An active damping parameter setting method, device, equipment and medium

Abstract

The application discloses an active damping parameter setting method and device, equipment and medium, and relates to the technical field of motor control. The method comprises the following 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 element, a time delay element, an active damping element, a filter element and a motor element; determining an upper limit expression of an active damping parameter when a control loop stability condition is met according to the transfer function; 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 the set value of the active damping parameter. The method can improve the efficiency of active damping parameter setting, and the set active damping parameter is more accurate.

Description

Technical Field

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

[0002] When high-speed and ultra-high-speed permanent magnet synchronous motors are controlled by traditional voltage-source inverters, significant current harmonics are generated, leading to increased motor temperature and noise. Adding a filter to the inverter output can effectively reduce current harmonics. When an LC filter is used, the LC filter and the motor's own inductance form a third-order LCL system, introducing resonance. Resonance suppression is a prerequisite for the inverter output to be able to use an LC filter. Currently, the solution for resonance suppression is a "virtual impedance" implemented through software algorithms, known as active damping. This solution does not require adding components to the system; instead, it uses software algorithms to create a virtual resistor to achieve the same damping effect as a real resistor. However, in industrial applications of active damping, a trial-and-error method is typically used to select an active damping value. This trial-and-error approach requires extensive engineering experience, is inefficient and inaccurate, and is not conducive to achieving optimal damping results.

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

[0004] The purpose of this application is to provide an active damping parameter setting method, device, equipment, and medium that can improve the efficiency of active damping parameter setting and make the set active damping parameters more accurate.

[0005] To address the aforementioned technical problems, this 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 element, a delay element, an active damping element, a filter element, and a motor element;

[0007] Based on the transfer function, determine the upper limit expression for the active damping parameters when the control loop stability condition is met;

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

[0009] The upper limit value of the active damping parameter is determined based on the upper limit expression of the active damping parameter and the value 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] The transfer function of the inverter-side current feedback closed-loop control circuit is determined by using active damping with capacitor current feedback.

[0013] In some embodiments, determining the upper limit expression for the active damping parameter that satisfies the control loop stability condition based on the transfer function includes:

[0014] The open-loop transfer function of the inverter-side current feedback closed-loop control loop is discretized.

[0015] Based on the discretization results, the characteristic equation is determined;

[0016] Under the condition that the characteristic equation satisfies the constraint conditions, determine the upper limit expression of the active damping parameter; the constraint conditions include that the characteristic equation does not have any characteristic roots outside the unit circle.

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

[0018] Obtain the values ​​of filter inductance, motor inductance, filter resonant frequency, and period in the upper limit expression of the active damping parameters.

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

[0020] In some embodiments, it also includes:

[0021] Based on the set values ​​of the active damping parameters, the value of the filter inductance, and the value of the motor inductance, determine the upper limit of the target coefficient value in the control loop when the current closed-loop control stability condition is met.

[0022] Select a value within the upper limit of the target coefficient as the set value of the target coefficient.

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

[0024] Based on the set values ​​of the active damping parameters, the value of the filter inductance, and the value of the motor inductance, the upper limit of the proportional coefficient in the control loop is determined when the current closed-loop control stability condition is met.

[0025] To address the aforementioned technical problems, this application also provides an active damping parameter setting device, comprising:

[0026] The first determining module 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 loop, a delay loop, an active damping loop, a filter loop, and a motor loop.

[0027] The second determining module is used to determine, based on the transfer function, the upper limit expression of the active damping parameter when the control loop stability condition is met;

[0028] The acquisition module is used to acquire the values ​​of each target parameter in the upper limit expression of the active damping parameters;

[0029] The third determining module is used to determine the upper limit value of the active damping parameter based on the upper limit expression of the active damping parameter and the values ​​of each of the target parameters.

[0030] The 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] To address the aforementioned technical problems, this application also provides an active damping parameter setting device, comprising:

[0032] Memory, used to store computer programs;

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

[0034] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the active damping parameter setting method described above.

[0035] The active damping parameter setting method provided in this 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 loop, a delay loop, an active damping loop, a filter loop, and a motor loop; determining an upper limit expression for the active damping parameter based on the transfer function; obtaining the values ​​of each target parameter in the upper limit expression for the active damping parameter; determining the upper limit value of the active damping parameter based on the upper limit expression for the active damping parameter and the values ​​of each target parameter; and selecting a value within the upper limit value of the active damping parameter as the set value of the active damping parameter.

[0036] As can be seen, the active damping parameter setting method provided in this application treats 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 value of the active damping parameter accordingly. 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, values ​​are automatically selected as the setpoints for the active damping parameters, which not only achieves automatic setting of the active damping parameters but also makes the set active damping parameters more accurate, thereby improving the setting efficiency and accuracy of the active damping parameters. Simultaneously, the inverter-side current feedback control used in this application reduces the number of sensor components, simplifies the circuit structure, and provides timely protection for the inverter.

[0037] The active damping parameter setting device, equipment, and computer-readable storage medium provided in this application all have the aforementioned technical effects. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A flowchart illustrating an active damping parameter setting method provided in an embodiment of this application;

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

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

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

[0043] Figure 5 Another d-axis current loop transfer function block diagram with LC filter provided in this application embodiment;

[0044] Figure 6 This application provides another block diagram of the transfer function of a d-axis current loop with an LC filter.

[0045] Figure 7 Another block diagram of the d-axis current loop transfer function with LC filter provided in the embodiments of this application;

[0046] Figure 8 This is a current waveform diagram with active damping added, provided in an embodiment of this application.

[0047] Figure 9 A schematic diagram of an active damping parameter setting device provided in an embodiment of this application;

[0048] Figure 10 This is a schematic diagram of an active damping parameter setting device provided in an embodiment of this application. Detailed Implementation

[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 make the set active damping parameters more accurate.

[0050] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0051] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating an active damping parameter setting method provided in an embodiment of this application. (Refer to...) Figure 1 As shown, the method includes:

[0052] S101: 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 loop, a delay loop, an active damping loop, a filter loop, and a motor loop.

[0053] The connection diagram of the inverter, LC filter and motor is shown below. Figure 2 As shown. Figure 2 middle, , , , , These represent the filter inductance, filter capacitor, motor stator resistance, motor inductance, and motor back EMF, respectively. , , These represent the inverter-side current, capacitor current, and motor current, respectively. The inverter-side current can be sampled using the inverter's own Hall effect sensor. The capacitor current can be sampled by adding a hardware sampling circuit.

[0054] This embodiment treats the inverter, LC filter, and motor as a whole, employing inverter-side current feedback control to determine the transfer function of the inverter-side current feedback closed-loop control circuit. Since the inverter-side current can be sampled using the inverter's own Hall effect sensors, inverter-side current feedback control reduces the number of sensor components and simplifies the circuit structure. Furthermore, inverter-side current feedback control allows for timely protection of the inverter.

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

[0056] The transfer function of the inverter-side current feedback closed-loop control circuit is determined by using active damping with capacitor current feedback.

[0057] Active damping with capacitor current feedback can effectively suppress resonance phenomena and improve system stability.

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

[0059] In some embodiments, the control element is a proportional-integral (PI) control element. PI control elements can achieve control more quickly and accurately.

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

[0061] Figure 4 middle, This is a proportional-integral control stage. This is the proportionality coefficient. is the integral coefficient. For the delayed phase, The sampling period. This refers to the inductor component in the filter stage. This is the filter inductor. This refers to the capacitor component in the filter stage. This is the filter capacitor. For the motor component, For motor inductance, This is the stator resistance of the motor. For reference current, This is the feedback current.

[0062] Ignoring the stator resistance of the motor, under undamped conditions, Figure 4 The d-axis current loop transfer function block diagram shown is simplified as follows: Figure 5 As shown.

[0063] Figure 5 middle, .

[0064] The delay of the control system with and without an LC filter is the same, i.e., the delay element is 1.5Ts, where Ts represents the sampling period. In a dual-sampling, dual-changing control system, the delay is 0.75 carrier cycles. A PI controller (proportional-integral control) is used for adjustment, and the transfer function from the inverter-side output voltage to the motor-side current is used... express.

[0065] .

[0066] right After simplification and discretization, we can obtain:

[0067] .

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

[0069] right Discretizing the device using ZOH (Zero-Order Hold) yields:

[0070] T is the sampling frequency.

[0071] Will Substitute into the above equation and find its... Crossing frequency:

[0072] .

[0073] Thus, in the dq coordinate system, the condition for the inverter's 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, which leads to a relatively high cutoff frequency for its filter design, making it easy to exceed the above condition. Therefore, damping suppression is required.

[0074] After adopting active damping with capacitor current feedback, the block diagram of the d-axis current loop transfer function is as follows: Figure 6 As shown. Figure 6R in the figure represents the active damping parameter, i.e., the active damping element.

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

[0076] in, , .

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

[0078] .

[0079] S102: Based on the transfer function, determine the upper limit expression for the active damping parameter when the control loop stability condition is met.

[0080] In some embodiments, determining the upper limit expression for the active damping parameter that satisfies the control loop stability condition based on the transfer function includes:

[0081] The open-loop transfer function of the inverter-side current feedback closed-loop control loop is discretized.

[0082] Based on the discretization results, the characteristic equation is determined;

[0083] Under the condition that the characteristic equation satisfies the constraint conditions, determine the upper limit expression of the active damping parameter; the constraint conditions include that the characteristic equation does not have any characteristic roots outside the unit circle.

[0084] right Discretizing ZOH yields:

[0085] .

[0086] Substituting the above equation, then It can be simplified to:

[0087] . It is the pulse width modulation scaling factor, and The value is 1.

[0088] From the above equation, it can be seen that the poles of this open-loop transfer function, excluding... In addition, the other poles are related to the LC filter parameters and the active damping parameters. Let:

[0089] .

[0090] Applying the Julius criterion, the characteristic equation is obtained. The condition that no characteristic roots exist outside the unit circle, i.e., the range of active damping parameters, is:

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

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

[0093] S104: Determine the upper limit value of the active damping parameter based on the upper limit expression of the active damping parameter and the values ​​of each of the target parameters.

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

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

[0096] Obtain the values ​​of filter inductance, motor inductance, filter resonant frequency, and period in the upper limit expression of the active damping parameters.

[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. Therefore, by obtaining the values ​​of the filter inductance, motor inductance, filter resonant frequency, and period, the upper limit value of the active damping parameter can be obtained. Within the range of 0 to this 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] Based on the set values ​​of the active damping parameters, the value of the filter inductance, and the value of the motor inductance, determine the upper limit of the target coefficient value in the control loop when the current closed-loop control stability condition is met.

[0100] Select a value within the upper limit of the target coefficient as the set value of the target coefficient.

[0101] Based on the proportional-integral control loop, the target coefficient can be the proportional coefficient and / or the integral coefficient.

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

[0103] Based on the set values ​​of the active damping parameters, the value of the filter inductance, and the value of the motor inductance, the upper limit of the proportional coefficient in the control loop is determined when the current closed-loop control stability condition is met.

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

[0105] ;

[0106] When satisfied and At that time, there are no open-loop unstable poles, and it will only be at the resonant frequency. At the point of crossing -180°, according to the Nyquist stability criterion, 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, therefore the proportional coefficient in the proportional-integral control loop... The range of values ​​must satisfy:

[0107] .

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

[0109] Taking a 100kW high-speed permanent magnet synchronous motor as an example, the motor's rated frequency is 350Hz, the filter inductance is 0.23mH, and the filter capacitor is 168uF. With the carrier frequency set to 4K, and using the active damping parameter setting scheme provided in this application, the current waveform is as follows: Figure 8 As shown. From Figure 8 As can be seen, adding active damping can effectively suppress the resonance phenomenon between the LC filter and the permanent magnet synchronous motor, and reduce the harmonics of the motor terminal current.

[0110] In summary, the active damping parameter setting method provided in this application treats 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 value of the active damping parameter accordingly. 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, values ​​are automatically selected as the setpoints for the active damping parameters. This not only enables automatic setting of the active damping parameters but also ensures more accurate setting, thereby improving the efficiency and accuracy of active damping parameter setting.

[0111] This application also provides an active damping parameter setting device, which is described below and can be referred to in conjunction with the method described above. Please refer to... Figure 9 , Figure 9 This is a schematic diagram of an active damping parameter setting device provided in an embodiment of this application, combined with... Figure 9As shown, the device includes:

[0112] The first determining 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 loop, a delay loop, an active damping loop, a filter loop, and a motor loop.

[0113] The second determining module 20 is used to determine, based on the transfer function, the upper limit expression of the active damping parameter when the control loop stability condition is met;

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

[0115] The third determining module 40 is used to determine the upper limit value of the active damping parameter based on the upper limit expression of the active damping parameter and the 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 embodiments, as a specific implementation method, the first determining module 10 is specifically used for:

[0118] The transfer function of the inverter-side current feedback closed-loop control circuit is determined by using active damping with capacitor current feedback.

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

[0120] The discretization unit is used to discretize the open-loop transfer function of the inverter-side current feedback closed-loop control loop.

[0121] The first determining unit is used to determine the characteristic equation based on the discretization result;

[0122] The second determining unit is used to determine the upper limit expression of the active damping parameter when the characteristic equation satisfies the constraint conditions; the constraint conditions include that the characteristic equation does not have any characteristic roots outside the unit circle.

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

[0124] Obtain the values ​​of filter inductance, motor inductance, filter resonant frequency, and period in the upper limit expression of the active damping parameters.

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

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

[0127] The fourth determining module is used to determine the upper limit of the target coefficient in the control loop when the current closed-loop control stability condition is met, based on 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 as the set value of the target coefficient within the upper limit of the target coefficient value.

[0129] Based on the above embodiments, as a specific implementation method, the fourth determining module is specifically used for:

[0130] Based on the set values ​​of the active damping parameters, the value of the filter inductance, and the value of the motor inductance, the upper limit of the proportional coefficient in the control loop is determined when the current closed-loop control stability condition is met.

[0131] The active damping parameter setting device provided in this application treats 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 value of the active damping parameter accordingly. 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, values ​​are automatically selected as the setpoints for the active damping parameters. This not only enables automatic setting of the active damping parameters but also ensures more accurate setting, thereby improving the efficiency and accuracy of active damping parameter setting.

[0132] This application also provides an active damping parameter setting device, for reference. Figure 10 As shown, the device includes a memory 1 and a processor 2.

[0133] Memory 1 is used to store computer programs;

[0134] Processor 2 is used to execute computer programs to perform the following steps:

[0135] The transfer function of the inverter-side current feedback closed-loop control loop is determined; the inverter-side current feedback closed-loop control loop includes a control loop, a delay loop, an active damping loop, a filter loop, and a motor loop; based on the transfer function, an upper limit expression for the active damping parameter that satisfies the stability condition of the control loop is determined; the values ​​of each target parameter in the upper limit expression of the active damping parameter are obtained; based on the upper limit expression of the active damping parameter and the values ​​of each target parameter, the upper limit value of the active damping parameter is determined; a value within the upper limit value of the active damping parameter is selected 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 the operating system and applications required for at least one function; and the data storage area may store data created during use.

[0137] Furthermore, memory 1 may include read-only memory and random access memory, and provide instructions and data to processor 2. A portion of memory 1 may also include NVRAM. Memory 1 stores operating system and operation instructions, executable modules or data structures, or subsets thereof, or extended sets thereof, wherein the operation instructions may include various operation instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and handling hardware-based tasks.

[0138] Processor 2 can 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. Processor 2 can be a microprocessor or any conventional processor. Processor 2 can call programs stored in memory 1.

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

[0140] For a description of the equipment provided in this application, please refer to the above method embodiments; further details will not be provided here.

[0141] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the following steps:

[0142] The transfer function of the inverter-side current feedback closed-loop control loop is determined; the inverter-side current feedback closed-loop control loop includes a control loop, a delay loop, an active damping loop, a filter loop, and a motor loop; based on the transfer function, an upper limit expression for the active damping parameter that satisfies the stability condition of the control loop is determined; the values ​​of each target parameter in the upper limit expression of the active damping parameter are obtained; based on the upper limit expression of the active damping parameter and the values ​​of each target parameter, the upper limit value of the active damping parameter is determined; a value within the upper limit value of the active damping parameter is selected as the set value of the active damping parameter.

[0143] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0144] For a description of the computer-readable storage medium provided in this application, please refer to the above method embodiments; further details will not be repeated here.

[0145] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatuses, devices, and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant details can be found in the method section.

[0146] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0147] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0148] The above provides a detailed description of the active damping parameter setting method, apparatus, device, and computer-readable storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of this 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 element, a delay element, an active damping element, a filter element, and a motor element; Based on the transfer function, determine the upper limit expression for the active damping parameters when the control loop stability condition is met; Obtain the values ​​of each target parameter in the upper limit expression of the active damping parameters; The upper limit value of the active damping parameter is determined based on the upper limit expression of the active damping parameter and the value 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. Based on the set values ​​of the active damping parameters, the values ​​of the filter inductance and the motor inductance, the upper limit of the target coefficient in the control loop is determined when the current closed-loop control stability condition is met. Select a value within the upper limit of the target coefficient as the set value of the target coefficient; The upper limit expression for determining the active damping parameter that satisfies the control loop stability condition based on the transfer function includes: The open-loop transfer function of the inverter-side current feedback closed-loop control loop is discretized. Based on the discretization results, the characteristic equation is determined; Under the condition that the characteristic equation satisfies the constraint conditions, determine the upper limit expression of the active damping parameter; the constraint conditions include that the characteristic equation does not have any characteristic roots outside the unit circle.

2. The active damping parameter setting method according to claim 1, characterized in that, The transfer function for determining the inverter-side current feedback closed-loop control circuit includes: The transfer function of the inverter-side current feedback closed-loop control circuit is determined by using active damping with capacitor current feedback.

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

4. The active damping parameter setting method according to claim 1, characterized in that, The control element is a proportional-integral control element.

5. The active damping parameter setting method according to claim 1, characterized in that, The determination of the upper limit of the target parameter value in the control loop when the current closed-loop control stability condition is met, based on the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance, includes: Based on the set values ​​of the active damping parameters, the value of the filter inductance, and the value of the motor inductance, the upper limit of the proportional coefficient in the control loop is determined when the current closed-loop control stability condition is met.

6. An active damping parameter setting device, characterized in that, include: The first determining module 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 loop, a delay loop, an active damping loop, a filter loop, and a motor loop. The second determining module is used to determine, based on the transfer function, the upper limit expression of the active damping parameter when the control loop stability condition is met; The acquisition module is used to acquire the values ​​of each target parameter in the upper limit expression of the active damping parameters; The third determining module is used to determine the upper limit value of the active damping parameter based on the upper limit expression of the active damping parameter and the values ​​of each of the target parameters. The 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. The fourth determining module is used to determine the upper limit of the target coefficient in the control loop when the current closed-loop control stability condition is met, based on the set value of the active damping parameter, the value of the filter inductance, and the value of the motor inductance. The selection module is used to select a value as the set value of the target coefficient within the upper limit of the target coefficient value; The second determining module includes: The discretization unit is used to discretize the open-loop transfer function of the inverter-side current feedback closed-loop control loop. The first determining unit is used to determine the characteristic equation based on the discretization result; The second determining unit is used to determine the upper limit expression of the active damping parameter when the characteristic equation satisfies the constraint conditions; the constraint conditions include that the characteristic equation does not have any characteristic roots outside the unit circle.

7. An active damping parameter setting device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the active damping parameter setting method as described in any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the active damping parameter setting method as described in any one of claims 1 to 5.

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