Method, apparatus and medium for reducing motor noise

Abstract

Embodiments of the present disclosure relate to a method, device and medium for reducing noise of a motor, the motor being a permanent magnet synchronous motor based on vector control, the method comprising performing interruptions on the motor at a first frequency and a second frequency, respectively, based on a predetermined timing sequence; when the interruption is executed on the second frequency, performing filtering processing on a vector control PWM duty ratio signal of the motor by using a multi-order weighted sliding mean filter so as to filter out a high-frequency harmonic component; performing compensation of the target phase compensation amount on the rotor angle of the motor when the interruption is performed on the first frequency; and performing space vector modulation on the interrupted output of the vector control PWM duty cycle signal of the motor, thereby obtaining the PWM duty cycle signal for reducing the noise of the motor.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and more specifically, to a method, a device and a medium for reducing noise of a vector-controlled permanent magnet synchronous motor. Background Art

[0002] Motors are widely used devices that convert electrical energy into kinetic energy. Taking permanent magnet synchronous motors (PMSM) as an example, they are widely used in modern industry due to their high power density, excellent energy efficiency and fast dynamic response.

[0003] PMSM, or permanent magnet synchronous motor, is widely used in aerospace, CNC machine tools, electric vehicles and other fields due to its simple structure, high reliability, high power density, high torque density and excellent speed regulation performance. High-performance permanent magnet synchronous motor drive systems require real-time and accurate acquisition of rotor position information. The currently used mechanical position sensors (such as resolvers, Hall elements, encoders, etc.) have poor environmental adaptability, which will increase the size and cost of the motor drive system and reduce the reliability of the system. Therefore, low-cost, high-precision, high-reliability permanent magnet synchronous motor position sensorless control technology has become a hot topic of research at home and abroad.

[0004] At present, the permanent magnet synchronous motor position sensorless control method often adopts the field oriented FOC control method. When low-speed sensorless permanent magnet synchronous motor (electrical frequency of about 250Hz, such as air conditioner fan) uses FOC control, reducing the current loop control frequency can save chip resources, but it will generate electromagnetic noise. At present, no technical solution has been found to optimize electromagnetic noise.

[0005] Therefore, a method for reducing the electromagnetic noise of a FOC controlled motor is needed. Summary of the invention

[0006] In view of the above problems, the present disclosure provides a method, device and medium for reducing motor noise. The above method can significantly improve control performance while reducing noise level, providing efficient and quiet motor drive solutions for various applications.

[0007] According to a first aspect of the present disclosure, there is provided a method for interrupting a motor at a first frequency and a second frequency respectively based on a predetermined timing; when the interruption is performed at the second frequency, filtering processing is performed on the vector control PWM duty cycle signal of the motor using a multi-order weighted sliding mean filter to filter out high-frequency harmonic components; when the interruption is performed at the first frequency, compensation of a target phase compensation amount is performed on the rotor angle of the motor; and space vector modulation is performed on the output of the vector control PWM duty cycle signal of the interrupted motor, thereby obtaining a PWM duty cycle signal for reducing motor noise.

[0008] In one embodiment, executing interrupts at a first frequency and a second frequency includes: in the first frequency interrupt, obtaining the three-phase current of the motor through a sampling resistor; determining the rotor angle and speed of the motor through a sensorless observer; subjecting the collected three-phase current to Clarke transformation to obtain Iα and Iβ; subjecting Iα and Iβ and the determined rotor angle to Park transformation to obtain a d-axis current Id and a q-axis current Iq; and passing the d-axis current Id and the q-axis current Iq through a PI regulator respectively, thereby obtaining a d-axis voltage Ud and a q-axis voltage Uq.

[0009] In one embodiment, compensating the target phase compensation amount for the rotor angle of the motor includes: determining the target phase compensation amount to be compensated based on a multi-order weighted sliding mean filter; performing phase compensation on the rotor angle based on the target phase compensation amount to be compensated; based on the rotor angle after phase compensation, obtaining Ualpha and Ubeta waveforms by inverse Park transformation of the d-axis voltage Ud and the q-axis voltage Uq; and obtaining Ualpha and Ubeta waveforms by SVPWM calculation to obtain the motor three-phase duty cycle signals DutyA, DutyB, and DutyC.

[0010] In one embodiment, performing filtering processing on the vector control PWM duty cycle signal of the motor using a multi-order weighted sliding mean filter includes: performing filtering processing on the motor three-phase duty cycle signals DutyA, DutyB, and DutyC using a multi-order weighted sliding mean filter.

[0011] In one embodiment, determining the target phase compensation amount to be compensated based on a multi-order weighted sliding mean filter includes determining the target phase compensation amount to be compensated based on a rotational speed frequency of the motor.

[0012] In one embodiment, the order of the weighted sliding mean filter is a positive integer.

[0013] In one embodiment, the first frequency is 5 KHZ and the second frequency is 20 KHZ.

[0014] According to a second aspect of the present disclosure, a computing device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method of the first aspect of the present disclosure.

[0015] In a third aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to execute the method of the first aspect of the present disclosure.

[0016] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements.

[0018] Figure 1 A schematic diagram of a system 100 for implementing a method for reducing noise of a vector-controlled permanent magnet synchronous motor according to an embodiment of the present disclosure is shown.

[0019] Figure 2 A flow chart of a method 200 for reducing noise of a vector-controlled permanent magnet synchronous motor according to an embodiment of the present disclosure is shown.

[0020] Figure 3 A schematic diagram showing the amplitude-frequency characteristics of a sliding mean filter according to an embodiment of the present invention is shown.

[0021] Figure 4 A schematic diagram showing phase delay and input signal according to an embodiment of the present invention is shown.

[0022] Figure 5 A schematic diagram showing a comparison of an original signal and a processed signal according to an embodiment of the present invention is shown.

[0023] Figure 6 A schematic block diagram of an example electronic device 600 is shown that may be used to implement embodiments of the present disclosure. DETAILED DESCRIPTION

[0024] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0025] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0026] Figure 1 FIG. 1 is a schematic diagram of a system 100 for implementing a method for reducing noise of a vector-controlled permanent magnet synchronous motor according to an embodiment of the present disclosure. Figure 1 As shown in FIG. 1 , the system 100 includes a computing device 110, an electromagnetic noise reduction computing device 130, and a network 140. The computing device 110 and the electromagnetic noise reduction computing device 130 can perform data exchange through the network 140 (eg, the Internet).

[0027] The electromagnetic noise reduction computing device 130, which can be, for example, an MCU used for motor FOC control, to perform functions such as electromagnetic noise reduction. The electromagnetic noise reduction computing device 130 can also send the determined electromagnetic noise reduction data to the computing device 110. The electromagnetic noise reduction computing device 130 can have one or more processing units, including dedicated processing units such as GPU, FPGA and ASIC, and general processing units such as CPU, such as but not limited to: desktop computers, laptop computers, netbook computers, tablet computers, web browsers, e-book readers, personal digital assistants (PDAs), etc. that can perform Chinese data reading and modification.

[0028] Regarding the computing device 110, it is used, for example, to receive electromagnetic noise reduction FOC control data, such as interruption of the motor, from the electromagnetic noise reduction computing device 130 via the network 140. The computing device 110 may have one or more processing units, including dedicated processing units such as GPU, FPGA and ASIC, and general processing units such as CPU. In addition, one or more virtual machines may also be running on each computing device 110. In some embodiments, the computing device 110 and the electromagnetic noise reduction computing device 130 may be integrated together or may be separately arranged from each other. In some embodiments, the computing device 110, for example.

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with practical applications and with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of them.

[0030] Field-Oriented Control (FOC) and Space Vector Pulse Width Modulation (SVPWM) are two important technologies in the control of brushless DC motors (BLDC) and permanent magnet synchronous motors (PMSM). They play an important role in controlling motor performance and reducing electromagnetic noise. FOC (Field-Oriented Control) achieves efficient control of motor torque and speed by precisely controlling the direction and size of the motor's magnetic field. The advantages of this method include that FOC can effectively reduce the noise of the motor during operation because it is more stable in torque control. FOC is not limited by the motor speed and can maintain good control performance at both low and high speeds.

[0031] The electromagnetic noise generated by the motor during operation mainly comes from the fluctuation of current and the uneven magnetic field distribution. FOC can effectively reduce electromagnetic noise by achieving precise current control. In addition, the use of SVPWM can make the voltage output of the motor smoother, thereby further reducing the generation of electromagnetic noise. SVPWM (Space Vector Pulse Width Modulation) is a modulation technology. Its basic principle is to control the action time of the basic vector voltage to generate an average value close to the target voltage vector. The advantage of SVPWM is that compared with the traditional PWM method, SVPWM can more effectively reduce the harmonic components, thereby reducing the electromagnetic noise of the motor. SVPWM can provide higher DC voltage utilization, which is crucial to improving motor performance.

[0032] In order to further reduce the electromagnetic noise during motor operation, a sliding mean filter is often used. This filter can smooth the fluctuations of current and voltage signals, making the signals more stable, thereby reducing noise and vibration. By combining FOC with SVPWM and using a sliding mean filter, the motor's operating performance can be significantly improved, and the overall efficiency of the system can be improved.

[0033] The following will specifically introduce how to combine FOC and SVPWM to reduce the electromagnetic noise of the motor. The combination of FOC and SVPWM can not only effectively control the torque and speed of the motor, but also reduce the electromagnetic noise. By using a sliding mean filter, the stability and operation quality of the system can be further improved. The comprehensive application of these technologies provides strong support for modern motor control, allowing the motor to perform well under various working conditions.

[0034] This embodiment aims to realize a method for reducing the noise of a permanent magnet synchronous motor (PMSM) during operation, especially in application scenarios based on vector control, a strategy combining frequency interruption and filtering processing is adopted to significantly improve the efficiency and quietness performance of the motor.

[0035] Figure 21 shows a flow chart of a method 200 for reducing noise of a vector-controlled permanent magnet synchronous motor according to an embodiment of the present disclosure. The method 200 may be performed as follows: Figure 1 The computing device 110 shown may also be executed in Figure 6 The method 200 is executed at the electronic device 600. It should be understood that the method 200 may further include additional blocks not shown and / or may omit the blocks shown, and the scope of the present disclosure is not limited in this respect.

[0036] This embodiment describes a method for reducing noise of a vector-controlled permanent magnet synchronous motor.

[0037] In step 202, the computing device 110 may perform interrupt processing on the motor system at frequencies of 5 kHz and 20 kHz according to a predetermined timing arrangement. Such frequency setting is intended to adopt appropriate processing strategies for different control requirements.

[0038] Frequency interruption setting in motor control is a key factor that determines how the system responds to different control requirements. In a vector controlled permanent magnet synchronous motor (PMSM), the present invention adopts a dual frequency interruption strategy to optimize motor performance and reduce noise.

[0039] 5kHz current loop control is the core of FOC (Field Oriented Control) technology. It achieves precise adjustment of torque and speed by quickly and accurately controlling the current of the motor. In low-speed applications such as air-conditioning fans, a 5kHz current loop frequency is usually sufficient to provide good control effects. Taking air-conditioning fans as an example, the maximum electrical speed is generally only 250Hz. When FOC control is used, a 5K current loop can generally achieve good control effects. Under 5K current loop control, the vector is updated at a frequency of 5000Hz. The human hearing range is 20Hz to 20000Hz, so the human ear can clearly hear 5000Hz electromagnetic noise.

[0040] The 20kHz interrupt is mainly used to process high-frequency harmonic components and rotor angle compensation. High-frequency harmonic components can cause electromagnetic noise and vibration, while rotor angle compensation helps to maintain stable operation of the motor under different load conditions. The 20kHz interrupt frequency can effectively filter out these high-frequency harmonics and update the rotor angle information in a timely manner. As mentioned above, the human ear's hearing range is generally between 20Hz and 20000Hz. This means that the electromagnetic noise generated by the motor at a frequency of 5000Hz is clearly audible to the human ear. Therefore, measures need to be taken in motor control to reduce the noise at this frequency.

[0041] The dual frequency interrupt strategy combines 5kHz current loop control and 20kHz high frequency processing to effectively address different requirements in motor control. The 5kHz current loop ensures precise torque and speed control, while the 20kHz interrupt filters out high frequency harmonics and compensates for the rotor angle, thereby reducing electromagnetic noise.

[0042] Through the above embodiments, the motor control system can significantly improve the control performance while reducing the noise level, providing efficient and quiet motor drive solutions for various applications.

[0043] In step 204 , the computing device 110 may perform an N-order weighted sliding mean filter filtering process on the vector control PWM duty cycle signal of the motor when the second frequency is interrupted, so as to filter out high-frequency harmonic components.

[0044] When the 20kHz frequency is interrupted, the system implements an N-order weighted sliding mean filter for the motor's vector control PWM duty cycle signal. This step focuses on removing high-frequency harmonic components in the motor control signal. By weighted averaging the collected current signal, the filter can effectively reduce noise and unnecessary fluctuations, make the output signal smoother, improve the motor's operating stability and reduce noise.

[0045] In one embodiment, a 4th order weighted sliding mean filtering process is performed on the vector control PWM duty cycle signal of the motor to filter out high frequency harmonic components. This filtering technology plays a vital role in motor control because it can effectively reduce electromagnetic noise and vibration.

[0046] A weighted moving mean filter is a digital filter that smoothes the input signal while giving higher weight to the most recent data points. In motor control, it can effectively filter out high-frequency harmonic components while keeping the low-frequency components intact.

[0047] Figure 3 FIG. 4 is a schematic diagram showing the amplitude-frequency characteristics of a sliding mean filter according to an embodiment of the present invention. Figure 3 As shown, at 5KHZ, the sliding mean filter can suppress the signal very well.

[0048] The transfer function of the 4th order sliding mean filter with a window of 4 used in the present invention can be expressed as:

[0049] X(z) / Y(z)=(1+z^-1+z^-2+z^-3) / 4, where z is a discrete complex variable representing the complex frequency in the frequency domain.

[0050] Specifically, the vector information (angle, d-axis voltage, and q-axis voltage) output by the motor vector control PWM duty cycle signal can be converted into ualpha and ubeta components in a stationary coordinate system. The ualpha and ubeta components are input into a 4th-order weighted sliding mean filter. The filter calculates a weighted average, where the most recent data point has a higher weight. The filtered ualpha and ubeta components are converted back to a vector coordinate system to obtain smoothed vector information. The smoothed vector information is used to calculate a space vector pulse width modulation (SVPWM) signal, which is used to drive a permanent magnet synchronous motor.

[0051] Through this filtering process, the 5000Hz electromagnetic noise component is effectively filtered out, thereby reducing the noise level of the motor. At the same time, low-frequency components (such as torque and speed commands) are basically unaffected, ensuring the smooth operation and precise control of the motor.

[0052] In a preferred embodiment, the position information of the permanent magnet synchronous motor rotor is collected by a speed sensor to calculate the rotor angle and speed; the q-axis voltage and d-axis voltage of the motor are obtained based on the rotor angle, a-axis voltage and b-axis voltage; the obtained rotor angle, q-axis current and d-axis current are subjected to inverse Park transformation to obtain three-phase Ualpha and Ubeta waveforms; and the obtained three-phase Ualpha and Ubeta waveforms are filtered using a multi-order weighted sliding mean filter such as a 4th-order filter.

[0053] In air conditioner fans, the combination of 20kHz interruption and 4th order weighted sliding mean filter can significantly reduce the noise of the motor when running at low speed. This is crucial to improve the comfort and user experience of air conditioning systems.

[0054] At step 206 , the computing device 110 may perform a target phase compensation amount on the rotor angle of the motor when the first frequency is interrupted.

[0055] When the 5kHz frequency is interrupted, the system performs phase compensation on the motor's rotor angle. By analyzing the change in the motor's rotor angle, the compensation amount is calculated based on real-time feedback data to ensure that the motor can maintain optimal control performance under changing load conditions, thereby further reducing the noise level during operation.

[0056] During the 5kHz interrupt, the system performs phase compensation on the motor's rotor angle to further reduce noise levels during operation. Rotor angle phase compensation compensates for the dynamic characteristics of the motor under different load conditions by adjusting the phase of the rotor angle. This helps maintain the stability and control performance of the motor, thereby reducing noise and vibration.

[0057] In one embodiment, the phase compensation process includes measuring the rotor angle of the motor, analyzing the change in the rotor angle, and calculating the required phase compensation amount according to the phase compensation algorithm. The calculated phase compensation amount is applied to the rotor angle. The motor control algorithm is updated according to the compensated rotor angle. With rotor angle phase compensation, the motor can better adapt to changing load conditions, thereby maintaining smooth operation and precise control. This reduces noise and vibration caused by torque ripple and speed fluctuations.

[0058] Figure 4 FIG. 4 is a schematic diagram showing a phase delay and an input signal according to an embodiment of the present invention. Figure 4 As shown, the speed of the motor can be estimated by FOC, and the compensation angle can be calculated based on the motor speed.

[0059] Specifically, the relationship between the compensation angle and the rotational speed frequency can be expressed as follows:

[0060] Y=-135 / 5000*X, where Y is the compensation angle in degrees, and X is the rotational speed frequency in Hz.

[0061] In air conditioning fans, the combination of 5kHz interruption and rotor angle phase compensation can reduce motor noise during rapid load changes. This is critical to maintaining a comfortable indoor environment and improving the overall efficiency of the air conditioning system.

[0062] In one embodiment, in the first frequency interruption, the three-phase current of the motor is obtained through the sampling resistor; the rotor angle and speed of the motor are determined through the sensorless observer; the collected three-phase current is subjected to Clarke transformation to obtain I α and I β ; will I α and I β The determined rotor angle is transformed by Park to obtain the d-axis current I d And the q-axis current I q ; The d-axis current I d And the q-axis current I q Pass through a PI regulator to obtain the d-axis voltage U d And the q-axis voltage U q .

[0063] In one embodiment, performing compensation of a target phase compensation amount on a rotor angle of a motor comprises: determining a target phase compensation amount to be compensated based on a multi-order weighted sliding mean filter; performing phase compensation on the rotor angle based on the target phase compensation amount to be compensated; and converting the d-axis voltage U d And the q-axis voltage U qThe Ualpha and Ubeta waveforms are obtained through inverse Park transformation; the obtained Ualpha and Ubeta waveforms are calculated through SVPWM to obtain the motor three-phase duty cycle signals DutyA, DutyB, and DutyC.

[0064] In one embodiment, performing filtering processing on the vector control PWM duty cycle signal of the motor using a multi-order weighted sliding mean filter includes: performing filtering processing on the motor three-phase duty cycle signals DutyA, DutyB, and DutyC using a multi-order weighted sliding mean filter.

[0065] In one embodiment, determining the target phase compensation amount to be compensated based on a multi-order weighted sliding mean filter includes determining the target phase compensation amount to be compensated based on a rotational speed frequency of the motor.

[0066] In one embodiment, the order of the weighted sliding mean filter is a positive integer.

[0067] In one embodiment, the first frequency is 5 KHZ and the second frequency is 20 KHZ.

[0068] At step 208 , the computing device 110 may perform space vector modulation on the output of the interrupted motor current loop, thereby obtaining a PWM duty cycle signal for reducing noise on the motor.

[0069] In one embodiment, space vector modulation (SVPWM) is performed on the motor current loop output after interrupt processing. By optimizing the modulation process, a PWM duty cycle signal suitable for the motor is generated. These PWM duty cycle signals can effectively control the excitation and rotation of the motor, reduce the noise of the motor during operation, and improve its quiet effect.

[0070] Space vector modulation (SVPWM) is performed on the interrupt-processed motor current loop output to generate a PWM signal that acts on the motor to reduce noise. Space vector modulation is an advanced pulse width modulation technique that converts the three-phase sine wave of a three-phase AC motor into a DC voltage vector. This vector rotates in the three-phase voltage space, and its amplitude and phase correspond to the magnetic field required by the motor. The SVPWM modulation process involves converting the vector information (angle, d-axis voltage, and q-axis voltage) output by the motor current loop into a space voltage vector. Based on the magnitude and phase of the space voltage vector, the appropriate switching state (on or off) of the three-phase inverter is determined. The corresponding PWM signal is generated to drive the three-phase inverter and control the excitation and rotation of the motor.

[0071] By using SVPWM, the noise and vibration generated by the motor during operation are effectively reduced. This is due to the low harmonic distortion PWM signal generated by SVPWM, which can smoothly control the motor current and torque.

[0072] In air-conditioning fans, the application of SVPWM can reduce the noise of the motor under different speed and load conditions. This is essential for creating a comfortable indoor environment and improving the overall performance of the air-conditioning system.

[0073] The combination of FOC and SVPWM can not only effectively control the torque and speed of the motor, but also reduce electromagnetic noise. By using a sliding mean filter, the stability and operation quality of the system can be further improved. The comprehensive application of these technologies provides strong support for modern motor control, allowing the motor to perform well under various working conditions.

[0074] Figure 5 FIG. 2 shows a schematic diagram comparing an original signal and a processed signal according to an embodiment of the present invention. Figure 5 As shown, compared with the original 5K signal Ualpha_5K and the processed signal Ualpha_20K, Ualpha_20K is obviously smoother and has no phase lag.

[0075] Figure 6 Schematic block diagram of an example electronic device 600 that can be used to implement an embodiment of the present disclosure is shown. Figure 1 The computing device 110 shown can be implemented by an electronic device 600. As shown, the electronic device 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 602 or computer program instructions loaded from a storage unit 608 to a random access memory (RAM) 603. In the random access memory 603, various programs and data required for the operation of the electronic device 600 can also be stored. The central processing unit 601, the read-only memory 602, and the random access memory 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0076] Multiple components in the electronic device 600 are connected to the input / output interface 605, including: an input unit 606, such as a keyboard, a mouse, a microphone, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0077] The various processes and processing described above, such as methods 200 and 400, may be performed by the central processing unit 601. For example, in some embodiments, the methods 200, 400, and 600 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 600 via the read-only memory 602 and / or the communication unit 609. When the computer program is loaded into the random access memory 603 and executed by the central processing unit 601, one or more actions in the methods 200 and 400 described above may be performed.

[0078] The present disclosure relates to methods, apparatuses, systems, electronic devices, computer-readable storage media and / or computer program products. The computer program products may include computer-readable program instructions for executing various aspects of the present disclosure.

[0079] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0080] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge computing devices. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0081] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0082] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0083] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0084] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0085] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0086] Those skilled in the art should understand that the present invention is not limited to the above-mentioned embodiments, and the present invention can be implemented in many other forms without departing from its purpose and scope. Therefore, the examples and embodiments shown are regarded as illustrative rather than restrictive, and the present invention may cover various modifications and substitutions without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A method for reducing motor noise, wherein the motor is a permanent magnet synchronous motor based on vector control, characterized in that: The method comprises: Based on a predetermined timing, interrupting the motor at a first frequency and a second frequency respectively; When the interrupt is executed at the second frequency, a filtering process using a multi-order sliding filter is performed on the vector control PWM duty cycle signal of the motor to filter out high-frequency harmonic components; When the interruption is performed at the first frequency, compensation of the rotor angle of the motor by a target phase compensation amount is performed; and Space vector modulation is performed on the output of the interrupted vector control PWM duty cycle signal of the motor, thereby obtaining a PWM duty cycle signal for reducing motor noise.

2. The method according to claim 1, characterized in that Executing interrupts at the first frequency and the second frequency includes: In the first frequency interruption, the three-phase current of the motor is obtained through the sampling resistor; Determine the rotor angle and speed of the motor through a sensorless observer; The collected three-phase current is transformed by Clarke to obtain I α and I β ; Will I α and I β The determined rotor angle is transformed by Park to obtain the d-axis current I d And the q-axis current I q ; The d-axis current I d And the q-axis current I q Pass through a PI regulator to obtain the d-axis voltage U d And the q-axis voltage U q .

3. The method according to claim 2, characterized in that The compensation of the target phase compensation amount for the rotor angle of the motor includes: Based on a multi-order weighted sliding mean filter, a target phase compensation amount to be compensated is determined; performing phase compensation on the rotor angle based on a target phase compensation amount to be compensated; Based on the rotor angle after phase compensation, the d-axis voltage U d And the q-axis voltage U q Obtain Ualpha and Ubeta waveforms through inverse Park transform; The acquired Ualpha and Ubeta waveforms are subjected to SVPWM calculation to obtain the motor three-phase duty cycle signals DutyA, DutyB, and DutyC.

4. The method according to claim 4, characterized in that: The filtering process of the vector control PWM duty cycle signal of the motor using a multi-order weighted sliding mean filter includes: A multi-order weighted sliding mean filter is used to filter the three-phase duty cycle signals DutyA, DutyB, and DutyC of the motor.

5. The method according to claim 4, characterized in that Based on a multi-order weighted sliding mean filter, the target phase compensation amount to be compensated is determined including: Based on the rotational frequency of the motor, a target phase compensation amount to be compensated is determined.

6. The method according to claim 1, characterized in that The order of the weighted sliding mean filter is a positive integer.

7. The method according to claim 1, characterized in that The first frequency is 5KHZ and the second frequency is 20KHZ.

8. A computing device comprising: at least one processor; as well as a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

9. A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute the method of any one of claims 1 to 7.

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