Motor belt speed restarting control method, device, equipment and medium

Abstract

The invention discloses a motor belt speed restarting control method, device and equipment and a medium, and the method comprises the steps: obtaining the counter electromotive force of a motor; determining a motor rotating speed reference value corresponding to the counter electromotive force; the motor is controlled to be started based on the motor rotating speed reference value and preset exciting current, and the preset exciting current is larger than rated exciting current of the motor. According to the technical scheme, the preset exciting current larger than the rated exciting current of the motor is set for the motor, the motor is controlled to be started according to the preset exciting current and the motor rotating speed reference value, the motor is started through the preset exciting current larger than the rated exciting current, and therefore the rotor flux linkage can be rapidly established by the motor, and the efficiency of the motor is improved. The motor can quickly reach the optimal operation state after restarting, and the effect of improving the belt speed restarting success rate of the motor can be achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor control, and in particular relates to a motor belt speed re-throw control method, device, equipment and medium. Background Art

[0002] Due to the large inertia of large motor traction systems, it often takes a long waiting process from the start-up and shutdown to the complete stop of the system. This long waiting process not only reduces production efficiency, but also increases energy consumption and operating costs. In order to overcome this bottleneck, the motor will be started directly when it has not completely stopped and is still rotating, which is called flying start, speed tracking, or belt speed re-throw.

[0003] When a motor with no speed vector control is re-started at speed, the rotor flux decays rapidly when the motor stops. If the motor is started directly, there is often a problem of insufficient output torque. Especially under heavy load conditions, it is difficult to prevent the speed from dropping, which affects the success rate and stability of the re-start at speed. Summary of the invention

[0004] The embodiment of the present invention provides an implementation scheme different from the related art to solve the technical problem of low success rate of motor belt speed re-throw in the related art.

[0005] In a first aspect, the present invention provides a motor belt speed re-throw control method, comprising:

[0006] Get the back EMF of the motor;

[0007] Determine a motor speed reference value corresponding to the back electromotive force;

[0008] The motor is controlled to start based on the motor speed reference value and a preset excitation current, wherein the preset excitation current is greater than a rated excitation current of the motor.

[0009] In a second aspect, the present invention provides a motor belt speed re-throw control device, comprising:

[0010] An acquisition unit, used for acquiring the back electromotive force of the motor;

[0011] A determination unit, used to determine a motor speed reference value corresponding to the back electromotive force;

[0012] A control unit is used to control the starting of the motor based on the motor speed reference value and a preset excitation current, wherein the preset excitation current is greater than the rated excitation current of the motor.

[0013] In a third aspect, the present invention provides an electronic device, comprising:

[0014] Processor; and

[0015] A memory, configured to store executable instructions of the processor;

[0016] The processor is configured to execute the first aspect, or any method in any possible implementation manner of the first aspect, by executing the executable instructions.

[0017] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the computer program implements the first aspect, or any method in any possible implementation manner of the first aspect.

[0018] The present invention provides methods for obtaining the back EMF of a motor; determining a motor speed reference value corresponding to the back EMF; and controlling the starting of the motor based on the motor speed reference value and a preset excitation current, wherein the preset excitation current is greater than the rated excitation current of the motor, obtaining the back EMF of the motor after it is stopped but not yet completely stationary, and determining the motor speed reference value corresponding to the back EMF, setting a preset excitation current greater than the rated excitation current of the motor for the motor, and controlling the starting of the motor according to the preset excitation current and the motor speed reference value. Starting the motor with a preset excitation current greater than the rated excitation current can enable the motor to quickly establish rotor flux, which helps the motor to quickly reach an optimal operating state after re-starting, thereby achieving the technical effect of improving the success rate of re-starting the motor with speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0020] Figure 1 A schematic flow chart of a motor belt speed re-throw control method provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a flow chart of determining a motor speed reference value corresponding to a back electromotive force provided by an embodiment of the present invention;

[0022] Figure 3 A system block diagram of a dual-loop control system provided by an embodiment of the present invention;

[0023] Figure 4 A timing diagram of a preset excitation current change provided by an embodiment of the present invention;

[0024] Figure 5 A torque current variation timing diagram provided by an embodiment of the present invention;

[0025] Figure 6 A timing diagram of the change of the motor output voltage provided by an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the structure of a motor belt speed re-throw control device provided by an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0029] The terms "first" and "second" and the like in the specification, claims and drawings of the embodiments of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or precedence. It should be understood that the data used in this way can be interchanged where appropriate, so that the present scheme can be implemented in other orders in addition to the order illustrated or described in the present invention. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] First, some terms in the embodiments of the present invention are explained below to facilitate understanding by those skilled in the art.

[0031] A PI regulator is a feedback controller that receives a deviation signal (i.e., the difference between the set value and the actual value) and outputs a control signal to reduce this deviation. In motor control, PI regulators are usually used to control parameters such as motor current, voltage, or position.

[0032] Belt speed re-throw: Belt speed re-throw means that after the motor stops but has not completely stopped, the motor can quickly restart and enter normal operation when it is restarted. This technology is of great significance to improving the reliability of the power system and reducing equipment downtime. Especially in high-power traction motors and speed sensorless control systems, belt speed re-throw technology is particularly important.

[0033] When the asynchronous motor stops, the rotor magnetic field of the motor decays rapidly, and the motor back electromotive force drops rapidly. At this time, the motor is started with the speed vectorless algorithm, and the current inner loop of the algorithm can quickly achieve current closed loop. Since the back electromotive force is very low at this time, although the current is closed, the output voltage is very low, and it is difficult to establish the rated flux. The low flux will lead to low output torque, making it difficult to achieve speed re-start.

[0034] In order to solve this technical problem, the present invention provides a motor belt speed re-throw control method, device, equipment and medium, which are used to solve the technical problem of low success rate of motor belt speed re-throw.

[0035] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0036] Figure 1 A flow chart of a motor belt speed re-throw control method provided by an exemplary embodiment of the present invention is provided. The method can be applied to a motor control device or a motor control system. The method at least includes the following S11-S13:

[0037] S11, obtaining the back electromotive force of the motor;

[0038] A motor is an electromagnetic device that converts or transmits electrical energy based on the law of electromagnetic induction.

[0039] In a specific embodiment provided by the present invention, the motor may be an asynchronous motor.

[0040] Specifically, the motor control device obtains the back electromotive force of the motor after the motor stops but before it completely stops. The back electromotive force of the motor can be calculated according to the electrical parameters and operating status of the motor.

[0041] S12, determining a motor speed reference value corresponding to the back electromotive force;

[0042] After the motor control device obtains the back electromotive force of the motor, it needs to determine a motor speed reference value of the motor according to the back electromotive force.

[0043] In some embodiments, in S12, determining a motor speed reference value corresponding to the back electromotive force includes the following S121-S123:

[0044] S121, performing coordinate transformation on a first three-phase voltage signal of the back electromotive force in a three-phase stationary coordinate system to obtain a first direct-axis voltage and a first quadrature-axis voltage of the back electromotive force in a two-phase rotating coordinate system;

[0045] In some embodiments, in S121, coordinate transformation is performed on the first three-phase voltage signal of the back electromotive force in the three-phase stationary coordinate system to obtain the first direct-axis voltage and the first quadrature-axis voltage of the back electromotive force in the two-phase rotating coordinate system, including the following S1211-S1212:

[0046] S1211, transforming a first three-phase voltage signal of the back electromotive force in a three-phase stationary coordinate system into a first two-phase voltage signal in a two-phase stationary coordinate system;

[0047] See also Figure 2 , Figure 2 A schematic diagram of a flow chart of determining a motor speed reference value corresponding to a back electromotive force provided in an embodiment of the present invention.

[0048] Specifically, first obtain the first three-phase voltage signal U of the back electromotive force in the three-phase stationary coordinate system abc coordinate system a1 , U b1 , U c1 , the first three-phase voltage signal U in the abc coordinate system a1 , U b1 , U c1 Transformed into a voltage signal in the two-phase stationary coordinate system α-β coordinate system, the first two-phase voltage signal U in the α-β coordinate system is obtained α1 and U β1 .

[0049] Specifically, U can be determined by the following formula: α1 and U β1 :

[0050] Formula 1:

[0051] S1212: transform the first two-phase voltage signal into a first direct-axis voltage and a first quadrature-axis voltage in a two-phase rotating coordinate system.

[0052] Obtain the first two-phase voltage signal U corresponding to the back electromotive force α1 and U β1 After that, the two-phase voltage signal in the α-β coordinate system is transformed into the voltage signal in the two-phase rotating coordinate system dq coordinate system, that is, the first straight axis voltage U d1 and the first quadrature axis voltage U q1 .

[0053] Specifically, U can be determined by the following formula 2 d1 and U q1 :

[0054] Formula 2:

[0055] Where f represents the motor speed. When this step is executed for the first time, the value of f is the initial value set by the relevant personnel. d1 and U q1 , where f is the historical motor speed reference value output by the first PI regulator.

[0056] like Figure 2 As shown, U a1 , U b1 , U c1 Transform to U d1 and U q1 After that, you can also use U d1 and U q1 The modulus Emod of the back electromotive force is calculated.

[0057] S122, comparing the expected value corresponding to the first quadrature-axis voltage with the first quadrature-axis voltage to obtain a voltage deviation;

[0058] like Figure 2 As shown, the first quadrature axis voltage U q1 After that, U q1 The expected value U corresponding to the first quadrature axis voltage q *Compare and get the voltage deviation.

[0059] Specifically, the expected value U corresponding to the first quadrature-axis voltage can be q * Subtract the first quadrature axis voltage U q1 , and get the voltage deviation.

[0060] In some embodiments, U q *=0.

[0061] S123, inputting the voltage deviation into a first proportional-integral PI regulator to obtain a motor speed reference value corresponding to the back electromotive force.

[0062] After the voltage deviation is obtained, the voltage deviation is input into the first PI regulator to obtain a motor speed reference value f corresponding to the back electromotive force.

[0063] The transfer function W(s) of the first PI regulator is as follows:

[0064] Formula 3:

[0065] Among them, K is the gain of the first PI regulator, which determines the instantaneous response speed of the system to the current deviation, τ is a parameter related to the integral time constant, which is used to eliminate the steady-state error of the system, and s corresponds to the first quadrature-axis voltage U of the input signal of the first PI regulator after the relevant transformation processing. q1 The values ​​of K and T can be reasonably set according to the actual application scenario and control requirements, and the present invention does not impose any specific restrictions on this.

[0066] The method for calculating the motor speed reference value corresponding to the back-electromotive force provided in the embodiment of the present invention can complete the speed calculation of the motor without speed vector control, that is, the motor speed estimation and control can be completed without using a traditional speed sensor, thereby saving costs and simplifying the structure of the motor control system.

[0067] like Figure 2 As shown, the first PI regulator is connected to the integrator 1 / S to calculate the phase angle θ corresponding to the back electromotive force, which is further input into the sine function-cosine function sin- cos The calculation module inputs the output result into the transformation module of the dq coordinate system to the α-β coordinate system, which is used to transform the first two-phase voltage signal U corresponding to the back electromotive force α1 and U β1 Transformed into the first straight-axis voltage U d1 and the first quadrature axis voltage U q1 .

[0068] S13. Control the motor to start based on the motor speed reference value and a preset excitation current, wherein the preset excitation current is greater than the rated excitation current of the motor.

[0069] After the motor control device obtains the motor speed reference value, it controls the motor start-up according to the motor speed reference value and the preset excitation current.

[0070] The specific value of the preset excitation current can be reasonably set by relevant personnel.

[0071] In a specific embodiment provided by the present invention, the preset excitation current has a value range of 1.5 times to 2 times of the rated excitation current.

[0072] Starting the motor with a preset excitation current greater than the rated excitation current can enable the motor to quickly establish rotor flux, which helps the motor to quickly reach the optimal operating state after re-starting, thereby achieving the technical effect of improving the success rate of motor speed re-starting.

[0073] In other embodiments, the motor may be driven to start according to a motor speed reference value, a modulus value, a phase angle and a preset excitation current corresponding to the back electromotive force.

[0074] In some embodiments, in S13, controlling the motor start-up based on the motor speed reference value and the preset excitation current includes the following S131-S137:

[0075] The motor control device uses a dual-loop control system with a current inner loop and a speed outer loop to control the motor start based on the motor speed reference value and the preset excitation current. Figure 3 , Figure 3 A system block diagram of a dual-loop control system provided in an embodiment of the present invention.

[0076] S131, determining the torque current based on the motor speed reference value and the motor speed estimation value;

[0077] The motor control device obtains a motor speed reference value and a motor speed estimation value, and determines a torque current according to the motor speed reference value and the motor speed estimation value.

[0078] The motor speed estimate is based on the second quadrature axis voltage U q2 and the second direct axis voltage U d2 Sure.

[0079] For details, see Figure 2 , the second quadrature axis voltage U q2 and the second direct axis voltage U d2 Input the inverse park transformation module, in the inverse park transformation module, U q2 and U d2 Perform coordinate transformation from the two-phase rotating coordinate system to the two-phase stationary coordinate system to obtain the second two-phase voltage signal U in the two-phase stationary coordinate system. α2 and U β2 , U q2 and U d2 It can also be processed by the coordinate transformation module, frequency converter, and Clark transformation module in sequence to obtain U q2 and U d2 The corresponding current signal I in the two-phase stationary coordinate system α and I β The speed estimation module further calculates the voltage signal U α2 and U β2 , and the current signal I α and I β The estimated value of the motor speed is calculated.

[0080] Among them, the coordinate transformation module is used to transform the voltage signal U in the two-phase rotating coordinate system q2 and U d2 Transformed into the voltage signal U in the three-phase stationary coordinate system a2 , U b2 , U c2 .

[0081] The frequency converter is used to convert the voltage signal U a2 , U b2 , U c2 Converted into a current signal I to drive the motor a ,I b ,I c , the Clark transformation module is used to transform I a ,I b ,I cPerform coordinate transformation from the three-phase stationary coordinate system to the two-phase stationary coordinate system to obtain I α and I β .

[0082] The coordinate transformation processing process corresponding to the Clark transformation module is consistent with the principle of the above formula 1, which will not be repeated here.

[0083] The coordinate transformation processing process corresponding to the inverse park transformation module can be expressed as the following formula 4:

[0084] Formula 4:

[0085] Among them, ω is the speed estimation module according to U α2 , U β2 ,I α and I β Calculated rotor magnetic field angle of the motor.

[0086] In some embodiments, in S131, determining the torque current based on the motor speed reference value and the motor speed estimation value includes:

[0087] Subtract the motor speed estimate from the motor speed reference value to obtain the speed deviation;

[0088] The speed deviation is input into the fourth PI regulator to obtain the torque current.

[0089] In some embodiments, the motor speed reference value may be subtracted from the motor speed estimate value to obtain a speed deviation, which is then input into the fourth PI regulator (i.e. Figure 3 The speed loop PI regulator shown in Figure 3 is used to obtain the torque current.

[0090] S132, determining a first current deviation based on the torque current and the torque current feedback signal;

[0091] In some embodiments, the torque current can be subtracted from the torque current feedback signal to obtain the first current deviation, and the torque current feedback signal is based on the second quadrature axis voltage U q2 and the second direct axis voltage U d2 Determined. Figure 3 As shown, U q2 and U d2 The excitation current feedback signal and the torque current feedback signal are obtained by processing the coordinate transformation module, the frequency converter, the Clark transformation module and the Park transformation module respectively. The data processing process of the Park transformation module is consistent with the principle of the above formula 2 and will not be repeated here.

[0092] S133, inputting the first current deviation into a second PI regulator to obtain a second quadrature-axis voltage in a two-phase rotating coordinate system;

[0093] Specifically, after the motor control device obtains the first current deviation, the first current deviation is input into the second PI regulator (i.e. Figure 3 The torque current PI regulator shown in FIG. 1 is used to obtain the second quadrature axis voltage U a2 .

[0094] S134, determining a second current deviation based on a preset excitation current and an excitation current feedback signal;

[0095] In some embodiments, Figure 3 As shown, determining the second current deviation based on the preset excitation current and the excitation current feedback signal includes: subtracting the excitation current feedback signal from the preset excitation current to obtain the second current deviation.

[0096] S135, inputting the second current deviation into a third PI regulator to obtain a second direct-axis voltage in a two-phase rotating coordinate system;

[0097] After obtaining the second current deviation, the second current deviation is input into the third PI regulator (i.e. Figure 3 The excitation current PI regulator shown in FIG. 1 is used to obtain the second direct-axis voltage U in the two-phase rotating coordinate system. d2 .

[0098] S136, determining a second three-phase voltage signal in a three-phase stationary coordinate system according to the second quadrature-axis voltage and the second direct-axis voltage;

[0099] Specifically, Figure 3 As shown, the second quadrature axis voltage U q2 and the second direct axis voltage U d2 Perform coordinate transformation to obtain the second three-phase voltage signal U in the three-phase stationary coordinate system a2 , U b2 , U c2 .

[0100] like Figure 3 As shown, the input U q2 , U d2 The coordinate transformation module is used to transform the coordinates and obtain the second three-phase voltage signal U a2 , U b2 , U c2 .

[0101] S137, controlling the motor to start according to the second three-phase voltage signal;

[0102] In some embodiments, according to the second three-phase voltage signal U a2 , U b2 , U c2 Control motor starting, including:

[0103] The second three-phase voltage signal U a2 , U b2 , U c2 Converted into three-phase current signal I a ,I b ,I c , according to the three-phase current signal I a ,I b ,I c Drive motor.

[0104] In some embodiments, Figure 3 As shown, the second three-phase voltage signal U a2 , U b2 , U c2 Converted into three-phase current signal I a ,I b ,I c .

[0105] In some embodiments, the inverter includes an insulated gate bipolar transistor (IGBT) power device, and the IGBT power device is used to output I a ,I b ,I c , thereby driving the motor.

[0106] In some embodiments, the method further includes the following S14-S15:

[0107] S14, maintaining the preset excitation current unchanged within the preset time after the motor is started;

[0108] The preset excitation current is maintained unchanged within a preset time after the motor is started. Since the preset excitation current is greater than the rated excitation current of the motor, maintaining the preset excitation current can provide sufficient magnetic field strength to help the motor quickly overcome static friction and inertia load, and quickly establish stator flux and rotor flux. As the torque current gradually increases, the motor output torque increases, and the motor output voltage increases, thereby improving the success rate of the motor's speed re-start.

[0109] Among them, the specific value of the preset time for maintaining the preset excitation current can be reasonably set by relevant personnel according to the actual application scenario.

[0110] In some embodiments, the preset time ranges from 5s to 50s.

[0111] S15. After the preset time is reached, the preset excitation current is adjusted to the rated excitation current.

[0112] After the preset time is reached, the preset excitation current is gradually adjusted to the rated excitation current, the motor completes the speed re-start, and the motor enters the normal operating state. The rated excitation current of the motor can be obtained by referring to the technical specification of the motor or by actual measurement.

[0113] See also Figure 4-6 , Figure 4 For the timing diagram of the preset excitation current change provided in the embodiment of the present invention, see Figure 4 The preset time is set to 10s. Within 10s, the preset excitation current is maintained at twice the rated excitation current 2I o unchanged, after 10s, the preset excitation current is adjusted to the rated excitation current I o It should be noted that in order to show that the preset excitation current is not a sudden change but a gradual increase or decrease, Figure 4 The process of the preset excitation current changing is shown in FIG. 1 , but in fact the changing time (including increase and decrease) of the preset excitation current is very short and can be ignored compared to the maintaining time of the preset excitation current.

[0114] Figure 5 For the torque current variation timing diagram provided in the embodiment of the present invention, see Figure 5 , after the motor starts, the torque current I q During the maintenance of the preset excitation current, it gradually increases. After the preset excitation current returns to the rated excitation current, the torque current I q Gradually stabilize.

[0115] Figure 6 For the timing diagram of the change of the motor output voltage provided by the embodiment of the present invention, see Figure 6 After the motor starts, the motor output voltage U o (can be the second three-phase voltage signal U a2 , U b2 , U c2 Any one of them) gradually increases during the maintenance of the preset excitation current. Before and after the preset excitation current returns to the rated excitation current, the motor output voltage U o There will be a small drop and then quickly return to normal.

[0116] The present invention provides methods for obtaining the back EMF of a motor; determining a motor speed reference value corresponding to the back EMF; controlling the motor start-up based on the motor speed reference value and a preset excitation current, wherein the preset excitation current is greater than the rated excitation current of the motor, obtaining the back EMF of the motor after it has stopped but not yet completely stopped, and determining the motor speed reference value corresponding to the back EMF, setting a preset excitation current greater than the rated excitation current of the motor for the motor, controlling the motor start-up according to the preset excitation current and the motor speed reference value, and starting the motor using the preset excitation current greater than the rated excitation current can enable the motor to quickly establish rotor flux, which helps the motor to quickly reach an optimal operating state after re-starting, thereby achieving the technical effect of improving the success rate of re-starting the motor with speed.

[0117] Figure 7 A schematic structural diagram of a motor belt speed re-throw control device provided by an exemplary embodiment of the present invention;

[0118] The device comprises:

[0119] An acquisition unit 71, used for acquiring the back electromotive force of the motor;

[0120] A determination unit 72, used to determine a motor speed reference value corresponding to the back electromotive force;

[0121] The control unit 73 is used to control the motor start-up based on the motor speed reference value and the preset excitation current, wherein the preset excitation current is greater than the rated excitation current of the motor.

[0122] In some embodiments, the device is further configured to:

[0123] Maintain the preset excitation current within the preset time after the motor starts;

[0124] After the preset time is reached, the preset excitation current is adjusted to the rated excitation current.

[0125] In some embodiments, the preset time ranges from 5s to 50s.

[0126] In some embodiments, the preset excitation current ranges from 1.5 times to 2 times the rated excitation current.

[0127] In some embodiments, when the determination unit 72 is used to determine the motor speed reference value corresponding to the back electromotive force, it is specifically used to:

[0128] Performing coordinate transformation on the first three-phase voltage signal of the back electromotive force in the three-phase stationary coordinate system to obtain a first direct-axis voltage and a first quadrature-axis voltage of the back electromotive force in the two-phase rotating coordinate system;

[0129] Comparing the expected value corresponding to the first quadrature-axis voltage with the first quadrature-axis voltage to obtain a voltage deviation;

[0130] The voltage deviation is input into the first proportional-integral PI regulator to obtain a motor speed reference value corresponding to the back electromotive force.

[0131] In some embodiments, when the control unit 73 is used to control the motor start-up based on the motor speed reference value and the preset excitation current, it is specifically used to:

[0132] determining a torque current based on a motor speed reference value and a motor speed estimate value;

[0133] determining a first current deviation based on the torque current and the torque current feedback signal;

[0134] Inputting the first current deviation into a second PI regulator to obtain a second quadrature-axis voltage in a two-phase rotating coordinate system;

[0135] determining a second current deviation based on a preset excitation current and an excitation current feedback signal;

[0136] Inputting the second current deviation into a third PI regulator to obtain a second direct-axis voltage in a two-phase rotating coordinate system;

[0137] Determine a second three-phase voltage signal in a three-phase stationary coordinate system according to the second quadrature-axis voltage and the second direct-axis voltage;

[0138] controlling the motor to start according to the second three-phase voltage signal;

[0139] The motor speed estimate is determined based on the second quadrature-axis voltage and the second direct-axis voltage.

[0140] In some embodiments, when the device is used to determine the torque current based on the motor speed reference value and the motor speed estimation value, it is specifically used to:

[0141] Subtract the motor speed estimate from the motor speed reference value to obtain the speed deviation;

[0142] The speed deviation is input into the fourth PI regulator to obtain the torque current.

[0143] It should be understood that the device embodiment and the method embodiment may correspond to each other, and similar descriptions may refer to the method embodiment. To avoid repetition, no further description is given here. Specifically, the device may perform the above method embodiment, and the above and other operations and / or functions of each module in the device are the corresponding processes in each method in the above method embodiment, respectively, and no further description is given here for the sake of brevity.

[0144] The above describes the device of the embodiment of the present invention from the perspective of the functional module in conjunction with the accompanying drawings. It should be understood that the functional module can be implemented in hardware form, can be implemented by instructions in software form, and can also be implemented by a combination of hardware and software modules. Specifically, the steps of the method embodiment in the embodiment of the present invention can be completed by the hardware integrated logic circuit and / or software instructions in the processor, and the steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor to execute, or a combination of hardware and software modules in the decoding processor to execute. Optionally, the software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps in the above method embodiment in conjunction with its hardware.

[0145] Figure 8is a schematic block diagram of an electronic device provided by an embodiment of the present invention, and the electronic device may include:

[0146] The memory 801 and the processor 802, the memory 801 is used to store the computer program and transmit the program code to the processor 802. In other words, the processor 802 can call and run the computer program from the memory 801 to implement the method in the embodiment of the present invention.

[0147] For example, the processor 802 may be configured to execute the above method embodiments according to instructions in the computer program.

[0148] In some embodiments of the present invention, the processor 802 may include but is not limited to:

[0149] General-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc.

[0150] In some embodiments of the present invention, the memory 801 includes but is not limited to:

[0151] Volatile memory and / or non-volatile memory. Among them, the non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM) or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0152] In some embodiments of the present invention, the computer program may be divided into one or more modules, which are stored in the memory 801 and executed by the processor 802 to complete the method provided by the present invention. The one or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device.

[0153] like Figure 8 As shown, the electronic device may also include:

[0154] The transceiver 803 may be connected to the processor 802 or the memory 801 .

[0155] The processor 802 may control the transceiver 803 to communicate with other devices, specifically, to send information or data to other devices, or to receive information or data sent by other devices. The transceiver 803 may include a transmitter and a receiver. The transceiver 803 may further include an antenna, and the number of antennas may be one or more.

[0156] It should be understood that the various components in the electronic device are connected via a bus system, wherein the bus system includes not only a data bus but also a power bus, a control bus and a status signal bus.

[0157] The present invention also provides a computer storage medium on which a computer program is stored, and when the computer program is executed by a computer, the computer can perform the method of the above method embodiment. In other words, the present invention also provides a computer program product containing instructions, and when the instructions are executed by a computer, the computer can perform the method of the above method embodiment.

[0158] When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integration. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (digital video disc, DVD)), or a semiconductor medium (e.g., a solid state disk (solid state disk, SSD)), etc.

[0159] Those skilled in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0160] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the module is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0161] The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. For example, the functional modules in various embodiments of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0162] In the embodiments of the present invention, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of an overall module or unit that includes the function of the module or unit.

[0163] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A motor belt speed re-throw control method, characterized in that: include: Get the back EMF of the motor; Determine a motor speed reference value corresponding to the back electromotive force; The motor is controlled to start based on the motor speed reference value and a preset excitation current, wherein the preset excitation current is greater than a rated excitation current of the motor.

2. The method according to claim 1, characterized in that The method further comprises: Maintaining the preset excitation current unchanged within a preset time after the motor is started; After the preset time is reached, the preset excitation current is adjusted to the rated excitation current.

3. The method according to claim 2, characterized in that The preset time ranges from 5s to 50s.

4. The method according to claim 1, characterized in that: The preset excitation current has a value range of 1.5 to 2 times of the rated excitation current.

5. The method according to claim 1, characterized in that The step of determining a motor speed reference value corresponding to the back electromotive force comprises: Performing coordinate transformation on a first three-phase voltage signal of the back electromotive force in a three-phase stationary coordinate system to obtain a first direct-axis voltage and a first quadrature-axis voltage of the back electromotive force in a two-phase rotating coordinate system; Comparing the expected value corresponding to the first quadrature-axis voltage with the first quadrature-axis voltage to obtain a voltage deviation; The voltage deviation is input into a first proportional-integral (PI) regulator to obtain the motor speed reference value corresponding to the back electromotive force.

6. The method according to claim 1, characterized in that The controlling the motor start-up based on the motor speed reference value and the preset excitation current comprises: determining a torque current based on the motor speed reference value and the motor speed estimation value; determining a first current deviation based on the torque current and a torque current feedback signal; Inputting the first current deviation into a second PI regulator to obtain a second quadrature-axis voltage in a two-phase rotating coordinate system; Determining a second current deviation based on the preset excitation current and the excitation current feedback signal; Inputting the second current deviation into a third PI regulator to obtain a second direct-axis voltage in a two-phase rotating coordinate system; Determine a second three-phase voltage signal in a three-phase stationary coordinate system according to the second quadrature-axis voltage and the second direct-axis voltage; Controlling the motor to start according to the second three-phase voltage signal; The motor speed estimate is determined based on the second quadrature-axis voltage and the second direct-axis voltage.

7. The method according to claim 6, characterized in that The method of determining the torque current based on the motor speed reference value and the motor speed estimation value comprises: Subtract the motor speed estimation value from the motor speed reference value to obtain a speed deviation; The rotation speed deviation is input into the fourth PI regulator to obtain the torque current.

8. A motor belt speed re-throw control device, characterized in that: include: An acquisition unit, used for acquiring the back electromotive force of the motor; A determination unit, used to determine a motor speed reference value corresponding to the back electromotive force; A control unit is used to control the starting of the motor based on the motor speed reference value and a preset excitation current, wherein the preset excitation current is greater than the rated excitation current of the motor.

9. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to perform the method of any one of claims 1 to 7 by executing the executable instructions.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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