Control method and device of dual three-phase permanent magnet synchronous motor

Abstract

The invention discloses a control method of a dual three-phase permanent magnet synchronous motor. A dual three-phase redundant controller is adopted for execution. The dual three-phase redundancy controller comprises a first control module and a second control module, the first control module is connected with one path of three-phase motor, and the second control module is connected with the other path of three-phase motor; the method comprises the following steps: acquiring operation parameters of one path of three-phase motor and auxiliary coordinate axis feedback current of the other path of three-phase motor; the operation parameters comprise a main operation rotating speed, a main coordinate axis feedback current and a main coordinate axis target current; determining a coordinate axis feedback voltage of one path of three-phase motor and a decoupling voltage between the double three-phase motors according to the operation parameters, the motor parameters and the auxiliary coordinate axis feedback current; and controlling the one-way three-phase motor according to the coordinate axis feedback voltage and the decoupling voltage of the one-way three-phase motor. The problem of incomplete decoupling of the dual three-phase motor is solved, real-time current decoupling control can be realized, the magnetic flux and the torque of the motor can be accurately controlled, and the performance and the efficiency of the motor are improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of motor control, and in particular to a control method and device for a dual three-phase permanent magnet synchronous motor. Background Art

[0002] In traditional automobile control systems, steering, acceleration, braking and other operations are achieved mechanically, such as transmitting the driver's operations to the vehicle's actuators through mechanical linkages, hydraulic systems, etc. However, in modern intelligent driving cars, these operations are increasingly replaced by electronic signals, that is, control instructions are transmitted through wires (electrical signals), which is the wire control technology. In order to ensure the safety and reliability of the system, a dual redundant architecture is usually adopted. When one of the systems fails in software or hardware, the other system can immediately take over the work to ensure the safety of the vehicle. The dual three-phase motors are controlled by two main and auxiliary controllers respectively, and the decoupling will have a response delay problem caused by incomplete decoupling. Summary of the invention

[0003] The present invention provides a control method and device for a dual three-phase permanent magnet synchronous motor, so as to solve the problem of incomplete decoupling of the dual three-phase permanent magnet synchronous motor.

[0004] In a first aspect, an embodiment of the present invention provides a control method for a dual three-phase permanent magnet synchronous motor, which is performed by a dual three-phase redundant controller; the dual three-phase redundant controller includes a first control module and a second control module, the first control module is connected to one three-phase motor, and the second control module is connected to another three-phase motor; the method includes:

[0005] Obtaining the operating parameters of the three-phase motor and the auxiliary coordinate axis feedback current of the other three-phase motor; the operating parameters include the main operating speed, the main coordinate axis feedback current and the main coordinate axis target current;

[0006] Determine the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters, the motor parameters and the auxiliary coordinate axis feedback current;

[0007] The three-phase motor is controlled according to the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage.

[0008] Optionally, the first control module is in communication with the second control module to obtain the feedback current of the auxiliary coordinate axis, including:

[0009] The auxiliary coordinate axis feedback current is obtained through the second control module.

[0010] Optionally, the motor parameters include coordinate axis inductance, permanent magnet flux and coupling inductance of dual three-phase motors; determining the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters, motor parameters and the auxiliary coordinate axis feedback current includes:

[0011] Determining the decoupling voltage according to the main operating speed, the auxiliary coordinate axis feedback current, the main coordinate axis target current, the coordinate axis inductance and the coupling inductance of the dual three-phase motor;

[0012] The coordinate axis feedback voltage is determined by performing gain control according to the main coordinate axis feedback current and the main coordinate axis target current.

[0013] Optionally, the coordinate axis includes a d-axis and a q-axis; the decoupling voltage includes a q-axis main part and a q-axis coupling part; and the decoupling voltage is determined according to the main operating speed, the auxiliary coordinate axis feedback current, the main coordinate axis target current, the coordinate axis inductance and the coupling inductance of the dual three-phase motor, including:

[0014] determining the d-axis main body according to the main operating speed, the q-axis inductance and the q-axis target current;

[0015] determining the d-axis coupling portion according to the main operating speed, the auxiliary q-axis current and the q-axis coupling inductance of the dual three-phase motor;

[0016] determining the d-axis decoupling voltage according to the sum of the d-axis main portion and the d-axis coupling portion;

[0017] determining the q-axis main body according to the main operating speed, the d-axis inductance, the d-axis target current and the permanent magnet flux;

[0018] determining the q-axis coupling portion according to the main operating speed, the auxiliary d-axis current and the d-axis coupling inductance of the dual three-phase motor;

[0019] The q-axis decoupling voltage is determined according to the sum of the q-axis main portion and the q-axis coupling portion.

[0020] Optionally, controlling the three-phase motor according to the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage includes:

[0021] Determine a coordinate axis control voltage according to the sum of the coordinate axis feedback voltage and the decoupling voltage;

[0022] The three-phase motor is controlled according to the coordinate axis control voltage.

[0023] Optionally, the coordinate axis includes a d-axis and a q-axis; and determining the coordinate axis control voltage according to the sum of the coordinate axis feedback voltage and the decoupling voltage includes:

[0024] Determine the q-axis control voltage according to the sum of the q-axis feedback voltage and the q-axis decoupling voltage;

[0025] The d-axis control voltage is determined according to the sum of the d-axis feedback voltage and the d-axis decoupling voltage.

[0026] Optionally, controlling the three-phase motor according to the coordinate axis control voltage includes:

[0027] Performing an inverse park transformation on the q-axis control voltage and the d-axis control voltage to determine an α-axis voltage and a β-axis voltage after the inverse park transformation;

[0028] The three-phase motor is controlled according to the α-axis voltage and the β-axis voltage.

[0029] In a second aspect, an embodiment of the present invention further provides a control method for a dual three-phase permanent magnet synchronous motor, which is executed by a dual three-phase redundant controller; the dual three-phase redundant controller includes a first control module and a second control module, the first control module and the second control module are communicatively connected, the first control module is connected to one three-phase motor, and the second control module is connected to another three-phase motor; the method includes:

[0030] The first control module acquires the operating parameters of the three-phase motor, and the second control module acquires the operating parameters of the other three-phase motor; the operating parameters include the operating speed, the coordinate axis feedback current and the coordinate axis target current;

[0031] The first control module determines the axis feedback voltage of the one three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters of the one three-phase motor, the motor parameters and the axis feedback current of the other three-phase motor;

[0032] The first control module controls the three-phase motor according to the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage;

[0033] The second control module determines the coordinate axis feedback voltage of the other three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters of the other three-phase motor, the motor parameters and the coordinate axis feedback current of the three-phase motor;

[0034] The second control module controls the other three-phase motor according to the coordinate axis feedback voltage of the other three-phase motor and the decoupling voltage.

[0035] In a third aspect, an embodiment of the present invention provides a control device for a dual three-phase permanent magnet synchronous motor, comprising:

[0036] An acquisition module, used to acquire the operating parameters of one three-phase motor and the auxiliary coordinate axis feedback current of another three-phase motor; the operating parameters include the main operating speed, the main coordinate axis feedback current and the main coordinate axis target current;

[0037] A determination module, used to determine the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters, the motor parameters and the auxiliary coordinate axis feedback current;

[0038] A control module is used to control the three-phase motor according to the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage.

[0039] In a fourth aspect, an embodiment of the present invention further provides another control device for a dual three-phase permanent magnet synchronous motor, comprising a first control module and a second control module; the first control module comprises a first communication unit, a first acquisition unit and a first processing unit, and the second control module comprises a second communication unit, a second acquisition unit and a second processing unit;

[0040] The first communication unit is communicatively connected to the second communication unit, the first acquisition unit is connected to the first processing unit, the first processing unit is connected to the first communication unit, the second acquisition unit is connected to the second processing unit, and the second processing unit is connected to the second communication unit; the first acquisition unit is used to acquire operating parameters of one three-phase motor, and the second acquisition unit is used to acquire operating parameters of another three-phase motor; the first processing unit is used to receive the operating parameters of the one three-phase motor and output them to the second processing unit through the first communication unit and the second communication unit, and the second processing unit is used to receive the operating parameters of the other three-phase motor and output them to the first processing unit through the first communication unit and the second communication unit;

[0041] The first processing unit is further used to determine the axis feedback voltage of the one-way three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters of the one-way three-phase motor, the motor parameters and the axis feedback current of the other three-phase motor, and control the one-way three-phase motor according to the axis feedback voltage of the one-way three-phase motor and the decoupling voltage;

[0042] The second processing unit is also used to determine the coordinate axis feedback voltage of the other three-phase motor and the decoupling voltage between the dual three-phase motors based on the operating parameters of the other three-phase motor, the motor parameters and the coordinate axis feedback current of the other three-phase motor, and control the other three-phase motor based on the coordinate axis feedback voltage of the other three-phase motor and the decoupling voltage.

[0043] The technical solution of this embodiment is implemented by adopting a dual three-phase redundant controller; the dual three-phase redundant controller includes a first control module and a second control module, the first control module is connected to one three-phase motor, and the second control module is connected to another three-phase motor; the method includes obtaining the operating parameters of one three-phase motor and the auxiliary coordinate axis feedback current of another three-phase motor; the operating parameters include the main operating speed, the main coordinate axis feedback current and the main coordinate axis target current; the coordinate axis feedback voltage of one three-phase motor and the decoupling voltage between the dual three-phase motors are determined according to the operating parameters, the motor parameters and the auxiliary coordinate axis feedback current; at this time, the decoupling voltage can characterize the coupling degree of the other three-phase motor to the current one three-phase motor, and through decoupling, the performance of the dual three-phase motor control system can be improved, including response speed, stability and accuracy. The one three-phase motor is controlled according to the coordinate axis feedback voltage and decoupling voltage of the one three-phase motor, which solves the problem of incomplete decoupling of the dual three-phase motor, and can perform real-time current decoupling control, so that the magnetic flux and torque of the motor can be accurately controlled, and the performance and efficiency of the motor can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A flow chart of a control method for a dual three-phase permanent magnet synchronous motor provided by an embodiment of the present invention;

[0045] Figure 2 A schematic diagram of the structure of a dual three-phase permanent magnet synchronous motor with two sets of windings having a phase difference of 30° provided in an embodiment of the present invention;

[0046] Figure 3 A current loop decoupling block diagram of a dual three-phase motor provided by an embodiment of the present invention;

[0047] Figure 4 A flow chart of another control method for a dual three-phase permanent magnet synchronous motor provided by an embodiment of the present invention;

[0048] Figure 5 is a structural schematic diagram of a control device for a dual three-phase permanent magnet synchronous motor provided by an embodiment of the present invention;

[0049] Figure 6 A schematic structural diagram of another control device for a dual three-phase permanent magnet synchronous motor provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0051] Figure 1A flow chart of a control method for a dual three-phase permanent magnet synchronous motor provided by an embodiment of the present invention. This embodiment is applicable to the decoupling of a dual three-phase permanent magnet synchronous motor. The method can be executed by a control device for a dual three-phase permanent magnet synchronous motor. A dual three-phase redundant controller is used for execution; the dual three-phase redundant controller includes a first control module and a second control module. The first control module is connected to one three-phase motor, and the second control module is connected to another three-phase motor. Figure 1 As shown, the method includes:

[0052] S101, obtaining operating parameters of one three-phase motor and feedback current of the auxiliary coordinate axis of another three-phase motor; the operating parameters include main operating speed, main coordinate axis feedback current and main coordinate axis target current.

[0053] Among them, the dual three-phase motor is a three-phase motor with two sets of three-phase windings. Figure 2 A schematic diagram of a dual three-phase permanent magnet synchronous motor with a phase difference of 30° between two windings provided in an embodiment of the present invention. Figure 2 As shown, the three-phase windings of a three-phase motor are Figure 2 ABC in the figure, the three-phase windings of the other three-phase motor are Figure 2 XYZ in the figure. The spatial position of the two sets of windings is a structure with a phase difference of 30°. There is coupling between the two sets of windings. It is not a simple superposition of two three-phase motors. There is coupling between the d-axis or q-axis flux of the two sets of windings. This coupling is reflected by the coupling inductance. The operating parameters of one motor can be obtained through the first control module, usually measured by the sensor of one three-phase motor. The operating parameters include the main operating speed, the main coordinate axis feedback current and the main coordinate axis target current. The main operating speed can be the electrical angular velocity of the motor. The main coordinate axis can represent the coordinate axis of one three-phase motor, and the auxiliary coordinate axis represents the coordinate axis of another three-phase motor. If the main coordinate axis represents the coordinate axis of another three-phase motor, the auxiliary coordinate axis represents the coordinate axis of one three-phase motor. The main coordinate axis includes the d-axis and the q-axis, the main coordinate axis feedback current includes the dq-axis current, and the main coordinate axis target current includes the dq-axis current instruction. The auxiliary coordinate axis feedback current is obtained through the second control module and measured by the sensor of another three-phase motor. The auxiliary coordinate axis also includes the d-axis and the q-axis. Exemplarily, when the three-phase winding of one three-phase motor is ABC, the three-phase winding of another three-phase motor is XYZ. When the three-phase winding of one three-phase motor is XYZ, the three-phase winding of another three-phase motor is ABC.

[0054] S102, determining the axis feedback voltage of one three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters, the motor parameters and the auxiliary axis feedback current.

[0055] Among them, the decoupling voltage is determined according to the main operating speed, the auxiliary axis feedback current, the main axis target current, the axis inductance and the coupled inductance of the dual three-phase motor. The axis feedback voltage is obtained by gain control of the main axis feedback current and the main axis target current. In the dq axis control system of the motor, there is a dynamic coupling between the d axis and the q axis. The purpose of decoupling control is to reduce or eliminate this coupling so that each control channel can operate independently.

[0056] S103, controlling a three-phase motor according to the axis feedback voltage and decoupling voltage of the three-phase motor.

[0057] Among them, the coordinate axis feedback voltage and decoupling voltage of a three-phase motor are added to determine the coordinate axis control voltage, and the coordinate axis control voltage is calculated by field-oriented control (FOC), which includes Clark, Park, current loop, anti-Park, SVPWM, etc. For example, the rotating coordinate system (dq axis) can be converted back to the stationary coordinate system (αβ axis) by using anti-park transformation, because the current component on the dq axis is constant in the rotating coordinate system, but changes in the stationary coordinate system. It helps to achieve independent control of the motor torque and flux, thereby improving the control accuracy and response speed, and controlling a three-phase motor.

[0058] The technical solution of this embodiment is implemented by adopting a dual three-phase redundant controller; the dual three-phase redundant controller includes a first control module and a second control module, the first control module is connected to one three-phase motor, and the second control module is connected to another three-phase motor; the method includes obtaining the operating parameters of one three-phase motor and the auxiliary coordinate axis feedback current of another three-phase motor; the operating parameters include the main operating speed, the main coordinate axis feedback current and the main coordinate axis target current; the dual three-phase motors exchange information through the control module. Ensure that the two motors can work together and respond to control requirements in a timely manner. By determining the coordinate axis feedback voltage of one three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters, motor parameters and the auxiliary coordinate axis feedback current; through decoupling, the performance of the dual three-phase motor control system can be improved, including response speed, stability and accuracy. Controlling one three-phase motor according to the coordinate axis feedback voltage and decoupling voltage of one three-phase motor solves the problem of incomplete decoupling of the dual three-phase motor, and can perform real-time current decoupling control, so that the magnetic flux and torque of the motor can be accurately controlled, and the performance and efficiency of the motor can be improved.

[0059] In some optional embodiments of the present invention, the first control module is connected to the second control module for communication to obtain the auxiliary coordinate axis feedback current, including:

[0060] The auxiliary coordinate axis feedback current is obtained through the second control module.

[0061] Among them, the first control module is connected to the second control module for communication, and the auxiliary coordinate axis feedback current is obtained through the second control module, and the auxiliary coordinate axis feedback current is transmitted to a three-phase motor through inter-board communication, so as to determine the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage between the dual three-phase motors. Inter-board communication refers to the data transmission between multiple circuit boards, which can be used to connect multiple processors to realize information sharing. Common inter-board communications include Universal Asynchronous Receiver / Transmitter (UART), Serial Peripheral Interface (SPI), Inter-Integrated Circuit Bus (ICB), etc. 2 C), Peripheral Component Interconnect (PCI) and Universal Serial Bus (USB), etc. The dual three-phase motors exchange information through inter-board communication, ensuring that the two motors can work together and respond to control requirements in a timely manner.

[0062] In some optional embodiments of the present invention, the motor parameters include the coordinate axis inductance, the permanent magnet flux and the coupling inductance of the dual three-phase motor; the coordinate axis feedback voltage of one three-phase motor and the decoupling voltage between the dual three-phase motors are determined according to the operating parameters, the motor parameters and the auxiliary coordinate axis feedback current, including:

[0063] The decoupling voltage is determined according to the main operating speed, the auxiliary coordinate axis feedback current, the main coordinate axis target current, the coordinate axis inductance and the coupled inductance of the dual three-phase motor.

[0064] Among them, the motor parameters include the coordinate axis inductance, permanent magnet flux and the coupled inductance of the dual three-phase motor; the coupled inductance can be measured by the test equipment when the motor is not running. The permanent magnet flux is an important component of the permanent magnet synchronous motor. The magnetic field it generates realizes the operation of the motor through the interaction between the rotor flux and the stator flux. The size and direction of the permanent magnet flux determine the magnetic field strength and direction of the motor, affecting the performance indicators of the motor. The rotor flux is determined by the relative position of the stator flux and the permanent magnet flux. Its size and direction determine the torque size and direction of the motor. The main operating speed is the electrical angular velocity of a three-phase motor, the auxiliary coordinate axis feedback current refers to the feedback current of another three-phase motor, the main coordinate axis target current refers to the dq-axis target current of a three-phase motor, the coordinate axis inductance refers to the dq-axis inductance of a three-phase motor, the coupled inductance of the dual three-phase motor refers to the coupled inductance of another three-phase motor to the three-phase motor, and the decoupling voltage is obtained by arithmetic calculation based on the main operating speed, auxiliary coordinate axis feedback current, main coordinate axis target current, coordinate axis inductance and coupled inductance of the dual three-phase motor.

[0065] The axis feedback voltage is determined by performing gain control according to the main axis feedback current and the main axis target current.

[0066] The main coordinate axis feedback current refers to the dq axis feedback current of a three-phase motor, and the main coordinate axis target current refers to the dq axis target current of a three-phase motor. The axis feedback voltage is determined by performing gain control after performing arithmetic operations on the main coordinate axis feedback current and the main coordinate axis target current. The gain control may be proportional-integral (PI) control.

[0067] In some optional embodiments of the present invention, the coordinate axis includes a d-axis and a q-axis; the decoupling voltage includes a q-axis main part and a q-axis coupling part; the decoupling voltage is determined according to the main operating speed, the auxiliary coordinate axis feedback current, the main coordinate axis target current, the coordinate axis inductance and the coupling inductance of the dual three-phase motor, including:

[0068] The d-axis main body is determined according to the main operating speed, q-axis inductance, and q-axis target current.

[0069] The q-axis inductance refers to the inductance in the q-axis direction, and the q-axis target current refers to the target current set on the q-axis. Specifically, the main operating speed, the q-axis inductance, and the q-axis target current are multiplied and then inverted to obtain the d-axis main body.

[0070] The d-axis coupling part is determined according to the main operating speed, the auxiliary q-axis current and the q-axis coupling inductance of the dual three-phase motor.

[0071] Among them, the auxiliary q-axis current refers to the inductance of another three-phase motor in the q-axis direction, and the q-axis coupled inductance of the dual three-phase motor refers to the coupled inductance on the q-axis of another three-phase motor. Specifically, the main operating speed, the auxiliary q-axis current and the q-axis coupled inductance of the dual three-phase motor are multiplied and then inverted to obtain the d-axis coupled part.

[0072] The d-axis decoupling voltage is determined based on the sum of the d-axis main portion and the d-axis coupling portion.

[0073] Among them, the d-axis decoupling voltage is obtained by adding the d-axis main part and the d-axis coupling part, and the d-axis control voltage can be obtained according to the d-axis decoupling voltage and the d-axis feedback voltage to control a three-phase motor.

[0074] The q-axis main part is determined according to the main operating speed, d-axis inductance, d-axis target current and permanent magnet flux.

[0075] The d-axis inductance refers to the inductance in the d-axis direction, and the d-axis target current refers to the target current set on the d-axis. Specifically, the q-axis main part is obtained by multiplying the main operating speed, the d-axis inductance, the d-axis target current and the permanent magnet flux.

[0076] The q-axis coupling part is determined according to the main operating speed, the auxiliary d-axis current and the d-axis coupling inductance of the dual three-phase motor.

[0077] Among them, the auxiliary d-axis current refers to the current in the d-axis direction of another three-phase motor, and the d-axis coupled inductance of the dual three-phase motor refers to the coupled inductance in the d-axis direction of the dual three-phase motor. Specifically, the main operating speed, the auxiliary d-axis current and the d-axis coupled inductance of the dual three-phase motor are multiplied and then inverted to obtain the q-axis coupling part.

[0078] The q-axis decoupling voltage is determined based on the sum of the q-axis main part and the q-axis coupled part.

[0079] Among them, the q-axis decoupling voltage is obtained by adding the q-axis main part and the q-axis coupling part, and the q-axis control voltage can be obtained according to the q-axis decoupling voltage and the q-axis feedback voltage to control a three-phase motor.

[0080] Figure 3 A current loop decoupling block diagram of a dual three-phase motor provided by an embodiment of the present invention. Figure 3 As shown in the figure, the current loop decoupling control of the dual three-phase motor includes PI control and feedforward decoupling control. PI control is a commonly used feedback control method. In motor control, the PI controller is usually used in the current loop or speed loop to achieve precise control of the motor current or speed. Feedforward decoupling achieves decoupling control by introducing a signal equal to the coupling term as compensation at the output of the d-axis and q-axis controllers. The target current i of the main coordinate axis is q * The feedback current i of the main axis q After the difference is controlled by PI, it is connected in parallel with the decoupling voltage of the dual three-phase motor determined by the operating parameters, motor parameters and auxiliary axis feedback current to output the main axis voltage feedback voltage u d and u q , the main axis feedback voltage u d and u q After sampling delay compensation, the αβ axis voltage U is obtained by inverse Park transformation. α and U β Control one three-phase motor.

[0081] Specifically, the operating parameters include the main operating speed, the main axis feedback current and the main axis target current. The motor parameters include the speed of the three-phase motor and the dq axis coupling inductance between the two sets of windings of the dual motor. The axis decoupling voltage of the three-phase motor is calculated according to the following formula: Determine. Among them, ω e is the electrical angular velocity of the motor, L d and L q is the inductance of the dq axis, is the permanent magnet flux; They represent the target current of the dq axis of a three-phase motor, L dd , L qq is the dq-axis coupling inductance between the two sets of windings, i d_remote 、i q_remote Represents the auxiliary dq-axis feedback current.

[0082] In some optional embodiments of the present invention, controlling a three-phase motor according to a coordinate axis feedback voltage and a decoupling voltage of the three-phase motor includes:

[0083] The coordinate axis control voltage is determined according to the sum of the coordinate axis feedback voltage and the decoupling voltage.

[0084] Control a three-phase motor according to the coordinate axis control voltage.

[0085] Among them, the coordinate axis feedback voltage refers to the voltage obtained by obtaining the main coordinate axis feedback current and the main coordinate axis target current for gain control. The decoupling voltage is a voltage compensation introduced to eliminate the coupling effect between the d-axis and the q-axis and the coupled inductance of the dual three-phase motor. Through decoupling control, the torque and flux of the motor can be controlled independently, thereby improving the control accuracy and response speed. The coordinate axis control voltage is used to drive the motor and is obtained by adding the coordinate axis feedback voltage and the decoupling voltage. After determining the coordinate axis control voltage, the coordinate axis control voltage can be converted into the voltage signal required by the three-phase motor through inverse transformation to control one three-phase motor.

[0086] In some optional embodiments of the present invention, the coordinate axis includes a d-axis and a q-axis; determining the coordinate axis control voltage according to the sum of the coordinate axis feedback voltage and the decoupling voltage includes:

[0087] The q-axis control voltage is determined according to the sum of the q-axis feedback voltage and the q-axis decoupling voltage.

[0088] The d-axis control voltage is determined according to the sum of the d-axis feedback voltage and the d-axis decoupling voltage.

[0089] Among them, the q-axis control voltage is obtained by adding the q-axis feedback voltage and the q-axis decoupling voltage, and the d-axis control voltage is obtained by adding the d-axis feedback voltage and the d-axis decoupling voltage. The torque generated by a three-phase motor can be controlled by the q-axis control voltage, and the magnetic flux of a three-phase motor can be controlled by the d-axis control voltage.

[0090] In some optional embodiments of the present invention, controlling a three-phase motor according to a coordinate axis control voltage includes:

[0091] The q-axis control voltage and the d-axis control voltage are subjected to inverse park transformation to determine the α-axis voltage and the β-axis voltage after inverse park transformation.

[0092] A three-phase motor is controlled according to the α-axis voltage and the β-axis voltage.

[0093] Among them, the inverse park transform is the inverse process of the Park transform, which transforms the dq axis coordinate system (direct axis and quadrature axis) back to the three-phase coordinate system (αβ or ABC). Park transform is commonly used in motor control, especially in the vector control of permanent magnet synchronous motors (also known as field oriented control, FOC), to transform the three-phase current or voltage of the motor from the ABC coordinate system to the dq coordinate system, so as to achieve independent control of the motor torque and flux. The embodiment of the present invention controls a three-phase motor according to the α-axis voltage and β-axis voltage obtained by the inverse Park transform, so that the flux and torque of the motor can be independently controlled, thereby improving the performance and efficiency of the motor.

[0094] Figure 4 A flow chart of another control method for a dual three-phase permanent magnet synchronous motor provided by an embodiment of the present invention is implemented by a dual three-phase redundant controller; the dual three-phase redundant controller includes a first control module and a second control module, the first control module and the second control module are communicatively connected, the first control module is connected to one three-phase motor, and the second control module is connected to another three-phase motor; Figure 4 As shown, the method includes:

[0095] S201, the first control module obtains the operating parameters of one three-phase motor, and the second control module obtains the operating parameters of another three-phase motor; the operating parameters include the operating speed, the coordinate axis feedback current and the coordinate axis target current.

[0096] The first control module measures the operating parameters of one three-phase motor through the sensor of one three-phase motor. The second control module measures the operating parameters of another three-phase motor through the sensor of another three-phase motor. The operating parameters include the operating speed, the coordinate axis feedback current and the coordinate axis target current.

[0097] S202, the first control module determines the axis feedback voltage of one three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters of one three-phase motor, the motor parameters and the axis feedback current of another three-phase motor.

[0098] The first control module performs feedforward decoupling to determine the decoupling voltage according to the main operating speed, the auxiliary axis feedback current, the main axis target current, the main axis inductance and the coupling inductance of the dual three-phase motor. The first control module performs gain control to determine the axis feedback voltage according to the main axis feedback current and the main axis target current.

[0099] S203, the first control module controls the three-phase motor according to the coordinate axis feedback voltage and the decoupling voltage of the three-phase motor.

[0100] Among them, in the motor control system, the first control module adds the main coordinate axis feedback voltage and the decoupling voltage of the three-phase motor to obtain the main coordinate axis control voltage, and the main coordinate axis control voltage is used to drive the three-phase motor, and is obtained by adding the main coordinate axis feedback voltage and the decoupling voltage. After determining the main coordinate axis control voltage, the main coordinate axis control voltage can be converted into the voltage signal required by the three-phase motor to control the three-phase motor through inverse transformation.

[0101] S204, the second control module determines the axis feedback voltage of another three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters of another three-phase motor, the motor parameters and the axis feedback current of one three-phase motor.

[0102] The second control module performs feedforward decoupling to determine the decoupling voltage according to the operating speed, the main axis feedback current, the auxiliary axis target current, the auxiliary axis inductance and the coupling inductance of the dual three-phase motor. The second control module performs gain control to determine the auxiliary axis feedback voltage according to the auxiliary axis feedback current and the auxiliary axis target current.

[0103] S205. The second control module controls another three-phase motor according to the coordinate axis feedback voltage and decoupling voltage of the other three-phase motor.

[0104] Among them, in the motor control system, the second control module adds the auxiliary coordinate axis feedback voltage and the decoupling voltage of another three-phase motor to obtain the auxiliary coordinate axis control voltage, and the auxiliary coordinate axis control voltage is used to drive another three-phase motor, and is obtained by adding the auxiliary coordinate axis feedback voltage and the decoupling voltage. After determining the auxiliary coordinate axis control voltage, the auxiliary coordinate axis control voltage can be converted into the voltage signal required by the three-phase motor through inverse transformation to control one three-phase motor.

[0105] Figure 5 A schematic diagram of the structure of a control device for a dual three-phase permanent magnet synchronous motor provided by an embodiment of the present invention is shown in FIG. Figure 5 As shown, the device comprises:

[0106] The acquisition module 301 is used to acquire the operating parameters of one three-phase motor and the auxiliary axis feedback current of another three-phase motor; the operating parameters include the main operating speed, the main axis feedback current and the main axis target current;

[0107] A determination module 302 is used to determine the axis feedback voltage of one three-phase motor and the decoupling voltage between the two three-phase motors according to the operating parameters, the motor parameters and the auxiliary axis feedback current;

[0108] The control module 303 is used to control a three-phase motor according to the coordinate axis feedback voltage and the decoupling voltage of the three-phase motor.

[0109] A control device for a dual three-phase permanent magnet synchronous motor provided by an embodiment of the present invention comprises an acquisition module, a determination module and a control module. The acquisition module is used to obtain the operating parameters of one three-phase motor and the auxiliary coordinate axis feedback current of another three-phase motor; the operating parameters include the main operating speed, the main coordinate axis feedback current and the main coordinate axis target current; the determination module determines the coordinate axis feedback voltage of one three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters, motor parameters and the auxiliary coordinate axis feedback current obtained by the acquisition module; through decoupling, the performance of the dual three-phase motor control system can be improved, including the response speed, stability and accuracy. The control module determines the coordinate axis feedback voltage and decoupling voltage of one three-phase motor according to the determination module to control the one three-phase motor. The dual three-phase motors exchange information through the control module to ensure that the two motors can work together and respond to control requirements in a timely manner. The problem of incomplete decoupling of the dual three-phase motor is solved, and real-time current decoupling control can be performed, so that the magnetic flux and torque of the motor can be accurately controlled, and the performance and efficiency of the motor can be improved.

[0110] Figure 6 A schematic diagram of the structure of another control device for a dual three-phase permanent magnet synchronous motor provided by an embodiment of the present invention is shown in FIG. Figure 6 As shown, the device includes a first control module 401 and a second control module 402; the first control module 401 includes a first communication unit 4011, a first acquisition unit 4013 and a first processing unit 4012, and the second control module 402 includes a second communication unit 4021, a second acquisition unit 4023 and a second processing unit 4022.

[0111] The first communication unit 4011 is communicatively connected with the second communication unit 4021, the first acquisition unit 4013 is connected with the first processing unit 4012, the first processing unit 4012 is connected with the first communication unit 4011, the second acquisition unit 4023 is connected with the second processing unit 4022, and the second processing unit 4022 is connected with the second communication unit 4021; the first acquisition unit 4013 is used to acquire the operating parameters of one three-phase motor, and the second acquisition unit 4023 is used to acquire the operating parameters of another three-phase motor; the first processing unit 4012 is used to receive the operating parameters of one three-phase motor and output them to the second processing unit 4022 through the first communication unit 4011 and the second communication unit 4021, and the second processing unit 4022 is used to receive the operating parameters of another three-phase motor and output them to the first processing unit 4012 through the first communication unit 4011 and the second communication unit 4021;

[0112] The first processing unit 4012 is further used to determine the axis feedback voltage of the three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters of the three-phase motor, the motor parameters and the axis feedback current of the other three-phase motor, and control the three-phase motor according to the axis feedback voltage and the decoupling voltage of the three-phase motor;

[0113] The second processing unit 4022 is also used to determine the coordinate axis feedback voltage of another three-phase motor and the decoupling voltage between the dual three-phase motors based on the operating parameters of the other three-phase motor, the motor parameters and the coordinate axis feedback current of one three-phase motor, and control the other three-phase motor based on the coordinate axis feedback voltage and the decoupling voltage of the other three-phase motor.

[0114] The first control module 401 includes a first communication unit 4011, a first acquisition unit 4013 and a first processing unit 4012, and the second control module 402 includes a second communication unit 4021, a second acquisition unit 4023 and a second processing unit 4022. The first communication unit 4011 is connected to the second communication unit 4021, and the operating parameters of one three-phase motor acquired by the first acquisition unit 4013 are transmitted to another three-phase motor through inter-board communication, and the operating parameters of another three-phase motor acquired by the second acquisition unit 4023 are transmitted to one three-phase motor. The first processing unit 4012 determines the axis feedback voltage of one three-phase motor and the decoupling voltage between the dual three-phase motors based on the operating parameters, motor parameters and axis feedback current of the other three-phase motor, and controls the three-phase motor based on the axis feedback voltage and decoupling voltage of the three-phase motor; the second processing unit 4022 determines the axis feedback voltage of another three-phase motor and the decoupling voltage between the dual three-phase motors based on the operating parameters, motor parameters and axis feedback current of the other three-phase motor, and controls the other three-phase motor based on the axis feedback voltage and decoupling voltage of the other three-phase motor.

[0115] A control device for a dual three-phase permanent magnet synchronous motor provided by an embodiment of the present invention includes a first control module and a second control module; the first control module includes a first communication unit, a first acquisition unit and a first processing unit; the second control module includes a second communication unit, a second acquisition unit and a second processing unit, and the operating parameters of one three-phase motor and the operating parameters of another three-phase motor are obtained through the first acquisition unit and the second acquisition unit; the first processing unit and the second processing unit receive the operating parameters of one three-phase motor and the operating parameters of another three-phase motor and output them to the second processing unit and the first processing unit through the first communication unit and the second communication unit; the first processing unit and the second processing unit determine the coordinate axis feedback voltage of one three-phase motor and another three-phase motor and the decoupling voltage between the dual three-phase motors according to one, and control the one three-phase motor and the other three-phase motor according to the coordinate axis feedback voltage and the decoupling voltage of the one three-phase motor and the other three-phase motor. The dual three-phase motors exchange information through the communication unit of the control module to ensure that the two motors can work together and respond to control requirements in a timely manner. The problem of incomplete decoupling of dual three-phase motors is solved, and real-time current decoupling control can be performed, thereby accurately controlling the magnetic flux and torque of the motor and improving the performance and efficiency of the motor.

[0116] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for a dual three-phase permanent magnet synchronous motor, characterized in that: The method is performed by using a dual three-phase redundant controller; the dual three-phase redundant controller includes a first control module and a second control module, the first control module is connected to one three-phase motor, and the second control module is connected to another three-phase motor; the method includes: Obtaining the operating parameters of the three-phase motor and the auxiliary coordinate axis feedback current of the other three-phase motor; the operating parameters include the main operating speed, the main coordinate axis feedback current and the main coordinate axis target current; Determine the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters, the motor parameters and the auxiliary coordinate axis feedback current; The three-phase motor is controlled according to the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage.

2. The control method of the dual three-phase permanent magnet synchronous motor according to claim 1, characterized in that: The first control module is in communication with the second control module to obtain the feedback current of the auxiliary coordinate axis, including: The auxiliary coordinate axis feedback current is obtained through the second control module.

3. The control method of the dual three-phase permanent magnet synchronous motor according to claim 1, characterized in that: The motor parameters include coordinate axis inductance, permanent magnet flux and coupling inductance of dual three-phase motors; determining the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters, motor parameters and the auxiliary coordinate axis feedback current, including: Determining the decoupling voltage according to the main operating speed, the auxiliary coordinate axis feedback current, the main coordinate axis target current, the coordinate axis inductance and the coupling inductance of the dual three-phase motor; The coordinate axis feedback voltage is determined by performing gain control according to the main coordinate axis feedback current and the main coordinate axis target current.

4. The control method of the dual three-phase permanent magnet synchronous motor according to claim 3, characterized in that: The coordinate axis includes a d-axis and a q-axis; the decoupling voltage includes a q-axis main part and a q-axis coupling part; the decoupling voltage is determined according to the main operating speed, the auxiliary coordinate axis feedback current, the main coordinate axis target current, the coordinate axis inductance and the coupling inductance of the dual three-phase motor, including: determining the d-axis main body according to the main operating speed, the q-axis inductance and the q-axis target current; determining the d-axis coupling portion according to the main operating speed, the auxiliary q-axis current and the q-axis coupling inductance of the dual three-phase motor; determining the d-axis decoupling voltage according to the sum of the d-axis main portion and the d-axis coupling portion; determining the q-axis main body according to the main operating speed, the d-axis inductance, the d-axis target current and the permanent magnet flux; determining the q-axis coupling portion according to the main operating speed, the auxiliary d-axis current and the d-axis coupling inductance of the dual three-phase motor; The q-axis decoupling voltage is determined according to the sum of the q-axis main portion and the q-axis coupling portion.

5. The control method of a dual three-phase permanent magnet synchronous motor according to any one of claims 1 to 4, characterized in that: Controlling the three-phase motor according to the axis feedback voltage of the three-phase motor and the decoupling voltage includes: Determine a coordinate axis control voltage according to the sum of the coordinate axis feedback voltage and the decoupling voltage; The three-phase motor is controlled according to the coordinate axis control voltage.

6. The control method of the dual three-phase permanent magnet synchronous motor according to claim 5, characterized in that: The coordinate axis includes a d-axis and a q-axis; and the coordinate axis control voltage is determined according to the sum of the coordinate axis feedback voltage and the decoupling voltage, including: Determine the q-axis control voltage according to the sum of the q-axis feedback voltage and the q-axis decoupling voltage; The d-axis control voltage is determined according to the sum of the d-axis feedback voltage and the d-axis decoupling voltage.

7. The control method of the dual three-phase permanent magnet synchronous motor according to claim 6, characterized in that: Controlling the three-phase motor according to the coordinate axis control voltage includes: Performing an inverse park transformation on the q-axis control voltage and the d-axis control voltage to determine an α-axis voltage and a β-axis voltage after the inverse park transformation; The three-phase motor is controlled according to the α-axis voltage and the β-axis voltage.

8. A control method for a dual three-phase permanent magnet synchronous motor, characterized in that: The method is performed by using a dual three-phase redundant controller; the dual three-phase redundant controller includes a first control module and a second control module, the first control module and the second control module are communicatively connected, the first control module is connected to one three-phase motor, and the second control module is connected to another three-phase motor; the method includes: The first control module acquires the operating parameters of the three-phase motor, and the second control module acquires the operating parameters of the other three-phase motor; the operating parameters include operating speed, coordinate axis feedback current and coordinate axis target current; The first control module determines the axis feedback voltage of the one-way three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters of the one-way three-phase motor, the motor parameters and the axis feedback current of the other three-phase motor; The first control module controls the three-phase motor according to the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage; The second control module determines the coordinate axis feedback voltage of the other three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters of the other three-phase motor, the motor parameters and the coordinate axis feedback current of the one three-phase motor; The second control module controls the other three-phase motor according to the coordinate axis feedback voltage of the other three-phase motor and the decoupling voltage.

9. A control device for a dual three-phase permanent magnet synchronous motor, characterized in that: include: An acquisition module is used to acquire the operating parameters of one three-phase motor and the auxiliary coordinate axis feedback current of another three-phase motor; The operating parameters include the main operating speed, the main coordinate axis feedback current and the main coordinate axis target current; A determination module, used to determine the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters, the motor parameters and the auxiliary coordinate axis feedback current; A control module is used to control the three-phase motor according to the coordinate axis feedback voltage of the three-phase motor and the decoupling voltage.

10. A control device for a dual three-phase permanent magnet synchronous motor, characterized in that: It includes a first control module and a second control module; the first control module includes a first communication unit, a first acquisition unit and a first processing unit, and the second control module includes a second communication unit, a second acquisition unit and a second processing unit; The first communication unit is communicatively connected to the second communication unit, the first acquisition unit is connected to the first processing unit, the first processing unit is connected to the first communication unit, the second acquisition unit is connected to the second processing unit, and the second processing unit is connected to the second communication unit; the first acquisition unit is used to acquire operating parameters of one three-phase motor, and the second acquisition unit is used to acquire operating parameters of another three-phase motor; the first processing unit is used to receive the operating parameters of the one three-phase motor and output them to the second processing unit through the first communication unit and the second communication unit, and the second processing unit is used to receive the operating parameters of the other three-phase motor and output them to the first processing unit through the first communication unit and the second communication unit; The first processing unit is further used to determine the axis feedback voltage of the one-way three-phase motor and the decoupling voltage between the dual three-phase motors according to the operating parameters of the one-way three-phase motor, the motor parameters and the axis feedback current of the other three-phase motor, and control the one-way three-phase motor according to the axis feedback voltage of the one-way three-phase motor and the decoupling voltage; The second processing unit is also used to determine the coordinate axis feedback voltage of the other three-phase motor and the decoupling voltage between the dual three-phase motors based on the operating parameters of the other three-phase motor, the motor parameters and the coordinate axis feedback current of the other three-phase motor, and control the other three-phase motor based on the coordinate axis feedback voltage of the other three-phase motor and the decoupling voltage.

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