Motor control method and device, electronic equipment and computer program product

Abstract

The invention is suitable for the technical field of motor control, and provides a motor control method and device, electronic equipment and a computer program product, and the method comprises the steps: calculating a motor parameter of a synchronous motor according to first data collected by a Hall sensor, and obtaining a first motor parameter, the motor parameter of the synchronous motor comprising a rotating speed and an electrical angle; calculating a motor parameter of the synchronous motor according to second data collected by the observer to obtain a second motor parameter; determining a target motor parameter according to the first motor parameter, a first weighting coefficient corresponding to the first motor parameter, the second motor parameter and a corresponding second weighting coefficient; and controlling the synchronous motor according to the target motor parameter. The precision of motor control can be improved.

Description

Technical Field

[0001] The present application belongs to the field of motor control technology, and in particular, relates to motor control methods, devices, electronic equipment and computer program products. Background Art

[0002] Permanent Magnet Synchronous Motor (PMSM) is an AC motor. Because its rotor is embedded with a permanent body made of permanent magnetic material, it can provide excitation with permanent magnets and does not require external excitation. Therefore, it has the characteristics of high efficiency, high power density, good speed control characteristics and a wide speed regulation range, and is widely used in scenarios such as electric vehicles or industrial automation. Among them, in order to achieve efficient operation and dynamic response of the equipment, the speed and position of the permanent magnet synchronous motor are usually collected in real time, and then the permanent magnet synchronous motor is controlled according to the collected speed, position and corresponding control algorithm.

[0003] At present, low-cost and highly stable latch-type Hall sensors are generally used to collect the speed and position of permanent magnet synchronous motors. However, due to factors such as installation deviation and sampling frequency, the accuracy of the collected speed and position is low, which affects the control accuracy of the permanent magnet synchronous motor. Summary of the invention

[0004] The embodiments of the present application provide a motor control method, device, electronic device and computer program product, which can improve the accuracy of motor control.

[0005] In a first aspect, an embodiment of the present application provides a motor control method, comprising:

[0006] Calculating motor parameters of the synchronous motor according to the first data collected by the Hall sensor to obtain first motor parameters, wherein the motor parameters of the synchronous motor include a rotation speed and an electrical angle;

[0007] Calculating the motor parameters of the synchronous motor according to the second data collected by the observer to obtain the second motor parameters;

[0008] Determining a target motor parameter according to the first motor parameter, a first weighting coefficient corresponding to the first motor parameter, the second motor parameter and a corresponding second weighting coefficient;

[0009] The synchronous motor is controlled according to the target motor parameter.

[0010] In a second aspect, an embodiment of the present application provides a motor control device, comprising:

[0011] A first calculation module, used for calculating the motor parameters of the synchronous motor according to the first data collected by the Hall sensor to obtain the first motor parameters, wherein the motor parameters of the synchronous motor include a rotation speed and an electrical angle;

[0012] A second calculation module, used for calculating the motor parameters of the synchronous motor according to the second data collected by the observer, so as to obtain the second motor parameters;

[0013] a weighting module, configured to determine a target motor parameter according to the first motor parameter, a first weighting coefficient corresponding to the first motor parameter, the second motor parameter and a corresponding second weighting coefficient;

[0014] A control module is used to control the synchronous motor according to the target motor parameters.

[0015] In a third aspect, an embodiment of the present application 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 the steps of the motor control method described in the first aspect when executing the computer program.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the motor control method described in the first aspect are implemented.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the motor control method described in the first aspect above.

[0018] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0019] In the embodiment of the present application, the motor parameters of the synchronous motor are calculated according to the first data collected by the Hall sensor to obtain the first motor parameters, and the motor parameters of the synchronous motor are calculated according to the second data collected by the observer to obtain the second motor parameters. Since the observer can process sensor noise and interference, optimize the estimated value through the algorithm, it has good adaptability to the changes in the motor operating environment, so that the second data collected by it has good accuracy, and the Hall sensor can lock the collected first data under the conditions of magnetic field changes or vibrations, etc., and has good measurement stability, that is, the calculated first motor parameter has good stability, and the second motor parameter has good accuracy. Therefore, the final target motor parameter is calculated according to the first motor parameter and its first weighting coefficient, and the second motor parameter and the second weighting coefficient. The target motor parameter obtained has good accuracy and stability, and then, the synchronous motor is controlled according to the target motor parameter, which can improve the accuracy and reliability of the motor control, and there is no need to install additional high-precision physical sensors, and the precise control of the synchronous motor can be better achieved at a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0021] Figure 1 is a flow chart of a motor control method provided by an embodiment of the present application;

[0022] Figure 2 is a schematic diagram of a flow chart of calculating the first motor parameters provided by an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of a flow chart of calculating the parameters of a second motor provided in an embodiment of the present application;

[0024] Figure 4 is a flow chart of another motor control method provided in an embodiment of the present application;

[0025] Figure 5 It is a flow chart of a motor closed-loop control method provided in an embodiment of the present application;

[0026] Figure 6 is a schematic diagram of the structure of a motor control device provided in an embodiment of the present application;

[0027] Figure 7 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0029] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0030] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0031] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0032] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0033] Figure 1 The flowchart of a motor control method provided by an embodiment of the present application is shown. The motor control method can be applied to a motor control system or a target device (such as an electric vehicle) containing a synchronous motor. The method is described in detail as follows:

[0034] Step S101, calculating the motor parameters of the synchronous motor according to the first data collected by the Hall sensor to obtain the first motor parameters, wherein the motor parameters of the synchronous motor include the rotation speed and the electrical angle.

[0035] The above-mentioned Hall sensor is a magnetic sensitive component based on the Hall effect, which can convert the change of the motor magnetic field into the change of the output voltage. The position information and speed of the motor rotor can be calculated according to the change of the output voltage.

[0036] The above-mentioned speed is the number of revolutions of the motor per unit time, such as the number of revolutions of the motor per minute.

[0037] The above electrical angle refers to the change period of the induced potential in the stator winding of the motor, while the mechanical angle is the spatial geometric angle corresponding to the actual position of the rotor pole of the motor. The relationship between the electrical angle and the mechanical angle depends on the number of pole pairs of the motor. For a motor with N (N is greater than 2) pairs of poles, its electrical angle is N*mechanical angle, that is, the electrical angle is the angle of N pairs of rotor poles relative to the stator winding.

[0038] Optionally, the first data may be data such as a voltage pulse signal, a current pulse signal or an output frequency, and may be specifically set according to an actual application scenario.

[0039] Correspondingly, when calculating the motor parameters of the synchronous motor according to the first data collected by the Hall sensor, the motor parameters can be calculated in a corresponding manner according to the type of data in the first data to obtain the required first motor parameters.

[0040] For example, assuming that the first data collected by the Hall sensor includes a voltage pulse signal, when calculating the speed and electrical angle of the synchronous motor based on the first data, the speed of the synchronous motor can be calculated based on the number of voltage pulse signals per unit time, and, based on the mapping relationship between the voltage pulse signal and the rotor position, the voltage pulse signal can be converted into actual position information of the rotor, and then the electrical angle of the synchronous motor can be calculated based on the actual position information of the rotor.

[0041] In an embodiment of the present application, the motor parameters of the synchronous motor are calculated based on the first data collected by the Hall sensor with good measurement stability, so that the calculated first motor parameters have good stability and reliability, which is conducive to improving the reliability of subsequent motor control based on the first motor parameters.

[0042] Step S102 , calculating the motor parameters of the synchronous motor according to the second data collected by the observer to obtain the second motor parameters.

[0043] The above observer is an algorithm for estimating the state variables of a control system. In the measurement of motor parameters, the observer is mainly used to estimate data such as current or flux linkage so as to calculate the motor parameters of the motor based on the observed data.

[0044] Optionally, the above observer may be a linear observer, a nonlinear observer, a predictive observer or other types of observers. The embodiment of the present application does not impose any specific limitation on the observer used.

[0045] Optionally, the second data may be data such as a current pulse signal, a mechanical load, a magnetic flux or a torque of the synchronous motor, and may be specifically set according to an actual application scenario.

[0046] Correspondingly, when calculating the motor parameters of the synchronous motor according to the second data collected by the observer, the motor parameters can be calculated in a corresponding manner according to the type of data in the second data to obtain the required second motor parameters.

[0047] In some embodiments, before calculating the motor parameters of the synchronous motor according to the first data and the second data, it is possible to first detect whether the synchronous motor has an operating abnormality. When it is determined that the synchronous motor does not have an operating abnormality, the corresponding data is collected through the Hall sensor and the observer and the motor parameters are calculated to ensure the reliability of the collected first data and the second data. The above-mentioned operating abnormality refers to an abnormality in the operating parameters (such as temperature, current, voltage or shaft vibration, etc.) during the operation of the synchronous motor.

[0048] If it is determined that the synchronous motor has an operating abnormality, it is necessary to first shut down the synchronous motor and perform other operations. After ensuring that the synchronous motor has no operating abnormality, the corresponding data is collected through the Hall sensor and the observer.

[0049] In the embodiment of the present application, since the observer can optimize the estimated state variables through the algorithm, it has good adaptability to changes in the motor operating environment and does not require the installation of additional high-precision sensors and other equipment. Therefore, using the observer for data collection can obtain second data with higher accuracy at a low cost, which is beneficial to improving the accuracy of the calculated second motor parameters.

[0050] Step S103 , determining a target motor parameter according to the first motor parameter, a first weighting coefficient corresponding to the first motor parameter, the second motor parameter and a corresponding second weighting coefficient.

[0051] It should be noted that in the embodiment of the present application, the sum of the first weighting coefficient and the second weighting coefficient is 1, so as to ensure that the first weighting coefficient and the second weighting coefficient can constitute a completely proportional distribution system, avoid the situation where the target motor parameters finally calculated exceed the normal value, and ensure the reliability of motor control.

[0052] The values ​​of the first weighting coefficient and the second weighting coefficient can be fixed values ​​set according to the actual application scenario, or can be values ​​dynamically calculated according to the actual application scenario. The embodiment of the present application does not impose any specific restrictions on the method of determining the first weighting coefficient and the second weighting coefficient.

[0053] As an example, the user may independently set the values ​​of the first weighting coefficient and the second weighting coefficient according to needs.

[0054] As another example, the first weighting coefficient and the second weighting coefficient may be determined according to a comparison result between the measurement accuracy of the Hall sensor and the measurement accuracy of the observer. The above measurement accuracy refers to a measure of the accuracy and reliability of the measurement result.

[0055] As another example, the first weighting coefficient and the second weighting coefficient may be determined in combination with the degree of influence of the current environmental data (such as temperature, humidity or noise, etc.) on the Hall sensor and the observer, or the first weighting coefficient and the second weighting coefficient may be determined in combination with at least two of the data such as the degree of influence, the accuracy comparison result and the response speed comparison result. The response speed comparison result is the comparison result of the speed at which the Hall sensor responds to the change in the motor state and the speed at which the observer responds to the change in the motor state.

[0056] In the embodiment of the present application, since the first motor parameter calculated based on the Hall sensor has good stability, and the second motor parameter calculated based on the observer has good accuracy, the final target motor parameter is determined based on these two motor parameters and their corresponding weighted coefficients, which can fully take into account the requirements for stability and accuracy in the motor control process, and is conducive to improving the motor control effect.

[0057] Step S104: controlling the synchronous motor according to the target motor parameters.

[0058] After obtaining the target motor parameters, it is possible to determine how to control the synchronous motor based on the difference between the target motor parameters and the expected motor parameters (i.e., the parameters expected to be achieved by the synchronous motor, including speed and electrical angle) so that the synchronous motor runs as closely as possible according to the expected motor parameters.

[0059] In the embodiment of the present application, the motor parameters of the synchronous motor are calculated according to the first data collected by the Hall sensor to obtain the first motor parameters. At the same time, the motor parameters of the synchronous motor are also calculated according to the second data collected by the observer to obtain the second motor parameters. Since the Hall sensor can lock the first data collected by it under the condition of magnetic field change or vibration, it has good measurement stability, and the observer can process sensor noise and interference, optimize the estimated value through the algorithm, and has good adaptability to the change of the operating environment, so that the second data has good accuracy. Therefore, the first motor parameter calculated according to the first data has good stability, and the second motor parameter has good accuracy, so that the target motor parameter calculated according to the first motor parameter and its first weighting coefficient, and the second motor parameter and the second weighting coefficient have good accuracy and stability at the same time, and then, the synchronous motor is controlled according to the target motor parameter, which can better improve the accuracy and reliability of the motor control, and there is no need to install high-precision physical sensors, so that the precise control of the synchronous motor can be better achieved at low cost.

[0060] In some embodiments, the first data includes a three-phase Hall signal and a Hall reference angle, and the step S101 includes:

[0061] A1. Determine the target duration and the Hall reference angle according to the three-phase Hall signal. The target duration reflects the duration between the transition moments of two adjacent Hall signals.

[0062] The above three-phase Hall signal refers to the signal generated by three Hall sensors used in the synchronous motor, and the three Hall sensors correspond to the three phases of the synchronous motor: phase A, phase B and phase C.

[0063] The above-mentioned target duration is the duration determined according to the time difference between the jump moments of two adjacent Hall signals. In an embodiment of the present application, an electrical angle cycle of a three-phase synchronous motor (i.e., the synchronous motor actually rotates 1 / N turns, N is the number of rotor pole pairs of the synchronous motor) will be divided into 6 sectors, and each sector corresponds to a 60° electrical angle, that is, the target duration can reflect the duration of the synchronous motor rotating through a sector. In other embodiments, the target duration may also be the duration of the synchronous motor rotating through one circle (i.e., 6 sectors). It can be understood that the length of the target duration can reflect the speed of the synchronous motor to a certain extent.

[0064] The above-mentioned Hall reference angle usually refers to the installation angle of the Hall sensor on the synchronous motor, and can also be understood as the corresponding relationship between the output signal of the Hall sensor and the position of the motor rotor pole. In motor control, the Hall reference angle can be determined according to the relationship between the various Hall signals in the three-phase Hall signal, and the Hall reference angle can be regarded as the desired position.

[0065] As an example, the transition moments of any two adjacent Hall signals can be selected, and a time measurement device (such as a high-precision clock or timer, etc.) can be used to measure the time difference between the two transition moments to obtain the required target duration.

[0066] As another example, the time required for the synchronous motor to rotate one circle, that is, the rotation period, can be calculated based on the three-phase Hall signal, and then the average jump interval between two adjacent Hall signals can be calculated based on the rotation period and the number of jumps to obtain the required target time.

[0067] A2. Determine a first phase-locked loop coefficient corresponding to the Hall phase-locked loop according to the above target duration.

[0068] A3. Calculate the motor parameters of the synchronous motor according to the first phase-locked loop coefficient and the Hall reference angle to obtain the first motor parameters.

[0069] Phase-Locked Loop (PLL) is a negative feedback control system used to achieve phase synchronization between input and output signals. PLL can automatically lock the frequency and phase of its output signal to the frequency and phase of the input reference signal (such as a voltage pulse signal or a three-phase Hall signal). Even if the frequency or phase of the input signal changes, PLL can dynamically adjust to maintain the locked state.

[0070] Optionally, the first phase-locked loop coefficient may be a control parameter of a PI controller (proportionalintegral controller) in a Hall phase-locked loop, and the control parameter may include an integral term coefficient and a proportional term coefficient. The PI controller is a linear controller that can form a control deviation according to a given value and an actual output value, and form a control amount according to a control parameter and the control deviation to control a controlled object.

[0071] Since the overshoot control of the Hall phase-locked loop requires different dynamic performance to satisfy the change of the electrical angle overshoot following the Hall reference angle, when its phase-locked loop coefficient is fixed, if the motor speed is faster (that is, the target duration is shorter), the Hall phase-locked loop may need a faster response speed to track the input signal, which may cause the overshoot time to increase; on the contrary, if the motor speed is slower (that is, the target duration is longer), the phase-locked loop may have enough time to gradually adjust the output signal, thereby reducing the overshoot time, that is, the length of the overshoot time reflects the response speed and stability of the Hall phase-locked loop to changes in the input signal. Therefore, in an embodiment of the present application, in order to improve the control accuracy and stability of the motor, the overshoot time can be calculated according to the target duration, and then the overshoot time can be selected as the basis for setting the first phase-locked loop coefficient, that is, the first phase-locked loop coefficient of the Hall phase-locked loop is calculated according to the overshoot time calculated by the target duration.

[0072] Optionally, the Hall phase-locked loop system may be a second-order underdamped system. When calculating the first phase-locked loop coefficient according to the overshoot time, the first phase-locked loop coefficient may be calculated according to the second-order standard form of the second-order underdamped system and the overshoot time formula.

[0073] In some embodiments, the above overshoot time can be expressed as follows:

[0074] t p =k t1 ΔT

[0075] Among them, t p represents the overshoot time, ΔT represents the target duration, k t1 represents the optimization coefficient. Optionally, the optimization coefficient k t1 The value range of can be (0, 2].

[0076] Optionally, the first phase-locked loop coefficient may be expressed as follows:

[0077]

[0078] Among them, k p_hall represents the proportional term coefficient in the first phase-locked loop coefficient, k i_hall represents the integral term coefficient in the first phase-locked loop coefficient, and ζ represents the damping coefficient. Optionally, the value range of the damping coefficient ζ may be (0, 0.9].

[0079] After the first phase-locked loop coefficient is calculated, the Hall reference angle can be used as the desired electrical angle, and the speed and electrical angle of the synchronous motor can be estimated according to the Hall reference angle and the first phase-locked loop coefficient to obtain the first motor parameter.

[0080] As an example, after calculating the first phase-locked loop coefficient, the three-phase Hall signal can be used as the input signal of the Hall phase-locked loop, and the Hall phase-locked loop operation can be controlled according to the Hall reference angle and the first phase-locked loop coefficient, and the Hall phase-locked loop can track the frequency and phase of the input signal based on the Hall reference angle and the first phase-locked loop coefficient, thereby outputting an electrical signal whose frequency and phase are consistent with the input signal. Since the frequency and phase of the electrical signal output by the Hall phase-locked loop are consistent with the input three-phase Hall signal, the speed of the synchronous motor can be directly calculated according to the frequency of the Hall phase-locked loop output signal, and then the electrical angle of the synchronous motor can be calculated according to the phase information of the output signal, thereby determining the first motor parameter according to the speed and electrical angle.

[0081] In the embodiment of the present application, since the Hall phase-locked loop has strong anti-interference ability, it can filter out noise and glitches in the signal and improve the stability of the measurement results. Therefore, using a Hall phase-locked loop in conjunction with a Hall phase-locked loop to calculate the motor parameters of the synchronous motor can achieve high-precision rotational speed and electrical angle measurement without adding additional sensors, thereby reducing the cost of motor control and improving the accuracy and robustness of motor parameter measurement.

[0082] In some embodiments, the above step A3 includes:

[0083] A31. Determine an angle difference based on the Hall reference angle and the actual electrical angle, wherein the actual electrical angle is determined based on the electrical angle in the first motor parameter calculated during the previous motor control process.

[0084] A32. Determine the first motor parameter according to the first phase-locked loop coefficient and the angle difference.

[0085] In an embodiment of the present application, in order to improve the accuracy of the first motor parameters, in the process of estimating the speed and electrical angle based on the first phase-locked loop coefficient and the Hall reference angle, the electrical angle calculated based on the first data in the previous motor control process (that is, the electrical angle in the first motor parameter in the previous motor control process) can be used as the actual electrical angle, and the angle difference between the actual electrical angle and the Hall reference angle can be used as the error. Based on the angle difference, a control signal is determined according to the first phase-locked loop coefficient and the angle difference, so that the Hall phase-locked loop can update the electrical angle according to the control signal, thereby obtaining the estimated electrical angle, and then, the speed is estimated according to the rate of change of the electrical angle.

[0086] In some embodiments, considering that in a three-phase Hall sensor, the Hall sensor is usually configured to provide a Hall signal within every 60° angle range of the motor rotor, 6 angular ranges of 60 degrees can be obtained according to the three-phase Hall signal, but these angle ranges may have certain angle errors due to factors such as installation errors. Therefore, in order to improve the accuracy of the estimated motor parameters, after the angle difference is calculated based on the Hall reference angle and the actual electrical angle, it will be determined whether the angle difference is within a preset angle range (such as -π to π). If the angle difference is within the preset angle range, the first motor parameter can be directly calculated based on the angle difference. If the angle difference is not within the preset angle range, the angle difference needs to be recalculated based on the actual electrical angle to obtain a new angle difference, and then the first motor parameter is calculated based on the new angle difference and the first phase-locked loop coefficient.

[0087] As an example, the preset angle range may be After calculating the angle difference (assuming it is called the first angle difference) based on the Hall reference angle and the actual electrical angle, it can be determined whether the first angle difference is within within the range.

[0088] If it is determined that the first angle difference is Within the range of , the first motor parameter can be directly calculated according to the first angle difference and the first phase-locked loop coefficient.

[0089] If it is determined that the first angle difference is less than At this time, a new angle difference (supposedly called a second angle difference) can be calculated based on the preset first electrical angle and the target electrical angle.

[0090] As an example, the second angle difference can be expressed as follows:

[0091] Δθ2=θ1-θ hall_e

[0092] Δθ2 represents the second angle difference, θ1 represents the first electrical angle, θ hall_e Represents the target electrical angle. Among them, θ1 is greater than Alternatively, the value of θ1 can be

[0093] If it is determined that the first angle difference is greater than At this time, a new angle difference (supposedly called a third angle difference) can be calculated based on the preset second electrical angle and the target electrical angle.

[0094] As an example, the third angle difference may be expressed as follows:

[0095] Δθ3=θ2-θ hall_e

[0096] Δθ2 represents the third angle difference, θ2 represents the second electrical angle, wherein θ2 is less than Alternatively, the value of θ2 can be

[0097] Finally, the first motor parameters are calculated according to the new angle difference and the first phase-locked loop coefficient.

[0098] In an embodiment of the present application, the electrical angle in the first motor parameter value calculated in the previous motor control process is used as the actual electrical angle, and the Hall reference angle is used as the expected electrical angle. The angle deviation is calculated based on these two angles, and based on this, the Hall phase-locked loop is controlled to track the frequency and phase of the three-phase Hall signal, thereby updating the electrical angle and speed to reduce the deviation of the estimated electrical angle and speed, which is beneficial to improving the accuracy of the second motor parameters.

[0099] In some embodiments, the first phase-locked loop coefficient includes a proportional term coefficient and an integral term coefficient, and the step A32 includes:

[0100] The estimated electrical angle is obtained by performing calculation based on the proportional term coefficient, the integral term coefficient and the angle difference.

[0101] The estimated rotation speed is obtained by performing calculation based on the integral term coefficient, the angle difference and the filter function.

[0102] The first motor parameter is determined based on the estimated electrical angle and the estimated rotational speed.

[0103] Since the angle difference reflects the difference between the electrical angle calculated based on the first data collected by the Hall sensor in the previous motor control process and the Hall reference angle, the angle difference can be used as the deviation between the actual electrical angle and the expected electrical angle. Therefore, in an embodiment of the present application, the integral control item can be calculated based on the integral item coefficient and the angle difference, and the proportional control item can be calculated based on the proportional item coefficient and the angle difference, so that a new estimated electrical angle, i.e., the estimated electrical angle in the current motor control process, can be calculated based on the integral control item and the proportional control item.

[0104] Taking into account that calculating the speed by directly calculating the frequency based on the target duration will be affected by the target duration and the accuracy of the counter, resulting in large speed delays and angle errors, and at the same time, considering that the proportional term coefficient of the first phase-locked loop coefficient may oscillate more obviously with the change of the Hall reference angle, therefore, in an embodiment of the present application, the speed of the synchronous motor is calculated based on the integral term coefficient of the first phase-locked loop coefficient to overcome the influence of delays and oscillations and improve the accuracy of the calculated speed.

[0105] In order to further reduce the influence of oscillation and delay, the rotation speed may be estimated according to the integral term coefficient, the angle difference and the filter function. Optionally, the filter function may be a low-pass filter function or a band-pass filter function.

[0106] like Figure 2 As shown, after the estimated electrical angle and the estimated rotational speed are obtained, the first motor parameter can be obtained according to the estimated electrical angle and the estimated rotational speed.

[0107] As an example, the electrical angle in the first motor parameter can be expressed as follows:

[0108]

[0109] Among them, θ hall_e represents the electrical angle in the first motor parameter, Δθ represents the angle difference, T pwm is a constant, representing the inverse of the sampling frequency of the three-phase Hall signal, Σ represents a summation operator, and S represents a complex variable in Laplace transform.

[0110] The speed in the first motor parameter can be expressed as follows:

[0111]

[0112] w hall_e represents the speed of the first motor parameter, LPF() represents the low-pass filter function, w c Represents the bandwidth of the low-pass filter function.

[0113] In an embodiment of the present application, the speed of the synchronous motor is calculated based on the integral term coefficient in the first phase-locked loop coefficient to avoid the influence of possible delays and oscillations of the proportional term coefficient on the speed estimation, thereby improving the accuracy of the estimated speed. At the same time, in the process of calculating the electrical angle, filtering is used to reduce the influence of possible oscillations and delays, which is beneficial to improving the reliability and accuracy of the first motor parameters finally obtained.

[0114] In some embodiments, the observer includes an extended state observer and a flux observer, the second data includes a rotor flux component, and before the step S102, the method further includes:

[0115] B1. Convert the three-phase current and three-phase voltage of the synchronous motor into current and voltage in a two-phase stationary coordinate system to obtain input data.

[0116] B2. Process the above input data through the above extended state observer to obtain the back electromotive force component.

[0117] B3. The back electromotive force component is processed by the flux observer to obtain the rotor flux component.

[0118] The current in the two-phase stationary coordinate system may include an α component and a β component of the current, and the voltage may include an α component and a β component of the voltage.

[0119] The above-mentioned back electromotive force components may include an α component and a β component of the back electromotive force, reflecting the projections of the back electromotive force in two orthogonal directions (α axis and β axis) in a two-phase stationary coordinate system.

[0120] The rotor flux components may include an α component and a β component of the rotor flux, reflecting the projection of the rotor flux in two orthogonal directions. It can be understood that the rotor flux can be calculated based on the two orthogonal components of the rotor flux.

[0121] The extended state observer is an observer used to estimate system state variables and unknown disturbances.

[0122] The flux observer is an observer for estimating the flux (magnetic flux) inside the motor. The flux is an important parameter in motor control, especially in sensorless control (also known as inductive control). The flux observer can be used to estimate the rotor position and speed, and can realize motor control without using sensors.

[0123] Since the traditional extended state observer is affected by factors such as parameter mismatch, DC component and high-frequency noise, the accuracy of the motor parameters observed by it is low, and when the synchronous motor is running in the no-load and low-speed section, the phase current is small, and the sampling signal is seriously affected by factors such as noise, the error of the observed motor parameters will be further expanded. Therefore, in order to ensure the accuracy of the obtained second motor parameters, in an embodiment of the present application, a dual observer structure including an extended state observer and a flux observer is used to collect the second data to obtain second data with higher accuracy.

[0124] In order to reduce the computational complexity, the three-phase current and three-phase voltage of the synchronous motor collected can be converted into the current and voltage in a two-phase stationary coordinate system through transformation processing such as Clarke transformation, and the current and voltage in the two-phase stationary coordinate system can be used as the input data of the extended state observer.

[0125] After the input data is input into the extended state observer, the back electromotive force is estimated and outputted according to the input data and a preset state equation inside the extended state observer.

[0126] The back electromotive force output by the extended state observer is used as the input of the flux observer. The flux observer can update the flux estimation value based on the back electromotive force to obtain the required rotor flux component.

[0127] In the embodiment of the present application, the extended state observer can estimate and compensate for unknown disturbances, so that it can estimate the back electromotive force of the synchronous motor more accurately, and provide a more accurate input signal for the flux observer. At the same time, the flux observer can more accurately calculate the components of the rotor flux using the back electromotive force with higher accuracy provided by the extended state observer, that is, through the structure of the dual observer, high-precision data acquisition can be achieved without adding additional sensors, which is conducive to improving the accuracy of the motor parameters finally estimated, and through high-precision back electromotive force and rotor flux estimation, the influence of factors such as noise and vibration can be effectively reduced, and smoother and more stable motor control can be achieved.

[0128] In some embodiments, the above step S102 includes:

[0129] C1. Determine the second phase-locked loop coefficient corresponding to the observer phase-locked loop.

[0130] As an example, the second phase-locked loop coefficients may be expressed as follows:

[0131]

[0132] K i-ob Represents the proportional term coefficient in the second phase-locked loop coefficient, K p-ob Represents the integral term coefficient in the second phase-locked loop coefficient, ω n represents the natural oscillation frequency of the synchronous motor, ζ represents the damping ratio coefficient, ψ f Indicates the rotor flux. Optionally, the value of the rotor flux may be a preset value or a value calculated according to the current rotor flux component.

[0133] C2. Control the observer phase-locked loop according to the rotor flux component and the second phase-locked loop coefficient to obtain an electrical signal output by the observer phase-locked loop.

[0134] C3. Calculate the motor parameters of the synchronous motor according to the electrical signal to obtain the second motor parameters.

[0135] In the embodiment of the present application, since the observer phase-locked loop can output an electrical signal having a frequency consistent with the changing frequency of the input rotor flux component, and the electrical signal is also aligned with the rotor flux in phase, so that its phase information can reflect the position information of the rotor flux, therefore, in the embodiment of the present application, the observer phase-locked loop can be controlled based on the rotor flux component and the second phase-locked loop coefficient of the observer phase-locked loop to obtain the electrical signal output by it.

[0136] Since the frequency of the electrical signal output by the observer phase-locked loop can directly reflect the speed of the synchronous motor's rotor rotation, and its phase information can reflect the position information of the rotor flux, that is, the position information of the synchronous motor's rotor, the speed and electrical angle of the synchronous motor can be estimated based on the electrical signal to obtain the required second motor parameters. Optionally, the observer phase-locked loop can be an orthogonal phase-locked loop or other phase-locked loop.

[0137] like Figure 3 As shown, after determining the second phase-locked loop coefficient corresponding to the observer phase-locked loop, the rotor flux component can be input into the observer phase-locked loop, and the observer phase-locked loop can be controlled to operate according to the second phase-locked loop coefficient to obtain a stable electrical signal output by the observer phase-locked loop that is synchronized with the rotor movement.

[0138] In the embodiment of the present application, after acquiring a rotor flux component with high accuracy through the dual observer structure, and performing accurate phase tracking based on the rotor flux component through the observer phase-locked loop, an electrical signal that accurately reflects the speed and electrical angle of the synchronous motor can be obtained. Furthermore, the motor parameters of the synchronous motor are estimated based on the highly accurate electrical signal, and a second motor parameter with high accuracy can be obtained. In addition, the combination of the above-mentioned dual observers and the observer phase-locked loop can reduce error accumulation, which is conducive to achieving more accurate, more stable and more efficient sensorless control.

[0139] In other embodiments, the rotor flux may be calculated based on the rotor flux component, and then the motor parameters of the synchronous motor may be estimated based on the rate of change of the rotor flux over time to obtain the second motor parameters. This is prior art and will not be described in detail here.

[0140] In some embodiments, before the above step S103, the method further includes:

[0141] A ratio of the rotation speed in the first motor parameter to the rotation speed threshold is determined.

[0142] The first weighting coefficient and the second weighting coefficient are determined according to the ratio, wherein, when the ratio is less than 1, the first weighting coefficient decreases as the ratio increases, and the second weighting coefficient increases as the ratio increases; and when the ratio is greater than or equal to 1, the first weighting coefficient is 0, and the second weighting coefficient is 1.

[0143] Since the target device equipped with a synchronous motor usually has high requirements for the accuracy of the electrical angle and speed in the high-speed section, and the Hall sensor relies on interrupts to update the first data, its resolution is low, resulting in the accuracy of the motor parameters may not be sufficient to meet the accuracy requirements of the high-speed section. Therefore, in order to ensure the accuracy of motor control, a speed threshold (such as 400 revolutions per minute) can be set. Before determining the first weighting coefficient and the second weighting coefficient, the ratio of the speed in the first motor parameter to the speed threshold is calculated.

[0144] Among them, the speed threshold can be used to distinguish between the high-speed section and the low-speed section. That is, when the ratio of the speed in the first motor parameter (assuming it is called the Hall speed) to the speed threshold is less than 1, it can be considered that the synchronous motor is in the low-speed section. At this time, the target motor parameters can be comprehensively determined based on the first motor parameters with better stability and the second motor parameters with better accuracy, so as to ensure the reliability and accuracy of the motor control at the same time.

[0145] Considering that the target device has relatively low requirements for accuracy when the speed is low, and after the overshoot control of the Hall phase-locked loop, the Hall sensor has good measurement accuracy in the low-speed section, when the ratio is less than 1, the first weighting coefficient can be set to decrease as the ratio increases, and the second weighting coefficient can be set to increase as the ratio increases, that is, the smaller the Hall speed, the larger the first weighting coefficient of the first motor parameter, and the smaller the second weighting coefficient of the second motor parameter. As an example, when the ratio is less than 1, the ratio can be used as the value of the first weighting coefficient, and the value of the second weighting coefficient is determined according to the difference between 1 and the ratio.

[0146] like Figure 4 As shown, if the ratio of the Hall speed to the speed threshold is greater than or equal to 1, that is, when it is determined that the synchronous motor is in the high-speed section, considering that the observer usually relies on interrupted sampling of current and voltage to collect the second data, the resolution is relatively higher, and the accuracy of the obtained second motor parameters is higher and the delay is smaller, then the target motor parameters can be directly determined according to the second motor parameters. At this time, the first weighting coefficient is 0, and the second weighting coefficient is 1, that is, the target motor parameters are determined completely according to the second motor parameters, thereby realizing the switching of the synchronous motor from sensed control to non-sensing control.

[0147] As an example, the above target motor parameters can be expressed as follows:

[0148]

[0149] Among them, w e Indicates the speed of the target motor parameter, θ e represents the electrical angle in the target motor parameter, γ1 represents the first weighting coefficient, γ2 represents the second weighting coefficient, and w pi_e Indicates the speed of the first motor parameter, θ pi_e Represents the electrical angle in the first motor parameter, w ssl_e Indicates the speed of the second motor parameter, θ ssl_e Represents the electrical angle in the second motor parameter, w m Indicates the speed threshold.

[0150] In some embodiments, considering that the electrical angle calculation process usually requires remainder calculation, periodic errors may occur when weighted calculations are performed based on the electrical angles in the two motor parameters. Therefore, before determining the target motor parameters, it is possible to first determine whether there are periodic errors in the electrical angle in the first motor parameter (assuming it is called the Hall electrical angle) and the electrical angle in the second motor parameter (assuming it is called the observer electrical angle).

[0151] Optionally, when judging whether there is a periodic error in the electrical angles of the first motor parameter and the second motor parameter, it can be determined based on whether the angle difference between the Hall electrical angle and the observer electrical angle is within a preset angle difference range (such as ).

[0152] If the angle difference between the Hall electrical angle and the observer electrical angle is within the angle difference range, it can be considered that there is no periodic error. At this time, weighted calculation can be directly performed to obtain the target motor parameters.

[0153] If the angle difference between the Hall electrical angle and the observer electrical angle is not within the angle difference range, the Hall electrical angle or the observer electrical angle needs to be compensated, and then the target motor parameters are calculated based on the compensated electrical angle.

[0154] As an example, the angle difference can be the value of the observer electrical angle minus the Hall electrical angle, and the angle difference range can be If the angle difference is less than At this time, the Hall electrical angle can be compensated to obtain the compensated Hall electrical angle, and then the electrical angle in the target motor parameters can be calculated based on the observer electrical angle, the compensated Hall electrical angle and their corresponding weighted coefficients.

[0155] If the angle difference is greater than At this time, the observer electrical angle can be compensated to obtain the compensated observer electrical angle, and then the electrical angle in the target motor parameter can be calculated based on the Hall electrical angle, the compensated observer electrical angle and their corresponding weighted coefficients.

[0156] In the embodiment of the present application, since the Hall sensor usually has good measurement accuracy in the low-speed section, the measurement accuracy in the high-speed section may not be sufficient to meet the accuracy requirements of the high-speed section, and the observer usually has good accuracy in the high-speed section, therefore, the high-speed section and the low-speed section are divided by the speed threshold, and the values ​​of the first weighting coefficient and the second weighting coefficient are determined according to the ratio of the Hall speed to the speed threshold, and then the target motor parameters are comprehensively calculated based on the first weighting coefficient and the second weighting coefficient, fully considering the requirements for the accuracy and reliability of the motor parameters to ensure the accuracy and reliability of motor control.

[0157] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0158] Corresponding to the motor control method described in the above embodiment, Figure 6 A structural block diagram of a motor control device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0159] Reference Figure 6 The device includes: a first calculation module 61, a second calculation module 62, a weighted calculation module 63 and a control module 64.

[0160] The first calculation module 61 is used to calculate the motor parameters of the synchronous motor according to the first data collected by the Hall sensor to obtain the first motor parameters. The motor parameters of the synchronous motor include the rotation speed and the electrical angle.

[0161] The second calculation module 62 is used to calculate the motor parameters of the synchronous motor according to the second data collected by the observer to obtain the second motor parameters.

[0162] The weighting module 63 is used to determine the target motor parameter according to the first motor parameter, the first weighting coefficient corresponding to the first motor parameter, the second motor parameter and the corresponding second weighting coefficient.

[0163] The control module 64 is used to control the synchronous motor according to the target motor parameters.

[0164] In the embodiment of the present application, the motor parameters of the synchronous motor are calculated according to the first data collected by the Hall sensor to obtain the first motor parameters. At the same time, the motor parameters of the synchronous motor are also calculated according to the second data collected by the observer to obtain the second motor parameters. Since the Hall sensor can lock the first data collected by it under the condition of magnetic field change or vibration, it has good measurement stability, and the observer can process sensor noise and interference, optimize the estimated value through the algorithm, and has good adaptability to the change of the operating environment, so that the second data has good accuracy. Therefore, the first motor parameter calculated according to the first data has good stability, and the second motor parameter has good accuracy, so that the target motor parameter calculated according to the first motor parameter and its first weighting coefficient, and the second motor parameter and the second weighting coefficient have good accuracy and stability at the same time, and then, the synchronous motor is controlled according to the target motor parameter, which can better improve the accuracy and reliability of the motor control, and there is no need to install high-precision physical sensors, so that the precise control of the synchronous motor can be better achieved at low cost.

[0165] In some embodiments, the first data includes a three-phase Hall signal and a Hall reference angle, and the first calculation module 61 includes:

[0166] The duration calculation unit is used to determine the target duration and the Hall reference angle according to the three-phase Hall signal. The target duration reflects the duration between the jump moments of two adjacent Hall signals.

[0167] The first phase-locked loop coefficient calculation unit is used to determine the first phase-locked loop coefficient corresponding to the Hall phase-locked loop according to the above target duration.

[0168] The motor parameter calculation unit is used to calculate the motor parameters of the synchronous motor according to the first phase-locked loop coefficient and the Hall reference angle to obtain the first motor parameters.

[0169] In some embodiments, the first calculation module 61 further includes:

[0170] The angle difference calculation unit is used to determine the angle difference according to the above-mentioned Hall reference angle and the actual electrical angle, and the above-mentioned actual electrical angle is determined according to the above-mentioned electrical angle in the above-mentioned first motor parameter calculated in the previous motor control process.

[0171] The first motor parameter calculation unit is used to determine the first motor parameter according to the first phase-locked loop coefficient and the angle difference.

[0172] In some embodiments, the first phase-locked loop coefficient includes a proportional term coefficient and an integral term coefficient, and the first calculation module 61 further includes:

[0173] The electrical angle estimation unit is used to perform calculation based on the proportional term coefficient, the integral term coefficient and the angle difference to obtain the estimated electrical angle.

[0174] The rotation speed estimation unit is used to perform calculation based on the integral term coefficient, the angle difference and the filter function to obtain the estimated rotation speed.

[0175] A parameter determination unit is used to determine the above-mentioned first motor parameter according to the above-mentioned estimated electrical angle and the above-mentioned estimated rotation speed.

[0176] In some embodiments, the observer includes an extended state observer and a flux observer, and the motor control device further includes:

[0177] The conversion module is used to convert the three-phase current and three-phase voltage of the synchronous motor into current and voltage in a two-phase stationary coordinate system to obtain input data.

[0178] The back electromotive force calculation module is used to process the above input data through the above extended state observer to obtain the back electromotive force component.

[0179] The rotor flux component calculation module is used to process the back electromotive force component through the flux observer to obtain the rotor flux component.

[0180] In some embodiments, the second calculation module 62 includes:

[0181] The phase-locked loop coefficient determination unit is used to determine a second phase-locked loop coefficient corresponding to the observer phase-locked loop.

[0182] The control unit is used to control the observer phase-locked loop according to the rotor flux component and the second phase-locked loop coefficient to obtain an electrical signal output by the observer phase-locked loop.

[0183] The motor parameter calculation unit is used to calculate the motor parameters of the synchronous motor according to the electrical signal to obtain the second motor parameters.

[0184] In some embodiments, the motor control device further includes:

[0185] The ratio determination module is used to determine the ratio of the rotation speed in the first motor parameter to the rotation speed threshold.

[0186] A weighting coefficient determination module is used to determine the above-mentioned first weighting coefficient and the above-mentioned second weighting coefficient according to the above-mentioned ratio, wherein, when the above-mentioned ratio is less than 1, the above-mentioned first weighting coefficient decreases as the above-mentioned ratio increases, and the above-mentioned second weighting coefficient increases as the above-mentioned ratio increases; when the above-mentioned ratio is greater than or equal to 1, the above-mentioned first weighting coefficient is 0, and the above-mentioned second weighting coefficient is 1.

[0187] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0188] Figure 7 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 7 As shown, the electronic device 7 of this embodiment includes: at least one processor 70 ( Figure 7 Only one processor is shown in the figure), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, wherein the processor 70 implements the steps of any of the above-mentioned method embodiments when executing the computer program 72.

[0189] The electronic device 7 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will appreciate that Figure 7 It is only an example of the electronic device 7 and does not constitute a limitation on the electronic device 7. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0190] The processor 70 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0191] In some embodiments, the memory 71 may be an internal storage unit of the electronic device 7, such as a hard disk or memory of the electronic device 7. In other embodiments, the memory 71 may also be an external storage device of the electronic device 7, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the electronic device 7. The memory 71 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 71 may also be used to temporarily store data that has been output or is to be output.

[0192] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0193] An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the above-mentioned method embodiments when executing the computer program.

[0194] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0195] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0196] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0197] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0198] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0199] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0200] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0201] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such 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, and should all be included in the protection scope of the present application.

Claims

1. A motor control method, characterized in that: include: Calculating motor parameters of the synchronous motor according to the first data collected by the Hall sensor to obtain first motor parameters, wherein the motor parameters of the synchronous motor include a rotation speed and an electrical angle; Calculating the motor parameters of the synchronous motor according to the second data collected by the observer to obtain the second motor parameters; Determining a target motor parameter according to the first motor parameter, a first weighting coefficient corresponding to the first motor parameter, the second motor parameter and a corresponding second weighting coefficient; The synchronous motor is controlled according to the target motor parameter.

2. The motor control method according to claim 1, characterized in that: The first data includes a three-phase Hall signal and a Hall reference angle, and the motor parameters of the synchronous motor are calculated according to the first data collected by the Hall sensor to obtain the first motor parameters, including: Determine a target duration and a Hall reference angle according to the three-phase Hall signal, wherein the target duration reflects the duration between the transition moments of two adjacent Hall signals; Determine a first phase-locked loop coefficient corresponding to the Hall phase-locked loop according to the target duration; The motor parameters of the synchronous motor are calculated according to the first phase-locked loop coefficient and the Hall reference angle to obtain the first motor parameters.

3. The motor control method according to claim 2, characterized in that: The step of calculating the motor parameters of the synchronous motor according to the first phase-locked loop coefficient and the Hall reference angle to obtain the first motor parameters includes: Determine an angle difference according to the Hall reference angle and an actual electrical angle, wherein the actual electrical angle is determined according to the electrical angle in the first motor parameter calculated in a previous motor control process; The first motor parameter is determined according to the first phase-locked loop coefficient and the angle difference.

4. The motor control method according to claim 3, characterized in that: The first phase-locked loop coefficient includes a proportional term coefficient and an integral term coefficient, and determining the first motor parameter according to the first phase-locked loop coefficient and the angle difference includes: Performing calculation based on the proportional term coefficient, the integral term coefficient and the angle difference to obtain the estimated electrical angle; Performing calculation based on the integral term coefficient, the angle difference and a filter function to obtain the estimated rotation speed; The first motor parameter is determined according to the estimated electrical angle and the estimated rotational speed.

5. The motor control method according to claim 1, characterized in that: The observer includes an extended state observer and a flux observer, the second data includes a rotor flux component, and before calculating the motor parameters of the synchronous motor according to the second data collected by the observer to obtain the second motor parameters, the method further includes: Converting the three-phase current and the three-phase voltage of the synchronous motor into current and voltage in a two-phase stationary coordinate system to obtain input data; Processing the input data by the extended state observer to obtain a back electromotive force component; The back electromotive force component is processed by the flux observer to obtain the rotor flux component.

6. The motor control method according to claim 5, characterized in that: The step of calculating the motor parameters of the synchronous motor according to the second data collected by the observer to obtain the second motor parameters includes: Determining a second phase-locked loop coefficient corresponding to the observer phase-locked loop; Controlling the observer phase-locked loop according to the rotor flux component and the second phase-locked loop coefficient to obtain an electrical signal output by the observer phase-locked loop; The motor parameters of the synchronous motor are calculated according to the electrical signal to obtain the second motor parameters.

7. The motor control method according to any one of claims 1 to 6, characterized in that: Before determining the target motor parameter according to the first motor parameter, the first weighting coefficient corresponding to the first motor parameter, the second motor parameter and the corresponding second weighting coefficient, the method further includes: Determine a ratio of a rotation speed in the first motor parameter to a rotation speed threshold; The first weighting coefficient and the second weighting coefficient are determined according to the ratio, wherein, when the ratio is less than 1, the first weighting coefficient decreases as the ratio increases, and the second weighting coefficient increases as the ratio increases; and when the ratio is greater than or equal to 1, the first weighting coefficient is 0, and the second weighting coefficient is 1.

8. A motor control device, characterized in that: include: A first calculation module, used for calculating the motor parameters of the synchronous motor according to the first data collected by the Hall sensor to obtain the first motor parameters, wherein the motor parameters of the synchronous motor include a rotation speed and an electrical angle; A second calculation module, used for calculating the motor parameters of the synchronous motor according to the second data collected by the observer, so as to obtain the second motor parameters; a weighting module, configured to determine a target motor parameter according to the first motor parameter, a first weighting coefficient corresponding to the first motor parameter, the second motor parameter and a corresponding second weighting coefficient; A control module is used to control the synchronous motor according to the target motor parameters.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer program product, characterized in that The invention comprises a computer program, which, when being executed, enables the method according to any one of claims 1 to 7 to be performed.

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