motor's control voltage vector in the two-phase stationary coordinate system. α U β (i.e., V in the diagram) α V β ).

[0068] Furthermore, the reference voltage vector can be determined based on the direction and ratio of the voltage components. This embodiment includes, for example... Figure 7 The steps shown are as follows:

[0069] Step 201: Determine the candidate voltage vector that matches the direction of the voltage component based on the voltage component in the two-phase coordinate system and the preset vector set.

[0070] The preset vector set includes multiple different voltage vectors (e.g., 12 basic voltage vectors) and ratio parameters corresponding to each of the multiple different voltage vectors.

[0071] In this embodiment of the application, after setting the positional relationship between the two-phase stationary coordinate system and multiple voltage vectors, the sector where the control voltage vector synthesized by the voltage components is located can be determined based on the coordinates of the voltage components in the two-phase stationary coordinate system.

[0072] For example, in the case that the control circuit of the motor includes three-phase branches, as described in the above embodiment, since the elements include three state values, the voltage vector includes 12 directions (V1-V12), and the angle between each direction is 30°. The α axis of the two-phase stationary coordinate system corresponds to the voltage vector V1, and the β axis corresponds to the voltage vector V4. At this time, the voltage components U α , U β and the corresponding relationship of the 12 sectors are shown in Table 1, that is, the preset vector set can be as shown in Table 1:

[0073] Table 1

[0074]

[0075]

[0076] In the embodiment of the application, the candidate voltage vector matching the direction of the voltage component can be determined from the preset vector set based on the direction of the voltage component, that is, the sector set in which the control voltage vector is located is determined. For example, when the voltage components U α , U β are both positive, the control voltage vector is located in the range of 0°-90° of the two-phase stationary coordinate system, that is, in the sectors 1-3, and the corresponding voltage vectors are V1-V3, that is, V1-V3 are the candidate voltage vectors.

[0077] Step 202, determining the ratio of the voltage components in the two-phase coordinate system.

[0078] Step 203, determining the reference voltage vector from the candidate voltage vectors according to the ratio parameter.

[0079] The reference voltage vector is the voltage vector corresponding to the ratio parameter matching the ratio in the preset vector set.

[0080] In the embodiment of the application, based on the rectangular coordinate system characteristics of the two-phase coordinate system, the angle θ of the control voltage vector in the two-phase coordinate system can be further determined based on the ratio (that is, tanθ) of the voltage components U β , U α . By comparing Table 1 with the angle range of the sector corresponding to the candidate voltage vector, the specific sector in which the control voltage vector is located can be determined, and the voltage vector corresponding to the sector is the reference voltage vector matching the control voltage vector.

[0081] In the method provided in the embodiment of the application, the reference voltage vector matching the direction of the voltage component and the ratio can be sequentially determined from the vector set based on the direction and the ratio of the voltage component, and the determination method is simple and accurate.

[0082] The foregoing embodiments introduce a scheme of driving the motor based on the state value corresponding to the element of the reference voltage vector. In another embodiment of the present application, a motor driving strategy based on the reference voltage vector is provided for the current current collection period, which includes the following steps:

[0083] In the current current collection period, the motor is driven according to the N elements included in the control duration corresponding vector within the control duration corresponding to the first standard vector, the second standard vector and the reference voltage vector respectively.

[0084] Among them, the element value of the first standard vector includes the first state value (for example, 111), and the element value of the second standard vector includes the second state value (for example, 000).

[0085] In the embodiment of the present application, the motor can be driven in a certain order based on the first standard vector, the second standard vector and the reference voltage vector in turn, and the motor is driven for the control duration corresponding to each vector, and then the driving is ended. It can be understood that the control duration corresponding to different vectors is different. For example, the control duration corresponding to the first standard vector is 0.1 seconds, the control duration corresponding to the second standard vector is 0.1 seconds, and the control duration corresponding to the reference voltage vector is 0.3 seconds. Therefore, the motor can be driven by the second standard vector from 0 to 0.1 seconds, by the reference voltage vector from 0.1 to 0.4 seconds, and by the first standard vector from 0.4 to 0.5 seconds.

[0086] It can be understood that the sum of the control duration corresponding to the first standard vector, the second standard vector and the reference voltage vector is not necessarily equal to the current current collection period. Therefore, if the sum of the control duration corresponding to the first standard vector, the second standard vector and the reference voltage vector is greater than or equal to the current current collection period, the motor is driven in a predetermined order based on the first standard vector, the second standard vector and the reference voltage vector and the control duration corresponding to each vector in turn until the current current collection period ends.

[0087] If the sum of the control duration corresponding to the first standard vector, the second standard vector and the reference voltage vector is less than the duration of the current current collection period, the motor is driven based on at least one of the first standard vector, the second standard vector and the reference voltage vector within the remaining duration of the current current collection period until the current current collection period ends.

[0088] that is, after the motor is driven in turn based on the first standard vector, the second standard vector and the reference voltage vector according to the preset order and the respective corresponding control time length (that is, after the first round of driving is completed), if the current current collection period has not ended, then in the remaining time length of the current current collection period, the motor is driven again in turn based on the first standard vector, the second standard vector and the reference voltage vector according to the respective corresponding control time length (that is, the second round of driving is performed), until the current current collection period ends.

[0089] From the above analysis, it can be seen that in one current collection period, there can be multiple rounds of motor driving processes. In this case, the order of vector execution corresponding to adjacent two rounds of motor driving processes can be limited as follows:

[0090] In the current current collection period, the order of vector execution of the Nth motor driving based on the first standard vector, the second standard vector and the reference voltage vector is opposite to the order of vector execution of the N+1th motor driving.

[0091] The order of vector execution is the order of driving the motor by the first standard vector, the second standard vector and the reference voltage vector.

[0092] Taking the order of vector execution of the first motor driving as an example, the order of vector execution is the second standard vector, the reference voltage vector and the first standard vector, when N is 1.

[0093] If the current current collection period has not ended after the first motor driving ends, the motor can be continuously driven according to the order of the first standard vector, the reference voltage vector and the second standard vector, until the current current collection period ends.

[0094] The method provided in the embodiments of the present application can drive the motor by elements corresponding to multiple reference voltage vectors according to time periods, and in the case that the driving mode is adjusted according to time periods, the voltage loss when the reference voltage vectors are synthesized to control the voltage vector can be shortened, and the motor driving efficiency can be improved.

[0095] The foregoing embodiments introduce a scheme of driving the motor based on multiple different vectors in respective corresponding control time lengths. In another embodiment of the present application, the determination process of the control time length corresponding to the vector is described, and the embodiment includes the following steps:

[0096] The control time length is determined according to the voltage component of the control voltage vector in the two-phase coordinate system.

[0097] In the embodiments of the present application, the voltage component of the control voltage vector in the two-phase coordinate system is subjected to coordinate system conversion processing to obtain the voltage component of the control voltage vector in the reference voltage vector direction, and the control time length corresponding to each vector can be calculated based on the voltage component of the control voltage vector in the reference voltage vector direction.

[0098] In this application, where the base vector and dead zone vector are arranged alternately, and the control voltage vector consists of one base vector and one dead zone vector corresponding to one sector, before determining the control duration, it is necessary to assess the possibility of synthesizing the control voltage vector from the base vector and dead zone vector corresponding to one sector. Different assessment results correspond to different control duration determination schemes. The assessment results include situations where the base vector and dead zone vector corresponding to one sector can synthesize the control voltage vector, and situations where the base vector and dead zone vector corresponding to one sector cannot synthesize the control voltage vector. This embodiment includes, for example... Figure 8 The steps shown are as follows:

[0099] Step 301: Compare the vector value of the control voltage vector with the preset value.

[0100] The preset value can be the vector value corresponding to the dead zone vector.

[0101] In the embodiments of this application, the vector values ​​corresponding to the vectors are all normalized values, which can represent the magnitude relationship between vectors.

[0102] First, it is necessary to determine the magnitude relationship between the dead zone vector and the base vector. One method is measurement, which involves setting three state values ​​for an element, and then having the control circuit sequentially output the base voltage vector and the dead zone voltage vector. For example, by using 100 and 1X0, the control circuit sequentially outputs the base voltage vector V1 and the dead zone voltage vector V2, and then measuring the motor torque F under different vectors. V2-1X0 and F V1-100 Then the ratio of the dead zone vector to the base vector is F. V2-1X0 / F V1-100 Method 1: Analysis. Both V1-100 and V2-1X0 are DC voltages Udc supplied to the motor. Assuming the single-phase resistance of the motor coil winding is R, the dead zone vector V2-1X0 involves two phases of coils connected in series, meaning its resistance under the dead zone vector is 2R. Similarly, under the V1-100 vector, the coil resistance is 3R / 2, meaning the current in V2-1X0 is 3 / 4 times that in V1-100. Based on the principle that the force on a conductor in a magnetic field is proportional to the current, the ratio of V2-1X0 to V1-100 is 0.75. It should be noted that all parameter values ​​are expressed as normalized values, i.e., the base vector is 1, and the dead zone vector is 0.75.

[0103] Secondly, the composite vector of the two-phase voltage components determined based on the collected three-phase currents (i.e., the control voltage vector Uβ) will be used. 2 +Uα 2 The resultant vector of the sum of the two minimum voltage vectors (e.g., two dead zone vectors) and the vector set (i.e., 0.75) is... 2 ) for comparison, Uβ 2 +Uα 2<= 0.75 2 When the value is greater than 0.75, it indicates that one sector corresponds to one base vector and one dead-zone vector, which can not synthesize one control voltage vector. 2 + U 2 > 0.75 2 When the value is greater than 0.75, it indicates that one sector corresponds to one base vector and one dead-zone vector, which can not synthesize one control voltage vector.

[0104] The following describes the determination process of the control duration when the vector value of the control voltage vector is less than or equal to a preset value:

[0105] In step 302, when the vector value of the control voltage vector is less than or equal to a preset value, the voltage component of the control voltage vector in the direction corresponding to the reference voltage vector is determined according to the voltage component of the control voltage vector in the two-phase coordinate system, and the control duration is determined based on the voltage component of the control voltage vector in the direction corresponding to the reference voltage vector.

[0106] The two-phase coordinate system is a two-phase stationary coordinate system.

[0107] The embodiments of the present application can include the steps as shown in Figure 9

[0108] In step 401, the voltage component of the control voltage vector in the two-phase stationary coordinate system is subjected to coordinate system conversion processing to obtain the voltage component of the control voltage vector in the rotating coordinate system.

[0109] In step 402, the voltage component of the control voltage vector in the direction corresponding to the reference voltage vector is determined according to the voltage component of the control voltage vector in the rotating coordinate system and the parity of the vector region corresponding to the control voltage vector.

[0110] In step 403, the control duration corresponding to the voltage vector is determined according to the voltage component of the control voltage vector in the direction corresponding to the reference voltage vector and the voltage vector identifier.

[0111] In the embodiments of the present application, the voltage components U α , U β of the control voltage vector in the two-phase stationary coordinate system can be subjected to coordinate system conversion processing to obtain the voltage components U α ', U β ' of the control voltage vector in the two-phase rotating coordinate system.

[0112] U α ' = U α * Cos ((n-1) * pi / 6) + U β * Sin ((n-1) * pi / 6)

[0113] U β ' = -U​α *Sin((n-1)*pi / 6)+U β *Cos((n-1)*pi / 6);

[0114] Wherein, the two-phase rotating coordinate system is a coordinate system after the two-phase stationary coordinate system rotates a certain angle around the origin, and as shown in Figure 10 The a' axis of the two-phase rotating coordinate system coincides with the reference voltage vector.

[0115] Then, based on the parity of the vector region corresponding to the control voltage vector, the voltage component of the control voltage vector in the direction corresponding to the reference voltage vector is calculated according to the formula corresponding to the odd sector and the even sector.

[0116] When the sector where the control voltage vector is located is an odd sector (for example, the first sector), the voltage component of the control voltage vector in the direction corresponding to the reference voltage vector is respectively:

[0117] V1=3*T s *(U α '-U β ') / (2*U dc )

[0118] V2=4*T s *U β ' / U dc ;

[0119] When the sector where the control voltage vector is located is an even sector (for example, the second sector), the voltage component of the control voltage vector in the direction corresponding to the reference voltage vector is respectively:

[0120] V2=(2*U α '-2*sqrt(3)*U β ’)*T s / U dc

[0121] V3=3*U β '*T s / U dc ;

[0122] Wherein, n is the sector identifier, indicating which sector; Ts is the voltage waveform (PWM) frequency of the output voltage of each phase.

[0123] It can be understood that the voltage component of the control voltage vector in the direction corresponding to the reference voltage vector is the voltage component of the control voltage vector in the sector coordinate system.

[0124] Finally, since different voltage vectors correspond to different control time length calculation formulas, according to the following table, the control time length corresponding to each voltage vector can be calculated according to the voltage component of the control voltage vector in the sector coordinate system after finding the formula corresponding to the voltage vector based on the voltage vector identifier. Table 2-13 is the driving mode corresponding to 1-12 sectors, respectively.

[0125] It should be noted that the exchange of the second period and the third period in the table, or the exchange of the fifth period and the sixth period does not affect the driving result, as long as the second period and the third period are symmetrically distributed compared with the fifth period and the sixth period. That is, when the second period and the third period are exchanged, the fifth period and the sixth period are correspondingly exchanged.

[0126] Wherein Ta, Tb, Tc are the output voltage waveforms of the three-phase branch, taking sector 1 as an example,

[0127] Ta=(0.5*V1+0.5*V2+(TS-V1-V2) / 4)*2;

[0128] Tb 死 =(0.5*V1+0.5*V2)*2;

[0129] Tb=(TS-V1-V2)*2 / 4;

[0130] Tc=(TS-V1-V2)*2 / 4;

[0131] The output voltage waveforms of the three-phase branch are shown in Figure 11 .

[0132] Table 2

[0133] 1 2 3 4A 4B 5 6 7 Ta 0 1 1 1 1 1 1 0 Tb 0 0 X 1 1 X 0 0 Tc 0 0 0 1 1 0 0 0 000 100 1X 0 111 111 1X0 100 000 Time (TS-V1-V2) / 4 0.5*V1 0.5*V2 (TS-V1-V2) / 4 (TS-V1-V2) / 4 0.5*V2 0.5*V1 (TS-V1-V2) / 4

[0134] Table 3

[0135] 1 2 3 4A 4B 5 6 7 Ta 0 X 1 1 1 1 X 0 Tb 0 0 1 1 1 1 0 0 Tc 0 0 0 1 1 0 0 0 000 1X0 110 111 111 110 1X0 000 Time (TS-V2-V3) / 4 0.5*V2 0.5*V3 (TS-V2-V3) / 4 (TS-V2-V3) / 4 0.5*V3 0.5*V2 (TS-V2-V3) / 4

[0136] Table 4

[0137] 1 2 3 4A 4B 5 6 7 Ta 0 1 X 1 1 X 1 0 Tb 0 1 1 1 1 1 1 0 Tc 0 0 0 1 1 0 0 0 000 110 X10 111 111 X10 110 000 Time (TS-V3-V4) / 4 0.5*V3 0.5*V4 (TS-V3-V4) / 4 (TS-V3-V4) / 4 0.5*V4 0.5*V3 (TS-V3-V4) / 4

[0138] Table 5

[0139] 1 2 3 4A 4B 5 6 7 Ta 0 X 0 1 1 0 X 0 Tb 0 1 1 1 1 1 1 0 Tc 0 0 0 1 1 0 0 0 000 X10 010 111 111 010 X10 000 Time (TS-V4-V5) / 4 0.5*V4 0.5*V5 (TS-V4-V5) / 4 (TS-V4-V5) / 4 0.5*V5 0.5*V4 (TS-V4-V5) / 4

[0140] Table 6

[0141] 1 2 3 4A 4B 5 6 7 Ta 0 0 0 1 1 0 0 0 Tb 0 1 1 1 1 1 1 0 Tc 0 0 X 1 1 X 0 0 000 010 01X 111 111 01X 010 000 Time (TS-V5-V6) / 4 0.5*V5 0.5*V6 (TS-V5-V6) / 4 (TS-V5-V6) / 4 0.5*V6 0.5*V5 (TS-V5-V6) / 4

[0142] Table 7

[0143] 1 2 3 4A 4B 5 6 7 Ta 0 0 0 1 1 0 0 0 Tb 0 1 1 1 1 1 1 0 Tc 0 X 1 1 1 1 X 0 000 01X 011 111 111 011 01X 000 Time (TS-V6-V7) / 4 0.5*V6 0.5*V7 (TS-V6-V7) / 4 (TS-V6-V7) / 4 0.5*V7 0.5*V6 (TS-V6-V7) / 4

[0144] Table 8

[0145] 1 2 3 4A 4B 5 6 7 Ta 0 0 0 1 1 0 0 0 Tb 0 1 X 1 1 X 1 0 Tc 0 1 1 1 1 1 1 0 000 011 0X1 111 111 0X1 011 000 Time (TS-V7-V8) / 4 0.5*V7 0.5*V8 (TS-V7-V8) / 4 (TS-V7-V8) / 4 0.5*V8 0.5*V7 (TS-V7-V8) / 4

[0146] Table 9

[0147] 1 2 3 4A 4B 5 6 7 Ta 0 0 0 1 1 0 0 0 Tb 0 X 0 1 1 0 X 0 Tc 0 1 1 1 1 1 1 0 000 0X1 001 111 111 001 0X1 000 Time (TS-V8-V9) / 4 0.5*V8 0.5*V9 (TS-V8-V9) / 4 (TS-V8-V9) / 4 0.5*V9 0.5*V8 (TS-V8-V9) / 4

[0148] Table 10

[0149] 1 2 3 4A 4B 5 6 7 Ta 0 0 X 1 1 X 0 0 Tb 0 0 0 1 1 0 0 0 Tc 0 1 1 1 1 1 1 0 000 001 X01 111 111 X01 001 000 Time (TS-V9-V10) / 4 0.5*V9 0.5*V10 (TS-V9-V10) / 4 (TS-V9-V10) / 4 0.5*V10 0.5*V9 (TS-V9-V10) / 4

[0150] Table 11

[0151] 1 2 3 4A 4B 5 6 7 Ta 0 X 1 1 1 1 X 0 Tb 0 0 0 1 1 0 0 0 Tc 0 1 1 1 1 1 1 0 000 X01 101 111 111 101 X01 000 Time (TS-V10-V11) / 4 0.5*V10 0.5*V11 (TS-V10-V11) / 4 (TS-V10-V11) / 4 0.5*V11 0.5*V10 (TS-V10-V11) / 4

[0152] Table 12

[0153] 1 2 3 4A 4B 5 6 7 Ta 0 1 1 1 1 1 1 0 Tb 0 0 0 1 1 0 0 0 Tc 0 1 X 1 1 X 1 0 000 101 10X 111 111 10X 101 000 Time (TS-V11-V12) / 4 0.5*V11 0.5*V12 (TS-V11-V12) / 4 (TS-V11-V12) / 4 0.5*V12 0.5*V11 (TS-V11-V12) / 4

[0154] Table 13

[0155] 1 2 3 4A 4B 5 6 7 Ta 0 1 1 1 1 1 1 0 Tb 0 0 0 1 1 0 0 0 Tc 0 X 0 1 1 0 X 0 000 10X 100 111 111 100 10X 000 Time (TS-V12-V1) / 4 0.5*V12 0.5*V1 (TS-V12-V1) / 4 (TS-V12-V1) / 4 0.5*V1 0.5*V12 (TS-V12-V1) / 4

[0156] The determination process of the control duration is described as follows when the vector value of the control voltage vector is greater than a preset value:

[0157] In step 303, when the vector value of the control voltage vector is greater than a preset value, the control voltage vector is divided into a first control vector and a second control vector according to the preset value; a first control duration corresponding to the first control vector and a second control duration corresponding to the second control vector are determined; and the control duration is determined according to the first control duration and the second control duration.

[0158] In the embodiment, Uβ 2 + Uα 2 > 0.75 2 , the control voltage vector can be divided into a first control vector and a second control vector based on 0.75. The vector value corresponding to the first control vector is equal to 0.75, which is composed of one dead-zone voltage vector and one basic voltage vector adjacent to the sector; the second control vector is greater than 0.75, which is composed of two basic voltage vectors adjacent to the sector, and the corresponding vector value is the difference between the vector value corresponding to the control voltage vector and the vector value corresponding to the first control vector. For example, when the value of the control voltage vector is 0.9, the vector of 0.75 is composed of one dead-zone voltage vector and one basic voltage vector adjacent to the sector; the remaining 0.15 vector is composed of two basic voltage vectors adjacent to the sector. As described in the above embodiment, 0.75, 0.9 and 0.15 are all normalized values.

[0159] After the vector is divided, the control time length corresponding to each part of the vector is determined respectively, and the control time length corresponding to each part of the vector is added to obtain the control time length corresponding to the voltage vector. The embodiment includes the steps shown in Figure 12

[0160] Step 501, determine the voltage component of the first control vector in the two-phase coordinate system, determine the voltage component of the first control vector in the direction corresponding to the reference voltage vector according to the voltage component of the first control vector in the two-phase coordinate system, and determine the first control time length corresponding to the first control vector based on the voltage component of the first control vector in the direction corresponding to the reference voltage vector.

[0161] Step 502, determine the voltage component of the second control vector in the two-phase coordinate system, determine the voltage component of the second control vector in the direction corresponding to the target voltage vector according to the voltage component of the second control vector in the two-phase coordinate system, and determine the second control time length corresponding to the second control vector based on the voltage component of the second control vector in the direction corresponding to the target voltage vector.

[0162] In the embodiment of the application, the voltage component of the first control vector in the two-phase coordinate system is as follows:

[0163] U α1 = 0.75 * U α / U;

[0164] U β1 == 0.75 * U β / U;

[0165] The voltage component of the second control vector in the two-phase coordinate system is as follows:

[0166] U α2 = (U-0.75) * U α / U;

[0167] U β2 == (U-0.75) * U β / U;

[0168] Wherein, U is the vector value corresponding to the control voltage vector (for example, 0.9 as described above).

[0169] Based on the voltage component U α1 of the first control vector in the two-phase coordinate system and U β1 , the process of determining the first control time length corresponding to the first control vector is as follows: the process of determining the control time length when the vector value corresponding to the control voltage vector is less than or equal to 0.75, which will not be repeated here.

[0170] ​For the second control vector, since the second control vector is synthesized based on two basic voltage vectors, here the voltage component of the second control vector in the direction corresponding to the reference voltage vector should not be determined, but the voltage component of the second control vector in the direction corresponding to the target voltage vector should be determined.

[0171] The target voltage vector includes a first target vector and a second target vector. The first target vector is a basic voltage vector in the reference voltage vector, and the second target vector is a basic voltage vector adjacent to the first target vector, and the second target vector is adjacent to a dead-zone voltage vector in the reference voltage vector. For example, when the control voltage vector is located in the first sector, the target voltage vector is V1 and V3.

[0172] After the voltage component of the second control vector in the direction corresponding to the target voltage vector is determined, the control duration corresponding to the voltage vector is determined based on the voltage vector identifier and the voltage component of the second control vector in the direction corresponding to the target voltage vector. The process of the above "step 403, determining the control duration corresponding to the voltage vector according to the voltage component of the control voltage vector in the direction corresponding to the reference voltage vector and the voltage vector identifier", and the embodiments of the present application will not be repeated.

[0173] In the above embodiment, the reference voltage vector is determined based on the voltage component of the control voltage vector in the two-phase coordinate system, which is essentially determined based on the sector in which the control voltage vector is located. Based on this aspect, the embodiments of the present application are as follows:

[0174] The voltage component of the control voltage vector in the two-phase coordinate system is determined according to the input current of the motor;

[0175] The quadrant in which the control voltage vector is located in the two-phase coordinate system is determined according to the direction of the voltage component of the control voltage vector in the two-phase coordinate system; it can be understood that the quadrant includes three sector vector regions (i.e. sectors);

[0176] The specific sector in which the control voltage vector is located is determined according to the ratio of the voltage component of the control voltage vector in the two-phase coordinate system;

[0177] The basic voltage vector and the dead-zone voltage vector corresponding to the sector are the reference voltage vector;

[0178] When the control voltage vector is less than or equal to a preset value, the voltage component of the control voltage vector in the two-phase coordinate system is converted to obtain the voltage component of the control voltage vector in the rotating coordinate system, and then the voltage component of the control voltage vector in the sector coordinate system is obtained. Finally, the control duration corresponding to different voltage vectors is calculated based on the voltage component of the control voltage vector in the sector coordinate system according to the formula corresponding to different voltage vectors.

[0179] When the control voltage vector is greater than the preset value, the control voltage vector is first divided into two parts, i.e., a first control vector and a second control vector, based on the preset value. The vector value corresponding to the first control vector is the preset value, and therefore, the determination process of the first control duration corresponding to the first control vector is the same as above. The second control vector is the remaining part of the control voltage vector except the first control vector, and is synthesized by two basic voltage vectors, and therefore, after the coordinate system conversion of the voltage components of the second control vector in the two-phase coordinate system, the voltage components of the second control vector in the directions corresponding to the two basic voltage vectors are obtained. The subsequent process of calculating the second control duration corresponding to the voltage components of the second control vector in the directions corresponding to the two basic voltage vectors according to the formula is the same as above. Finally, the sum of the first control duration and the second control duration is the control duration corresponding to the voltage vector.

[0180] In one embodiment, a scheme for driving a motor based on a reference voltage vector is introduced in combination with the circuit structure. The embodiment includes the steps shown in Figure 13

[0181] Step 601: Control the output voltage of each phase branch in the N-phase branch based on the N elements corresponding to the reference voltage vector.

[0182] Step 602: Drive the motor based on the vector sum of the output voltages of the N-phase branches.

[0183] The N elements correspond one-to-one to the N-phase branches.

[0184] In the embodiment, the structure of the corresponding phase branch can be adjusted based on the state value of the element, so that the branch outputs the corresponding voltage after the structure adjustment. Finally, the motor is driven based on the vector sum of the output voltages of the N-phase branches after the structure adjustment.

[0185] In one possible implementation, the adjustment of the branch structure can be achieved by adjusting the branch switch. That is, each phase branch can be a half-bridge circuit, including an upper bridge arm and a lower bridge arm, and the upper bridge arm and the lower bridge arm are respectively provided with a first switch and a second switch. At this time, the branch voltage control based on the element can include the steps shown in Figure 14

[0186] Step 701: Adjust the switching state of the first switch and the second switch of the corresponding phase branch based on the element.

[0187] Step 702: Output the corresponding output voltage based on the branch after the adjustment of the switching state.

[0188] The switch can be a transistor, a diode, or the like. The switching state includes conduction and non-conduction.

[0189] ​​The first state value of the element can be used to indicate that the first switch is closed (i.e., turned on) and the second switch is opened (i.e., turned off), at this time, the upper bridge arm of the branch is turned on, and the branch outputs a high level; the second state value can be used to indicate that the first switch is opened and the second switch is closed, at this time, the lower bridge arm of the branch is turned on, and the branch outputs a low level; the third state value can be used to indicate that the first switch is opened and the second switch is opened, at this time, the upper bridge arm and the lower bridge arm of the branch are both opened, and the branch outputs no voltage.

[0190] In the embodiment of the present application, after the N elements corresponding to the reference voltage vector are determined, the state values of the elements are used to control the switching states of the first switch and the second switch of the corresponding phase branch, so that the corresponding output voltage is output by the branch.

[0191] The method provided in the embodiment of the present application can adjust the structure of the corresponding phase branch based on the state values of the N elements corresponding to the reference voltage vector, so that the corresponding voltage is output by the corresponding phase branch, and the vector sum of the output voltages of the N phase branches can drive the motor.

[0192] It should be noted that although the operations of the method of the present application are described in a specific order in the accompanying drawings, this does not require or imply that the operations must be performed in this specific order, or that all of the shown operations must be performed to achieve the desired result. On the contrary, the steps depicted in the flowchart can change the order of execution. Additionally or alternatively, certain steps can be omitted, combined into one step, and / or divided into multiple steps.

[0193] The embodiment of the present application also provides a controller, which comprises a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above-mentioned embodiments when executing the computer program.

[0194] As another aspect, the present application also provides a computer readable storage medium, which can be included in the computer device described in the above-mentioned embodiments, or can exist separately without being assembled into the computer device. The computer readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the method described in the present application.

[0195] The embodiment of the present application provides a computer program product, which comprises instructions, when the instructions are executed, the method described in the embodiment of the present application is executed.

[0196] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0197] The above description is merely preferred embodiments of the present application and a description of the principles of the technology used. Those skilled in the art should understand that the scope of the application involved in the present application is not limited to the technical solutions formed by the specific combinations of the above technical features, and also covers other technical solutions formed by any combination of the above technical features or equivalent features without departing from the inventive concept. For example, the above features can be replaced with technical features disclosed in the present application (but not limited to) having similar functions to form technical solutions.

Claims

1. A motor driving method, characterized in that, The method includes: The motor is driven based on a reference voltage vector, which includes N elements. The N elements correspond to the N-phase control voltage of the motor. The values ​​of the elements include a first state value, a second state value, or a third state value. The first state value is used to indicate that the corresponding phase voltage is high, the second state value is used to indicate that the corresponding phase voltage is low, and the third state value is used to indicate that there is no voltage input to the corresponding phase circuit. The control duration of the reference voltage vector in one current acquisition cycle is determined based on the voltage components of the motor's control voltage vector in the two-phase coordinate system, including: The vector value of the control voltage vector is compared with a preset value; when the vector value of the control voltage vector is greater than the preset value, the control voltage vector is divided into a first control vector and a second control vector according to the preset value; a first control duration corresponding to the first control vector and a second control duration corresponding to the second control vector are determined; the control duration is determined according to the first control duration and the second control duration. Wherein, determining the first control duration corresponding to the first control vector and the second control duration corresponding to the second control vector includes: Determine the voltage component of the first control vector in the two-phase coordinate system, determine the voltage component of the first control vector in the direction corresponding to the reference voltage vector based on the voltage component of the first control vector in the two-phase coordinate system, and determine the first control duration corresponding to the first control vector based on the voltage component of the first control vector in the direction corresponding to the reference voltage vector. The voltage component of the second control vector in the two-phase coordinate system is determined. Based on the voltage component of the second control vector in the two-phase coordinate system, the voltage component of the second control vector in the direction corresponding to the target voltage vector is determined. Based on the voltage component of the second control vector in the direction corresponding to the target voltage vector, the second control duration corresponding to the second control vector is determined. The target voltage vector includes a first target vector and a second target vector. The first target vector is the base voltage vector in the reference voltage vector. The second target vector is the base voltage vector adjacent to the first target vector. The second target vector is adjacent to the dead zone voltage vector in the reference voltage vector.

2. The method according to claim 1, characterized in that, The method further includes: A reference voltage vector that matches the control voltage vector of the motor is determined based on the input current of the motor.

3. The method according to claim 2, characterized in that, The step of determining a reference voltage vector that matches the control voltage vector of the motor based on the input current of the motor includes: The voltage components of the motor's control voltage vector in the two-phase coordinate system are determined based on the input current. A reference voltage vector matching the control voltage vector is determined based on the voltage components in the two-phase coordinate system.

4. The method according to claim 3, characterized in that, The step of determining the reference voltage vector matching the control voltage vector based on the voltage components in the two-phase coordinate system includes: Based on the voltage components in the two-phase coordinate system and a preset vector set, a candidate voltage vector matching the direction of the voltage components is determined. The preset vector set includes multiple different preset voltage vectors and the ratio parameter corresponding to each of the multiple different preset voltage vectors. Determine the ratio of the voltage components in the two-phase coordinate system; The reference voltage vector is determined from the candidate voltage vectors based on the ratio and the ratio parameter, wherein the reference voltage vector is the voltage vector in the preset vector set that corresponds to the ratio parameter that matches the ratio.

5. The method according to claim 1, characterized in that, The reference voltage vector is a base voltage vector and / or a dead zone voltage vector; the element values ​​of the base voltage vector include a first state value and a second state value, and the element values ​​of the dead zone voltage vector include a first state value, a second state value, and a third state value.

6. The method according to claim 5, characterized in that, The base voltage vector and the dead zone voltage vector are sequentially spaced around the calibration point and evenly distributed within a circular region centered on the calibration point. Adjacent base voltage vectors and dead zone voltage vectors form a vector region, which is fan-shaped.

7. The method according to claim 1, characterized in that, The method of driving the motor based on the reference voltage vector includes: In the current current acquisition cycle, within at least one control duration corresponding to the first standard vector, the second standard vector, and the reference voltage vector, the motor is driven according to the N elements included in the vector corresponding to the control duration; the element values ​​of the first standard vector include a first state value, and the element values ​​of the second standard vector include a second state value.

8. The method according to claim 7, characterized in that, The step of driving the motor according to N elements of the vector corresponding to the control duration within at least one control duration corresponding to the first standard vector, the second standard vector, and the reference voltage vector in the current current acquisition cycle includes: If the sum of the control durations corresponding to the first standard vector, the second standard vector, and the reference voltage vector is less than the duration of the current current acquisition cycle, then the motor is driven based on at least one of the first standard vector, the second standard vector, and the reference voltage vector for the remaining duration of the current current acquisition cycle until the end of the current current acquisition cycle.

9. The method according to claim 8, characterized in that, During the remaining duration of the current current acquisition cycle, the motor is driven based on at least one of the first standard vector, the second standard vector, and the reference voltage vector until the end of the current current acquisition cycle, including: Within the current current acquisition cycle, the vector execution order of the Nth motor drive based on the first standard vector, the second standard vector, and the reference voltage vector is the reverse of the vector execution order of the (N+1)th motor drive.

10. The method according to claim 1, characterized in that, The method further includes: When the vector value of the control voltage vector is less than or equal to the preset value, the voltage component of the control voltage vector in the direction corresponding to the reference voltage vector is determined according to the voltage component of the control voltage vector in the two-phase coordinate system, and the control duration is determined based on the voltage component of the control voltage vector in the direction corresponding to the reference voltage vector.

11. The method according to claim 1, characterized in that, The motor control circuit includes an N-phase branch, and the motor is driven based on the reference voltage vector, including... The output voltage of each phase branch in the N-phase branch is controlled by N elements corresponding to the reference voltage vector; the N elements correspond one-to-one with the N-phase branch. The motor is driven by the vector sum of the output voltages of the N-phase branches.

12. The method according to claim 11, characterized in that, Each phase branch includes a first switch and a second switch. The step of controlling the output voltage of each phase branch in the N phase branches based on the N elements corresponding to the reference voltage vector includes: Based on the elements, adjust the switching states of the first and second switches of the corresponding phase branches, wherein the switching states include on and off. The output voltage corresponding to the branch output after the switch state adjustment.

13. A controller, characterized in that, The method includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 12.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 12.

15. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 12.

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