Control method and system for motor

Abstract

The invention relates to the technical field of motor control, in particular to a control method and system for a motor. The method comprises the following steps that a motor main control unit MCU obtains a motor angle parameter by obtaining a corresponding target motor rotating speed set by a receiving user and carrying out angle parameter reverse solution endowing; obtaining a direct axis direction current and a cross axis direction current and carrying out motor load control calculation to obtain a direct axis voltage control quantity and a cross axis voltage control quantity; transmitting the motor angle parameter, the direct axis voltage control quantity and the cross axis voltage control quantity to a space vector pulse width modulation (SVPWM) module and carrying out SVPWM modulation processing to generate a motor rotor control SVPWM waveform; and determining a phase voltage control value applied to each motor winding, carrying out control duty ratio adjustment analysis, and controlling the corresponding rotating speed and direction of each motor at the same time. The operation efficiency and the response speed of the motor can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a control method and system for a motor. Background Art

[0002] Cooling fans generally require motors to operate. Currently, a motor master control unit (MCU) controls one motor, and one motor needs to be equipped with a Hall sensor. The motor uploads the operating data (such as transmission speed) to the MCU. The MCU updates the angle parameters based on the data uploaded by the motor, thereby providing the motor with the correct parameters, so that the cooling fan can rotate at a suitable speed to achieve sufficient heat dissipation. Therefore, one MCU can only control one motor, and each motor needs to be installed with a Hall sensor. When the fan is used more (for example, a large battery module may require dozens or even hundreds of cooling fans), installation and control are very troublesome and costly. Therefore, the traditional single control method can no longer meet the complex working environment and unified operation control process, and thus faces the problems of insufficient control accuracy and delayed response. Summary of the invention

[0003] Based on this, it is necessary for the present invention to provide a control method and system for a motor to solve at least one of the above technical problems.

[0004] To achieve the above object, a control method for a motor comprises the following steps: Step S1: The motor main control unit MCU obtains the target motor speed corresponding to the user setting, and reversely calculates the angle parameter of the target motor speed to obtain the motor angle parameter ; Step S2: Obtain the direct axis current and the cross axis current corresponding to the motor rotor, and use the motor main control unit MCU to perform motor load control calculation on the direct axis current and the cross axis current to obtain the direct axis voltage control value corresponding to the motor load operation state. And the cross-axis voltage control quantity ; Step S3: Set the motor angle parameter , Direct shaft voltage control And the cross-axis voltage control quantity Pass it to the space vector pulse width modulation SVPWM module, and use the space vector pulse width modulation SVPWM module to adjust the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Performing SVPWM modulation processing to generate a motor rotor control SVPWM waveform; Step S4: According to the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Determine the phase voltage control value applied to each motor winding; obtain the corresponding torque and magnetic field direction required by the motor rotor through the motor rotor control SVPWM waveform, and perform control duty cycle adjustment analysis on the phase voltage control value applied to each motor winding based on the corresponding torque and magnetic field direction required by the motor rotor to generate the motor control duty cycle corresponding to each phase voltage; and simultaneously control the corresponding speed and direction of each motor according to the motor control duty cycle corresponding to each phase voltage.

[0005] Further, step S1 includes the following steps: Step S11: the motor main control unit MCU obtains and receives the target motor speed corresponding to the user setting; Step S12: setting the load torque according to the working state of the motor corresponding to the target motor speed and performing a preliminary calculation of the motor speed in combination with the characteristic relationship between the target motor speed and the load torque to obtain an analytical expression corresponding to the target motor speed; wherein the analytical expression is specifically: ; in, is the target motor speed, is the motor angular velocity, is the influence coefficient of load torque on target motor speed, is the load torque corresponding to the target motor speed, is the maximum load torque of the motor; Step S13: acquiring the inertia, resistance and speed fluctuation corresponding to the motor, and performing a time-delay response compensation calculation on the angular velocity dynamic response corresponding to the motor based on the inertia, resistance and speed fluctuation corresponding to the motor, so as to obtain the motor angular velocity dynamic compensation coefficient; Step S14: Compensate the motor angular velocity corresponding to the motor based on the motor angular velocity dynamic compensation coefficient Perform compensation fitting calculation to obtain the motor angular velocity corresponding to the compensation fitting at the target motor speed ,in is the motor angle parameter, is the motor rotation time, is the dynamic compensation coefficient of the motor angular velocity; Step S15: Based on the motor angular velocity corresponding to the compensation fitting of the motor at the target motor speed, the angular parameter of the analytical expression corresponding to the target motor speed is reversely solved and assigned to obtain the motor angle parameter .

[0006] Further, step S13 includes the following steps: Step S131: Obtain the inertia, resistance and speed fluctuation corresponding to the motor; Step S132: performing inertia contribution response analysis on the inertia corresponding to the motor to obtain the motor inertia contribution response; Step S133: performing resistance torque analysis on the resistance corresponding to the motor to obtain the motor resistance torque; performing influence correction calculation on the motor resistance torque based on the internal and external resistance characteristics corresponding to the motor to obtain the motor resistance torque correction factor; Step S134: performing fast Fourier transform analysis on the speed fluctuation corresponding to the motor to obtain the speed fluctuation spectrum corresponding to the motor during operation; performing speed fluctuation frequency analysis on the speed fluctuation spectrum corresponding to the motor during operation to obtain the motor speed fluctuation frequency; Step S135: performing angular velocity time lag analysis on the angular velocity dynamic response corresponding to the motor based on the motor inertia contribution response and the motor resistance torque correction factor, so as to obtain the angular velocity time lag response delay corresponding to the motor under the external response disturbance condition; Step S136: Based on the motor speed fluctuation frequency and the angular velocity time-lag response delay, a time-lag response compensation calculation is performed on the angular velocity dynamic response corresponding to the motor using an angular velocity dynamic compensation calculation formula to obtain a motor angular velocity dynamic compensation coefficient.

[0007] Further, step S135 includes the following steps: The motor inertia contribution response is decomposed item by item in each working state to obtain the corresponding motor inertia contribution under different working states; Based on the corresponding motor inertia contribution under different working conditions, the motor resistance torque correction factor is corrected for inertia influence, so as to obtain the corresponding comprehensive resistance torque correction factor under different working conditions; Obtaining the external response disturbance conditions corresponding to the motor, and performing time domain transient response decomposition on the angular velocity dynamic response corresponding to the motor based on the external response disturbance conditions corresponding to the motor, to obtain the angular velocity transient response change sub-item corresponding to the motor under the external response disturbance conditions; Based on the comprehensive resistance torque correction factor, the dynamic time warping algorithm is used to simulate the angular velocity time lag of the motor's angular velocity transient response change sub-item under external response disturbance conditions to obtain the angular velocity time lag response delay of the motor under external response disturbance conditions.

[0008] Furthermore, the angular velocity dynamic compensation calculation formula in step S136 is specifically: ; In the formula, is the dynamic compensation coefficient of the motor angular velocity, is the motor rotation time, is the integral time point variable of motor rotation, is the angular velocity lag response delay, The response time in the time delay The corresponding target reference angular velocity is: The response time in the time delay The corresponding actual motor angular velocity is, is the motor speed fluctuation frequency, is the time-delay response delay adjustment parameter, is an exponential function, is the motor lag compensation torque, It is the correction factor of the motor angular velocity dynamic compensation coefficient.

[0009] Further, step S2 includes the following steps: Step S21: using finite element analysis to obtain current magnetic field distribution characteristics corresponding to the motor rotor; Step S22: performing a magnetic field spatial decomposition analysis on the motor rotor based on the current magnetic field distribution characteristics corresponding to the motor rotor to obtain a motor rotor current magnetic field distribution matrix; Step S23: performing vector analysis on the current direction corresponding to the motor rotor based on the motor rotor current magnetic field distribution matrix to obtain the motor rotor current vector direction matrix; Step S24: performing orthogonal decomposition on the current direction corresponding to the motor rotor according to the motor rotor current vector direction matrix to obtain the direct axis direction current and the cross axis direction current corresponding to the motor rotor; Step S25: Use the motor main control unit MCU to perform motor load control calculation on the direct axis current and the cross axis current to obtain the corresponding direct axis voltage control value under the motor load operation state. And the cross-axis voltage control quantity .

[0010] Further, step S25 includes the following steps: Step S251: using the motor main control unit MCU to perform motor magnetic proportional analysis on the direct axis current and the cross axis current, and obtain proportional constants related to the direct axis current and the cross axis current and the motor magnetic properties; Step S252: using the motor main control unit MCU to obtain the motor load parameters and the current speed of the motor corresponding to the motor under different workload operation states; Step S253: Based on the proportional constants of the direct axis current and the cross axis current related to the motor magnetism, the motor load parameters and the current motor speed, the motor load control calculation is performed on the direct axis current and the cross axis current to obtain the direct axis voltage control value corresponding to the motor load operation state. And the cross-axis voltage control quantity , where the direct shaft voltage control quantity is And the cross-axis voltage control quantity Specifically: ; ; in, is the direct axial current, is the proportionality constant related to the direct shaft current and the motor magnetic properties, is the motor load parameter, is the motor load control coefficient, is the cross-axis current, is the proportionality constant related to the cross-axis current and the motor magnetic properties, is the current speed of the motor, is the motor speed control coefficient.

[0011] Further, step S3 includes the following steps: Step S31: Set the motor angle parameter , Direct shaft voltage control And the cross-axis voltage control quantity The data is transmitted to the space vector pulse width modulation (SVPWM) module corresponding to the motor; Step S32: Use the space vector pulse width modulation (SVPWM) module to adjust the motor angle parameter Perform time-space synchronization calculation to obtain the motor rotor angle synchronization vector corresponding to time and space information; Step S33: performing phase alignment on the control required voltage direction corresponding to the motor rotor based on the motor rotor angle synchronization vector corresponding to the time and space information, and obtaining the motor rotor required voltage direction vector matrix, wherein the motor rotor required voltage direction vector matrix includes voltage direction vectors corresponding to the direct axis and cross axis voltages at different angles; Step S34: Direct axis voltage control quantity based on the motor rotor required voltage direction vector matrix And the cross-axis voltage control quantity Perform corresponding amplitude calculation to obtain the motor rotor voltage control amplitude adjustment matrix; Step S35: The direct axis voltage control amount is adjusted according to the motor rotor voltage control amplitude adjustment matrix And the cross-axis voltage control quantity SVPWM modulation processing is performed to generate a motor rotor control SVPWM waveform.

[0012] Further, step S4 includes the following steps: Step S41: Calculate the motor angle parameters at different time points Perform rotor angle normalization processing to obtain the normalized angle of the motor rotor; Step S42: Direct shaft voltage control quantity based on the normalized angle of the motor rotor And the cross-axis voltage control quantity Decoupling the rotor angle component to generate a motor rotor voltage component decoupling matrix; Step S43: performing synchronous modulation control calculation on each motor winding phase voltage corresponding to the motor according to the motor rotor voltage component decoupling matrix to obtain a phase voltage control value applied to each motor winding; Step S44: obtaining the torque and magnetic field direction required by the motor rotor through the motor rotor control SVPWM waveform, and performing control duty cycle adjustment analysis on the phase voltage control value applied to each motor winding based on the torque and magnetic field direction required by the motor rotor, so as to generate the motor control duty cycle corresponding to each phase voltage; Step S45: Control the speed and direction of each motor simultaneously according to the motor control duty ratio corresponding to each phase voltage.

[0013] Furthermore, the present invention also provides a control system for a motor, which is used to execute the control method for a motor as described above, and the control system for a motor includes: The angle parameter reverse calculation module is used for the motor main control unit MCU to obtain the target motor speed corresponding to the user setting, and reversely calculate the angle parameter of the target motor speed to obtain the motor angle parameter. ; The motor rotor load control calculation module is used to obtain the direct axis current and cross axis current corresponding to the motor rotor, and use the motor main control unit MCU to perform motor load control calculation on the direct axis current and cross axis current, so as to obtain the corresponding direct axis voltage control value under the motor load operation state. And the cross-axis voltage control quantity ; SVPWM waveform modulation module, used to convert the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Pass it to the space vector pulse width modulation SVPWM module, and use the space vector pulse width modulation SVPWM module to adjust the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Performing SVPWM modulation processing to generate a motor rotor control SVPWM waveform; The motor speed and direction unified control module is used to control the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Determine the phase voltage control value applied to each motor winding; obtain the corresponding torque and magnetic field direction required by the motor rotor through the motor rotor control SVPWM waveform, and perform control duty cycle adjustment analysis on the phase voltage control value applied to each motor winding based on the corresponding torque and magnetic field direction required by the motor rotor to generate the motor control duty cycle corresponding to each phase voltage; and simultaneously control the corresponding speed and direction of each motor according to the motor control duty cycle corresponding to each phase voltage.

[0014] Beneficial effects of the present invention: 1. Compared with the prior art, the control method for the motor proposed in the present invention has the beneficial effect of obtaining the target motor speed set by the user by using the motor main control unit MCU, which provides the basic input for the entire control process. The implementation of this step ensures that the working conditions of the motor can be accurately set according to the user's needs, thereby providing an accurate reference value for the subsequent inverse operation of the angle parameter. At the same time, by performing reverse calculation and assignment of the angle parameter to the target motor speed, the motor angle parameter at the target motor speed is calculated in combination with the angular velocity compensation of the motor. Through reverse calculation, the angular velocity can be derived according to the target motor speed of the motor and the corresponding angle change can be reversed to ensure that the angle parameter of the motor at the target speed can be correctly assigned, further improving the stability and accuracy of the motor control. Secondly, by obtaining the direct axis direction current and the cross axis direction current corresponding to the motor rotor, the direct axis (d axis) and cross axis (q axis) currents of the motor are two important components in the motor control, which respectively determine the magnetic field generation and torque output of the motor, and can decompose the current signal into two independent components, and can also improve the accuracy of the motor control, better understand the response characteristics of the motor under different working conditions, and thus improve the operation efficiency and reliability of the motor. The motor main control unit MCU is also used to perform motor load control calculations on the direct axis current and the cross axis current to obtain the corresponding direct axis and cross axis voltage control quantities. By controlling the d-axis and q-axis currents, the MCU can adjust the output torque and magnetic field strength of the motor under load. Based on the load conditions and the results of current decomposition, the MCU calculates the optimal voltage control quantity in real time, so that the motor can maintain stable torque output and efficient energy conversion under different working conditions, ensuring that the motor can maintain efficient operation under complex conditions such as load changes and speed fluctuations. This not only improves the intelligence level and accuracy of motor control, but also ensures the safety and efficiency of the motor under high load conditions. Then, by passing the motor angle parameters, direct axis voltage control quantity and cross axis voltage control quantity to the SVPWM module, the foundation for subsequent precise control is laid. The motor angle parameters are obtained by previous estimation, reflecting the real-time position of the motor rotor. At the same time, the voltage requirements of the corresponding motor on two independent axes (i.e., the voltage control quantities of the d-axis and q-axis) are input into the SVPWM module to ensure that precise adjustments can be made according to the real-time motor position and voltage requirements. This can ensure the stable operation of the motor under different working conditions, while avoiding adverse effects such as overcurrent or overvoltage.By utilizing the space vector pulse width modulation SVPWM module to perform SVPWM modulation processing on the motor angle parameters, direct axis voltage control quantity and cross axis voltage control quantity, the SVPWM technology can be combined to generate the motor control waveform. SVPWM technology is an efficient modulation method widely used in the field of motor control. It optimizes the motor's operating efficiency and torque output by generating a voltage waveform that meets the motor rotor requirements. By SVPWM modulation processing of the motor angle, direct axis and cross axis voltage control quantities, a voltage signal with an optimal waveform can be generated, ensuring that the motor runs in an efficient and stable state, improving the response time of the entire motor drive process, and thus solving the problem of motor drive response lag. Finally, the phase voltage control value applied to each motor winding is determined according to the motor angle parameters, the direct axis voltage control value and the cross axis voltage control value. The purpose is to ensure that the voltage output of each winding remains synchronized under different motor operating conditions and matches the rotor position of the motor. Through this processing, the corresponding voltage control value can be applied to each motor winding, thereby achieving precise control of the motor rotor magnetic field and torque, ensuring the coordination between the voltage and rotor angle of each winding during operation, avoiding motor vibration, response lag and other problems caused by voltage waveform mismatch, and ensuring the smoothness and stability of the motor under various operating conditions. The motor rotor is controlled by the SVPWM waveform to obtain the corresponding torque and magnetic field direction required by the motor rotor, and the phase voltage control value applied to each motor winding is controlled based on the torque and magnetic field direction required by the motor rotor. The duty cycle adjustment analysis is performed to accurately control the torque and magnetic field direction of the motor. The SVPWM waveform can effectively control the torque output of the motor and adjust the direction of the magnetic field by optimizing the combination of voltage vectors to meet various needs during the operation of the motor. The control duty cycle of the phase voltage control value applied to each motor winding is analyzed and adjusted, which determines the timing and amplitude of the voltage applied to the motor winding, thereby directly affecting the subsequent operation efficiency and accuracy of the motor. In addition, by controlling the speed and direction of each motor according to the motor control duty cycle corresponding to each phase voltage, precise adjustment of the motor speed and direction can be achieved. The motor speed can be precisely controlled according to the duty cycle adjusted in the previous stage, and the rotation direction of the motor can be controlled by reasonable adjustment of the duty cycle. This process ensures that the motor can respond quickly and achieve the desired performance output under different working conditions, thereby ensuring the stable operation of the motor under dynamic load conditions, especially in the multi-motor control process, which can ensure the coordinated work of the motors to achieve the best control effect.

[0015] 2. The control system for the motor proposed in the present invention is generally composed of an angle parameter inverse solution module, a motor rotor load control calculation module, an SVPWM waveform modulation module and a motor speed and direction unified control module. It can realize any control method for the motor described in the present invention, and is used to combine the operations between computer programs running on various modules to realize the control method for the motor. The internal structures of the system cooperate with each other, which can greatly reduce duplication of work and manpower investment, and can quickly and effectively provide a more accurate and efficient control process for the motor, thereby simplifying the operation flow of the control system for the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments thereof made with reference to the following drawings: Figure 1 A schematic diagram of the steps of the control method for a motor according to the present invention; Figure 2 for Figure 1 Detailed step flow diagram of step S1; Figure 3 for Figure 2 Detailed step flow chart of step S13 in FIG. DETAILED DESCRIPTION

[0017] The technical method of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by technicians in this field without creative work are within the scope of protection of the present invention.

[0018] To achieve this, please refer to Figures 1 to 3 The present invention provides a control method for a motor, the method comprising the following steps: Step S1: The motor main control unit MCU obtains the target motor speed corresponding to the user setting, and reversely calculates the angle parameter of the target motor speed to obtain the motor angle parameter ; Step S2: Obtain the direct axis current and the cross axis current corresponding to the motor rotor, and use the motor main control unit MCU to perform motor load control calculation on the direct axis current and the cross axis current to obtain the direct axis voltage control value corresponding to the motor load operation state. And the cross-axis voltage control quantity ; Step S3: Set the motor angle parameter , Direct shaft voltage control And the cross-axis voltage control quantity Pass it to the space vector pulse width modulation SVPWM module, and use the space vector pulse width modulation SVPWM module to adjust the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Performing SVPWM modulation processing to generate a motor rotor control SVPWM waveform; Step S4: According to the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Determine the phase voltage control value applied to each motor winding; obtain the corresponding torque and magnetic field direction required by the motor rotor through the motor rotor control SVPWM waveform, and perform control duty cycle adjustment analysis on the phase voltage control value applied to each motor winding based on the corresponding torque and magnetic field direction required by the motor rotor to generate the motor control duty cycle corresponding to each phase voltage; and simultaneously control the corresponding speed and direction of each motor according to the motor control duty cycle corresponding to each phase voltage.

[0019] In the embodiment of the present invention, please refer to Figure 1 FIG. 1 is a schematic diagram of a step flow chart of a control method for a motor according to the present invention. In this example, the control method for a motor includes the following steps: Step S1: The motor main control unit MCU obtains the target motor speed corresponding to the user setting, and reversely calculates the angle parameter of the target motor speed to obtain the motor angle parameter ; In an embodiment of the present invention, the target motor speed set by the user is received by using the communication interface corresponding to the motor main control unit (MCU). The user inputs the target speed value through the human-machine interface (HMI) or the control panel. The speed value is sent to the MCU through an analog signal or a digital signal. The task of the MCU is to receive the value and convert it into a digital instruction suitable for motor control, thereby obtaining the target motor speed. The load torque of the motor needs to be set according to the working state corresponding to the target motor speed. At the corresponding target motor speed, the load torque and speed of the motor show a certain relationship. This relationship is usually described by the performance curve or characteristic diagram of the motor. Specifically, the MCU obtains the load torque characteristic data of the motor at different speeds (for example, using a torque-speed curve) by querying the motor parameter database, and selects the corresponding load torque value according to the target speed. In combination with the physical relationship between the target motor speed and the load torque (such as a dynamic equation, considering factors such as friction, inertia, and resistance), the motor model is used to perform a preliminary speed solution. This solution process is based on the characteristic equation of the motor, and usually uses methods such as the Euler method, Laplace transform, or other numerical solutions to obtain an analytical expression corresponding to the target motor speed, specifically: ,in, is the target motor speed, is the motor angular velocity, is the influence coefficient of load torque on target motor speed, is the load torque corresponding to the target motor speed, is the maximum load torque of the motor. At the same time, the MCU obtains the inertia, resistance and speed fluctuation data of the motor in real time through sensors (such as accelerometers, encoders, and speed sensors). The inertia data reflects the mass distribution and inertia moment of the rotating part of the motor. The resistance includes factors such as friction and air resistance. The speed fluctuation reflects the stability of the motor during operation. Based on these data, the dynamic modeling and time-delay response compensation algorithm are used to compensate the dynamic response of the motor's angular velocity to obtain the motor angular velocity dynamic compensation coefficient. This compensation coefficient is used to correct the time-delay effect in the motor response. Based on the previously obtained motor angular velocity dynamic compensation coefficient, the MCU performs compensation fitting calculation on the motor's angular velocity to obtain the motor angular velocity corresponding to the compensation fitting at the target motor speed. ,in is the motor angle parameter, is the motor rotation time, is the dynamic compensation coefficient of the motor angular velocity. Then, the angle parameter is reversely solved by using the compensation fitting angular velocity of the motor at the target motor speed to the expression corresponding to the target motor speed. Specifically, the MCU uses the known motor speed expression and the compensation fitting angular velocity to calculate the angle parameter of the motor using the inverse solution method. The calculation of the angle parameter is achieved by inversely calculating the compensation fitting angular velocity corresponding to the motor. The specific formula is: ,in is the motor angle parameter, is the target motor speed, is the influence coefficient of load torque on target motor speed, is the load torque corresponding to the target motor speed, is the maximum load torque of the motor, is the motor rotation time, is the dynamic compensation coefficient of the motor angular velocity, and finally the motor angle parameter is obtained. This angle parameter is used for further motor control to ensure that the motor accurately completes the required rotation task.

[0020] Step S2: Obtain the direct axis current and the cross axis current corresponding to the motor rotor, and use the motor main control unit MCU to perform motor load control calculation on the direct axis current and the cross axis current to obtain the direct axis voltage control value corresponding to the motor load operation state. And the cross-axis voltage control quantity ; In an embodiment of the present invention, a finite element analysis (FEA) method is used to model and simulate the motor rotor, and the magnetic field distribution characteristics of the motor rotor under different current driving conditions are calculated, including the strength, direction and distribution uniformity of the magnetic field. The magnetic field of the corresponding motor rotor is spatially decomposed and analyzed based on the rotor magnetic field distribution characteristics obtained by the finite element analysis. The rotor magnetic field is decomposed into different frequency and spatial components by using a spatial decomposition method of the magnetic field, such as Fourier transform or modal analysis. The relative contribution of each magnetic field component in the motor rotor is analyzed to obtain a spatial distribution matrix of the rotor magnetic field, which includes the strength and direction information of the magnetic field in each spatial region. The motor rotor magnetic field distribution matrix obtained from the spatial decomposition is also used to analyze the current square corresponding to the motor rotor. The current direction is vector analyzed to calculate the current vector direction according to the magnetic field distribution of the motor rotor and the law of current conduction. The current vector at each position in the rotor is calculated by analyzing the relationship between the magnetic field and the current distribution, and is expressed as a vector matrix. The matrix records the current vector direction and magnitude at each position of the rotor. At the same time, the current direction at the corresponding position is orthogonally decomposed by using the motor rotor current vector direction matrix. The orthogonal decomposition of the current is to decompose the current vector matrix into two components related to the rotor magnetic field orientation, namely the current components of the direct axis (d axis) and the cross axis (q axis). Through coordinate transformation and mathematical decomposition, each current component in the current vector matrix is ​​mapped to the d axis and the q axis to obtain the corresponding d axis current ( ) and q-axis current ( ), thereby obtaining the direct axis current and cross axis current corresponding to the motor rotor. Then, by using the motor main control unit (MCU) according to the direct axis current ( ) and the cross-axis current ( ), and the motor's load parameters (such as load torque, speed, etc.), to perform motor load control calculations. First, the MCU calculates the required motor torque and the corresponding current component according to the load conditions, and adjusts the current according to the current requirements using a control algorithm (such as PI control or Fuzzy control). and The control amount is calculated to achieve the predetermined motor torque output, and the required d-axis and q-axis voltage control amounts are further calculated to finally obtain the corresponding direct axis voltage control amount under the motor load operation state. And the cross-axis voltage control quantity , where the current in the direct axis direction , the proportionality constant related to the direct shaft current and the motor magnetic properties , motor load parameters , motor load control factor , calculate the corresponding direct shaft voltage control quantity , and at the same time, by combining the cross-axis current , the proportionality constant of the cross-axis current and the motor magnetic properties , current motor speed , motor speed control coefficient , the corresponding cross-axis voltage control quantity is calculated .

[0021] Step S3: Set the motor angle parameter , Direct shaft voltage control And the cross-axis voltage control quantity Pass it to the space vector pulse width modulation SVPWM module, and use the space vector pulse width modulation SVPWM module to adjust the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Performing SVPWM modulation processing to generate a motor rotor control SVPWM waveform; In the embodiment of the present invention, the motor angle parameter obtained by the previous inverse solution is The direct shaft voltage control quantity obtained by quantitative calculation And the cross-axis voltage control quantity The SVPWM module is responsible for processing these input data and taking the rotor angle, d-axis voltage control quantity and q-axis voltage control quantity as input signals to modulate the motor voltage and adjust the motor angle parameters by using the motor's SVPWM module. Perform time-space synchronization to obtain the angle data corresponding to the motor rotor under different time and space conditions. By solving the real-time angle, ensure its synchronization with time and space. This is because the movement of the motor changes in time and space. The angle parameter is not only related to the rotation angle of the motor, but also needs to match the time change. The SVPWM module processes the motor's angle signal in time and space to form a motor rotor angle synchronization vector. The synchronization vector contains the angle information of the motor rotor at different time points and its corresponding spatial direction. At the same time, by combining the motor rotor angle synchronization vector that has been obtained, the motor rotor corresponding to the control voltage direction required is phase aligned. The core of this process is The core is to match the voltage direction of the motor with the rotor angle synchronous vector, so that the voltage direction is consistent with the direction of the motor rotor magnetic field, ensuring that the motor rotor can obtain the correct voltage direction at each time point, and further calculate the amplitude of the direct axis voltage control amount and the cross axis voltage control amount according to the voltage direction vector required by the motor rotor determined previously. The calculation of the voltage amplitude needs to consider the load state, speed and real-time feedback of the motor to ensure that the motor can run smoothly under the predetermined working conditions. At this time, the SVPWM module automatically adjusts the amplitude of the d-axis and q-axis voltage control amounts according to the real-time working state of the motor. The adjustment of these amplitudes is based on the rotor angle synchronous vector The motor is dynamically adjusted according to the quantity, torque demand and working environment of the motor to ensure that the motor always maintains the best voltage control amplitude under different working conditions. The calculated amplitude information constitutes the motor rotor voltage control amplitude adjustment matrix, which plays a key role in the subsequent SVPWM modulation processing. Then, according to the motor rotor voltage control amplitude adjustment matrix obtained in the previous step, the direct axis voltage control quantity and cross axis voltage control quantity of the motor are processed by space vector pulse width modulation (SVPWM). SVPWM is an effective pulse width modulation method. By converting the voltage control quantity of the motor into a PWM waveform, the precise control of the motor is achieved. First, the SVPWM model The block takes the motor rotor voltage control amplitude adjustment matrix as input, and calculates the voltage fluctuation change of the motor rotor control waveform according to the amplitude information in the matrix, which will correspond to the voltage signal on each winding of the motor, thereby affecting the torque output, speed regulation and magnetic field direction of the motor. Through SVPWM modulation processing, the generated motor rotor control SVPWM waveform can accurately control the voltage waveform of the motor, thereby controlling the torque output and dynamic response of the motor, so that the motor can maintain a stable operating state at different operating points. The generated SVPWM waveform is output to the motor through the inverter, realizing real-time control of the motor speed and direction, and finally generating the motor rotor control SVPWM waveform.

[0022] Step S4: According to the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Determine the phase voltage control value applied to each motor winding; obtain the corresponding torque and magnetic field direction required by the motor rotor through the motor rotor control SVPWM waveform, and perform control duty cycle adjustment analysis on the phase voltage control value applied to each motor winding based on the corresponding torque and magnetic field direction required by the motor rotor to generate the motor control duty cycle corresponding to each phase voltage; and simultaneously control the corresponding speed and direction of each motor according to the motor control duty cycle corresponding to each phase voltage.

[0023] In the embodiment of the present invention, the motor angle parameters previously obtained by inverse calculation at different time points are normalized to map the actual rotor angle of the motor to a standardized interval, usually from 0 to 2π (or 0 to 360 degrees), and the direct shaft voltage control quantity previously quantized is obtained by combining the previously normalized motor rotor angle. And the cross-axis voltage control quantity The components are decoupled to form a decoupling matrix. In this step, first, the direct axis voltage (d-axis) and cross axis voltage (q-axis) corresponding to each phase are decoupled and analyzed according to the previously normalized rotor angle. The decoupling of these components uses the mathematical model of the motor to ensure the accuracy of each axis component control by updating the rotor angle in real time. The generation process of the decoupling matrix involves obtaining the rotor angle of the motor in real time, and calculating the voltage control components of the direct axis and the cross axis according to the angle. The phase voltage control value of the motor winding is also calculated through the motor rotor voltage component decoupling matrix. In this process, according to the motor rotor voltage components (d-axis and q-axis voltages) and the electrical parameters of the motor winding (for example, the inductance and impedance of the winding), the decoupled voltage components are converted into the three-phase voltage control value of the motor winding through inverse transformation. In this process, the inverse Park transformation is usually used to restore the dq axis voltage components to the three-phase voltage values. The specific formula is: ; ; ; in, is the normalized angle of the motor rotor, is the direct shaft voltage control quantity, is the cross-axis voltage control quantity, , , is the three-phase voltage control value. The three-phase voltage control value obtained by this calculation can be directly applied to the motor winding to adjust the output characteristics of the motor, thereby obtaining the phase voltage control value applied to each motor winding. At the same time, by obtaining the corresponding torque and magnetic field direction required by the motor rotor from the previously modulated motor rotor control SVPWM waveform, and combining the corresponding torque and magnetic field direction, the duty cycle of the voltage control value that needs to be applied to the motor winding can be calculated. First, the SVPWM waveform generation algorithm is used to generate the SVPWM waveform required by the motor according to the phase voltage control value in the previous step. The duty cycle of this waveform (that is, the signal waveform duty cycle corresponding to the voltage control value in each phase direction) ,in is the duration of the high level state in the signal waveform, The total cycle time of the signal waveform fluctuation determines the torque size and the direction of the magnetic field of the motor. In the specific implementation, the torque and magnetic field direction required by the motor are first solved and mapped to the duty cycle of the SVPWM waveform. The duty cycle is adjusted according to the instantaneous torque and magnetic field direction required by the motor for real-time feedback to ensure the dynamic response and stability of the motor control system at different phase operating points, thereby quantitatively calculating and generating the motor control duty cycle corresponding to each phase voltage. Then, the speed and direction of the motor are controlled simultaneously by adjusting the control duty cycle of each phase voltage of the motor in real time according to the motor control duty cycle in the previous steps. This process relies on the motor controller to adjust the duty cycle through closed-loop control according to the difference between the motor speed setting and the actual feedback value to adjust the output speed of the motor. The controller adjusts the output of the phase voltage according to the speed and direction requirements of the motor to ensure that the motor runs at the predetermined speed and direction. Through closed-loop feedback control, it can respond quickly to factors such as changes in the motor load and external environment to keep the motor working in an ideal state. For example, if the motor needs to rotate forward or reverse, it only needs to adjust the phase and amplitude of the duty cycle to change the voltage waveform of the motor, thereby changing the speed and direction of the motor. The motor control samples the speed feedback of the motor in real time and compares it with the set value to automatically adjust the voltage duty cycle, thereby accurately controlling the running state of the motor, and ultimately achieving simultaneous control of the corresponding speed and direction of each motor.

[0024] Further, as an embodiment of the present invention, refer to Figure 2 As shown, Figure 1 Detailed step flow diagram of step S1 in FIG. 1 , in this embodiment, step S1 includes the following steps: Step S11: the motor main control unit MCU obtains and receives the target motor speed corresponding to the user setting; In an embodiment of the present invention, a target motor speed set by a user is received by using a communication interface corresponding to a motor main control unit (MCU). The user inputs a target speed value through a human-machine interface (HMI) or a control panel, and the speed value is sent to the MCU through an analog signal or a digital signal. The task of the MCU is to receive the value and convert it into a digital instruction suitable for motor control. In this process, the MCU first filters and processes the input signal to ensure that the target speed signal is free of noise interference. Then, the MCU converts the received target speed into an operational control parameter and transmits it to the motor drive module, preparing to enter the subsequent steps of load and speed calculation, and finally obtaining the target motor speed.

[0025] Step S12: setting the load torque according to the working state of the motor corresponding to the target motor speed and performing a preliminary calculation of the motor speed in combination with the characteristic relationship between the target motor speed and the load torque to obtain an analytical expression corresponding to the target motor speed; wherein the analytical expression is specifically: ; in, is the target motor speed, is the motor angular velocity, is the influence coefficient of load torque on target motor speed, is the load torque corresponding to the target motor speed, is the maximum load torque of the motor; In an embodiment of the present invention, the load torque of the motor needs to be set according to the working state corresponding to the target motor speed. At the corresponding target motor speed, the load torque and the speed of the motor show a certain relationship. This relationship is usually described by the performance curve or characteristic diagram of the motor. Specifically, the MCU obtains the load torque characteristic data of the motor at different speeds (for example, using a torque-speed curve) by querying the motor parameter database, and selects the corresponding load torque value according to the target speed. Then, combined with the physical relationship between the target motor speed and the load torque (such as a dynamic equation, considering factors such as friction, inertia, and resistance), the motor model is used to perform a preliminary speed solution. This solution process is based on the characteristic equation of the motor, and usually adopts the Euler method, Laplace transform or other numerical solutions to obtain an analytical expression corresponding to the target motor speed, specifically: ,in, is the target motor speed, is the motor angular velocity, is the influence coefficient of load torque on target motor speed, is the load torque corresponding to the target motor speed, is the maximum load torque of the motor, ensuring that the motor can maintain stable operation according to the set load conditions, and finally obtaining the analytical expression corresponding to the target motor speed.

[0026] Step S13: acquiring the inertia, resistance and speed fluctuation corresponding to the motor, and performing a time-delay response compensation calculation on the angular velocity dynamic response corresponding to the motor based on the inertia, resistance and speed fluctuation corresponding to the motor, so as to obtain the motor angular velocity dynamic compensation coefficient; In an embodiment of the present invention, the MCU obtains the inertia, resistance and speed fluctuation data of the motor in real time through sensors (such as accelerometers, encoders, and speed sensors). The inertia data reflects the mass distribution and inertia moment of the rotating part of the motor. The resistance includes factors such as friction and air resistance. The speed fluctuation reflects the stability of the motor during operation. Based on these data, dynamic modeling and time-delay response compensation algorithms are used to compensate for the dynamic response of the angular velocity of the motor. The time-delay response is usually obtained through system identification methods or experimental data fitting. In specific implementation, control methods such as Laplace transform, PID control algorithm, Kalman filtering, etc. can be used for calculation to obtain the dynamic compensation coefficient of the motor angular velocity. This compensation coefficient is used to correct the time-delay effect in the motor response to ensure that the motor can accurately reach the set speed, and finally the dynamic compensation coefficient of the motor angular velocity is obtained.

[0027] Step S14: Compensate the motor angular velocity corresponding to the motor based on the motor angular velocity dynamic compensation coefficient Perform compensation fitting calculation to obtain the motor angular velocity corresponding to the compensation fitting at the target motor speed ,in is the motor angle parameter, is the motor rotation time, is the dynamic compensation coefficient of the motor angular velocity; In an embodiment of the present invention, the MCU performs compensation fitting calculation on the angular velocity of the motor based on the previously obtained dynamic compensation coefficient of the motor angular velocity. First, the MCU corrects the angular velocity according to the preliminary dynamic response model of the motor in combination with the compensation coefficient. The compensation calculation uses the known motor response characteristics and time-lag compensation parameters. The angular velocity of the motor is fitted by numerical calculation methods (such as least squares method, gradient descent method, etc.). This fitting process reduces the influence of factors such as time lag and noise on the angular velocity measurement through an optimization algorithm, so that the angular velocity of the motor more accurately reflects the target speed. The MCU calculates the compensated motor angular velocity and uses it as feedback information to further control the motor drive module, and finally obtains the motor angular velocity corresponding to the compensated fitting at the target motor speed. ,in is the motor angle parameter, is the motor rotation time, is the dynamic compensation coefficient of the motor angular velocity.

[0028] Step S15: Based on the motor angular velocity corresponding to the compensation fitting of the motor at the target motor speed, the angular parameter of the analytical expression corresponding to the target motor speed is reversely solved and assigned to obtain the motor angle parameter .

[0029] In an embodiment of the present invention, the angle parameter is reversely solved for the expression corresponding to the target motor speed by using the compensation fitting angular velocity of the motor at the target motor speed. Specifically, the MCU calculates the angle parameter of the motor by using the known motor speed expression and the compensation fitting angular velocity using the inverse solution method. The calculation of the angle parameter is achieved by inversely calculating the compensation fitting angular velocity corresponding to the motor. The specific formula is: ,in is the motor angle parameter, is the target motor speed, is the influence coefficient of load torque on target motor speed, is the load torque corresponding to the target motor speed, is the maximum load torque of the motor, is the motor rotation time, is the dynamic compensation coefficient of the motor angular velocity, and finally the motor angle parameter is obtained. This angle parameter is used for further motor control to ensure that the motor accurately completes the required rotation task.

[0030] Further, as an embodiment of the present invention, refer to Figure 3 As shown, Figure 2 FIG. 1 is a schematic diagram of a detailed step flow chart of step S13 in FIG. 1 . In this embodiment, step S13 includes the following steps: Step S131: Obtain the inertia, resistance and speed fluctuation corresponding to the motor; In the embodiment of the present invention, the motor is physically modeled in detail to obtain the inertia, resistance and speed fluctuation data of the motor, so as to measure the inertia moment of the rotating part of the motor using an inertial measurement instrument (such as an accelerometer or an inertial measurement unit IMU). , is the motor rotation radius, As the mass element, the influence of the motor rotor and its additional mass is taken into account, and then the resistance generated during the rotation of the motor is measured. , is the friction force, It is the distance from the friction point to the motor shaft. The sensor monitors the influence of external factors such as mechanical friction and air resistance when the motor is running. The data can be obtained through actual operation measurement or calculated through the performance parameters of the motor. The speed fluctuation of the motor under different working conditions is measured by using a speed sensor (such as an encoder), and the speed fluctuation data of the motor during operation is obtained, finally obtaining the corresponding inertia, resistance and speed fluctuation of the motor.

[0031] Step S132: performing inertia contribution response analysis on the inertia corresponding to the motor to obtain the motor inertia contribution response; In an embodiment of the present invention, the inertia of the motor is analyzed in detail to determine its influence on the system response. The inertia of the motor is modeled using mathematical modeling and simulation tools (such as MATLAB / Simulink, etc.), and the dynamic equation of the rotating part of the motor is established to describe the contribution of the motor rotational inertia to the motor angular velocity and torque. By solving these equations, the inertia contribution response curve of the motor is obtained, which shows the inertia response of the motor under different input conditions. The response analysis can clearly define the influence of the motor inertia on the system control accuracy and stability, and finally obtain the motor inertia contribution response.

[0032] Step S133: performing resistance torque analysis on the resistance corresponding to the motor to obtain the motor resistance torque; performing influence correction calculation on the motor resistance torque based on the internal and external resistance characteristics corresponding to the motor to obtain the motor resistance torque correction factor; In an embodiment of the present invention, the load characteristics of the motor under working conditions are analyzed by calculating the resistance torque of the motor. The resistance torque refers to the reaction torque caused by friction, aerodynamic resistance and other external resistance factors during the operation of the motor. In this step, the friction characteristics of each moving part of the motor are first modeled in detail, and the resistance torque data under different working conditions are obtained by using measuring instruments (such as force sensors or torque sensors). Based on these data, the contribution of various types of resistance during the operation of the motor is analyzed. By modeling the internal and external resistance characteristics (such as bearing friction, wind resistance, etc.) in detail, the resistance torque of the motor is corrected by physical calculations and experimental data to obtain the resistance torque correction factor of the motor. The calculation method of this factor includes fitting the dynamic equation and experimental data to correct the deviation of the motor in actual operation, and finally obtaining the motor resistance torque correction factor.

[0033] Step S134: performing fast Fourier transform analysis on the speed fluctuation corresponding to the motor to obtain the speed fluctuation spectrum corresponding to the motor during operation; performing speed fluctuation frequency analysis on the speed fluctuation spectrum corresponding to the motor during operation to obtain the motor speed fluctuation frequency; In an embodiment of the present invention, the frequency components of the speed fluctuation are identified by performing spectral analysis on the motor speed fluctuation data. First, the speed fluctuation data generated during the operation of the motor is collected, and a digital signal processing tool (such as MATLAB) is used to perform a fast Fourier transform (FFT). This process converts the speed fluctuation signal from the time domain to the frequency domain to obtain the spectrum of the motor speed fluctuation. By analyzing the spectrum, the main fluctuation frequencies that occur during the operation of the motor can be determined. These frequencies represent the vibration mode, noise source and factors that affect the performance of the motor during the operation of the motor, and finally the motor speed fluctuation frequency is obtained.

[0034] Step S135: performing angular velocity time lag analysis on the angular velocity dynamic response corresponding to the motor based on the motor inertia contribution response and the motor resistance torque correction factor, so as to obtain the angular velocity time lag response delay corresponding to the motor under the external response disturbance condition; In an embodiment of the present invention, the time-delay response of the motor angular velocity is analyzed by combining the motor inertia contribution response and the motor resistance torque correction factor obtained by previous quantification. First, the motor inertia contribution response and the correction factor of the resistance torque are combined to establish a dynamic model of the motor's angular velocity to describe the relationship between the motor's angular velocity and the input signal. On this basis, a time-delay analysis method (such as Laplace transform or zero-pole analysis) or a dynamic time warping algorithm is used to analyze the time-delay response of the motor's angular velocity. This time-delay response represents the delay time of the motor's angular velocity changing with the input signal under external disturbance conditions. Through simulation, the time-delay response delay of the motor under different disturbance conditions is obtained, and finally the angular velocity time-delay response delay corresponding to the motor under external response disturbance conditions is obtained.

[0035] Step S136: Based on the motor speed fluctuation frequency and the angular velocity time-lag response delay, a time-lag response compensation calculation is performed on the angular velocity dynamic response corresponding to the motor using an angular velocity dynamic compensation calculation formula to obtain a motor angular velocity dynamic compensation coefficient.

[0036] In an embodiment of the present invention, a suitable angular velocity dynamic compensation calculation formula is formed by combining the motor rotation time, angular velocity time-lag response delay, target reference angular velocity, actual motor angular velocity, motor speed fluctuation frequency, time-lag response delay adjustment parameter, motor time-lag compensation torque and related parameters to perform time-lag response compensation calculation on the angular velocity dynamic response corresponding to the motor, so as to quantitatively calculate the compensation coefficient, which is used to adjust the controller output, reduce the time-lag effect in the motor angular velocity response, ensure the motor's rapid response and stable operation, and finally obtain the motor angular velocity dynamic compensation coefficient.

[0037] Further, step S135 includes the following steps: The motor inertia contribution response is decomposed item by item in each working state to obtain the corresponding motor inertia contribution under different working states; In an embodiment of the present invention, by identifying the inertia contribution of the motor under different working states, wherein the working states generally include starting, running, acceleration, deceleration, etc., the inertia contribution of the motor under each working state will be different. For each working state, the inertia contribution of the motor can be decomposed item by item by accurately measuring the load characteristics of the motor, combining the rotational inertia, acceleration and speed change of the motor. In specific operations, firstly, the speed, load current and voltage data of the motor are collected in real time through the motor control system, and these data are recorded by high-precision sensors to ensure the accuracy of the measurement. Based on the dynamic model, the inertia change of the motor during acceleration and deceleration under different working conditions is calculated. The inertia response of the motor under different speeds and load conditions is calculated through the physical model, and the specific contribution to the motor inertia under different working conditions is further decomposed, and finally the corresponding motor inertia contribution under different working states is obtained.

[0038] Preferably, the motor resistance torque correction factor is corrected for inertia effect based on the corresponding motor inertia contribution under different working states, so as to obtain the corresponding comprehensive resistance torque correction factor under different working states; In an embodiment of the present invention, the resistance torque correction factor of the motor is corrected by combining the motor inertia contribution data under different working conditions. The resistance torque of the motor is usually affected by factors such as load inertia, mechanical friction, and temperature. Based on the inertia contribution under different working conditions previously obtained, the resistance torque change of the motor during actual operation can be calculated. The specific operation is to adjust the resistance torque correction factor based on the inertia data of the motor during acceleration or deceleration to ensure that it can accurately reflect the inertia influence. The correction process can be completed through a mathematical model (such as a dynamic and static motor model). The model takes into account factors such as the motor's speed, load, and inertia. The comprehensive resistance torque correction factor under different working conditions is obtained through mathematical deduction. Furthermore, the real-time control system of the motor is used to dynamically adjust the resistance torque correction factor according to the collected state information (such as current, voltage, and speed) to ensure the accuracy and stability of the motor control, and finally obtain the corresponding comprehensive resistance torque correction factor under different working conditions.

[0039] Preferably, an external response disturbance condition corresponding to the motor is obtained, and based on the external response disturbance condition corresponding to the motor, a time domain transient response decomposition is performed on the angular velocity dynamic response corresponding to the motor to obtain an angular velocity transient response change sub-item corresponding to the motor under the external response disturbance condition; In an embodiment of the present invention, by clarifying the specific manifestation of the external disturbance condition, the external disturbance usually includes environmental changes, load changes or other external forces. Through sensors (such as accelerometers, speed sensors, etc.), the impact of external disturbances on the motor is monitored in real time to obtain disturbance input signals. After obtaining the external disturbance data, the dynamic response analysis of the motor angular velocity is then performed. In specific operations, the time domain analysis method (such as Fourier transform or wavelet transform) can be used to decompose the transient response of the motor's angular velocity signal. By decomposing the signal, different sub-items of the angular velocity change of the motor when it is subjected to external disturbances (such as frequency response, transient response, etc.) can be obtained, that is, , indicating that at time The corresponding angular velocity transient response change sub-items are obtained, each of which represents different characteristics of the motor's response to disturbances in a specific time period, and finally the angular velocity transient response change sub-items corresponding to the motor's response to external disturbance conditions are obtained.

[0040] Preferably, based on the comprehensive resistance torque correction factor, a dynamic time warping algorithm is used to perform angular velocity time lag simulation calculation on the angular velocity transient response change sub-item corresponding to the motor under external response disturbance conditions, so as to obtain the angular velocity time lag response delay corresponding to the motor under external response disturbance conditions.

[0041] In an embodiment of the present invention, by analyzing the angular velocity transient response change sub-items obtained by the previous decomposition, its time lag characteristics are identified. Specifically, the dynamic time warping (DTW) algorithm is used to perform time domain matching on the angular velocity response data of the motor under external disturbance. The DTW algorithm can effectively process the time lag between signals, especially in the process of angular velocity change, the responses in different time periods are time offset. The DTW algorithm can calculate the time lag existing in the motor response process, and correct the time lag according to the comprehensive resistance torque correction factor. In specific implementation, the actual angular velocity response of the motor is first compared with the ideal angular velocity response, the best matching path is solved by the dynamic time warping algorithm, the angular velocity time lag is calculated, and the obtained time lag data is combined with the comprehensive resistance torque correction factor. The long-term dynamic performance of the motor under external disturbance conditions is predicted by a numerical simulation method, and the parameters in the motor control system are further adjusted to ensure the real-time and accuracy of the angular velocity response, and finally the angular velocity time lag response delay corresponding to the motor under the external response disturbance conditions is obtained.

[0042] Furthermore, the angular velocity dynamic compensation calculation formula in step S136 is specifically: ; In the formula, is the dynamic compensation coefficient of the motor angular velocity, is the motor rotation time, is the integral time point variable of motor rotation, is the angular velocity lag response delay, The response time in the time delay The corresponding target reference angular velocity is: The response time in the time delay The corresponding actual motor angular velocity is, is the motor speed fluctuation frequency, is the time-delay response delay adjustment parameter, is an exponential function, is the motor lag compensation torque, It is the correction factor of the motor angular velocity dynamic compensation coefficient.

[0043] The present invention obtains an angular velocity dynamic compensation calculation formula by using a specific mathematical model and verifying it, which is used to perform time-delay response compensation calculation on the angular velocity dynamic response corresponding to the motor. The angular velocity dynamic compensation calculation formula is used to solve the time-delay problem of the motor in the dynamic response process. Specifically, when the angular velocity of the motor is affected by external disturbances or internal inertia, resistance, speed fluctuations and other factors, a certain time-delay phenomenon will occur, that is, the delay difference between the actual angular velocity and the expected target angular velocity. By applying this formula, this time-delay can be compensated to improve the accuracy and response speed of motor control. Through this compensation formula, the angular velocity deviation caused by time lag can be effectively eliminated, making the actual movement of the motor closer to the target movement, thereby improving the accuracy of the motor control system. Time lag often causes delays in the motor system's response to external disturbances. Dynamic compensation of time lag through the compensation formula can accelerate the motor's response to external disturbances and reduce the lag of system response. Time lag compensation helps improve the stability of the motor under high load or complex working conditions, avoid unstable oscillations or overshoot caused by time lag, and ensure the smooth operation of the motor under dynamic conditions. This compensation method enables the motor system to maintain good stability and responsiveness when facing complex external disturbances (such as load changes, speed fluctuations, etc.), thereby enhancing the robustness of the system. By adjusting parameters (such as , , etc.), can take into account nonlinear factors in the motor control system, such as internal and external resistance, inertia effect, etc., so as to more accurately compensate and correct the complex dynamic behavior of the motor. This compensation formula can not only adapt to the conventional working environment, but also dynamically adjust the operation of the motor under different working conditions such as high-frequency oscillation and low-frequency vibration, ensuring that the motor can achieve optimized control under various working conditions. The angular velocity dynamic compensation coefficient calculated in advance can be directly applied in the real-time control process, thereby reducing the demand for real-time calculation complexity and improving the response speed of motor control. In summary, this formula fully considers the motor angular velocity dynamic compensation coefficient , motor rotation time , the motor rotation integral time point variable , angular velocity lag response delay , in the time-delay response time The corresponding target reference angular velocity , in the time-delay response time The actual motor angular velocity corresponding to , motor speed fluctuation frequency , time-delay response delay adjustment parameter , exponential function , motor lag compensation torque , correction factor of the motor angular velocity dynamic compensation coefficient , according to the dynamic compensation coefficient of the motor angular velocity The correlation between the above parameters constitutes a functional relationship This formula can realize the time-delay response compensation calculation process of the angular velocity dynamic response corresponding to the motor. At the same time, the correction coefficient of the motor angular velocity dynamic compensation coefficient is The introduction of can be adjusted according to the error conditions that occur during the calculation process, thereby improving the accuracy and applicability of the angular velocity dynamic compensation calculation formula.

[0044] Further, step S2 includes the following steps: Step S21: using finite element analysis to obtain current magnetic field distribution characteristics corresponding to the motor rotor; In an embodiment of the present invention, a finite element analysis (FEA) method is used to model and simulate a motor rotor, and the magnetic field distribution characteristics of the motor rotor under different current driving conditions are calculated. First, a three-dimensional model is established through motor design parameters (such as rotor geometry, material properties, winding layout, etc.), and a current source and a magnetic field boundary condition are defined in a finite element software. Appropriate current driving conditions are applied to simulate the magnetic field distribution inside the rotor, and a magnetic field intensity distribution diagram in the rotor area is output. The magnetic flux density, magnetic field vector, and corresponding current distribution at each position in the motor rotor are calculated using FEA software (such as ANSYS Maxwell, COMSOL Multiphysics, etc.). These calculation results provide detailed characteristics of the motor rotor magnetic field, including the strength, direction, and distribution uniformity of the magnetic field, and finally the current and magnetic field distribution characteristics corresponding to the motor rotor are obtained.

[0045] Step S22: performing a magnetic field spatial decomposition analysis on the motor rotor based on the current magnetic field distribution characteristics corresponding to the motor rotor to obtain a motor rotor current magnetic field distribution matrix; In an embodiment of the present invention, a spatial decomposition analysis of the magnetic field of the corresponding motor rotor is performed based on the rotor magnetic field distribution characteristics obtained by finite element analysis, and the rotor magnetic field is decomposed into different frequency and spatial components by utilizing a spatial decomposition method of the magnetic field, such as Fourier transform or modal analysis, and the relative contribution of each magnetic field component in the motor rotor is analyzed to obtain a spatial distribution matrix of the rotor magnetic field. The matrix contains the strength and direction information of the magnetic field in each spatial region, and can fully reflect the magnetic field changes inside the rotor. The spatial decomposition analysis provides detailed magnetic field distribution data for subsequent current control and motor performance optimization, so that corresponding adjustments can be made to the current distribution characteristics under different working conditions, and finally the motor rotor current and magnetic field distribution matrix is ​​obtained.

[0046] Step S23: performing vector analysis on the current direction corresponding to the motor rotor based on the motor rotor current magnetic field distribution matrix to obtain the motor rotor current vector direction matrix; In an embodiment of the present invention, a vector analysis of the current direction corresponding to the motor rotor is performed by utilizing the motor rotor current magnetic field distribution matrix obtained from spatial decomposition, so as to calculate the current vector direction according to the magnetic field distribution of the motor rotor and the current conduction law. By analyzing the relationship between the magnetic field and the current distribution, the current vector at each position in the rotor is calculated and expressed as a vector matrix. The matrix records the current vector direction and magnitude at each position of the rotor, and can accurately reflect the spatial distribution and direction of the current inside the rotor. The acquisition of the current vector direction matrix provides data support for further motor control and optimization, especially under dynamic load and speed change conditions, the accurate grasp of the current vector is crucial, and finally the motor rotor current vector direction matrix is ​​obtained.

[0047] Step S24: performing orthogonal decomposition on the current direction corresponding to the motor rotor according to the motor rotor current vector direction matrix to obtain the direct axis direction current and the cross axis direction current corresponding to the motor rotor; In an embodiment of the present invention, the current direction at the corresponding position is orthogonally decomposed by using the motor rotor current vector direction matrix. The orthogonal decomposition of the current is to decompose the current vector matrix into two components related to the rotor magnetic field orientation, namely, the current components of the direct axis (d axis) and the cross axis (q axis). Through coordinate transformation and mathematical decomposition, each current component in the current vector matrix is ​​mapped to the d axis and the q axis to obtain the corresponding d axis current (Id) and q axis current (Iq). This process usually uses a coordinate transformation formula (for example, Park transformation or Clarke transformation) to convert the three-phase current into a two-phase current, and further decompose the d axis and q axis currents, and finally obtain the direct axis direction current and the cross axis direction current corresponding to the motor rotor.

[0048] Step S25: Use the motor main control unit MCU to perform motor load control calculation on the direct axis current and the cross axis current to obtain the corresponding direct axis voltage control value under the motor load operation state. And the cross-axis voltage control quantity .

[0049] In the embodiment of the present invention, the direct shaft current ( ) and the cross-axis current ( ), and the motor's load parameters (such as load torque, speed, etc.), to perform motor load control calculations. First, the MCU calculates the required motor torque and the corresponding current component according to the load conditions, and adjusts the current according to the current requirements using a control algorithm (such as PI control or Fuzzy control). and The control quantity is used to achieve the predetermined motor torque output, and the required d-axis and q-axis voltage control quantities are further calculated. The calculation of the voltage control quantity is usually based on the motor model and control system (such as field-oriented control or vector control). Feedback regulation ensures the stable operation of the motor under different loads and working conditions. The MCU outputs the voltage control quantity to the inverter or driver to drive the motor, thereby achieving precise motor load control, and finally obtaining the corresponding direct axis voltage control quantity under the motor load operation state. And the cross-axis voltage control quantity , where the current in the direct axis direction , the proportionality constant related to the direct shaft current and the motor magnetic properties , motor load parameters , motor load control factor , calculate the corresponding direct shaft voltage control quantity , and at the same time, by combining the cross-axis current , the proportionality constant of the cross-axis current and the motor magnetic properties , current motor speed , motor speed control coefficient , the corresponding cross-axis voltage control quantity is calculated .

[0050] Further, step S25 includes the following steps: Step S251: using the motor main control unit MCU to perform motor magnetic proportional analysis on the direct axis current and the cross axis current, and obtain proportional constants related to the direct axis current and the cross axis current and the motor magnetic properties; In an embodiment of the present invention, a magnetic proportional analysis is performed on the direct axis (d axis) current and the cross axis (q axis) current of the motor by using a motor main control unit (MCU). The process measures the d axis and q axis current values ​​provided by the current sensor and matches them with the motor magnetic field characteristics (e.g., magnetic flux and magnetic field strength), thereby calculating the proportional constant between the current and the motor magnetism. The proportional constant is based on the physical characteristics of the motor, such as magnetic saturation, the interaction between the rotor magnetic field and the stator current, and is calculated using a mathematical model (e.g., stator and rotor magnetic field analysis equations based on motor parameters). The key to this step is to use the MCU to process the current signal of the motor in the real-time working state to ensure that an accurate proportional constant is obtained, so as to perform current regulation and voltage control in the subsequent control process, and finally obtain the proportional constant related to the direct axis current and the cross axis current and the motor magnetism, that is, , ,in is the magnetic constant, is the magnetic saturation, is the direct axis inductance value, is the cross-axis inductance value.

[0051] Step S252: using the motor main control unit MCU to obtain the motor load parameters and the current speed of the motor corresponding to the motor under different workload operation states; In an embodiment of the present invention, by using a motor main control unit (MCU) to communicate with a motor load sensor and a speed sensor, relevant parameters of the motor under different workloads, including load torque, load power, load current, etc., are acquired in real time. By reading the real-time speed value provided by a speed sensor (such as an encoder or a Hall sensor), the MCU can accurately determine the current speed of the motor. The load parameter acquisition method generally includes real-time monitoring of the working conditions of the motor, and filtering, calibrating and storing these data through a sensor data processing unit in the motor control system. The acquired load parameters and speed data will be used as the basis for the motor load control calculation, and finally the motor load parameters corresponding to the motor under different workload operating conditions and the current speed of the motor are obtained.

[0052] Step S253: Based on the proportional constants of the direct axis current and the cross axis current related to the motor magnetism, the motor load parameters and the current motor speed, the motor load control calculation is performed on the direct axis current and the cross axis current to obtain the direct axis voltage control value corresponding to the motor load operation state. And the cross-axis voltage control quantity , where the direct shaft voltage control quantity is And the cross-axis voltage control quantity Specifically: ; ; in, is the direct axial current, is the proportionality constant related to the direct shaft current and the motor magnetic properties, is the motor load parameter, is the motor load control coefficient, is the cross-axis current, is the proportionality constant related to the cross-axis current and the motor magnetic properties, is the current speed of the motor, is the motor speed control coefficient.

[0053] In the embodiment of the present invention, by using the data obtained in the first two steps, the motor main control unit (MCU) performs load control calculation according to the proportional constant related to the direct shaft current and the cross shaft current of the motor and the magnetism of the motor, the load parameters of the motor and the current speed of the motor. , the proportionality constant related to the direct shaft current and the motor magnetic properties , motor load parameters , motor load control factor , calculate the corresponding direct shaft voltage control quantity , and at the same time, by combining the cross-axis current , the proportionality constant of the cross-axis current and the motor magnetic properties , current motor speed , motor speed control coefficient , the corresponding cross-axis voltage control quantity is calculated These control quantities will be used to generate the control signal of the motor and adjust the drive voltage of the motor. This step ensures that the motor can adjust the voltage according to the actual working conditions and speed requirements under load, thereby providing stable and efficient operation output, and finally obtain the corresponding direct shaft voltage control quantity under the motor load operation state. And the cross-axis voltage control quantity .

[0054] Further, step S3 includes the following steps: Step S31: Set the motor angle parameter , Direct shaft voltage control And the cross-axis voltage control quantity The data is transmitted to the space vector pulse width modulation (SVPWM) module corresponding to the motor; In the embodiment of the present invention, the motor angle parameter obtained by the previous inverse solution is The direct shaft voltage control quantity obtained by quantitative calculation And the cross-axis voltage control quantity The SVPWM module is responsible for processing the input data and taking the rotor angle, d-axis voltage control quantity and q-axis voltage control quantity as input signals to modulate the motor voltage and thus control the output characteristics of the motor.

[0055] Step S32: Use the space vector pulse width modulation (SVPWM) module to adjust the motor angle parameter Perform time-space synchronization calculation to obtain the motor rotor angle synchronization vector corresponding to time and space information; In the embodiment of the present invention, the motor angle parameter is adjusted by using the SVPWM module of the motor. Perform time-space synchronization solution to obtain the angle data corresponding to the motor rotor under different time and space conditions. By solving the real-time angle, ensure its synchronization with time and space. This is because the movement of the motor changes in time and space. The angle parameter is not only related to the rotation angle of the motor, but also needs to match the time change. The SVPWM module processes the motor's angle signal in time and space. Through the control logic of the inverter, the space vector corresponding to each moment is combined with the rotor angle to form a motor rotor angle synchronization vector. The synchronization vector contains the angle information of the motor rotor at different time points and its corresponding spatial direction, accurately realizing the motor's speed and torque control, and finally obtaining the motor rotor angle synchronization vector corresponding to the time and space information.

[0056] Step S33: performing phase alignment on the control required voltage direction corresponding to the motor rotor based on the motor rotor angle synchronization vector corresponding to the time and space information, and obtaining the motor rotor required voltage direction vector matrix, wherein the motor rotor required voltage direction vector matrix includes voltage direction vectors corresponding to the direct axis and cross axis voltages at different angles; In an embodiment of the present invention, the voltage direction required for control corresponding to the motor rotor is phase-aligned by combining the motor rotor angle synchronization vector that has been obtained. The core of this process is to match the voltage direction of the motor with the rotor angle synchronization vector so that the voltage direction is consistent with the direction of the motor rotor magnetic field. In a specific implementation, the voltage direction vector matrix required by the motor rotor is first calculated, and the matrix includes voltage directionality vectors of the direct axis voltage and the cross axis voltage at different angles. These voltage directionality vectors are calculated based on the real-time angle of the motor rotor and the required torque and magnetic field direction to ensure that the motor rotor can obtain the correct voltage direction at each time point to ensure the smooth operation and performance output of the motor. Finally, the voltage direction vector matrix required by the motor rotor is obtained, which includes voltage directionality vectors corresponding to the direct axis and cross axis voltages at different angles.

[0057] Step S34: Direct axis voltage control quantity based on the motor rotor required voltage direction vector matrix And the cross-axis voltage control quantity Perform corresponding amplitude calculation to obtain the motor rotor voltage control amplitude adjustment matrix; In an embodiment of the present invention, the amplitude of the direct-axis voltage control amount and the cross-axis voltage control amount is further calculated based on the voltage direction vector matrix required by the motor rotor previously determined. The calculation of the voltage amplitude needs to take into account the load state, speed and real-time feedback of the motor to ensure that the motor can run smoothly under predetermined working conditions. At this time, the SVPWM module automatically adjusts the amplitudes of the d-axis and q-axis voltage control amounts according to the real-time working state of the motor. The adjustment of these amplitudes is dynamically adjusted according to the rotor angle synchronization vector, torque demand and the working environment of the motor to ensure that the motor always maintains the optimal voltage control amplitude under different working conditions, thereby realizing efficient motor drive. The calculated amplitude information constitutes the motor rotor voltage control amplitude adjustment matrix, which plays a key role in the subsequent SVPWM modulation processing, and finally the motor rotor voltage control amplitude adjustment matrix is ​​obtained.

[0058] Step S35: The direct axis voltage control amount is adjusted according to the motor rotor voltage control amplitude adjustment matrix And the cross-axis voltage control quantity SVPWM modulation processing is performed to generate a motor rotor control SVPWM waveform.

[0059] In an embodiment of the present invention, space vector pulse width modulation (SVPWM) processing is performed on the direct axis voltage control amount and the cross axis voltage control amount of the motor according to the motor rotor voltage control amplitude adjustment matrix obtained in the previous step. SVPWM is an effective pulse width modulation method. By converting the voltage control amount of the motor into a PWM waveform, precise control of the motor is achieved. First, the SVPWM module takes the motor rotor voltage control amplitude adjustment matrix as input, and calculates the voltage fluctuation change of the motor rotor control waveform according to the amplitude information in the matrix, which corresponds to the voltage signal on each winding of the motor, thereby affecting the torque output, speed regulation and magnetic field direction of the motor. Through SVPWM modulation processing, the generated motor rotor control SVPWM waveform can accurately control the voltage waveform of the motor, thereby controlling the torque output and dynamic response of the motor, so that the motor can maintain a stable operating state at different working points. The generated SVPWM waveform is output to the motor through the inverter to achieve real-time control of the motor speed and direction, and finally generate the motor rotor control SVPWM waveform.

[0060] Further, step S4 includes the following steps: Step S41: Calculate the motor angle parameters at different time points Perform rotor angle normalization processing to obtain the normalized angle of the motor rotor; In an embodiment of the present invention, the motor angle parameters previously obtained by inverse calculation at different time points are normalized to map the actual rotor angle of the motor to a standardized interval, usually from 0 to 2π (or 0 to 360 degrees), to ensure that the rotor angles at different time points can be compared and analyzed on a unified scale, and finally the normalized angle of the motor rotor is obtained.

[0061] Step S42: Direct shaft voltage control quantity based on the normalized angle of the motor rotor And the cross-axis voltage control quantity Decoupling the rotor angle component to generate a motor rotor voltage component decoupling matrix; In the embodiment of the present invention, the direct shaft voltage control quantity previously quantified is obtained by combining the normalized motor rotor normalized angle previously normalized. And the cross-axis voltage control quantity The components are decoupled to form a decoupling matrix. In this step, the direct axis voltage (d-axis) and cross axis voltage (q-axis) corresponding to each phase are first decoupled and analyzed according to the previously normalized rotor angle. The decoupling of these components uses the mathematical model of the motor to ensure the accuracy of each axis component control by real-time updating of the rotor angle. The decoupling matrix generation process involves real-time acquisition of the motor's rotor angle, and calculation of the direct axis and cross axis voltage control components based on the angle, and finally generates the motor rotor voltage component decoupling matrix.

[0062] Step S43: performing synchronous modulation control calculation on each motor winding phase voltage corresponding to the motor according to the motor rotor voltage component decoupling matrix to obtain a phase voltage control value applied to each motor winding; In an embodiment of the present invention, the phase voltage control value of the motor winding is calculated by the motor rotor voltage component decoupling matrix. In this process, according to the motor rotor voltage components (d-axis and q-axis voltages) and the motor winding electrical parameters (for example, the winding inductance, impedance, etc.), the decoupled voltage components are converted into the three-phase voltage control value of the motor winding through inverse transformation. In this process, the inverse Park transformation is usually used to restore the dq-axis voltage components to the three-phase voltage value. The specific formula is: ; ; ; in, is the normalized angle of the motor rotor, is the direct shaft voltage control quantity, is the cross-axis voltage control quantity, , , The three-phase voltage control value obtained by this calculation can be directly applied to the motor winding to adjust the output characteristics of the motor, and finally obtain the phase voltage control value applied to each motor winding.

[0063] Step S44: obtaining the torque and magnetic field direction required by the motor rotor through the motor rotor control SVPWM waveform, and performing control duty cycle adjustment analysis on the phase voltage control value applied to each motor winding based on the torque and magnetic field direction required by the motor rotor, so as to generate the motor control duty cycle corresponding to each phase voltage; In the embodiment of the present invention, the torque and magnetic field direction required by the motor rotor are obtained from the previously modulated motor rotor control SVPWM waveform, and the duty cycle of the voltage control value to be applied to the motor winding can be calculated in combination with the corresponding torque and magnetic field direction. First, the SVPWM waveform required by the motor is generated according to the phase voltage control value in the previous step through the SVPWM waveform generation algorithm. The duty cycle of the waveform (that is, the signal waveform duty cycle corresponding to the voltage control value in each phase direction) ,in is the duration of the high level state in the signal waveform, The total cycle time of the signal waveform fluctuation determines the torque size and the direction of the magnetic field of the motor. In the specific implementation, the torque and magnetic field direction required by the motor are first solved and mapped to the duty cycle of the SVPWM waveform. The duty cycle is adjusted according to the instantaneous torque and magnetic field direction required by the motor for real-time feedback to ensure the dynamic response and stability of the motor control system at different phase operating points. This process involves precise control of the timing of each voltage component so that the motor can maintain the optimal torque and magnetic field state in each working state, and finally quantizes and calculates the motor control duty cycle corresponding to each phase voltage.

[0064] Step S45: Control the speed and direction of each motor simultaneously according to the motor control duty ratio corresponding to each phase voltage.

[0065] In an embodiment of the present invention, the speed and direction of the motor are simultaneously controlled by adjusting the control duty cycle of each phase voltage of the motor in real time according to the motor control duty cycle in the aforementioned steps. This process relies on the motor controller to adjust the duty cycle through closed-loop control according to the difference between the motor speed setting and the actual feedback value to adjust the output speed of the motor. The controller adjusts the output of the phase voltage according to the speed and direction requirements of the motor to ensure that the motor runs at a predetermined speed and direction. Through closed-loop feedback control, it can respond quickly to factors such as changes in the motor load and external environment to keep the motor working in an ideal state. For example, if the motor needs to rotate forward or reverse, it only needs to adjust the phase and amplitude of the duty cycle to change the voltage waveform of the motor, thereby changing the speed and direction of the motor. The motor control automatically adjusts the voltage duty cycle by sampling the motor speed feedback in real time and comparing it with the set value, thereby accurately controlling the running state of the motor and ultimately achieving simultaneous control of the speed and direction corresponding to each motor.

[0066] Furthermore, the present invention also provides a control system for a motor, which is used to execute the control method for a motor as described above, and the control system for a motor includes: The angle parameter reverse calculation module is used for the motor main control unit MCU to obtain the target motor speed corresponding to the user setting, and reversely calculate the angle parameter of the target motor speed to obtain the motor angle parameter. ; The motor rotor load control calculation module is used to obtain the direct axis current and cross axis current corresponding to the motor rotor, and use the motor main control unit MCU to perform motor load control calculation on the direct axis current and cross axis current, so as to obtain the corresponding direct axis voltage control value under the motor load operation state. And the cross-axis voltage control quantity ; SVPWM waveform modulation module, used to convert the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Pass it to the space vector pulse width modulation SVPWM module, and use the space vector pulse width modulation SVPWM module to adjust the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Performing SVPWM modulation processing to generate a motor rotor control SVPWM waveform; The motor speed and direction unified control module is used to control the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Determine the phase voltage control value applied to each motor winding; obtain the corresponding torque and magnetic field direction required by the motor rotor through the motor rotor control SVPWM waveform, and perform control duty cycle adjustment analysis on the phase voltage control value applied to each motor winding based on the corresponding torque and magnetic field direction required by the motor rotor to generate the motor control duty cycle corresponding to each phase voltage; and simultaneously control the corresponding speed and direction of each motor according to the motor control duty cycle corresponding to each phase voltage.

[0067] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A control method for a motor, characterized in that: The following steps are involved: Step S1: The motor main control unit MCU obtains the target motor speed corresponding to the user setting, and reversely calculates the angle parameter of the target motor speed to obtain the motor angle parameter ; Step S2: Obtain the direct axis current and the cross axis current corresponding to the motor rotor, and use the motor main control unit MCU to perform motor load control calculation on the direct axis current and the cross axis current to obtain the direct axis voltage control value corresponding to the motor load operation state. And the cross-axis voltage control quantity ; Step S3: Set the motor angle parameter , Direct shaft voltage control And the cross-axis voltage control quantity Pass it to the space vector pulse width modulation SVPWM module, and use the space vector pulse width modulation SVPWM module to adjust the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Performing SVPWM modulation processing to generate a motor rotor control SVPWM waveform; Step S4: According to the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Determine the phase voltage control value applied to each motor winding; obtain the corresponding torque and magnetic field direction required by the motor rotor through the motor rotor control SVPWM waveform, and perform control duty cycle adjustment analysis on the phase voltage control value applied to each motor winding based on the corresponding torque and magnetic field direction required by the motor rotor to generate the motor control duty cycle corresponding to each phase voltage; and simultaneously control the corresponding speed and direction of each motor according to the motor control duty cycle corresponding to each phase voltage.

2. The control method for a motor according to claim 1, characterized in that: Step S1 includes the following steps: Step S11: the motor main control unit MCU receives the target motor speed corresponding to the user setting by acquiring; Step S12: setting the load torque according to the working state of the motor corresponding to the target motor speed and performing a preliminary calculation of the motor speed in combination with the characteristic relationship between the target motor speed and the load torque to obtain an analytical expression corresponding to the target motor speed; wherein the analytical expression is specifically: ； in, is the target motor speed, is the motor angular velocity, is the influence coefficient of load torque on target motor speed, is the load torque corresponding to the target motor speed, is the maximum load torque of the motor; Step S13: acquiring the inertia, resistance and speed fluctuation corresponding to the motor, and performing a time-delay response compensation calculation on the angular velocity dynamic response corresponding to the motor based on the inertia, resistance and speed fluctuation corresponding to the motor, so as to obtain the motor angular velocity dynamic compensation coefficient; Step S14: Compensate the motor angular velocity corresponding to the motor based on the motor angular velocity dynamic compensation coefficient Perform compensation fitting calculation to obtain the motor angular velocity corresponding to the compensation fitting at the target motor speed ,in is the motor angle parameter, is the motor rotation time, is the dynamic compensation coefficient of the motor angular velocity; Step S15: Based on the motor angular velocity corresponding to the compensation fitting of the motor at the target motor speed, the angular parameter of the analytical expression corresponding to the target motor speed is reversely solved and assigned to obtain the motor angle parameter .

3. The control method for a motor according to claim 2, characterized in that: Step S13 includes the following steps: Step S131: Obtain the inertia, resistance and speed fluctuation corresponding to the motor; Step S132: performing inertia contribution response analysis on the inertia corresponding to the motor to obtain the motor inertia contribution response; Step S133: performing resistance torque analysis on the resistance corresponding to the motor to obtain the motor resistance torque; performing influence correction calculation on the motor resistance torque based on the internal and external resistance characteristics corresponding to the motor to obtain the motor resistance torque correction factor; Step S134: performing fast Fourier transform analysis on the speed fluctuation corresponding to the motor to obtain the speed fluctuation spectrum corresponding to the motor during operation; performing speed fluctuation frequency analysis on the speed fluctuation spectrum corresponding to the motor during operation to obtain the motor speed fluctuation frequency; Step S135: performing angular velocity time lag analysis on the angular velocity dynamic response corresponding to the motor based on the motor inertia contribution response and the motor resistance torque correction factor, so as to obtain the angular velocity time lag response delay corresponding to the motor under the external response disturbance condition; Step S136: Based on the motor speed fluctuation frequency and the angular velocity time-lag response delay, a time-lag response compensation calculation is performed on the angular velocity dynamic response corresponding to the motor using an angular velocity dynamic compensation calculation formula to obtain a motor angular velocity dynamic compensation coefficient.

4. The control method for a motor according to claim 3, characterized in that: Step S135 includes the following steps: The motor inertia contribution response is decomposed item by item in each working state to obtain the corresponding motor inertia contribution under different working states; Based on the corresponding motor inertia contribution under different working conditions, the motor resistance torque correction factor is corrected for inertia influence, so as to obtain the corresponding comprehensive resistance torque correction factor under different working conditions; Obtaining the external response disturbance conditions corresponding to the motor, and performing time domain transient response decomposition on the angular velocity dynamic response corresponding to the motor based on the external response disturbance conditions corresponding to the motor, to obtain the angular velocity transient response change sub-item corresponding to the motor under the external response disturbance conditions; Based on the comprehensive resistance torque correction factor, the dynamic time warping algorithm is used to simulate the angular velocity time lag of the motor's angular velocity transient response change sub-item under external response disturbance conditions to obtain the angular velocity time lag response delay of the motor under external response disturbance conditions.

5. The control method for a motor according to claim 3, characterized in that: The angular velocity dynamic compensation calculation formula in step S136 is specifically: ； In the formula, is the dynamic compensation coefficient of the motor angular velocity, is the motor rotation time, is the integral time point variable of motor rotation, is the angular velocity lag response delay, The response time in the time delay The corresponding target reference angular velocity is: The response time in the time delay The corresponding actual motor angular velocity is, is the motor speed fluctuation frequency, is the time-delay response delay adjustment parameter, is an exponential function, is the motor lag compensation torque, It is the correction factor of the motor angular velocity dynamic compensation coefficient.

6. The control method for a motor according to claim 1, characterized in that: Step S2 includes the following steps: Step S21: using finite element analysis to obtain current magnetic field distribution characteristics corresponding to the motor rotor; Step S22: performing a magnetic field spatial decomposition analysis on the motor rotor based on the current magnetic field distribution characteristics corresponding to the motor rotor to obtain a motor rotor current magnetic field distribution matrix; Step S23: performing vector analysis on the current direction corresponding to the motor rotor based on the motor rotor current magnetic field distribution matrix to obtain the motor rotor current vector direction matrix; Step S24: performing orthogonal decomposition on the current direction corresponding to the motor rotor according to the motor rotor current vector direction matrix to obtain the direct axis direction current and the cross axis direction current corresponding to the motor rotor; Step S25: Use the motor main control unit MCU to perform motor load control calculation on the direct axis current and the cross axis current to obtain the direct axis voltage control value corresponding to the motor load operation state. And the cross-axis voltage control quantity .

7. The control method for a motor according to claim 6, characterized in that: Step S25 includes the following steps: Step S251: using the motor main control unit MCU to perform motor magnetic proportional analysis on the direct axis current and the cross axis current, and obtain proportional constants related to the direct axis current and the cross axis current and the motor magnetic properties; Step S252: using the motor main control unit MCU to obtain the motor load parameters and the current speed of the motor corresponding to the motor under different workload operation states; Step S253: Based on the proportional constants of the direct axis current and the cross axis current related to the motor magnetism, the motor load parameters and the current motor speed, the motor load control calculation is performed on the direct axis current and the cross axis current to obtain the direct axis voltage control value corresponding to the motor load operation state. And the cross-axis voltage control quantity , where the direct shaft voltage control quantity is And the cross-axis voltage control quantity Specifically: ； ； in, is the direct axial current, is the proportionality constant related to the direct shaft current and the motor magnetic properties, is the motor load parameter, is the motor load control coefficient, is the cross-axis current, is the proportionality constant related to the cross-axis current and the motor magnetic properties, is the current speed of the motor, is the motor speed control coefficient.

8. The control method for a motor according to claim 1, characterized in that: Step S3 includes the following steps: Step S31: Set the motor angle parameter , Direct shaft voltage control And the cross-axis voltage control quantity The data is transmitted to the space vector pulse width modulation (SVPWM) module corresponding to the motor; Step S32: Use the space vector pulse width modulation (SVPWM) module to adjust the motor angle parameter Perform time-space synchronization calculation to obtain the motor rotor angle synchronization vector corresponding to time and space information; Step S33: performing phase alignment on the control required voltage direction corresponding to the motor rotor based on the motor rotor angle synchronization vector corresponding to the time and space information, and obtaining the motor rotor required voltage direction vector matrix, wherein the motor rotor required voltage direction vector matrix includes voltage direction vectors corresponding to the direct axis and cross axis voltages at different angles; Step S34: Direct axis voltage control quantity based on the motor rotor required voltage direction vector matrix And the cross-axis voltage control quantity Perform corresponding amplitude calculation to obtain the motor rotor voltage control amplitude adjustment matrix; Step S35: The direct axis voltage control amount is adjusted according to the motor rotor voltage control amplitude adjustment matrix And the cross-axis voltage control quantity SVPWM modulation processing is performed to generate a motor rotor control SVPWM waveform.

9. The control method for a motor according to claim 1, characterized in that: Step S4 includes the following steps: Step S41: Calculate the motor angle parameters at different time points Perform rotor angle normalization processing to obtain the normalized angle of the motor rotor; Step S42: Direct shaft voltage control quantity based on the normalized angle of the motor rotor And the cross-axis voltage control quantity Decoupling the rotor angle component to generate a motor rotor voltage component decoupling matrix; Step S43: performing synchronous modulation control calculation on each motor winding phase voltage corresponding to the motor according to the motor rotor voltage component decoupling matrix to obtain a phase voltage control value applied to each motor winding; Step S44: obtaining the torque and magnetic field direction required by the motor rotor through the motor rotor control SVPWM waveform, and performing control duty cycle adjustment analysis on the phase voltage control value applied to each motor winding based on the torque and magnetic field direction required by the motor rotor, so as to generate the motor control duty cycle corresponding to each phase voltage; Step S45: Control the speed and direction of each motor simultaneously according to the motor control duty ratio corresponding to each phase voltage.

10. A control system for a motor, characterized in that: For executing the control method for a motor as claimed in claim 1, the control system for the motor comprises: The angle parameter reverse calculation module is used for the motor main control unit MCU to obtain the target motor speed corresponding to the user setting, and reversely calculate the angle parameter of the target motor speed to obtain the motor angle parameter. ; The motor rotor load control calculation module is used to obtain the direct axis current and cross axis current corresponding to the motor rotor, and use the motor main control unit MCU to perform motor load control calculation on the direct axis current and cross axis current, so as to obtain the corresponding direct axis voltage control value under the motor load operation state. And the cross-axis voltage control quantity ; SVPWM waveform modulation module, used to convert the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Pass it to the space vector pulse width modulation SVPWM module, and use the space vector pulse width modulation SVPWM module to adjust the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Performing SVPWM modulation processing to generate a motor rotor control SVPWM waveform; The motor speed and direction unified control module is used to control the motor angle parameters , Direct shaft voltage control And the cross-axis voltage control quantity Determine the phase voltage control value applied to each motor winding; obtain the corresponding torque and magnetic field direction required by the motor rotor through the motor rotor control SVPWM waveform, and perform control duty cycle adjustment analysis on the phase voltage control value applied to each motor winding based on the corresponding torque and magnetic field direction required by the motor rotor to generate the motor control duty cycle corresponding to each phase voltage; and simultaneously control the corresponding speed and direction of each motor according to the motor control duty cycle corresponding to each phase voltage.

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