Active damping parameter setting method, device, equipment and medium

Abstract

The invention discloses an active damping parameter setting method and device, equipment and a medium, and relates to the technical field of motor control, and the method comprises the steps: determining a transfer function of an inverter side current feedback closed-loop control loop; the inverter side current feedback closed-loop control loop comprises a control link, a delay link, an active damping link, a filter link and a motor link; according to the transfer function, determining an upper limit expression of an active damping parameter when a control loop stability condition is satisfied; obtaining the numerical value of each target parameter in the upper limit expression of the active damping parameter; determining the upper limit value of the active damping parameter according to the upper limit expression of the active damping parameter and the numerical value of each target parameter; and selecting a numerical value within the upper limit value of the active damping parameter as a set value of the active damping parameter. According to the method, the active damping parameter setting efficiency can be improved, and the set active damping parameter is more accurate.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to an active damping parameter setting method, device, equipment and medium. Background Art

[0002] When high-speed and ultra-high-speed permanent magnet synchronous motors are controlled by traditional voltage-type inverters, large current harmonics will be generated, which will lead to high motor temperature and noise. Adding a filter at the output of the inverter can effectively reduce current harmonics. When the filter uses an LC filter, the LC filter and the motor's own inductance form an LCL third-order system, which will introduce resonance. Resonance suppression is the prerequisite for the inverter output to be able to connect an LC filter in series. The current solution for resonance suppression is "virtual impedance" implemented by software algorithms, called active damping. This solution does not require adding devices to the system, but instead uses software algorithms to virtualize a resistor to achieve the same damping effect as a real resistor. However, in industrial applications of active damping, an active damping value is usually selected for damping by trial and error. This trial and error solution requires a lot of engineering experience, is inefficient and inaccurate, and is not conducive to achieving the best damping effect.

[0003] Therefore, how to improve the setting efficiency and accuracy of active damping parameters has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] The purpose of the present application is to provide a method, device, equipment and medium for setting active damping parameters, which can improve the efficiency of setting active damping parameters and make the set active damping parameters more accurate.

[0005] In order to solve the above technical problems, the present application provides a method for setting active damping parameters, comprising:

[0006] Determine the transfer function of the inverter-side current feedback closed-loop control loop; the inverter-side current feedback closed-loop control loop includes a control link, a delay link, an active damping link, a filter link and a motor link;

[0007] According to the transfer function, determining an upper limit expression of the active damping parameter when a control loop stability condition is satisfied;

[0008] Obtaining the values ​​of each target parameter in the upper limit expression of the active damping parameter;

[0009] Determining an upper limit value of the active damping parameter according to the upper limit expression of the active damping parameter and the values ​​of each of the target parameters;

[0010] A value within the upper limit of the active damping parameter is selected as the set value of the active damping parameter.

[0011] In some embodiments, determining the transfer function of the inverter-side current feedback closed-loop control loop includes:

[0012] Capacitor current feedback active damping is adopted to determine the transfer function of the inverter side current feedback closed-loop control loop.

[0013] In some embodiments, determining, according to the transfer function, an upper limit expression of the active damping parameter when the control loop stability condition is satisfied comprises:

[0014] Discretizing the open-loop transfer function of the inverter-side current feedback closed-loop control loop;

[0015] According to the discretization processing results, the characteristic equation is determined;

[0016] In the case where the characteristic equation satisfies a constraint condition, an upper limit expression of the active damping parameter is determined; the constraint condition includes that the characteristic equation does not have a characteristic root outside the unit circle.

[0017] In some embodiments, the obtaining of the values ​​of the target parameters in the upper limit expression of the active damping parameter includes:

[0018] The values ​​of the filter inductance, the motor inductance, the resonant frequency and the period of the filter in the upper limit expression of the active damping parameter are obtained.

[0019] In some embodiments, the control link is a proportional-integral control link.

[0020] In some embodiments, it also includes:

[0021] Determining the upper limit of the value of the target coefficient in the control link when the current closed-loop control stability condition is met according to the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance;

[0022] A numerical value within the numerical upper limit of the target coefficient is selected as the set value of the target coefficient.

[0023] In some embodiments, determining the upper limit of the value of the target parameter in the control link when the current closed-loop control stability condition is met according to the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance includes:

[0024] According to the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance, the upper limit of the proportional coefficient in the control link when the current closed-loop control stability condition is met is determined.

[0025] In order to solve the above technical problems, the present application also provides an active damping parameter setting device, comprising:

[0026] A first determination module is used to determine a transfer function of an inverter-side current feedback closed-loop control loop; the inverter-side current feedback closed-loop control loop includes a control link, a delay link, an active damping link, a filter link and a motor link;

[0027] A second determination module is used to determine, according to the transfer function, an upper limit expression of the active damping parameter when the control loop stability condition is met;

[0028] An acquisition module, used for acquiring the values ​​of each target parameter in the upper limit expression of the active damping parameter;

[0029] A third determination module, configured to determine an upper limit value of an active damping parameter according to an upper limit expression of the active damping parameter and a value of each of the target parameters;

[0030] A selection module is used to select a value within the upper limit of the active damping parameter as the set value of the active damping parameter.

[0031] In order to solve the above technical problems, the present application also provides an active damping parameter setting device, comprising:

[0032] Memory for storing computer programs;

[0033] A processor is used to implement the steps of the active damping parameter setting method as described above when executing the computer program.

[0034] In order to solve the above technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the active damping parameter setting method as described above are implemented.

[0035] The active damping parameter setting method provided in the present application includes: determining the transfer function of the inverter-side current feedback closed-loop control loop; the inverter-side current feedback closed-loop control loop includes a control link, a delay link, an active damping link, a filter link and a motor link; according to the transfer function, determining the upper limit expression of the active damping parameter; obtaining the numerical value of each target parameter in the upper limit expression of the active damping parameter; determining the upper limit value of the active damping parameter according to the upper limit expression of the active damping parameter and the numerical value of each target parameter; selecting a numerical value within the upper limit value of the active damping parameter as the set value of the active damping parameter.

[0036] It can be seen that the active damping parameter setting method provided in the present application takes the inverter, filter and motor as a whole, determines the transfer function of the inverter-side current feedback closed-loop control loop, and then determines the upper limit of the active damping parameter accordingly. The values ​​within the upper limit of the active damping parameter are all values ​​that meet the stability of the control loop. Within the upper limit, a value is automatically selected as the set value of the active damping parameter, which not only realizes the automatic setting of the active damping parameter, but also makes the set active damping parameter more accurate, thereby achieving the effect of improving the setting efficiency and accuracy of the active damping parameter. At the same time, the present application adopts inverter-side current feedback control to reduce sensor components, simplify the circuit structure, and can protect the inverter in a timely manner.

[0037] The active damping parameter setting device, equipment and computer-readable storage medium provided in this application all have the above-mentioned technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the prior art and the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram of a flow chart of an active damping parameter setting method provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of an inverter string LC filter and a motor provided in an embodiment of the present application;

[0041] Figure 3 A vector control block diagram of an inverter output string LC filter provided in an embodiment of the present application;

[0042] Figure 4 A block diagram of a d-axis current loop transfer function with an LC filter provided in an embodiment of the present application;

[0043] Figure 5 Another block diagram of a d-axis current loop transfer function with an LC filter provided in an embodiment of the present application;

[0044] Figure 6 A block diagram of a d-axis current loop transfer function with an LC filter provided in an embodiment of the present application;

[0045] Figure 7 A block diagram of a d-axis current loop transfer function with an LC filter provided in another embodiment of the present application;

[0046] Figure 8 A current waveform diagram after adding active damping provided in an embodiment of the present application;

[0047] Fig. 9 A schematic diagram of an active damping parameter setting device provided in an embodiment of the present application;

[0048] Fig.10 A schematic diagram of an active damping parameter setting device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The core of this application is to provide an active damping parameter setting method, device, equipment and medium, which can improve the efficiency of active damping parameter setting, and the set active damping parameters are more accurate.

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] Please refer to Figure 1 , Figure 1 A flow chart of a method for setting active damping parameters provided in an embodiment of the present application is provided. Figure 1 As shown, the method includes:

[0052] S101: Determine a transfer function of an inverter-side current feedback closed-loop control loop; the inverter-side current feedback closed-loop control loop includes a control link, a delay link, an active damping link, a filter link and a motor link.

[0053] The connection diagram of the inverter, LC filter and motor is as follows: Figure 2 shown. Figure 2 middle, , , , , They represent filter inductance, filter capacitance, motor stator resistance, motor inductance and motor back EMF respectively. , , They represent the inverter side current, capacitor current and motor current respectively. The sampling of the inverter side current can be achieved through the Hall element of the inverter itself. The sampling of the capacitor current can be achieved by adding a set of hardware sampling circuits.

[0054] This embodiment takes the inverter, LC filter and motor as a whole, and adopts the inverter side current feedback control method to determine the transfer function of the inverter side current feedback closed-loop control loop. Since the sampling of the inverter side current can be achieved through the inverter's own Hall element, the use of the inverter side current feedback control can reduce the sensor components and simplify the circuit structure. In addition, the inverter side current feedback control can be used to protect the inverter in a timely manner.

[0055] In some embodiments, determining the transfer function of the inverter-side current feedback closed-loop control loop includes:

[0056] Capacitor current feedback active damping is adopted to determine the transfer function of the inverter side current feedback closed-loop control loop.

[0057] The use of capacitor current feedback active damping can effectively suppress the resonance phenomenon and improve the stability of the system.

[0058] It can be understood that, in addition to capacitor current feedback active damping, other active damping methods such as filter inductor current feedback active damping can also be used.

[0059] In some embodiments, the control link is a proportional-integral control link. The proportional-integral control link can achieve control more quickly and accurately.

[0060] For the inverter + LC filter + motor topology, active capacitor current damping is added without changing the FOC (Field-Oriented Control) control loop framework. The vector control block diagram of the output string LC filter can be found in Figure 3 As shown. Using the id=0 control scheme, taking the d-axis current loop as an example, ignoring the dq-axis decoupling and the voltage and current decoupling in the LC filter, the d-axis current loop transfer function block diagram is shown as follows: Figure 4 shown.

[0061] Figure 4 middle, It is the proportional integral control link. is the proportionality coefficient, is the integration coefficient. For the delay phase, is the sampling period. is the inductor link in the filter link, is the filter inductor. is the capacitor link in the filter link, is the filter capacitor. For the motor link, is the motor inductance, is the motor stator resistance. is the reference current, is the feedback current.

[0062] Ignoring the motor stator resistance, in the absence of damping, Figure 4 The d-axis current loop transfer function block diagram shown is simplified to Figure 5 shown.

[0063] Figure 5 middle, .

[0064] The delay of the control system with LC filter is the same as that without LC filter, that is, the delay link is 1.5Ts, Ts represents the sampling period. Under the dual sampling and dual updating control system, the delay is 0.75 carrier period. The PI controller, i.e. the proportional integral control link, is used for adjustment. The transfer function from the output voltage on the inverter side to the current on the motor side is expressed as express.

[0065] .

[0066] right Simplifying and discretizing it yields:

[0067] .

[0068] in, , is the anti-resonance angular frequency of the filter. and is the resonant frequency.

[0069] right By performing ZOH (Zero-Order Hold) discretization processing, we can obtain:

[0070] . T is the sampling frequency.

[0071] Will Substitute into the above formula and find Crossover frequency:

[0072] .

[0073] Thus, in the dq coordinate system, the condition for the inverter current feedback control loop to be stable is that the resonant frequency is less than one-sixth of the sampling frequency. For high-speed permanent magnet synchronous motors, the fundamental frequency is high, resulting in a relatively high cutoff frequency for the filter design, which easily exceeds the above conditions, so it is necessary to increase damping suppression.

[0074] After adopting capacitor current feedback active damping, the d-axis current loop transfer function block diagram is as follows: Figure 6 shown. Figure 6Where R is the active damping parameter, i.e. the active damping link.

[0075] Will Figure 6 The d-axis current loop transfer function block diagram shown in the figure is simplified as follows Figure 7 shown.

[0076] in, , .

[0077] The open-loop transfer function of the control loop can be expressed as:

[0078] .

[0079] S102: Determine, based on the transfer function, an upper limit expression of an active damping parameter when a control loop stability condition is satisfied.

[0080] In some embodiments, determining, according to the transfer function, an upper limit expression of the active damping parameter when the control loop stability condition is satisfied comprises:

[0081] Discretizing the open-loop transfer function of the inverter-side current feedback closed-loop control loop;

[0082] According to the discretization processing results, the characteristic equation is determined;

[0083] In the case where the characteristic equation satisfies a constraint condition, an upper limit expression of the active damping parameter is determined; the constraint condition includes that the characteristic equation does not have a characteristic root outside the unit circle.

[0084] right Discretization of ZOH yields:

[0085] .

[0086] Substituting the above formula into It can be simplified to:

[0087] . is the pulse width modulation proportional coefficient, and The value is 1.

[0088] From the above formula, we can see that the poles of the open-loop transfer function are In addition, the other poles are related to the LC filter parameters and the active damping parameters, let:

[0089] .

[0090] Applying the Juli criterion, we get the characteristic equation The condition that there is no characteristic root outside the unit circle, that is, the range of the active damping parameter is:

[0091] . is the upper limit of active damping.

[0092] S103: Obtaining the values ​​of each target parameter in the upper limit expression of the active damping parameter;

[0093] S104: determining an upper limit value of the active damping parameter according to the upper limit expression of the active damping parameter and the values ​​of each of the target parameters;

[0094] S105: Selecting a value within the upper limit of the active damping parameter as the set value of the active damping parameter.

[0095] In some embodiments, the obtaining of the values ​​of the target parameters in the upper limit expression of the active damping parameter includes:

[0096] The values ​​of the filter inductance, the motor inductance, the resonant frequency and the period of the filter in the upper limit expression of the active damping parameter are obtained.

[0097] As shown in the above formula, the target parameters in the upper limit expression of the active damping parameter include the filter inductance, motor inductance, filter resonant frequency and period, so the values ​​of the filter inductance, motor inductance, filter resonant frequency and period are obtained, and then the upper limit value of the active damping parameter is obtained. Within 0 to the upper limit value, a value can be randomly selected as the set value of the active damping parameter to complete the setting of the active damping parameter.

[0098] In some embodiments, it also includes:

[0099] Determining the upper limit of the value of the target coefficient in the control link when the current closed-loop control stability condition is met according to the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance;

[0100] A numerical value within the numerical upper limit of the target coefficient is selected as the set value of the target coefficient.

[0101] On the basis that the control link is a proportional-integral control link, the target coefficient may be a proportional coefficient and / or an integral coefficient.

[0102] In some embodiments, according to the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance, determining the upper limit of the value of the target parameter in the control link when the current closed-loop control stability condition is met includes:

[0103] According to the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance, the upper limit of the proportional coefficient in the control link when the current closed-loop control stability condition is met is determined.

[0104] The proportional-integral control link Simplified to , the open-loop transfer function The value at the resonant frequency is:

[0105] ;

[0106] When satisfied and When there is no open-loop unstable pole, it will only be at the resonant frequency At -180°, according to the Nyquist stability criterion, in order to ensure the stability of the current closed-loop control, the open-loop transfer function The amplitude at the resonant frequency cannot be greater than 1, so the proportional coefficient in the proportional-integral control link The value range must meet the following requirements:

[0107] .

[0108] A value can be selected within the above value range as the set value of the proportional coefficient, and then the current closed-loop control is performed based on the proportional coefficient with the set value.

[0109] Taking a 100KW high-speed permanent magnet synchronous motor as an example, the motor rated frequency is 350Hz, the filter inductance is 0.23mH, and the filter capacitance is 168uF. The carrier frequency is set to 4K. After adopting the active damping parameter setting scheme provided in this application, the current waveform is as follows: Figure 8 As shown. Figure 8 It can be seen that after adding active damping, the resonance phenomenon between the LC filter and the permanent magnet synchronous motor can be effectively suppressed, and the motor end current harmonics can be reduced.

[0110] In summary, the active damping parameter setting method provided in the present application takes the inverter, filter and motor as a whole, determines the transfer function of the inverter-side current feedback closed-loop control loop, and then determines the upper limit of the active damping parameter accordingly. The values ​​within the upper limit of the active damping parameter are all values ​​that satisfy the stability of the control loop. Within this upper limit, a value is automatically selected as the set value of the active damping parameter, which not only realizes the automatic setting of the active damping parameter, but also makes the set active damping parameter more accurate, thereby achieving the effect of improving the setting efficiency and accuracy of the active damping parameter.

[0111] The present application also provides an active damping parameter setting device, which can be referred to in correspondence with the method described above. Fig. 9 , Fig. 9 A schematic diagram of an active damping parameter setting device provided in an embodiment of the present application, combined with Fig. 9As shown, the device comprises:

[0112] The first determination module 10 is used to determine the transfer function of the inverter-side current feedback closed-loop control loop; the inverter-side current feedback closed-loop control loop includes a control link, a delay link, an active damping link, a filter link and a motor link;

[0113] A second determination module 20 is used to determine, according to the transfer function, an upper limit expression of the active damping parameter when the control loop stability condition is satisfied;

[0114] An acquisition module 30, used to acquire the values ​​of each target parameter in the upper limit expression of the active damping parameter;

[0115] A third determination module 40, configured to determine an upper limit value of an active damping parameter according to an upper limit expression of the active damping parameter and values ​​of each of the target parameters;

[0116] The selection module 50 is used to select a value within the upper limit of the active damping parameter as the set value of the active damping parameter.

[0117] Based on the above embodiment, as a specific implementation manner, the first determining module 10 is specifically used for:

[0118] Capacitor current feedback active damping is adopted to determine the transfer function of the inverter side current feedback closed-loop control loop.

[0119] Based on the above embodiment, as a specific implementation, the second determining module 20 includes:

[0120] A discretization unit, used for discretizing an open-loop transfer function of the inverter-side current feedback closed-loop control loop;

[0121] A first determining unit, used for determining a characteristic equation according to a discretization processing result;

[0122] The second determination unit is used to determine the upper limit expression of the active damping parameter when the characteristic equation satisfies a constraint condition; the constraint condition includes that the characteristic equation does not have a characteristic root outside the unit circle.

[0123] Based on the above embodiment, as a specific implementation mode, the acquisition module 30 is specifically used for:

[0124] The values ​​of the filter inductance, the motor inductance, the resonant frequency and the period of the filter in the upper limit expression of the active damping parameter are obtained.

[0125] Based on the above embodiment, as a specific implementation method, the control link is a proportional-integral control link.

[0126] Based on the above embodiment, as a specific implementation method, it also includes:

[0127] A fourth determination module, used to determine the upper limit of the target coefficient in the control link when the current closed-loop control stability condition is met according to the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance;

[0128] The selection module is used to select a value within the upper limit of the target coefficient as the set value of the target coefficient.

[0129] Based on the above embodiment, as a specific implementation manner, the fourth determination module is specifically used to:

[0130] According to the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance, the upper limit of the proportional coefficient in the control link when the current closed-loop control stability condition is met is determined.

[0131] The active damping parameter setting device provided in the present application takes the inverter, filter and motor as a whole, determines the transfer function of the inverter-side current feedback closed-loop control loop, and then determines the upper limit of the active damping parameter accordingly. The values ​​within the upper limit of the active damping parameter are all values ​​that meet the stability of the control loop. Within the upper limit, a value is automatically selected as the setting value of the active damping parameter, which not only realizes the automatic setting of the active damping parameter, but also makes the set active damping parameter more accurate, thereby achieving the effect of improving the setting efficiency and accuracy of the active damping parameter.

[0132] The present application also provides an active damping parameter setting device, referring to Fig.10 As shown, the device includes a memory 1 and a processor 2 .

[0133] Memory 1, used for storing computer programs;

[0134] Processor 2 is used to execute the computer program to implement the following steps:

[0135] Determine the transfer function of the inverter-side current feedback closed-loop control loop; the inverter-side current feedback closed-loop control loop includes a control link, a delay link, an active damping link, a filter link and a motor link; according to the transfer function, determine the upper limit expression of the active damping parameter when the control loop stability condition is met; obtain the value of each target parameter in the upper limit expression of the active damping parameter; determine the upper limit value of the active damping parameter according to the upper limit expression of the active damping parameter and the values ​​of each target parameter; select a value within the upper limit value of the active damping parameter as the set value of the active damping parameter.

[0136] In some embodiments, the memory 1 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function, etc.; the data storage area may store data created during use.

[0137] In addition, the memory 1 may include a read-only memory and a random access memory, and provides instructions and data to the processor 2. A portion of the memory 1 may also include an NVRAM. The memory 1 stores an operating system and operating instructions, executable modules or data structures, or a subset thereof, or an extended set thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and processing hardware-based tasks.

[0138] The processor 2 may be a central processing unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic device, a microprocessor or any conventional processor, etc. The processor 2 may call a program stored in the memory 1.

[0139] The communication interface is used to connect to other devices or systems.

[0140] For an introduction to the equipment provided in this application, please refer to the above method embodiments, and this application will not go into details here.

[0141] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps can be implemented:

[0142] Determine the transfer function of the inverter-side current feedback closed-loop control loop; the inverter-side current feedback closed-loop control loop includes a control link, a delay link, an active damping link, a filter link and a motor link; according to the transfer function, determine the upper limit expression of the active damping parameter when the control loop stability condition is met; obtain the value of each target parameter in the upper limit expression of the active damping parameter; determine the upper limit value of the active damping parameter according to the upper limit expression of the active damping parameter and the values ​​of each target parameter; select a value within the upper limit value of the active damping parameter as the set value of the active damping parameter.

[0143] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0144] For an introduction to the computer-readable storage medium provided in this application, please refer to the above method embodiment, and this application will not go into details here.

[0145] The various embodiments in the 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 referred to each other. For the devices, equipment, and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0146] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0147] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0148] The active damping parameter setting method, device, equipment and computer-readable storage medium provided by the present application are described in detail above. Specific examples are used herein 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 and core idea of ​​the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the present application.

Claims

1. A method for setting active damping parameters, characterized in that: include: Determine the transfer function of the inverter-side current feedback closed-loop control loop; the inverter-side current feedback closed-loop control loop includes a control link, a delay link, an active damping link, a filter link and a motor link; According to the transfer function, determining an upper limit expression of the active damping parameter when a control loop stability condition is satisfied; Obtaining the values ​​of each target parameter in the upper limit expression of the active damping parameter; Determining an upper limit value of the active damping parameter according to the upper limit expression of the active damping parameter and the values ​​of each of the target parameters; A value within the upper limit of the active damping parameter is selected as the set value of the active damping parameter.

2. The active damping parameter setting method according to claim 1, characterized in that: The transfer function of determining the inverter-side current feedback closed-loop control loop includes: Capacitor current feedback active damping is adopted to determine the transfer function of the inverter side current feedback closed-loop control loop.

3. The active damping parameter setting method according to claim 1, characterized in that: The upper limit expression of the active damping parameter when the control loop stability condition is satisfied according to the transfer function comprises: Discretizing the open-loop transfer function of the inverter-side current feedback closed-loop control loop; According to the discretization processing results, the characteristic equation is determined; In the case where the characteristic equation satisfies a constraint condition, an upper limit expression of the active damping parameter is determined; the constraint condition includes that the characteristic equation does not have a characteristic root outside the unit circle.

4. The method for setting active damping parameters according to claim 1, characterized in that: The values ​​of the target parameters in the upper limit expression for obtaining the active damping parameter include: The values ​​of the filter inductance, the motor inductance, the resonant frequency and the period of the filter in the upper limit expression of the active damping parameter are obtained.

5. The method for setting active damping parameters according to claim 1, characterized in that: The control link is a proportional-integral control link.

6. The method for setting active damping parameters according to claim 1, characterized in that: Also includes: Determining the upper limit of the value of the target coefficient in the control link when the current closed-loop control stability condition is met according to the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance; A numerical value within the numerical upper limit of the target coefficient is selected as the set value of the target coefficient.

7. The method for setting active damping parameters according to claim 6, characterized in that: Determining the upper limit of the value of the target parameter in the control link when the current closed-loop control stability condition is met according to the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance includes: According to the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance, the upper limit of the proportional coefficient in the control link when the current closed-loop control stability condition is met is determined.

8. An active damping parameter setting device, characterized in that: include: A first determination module is used to determine a transfer function of an inverter-side current feedback closed-loop control loop; the inverter-side current feedback closed-loop control loop includes a control link, a delay link, an active damping link, a filter link and a motor link; A second determination module is used to determine, according to the transfer function, an upper limit expression of the active damping parameter when the control loop stability condition is met; An acquisition module, used for acquiring the values ​​of each target parameter in the upper limit expression of the active damping parameter; A third determination module, configured to determine an upper limit value of an active damping parameter according to an upper limit expression of the active damping parameter and a value of each of the target parameters; A selection module is used to select a value within the upper limit of the active damping parameter as the set value of the active damping parameter.

9. An active damping parameter setting device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the active damping parameter setting method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the active damping parameter setting method according to any one of claims 1 to 7 are implemented.

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