Motor control method, motor controller, power system and readable storage medium

Abstract

The invention provides a motor control method, a motor controller, a power system and a readable storage medium. In the scheme of the invention, after a motor controller obtains an input working parameter which is indicated by a control instruction and comprises an input torque and an input bus working parameter, a first input current is determined according to the input torque, and a second input current is determined according to the input bus working parameter; and determining a target working parameter of the motor according to the minimum current in the first input current and the second input current so as to drive the motor to operate according to the target working parameter. Therefore, according to the scheme, under the condition that a torque control model of the motor controller is not changed, the input bus working parameters (such as input power) of the motor controller are limited by adding bus control, so that the situation that the battery cannot supply power due to overload protection triggered by a battery management system caused by overload operation of the battery can be effectively avoided; therefore, reliable power supply and normal operation of the motor can be ensured.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a motor control method, a motor controller, a power system and a readable storage medium. Background Art

[0002] In the power system of ships and other equipment, the motor is the power source of various mechanical devices. The motor is mainly controlled by a motor controller. In the related art, the control loop of the motor controller basically has no limit on the input power. Since the output capacity of the battery that powers the motor controller is limited, not limiting the input power of the motor controller may cause the battery to overload and the battery management system (BMS) to trigger the battery overload protection, resulting in the motor being unable to be powered and unable to operate. Summary of the invention

[0003] In view of the above problems mentioned in the background technology, the present application provides a motor control method, a motor controller, a power system and a readable storage medium that can solve the above problems or at least partially solve the above problems. Specifically,

[0004] In a first embodiment, the present application provides a motor control method, which is applied to a motor controller. The motor control method includes:

[0005] Acquire input working parameters indicated by the control instruction, wherein the control instruction is generated when the control device receives a user operation, and the input working parameters include input torque and input bus working parameters determined based on the control instruction;

[0006] determining a first input current according to the input torque;

[0007] Determining a second input current according to the input bus operating parameter;

[0008] determining a minimum current of the first input current and the second input current as a target input current;

[0009] Determining a target operating parameter of the motor according to the target input current;

[0010] The motor is driven to operate according to the target operating parameters.

[0011] In a second embodiment, the present application provides a motor controller. The motor controller includes: a memory and a processor; wherein the memory is used to store a program; and the processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the motor control method provided in the first embodiment of the present application.

[0012] In a third embodiment, the present application provides a power system, which includes a motor and the motor controller provided in the second embodiment of the present application, wherein the motor controller is used to drive the motor to operate.

[0013] In a fourth embodiment, the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program; when the computer program is executed by a processor, the processor executes the steps in the motor control method provided in the first embodiment of the present application.

[0014] The technical solutions provided by the embodiments of the present application are that after the motor controller obtains the input operating parameters including the input torque and the input bus operating parameters indicated by the control instruction, it will determine the first input current according to the input torque, determine the second input current according to the input bus operating parameters, and determine the minimum current between the first input current and the second input current as the target input current, thereby determining the target operating parameters of the motor according to the target input current, and driving the motor to operate according to the target operating parameters. It can be seen that the solution of the present application is to achieve the limitation of the input bus operating parameters (such as input power) of the motor controller by adding bus control without changing the original torque control model of the motor controller, which can effectively avoid the battery overload operation causing the battery management system to trigger the overload protection and make the battery unable to supply power, thereby ensuring the reliable power supply and normal operation of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic diagram of a flow chart of a motor control method provided in one embodiment of the present application;

[0017] Figure 2 A schematic diagram of the structure of a power system provided in one embodiment of the present application;

[0018] Figure 3 The power system provided in one embodiment of the present application is a structural schematic diagram of a propulsion system scenario;

[0019] Figure 4 A control block diagram of a motor control method provided by an embodiment of the present application;

[0020] Figure 5a A control block diagram of a motor control method provided by an embodiment of the present application;

[0021] Figure 5b A control block diagram of a motor control method provided in one embodiment of the present application. DETAILED DESCRIPTION

[0022] In the power system of ships and other equipment, motors play a vital role and are the power source for various mechanical devices such as propellers, fans, and pumps. The motor is mainly controlled by the corresponding motor controller. In the relevant technical scheme, the control loop of the motor controller generally adopts torque control, and there is no limit on the input power. In this control mode, since the output capacity of the battery that powers the motor controller is limited, if the input power of the motor controller is not limited, the battery may output a power that exceeds its output capacity (equivalent to overload), so that the battery voltage may be pulled down. When the voltage is low to a certain value, the battery management system BMS will trigger the overload protection and shut down the battery output, which will cause the motor to be unable to be powered and the motor cannot run. Obviously, it is necessary to limit the input power of the motor controller.

[0023] In order to achieve input power limitation of the motor controller, the technical solution provided in each embodiment of the present application is to add a power control loop (the bus loop described below) without changing the torque control mode of the motor controller, thereby achieving input power control of the motor controller.

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0025] In some processes described in the specification, claims and the above-mentioned figures of this application, multiple operations appearing in a specific order are included, and these operations may not be executed or executed in parallel in the order in which they appear in this article. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., and do not represent the order of precedence, nor do they limit "first" and "second" to different types. The term "or / and" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example: A or / and B, indicating that A can exist alone, A and B can exist at the same time, and B can exist alone; the character " / " in this application generally indicates that the front and back associated objects are an "or" relationship. It should also be noted that the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a target object or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such target object or system. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the commodity or system including the elements. In addition, the following embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0026] The technical solutions provided by each embodiment of the present application are introduced and explained below.

[0027] Figure 1 FIG. 1 is a flow chart of a motor control method provided by the first embodiment of the present application, and the method is executed by a motor controller. Figure 2 As shown, the motor controller is applied to a power system 1, which includes a control device 10 and a power device 11. The power device 11 may include a motor controller 112 and a motor 113. In addition, the power device 11 may also include other modules such as a determination module 111. The determination module 111 may be an electronic control unit (ECU) for converting the control instructions output by the control device 10 into input working parameters of the motor controller (such as input torque and input bus working parameters). Figure 1 As shown, the motor control method provided in this embodiment includes the following steps:

[0028] 101. Acquire input working parameters indicated by a control instruction, wherein the control instruction is generated when a control device receives a user operation, and the input working parameters include input torque and input bus working parameters determined based on the control instruction;

[0029] 102. Determine a first input current according to the input torque;

[0030] 103. Determine a second input current according to the bus operating parameter;

[0031] 104. Determine a minimum current between the first input current and the second input current as a target input current;

[0032] 105. Determine target operating parameters of the motor according to the target input current;

[0033] 106. Drive the motor to operate according to the target operating parameters.

[0034] In the above 101, the control device is related to the action type of the motor described in this embodiment, and the control devices corresponding to motors of different action types will be different. Among them, the motor can be a permanent magnet synchronous motor (PMSM). Specifically, according to the action type of the motor, the motor can be but is not limited to a propulsion motor, a steering motor, a tilting motor, etc.

[0035] For example, in a ship, the control device corresponding to the propulsion motor may be a throttle control device, the operating device corresponding to the steering motor may be a steering gear control device, and the control device corresponding to the tilting motor may be a control device with a tilting button. The main functions of the tilting motor in a ship include: adjusting the tilting angle of the outboard motor to adapt to different water conditions, adjusting the posture of the hull, etc. during sailing, and driving the outboard motor to tilt to a certain angle when the ship is stopped to prevent the propeller from corroding and rusting in the water.

[0036] The control device can generate corresponding control instructions according to the detection data generated when receiving the user operation, and send the control instructions to the corresponding motor controller, so that the motor controller controls the motor according to the input working parameters indicated by the control instructions. Figure 2After the control device 10 outputs the control instruction, it can be received by the determination module 111 in the power device 11. The determination module 111 determines the input torque, input bus working parameters and other input working parameters required by the motor controller 112 according to the operation instruction and sends them to the motor controller, so that the motor controller controls the operation of the motor 113 according to the input working parameters. In other embodiments, the control device can also directly output the input torque, input bus working parameters and other input working parameters required by the motor controller 112, and send the input working parameters to the motor controller. In this case, the power device 11 may or may not include the determination module 111; or, the control device can also output the control instruction to the motor controller, and the motor controller can parse the control instruction by itself to obtain the input torque, input bus working parameters and other input working parameters. In this case, the power device 11 may or may not include the determination module 111. This application is not limited to this.

[0037] In actual applications, different control devices generate different control instructions. For example, taking the throttle control device as an example, in this scenario, the Figure 2 The power system 1 described in the figure may be a propulsion system, and the power device 11 in the power system 1 may be a propulsion device, the determination module 111 included in the power device 11 may be a propulsion control unit (such as an ECU), and the motor may be a propulsion motor. Figure 3 The structure example diagram of the corresponding power system 1 when the control device is a throttle control device is shown. Figure 3 The propulsion system includes a throttle operating device and a propulsion device. When the user operates the throttle control device, the throttle control device will output a corresponding throttle signal (a control instruction) to the propulsion device according to the user operation. The throttle signal is a throttle value, and the throttle value can be, but is not limited to, a throttle percentage or a throttle opening. Preferably, it is a throttle percentage. The propulsion device includes a propulsion control unit, a motor controller, a propulsion motor, etc. The propulsion control unit communicates with the throttle control device, which can be an electronic control unit (ECU). After receiving the throttle signal sent by the throttle control device, the propulsion control unit will convert the throttle signal into an input working parameter of the motor controller, and then output the input working parameter to the motor controller.

[0038] Among them, the input working parameter can be the product value of the throttle signal and the maximum working parameter of the corresponding propulsion motor. The above-mentioned input working parameters include input torque and input bus working parameters. For example, the input torque can be the product value of the throttle signal and the maximum torque of the propulsion motor, that is, input torque = throttle signal (such as throttle percentage) * maximum torque of the motor; the input bus working parameter can be input power or input bus current, and the input power can be the product value of the throttle signal and the maximum power of the propulsion motor. Then, the input bus current can be further calculated based on the input power. Specifically, the input bus current can be the ratio of the input power to the current bus voltage of the motor controller. From the above, that is, input power = throttle signal (such as throttle percentage) * maximum power of the propulsion motor, input bus current = input power / current bus voltage of the motor controller.

[0039] In some cases, the input power may be greater than the maximum power of the motor. For example, when the control device is a throttle control device, the user may push the throttle lever past the critical position, and the throttle percentage may exceed 100%. At this time, the corresponding input power will be greater than the maximum power of the motor. At this time, the maximum power of the motor should be controlled as the input power to avoid overload operation of the motor.

[0040] In some cases, the input power may oscillate around the maximum power of the motor. For example, when the control device is a throttle control device, after the user pushes the throttle lever to the critical position, the throttle lever may retreat from the critical position toward the neutral position due to factors such as the shaking of the hull, that is, the throttle percentage is not 100% at this time, and the user essentially wants to control it with a 100% throttle percentage. For this situation, when it is detected that the throttle percentage reaches 100% and oscillates within a predetermined range (e.g., 97%-100%), the maximum power of the motor can be used as the input power for control, so that the motor runs at a power that meets the user's expectations, thereby ensuring the user's experience.

[0041] It should be noted that the aforementioned input torque is also referred to as a given torque, the input power is also referred to as a given power, and the input bus current is also referred to as a given bus current. The maximum torque and maximum power of the propulsion motor may be pre-stored in the propulsion device, specifically, in the propulsion control unit, so as to be called when needed.

[0042] Regarding the specific implementation of determining the input torque and input bus working parameters of the corresponding motor controller according to the control instructions output by the control device when the user operates other types of control devices such as servos and joysticks, please refer to the relevant content described above using the throttle control device as an example or refer to the existing relevant content, and no further details will be given here.

[0043] In this embodiment, if Figure 4 As shown, the motor controller 112 includes a torque loop 1121, a bus loop 1122, a current operation unit 1123 (with a minimum value function (Min), etc.), and a current loop 1124. The torque loop 1121 includes a first difference operation unit and a first regulator. The bus loop 1122 includes a second difference operation unit and a second regulator. Both the first regulator and the second regulator can be PI regulators (also known as proportional integral controllers). After the motor controller 112 receives the input torque and the input bus operating parameters, the input torque is input into the torque loop 1121 therein, and the input bus operating parameters are input into the bus loop 1122 therein. Then, the torque loop 1121 will output the first input current Is1, and the bus loop 1122 will output the second input current Is2. The current calculation unit 1123 takes the minimum current of the first input current Is1 and the second input current Is2 as the target input current, and converts the target input current into the input current required by the current loop 1124 (such as the direct axis (d axis) input current Id_ref and the quadrature axis (q axis) input current Iq_ref described in other embodiments below), and outputs it to the current loop 1124, thereby completing the dual-loop control of the input torque and input power of the motor controller. Among them, the current loop 1124 can be a FOC (Field-Oriented Control, magnetic field oriented control) circuit, through which the current loop 1124 can provide the motor with the required target operating parameters to drive the motor to operate. The determination of the target operating parameters will be described in detail below and will not be described in detail here.

[0044] In a specific implementation, the first input current Is1 can be determined according to the input torque and the motor feedback torque fed back by the current loop 1124, and the second input current Is2 can be determined according to the input bus operating parameters and the feedback bus operating parameters fed back by the current loop 1124. Based on this, before triggering the execution of subsequent steps 102, 103, etc., the method provided in this embodiment can also include the following steps:

[0045] The feedback torque and feedback bus operating parameters of the motor are obtained.

[0046] Here, feedback torque refers to the feedback torque of the motor in the current control cycle. The control cycle can specifically refer to the drive control cycle of the motor by the current loop 1124, such as the FOC circuit. For the feedback torque, in one embodiment, the motor controller pre-stores a mapping relationship between the torque of the motor and the direct-axis current Id, the quadrature-axis current Iq, and the motor speed of the motor. After the motor controller knows the direct-axis current Id, the quadrature-axis current Iq, and the motor speed of the motor in the previous control cycle, it can also find out the feedback torque of the motor in the current control cycle according to the mapping relationship. In another embodiment, a sensor can be set in the motor to detect the torque of the motor to obtain the feedback torque of the motor. The feedback bus operating parameters can be detected by the corresponding sensors in the motor.

[0047] Furthermore, the above 102 “determining the first input current according to the input torque” may specifically include:

[0048] 1021. Determine the first input current according to the input torque and the feedback torque.

[0049] The above 103 “determining the second input current according to the input bus operating parameters” may specifically include:

[0050] 1031. Determine the second input current according to the input bus operating parameters and the feedback bus operating parameters.

[0051] In the above 1021, the first input current can be determined according to the difference between the input torque and the feedback torque. Figure 4 , the first difference calculation unit can be used to calculate the difference between the input torque and the feedback torque to obtain a first difference, and the first difference is input to the first regulator, and the first regulator will output the first input current Is1. Therefore, a specific implementation of the above step 1021 may include the following steps:

[0052] 10211. Calculate the difference between the input torque and the feedback torque to obtain a first difference;

[0053] 10212. Input the first difference to a first regulator, and output the first input current.

[0054] In the above 1031, the second input current can be determined according to the difference between the input bus operating parameter and the feedback bus current. Figure 4 , the second difference calculation unit can be used to calculate the difference between the input bus operating parameter and the feedback bus operating parameter to obtain a second difference, and the second difference is input to the second regulator, and the second regulator will output the second input current Is2. Therefore, a specific implementation of the above step 1031 may include the following steps:

[0055] 10311. Calculate the difference between the bus operating parameter and the feedback bus operating parameter to obtain a second difference;

[0056] 10312. Input the second difference into a second regulator and output the second input current.

[0057] It should be noted here that in one example, as shown in Figure 5a As shown, the aforementioned input bus operating parameter may be the input bus current, and correspondingly, the feedback bus operating parameter may be the feedback bus current, and the feedback bus current may be sensed by a corresponding current sensor in the motor. In another example, as shown in FIG. Figure 5b As shown, the aforementioned input bus operating parameter may be input power, and correspondingly, the feedback bus operating parameter may be feedback power. The feedback power may be determined based on the product of the feedback bus voltage and the feedback bus current in the current control cycle, that is, feedback power = feedback bus voltage * feedback bus current. The feedback bus voltage and feedback bus current may be detected by corresponding sensors, respectively. Among them, the input power may be determined based on the control instruction and the pre-stored maximum motor power, and the input bus current may be determined based on the input power and the current bus voltage. And the aforementioned input torque may be determined based on the control instruction and the pre-stored maximum motor torque. For the specific implementation of the determination of the input power, input bus current, and input torque, please refer to the aforementioned combination. Figure 3 The relevant content in the given example will not be described in detail here.

[0058] Further, see Figure 4 After determining the first input current Is1 and the second input current Is2, the current operation unit 1123 can be used to trigger the execution of the above step 104. That is, the first input current Is1 and the second input current Is2 will be input to the current operation unit 1123, and then the current operation unit 1123 will select the minimum current from the first input current Is1 and the second input current Is2 to determine it as the target input current Is. Further, the target input current Is can also be converted into the direct axis (d axis) input current Id_ref and the quadrature axis (q axis) input current Iq_ref of the motor, wherein the target input current See Figure 5a or Figure 5bAfter the direct-axis input current Id_ref and the quadrature-axis input current Iq_ref are input into the current loop (such as the FOC circuit), the direct-axis input current Id_ref and the direct-axis feedback current Id_fb of the motor in the current control cycle are differentially calculated, and the difference result obtained by the differential calculation is input into the third regulator (such as the PI regulator) to obtain the direct-axis input voltage Vd, and the quadrature-axis input current Iq_ref and the quadrature-axis feedback current Iq_fb of the motor in the current control cycle are differentially calculated, and the difference result obtained by the differential calculation is input into the fourth regulator (such as the PI regulator) to obtain the quadrature-axis input voltage Vq; wherein, the direct-axis feedback current Id_fb and the quadrature-axis feedback current Iq_fb of the motor in the current control cycle are obtained by collecting the three-phase currents Ia, Ib and Ic output by the motor in the previous control cycle, and calculating the two-phase currents Iα and Iβ after Clark transformation, and then the two-phase currents Iα and Iβ are obtained by Park transformation according to the rotor position θ of the motor in the previous control cycle. The above three-phase currents Ia, Ib and Ic are respectively the A-axis current, B-axis current and C-axis current in the three-phase stationary coordinate system ABC; the two-phase currents Iα and Iβ are respectively the α-axis current and β-axis current in the two-phase stationary coordinate system α-β. Furthermore, the quadrature-axis input voltage Vq of the above direct-axis input voltage Vd is subjected to an inverse Park transformation according to the rotor position θ of the motor in the previous control cycle to obtain the actually required voltages Vα and Vβ. The voltages Vα and Vβ are input to the SVPWW (space vector pulse width modulation) module. The SVPWW module modulates the voltages Vα and Vβ and outputs the three-phase input voltages Va, Vb and Vc required by the motor. The three-phase input voltages Va, Vb and Vc are the target operating parameters of the motor for driving the motor to work.

[0059] Based on the above content, the above 105 “determining the target operating parameters of the motor according to the target input current” may include:

[0060] 1051. Determine a direct-axis input current and a quadrature-axis input alternating current of the motor according to the target input current;

[0061] 1052. Determine a direct-axis feedback current and a quadrature-axis feedback current according to the three-phase current and the rotor position of the motor;

[0062] 1053. Determine the target operating parameter according to the direct-axis input current, the quadrature-axis input alternating current, the direct-axis feedback current, and the quadrature-axis feedback current.

[0063] In the above 106, the target operating parameters are, for example, the aforementioned three-phase input voltages Va, Vb and Vc, and the motor is driven to operate according to the target operating parameters.

[0064] In summary, the technical solution provided by this embodiment is that after the motor controller obtains the input operating parameters including input torque and input bus operating parameters indicated by the control instruction, it will determine the first input current according to the input torque, determine the second input current according to the input bus operating parameters, and determine the minimum current between the first input current and the second input current as the target input current, thereby determining the target operating parameters of the motor according to the target input current, and driving the motor to operate according to the target operating parameters. It can be seen that the solution of this application is to achieve the limitation of the input bus operating parameters (such as input power) of the motor controller by adding bus control without changing the original torque control model of the motor controller, so as to effectively avoid the battery overload operation causing the battery management system to trigger overload protection and make the battery unable to supply power, thereby ensuring the reliable power supply and normal operation of the motor.

[0065] The second embodiment of the present application also provides a motor controller, which can be an embedded system. Specifically, the motor controller may include: a memory and a processor. The above-mentioned memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. Specifically:

[0066] The above-mentioned memory is used to store programs;

[0067] The processor is coupled to the memory and is used to execute the program stored in the memory for the steps or functions in the motor control method provided in each embodiment of the present application.

[0068] Furthermore, the motor controller may also include an interface for communicating with the motor and sensors, etc.

[0069] For specific implementation, see Figure 2 , Figure 4 as well as Figure 5a , Figure 5b As shown, the motor controller may include: a dual-loop control circuit and a current loop 1124. Among them,

[0070] The dual-loop control circuit is used to obtain input operating parameters indicated by a control instruction, wherein the control instruction is generated by the control device when receiving a user operation, and the input operating parameters include an input torque and an input bus operating parameter determined based on the control instruction; a first input current is determined according to the input torque; a second input current is determined according to the input bus operating parameter; a minimum current between the first input current and the second input current is determined as a target input current; and a direct-axis input current Id_ref and a quadrature-axis input current Iq_ref of the motor are determined according to the target input current;

[0071] The current loop 1124 is electrically connected to the dual-loop control circuit, and is used to determine the target operating parameters of the motor according to the direct-axis input current Id_ref and the quadrature-axis input current Iq_ref; and drive the motor to operate according to the target operating parameters.

[0072] Furthermore, the dual-loop control circuit includes: a torque loop 1121, a bus loop 1122, and a current calculation unit 1123; wherein,

[0073] The torque loop 1121 is used to receive the feedback torque of the motor sent by the current loop 1124, and determine the first input current according to the input torque and the feedback torque of the motor;

[0074] The bus loop is used to receive the feedback bus operating parameters sent by the current loop 1124, and determine the second input current according to the input bus operating parameters and the feedback bus operating parameters;

[0075] The current calculation unit 1123 is used to determine the minimum current of the first current and the second current as the target input current, and convert the target input current into the direct-axis input current Id_ref and the quadrature-axis input current Iq_ref of the motor and output them to the current loop 1124;

[0076] Wherein, the input bus working parameter is the input bus current, and the feedback bus working parameter is the feedback bus current; or, the input bus working parameter is the input power, and the feedback bus working parameter is the feedback power. The input power is determined according to the control instruction and the pre-stored maximum power of the motor, the input bus current is determined according to the input power and the current bus voltage, and the input torque is determined according to the control instruction and the pre-stored maximum torque of the motor.

[0077] Furthermore, the torque loop 1121 includes: a first difference calculation unit and a first regulator. The first difference calculation unit is used to calculate the difference between the input torque and the feedback torque to obtain a first difference; the first regulator is used to output the first input current according to the first difference;

[0078] Furthermore, the bus loop 1122 includes: a second difference calculation unit and a second regulator. The second difference calculation unit is used to calculate the difference between the input bus operating parameter and the feedback bus operating parameter to obtain the second difference; and the second regulator is used to output the second input current according to the second difference.

[0079] The above-mentioned current loop 1124, when used to determine the target operating parameters of the motor based on the direct-axis input current Id_ref and the quadrature-axis input current Iq_ref, is specifically used to: determine the direct-axis feedback current and the quadrature-axis feedback current based on the three-phase current and rotor position of the motor; determine the target operating parameters based on the direct-axis input current, the quadrature-axis input current, the direct-axis feedback current, and the quadrature-axis feedback current.

[0080] For the specific functional implementation of each circuit in the motor controller provided in this embodiment, please refer to the relevant content in other embodiments, and will not be described in detail here.

[0081] The third embodiment of the present application also provides a power system. Figure 2 As shown, the power system 1 includes: a motor 113, and the motor controller 112 described in other embodiments of the present application, and the motor controller 112 is used to drive the motor to operate.

[0082] Furthermore, the power system further includes: a control device 10, and a power device 11 including a motor controller 112 and a motor 113. The control device 10 is used to generate the control instruction according to the user operation, and send the control instruction to the power device 11.

[0083] Among them, in addition to the motor controller 112 and the motor 113, the power device 11 may also include other components, such as a determination module 111. The determination module 111 may be an ECU, which communicates with the control device 10 and is used to determine the input operating parameters (including input torque and input bus operating parameters) of the motor controller 112 according to the control instruction, and send the input operating parameters to the motor controller 112.

[0084] The power system provided in this embodiment is applied to a movable device. Therefore, the present application also provides a movable device, which includes the power system provided in other embodiments of the present application.

[0085] During specific implementation, movable devices may be movable devices in water areas, movable devices on land, and movable devices in airspace. The movable devices in water areas may be ships, and ships may be commercial ships, passenger ships, yachts, fishing boats, sailboats, civilian ships, and other types of water transportation equipment. In addition, movable devices in water areas may also be water area inspection equipment, water area management equipment, water area environment monitoring equipment, and other equipment that can move in water areas, which is not limited in this embodiment. The movable devices on land may be, but are not limited to, vehicles, excavators, cranes, and other equipment. The movable devices in airspace may be, but are not limited to, aircraft, and other equipment.

[0086] In addition, in the scenario where the aforementioned motor is a propulsion motor and the control device is a throttle control device, the present application also provides a propulsion device (a propeller) used on a movable device and a propulsion system including the propulsion device. Specifically: See Figure 3 As shown, the provided propulsion device includes: a propulsion control unit and a motor controller provided in other embodiments of the present application. The propulsion control unit communicates with the motor controller, and is used to determine the input working parameters for the motor controller according to the received throttle signal, and send the input working parameters to the motor controller; the input working parameters include: input torque, input bus working parameters. The propulsion control unit may be an ECU. And, the provided propulsion system includes: a throttle control device, and the aforementioned propulsion device. The propulsion device communicates with the throttle control device, specifically, the propulsion control unit contained in the propulsion device communicates with the throttle control device. The throttle control device is used to output a throttle signal. In specific implementation, the throttle control device may include a control body and a throttle assembly installed on the control body and controllable. For example, the throttle control device may be a remote control box, and accordingly, the throttle assembly may be a throttle lever. For another example, the throttle control device may be a tiller. Accordingly, the throttle assembly may be a control handle. For another example, the throttle control device may be a wireless remote control stick, and accordingly, the throttle assembly may be a rocker, etc. The user can operate the throttle assembly by rotating or sliding, so that the throttle assembly moves relative to the control body.

[0087] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the processor executes the method steps provided in the above embodiments.

[0088] An embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the processor is caused to execute the method steps or functions provided in the above embodiments.

[0089] Through the description of the above implementation modes, those skilled in the art can clearly understand that each implementation mode can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on such an understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A motor control method, characterized in that: Applied to a motor controller; the motor control method comprises: Acquire input working parameters indicated by the control instruction, wherein the control instruction is generated when the control device receives a user operation, and the input working parameters include input torque and input bus working parameters determined based on the control instruction; determining a first input current according to the input torque; Determining a second input current according to the input bus operating parameter; determining a minimum current of the first input current and the second input current as a target input current; Determining a target operating parameter of the motor according to the target input current; The motor is driven to operate according to the target operating parameters.

2. The motor control method according to claim 1, characterized in that: The motor control method further comprises: Obtaining feedback torque and feedback bus operating parameters of the motor; And, determining the first input current according to the input torque comprises: determining the first input current according to the input torque and the feedback torque; And, determining the second input current according to the input bus operating parameter includes: The second input current is determined according to the input bus operating parameter and the feedback bus operating parameter.

3. The motor control method according to claim 2, characterized in that: The determining the first input current according to the input torque and the feedback torque comprises: calculating a difference between the input torque and the feedback torque to obtain a first difference; inputting the first difference into a first regulator to output the first input current; and / or The motor controller pre-stores a mapping relationship between torque and direct-axis current, quadrature-axis current and motor speed. The feedback torque of the current control cycle is determined based on the mapping relationship and the direct-axis current, quadrature-axis current and motor speed of the previous control cycle of the current control cycle.

4. The motor control method according to claim 2, characterized in that: The determining the second input current according to the input bus operating parameter and the feedback bus operating parameter comprises: Calculating a difference between the bus operating parameter and the feedback bus operating parameter to obtain a second difference; The second difference is input into the second regulator, and the second input current is output.

5. The motor control method according to any one of claims 2 to 4, characterized in that: The input bus operating parameter is the input bus current, and the feedback bus operating parameter is the feedback bus current; or The input bus operating parameter is input power, and the feedback bus operating parameter is feedback power.

6. The motor control method according to claim 5, characterized in that: The input power is determined according to the control instruction and the pre-stored maximum power of the motor; The input bus current is determined according to the input power and the current bus voltage; The input torque is determined according to the control command and a pre-stored maximum torque of the motor.

7. The motor control method according to claim 1, characterized in that: Determining the target operating parameter of the motor according to the target input current includes: Determine a direct-axis input current and a quadrature-axis input current according to the target input current; Determine the direct-axis feedback current and the quadrature-axis feedback current according to the three-phase current and the rotor position of the motor; The target operating parameter is determined according to the direct-axis input current, the quadrature-axis input current, the direct-axis feedback current, and the quadrature-axis feedback current.

8. A motor controller, characterized in that: include: A memory and a processor; wherein, The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the motor control method according to any one of claims 1 to 7.

9. A power system, characterized in that: include: Motor; and The motor controller as described in claim 8 is used to drive the motor to operate.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program or instruction; when the computer program or instruction is executed by a processor, the processor executes the steps in the motor control method described in any one of claims 1 to 7.

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