Motor control method and device, electronic equipment and storage medium

Abstract

The invention provides a motor control method and device, electronic equipment and a storage medium, and relates to the technical field of motor control. The method comprises the steps that when the motor is controlled to run, running environment information of a rotor in the motor can be obtained firstly, and the running environment information comprises at least one of inductance of the rotor in a corresponding synchronous rotating coordinate system, current of the rotor in the synchronous rotating coordinate system and current temperature of the rotor; correcting a preset flux linkage value corresponding to the motor based on the operation environment information to obtain a corrected target flux linkage value; and determining the position and speed of the rotor based on the target flux linkage value, and controlling the operation of the motor based on the position and speed of the rotor, thereby accurately determining the flux linkage value, and realizing the accurate control of the permanent magnet synchronous motor.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a motor control method, device, electronic device and storage medium. Background Art

[0002] In the motor control scenario, taking the permanent magnet synchronous motor (PMSM) as an example, the permanent magnet synchronous motor is a synchronous motor that uses permanent magnets to establish an excitation magnetic field.

[0003] When controlling a permanent magnet synchronous motor, the flux observer in the permanent magnet synchronous motor mainly estimates the position and speed of the rotor in the permanent magnet synchronous motor in real time based on a fixed flux value, thereby controlling the operation of the permanent magnet synchronous motor based on the estimated position and speed.

[0004] However, in actual operation scenarios, the flux linkage value is not a fixed value, but changes with the operation process. Therefore, how to accurately determine the flux linkage value to achieve precise control of the permanent magnet synchronous motor is a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0005] The present application provides a motor control method, device, electronic device and storage medium, which can accurately determine the flux value, thereby achieving precise control of a permanent magnet synchronous motor.

[0006] The present application provides a motor control method, comprising: Acquire operating environment information of a rotor in the motor, the operating environment information comprising at least one of an inductance of the rotor in a corresponding synchronous rotating coordinate system, a current in the synchronous rotating coordinate system, and a current temperature of the rotor; Correcting a preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value; The position and speed of the rotor are determined based on the target flux value, and the operation of the motor is controlled based on the position and speed of the rotor.

[0007] According to a motor control method provided by the present application, the operating environment information includes the inductance of the rotor on the d-axis in the synchronous rotating coordinate system and the current on the d-axis in the synchronous rotating coordinate system; The step of correcting the preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value includes: determining a first correction value based on a first product value of the inductance of the rotor along the d-axis in the synchronously rotating coordinate system and the current of the rotor along the d-axis in the synchronously rotating coordinate system; The preset flux value is corrected based on the first correction value to obtain the target flux value.

[0008] According to a motor control method provided by the present application, the operating environment information includes the current of the q-axis of the rotor in the synchronous rotating coordinate system; The step of correcting the preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value includes: determining a second correction value based on the q-axis current and the saturation current of the rotor in the synchronously rotating coordinate system; The preset flux value is corrected based on the second correction value to obtain the target flux value.

[0009] According to a motor control method provided by the present application, the second correction value is determined based on the current and saturation current of the q-axis of the rotor in the synchronous rotating coordinate system. The second correction value is determined, including: Determine a first difference between a current on a q-axis of the rotor in the synchronously rotating coordinate system and a saturation current; The second correction value is determined based on the first difference and the saturation current.

[0010] According to a motor control method provided by the present application, the operating environment information includes the current temperature of the rotor; The step of correcting the preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value includes: determining a third correction value based on the current temperature of the rotor, the flux value of the rotor at the maximum temperature, and the preset flux value; The preset flux value is corrected based on the third correction value to obtain the target flux value.

[0011] According to a motor control method provided by the present application, determining a third correction value based on the current temperature of the rotor, the flux value of the rotor at the highest temperature, and the preset flux value includes: respectively determining a second difference between the preset flux value and the flux value of the rotor at the maximum temperature, a second product value of the maximum temperature and the preset flux value, and a third difference between the maximum temperature and the current temperature; The ratio of the second difference value to the second product value and a third product value of the third difference value are determined as the third correction value.

[0012] The present application also provides a motor control device, comprising: an acquisition unit, configured to acquire operating environment information of a rotor in the motor, wherein the operating environment information includes at least one of an inductance of the rotor in a corresponding synchronous rotating coordinate system, a current in the synchronous rotating coordinate system, and a current temperature of the rotor; a correction unit, configured to correct a preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value; A control unit is used to determine the position and speed of the rotor based on the target flux value, and control the operation of the motor based on the position and speed of the rotor.

[0013] According to a motor control device provided by the present application, the operating environment information includes the inductance of the rotor on the d-axis in the synchronous rotating coordinate system and the current on the d-axis in the synchronous rotating coordinate system; The correction unit is used to correct the preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value, including: determining a first correction value based on a first product value of the inductance of the rotor along the d-axis in the synchronously rotating coordinate system and the current of the rotor along the d-axis in the synchronously rotating coordinate system; The preset flux value is corrected based on the first correction value to obtain the target flux value.

[0014] According to a motor control device provided by the present application, the operating environment information includes the current of the q-axis of the rotor in the synchronous rotating coordinate system; The correction unit is used to correct the preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value, including: determining a second correction value based on the q-axis current and the saturation current of the rotor in the synchronously rotating coordinate system; The preset flux value is corrected based on the second correction value to obtain the target flux value.

[0015] According to a motor control device provided by the present application, the correction unit is used to determine a second correction value based on the current and saturation current of the q-axis of the rotor in the synchronous rotation coordinate system. The second correction value is determined, including: Determine a first difference between a current on a q-axis of the rotor in the synchronously rotating coordinate system and a saturation current; The second correction value is determined based on the first difference and the saturation current.

[0016] According to a motor control device provided by the present application, the operating environment information includes the current temperature of the rotor; The correction unit is used to correct the preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value, including: determining a third correction value based on the current temperature of the rotor, the flux value of the rotor at the maximum temperature, and the preset flux value; The preset flux value is corrected based on the third correction value to obtain the target flux value.

[0017] According to a motor control device provided by the present application, the correction unit is used to determine a third correction value based on the current temperature of the rotor, the flux value of the rotor at the highest temperature, and the preset flux value, including: respectively determining a second difference between the preset flux value and the flux value of the rotor at the maximum temperature, a second product value of the maximum temperature and the preset flux value, and a third difference between the maximum temperature and the current temperature; The ratio of the second difference value to the second product value and a third product value of the third difference value are determined as the third correction value.

[0018] The present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the motor control methods described above when executing the computer program.

[0019] The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the motor control method as described in any one of the above is implemented.

[0020] The present application also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the motor control method as described above is implemented.

[0021] The motor control method, device, electronic device and storage medium provided in the present application can first obtain the operating environment information of the rotor in the motor when controlling the operation of the motor, and the operating environment information includes at least one of the inductance of the rotor in the corresponding synchronous rotating coordinate system, the current in the synchronous rotating coordinate system, and the current temperature of the rotor; and based on the operating environment information, the preset flux value corresponding to the motor is corrected to obtain the corrected target flux value; then the position and speed of the rotor are determined based on the target flux value, and the operation of the motor is controlled based on the position and speed of the rotor. In this way, the preset flux value corresponding to the motor is corrected based on the operating environment information, and the influence of the operating environment information on the preset flux value during the actual operation is fully considered, so that the preset flux value corresponding to the motor is corrected based on the operating environment information. When the corrected target flux value is obtained, the flux value can be accurately determined, thereby realizing precise control of the permanent magnet synchronous motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A schematic flow chart of a motor control method provided in an embodiment of the present application.

[0024] Figure 2 A schematic diagram of the relationship between magnetic flux value and temperature provided in an embodiment of the present application.

[0025] Figure 3 A schematic diagram of the structure of a motor control device provided in an embodiment of the present application.

[0026] Figure 4 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] In the embodiments of the present application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of the present application, the character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0029] The technical solution provided in the embodiments of the present application can be adapted to motor control scenarios. Taking a permanent magnet synchronous motor as an example, when controlling the permanent magnet synchronous motor, the position and speed of the rotor in the permanent magnet synchronous motor are mainly estimated in real time based on a fixed flux value through a flux observer in the permanent magnet synchronous motor, thereby controlling the operation of the permanent magnet synchronous motor based on the estimated position and speed.

[0030] Among them, the flux observer is an instrument used to measure and observe the changes in flux in a magnetic field. It is mainly based on Faraday's law of electromagnetic induction, that is, when magnetic flux (flux) passes through a coil, it will generate an induced electromotive force in the coil. The size of this electromotive force is related to the change in the flux value, and the size of the flux can be calculated.

[0031] However, in actual operation scenarios, the magnetic linkage value is not a fixed value, but changes with the operation process. Among them, the magnetic linkage value refers to the magnetic flux linked by the conductive coil or current loop. The magnetic linkage value is equal to the product of the number of turns N of the conductive coil and the average magnetic flux φ passing through each turn of the coil, so it is also called flux turn.

[0032] Therefore, in order to accurately determine the flux value and thus achieve precise control of the permanent magnet synchronous motor, the embodiment of the present application provides a motor control method, and the execution subject of the method can be a motor control device, an electronic device such as a computer or a server, or a motor control device set in the electronic device, and the motor control device can be implemented by software, hardware, or a combination of the two. It can be understood that in the embodiment of the present application, when the permanent magnet synchronous motor is a motor in a drone scene, the technical solution provided by the embodiment of the present application can effectively improve the accuracy of drone control.

[0033] The motor control method provided by the present application will be described in detail below through the following specific embodiments. It is understandable that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0034] Figure 1 A flow chart of a motor control method provided in an embodiment of the present application is provided. For example, see Figure 1 As shown, the motor control method may include: S101. Acquire operating environment information of a rotor in a motor, where the operating environment information includes at least one of an inductance of the rotor in a corresponding synchronous rotating coordinate system, a current in the synchronous rotating coordinate system, and a current temperature of the rotor.

[0035] For example, in the embodiment of the present application, the synchronous rotation coordinate system can be a dq coordinate system. Taking a permanent magnet synchronous motor as an example, in the control of a permanent magnet synchronous motor, in order to obtain control characteristics similar to a DC motor, a coordinate system that rotates synchronously with the rotor, i.e., a dq coordinate system, is usually established on the motor rotor.

[0036] Among them, the d-axis in the dq coordinate system is also called the direct-axis, which is defined as the direction of the rotor magnetic field, that is, the same direction as the NS pole magnet, forming a parallel relationship. The main function of the d-axis is to control the size of the magnetic field.

[0037] The q-axis in the dq coordinate system is also called the quadrature axis. The q-axis is perpendicular to the d-axis, that is, perpendicular to the NS pole magnet, forming an intersection relationship. The main function of the q-axis is to control the magnitude of the force.

[0038] For example, the inductance of the rotor in the synchronously rotating coordinate system may be the inductance of the rotor on the d-axis, and the current of the rotor in the synchronously rotating coordinate system may include the current of the rotor on the d-axis and the current of the rotor on the q-axis.

[0039] In the embodiments of the present application, it is taken into consideration that in the actual operation scenario, the flux linkage value is not a fixed value, but changes with the operation process, for example, it changes due to the influence of the inductance, current or temperature of the rotor in the synchronous rotating coordinate system during the operation. Therefore, in order to accurately determine the flux linkage value, thereby achieving precise control of the permanent magnet synchronous motor, when precisely controlling the permanent magnet synchronous motor, the preset flux linkage value corresponding to the motor can be corrected based on the operating environment information, that is, the following S102 is executed. In this way, the preset flux linkage value corresponding to the motor is corrected based on the operating environment information, and the flux linkage value can be accurately determined, thereby achieving precise control of the permanent magnet synchronous motor.

[0040] S102 . Correcting a preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value.

[0041] The preset flux value may be understood as a fixed flux value in the prior art.

[0042] For example, the preset flux linkage value can be expressed as , the corrected target flux value can be recorded as .

[0043] S103 . Determine the position and speed of the rotor based on the target flux value, and control the operation of the motor based on the position and speed of the rotor.

[0044] For example, in the embodiment of the present application, when determining the position and speed of the rotor based on the target flux value, the following formula 1 can be referred to. and , based on and For determining the position and speed of the rotor, please refer to the relevant description in the prior art, which will not be described in detail in the embodiments of the present application.

[0045] Formula 1

[0046] in, , , Used to determine the position of the rotor, Indicates the corrected target flux value, represents inductance, express Phase current, Represents resistance, express Phase voltage.

[0047] It can be seen that in the embodiment of the present application, when controlling the operation of the motor, the operating environment information of the rotor in the motor can be obtained first, and the operating environment information includes at least one of the inductance of the rotor in the corresponding synchronous rotating coordinate system, the current in the synchronous rotating coordinate system, and the current temperature of the rotor; and based on the operating environment information, the preset flux value corresponding to the motor is corrected to obtain the corrected target flux value; then the position and speed of the rotor are determined based on the target flux value, and the operation of the motor is controlled based on the position and speed of the rotor. In this way, the preset flux value corresponding to the motor is corrected based on the operating environment information, which fully takes into account the influence of the operating environment information on the preset flux value during the actual operation process, so that the preset flux value corresponding to the motor is corrected based on the operating environment information. When the corrected target flux value is obtained, the flux value can be accurately determined, thereby realizing precise control of the permanent magnet synchronous motor.

[0048] Based on the above Figure 1 In the embodiment shown, for example, in the above S102, when the preset flux value corresponding to the motor is corrected based on the operating environment information, the following multiple possible implementations may be included: In a possible implementation, the operating environment information includes the inductance of the rotor on the d-axis in the synchronous rotating coordinate system and the current on the d-axis in the synchronous rotating coordinate system.

[0049] In this possible implementation, when correcting the preset flux value corresponding to the motor based on the operating environment information, a first correction value can be determined based on the inductance of the rotor on the d-axis in the synchronous rotating coordinate system and the first product value of the current of the rotor on the d-axis in the synchronous rotating coordinate system; and the preset flux value is corrected based on the first correction value to obtain the target flux value, so that the preset flux value corresponding to the motor can be corrected, the flux value can be accurately determined, and precise control of the permanent magnet synchronous motor can be achieved.

[0050] For example, in the embodiment of the present application, based on the inductance of the rotor on the d-axis in the synchronously rotating coordinate system and the first product value of the current of the rotor on the d-axis in the synchronously rotating coordinate system, the following formula 2 can be referred to.

[0051] Formula 2

[0052] in, represents the first correction value, represents the inductance of the rotor along the d-axis in the synchronously rotating coordinate system, It represents the current of the rotor on the d-axis in the synchronous rotating coordinate system.

[0053] After determining the first product value based on Formula 2, the first product value can be directly determined as the first correction value, or the first product value can be processed in a certain way, such as rounding, and the processed value can be determined as the first correction value. The specific setting can be made according to actual needs.

[0054] For example, in the embodiment of the present application, when the preset flux value is corrected based on the first correction value, the following formula 3 can be referred to.

[0055] Formula 3

[0056] in, Indicates the target magnetic linkage value, Indicates the preset flux linkage value.

[0057] In another possible implementation, the operating environment information includes the current of the rotor on the q axis in the synchronous rotating coordinate system.

[0058] In this possible implementation, when correcting the preset flux value corresponding to the motor based on the operating environment information, the second correction value can be first determined based on the current and saturation current of the rotor on the q-axis in the synchronous rotating coordinate system; and the preset flux value is corrected based on the second correction value to obtain the target flux value. In this way, the preset flux value corresponding to the motor can be corrected, and the flux value can be accurately determined, thereby achieving precise control of the permanent magnet synchronous motor.

[0059] For example, in an embodiment of the present application, when determining the second correction value based on the current and saturation current of the rotor on the q-axis in the synchronous rotating coordinate system, the first difference between the current and saturation current of the rotor on the q-axis in the synchronous rotating coordinate system can be determined first; and based on the first difference and the saturation current, the second correction value can be determined, as shown in the following formula 4.

[0060] Formula 4

[0061] in, represents the second correction value, , The value of is 0 or 1. <0, then ,like >0 , then , represents the current of the rotor on the q axis in the synchronous rotating coordinate system, represents the saturation current, Represents the current-flux saturation proportionality factor.

[0062] It is worth noting that with Gradually increases, the core magnetic circuit gradually saturates. When the absolute value of the q-axis current is greater than the saturation current , the magnetic circuit is saturated, and the magnetic flux value increases with The increase gradually decreases.

[0063] For example, in the embodiment of the present application, when the preset flux value is corrected based on the second correction value, the following formula 5 can be referred to.

[0064] Formula 5

[0065] In yet another possible implementation, the operating environment information includes a current temperature of the rotor.

[0066] In this case, when correcting the preset flux value corresponding to the motor based on the operating environment information, the third correction value can be first determined based on the current temperature of the rotor, the flux value of the rotor at the highest temperature and the preset flux value; and the preset flux value is corrected based on the third correction value to obtain the target flux value, so that the preset flux value corresponding to the motor can be corrected, the flux value can be accurately determined, and precise control of the permanent magnet synchronous motor can be achieved.

[0067] By way of example, in an embodiment of the present application, when determining the third correction value based on the current temperature of the rotor, the flux value of the rotor at the highest temperature, and the preset flux value, the second difference between the preset flux value and the flux value of the rotor at the highest temperature, the second product value of the highest temperature and the preset flux value, and the third difference between the highest temperature and the current temperature can be determined respectively; and the ratio of the second difference to the second product value and the third product value of the third difference are determined as the third correction value, as shown in the following formula 6.

[0068] Formula 6

[0069] in, represents the third correction value, Indicates the preset magnetic linkage value. Indicates the maximum temperature at which the system operates. Indicates the current temperature. Indicates that the rotor is at its maximum temperature The magnetic linkage value in this case.

[0070] It is worth noting that as the temperature increases, the flux linkage value gradually decreases. For example, see Figure 2 As shown, Figure 2 A schematic diagram of the relationship between a magnetic flux value and temperature provided in an embodiment of the present application, when the temperature exceeds the Curie temperature, the magnetic flux value drops sharply.

[0071] For example, in the embodiment of the present application, when the preset flux value is corrected based on the third correction value, the following formula 7 can be referred to.

[0072] Formula 7

[0073] It can be seen that the above three possible implementation methods are respectively to correct the preset flux value when the operating environment information includes the inductance of the rotor on the d-axis in the synchronous rotating coordinate system and the current on the d-axis in the synchronous rotating coordinate system; to correct the preset flux value when the operating environment information includes the current of the rotor on the q-axis in the synchronous rotating coordinate system; and a technical solution to correct the preset flux value when the operating environment information includes the current temperature of the rotor, so as to realize the correction of the preset flux value corresponding to the motor.

[0074] It is worth noting that in the embodiment of the present application, the preset magnetic flux value may also be corrected in combination with the above-mentioned at least two types of information.

[0075] In a possible implementation, the operating environment information includes the inductance of the rotor on the d-axis in the synchronous rotating coordinate system, the current on the d-axis in the synchronous rotating coordinate system, and the current on the q-axis in the synchronous rotating coordinate system.

[0076] In this case, when the preset flux linkage value is corrected based on the inductance of the rotor on the d-axis in the synchronous rotating coordinate system, the current on the d-axis in the synchronous rotating coordinate system, and the current on the q-axis in the synchronous rotating coordinate system, the specific implementation is similar to the specific implementation of respectively correcting the preset flux linkage value described above, and the first correction value can be determined based on the first product value of the inductance of the rotor on the d-axis in the synchronous rotating coordinate system and the current on the d-axis in the synchronous rotating coordinate system. ; and based on the current and saturation current of the q-axis of the rotor in the synchronous rotating coordinate system, determine the second correction value , then based on the first correction value and the second correction value , together to correct the preset flux value, that is, In this way, the preset flux linkage value corresponding to the motor can be corrected, and the flux linkage value can be accurately determined, thereby achieving precise control of the permanent magnet synchronous motor.

[0077] In another possible implementation, the operating environment information includes the inductance of the rotor on the d-axis in the synchronously rotating coordinate system, the current on the d-axis in the synchronously rotating coordinate system, and the current temperature of the rotor.

[0078] In this case, when the preset flux linkage value is corrected based on the inductance of the rotor on the d-axis in the synchronous rotating coordinate system, the current on the d-axis in the synchronous rotating coordinate system, and the current temperature of the rotor, the specific implementation is similar to the specific implementation of respectively correcting the preset flux linkage value described above, and the first correction value can be determined based on the first product value of the inductance of the rotor on the d-axis in the synchronous rotating coordinate system and the current on the d-axis in the synchronous rotating coordinate system. ; and based on the current temperature of the rotor, the flux value of the rotor at the highest temperature and the preset flux value, determine the third correction value , then based on the first correction value and the third correction value , together to correct the preset flux value, that is, In this way, the preset flux linkage value corresponding to the motor can be corrected, and the flux linkage value can be accurately determined, thereby achieving precise control of the permanent magnet synchronous motor.

[0079] In yet another possible implementation, the operating environment information includes the q-axis current of the rotor in the synchronous rotating coordinate system and the current temperature of the rotor.

[0080] In this case, when the preset flux value is corrected based on the current of the q-axis of the rotor in the synchronous rotating coordinate system and the current temperature of the rotor, the specific implementation is similar to the specific implementation of respectively correcting the preset flux value as described above. The second correction value can be determined based on the current of the q-axis of the rotor in the synchronous rotating coordinate system and the saturation current. ; and based on the current temperature of the rotor, the flux value of the rotor at the highest temperature and the preset flux value, determine the third correction value ; Based on the first correction value and the second correction value , together to correct the preset flux value, that is, In this way, the preset flux linkage value corresponding to the motor can be corrected, and the flux linkage value can be accurately determined, thereby achieving precise control of the permanent magnet synchronous motor.

[0081] In yet another possible implementation, the operating environment information includes the inductance of the rotor on the d-axis in the synchronous rotating coordinate system, the current on the d-axis in the synchronous rotating coordinate system, the current on the q-axis in the synchronous rotating coordinate system, and the current temperature of the rotor.

[0082] In this case, when the preset flux linkage value is corrected based on the inductance of the rotor on the d-axis in the synchronous rotating coordinate system, the current on the d-axis in the synchronous rotating coordinate system, the current on the q-axis in the synchronous rotating coordinate system, and the current temperature of the rotor, the specific implementation is similar to the specific implementation of respectively correcting the preset flux linkage value described above, and the first correction value can be determined based on the first product value of the inductance of the rotor on the d-axis in the synchronous rotating coordinate system and the current on the d-axis in the synchronous rotating coordinate system. Based on the current and saturation current of the q-axis of the rotor in the synchronous rotating coordinate system, determine the second correction value ; and based on the current temperature of the rotor, the flux value of the rotor at the highest temperature and the preset flux value, determine the third correction value ; Based on the first correction value , the second correction value and the third correction value , together to correct the preset flux value, that is, This can not only accurately determine the flux value and achieve precise control of the permanent magnet synchronous motor, but also ensure the reliability of the flux observer when the motor is in high-speed and weak magnetic field, large load operation and high temperature environment, thereby enhancing the robustness of the control system.

[0083] The motor control device provided in the present application is described below. The motor control device described below and the motor control method described above can be referenced to each other.

[0084] Figure 3 This is a schematic diagram of a motor control device provided in an embodiment of the present application. For example, see Figure 3 As shown, the motor control device 30 may include: An acquisition unit 301 is used to acquire operating environment information of a rotor in a motor, wherein the operating environment information includes at least one of an inductance of the rotor in a corresponding synchronous rotating coordinate system, a current in the synchronous rotating coordinate system, and a current temperature of the rotor; A correction unit 302, configured to correct a preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value; The control unit 303 is used to determine the position and speed of the rotor based on the target flux value, and control the operation of the motor based on the position and speed of the rotor.

[0085] For example, in an embodiment of the present application, the operating environment information includes the inductance of the rotor on the d-axis in the synchronously rotating coordinate system and the current on the d-axis in the synchronously rotating coordinate system; The correction unit 302 is used to correct the preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value, including: determining a first correction value based on a first product value of the inductance of the rotor along the d-axis in the synchronously rotating coordinate system and the current of the rotor along the d-axis in the synchronously rotating coordinate system; The preset flux value is corrected based on the first correction value to obtain the target flux value.

[0086] For example, in an embodiment of the present application, the operating environment information includes the current of the q-axis of the rotor in the synchronous rotating coordinate system; The correction unit 302 is used to correct the preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value, including: determining a second correction value based on the q-axis current and the saturation current of the rotor in the synchronously rotating coordinate system; The preset flux value is corrected based on the second correction value to obtain the target flux value.

[0087] For example, in the embodiment of the present application, the correction unit 302 is used to determine the second correction value based on the current and the saturation current of the q-axis of the rotor in the synchronous rotation coordinate system, and the second correction value is determined, including: Determine a first difference between a current on a q-axis of the rotor in the synchronously rotating coordinate system and a saturation current; The second correction value is determined based on the first difference and the saturation current.

[0088] For example, in an embodiment of the present application, the operating environment information includes the current temperature of the rotor; The correction unit 302 is used to correct the preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value, including: determining a third correction value based on the current temperature of the rotor, the flux value of the rotor at the maximum temperature, and the preset flux value; The preset flux value is corrected based on the third correction value to obtain the target flux value.

[0089] For example, in the embodiment of the present application, the correction unit 302 is used to determine the third correction value based on the current temperature of the rotor, the flux value of the rotor at the highest temperature, and the preset flux value, including: respectively determining a second difference between the preset flux value and the flux value of the rotor at the maximum temperature, a second product value of the maximum temperature and the preset flux value, and a third difference between the maximum temperature and the current temperature; The ratio of the second difference value to the second product value and a third product value of the third difference value are determined as the third correction value.

[0090] The motor control device 30 provided in the embodiment of the present application can execute the technical solution of the motor control method in any of the above-mentioned embodiments. Its implementation principle and beneficial effects are similar to the implementation principle and beneficial effects of the motor control method. Please refer to the implementation principle and beneficial effects of the motor control method, and no further details will be given here.

[0091] Figure 4 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present application, such as Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the motor control method, which includes: obtaining the operating environment information of the rotor in the motor, the operating environment information including at least one of the inductance of the rotor in the corresponding synchronous rotating coordinate system, the current in the synchronous rotating coordinate system, and the current temperature of the rotor; based on the operating environment information, correcting the preset flux value corresponding to the motor to obtain the corrected target flux value; determining the position and speed of the rotor based on the target flux value, and controlling the operation of the motor based on the position and speed of the rotor.

[0092] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0093] On the other hand, the present application also provides a computer program product, which includes a computer program, and the computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the motor control method provided by the above methods, and the method includes: obtaining operating environment information of the rotor in the motor, the operating environment information including at least one of the inductance of the rotor in the corresponding synchronous rotating coordinate system, the current in the synchronous rotating coordinate system, and the current temperature of the rotor; based on the operating environment information, correcting the preset flux value corresponding to the motor to obtain a corrected target flux value; determining the position and speed of the rotor based on the target flux value, and controlling the operation of the motor based on the position and speed of the rotor.

[0094] On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the motor control method provided by the above-mentioned methods, the method comprising: obtaining operating environment information of a rotor in a motor, the operating environment information comprising at least one of the inductance of the rotor in a corresponding synchronous rotating coordinate system, the current in the synchronous rotating coordinate system, and the current temperature of the rotor; correcting a preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value; determining the position and speed of the rotor based on the target flux value, and controlling the operation of the motor based on the position and speed of the rotor.

[0095] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0096] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A motor control method, characterized in that: include: Acquire operating environment information of a rotor in the motor, the operating environment information comprising at least one of an inductance of the rotor in a corresponding synchronous rotating coordinate system, a current in the synchronous rotating coordinate system, and a current temperature of the rotor; Correcting a preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value; The position and speed of the rotor are determined based on the target flux value, and the operation of the motor is controlled based on the position and speed of the rotor.

2. The motor control method according to claim 1, characterized in that: The operating environment information includes the inductance of the rotor on the d-axis in the synchronous rotating coordinate system and the current on the d-axis in the synchronous rotating coordinate system; The step of correcting the preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value includes: determining a first correction value based on a first product value of the inductance of the rotor along the d-axis in the synchronously rotating coordinate system and the current of the rotor along the d-axis in the synchronously rotating coordinate system; The preset flux value is corrected based on the first correction value to obtain the target flux value.

3. The motor control method according to claim 1 or 2, characterized in that: The operating environment information includes the current of the rotor on the q-axis in the synchronous rotating coordinate system; The step of correcting the preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value includes: determining a second correction value based on the q-axis current and the saturation current of the rotor in the synchronously rotating coordinate system; The preset flux value is corrected based on the second correction value to obtain the target flux value.

4. The motor control method according to claim 3, characterized in that: The determining of the second correction value based on the current and the saturation current of the q-axis of the rotor in the synchronously rotating coordinate system comprises: Determine a first difference between a current on a q-axis of the rotor in the synchronously rotating coordinate system and a saturation current; The second correction value is determined based on the first difference and the saturation current.

5. The motor control method according to claim 1 or 2, characterized in that: The operating environment information includes the current temperature of the rotor; The step of correcting the preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value includes: determining a third correction value based on the current temperature of the rotor, the flux value of the rotor at the maximum temperature, and the preset flux value; The preset flux value is corrected based on the third correction value to obtain the target flux value.

6. The motor control method according to claim 5, characterized in that: The determining of the third correction value based on the current temperature of the rotor, the flux value of the rotor at the maximum temperature, and the preset flux value includes: respectively determining a second difference between the preset flux value and the flux value of the rotor at the maximum temperature, a second product value of the maximum temperature and the preset flux value, and a third difference between the maximum temperature and the current temperature; The ratio of the second difference value to the second product value and a third product value of the third difference value are determined as the third correction value.

7. A motor control device, characterized in that: include: an acquisition unit, configured to acquire operating environment information of a rotor in the motor, wherein the operating environment information includes at least one of an inductance of the rotor in a corresponding synchronous rotating coordinate system, a current in the synchronous rotating coordinate system, and a current temperature of the rotor; a correction unit, configured to correct a preset flux value corresponding to the motor based on the operating environment information to obtain a corrected target flux value; A control unit is used to determine the position and speed of the rotor based on the target flux value, and control the operation of the motor based on the position and speed of the rotor.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the motor control method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the motor control method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the motor control method according to any one of claims 1 to 6 is implemented.

Images