Control method, device and equipment of permanent magnet synchronous motor and storage medium

Abstract

The embodiment of the invention provides a control method and device of a permanent magnet synchronous motor, equipment and a storage medium. The method comprises the steps that the target rotating speed and target current of the permanent magnet synchronous motor are determined; the permanent magnet synchronous motor is started through a constant-rotating-speed closed-loop control mode, and the rotating speed of the permanent magnet synchronous motor is controlled to be the target rotating speed; the real-time current of the permanent magnet synchronous motor at the target moment is determined; judging a running state corresponding to the permanent magnet synchronous motor according to the real-time current at the target moment and the target current; and determining a control mode of the permanent magnet synchronous motor after the target moment according to the running state corresponding to the permanent magnet synchronous motor. According to the embodiment of the invention, the good no-load performance and consistency test of the vector control permanent magnet synchronous motor without the position sensor can be ensured under the conditions of combining the good no-load performance of the constant-rotating-speed closed-loop control mode and satisfying the load operation of the constant-torque closed-loop control mode.

Description

Technical Field

[0001] The present application relates to the technical field of motor control, and in particular to a control method and device for a permanent magnet synchronous motor, an electronic device and a storage medium. Background Art

[0002] Compared with traditional motors, the sensorless vector-controlled permanent magnet synchronous motor can better highlight its high efficiency, energy saving and precise control characteristics in laboratories, hospitals and other places with high environmental requirements. In different working environments, different control modes are used, generally including constant torque closed-loop control mode and constant speed closed-loop control mode. At present, the constant torque closed-loop control mode has gradually become the mainstream control mode of sensorless vector-controlled permanent magnet synchronous motors.

[0003] However, the sensorless vector-controlled permanent magnet synchronous motor that directly uses the constant torque closed-loop control mode has the following problems: when running in the no-load state, the running noise and vibration are large, which easily covers the original mechanical noise of the motor body running at high speed, and the abnormality of the motor cannot be discovered in time. In addition, when running in the no-load state, because the motor has no additional torque, after the PWM (Pulse Width Modulation) is started, even a small fine-tuning will cause the motor speed to soar, and it cannot be stabilized at the required speed, thus affecting the consistency inspection of the motor. Summary of the invention

[0004] An embodiment of the present application provides a control method for a permanent magnet synchronous motor to solve the problems of no-load vibration, noise and speed stability of a vector-controlled permanent magnet synchronous motor without a position sensor when using a constant torque closed-loop control mode.

[0005] Correspondingly, an embodiment of the present application also provides a control device for a permanent magnet synchronous motor, an electronic device and a storage medium to ensure the implementation and application of the above method.

[0006] In order to solve the above problems, an embodiment of the present application discloses a control method for a permanent magnet synchronous motor, the method comprising:

[0007] Determining a target speed and a target current of the permanent magnet synchronous motor;

[0008] Starting the permanent magnet synchronous motor through a constant speed closed-loop control mode, and controlling the speed of the permanent magnet synchronous motor to be the target speed;

[0009] Determining the real-time current of the permanent magnet synchronous motor at a target time;

[0010] Determine the operating state corresponding to the permanent magnet synchronous motor according to the real-time current at the target moment and the target current; the operating state includes a load state and a no-load state;

[0011] The control mode of the permanent magnet synchronous motor after the target time is determined according to the operating state corresponding to the permanent magnet synchronous motor; the control mode includes the constant speed closed-loop control mode and the constant torque closed-loop control mode.

[0012] Optionally, judging the operating state corresponding to the permanent magnet synchronous motor according to the real-time current at the target moment and the target current includes:

[0013] When the real-time current at the target moment is greater than the target current, the operating state corresponding to the permanent magnet synchronous motor is the load state;

[0014] When the real-time current at the target moment is less than or equal to the target current, the operating state corresponding to the permanent magnet synchronous motor is the no-load state.

[0015] Optionally, determining the control mode of the permanent magnet synchronous motor after the target time according to the operating state corresponding to the permanent magnet synchronous motor includes:

[0016] When the operating state corresponding to the permanent magnet synchronous motor is the load state, switching the control mode from the constant speed closed-loop control mode to the constant torque closed-loop control mode at the target time;

[0017] When the operating state corresponding to the permanent magnet synchronous motor is the no-load state, the control mode is maintained as the constant speed closed-loop control mode at the target time.

[0018] Optionally, determining a target speed and a target current of the permanent magnet synchronous motor includes:

[0019] Determining a target speed of the permanent magnet synchronous motor;

[0020] Starting the permanent magnet synchronous motor in different operating states through the constant speed closed-loop control mode, and controlling the speed of the permanent magnet synchronous motor to be the target speed, so as to simulate the current curve of the permanent magnet synchronous motor in different operating states when it is started through the constant speed closed-loop control mode;

[0021] The target current of the permanent magnet synchronous motor at the target time is determined according to the current curve.

[0022] Optionally, determining the target current of the permanent magnet synchronous motor at the target time according to the current curve includes:

[0023] Determine the peak current of the permanent magnet synchronous motor under different operating conditions and the peak moment corresponding to the peak current according to the current curve;

[0024] Determine the target time according to the peak time corresponding to the peak current; the target time is after the peak time corresponding to the peak current;

[0025] A target current of the permanent magnet synchronous motor is determined according to the current curve and the target time.

[0026] Optionally, when the operating state corresponding to the permanent magnet synchronous motor is the load state, switching the control mode from the constant speed closed-loop control mode to the constant torque closed-loop control mode at the target time includes:

[0027] When the operating state corresponding to the permanent magnet synchronous motor is the load state, the rotation speed of the permanent magnet synchronous motor is controlled to ensure that the torque of the permanent magnet synchronous motor is the target torque.

[0028] Optionally, when the operating state corresponding to the permanent magnet synchronous motor is the no-load state, maintaining the control mode as the constant speed closed-loop control mode at the target time includes:

[0029] When the operating state corresponding to the permanent magnet synchronous motor is the no-load state, the rotation speed of the permanent magnet synchronous motor is controlled to be a rated rotation speed; and the rated rotation speed is less than the target rotation speed.

[0030] Optionally, the current curve includes a first current curve and a second current curve, the first current curve is used to characterize the current change of the permanent magnet synchronous motor under a load state, and the second current curve is used to characterize the current change of the permanent magnet synchronous motor under a load state;

[0031] The step of determining the peak current of the permanent magnet synchronous motor under different operating states and the peak moment corresponding to the peak current according to the current curve includes:

[0032] Determine, according to the first current curve, a load peak current of the permanent magnet synchronous motor under a load state and a peak moment corresponding to the load peak current;

[0033] Determine the no-load peak current of the permanent magnet synchronous motor in a no-load state and the peak moment corresponding to the no-load peak current according to the second current curve;

[0034] The load peak current and the no-load peak current are taken as the peak current, and the peak moment corresponding to the load peak current and the peak moment corresponding to the no-load peak current are taken as the peak moment; wherein the load peak current is greater than the no-load peak current.

[0035] Optionally, determining the target current of the permanent magnet synchronous motor according to the current curve and the target time includes:

[0036] Determining a first current corresponding to the target time in the first current curve;

[0037] determining a second current corresponding to the target time in the second current curve;

[0038] The target current is determined according to the first current and the second current; the first current is greater than the target current, and the target current is greater than the second current.

[0039] The present application also discloses a control device for a permanent magnet synchronous motor, the device comprising:

[0040] A determination module, used to determine a target speed and a target current of the permanent magnet synchronous motor;

[0041] A starting module, used to start the permanent magnet synchronous motor through a constant speed closed-loop control mode, and control the speed of the permanent magnet synchronous motor to be the target speed;

[0042] A real-time current determination module, used to determine the real-time current of the permanent magnet synchronous motor at a target time;

[0043] An operating state judgment module, used for judging the operating state corresponding to the permanent magnet synchronous motor according to the real-time current at the target moment and the target current; the operating state includes a load state and a no-load state;

[0044] A control mode determination module is used to determine the control mode of the permanent magnet synchronous motor after the target time according to the operating state corresponding to the permanent magnet synchronous motor; the control mode includes the constant speed closed-loop control mode and the constant torque closed-loop control mode.

[0045] An embodiment of the present application also discloses an electronic device, including: a processor; and a memory, on which executable code is stored. When the executable code is executed, the processor executes a control method for a permanent magnet synchronous motor as described in any one of the embodiments of the present application.

[0046] The embodiments of the present application also disclose one or more machine-readable media on which executable codes are stored. When the executable codes are executed, the processor executes the control method of the permanent magnet synchronous motor as described in any one of the embodiments of the present application.

[0047] Compared with the prior art, the embodiments of the present application have the following advantages:

[0048] In an embodiment of the present application, a target speed and a target current of the permanent magnet synchronous motor are determined; the permanent magnet synchronous motor is started through a constant speed closed-loop control mode, and the speed of the permanent magnet synchronous motor is controlled to be the target speed; the real-time current of the permanent magnet synchronous motor at the target time is determined; the operating state corresponding to the permanent magnet synchronous motor is judged according to the real-time current at the target time and the target current; the operating state includes a load state and a no-load state; the control mode of the permanent magnet synchronous motor after the target time is determined according to the operating state corresponding to the permanent magnet synchronous motor; the control mode includes the constant speed closed-loop control mode and the constant torque closed-loop control mode. The embodiment of the present application proposes a new control scheme under the conditions of combining the good no-load performance of the constant speed closed-loop control mode and the load operation that satisfies the constant torque closed-loop control mode, that is, adding a judgment action after the position sensorless vector-controlled permanent magnet synchronous motor is powered on and started. When the permanent magnet synchronous motor is running at no load, it is based on the constant speed closed-loop control mode, and when the permanent magnet synchronous motor is running under load, it is based on the constant torque closed-loop control mode. This effectively solves the no-load vibration, noise and speed stability problems of the position sensorless vector-controlled permanent magnet synchronous motor in the constant torque closed-loop control mode, thereby ensuring the good no-load performance and consistency inspection of the position sensorless vector-controlled permanent magnet synchronous motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a flowchart of the steps of an embodiment of a control method for a permanent magnet synchronous motor of the present application;

[0050] Figure 2 This is a schematic diagram of the relationship between the real-time current Iq1 and the start-up time T1 of the present application;

[0051] Figure 3 is a flowchart of another control method embodiment of a permanent magnet synchronous motor of the present application;

[0052] Figure 4 It is a structural block diagram of an embodiment of a control device for a permanent magnet synchronous motor of the present application;

[0053] Figure 5 It is a schematic diagram of the structure of a device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0055] Constant speed control and constant torque control are two main control modes in the vector control of permanent magnet synchronous motors. They are used in different application scenarios and have different control objectives and characteristics.

[0056] 1) Constant speed closed-loop control mode:

[0057] Regardless of how the load changes, the motor speed can be kept constant, which is suitable for applications that require constant speed, such as fans, pumps, conveyors, etc.; in the constant speed closed-loop control mode, the control system monitors the motor speed in real time and adjusts the input voltage or current of the motor according to the error between the target speed and the actual speed. A PI (proportional-integral) controller is usually used to achieve closed-loop control of the speed.

[0058] 2) Constant torque closed-loop control mode:

[0059] Regardless of how the speed changes, the output torque of the motor can be kept constant. This control mode is suitable for applications that require constant torque, such as elevators, cranes, electric vehicles, etc.; in the constant torque closed-loop control mode, the control system monitors the motor torque in real time and adjusts the input voltage or current of the motor according to the error between the target torque and the actual torque. A PI (proportional-integral) controller is usually used to achieve closed-loop control of the torque.

[0060] The constant speed closed-loop control mode is mainly used to keep the motor speed constant, and is suitable for applications that require constant speed; the constant torque closed-loop control mode is mainly used to keep the motor output torque constant, and is suitable for applications that require constant torque. There are significant differences between the two in terms of control objectives, control variables, control principles, application scenarios, and control complexity.

[0061] Reference Figure 1 , is a flowchart of a control method embodiment of a permanent magnet synchronous motor of the present application, comprising the following steps:

[0062] Step 101, determining a target speed and a target current of the permanent magnet synchronous motor;

[0063] In the embodiment of the present application, the judgment conditions need to be set first, setting the target speed of the motor start-up to V0, the target current to be judged to Iq0, the target time to be T0, the real-time current to Iq1, and the start-up time to T1.

[0064] Reference Figure 2, shows a schematic diagram of the relationship between the real-time current Iq1 and the start-up time T1 of the present application, which specifically includes the corresponding relationship between the real-time current Iq1 and the start-up time T1 when the permanent magnet synchronous motor is operated in a constant speed closed-loop control mode under load operation and no-load operation.

[0065] like Figure 2 As shown in the figure, after the permanent magnet synchronous motor is powered on, the real-time current Iq1 will reach a peak value in the instantaneous state. Due to the stability of the power grid in the use environment, the consistency differences between the motor body and various components, there will be Figure 2 There are two cases (case 1 and case 2), that is, the peak current under no-load in case 1 is less than the target current Iq0, and the peak current under no-load in case 2 is greater than the target current Iq0. Therefore, considering the instability of the peak current, the judgment point T0 is set after a period of time after the instantaneous peak current decays, so as to ensure that Iq load>Iq0>Iq no-load.

[0066] However, in order to increase the spatial difference between Iq load and Iq no-load, it is easier to judge the action, and the target speed V0 is specially set. For example: the normal operating speed of a permanent magnet synchronous motor is 1000rpm, and V0 is set to 1300rpm. After power-on, at the same target speed (1300rpm), the q-axis current under load will be much larger than the q-axis current under no-load. And in general, the larger the target speed is set, the greater the difference between Iq load and Iq no-load, and it will be easier to distinguish, that is, Iq load>>Iq0>>Iq no-load.

[0067] Moreover, the permanent magnet synchronous motor in the embodiment of the present application adopts a position sensorless vector control method, therefore, the current in the embodiment of the present application refers to the q-axis current of the permanent magnet synchronous motor. By measuring the permanent magnet synchronous motor through the sensor, the three-phase current (a, b, c) of the permanent magnet synchronous motor can be directly obtained, and the three-phase current can be converted into the stationary coordinate system current (α, β) through the Clark transformation, and the stationary coordinate system current can be converted into the rotating coordinate system current (d, q) through the Park transformation.

[0068] Step 102: starting the permanent magnet synchronous motor in a constant speed closed-loop control mode, and controlling the speed of the permanent magnet synchronous motor to be the target speed;

[0069] In actual applications, when the permanent magnet synchronous motor directly uses the constant torque closed-loop control mode to operate in a no-load state, it is easy to generate large operating noise and vibration. Therefore, in order to reduce the vibration and noise during the startup process and improve the running smoothness of the motor, in an embodiment of the present application, the control mode of the permanent magnet synchronous motor during startup is the constant speed closed-loop control mode.

[0070] In the embodiment of the present application, Figure 2 As shown, the control mode in the interval from the power-on position to the T0 judgment point is the constant speed closed-loop control mode.

[0071] By starting the permanent magnet synchronous motor using a constant speed closed-loop control mode during the startup phase and controlling the motor speed to the target speed, it helps to stabilize the motor speed during the startup phase and avoid vibration and noise problems caused by speed fluctuations, thereby providing a quieter and more stable operating environment in places with high environmental requirements such as laboratories and hospitals.

[0072] Step 103, determining the real-time current of the permanent magnet synchronous motor at the target time;

[0073] In the embodiment of the present application, the judgment condition of the operation state corresponding to the permanent magnet synchronous motor is: when T1=T0, whether Iq1 is greater than Iq0. Therefore, the embodiment of the present application needs to determine the real-time current Iq1 of the permanent magnet synchronous motor at the target time T0.

[0074] Step 104: judging the operating state corresponding to the permanent magnet synchronous motor according to the real-time current at the target moment and the target current; the operating state includes a load state and a no-load state;

[0075] In an embodiment of the present application, it is necessary to determine the subsequent control mode according to the operating state (no-load or load) of the permanent magnet synchronous motor. Therefore, by obtaining the real-time current (Iq1) at the target time (T0), an accurate basis can be provided for the control mode switching.

[0076] Specifically, it can be understood that if the real-time current (Iq1) is close to the target current (Iq0), it means that the permanent magnet synchronous motor is in a no-load state; if the real-time current (Iq1) is significantly greater than the target current (Iq0), it means that the permanent magnet synchronous motor is in a loaded state.

[0077] The operating state of the permanent magnet synchronous motor is judged according to the real-time current and target current at the target moment. The operating state includes load state and no-load state. This judgment mechanism can accurately identify the current working conditions of the motor, and then dynamically switch the control mode to avoid speed surges caused by minor adjustments. This helps to keep the motor running stably at the required speed and improve the consistency inspection effect of the motor.

[0078] Step 105: determining a control mode of the permanent magnet synchronous motor after the target time according to the operating state corresponding to the permanent magnet synchronous motor; the control mode includes the constant speed closed-loop control mode and the constant torque closed-loop control mode.

[0079] In an embodiment of the present application, if the permanent magnet synchronous motor is in a no-load state, the control mode will continue to use the constant speed closed-loop control mode. In the no-load state, the constant speed closed-loop control mode can keep the motor speed constant, not affected by load changes, reduce vibration and noise, and improve the running stability of the motor; if the permanent magnet synchronous motor is in a loaded state, the control mode will switch to the constant torque closed-loop control mode. In the loaded state, the constant torque closed-loop control mode can keep the output torque of the motor constant, not affected by speed changes, and ensure that the motor can run stably when the load changes.

[0080] According to the running state of the motor, the control mode can be switched dynamically, which can more effectively manage the performance of the motor. Under load, the system can switch to constant torque closed-loop control mode to cope with load changes; under no-load state, the system can maintain constant speed closed-loop control mode to maintain speed stability.

[0081] In practical applications, the control mode is switched based on the relationship between the target speed and the real-time speed. However, this may lead to frequent switching between the constant torque closed-loop control mode and the constant speed closed-loop control mode. Specifically, during the actual operation of the motor, the steady-state speed of the permanent magnet synchronous motor may have small fluctuations, and there are certain steady-state error indicators. This fluctuation may be caused by factors such as load changes, controller parameter adjustments, and sensor noise. When the motor is operating near the required maximum target speed, the fluctuation of the steady-state speed may cause the motor's operating state to frequently switch between no-load and load. For example, when the motor is close to the maximum target speed, even if the load changes very little, it may cause speed fluctuations, thereby triggering the switching of the control mode.

[0082] Frequent mode switching (from constant speed closed-loop control mode to constant torque closed-loop control mode, or from constant torque closed-loop control mode to constant speed closed-loop control mode) can cause the following problems:

[0083] 1) Amplify the fluctuation of steady-state speed: Frequent mode switching will amplify the small fluctuation of the original steady-state speed, resulting in unstable speed control.

[0084] 2) Increased vibration and noise: Frequent mode switching will cause increased vibration and noise of the motor, especially at the highest speed, the vibration and noise will be more significant.

[0085] 3) Unstable control: Frequent mode switching may lead to unstable control of the motor, large fluctuations in speed and torque, and affect the smooth operation of the motor.

[0086] 4) Overcurrent and overheating: Frequent mode switching may cause overcurrent in the motor, resulting in overheating or even damage to the motor.

[0087] Therefore, in order to avoid the above problems caused by frequent mode switching, the judgment action in the embodiment of the present application is unidirectional and irreversible, which means that once the control mode is determined, it will not switch back to the previous control mode again in a short time. In addition, the unidirectional and irreversible judgment action can simplify the control logic and reduce the complexity of the control algorithm. By clearly distinguishing the control modes and avoiding frequent switching, the performance of the motor can be managed more effectively, thereby ensuring that the motor can run stably under different load conditions, improving the running stability and consistency inspection effect of the motor.

[0088] In addition, since the control objectives and control means between the constant torque closed-loop control mode and the constant speed closed-loop control mode are different, the two control modes are clearly distinguished and have no intersection, thereby avoiding the generation of related hidden dangers.

[0089] In an embodiment of the present application, a target speed and a target current of the permanent magnet synchronous motor are determined; the permanent magnet synchronous motor is started through a constant speed closed-loop control mode, and the speed of the permanent magnet synchronous motor is controlled to be the target speed; the real-time current of the permanent magnet synchronous motor at the target time is determined; the operating state corresponding to the permanent magnet synchronous motor is judged according to the real-time current at the target time and the target current; the operating state includes a load state and a no-load state; the control mode of the permanent magnet synchronous motor after the target time is determined according to the operating state corresponding to the permanent magnet synchronous motor; the control mode includes the constant speed closed-loop control mode and the constant torque closed-loop control mode. The embodiment of the present application proposes a new control scheme under the conditions of combining the good no-load performance of the constant speed closed-loop control mode and the load operation that satisfies the constant torque closed-loop control mode, that is, adding a judgment action after the position sensorless vector-controlled permanent magnet synchronous motor is powered on and started. When the permanent magnet synchronous motor is running at no load, it is based on the constant speed closed-loop control mode, and when the permanent magnet synchronous motor is running under load, it is based on the constant torque closed-loop control mode. This effectively solves the no-load vibration, noise and speed stability problems of the position sensorless vector-controlled permanent magnet synchronous motor in the constant torque closed-loop control mode, thereby ensuring the good no-load performance and consistency inspection of the position sensorless vector-controlled permanent magnet synchronous motor.

[0090] Reference Figure 3 , shows a step flow chart of another embodiment of a control method for a permanent magnet synchronous motor of the present application.

[0091] Step 301, setting the target time T0 and the target current Iq0.

[0092] Step 302: Power on the motor.

[0093] Step 303: Obtain the real-time current Iq1 at the target time T0.

[0094] Step 304: Determine the magnitude relationship between Iq1 and Iq0; if Iq1 > Iq0, proceed to Step 305; if Iq1 < Iq0, proceed to Step 306.

[0095] Step 305: Switch the control mode to the constant torque closed-loop control mode.

[0096] Step 306: Maintain the control mode as the constant speed closed-loop control mode.

[0097] The control method provided by the embodiment of the present application effectively solves the problems of no-load vibration, noise, and speed stability of the vector control permanent magnet synchronous motor without a position sensor in the constant torque closed-loop control mode by dynamically switching the control mode, and improves the overall performance and applicability of the motor.

[0098] In an embodiment of the present application, the determining the operating state corresponding to the permanent magnet synchronous motor according to the real-time current and the target current at the target time includes:

[0099] When the real-time current at the target time is greater than the target current, the operating state corresponding to the permanent magnet synchronous motor is the load state;

[0100] When the real-time current at the target time is less than or equal to the target current, the operating state corresponding to the permanent magnet synchronous motor is the no-load state.

[0101] Since the q-axis current is directly proportional to the torque of the motor, and an increase in load will lead to an increase in torque demand, resulting in an increase in the q-axis current. Therefore, in the no-load state, the q-axis current is very small, while in the load state, the q-axis current will increase significantly. Therefore, by comparing the real-time current and the target current, the operating state of the motor can be accurately determined.

[0102] Therefore, in the embodiment of the present application, the method for determining the operating state corresponding to the permanent magnet synchronous motor is implemented by comparing the real-time current Iq1 and the target current Iq0 at the target time T0.

[0103] Specifically, the target current Iq0 is a reference current value set when the motor starts. At the target time T0, the three-phase current of the motor is measured in real time by a current sensor, and then through Clark transformation and Park transformation, the q-axis current, that is, the real-time current Iq1, is obtained. At this time, the real-time current Iq1 at the target time T0 is compared with the target current (Iq0). If the real-time current Iq1 is less than or equal to the target current Iq0, it means that the motor is in the no-load state; if the real-time current (Iq1) is greater than the target current (Iq0), it means that the motor is in the load state.

[0104] In the embodiment of the present application, by real-time monitoring of current, it is possible to quickly respond to load changes, ensure that the motor can operate stably under different load conditions, and provide an accurate basis for control mode switching.

[0105] In one embodiment of the present application, determining the control mode of the permanent magnet synchronous motor after the target time according to the operating state corresponding to the permanent magnet synchronous motor includes:

[0106] When the operating state corresponding to the permanent magnet synchronous motor is the load state, switching the control mode from the constant speed closed-loop control mode to the constant torque closed-loop control mode at the target time;

[0107] When the operating state corresponding to the permanent magnet synchronous motor is the no-load state, the control mode is maintained as the constant speed closed-loop control mode at the target time.

[0108] In the embodiment of the present application, the control mode after the target time (T0) is determined according to the operating state (no-load or load) of the permanent magnet synchronous motor.

[0109] Specifically, if the operating state corresponding to the permanent magnet synchronous motor is a load state, the system will switch the control mode from the constant speed closed-loop control mode to the constant torque closed-loop control mode at the target time (T0); if the operating state corresponding to the permanent magnet synchronous motor is a no-load state, the system will maintain the control mode as the constant speed closed-loop control mode at the target time (T0).

[0110] In order to avoid problems such as unstable control, overcurrent and overheating, increased vibration and noise caused by frequent mode switching, the judgment action in the embodiment of the present application is unidirectional and irreversible. This means that once the control mode is determined, the system will not switch back to the previous control mode again in a short time.

[0111] The embodiment of the present application ensures that the motor can run stably under different load conditions through a unidirectional and irreversible judgment action, thereby improving the running stability and consistency inspection effect of the motor.

[0112] In one embodiment of the present application, determining the target speed and target current of the permanent magnet synchronous motor includes:

[0113] Determining a target speed of the permanent magnet synchronous motor;

[0114] Starting the permanent magnet synchronous motor in different operating states through the constant speed closed-loop control mode, and controlling the speed of the permanent magnet synchronous motor to be the target speed, so as to simulate the current curve of the permanent magnet synchronous motor in different operating states when it is started through the constant speed closed-loop control mode;

[0115] The target current of the permanent magnet synchronous motor at the target time is determined according to the current curve.

[0116] In the embodiment of the present application, before determining the operating state, it is necessary to determine the target speed and target current of the permanent magnet synchronous motor.

[0117] It should be noted that the target speed is only set in the constant speed closed-loop control mode before judgment. After the motor is powered on, the current will quickly reach the current value corresponding to the target speed, and the time from the power-on position to T0 is also very short. More importantly, the actual speed of the permanent magnet synchronous motor will lag behind. Therefore, the entire process from startup to judgment and switching control mode will not have strong abnormal vibration and noise, and it will still be a smooth startup.

[0118] Specifically, first determine the target speed (V0) of the permanent magnet synchronous motor. The target speed is the speed that needs to be reached when the motor starts. It is usually set according to the rated parameters of the motor and the application requirements. If the normal operating speed of a permanent magnet synchronous motor is 1000rpm, the target speed V0 can be set to 1300rpm. The embodiment of the present application does not limit the target speed. Subsequently, the permanent magnet synchronous motor is started through the constant speed closed-loop control mode, and the speed of the motor is controlled to the target speed (V0) to simulate starting the motor under different operating conditions (such as no-load and load) through the constant speed closed-loop control mode, and record the simulated current curve. For details, please refer to Figure 2 ; Analyze the current curves under different operating conditions and determine the current value at the target time (T0) as the target current Iq0.

[0119] In one embodiment of the present application, determining the target current of the permanent magnet synchronous motor at the target time according to the current curve includes:

[0120] Determine the peak current of the permanent magnet synchronous motor under different operating conditions and the peak moment corresponding to the peak current according to the current curve;

[0121] Determine the target time according to the peak time corresponding to the peak current; the target time is after the peak time corresponding to the peak current;

[0122] A target current of the permanent magnet synchronous motor is determined according to the current curve and the target time.

[0123] In the embodiment of the present application, the current curves under different operating conditions are analyzed to determine the peak current and the peak time. In the current curve, the peak current under different operating conditions is determined, and the time point when the peak current occurs, that is, the peak time, is determined. The peak current is the instantaneous current peak value when the motor starts.

[0124] Due to the stability of the power grid, the consistency of the motor body and the components in the use environment, there will be Figure 2 There are two cases (case 1 and case 2), that is, the peak current under no-load in case 1 is less than the target current Iq0, and the peak current under no-load in case 2 is greater than the target current Iq0. Therefore, considering the instability of the peak current, the judgment point T0 is set after a period of time after the instantaneous peak current decays, so as to ensure that Iq load>Iq0>Iq no-load.

[0125] According to the analysis results of the current curve, the target current at the target time (T0) is set to Iq0. The target current (Iq0) at this time is between the current values ​​under no-load and load conditions to ensure that the operating state of the motor can be accurately judged under different operating conditions.

[0126] The embodiment of the present application determines the target current (Iq0) of the permanent magnet synchronous motor at the target time (T0) according to the current curve, and can accurately set the target current, providing an accurate basis for subsequent control mode switching.

[0127] In one embodiment of the present application, when the operating state corresponding to the permanent magnet synchronous motor is the load state, switching the control mode from the constant speed closed-loop control mode to the constant torque closed-loop control mode at the target time includes:

[0128] When the operating state corresponding to the permanent magnet synchronous motor is the load state, the rotation speed of the permanent magnet synchronous motor is controlled to ensure that the torque of the permanent magnet synchronous motor is the target torque.

[0129] When the motor in the embodiment of the present application is under load, the control mode is switched from a constant speed closed-loop control mode to a constant torque closed-loop control mode. The constant torque closed-loop control mode monitors the torque of the motor in real time and adjusts the input voltage or current of the motor according to the error between the target torque and the actual torque, thereby controlling the speed of the motor to ensure that the torque of the motor is the target torque.

[0130] Specifically, it accepts input modulation from a PWM generator and supports speed adjustment, such as Figure 2 As shown, after the judgment action, it enters the constant torque closed-loop control mode, and Iq1 will change again with the speed modulated by the set PWM generator input, and can be modulated as needed. PWM is a technology that controls the input voltage or current of the motor by adjusting the pulse width. By adjusting the duty cycle of PWM, the input voltage or current of the motor can be controlled, and then the speed of the motor can be controlled.

[0131] Moreover, under load conditions, the constant torque closed-loop control mode can keep the output torque of the motor constant and is not affected by changes in speed; when the load changes, the constant torque closed-loop control mode can respond quickly to ensure that the motor can operate stably under different load conditions.

[0132] In the embodiment of the present application, the constant torque closed-loop control mode can keep the output torque of the motor constant, cope with load changes, and ensure that the motor can operate stably under different load conditions. Through real-time monitoring and adjustment, the constant torque closed-loop control mode can quickly respond to load changes and keep the torque constant.

[0133] In one embodiment of the present application, when the operating state corresponding to the permanent magnet synchronous motor is the no-load state, maintaining the control mode as the constant speed closed-loop control mode at the target time includes:

[0134] When the operating state corresponding to the permanent magnet synchronous motor is the no-load state, the rotation speed of the permanent magnet synchronous motor is controlled to be a rated rotation speed; and the rated rotation speed is less than the target rotation speed.

[0135] When the motor in the embodiment of the present application is in no-load state, the control mode continues to be maintained in constant speed mode control and runs at the set rated speed. At the same time, the set PWM generator cannot input the modulation speed. This control strategy aims to effectively solve the consistency inspection problem under a fixed no-load speed during production inspection, including power, vibration, etc.

[0136] Specifically, in the no-load state, the modulation signal of the PWM generator is fixed and the modulation speed cannot be input. By fixing the PWM modulation, the speed of the motor is ensured to be maintained at the set rated speed.

[0137] In the no-load state, the motor speed is maintained at the set rated speed to ensure consistency in production inspection. In addition, the power output of the motor is stable, which is convenient for power inspection. In addition, the vibration and noise of the motor are reduced, which is convenient for vibration inspection. The embodiment of the present application can ensure that the motor maintains a constant speed in the no-load state, reduce vibration and noise, and improve the running stability of the motor by maintaining constant speed mode control and fixed PWM modulation.

[0138] In one embodiment of the present application, the current curve includes a first current curve and a second current curve, the first current curve is used to characterize the current change of the permanent magnet synchronous motor under a load state, and the second current curve is used to characterize the current change of the permanent magnet synchronous motor under a load state;

[0139] The step of determining the peak current of the permanent magnet synchronous motor under different operating states and the peak moment corresponding to the peak current according to the current curve includes:

[0140] Determine, according to the first current curve, a load peak current of the permanent magnet synchronous motor under a load state and a peak moment corresponding to the load peak current;

[0141] Determine the no-load peak current of the permanent magnet synchronous motor in a no-load state and the peak moment corresponding to the no-load peak current according to the second current curve;

[0142] The load peak current and the no-load peak current are taken as the peak current, and the peak moment corresponding to the load peak current and the peak moment corresponding to the no-load peak current are taken as the peak moment; wherein the load peak current is greater than the no-load peak current.

[0143] like Figure 2 As shown, the current curve includes a first current curve and a second current curve, which are respectively used to characterize the current variation of the permanent magnet synchronous motor in a loaded state and a no-load state.

[0144] According to the first current curve, the load peak current of the permanent magnet synchronous motor in the load state and the peak moment corresponding to the load peak current are determined; according to the second current curve, the no-load peak current of the permanent magnet synchronous motor in the no-load state and the peak moment corresponding to the no-load peak current are determined; the peak moment corresponding to the load peak current and the peak moment corresponding to the no-load peak current are taken as the peak moment; wherein, the load peak current is greater than the no-load peak current.

[0145] By analyzing the current curve, the embodiment of the present application can determine the peak current and peak time of the permanent magnet synchronous motor under different operating conditions, and then determine the target time (T0) and target current (Iq0). These parameters are used to determine the operating state of the motor and dynamically switch the control mode (constant speed closed-loop control mode or constant torque closed-loop control mode) according to the operating state.

[0146] In one embodiment of the present application, determining the target current of the permanent magnet synchronous motor according to the current curve and the target time includes:

[0147] Determining a first current corresponding to the target time in the first current curve;

[0148] determining a second current corresponding to the target time in the second current curve;

[0149] The target current is determined according to the first current and the second current; the first current is greater than the target current, and the target current is greater than the second current.

[0150] In the embodiment of the present application, the current values ​​(first current and second current) corresponding to the target time (T0) are determined in the first current curve and the second current curve, respectively. According to the first current and the second current, the target current (Iq0) of the permanent magnet synchronous motor is determined, and the target current (Iq0) is usually set between the first current and the second current to avoid the problem of misjudgment caused by the peak current, thereby improving the accuracy of the judgment of the operating state.

[0151] The implementation of this application can determine the peak current and peak time of the permanent magnet synchronous motor under different operating conditions by analyzing the current curve, and then determine the target time (T0) and target current (Iq0). These parameters are used to determine the operating state of the motor and dynamically switch the control mode (constant speed closed-loop control mode or constant torque closed-loop control mode) according to the operating state.

[0152] The embodiment of the present application proposes a new control scheme under the conditions of combining the good no-load performance of the constant speed closed-loop control mode and the load operation that satisfies the constant torque closed-loop control mode, that is, adding a judgment action after the position sensorless vector-controlled permanent magnet synchronous motor is powered on and started. When the permanent magnet synchronous motor is running at no load, it is based on the constant speed closed-loop control mode, and when the permanent magnet synchronous motor is running under load, it is based on the constant torque closed-loop control mode. This effectively solves the no-load vibration, noise and speed stability problems of the position sensorless vector-controlled permanent magnet synchronous motor in the constant torque closed-loop control mode, thereby ensuring the good no-load performance and consistency inspection of the position sensorless vector-controlled permanent magnet synchronous motor.

[0153] It should be noted that, for the method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited by the described order of actions, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

[0154] On the basis of the above embodiments, this embodiment further provides a control device for a permanent magnet synchronous motor, which is applied to electronic devices such as terminal devices and servers.

[0155] Reference Figure 4 , shows a structural block diagram of an embodiment of a control device for a permanent magnet synchronous motor of the present application, which may specifically include the following modules:

[0156] A determination module 401 is used to determine a target speed and a target current of the permanent magnet synchronous motor;

[0157] A starting module 402 is used to start the permanent magnet synchronous motor through a constant speed closed-loop control mode, and control the speed of the permanent magnet synchronous motor to be the target speed;

[0158] A real-time current determination module 403, used to determine the real-time current of the permanent magnet synchronous motor at a target time;

[0159] An operating state judgment module 404 is used to judge the operating state corresponding to the permanent magnet synchronous motor according to the real-time current at the target moment and the target current; the operating state includes a load state and a no-load state;

[0160] The control mode determination module 405 is used to determine the control mode of the permanent magnet synchronous motor after the target time according to the operating state corresponding to the permanent magnet synchronous motor; the control mode includes the constant speed closed-loop control mode and the constant torque closed-loop control mode.

[0161] The embodiment of the present application also provides a non-volatile readable storage medium, which stores one or more modules (programs). When the one or more modules are applied to a device, the device can execute instructions (instructions) of each method step in the embodiment of the present application.

[0162] The present application embodiment provides one or more machine-readable media on which instructions are stored, and when executed by one or more processors, an electronic device executes one or more of the methods described in the above embodiments. In the present application embodiment, the electronic device includes various types of devices such as terminal devices and servers (clusters).

[0163] The embodiments of the present disclosure may be implemented as a device configured as desired using any appropriate hardware, firmware, software, or any combination thereof, and the device may include electronic devices such as terminal devices and servers (clusters). Figure 5 An exemplary apparatus 500 that can be used to implement various embodiments described in this application is schematically shown.

[0164] For one embodiment, Figure 5 An exemplary apparatus 500 is shown having one or more processors 502, a control module (chip set) 504 coupled to at least one of the processor(s) 502, a memory 506 coupled to the control module 504, a non-volatile memory (NVM) / storage device 508 coupled to the control module 504, one or more input / output devices 510 coupled to the control module 504, and a network interface 512 coupled to the control module 504.

[0165] The processor 502 may include one or more single-core or multi-core processors, and the processor 502 may include any combination of general-purpose processors or special-purpose processors (such as graphics processors, application processors, baseband processors, etc.). In some embodiments, the device 500 can be used as a terminal device, server (cluster), etc. described in the embodiments of the present application.

[0166] In some embodiments, the apparatus 500 may include one or more computer-readable media (e.g., memory 506 or NVM / storage device 508) having instructions 514 and one or more processors 502 configured in conjunction with the one or more computer-readable media to execute the instructions 514 to implement a module to perform the actions described in the present disclosure.

[0167] For one embodiment, control module 504 may include any suitable interface controller to provide any suitable interface to at least one of processor(s) 502 and / or any suitable device or component in communication with control module 504 .

[0168] The control module 504 may include a memory controller module to provide an interface to the memory 506. The memory controller module may be a hardware module, a software module, and / or a firmware module.

[0169] The memory 506 may be used, for example, to load and store data and / or instructions 514 for the device 500. For one embodiment, the memory 506 may include any suitable volatile memory, such as a suitable DRAM. In some embodiments, the memory 506 may include double data rate type four synchronous dynamic random access memory (DDR4 SDRAM).

[0170] For one embodiment, control module 504 may include one or more input / output controllers to provide an interface to NVM / storage device 508 and input / output device(s) 510 .

[0171] For example, NVM / storage 508 may be used to store data and / or instructions 514. NVM / storage 508 may include any suitable non-volatile memory (e.g., flash memory) and / or may include any suitable non-volatile storage device(s) (e.g., one or more hard disk drives (HDDs), one or more compact disk (CD) drives, and / or one or more digital versatile disk (DVD) drives).

[0172] NVM / storage device 508 may include storage resources that are physically part of the device on which apparatus 500 is installed, or it may be accessible to the device without being part of the device. For example, NVM / storage device 508 may be accessed via input / output device(s) 510 over a network.

[0173] (One or more) input / output devices 510 may provide an interface for the apparatus 500 to communicate with any other appropriate device, and the input / output device 510 may include a communication component, an audio component, a sensor component, etc. The network interface 512 may provide an interface for the apparatus 500 to communicate through one or more networks, and the apparatus 500 may wirelessly communicate with one or more components of a wireless network according to any of one or more wireless network standards and / or protocols, for example, accessing a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G, 5G, etc., or a combination thereof for wireless communication.

[0174] For one embodiment, at least one of the processor(s) 502 may be packaged together with the logic of one or more controllers (e.g., a memory controller module) of the control module 504. For one embodiment, at least one of the processor(s) 502 may be packaged together with the logic of one or more controllers of the control module 504 to form a system-in-package (SiP). For one embodiment, at least one of the processor(s) 502 may be integrated on the same die with the logic of one or more controllers of the control module 504. For one embodiment, at least one of the processor(s) 502 may be integrated on the same die with the logic of one or more controllers of the control module 504 to form a system-on-chip (SoC).

[0175] In various embodiments, the apparatus 500 may be, but is not limited to, a terminal device such as a server, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet computer, a netbook, etc.). In various embodiments, the apparatus 500 may have more or fewer components and / or a different architecture. For example, in some embodiments, the apparatus 500 includes one or more cameras, a keyboard, a liquid crystal display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an application-specific integrated circuit (ASIC), and a speaker.

[0176] Among them, the main control chip can be used as a processor or control module in the detection device, sensor data, location information, etc. are stored in a memory or NVM / storage device, the sensor group can be used as an input / output device, and the communication interface may include a network interface.

[0177] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0178] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0179] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable permanent magnet synchronous motor control terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable permanent magnet synchronous motor control terminal device generate instructions for implementing the processes in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0180] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable permanent magnet synchronous motor control terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0181] These computer program instructions can also be loaded onto a computer or other programmable permanent magnet synchronous motor control terminal device, so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable terminal device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0182] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0183] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0184] The above is a detailed introduction to a control method and device for a permanent magnet synchronous motor, an electronic device and a storage medium provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control method for a permanent magnet synchronous motor, characterized in that: The method comprises: Determining a target speed and a target current of the permanent magnet synchronous motor; Starting the permanent magnet synchronous motor through a constant speed closed-loop control mode, and controlling the speed of the permanent magnet synchronous motor to be the target speed; Determining the real-time current of the permanent magnet synchronous motor at a target time; Determine the operating state corresponding to the permanent magnet synchronous motor according to the real-time current at the target moment and the target current; the operating state includes a load state and a no-load state; The control mode of the permanent magnet synchronous motor after the target time is determined according to the operating state corresponding to the permanent magnet synchronous motor; the control mode includes the constant speed closed-loop control mode and the constant torque closed-loop control mode.

2. The method according to claim 1, characterized in that The determining the operating state corresponding to the permanent magnet synchronous motor according to the real-time current at the target moment and the target current includes: When the real-time current at the target moment is greater than the target current, the operating state corresponding to the permanent magnet synchronous motor is the load state; When the real-time current at the target moment is less than or equal to the target current, the operating state corresponding to the permanent magnet synchronous motor is the no-load state.

3. The method according to claim 1, characterized in that: The determining the control mode of the permanent magnet synchronous motor after the target time according to the operating state corresponding to the permanent magnet synchronous motor includes: When the operating state corresponding to the permanent magnet synchronous motor is the load state, switching the control mode from the constant speed closed-loop control mode to the constant torque closed-loop control mode at the target time; When the operating state corresponding to the permanent magnet synchronous motor is the no-load state, the control mode is maintained as the constant speed closed-loop control mode at the target time.

4. The method according to claim 3, characterized in that Determining the target speed and target current of the permanent magnet synchronous motor includes: Determining a target speed of the permanent magnet synchronous motor; Starting the permanent magnet synchronous motor in different operating states through the constant speed closed-loop control mode, and controlling the speed of the permanent magnet synchronous motor to be the target speed, so as to simulate the current curve of the permanent magnet synchronous motor in different operating states when it is started through the constant speed closed-loop control mode; The target current of the permanent magnet synchronous motor at the target time is determined according to the current curve.

5. The method according to claim 4, characterized in that The step of determining the target current of the permanent magnet synchronous motor at the target time according to the current curve includes: Determine the peak current of the permanent magnet synchronous motor under different operating conditions and the peak moment corresponding to the peak current according to the current curve; Determine the target time according to the peak time corresponding to the peak current; the target time is after the peak time corresponding to the peak current; A target current of the permanent magnet synchronous motor is determined according to the current curve and the target time.

6. The method according to claim 3, characterized in that When the operating state corresponding to the permanent magnet synchronous motor is the load state, switching the control mode from the constant speed closed-loop control mode to the constant torque closed-loop control mode at the target time comprises: When the operating state corresponding to the permanent magnet synchronous motor is the load state, the rotation speed of the permanent magnet synchronous motor is controlled to ensure that the torque of the permanent magnet synchronous motor is the target torque.

7. The method according to claim 3, characterized in that When the operating state corresponding to the permanent magnet synchronous motor is the no-load state, maintaining the control mode as the constant speed closed-loop control mode at the target time includes: When the operating state corresponding to the permanent magnet synchronous motor is the no-load state, the rotation speed of the permanent magnet synchronous motor is controlled to be a rated rotation speed; and the rated rotation speed is less than the target rotation speed.

8. The method according to claim 5, characterized in that The current curve includes a first current curve and a second current curve, the first current curve is used to characterize the current change of the permanent magnet synchronous motor under a load state, and the second current curve is used to characterize the current change of the permanent magnet synchronous motor under a load state; The step of determining the peak current of the permanent magnet synchronous motor under different operating states and the peak moment corresponding to the peak current according to the current curve includes: Determine, according to the first current curve, a load peak current of the permanent magnet synchronous motor under a load state and a peak moment corresponding to the load peak current; Determine the no-load peak current of the permanent magnet synchronous motor in a no-load state and the peak moment corresponding to the no-load peak current according to the second current curve; The load peak current and the no-load peak current are taken as the peak current, and the peak moment corresponding to the load peak current and the peak moment corresponding to the no-load peak current are taken as the peak moment; wherein the load peak current is greater than the no-load peak current.

9. The method according to claim 8, characterized in that The step of determining the target current of the permanent magnet synchronous motor according to the current curve and the target time includes: Determining a first current corresponding to the target time in the first current curve; determining a second current corresponding to the target time in the second current curve; The target current is determined according to the first current and the second current; the first current is greater than the target current, and the target current is greater than the second current.

10. A control device for a permanent magnet synchronous motor, characterized in that: The device comprises: A determination module, used to determine a target speed and a target current of the permanent magnet synchronous motor; A starting module, used to start the permanent magnet synchronous motor through a constant speed closed-loop control mode, and control the speed of the permanent magnet synchronous motor to be the target speed; A real-time current determination module, used to determine the real-time current of the permanent magnet synchronous motor at a target time; An operating state judgment module, used for judging the operating state corresponding to the permanent magnet synchronous motor according to the real-time current at the target moment and the target current; the operating state includes a load state and a no-load state; A control mode determination module is used to determine the control mode of the permanent magnet synchronous motor after the target time according to the operating state corresponding to the permanent magnet synchronous motor; the control mode includes the constant speed closed-loop control mode and the constant torque closed-loop control mode.

11. An electronic device, characterized in that: include: processor; and A memory having executable codes stored thereon, which, when executed, enables the processor to execute the control method for the permanent magnet synchronous motor as claimed in any one of claims 1 to 9.

12. One or more machine-readable media having executable codes stored thereon, which, when executed, enable a processor to execute the control method of a permanent magnet synchronous motor according to any one of claims 1 to 9.

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