A control method and system for an electric motor

Abstract

The present invention relates to the technical field of motor control, and particularly to a control method and system for a motor. The method includes the following steps: The motor main control unit MCU obtains and receives the corresponding target motor speed set by the user and performs inverse angle parameter calculation and assignment to obtain the motor angle parameter; obtains the direct-axis current and the cross-axis current and performs motor load control calculation to obtain the direct-axis voltage control amount and the cross-axis voltage control amount; transmits the motor angle parameter, the direct-axis voltage control amount, and the cross-axis voltage control amount to the space vector pulse width modulation SVPWM module and performs SVPWM modulation processing to generate the motor rotor control SVPWM waveform; determines the phase voltage control values applied to each motor winding and performs control duty cycle adjustment analysis, and at the same time controls the speed and direction of each corresponding motor. The present invention can improve the operating efficiency and response speed of the motor.

Description

Technical Field

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

[0002] Cooling fans generally require motors to operate. Currently, a motor main control unit (MCU) controls one motor, and one motor needs to be equipped with a Hall sensor. The motor uploads operation data (such as speed) to the MCU, and the MCU updates the angle parameters according to the data uploaded by the motor, so as to provide the correct parameters to the motor, enabling the cooling fan to rotate at an appropriate speed, thereby achieving sufficient heat dissipation effect. Therefore, one MCU can only control one motor, and each motor needs to be installed with a Hall sensor separately. When there are many fans in use (for example, a large battery module may require dozens or even hundreds of cooling fans), the installation and control are very troublesome and the cost is very high. Therefore, the traditional single control method can no longer meet the complex working environment and the unified operation control process, and thus faces the problems of insufficient control accuracy and response lag. 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 includes the following steps:

[0005] Step S1: The motor main control unit MCU obtains and receives the corresponding target motor speed set by the user, and performs inverse calculation and assignment of angle parameters to the target motor speed to obtain the motor angle parameters ;

[0006] Step S2: 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 to obtain the corresponding direct-axis voltage control amount in the motor load operation state and the cross-axis voltage control amount ;

[0007] Step S3: Transmit the motor angle parameters , the direct-axis voltage control amount and the cross-axis voltage control amount to the space vector pulse width modulation SVPWM module, and use the space vector pulse width modulation SVPWM module to process the motor angle parameters , the direct-axis voltage control amount and the cross-axis voltage control amount Perform SVPWM modulation processing to generate the SVPWM waveform for motor rotor control;

[0008] Step S4: According to the motor angle parameter , the direct-axis voltage control quantity and the quadrature-axis voltage control quantity determine the phase voltage control values applied to each motor winding; obtain the corresponding torque and magnetic field direction required by the motor rotor through the SVPWM waveform for motor rotor control, and perform duty cycle adjustment analysis on the phase voltage control values 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; control the speed and direction of each motor according to the motor control duty cycle corresponding to each phase voltage.

[0009] Further, step S1 includes the following steps:

[0010] Step S11: The motor main control unit MCU obtains and receives the user-set corresponding target motor speed;

[0011] Step S12: Set the load torque according to the operating state of the motor corresponding to the target motor speed and perform a preliminary calculation of the motor speed in combination with the characteristic relationship between the target motor speed and the load torque to obtain the analytical expression corresponding to the target motor speed; among them, the analytical expression is specifically:

[0012] ;

[0013] Among them, is the target motor speed, is the motor angular velocity, is the influence coefficient of the load torque on the target motor speed, is the load torque corresponding to the target motor speed, is the maximum load torque of the motor;

[0014] Step S13: Obtain the inertia, resistance, and speed fluctuation corresponding to the motor, and perform time-delay response compensation calculation on the dynamic response of the motor angular velocity based on the inertia, resistance, and speed fluctuation corresponding to the motor to obtain the motor angular velocity dynamic compensation coefficient;

[0015] Step S14: Perform compensation fitting calculation on the motor angular velocity corresponding to the motor based on the motor angular velocity dynamic compensation coefficient to obtain the compensated and fitted motor angular velocity corresponding to the motor at the target motor speed, where is the motor angle parameter, is the motor rotation time, is the motor angular velocity dynamic compensation coefficient;

[0016] Step S15: Based on the motor angular velocity corresponding to the compensation fitting at the target motor speed, perform inverse calculation and assignment of angular parameters to the analytical expression corresponding to the target motor speed to obtain the motor angular parameters .

[0017] Furthermore, step S13 includes the following steps:

[0018] Step S131: Obtain the inertia, resistance, and speed fluctuation corresponding to the motor;

[0019] Step S132: Conduct an inertia contribution response analysis on the inertia corresponding to the motor to obtain the motor inertia contribution response;

[0020] Step S133: Conduct a resistance torque analysis on the resistance corresponding to the motor to obtain the motor resistance torque; based on the internal and external resistance characteristics corresponding to the motor, perform influence correction calculation on the motor resistance torque to obtain the motor resistance torque correction factor;

[0021] Step S134: Conduct a fast Fourier transform analysis on the speed fluctuation corresponding to the motor to obtain the speed fluctuation spectrum corresponding to the motor during operation; conduct a speed fluctuation frequency analysis on the speed fluctuation spectrum corresponding to the motor during operation to obtain the motor speed fluctuation frequency;

[0022] Step S135: Based on the motor inertia contribution response and the motor resistance torque correction factor, conduct an angular velocity time-delay analysis on the angular velocity dynamic response corresponding to the motor to obtain the angular velocity time-delay response delay corresponding to the motor under external response disturbance conditions;

[0023] Step S136: Based on the motor speed fluctuation frequency and the angular velocity time-delay response delay, use the angular velocity dynamic compensation calculation formula to conduct time-delay response compensation calculation on the angular velocity dynamic response corresponding to the motor to obtain the motor angular velocity dynamic compensation coefficient.

[0024] Furthermore, step S135 includes the following steps:

[0025] Conduct item-by-item decomposition of the working state of the motor inertia contribution response to obtain the motor inertia contribution corresponding to different working states;

[0026] Based on the motor inertia contribution corresponding to different working states, perform inertia influence correction on the motor resistance torque correction factor to obtain the comprehensive resistance torque correction factor corresponding to different working states;

[0027] Obtain the external response disturbance conditions corresponding to the motor, and based on the external response disturbance conditions corresponding to the motor, conduct time-domain transient response decomposition on the angular velocity dynamic response corresponding to the motor to obtain the angular velocity transient response change sub-items corresponding to the motor under external response disturbance conditions;

[0028] Based on the comprehensive resistance moment correction factor, the dynamic time warping algorithm is used to perform angular velocity time delay 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 delay response delay corresponding to the motor under external response disturbance conditions.

[0029] Further, the specific formula for the angular velocity dynamic compensation in step S136 is:

[0030] ;

[0031] In the formula, is the angular velocity dynamic compensation coefficient of the motor, is the motor rotation time, is the variable of the motor rotation integral time point, is the angular velocity time delay response delay, is the target reference angular velocity corresponding to the time delay response time , is the actual motor angular velocity corresponding to the time delay response time ; is the motor speed fluctuation frequency, is the time delay response delay adjustment parameter, is the exponential function, is the motor time delay compensation torque, is the correction coefficient of the angular velocity dynamic compensation coefficient of the motor.

[0032] Further, step S2 includes the following steps:

[0033] Step S21: Obtain the current magnetic field distribution characteristics corresponding to the motor rotor by using the finite element analysis method;

[0034] Step S22: Based on the current magnetic field distribution characteristics corresponding to the motor rotor, perform magnetic field space decomposition analysis on the motor rotor to obtain the motor rotor current magnetic field distribution matrix;

[0035] Step S23: Based on the motor rotor current magnetic field distribution matrix, perform vector analysis on the current direction corresponding to the motor rotor to obtain the motor rotor current vector direction matrix;

[0036] Step S24: According to the motor rotor current vector direction matrix, perform orthogonal decomposition on the current direction corresponding to the motor rotor to obtain the direct axis direction current and the cross axis direction current corresponding to the motor rotor;

[0037] Step S25: Use the motor main control unit MCU to perform motor load control calculation on the direct axis direction current and the cross axis direction current to obtain the direct axis voltage control quantity and the cross axis voltage control quantity 。

[0038] Further, step S25 includes the following steps:

[0039] Step S251: Use the motor master control unit MCU to perform motor magnetic ratio analysis on the direct-axis current and the cross-axis current, and obtain the proportional constants related to the motor magnetism for the direct-axis current and the cross-axis current;

[0040] Step S252: Use the motor master control unit MCU to obtain the motor load parameters and the current motor speed corresponding to different operating load conditions of the motor;

[0041] Step S253: Based on the proportional constants related to the motor magnetism for the direct-axis current and the cross-axis current, the motor load parameters, and the current motor speed, perform motor load control calculations on the direct-axis current and the cross-axis current, and obtain the corresponding direct-axis voltage control quantity and the cross-axis voltage control quantity , where the direct-axis voltage control quantity and the cross-axis voltage control quantity are specifically:

[0042] ;

[0043] ;

[0044] where, is the direct-axis current, is the proportional constant related to the motor magnetism for the direct-axis current, is the motor load parameter, is the motor load control coefficient, is the cross-axis current, is the proportional constant related to the motor magnetism for the cross-axis current, is the current motor speed, is the motor speed control coefficient.

[0045] Further, step S3 includes the following steps:

[0046] Step S31: Transmit the motor angle parameter , the direct-axis voltage control quantity and the cross-axis voltage control quantity to the corresponding space vector pulse width modulation SVPWM module of the motor;

[0047] Step S32: Use the space vector pulse width modulation SVPWM module to process the motor angle parameter Perform spatio-temporal synchronization calculation to obtain a synchronous vector of the motor rotor angle corresponding to time and space information;

[0048] Step S33: Align the phase of the required voltage direction for controlling the motor rotor based on the synchronous vector of the motor rotor angle corresponding to time and space information to obtain a required voltage direction vector matrix of the motor rotor, where the required voltage direction vector matrix of the motor rotor includes voltage direction vectors corresponding to the direct axis and cross-axis voltages at different angles;

[0049] Step S34: Calculate the corresponding amplitudes of the direct-axis voltage control quantity and the cross-axis voltage control quantity to obtain an amplitude adjustment matrix for controlling the motor rotor voltage;

[0050] Step S35: Perform SVPWM modulation processing on the direct-axis voltage control quantity and the cross-axis voltage control quantity based on the amplitude adjustment matrix for controlling the motor rotor voltage to generate an SVPWM waveform for controlling the motor rotor.

[0051] Further, step S4 includes the following steps:

[0052] Step S41: Perform normalization processing on the motor angle parameters at different time points to obtain a normalized angle of the motor rotor;

[0053] Step S42: Decouple the rotor angle components of the direct-axis voltage control quantity and the cross-axis voltage control quantity based on the normalized angle of the motor rotor to generate a decoupling matrix for the motor rotor voltage components;

[0054] Step S43: Perform synchronous modulation control calculation on the phase voltage of each motor winding corresponding to the motor according to the decoupling matrix for the motor rotor voltage components to obtain the phase voltage control values applied to each motor winding;

[0055] Step S44: Obtain the required torque and magnetic field direction of the motor rotor through the SVPWM waveform for controlling the motor rotor, and perform control duty cycle adjustment analysis on the phase voltage control values applied to each motor winding based on the required torque and magnetic field direction of the motor rotor to generate a motor control duty cycle corresponding to each phase voltage;

[0056] Step S45: Control the speed and direction of each motor according to the motor control duty cycle corresponding to each phase voltage.

[0057] 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. The control system for a motor includes:

[0058] An angular parameter inverse calculation module, which is used for the motor main control unit MCU to obtain and receive the corresponding target motor speed set by the user, and perform angular parameter inverse calculation on the target motor speed to obtain the motor angular parameter ;

[0059] A motor rotor load control calculation module, which 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 to obtain the corresponding direct-axis voltage control amount under the motor load operation state and the cross-axis voltage control amount ;

[0060] An SVPWM waveform modulation module, which is used to transfer the motor angular parameter , the direct-axis voltage control amount and the cross-axis voltage control amount to the space vector pulse width modulation SVPWM module, and use the space vector pulse width modulation SVPWM module to perform SVPWM modulation processing on the motor angular parameter , the direct-axis voltage control amount and the cross-axis voltage control amount to generate the motor rotor control SVPWM waveform;

[0061] A motor speed and direction unified control module, which is used to determine the phase voltage control values applied to each motor winding according to the motor angular parameter , the direct-axis voltage control amount and the cross-axis voltage control amount ; obtain the required torque and magnetic field direction of the motor rotor through the motor rotor control SVPWM waveform, and perform control duty cycle adjustment analysis on the phase voltage control values applied to each motor winding based on the required torque and magnetic field direction of the motor rotor to generate the motor control duty cycle corresponding to each phase voltage; simultaneously control the speed and direction of each motor according to the motor control duty cycle corresponding to each phase voltage.

[0062] The beneficial effects of the present invention:

[0063] 1. The control method for a motor proposed by the present invention, compared with the prior art, the beneficial effects of this application are as follows: By using the motor master control unit MCU to obtain the target motor speed set by the user, this provides the basic input for the entire control process. The implementation of this step ensures that the operating conditions of the motor can be accurately set according to the user's needs, thus providing an accurate reference value for the subsequent inverse calculation of angle parameters. At the same time, through the inverse calculation and assignment of angle parameters to the target motor speed, combined with the angular velocity compensation of the motor, the motor angle parameters at the target motor speed are calculated. Through the inverse calculation, the angular velocity can be deduced based on the target motor speed of the motor and the corresponding angle change can be inversely deduced, ensuring that the angle parameters of the motor at the target speed can be correctly assigned, further improving the stability and accuracy of motor control. Secondly, by obtaining the direct-axis current and cross-axis 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 motor control. They respectively determine the magnetic field generation and torque output of the motor. The current signal can be decomposed into two independent components, which can also improve the accuracy of motor control, better understand the response characteristics of the motor under different working conditions, and then improve the operating efficiency and reliability of the motor. Also, by using the motor master control unit MCU to perform motor load control calculations on the direct-axis current and 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 the load state. Based on the load situation and the result of current decomposition, the MCU calculates the optimal voltage control quantity in real time, enabling the motor to maintain a stable torque output and efficient energy conversion under different working states, ensuring that the motor can still operate efficiently under complex conditions such as load changes and speed fluctuations. This not only improves the intelligent level and accuracy of motor control but also ensures the safety and efficiency of the motor under high-load conditions. Then, by transmitting the motor angle parameters, direct-axis voltage control quantity, and cross-axis voltage control quantity to the SVPWM module, it lays the foundation for subsequent precise control. The angle parameters of the motor are obtained by previous estimation and reflect 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, ensuring that precise adjustment 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 and avoid adverse effects such as overcurrent or overvoltage.By using 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, it is possible to generate the control waveform of the motor in combination with the SVPWM technology. The SVPWM technology is an efficient modulation method widely used in the field of motor control. It optimizes the operation efficiency and torque output of the motor by generating a voltage waveform that meets the requirements of the motor rotor. Through the 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 to ensure that the motor operates in an efficient and stable state, improving the response time of the entire motor drive process, thus solving the problem of motor drive response lag. Finally, by determining the phase voltage control values applied to each motor winding according to the motor angle parameters, direct-axis voltage control quantity, and cross-axis voltage control quantity, the purpose is to ensure that the voltage outputs of each winding are synchronized and matched with the rotor position of the motor under different motor operating conditions. Through this processing process, the corresponding voltage control values 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, and avoiding problems such as motor vibration and response lag caused by mismatched voltage waveforms, ensuring the smoothness and stability of the motor under various operating conditions. By obtaining the corresponding torque and magnetic field direction required by the motor rotor through the SVPWM waveform of the motor rotor control, and based on the corresponding torque and magnetic field direction required by the motor rotor, the duty cycle adjustment analysis of the phase voltage control values applied to each motor winding is carried out to precisely 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 requirements during the operation of the motor. The duty cycle of the phase voltage control values applied to each motor winding will be analyzed and adjusted. It determines the timing and amplitude of the voltage applied to the motor winding, thus directly affecting the subsequent operation efficiency and accuracy of the motor. In addition, by simultaneously controlling the speeds and directions of the corresponding motors according to the motor control duty cycles corresponding to the phase voltages, precise adjustment of the motor speeds and directions can be achieved. According to the duty cycle adjusted in the previous stage, the motor speed can be precisely controlled, and the rotation direction of the motor can be controlled by reasonably adjusting the duty cycle. This process ensures that the motor can quickly respond and achieve the desired performance output under different working conditions, thus ensuring the stable operation of the motor under dynamic load conditions. Especially in the process of multi-motor control, it can ensure the coordinated operation of each motor and achieve the best control effect.

[0064] 2. The control system for the motor proposed by the present invention is generally composed of an angular parameter inverse calculation module, a motor rotor load control calculation module, an SVPWM waveform modulation module, and a motor speed and direction unified control module. It can implement any control method for the motor described in the present invention, and is used to coordinate the operations between the computer programs running on each module to achieve the control method for the motor. The internal structure of the system cooperates with each other, which can greatly reduce repetitive work and manpower input, and can quickly and effectively provide a more accurate and efficient control process for the motor, thus simplifying the operation process of the control system for the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Other features, objects, and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

[0066] Figure 1 It is a schematic flow chart of the steps of the control method for the motor of the present invention;

[0067] Figure 2 is Figure 1 a detailed schematic flow chart of step S1 in

[0068] Figure 3 is Figure 2 a detailed schematic flow chart of step S13 in DETAILED DESCRIPTION OF THE EMBODIMENTS

[0069] The technical method of the present invention will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0070] To achieve the above object, please refer to Figures 1 to 3 , the present invention provides a control method for a motor, and the method includes the following steps:

[0071] Step S1: The motor main control unit MCU obtains and receives the corresponding target motor speed set by the user, and performs an angular parameter inverse calculation on the target motor speed to obtain the motor angular parameter ;

[0072] Step S2: 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 to obtain the corresponding direct-axis voltage control amount under the motor load operation state and the cross-axis voltage control amount ;

[0073] Step S3: Transmit the motor angle parameter , the direct-axis voltage control quantity and the cross-axis voltage control quantity to the space vector pulse width modulation SVPWM module, and use the space vector pulse width modulation SVPWM module to perform SVPWM modulation processing on the motor angle parameter , the direct-axis voltage control quantity and the cross-axis voltage control quantity to generate the SVPWM waveform for motor rotor control;

[0074] Step S4: Determine the phase voltage control values applied to each motor winding according to the motor angle parameter , the direct-axis voltage control quantity and the cross-axis voltage control quantity ; Obtain the torque and magnetic field direction required by the motor rotor through the SVPWM waveform for motor rotor control, and perform duty cycle adjustment analysis on the phase voltage control values applied to each motor winding based on the torque and magnetic field direction required by the motor rotor to generate the motor control duty cycle corresponding to each phase voltage; Control the speed and direction of each motor according to the motor control duty cycle corresponding to each phase voltage.

[0075] In the embodiment of the present invention, please refer to Figure 1 as shown, which is a schematic diagram of the step flow of the control method for the motor of the present invention. In this example, the control method for the motor includes the following steps:

[0076] Step S1: The motor main control unit MCU obtains and receives the user-set corresponding target motor speed, and performs inverse solution assignment of angle parameters to the target motor speed to obtain the motor angle parameter ;

[0077] In an embodiment of the present invention, the target motor speed set by the user is received through the communication interface corresponding to the motor master control unit (MCU). The user inputs the target speed value through the human-machine interface (HMI) or the control panel, and this speed value is sent to the MCU through analog signals or digital signals. The task of the MCU is to receive this value and convert it into a digital instruction suitable for motor control, so as to obtain 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, there is a certain relationship between the load torque and the speed of the motor, and this relationship is usually described by the performance curve or characteristic diagram of the motor. Specifically, the MCU queries the parameter database of the motor to obtain the load torque characteristic data of the motor at different speeds (for example, using the torque-speed curve), selects the corresponding load torque value according to the target speed, and combines the physical relationship between the target motor speed and the load torque (such as the dynamic equation, considering factors such as friction, inertia, and resistance), and uses the motor model to perform a preliminary speed calculation. This calculation process is based on the characteristic equation of the motor, and usually adopts numerical methods such as the Euler method, Laplace transform or other numerical methods to obtain the analytical expression corresponding to the target motor speed, specifically as , where is the target motor speed, is the angular velocity of the motor, is the influence coefficient of the load torque on the 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, speed sensors). The inertia data reflects the mass distribution and moment of inertia of the rotating part of the motor, the resistance includes factors such as friction and air resistance, and 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 angular velocity of the motor to obtain the dynamic compensation coefficient of the angular velocity of the motor. This compensation coefficient is used to correct the time-delay effect in the motor response, and based on the previously obtained dynamic compensation coefficient of the angular velocity of the motor, the MCU performs a compensation fitting calculation on the angular velocity of the motor to obtain the compensated and fitted angular velocity of the motor corresponding to the target motor speed , where is the angular parameter of the motor, is the rotation time of the motor, is the dynamic compensation coefficient of the motor angular velocity. Then, by using the compensated fitting angular velocity of the motor at the target motor speed to perform inverse calculation of the angular parameters for the expression corresponding to the target motor speed. Specifically, the MCU calculates the angular parameters of the motor through the known motor speed expression and the compensated fitting angular velocity. The calculation of the angular parameters is achieved by inversely solving the compensated fitting angular velocity corresponding to the motor. The specific formula is: , where is the motor angular parameter, is the target motor speed, is the influence coefficient of the load torque on the 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. Finally, the motor angular parameter is obtained, and this angular parameter is used for further motor control to ensure that the motor accurately completes the required rotation task.

[0078] Step S2: 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 calculations on the direct-axis current and cross-axis current to obtain the corresponding direct-axis voltage control quantity and cross-axis voltage control quantity ;

[0079] In the embodiments of the present invention, by using the finite element analysis (FEA) method to model and simulate the motor rotor, the magnetic field distribution characteristics of the motor rotor under different current driving conditions are calculated, including the intensity, direction, and distribution uniformity of the magnetic field. And through the rotor magnetic field distribution characteristics obtained based on the finite element analysis, the spatial decomposition analysis of the corresponding motor rotor magnetic field is carried out. By using the spatial decomposition method of the magnetic field, such as Fourier transform or modal analysis, the rotor magnetic field is decomposed into different frequency and spatial components. And by analyzing the relative contributions of each magnetic field component in the motor rotor, the spatial distribution matrix of the rotor magnetic field is obtained. This matrix contains the intensity and direction information of the magnetic field in each spatial region. Also, by using the motor rotor magnetic field distribution matrix obtained from the spatial decomposition to perform vector analysis of the current direction corresponding to the motor rotor, according to the magnetic field distribution of the motor rotor and combining the current conduction law, the calculation of the current vector direction is carried out. By analyzing the mutual relationship between the magnetic field and current distribution, the current vector at each position in the rotor is calculated and expressed as a vector matrix. This matrix records the current vector direction and magnitude at each position of the rotor. At the same time, by using the motor rotor current vector direction matrix to perform orthogonal decomposition of the current direction at the corresponding position, the orthogonal decomposition of the current is to decompose the current vector matrix into two components related to the rotor magnetic field orientation, that is, the direct axis (d-axis) and cross axis (q-axis) current components. Through coordinate transformation and mathematical decomposition, each current component in the current vector matrix is mapped onto the d-axis and q-axis to obtain the corresponding d-axis current ( ), and q-axis current ( ), so as to obtain the direct axis direction current and cross axis direction current corresponding to the motor rotor. Then, by using the motor main control unit (MCU) according to the direct axis current ( ) and cross axis current ( ) obtained in the foregoing steps, as well as the load parameters of the motor (such as load torque, rotational speed, etc.), motor load control calculation is carried out. First, the MCU calculates the required motor torque and the corresponding current components according to the load condition. According to the current requirements, using control algorithms (such as PI control or Fuzzy control), the control quantities of and are adjusted to achieve the predetermined motor torque output. Further, the required d-axis and q-axis voltage control quantities are calculated, and finally the corresponding direct axis voltage control quantity and cross axis voltage control quantity under the motor load operation state are obtained. Among them, according to the direct axis direction current , the proportional constant related to the motor magnetism of the direct axis current, the motor load parameters , and the motor load control coefficient , the corresponding direct axis voltage control quantity , meanwhile, by combining the current in the cross-axis direction , the proportionality constant between the cross-axis current and the motor magnetism , the current rotational speed of the motor , the motor speed control coefficient , calculate the corresponding cross-axis voltage control quantity .

[0080] Step S3: Transmit the motor angle parameter , the direct-axis voltage control quantity , and the cross-axis voltage control quantity to the space vector pulse width modulation SVPWM module, and use the space vector pulse width modulation SVPWM module to perform SVPWM modulation processing on the motor angle parameter , the direct-axis voltage control quantity , and the cross-axis voltage control quantity to generate the SVPWM waveform for motor rotor control;

[0081] In the embodiment of the present invention, by transmitting the previously inverse-solved motor angle parameter , the directly-axis voltage control quantity obtained by quantization calculation , and the cross-axis voltage control quantity to the space vector pulse width modulation SVPWM module in the motor control system, the SVPWM module is responsible for processing these input data, taking the rotor angle, d-axis voltage control quantity, and q-axis voltage control quantity as input signals to modulate the motor voltage, and using the SVPWM module of the motor to perform operations on the motor angle parameter Perform synchronous calculation of time and space to obtain the angular data corresponding to the motor rotor under different time and space conditions. By calculating the real-time angle and ensuring its synchronization with time and space, this is because the motion of the motor is a function of time and space changes. The angle parameter is not only related to the rotation angle of the motor but also needs to be matched with the time change. The SVPWM module performs time and space synchronization processing on the angle signal of the motor to form a synchronous vector of the motor rotor angle. This synchronous 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 obtained synchronous vector of the motor rotor angle, the phase of the voltage direction required for controlling the motor rotor is aligned. The core of this process is to match the voltage direction of the motor with the synchronous vector of the rotor angle, 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. Further, based on the previously determined voltage direction vector required for the motor rotor, the amplitudes of the direct-axis voltage control quantity and the cross-axis voltage control quantity are calculated. 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 operate smoothly under the predetermined working conditions. At this time, the SVPWM module automatically adjusts the amplitudes of the d-axis and q-axis voltage control quantities according to the real-time working state of the motor. These amplitude adjustments are dynamically adjusted based on the rotor angle synchronous 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. The calculated amplitude information forms the voltage control amplitude adjustment matrix of the motor rotor, which plays a key role in the subsequent SVPWM modulation process. Then, based on the voltage control amplitude adjustment matrix of the motor rotor obtained in the previous step, space vector pulse width modulation (SVPWM) is performed on the direct-axis voltage control quantity and the cross-axis voltage control quantity of the motor. SVPWM is an effective pulse width modulation method that realizes precise control of the motor by converting the voltage control quantity of the motor into a PWM waveform. First, the SVPWM module takes the voltage control amplitude adjustment matrix of the motor rotor 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 signals 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 SVPWM waveform of the motor rotor control can precisely control the voltage waveform of the motor, thereby controlling the torque output and dynamic response of the motor, enabling the motor to maintain a stable operating state at different working points. The generated SVPWM waveform is output to the motor through an inverter to achieve real-time control of the motor speed and direction, and finally generate the SVPWM waveform of the motor rotor control.

[0082] Step S4: According to the motor angle parameter , direct-axis voltage control quantity and cross-axis voltage control quantity Determine the phase voltage control values applied to each motor winding; obtain the corresponding torque and magnetic field direction required by the motor rotor through the motor rotor controlled SVPWM waveform, and perform duty cycle adjustment analysis on the phase voltage control values 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 cycles corresponding to each phase voltage; control the speeds and directions of the corresponding motors simultaneously according to the motor control duty cycles corresponding to each phase voltage.

[0083] In an embodiment of the present invention, the angular normalization process is performed on the motor angle parameters obtained by inverse solution calculation at different time points previously, so as to map the actual rotor angle of the motor into a standardized interval, usually from 0 to 2π (or 0 to 360 degrees), and by combining the previously normalized motor rotor angle with the previously quantified direct-axis voltage control amount and the cross-axis voltage control amount to perform decoupling of components, and then form a decoupling matrix. In this step, first, according to the previously normalized rotor angle, decoupling analysis of the direct-axis voltage (d-axis) and cross-axis voltage (q-axis) corresponding to each phase is performed. The decoupling of these components uses the mathematical model of the motor, and the accuracy of each axis component control is ensured by real-time updating of the rotor angle. The generation process of the decoupling matrix involves real-time obtaining the rotor angle of the motor, calculating the voltage control components of the direct axis and cross axis according to this angle, and also calculating the phase voltage control value of the motor winding 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 windings (for example, inductance, impedance, etc. of the windings), the decoupled voltage components are converted into the three-phase voltage control values of the motor windings through inverse transformation. In this process, the inverse Park transformation is usually used to restore the d-q axis voltage components to the three-phase voltage values. The specific formula is:

[0084] ;

[0085] ;

[0086] ;

[0087] where, is the normalized angle of the motor rotor, is the direct-axis voltage control amount, is the cross-axis voltage control amount, , , is the three-phase voltage control value. The three-phase voltage control value obtained through this calculation can be directly applied to the motor windings to adjust the output characteristics of the motor, thereby obtaining the phase voltage control values 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 SVPWM waveform of the motor rotor control, and combining the corresponding torque and magnetic field direction, the duty ratio of the voltage control value to be applied to the motor winding can be calculated. First, through the SVPWM waveform generation algorithm, the SVPWM waveform required by the motor is generated according to the phase voltage control value in the previous step. The duty ratio of this waveform (that is, the duty ratio of the signal waveform corresponding to the voltage control value in each phase orientation , where is the duration of the high-level state in the signal waveform, is the total period time of the signal waveform fluctuation) determines the torque magnitude of the motor and the direction of the magnetic field. In specific implementation, first, the torque and magnetic field direction required by the motor are solved and mapped to the duty ratio of the SVPWM waveform. The adjustment of the duty ratio is based on the instantaneous torque and magnetic field direction required by the motor for real-time feedback, ensuring the dynamic response and stability of the motor control system at different phase operating points, thereby quantitatively calculating and generating the motor control duty ratio corresponding to each phase voltage. Then, by relying on the motor control duty ratio in the previous step, the control duty ratio of each phase voltage of the motor is adjusted in real time to simultaneously control the speed and direction of the motor. This process depends on the motor controller to adjust the duty ratio through closed-loop control according to the difference between the speed setting of the motor 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 operates at the predetermined speed and direction. Through closed-loop feedback control, it can quickly respond to factors such as changes in the motor load and external environment changes, and keep the motor working in an ideal state. For example, if the motor needs to rotate forward or backward, only the phase and amplitude of the duty ratio need to be adjusted 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 ratio by real-time sampling the speed feedback of the motor and comparing it with the set value, thereby precisely controlling the operating state of the motor, and finally achieving the simultaneous control of the speeds and directions corresponding to each motor.

[0088] Further, as an embodiment of the present invention, referring to Figure 2 shown, it is a detailed step flow schematic diagram of step S1 in Figure 1 . In this embodiment, step S1 includes the following steps:

[0089] Step S11: The motor main control unit MCU obtains and receives the user-set corresponding target motor speed;

[0090] In an embodiment of the present invention, the target motor speed set by the user is received through 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, and this speed value is sent to the MCU through analog signals or digital signals. The task of the MCU is to receive this 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 has no noise interference. Then, the MCU converts the received target speed into an operable control parameter and transmits it to the motor drive module, preparing to enter the load and speed calculation in the subsequent steps, and finally obtaining the target motor speed.

[0091] Step S12: Set the load torque according to the working state corresponding to the target motor speed of the motor and perform a preliminary calculation of the motor speed in combination with the characteristic relationship between the target motor speed and the load torque, so as to obtain an analytical expression corresponding to the target motor speed; wherein, the analytical expression is specifically:

[0092] ;

[0093] Wherein, is the target motor speed, is the motor angular velocity, is the influence coefficient of the load torque on the target motor speed, is the load torque corresponding to the target motor speed, is the maximum load torque of the motor;

[0094] 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. When the motor is at the corresponding target motor speed, there is a certain relationship between its load torque and speed, and this relationship is usually described by the performance curve or characteristic diagram of the motor. Specifically, the MCU queries the parameter database of the motor to obtain the load torque characteristic data of the motor at different speeds (for example, using the torque-speed curve), and selects the corresponding load torque value according to the target speed. Then, in combination with the physical relationship between the target motor speed and the load torque (such as the dynamic equation, considering factors such as friction, inertia, and resistance), a preliminary speed calculation is performed using the motor model. This calculation process is based on the characteristic equation of the motor and usually adopts numerical methods such as the Euler method, Laplace transform, or other numerical methods to obtain an analytical expression corresponding to the target motor speed, specifically , wherein, is the target motor speed, is the motor angular velocity, is the influence coefficient of the load torque on the 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.

[0095] Step S13: Obtain the inertia, resistance, and speed fluctuation corresponding to the motor, and perform 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 angular velocity dynamic compensation coefficient of the motor;

[0096] In the 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, speed sensors). The inertia data reflects the mass distribution and moment of inertia of the rotating part of the motor, and 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 the angular velocity dynamic response of the motor. The time-delay response is usually obtained through system identification methods or experimental data fitting. Specifically, control methods such as Laplace transform, PID control algorithm, and Kalman filter can be used for calculation to obtain the angular velocity dynamic compensation coefficient of the motor. This compensation coefficient is used to correct the time-delay effect in the motor response, ensure that the motor can accurately reach the set speed, and finally obtain the angular velocity dynamic compensation coefficient of the motor.

[0097] Step S14: Perform compensation fitting calculation on the angular velocity of the motor corresponding to the motor based on the angular velocity dynamic compensation coefficient of the motor to obtain the compensated and fitted angular velocity of the motor corresponding to the target motor speed , where is the motor angle parameter, is the motor rotation time, is the angular velocity dynamic compensation coefficient of the motor;

[0098] In the embodiment of the present invention, through the angular velocity dynamic compensation coefficient obtained previously, the MCU performs compensation fitting calculation on the angular velocity of the motor. First, the MCU corrects the angular velocity according to the preliminary dynamic response model of the motor and the compensation coefficient. The compensation calculation uses the known motor response characteristics and time-delay compensation parameters, and fits the angular velocity of the motor through numerical calculation methods (such as the least squares method, gradient descent method, etc.). This fitting process uses optimization algorithms to reduce the influence of factors such as time delay and noise on the angular velocity measurement, so that the angular velocity of the motor can more accurately reflect the target speed. The MCU calculates the compensated angular velocity of the motor and uses it as feedback information for further controlling the drive module of the motor, and finally obtains the compensated and fitted angular velocity of the motor corresponding to the target motor speed where is the motor angle parameter, is the motor rotation time, is the dynamic compensation coefficient of the motor angular velocity.

[0099] Step S15: Based on the compensated and fitted motor angular velocity corresponding to the target motor speed, perform inverse calculation and assignment of the angular parameter for the analytical expression corresponding to the target motor speed to obtain the motor angular parameter .

[0100] In the embodiment of the present invention, by using the compensated and fitted angular velocity of the motor at the target motor speed to perform inverse calculation of the angular parameter for the expression corresponding to the target motor speed. Specifically, the MCU calculates the angular parameter of the motor through the known motor speed expression and the compensated and fitted angular velocity. The calculation of the angular parameter is achieved by inversely solving the compensated and fitted angular velocity corresponding to the motor. The specific formula is: , where is the motor angular parameter, is the target motor speed, is the influence coefficient of the load torque on the 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. Finally, the motor angular parameter is obtained, and this angular parameter is used for further motor control to ensure that the motor accurately completes the required rotation task.

[0101] Furthermore, as an embodiment of the present invention, referring to Figure 3 shown, it is the detailed step flow schematic diagram of step S13 in Figure 2 . In this embodiment, step S13 includes the following steps:

[0102] Step S131: Obtain the inertia, resistance, and speed fluctuation corresponding to the motor;

[0103] In the embodiment of the present invention, through detailed physical modeling of the motor, the inertia, resistance, and speed fluctuation data of the motor are obtained. The moment of inertia of the rotating part of the motor is measured using an inertial measurement instrument (such as an accelerometer or an inertial measurement unit IMU) , is the motor rotation radius, is the mass element. Considering the influence of the motor rotor and its additional mass, the resistance generated during the rotation of the motor is measured secondly , is the friction force, is the distance from the friction force acting point to the motor shaft. By using sensors to monitor the influence of external factors such as mechanical friction and air resistance during the operation of the motor, this data can be obtained through actual operation measurement or calculated from the performance parameters of the motor. And by using a rotational speed sensor (such as an encoder) to measure the rotational speed fluctuation of the motor under different working conditions, the rotational speed fluctuation data during the operation of the motor is obtained, and finally the inertia, resistance, and rotational speed fluctuation corresponding to the motor are obtained.

[0104] Step S132: Conduct an inertia contribution response analysis on the inertia corresponding to the motor to obtain the motor inertia contribution response;

[0105] In the embodiment of the present invention, by conducting a detailed analysis of the inertia of the motor to determine its influence on the system response, mathematical modeling and simulation tools (such as MATLAB / Simulink, etc.) are used to model the inertia of the motor, establish the dynamic equation of the rotating part of the motor, describe the contribution of the rotational inertia of the motor to the angular velocity and torque of the motor, and by solving these equations, the inertia contribution response curve of the motor is obtained, showing the inertia response of the motor under different input conditions. This response analysis can clarify the influence of the motor inertia on the system control accuracy and stability, and finally obtain the motor inertia contribution response.

[0106] Step S133: Conduct a resistance torque analysis on the resistance corresponding to the motor to obtain the motor resistance torque; based on the internal and external resistance characteristics corresponding to the motor, perform an influence correction calculation on the motor resistance torque to obtain the motor resistance torque correction factor;

[0107] In the embodiment of the present invention, by calculating the resistance torque of the motor to analyze the load characteristics in its working state, the resistance torque refers to the reaction torque caused by friction, pneumatic resistance, and other external resistance factors during the operation of the motor. In this step, first, detailed friction characteristic modeling is conducted on each moving part of the motor, and a measuring instrument (such as a force sensor or a torque sensor) is used to obtain the resistance torque data under different working conditions. And based on these data, the contribution of various resistances during the operation of the motor is analyzed. By conducting detailed modeling on the internal and external resistance characteristics (such as bearing friction, wind resistance, etc.), the resistance torque of the motor is corrected by using physical calculations and experimental data to obtain the motor resistance torque correction factor. The calculation method of this factor includes using dynamic equations and experimental data fitting to correct the deviation that occurs during the actual operation of the motor, and finally obtaining the motor resistance torque correction factor.

[0108] Step S134: Conduct a fast Fourier transform analysis on the rotational speed fluctuation corresponding to the motor to obtain the rotational speed fluctuation spectrum corresponding to the motor during the operation; conduct a rotational speed fluctuation frequency analysis on the rotational speed fluctuation spectrum corresponding to the motor during the operation to obtain the motor rotational speed fluctuation frequency;

[0109] In an embodiment of the present invention, by performing spectral analysis on the motor speed fluctuation data to identify the frequency components of the speed fluctuation. First, collect the speed fluctuation data generated by the motor during operation and perform a fast Fourier transform (FFT) using a digital signal processing tool (such as MATLAB). 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 modes, noise sources, and factors affecting the motor performance during operation, and finally, the motor speed fluctuation frequency is obtained.

[0110] Step S135: Perform angular velocity time-delay analysis on the angular velocity dynamic response of the motor based on the motor inertia contribution response and the motor resistance torque correction factor to obtain the angular velocity time-delay response delay of the motor under external response disturbance conditions;

[0111] In an embodiment of the present invention, by combining the previously quantified motor inertia contribution response and the motor resistance torque correction factor to analyze the angular velocity time-delay response of the motor. First, combine the motor inertia contribution response and the correction factor of the resistance torque to establish a dynamic model of the motor angular velocity to describe the relationship between the motor angular velocity and the input signal. On this basis, use time-delay analysis methods (such as Laplace transform or zero-pole analysis) or dynamic time warping algorithm to analyze the time-delay response of the motor angular velocity. This time-delay response represents the delay time of the motor 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 of the motor under external response disturbance conditions is obtained.

[0112] Step S136: Perform time-delay response compensation calculation on the angular velocity dynamic response of the motor using the angular velocity dynamic compensation calculation formula based on the motor speed fluctuation frequency and the angular velocity time-delay response delay to obtain the motor angular velocity dynamic compensation coefficient.

[0113] In an embodiment of the present invention, by combining the motor rotation time, the angular velocity time-delay response delay, the target reference angular velocity, the actual motor angular velocity, the motor speed fluctuation frequency, the time-delay response delay adjustment parameter, the motor time-delay compensation torque, and related parameters, a suitable angular velocity dynamic compensation calculation formula is formed to perform time-delay response compensation calculation on the angular velocity dynamic response of the motor to quantitatively calculate the compensation coefficient. This compensation coefficient is used to adjust the controller output, reduce the time-delay effect in the motor angular velocity response, ensure the fast response and stable operation of the motor, and finally obtain the motor angular velocity dynamic compensation coefficient.

[0114] Further, step S135 includes the following steps:

[0115] The working state of the motor inertia contribution response is decomposed item by item to obtain the corresponding motor inertia contribution under different working states;

[0116] In the embodiment of the present invention, by identifying the inertia contribution of the motor under different working states, where the working states generally include starting, running, accelerating, decelerating, etc., the inertia contribution of the motor under each working state will be different. For each working state, by accurately measuring the load characteristics of the motor, combining the moment of inertia, acceleration and speed change of the motor, the inertia contribution of the motor can be decomposed item by item. Specifically, during operation, first, 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 during the acceleration and deceleration processes of the motor under different working conditions is calculated, and the inertia response of the motor under different speed and load conditions is calculated through the physical model, and further the specific contribution to the motor inertia under different working conditions is disassembled, and finally the corresponding motor inertia contribution under different working states is obtained.

[0117] Preferably, the inertia influence is corrected for the motor resistance torque correction factor based on the corresponding motor inertia contribution under different working states to obtain the corresponding comprehensive resistance torque correction factor under different working states;

[0118] In the embodiment of the present invention, by combining the motor inertia contribution data under different working states, the resistance torque correction factor of the motor is corrected. The resistance torque of the motor is usually affected by factors such as load inertia, mechanical friction, temperature, etc. Based on the previously obtained inertia contribution under different working states, the change of the resistance torque of the motor during actual operation can be deduced. The specific operation is to adjust the resistance torque correction factor based on the inertia data of the motor during the acceleration or deceleration process to ensure that it can accurately reflect the inertia influence. This 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 speed, load and inertia of the motor, and the comprehensive resistance torque correction factor under different working states is obtained through mathematical derivation. Further, using the real-time control system of the motor, according to the collected state information (such as current, voltage and speed), the resistance torque correction factor is dynamically adjusted to ensure the accuracy and stability of the motor control, and finally the corresponding comprehensive resistance torque correction factor under different working states is obtained.

[0119] Preferably, obtain the external response disturbance conditions corresponding to the motor, and decompose the time-domain transient response of the angular velocity dynamic response corresponding to the motor based on the external response disturbance conditions corresponding to the motor to obtain the sub-items of the angular velocity transient response change corresponding to the motor under the external response disturbance conditions;

[0120] In the embodiments of the present invention, by clarifying the specific manifestation forms of external disturbance conditions, external disturbances generally include environmental changes, load changes, or the action of 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 carried out. Specifically, in terms of operation, time-domain analysis methods (such as Fourier transform or wavelet transform) can be used to decompose the transient response of the motor angular velocity signal. By decomposing the signal, different sub-items of the angular velocity change when the motor is subjected to external disturbances can be obtained (such as frequency response, transient response, etc.), that is , which represents the sub-item of the transient response change of the angular velocity corresponding at time

[0121] Preferably, based on the comprehensive resistance torque correction factor, the dynamic time warping algorithm is used to perform angular velocity time-delay simulation calculation on the sub-items of the transient response change of the angular velocity corresponding to the motor under the condition of external response disturbance, so as to obtain the angular velocity time-delay response delay corresponding to the motor under the condition of external response disturbance.

[0122] In the embodiments of the present invention, by analyzing the sub-items of the transient response change of the angular velocity obtained by the previous decomposition, its time-delay 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 disturbances. The DTW algorithm can effectively handle the time delay between signals, especially when there is a time shift in the responses in different time periods during the angular velocity change process. Through the DTW algorithm, the time delay existing in the motor response process can be calculated, and the time delay is corrected according to the comprehensive resistance torque correction factor. Specifically in implementation, first, the actual angular velocity response of the motor is compared with the ideal angular velocity response, the optimal matching path is solved through the dynamic time warping algorithm, the angular velocity time delay is calculated, and the obtained time-delay data is combined with the comprehensive resistance torque correction factor. The long-term dynamic performance of the motor under external disturbance conditions is predicted through numerical simulation methods, and the parameters in the motor control system are further adjusted to ensure the real-time and accuracy of the angular velocity response. Finally, the angular velocity time-delay response delay corresponding to the motor under the condition of external response disturbance is obtained.

[0123] Further, the specific calculation formula for the angular velocity dynamic compensation in step S136 is as follows:

[0124] ;

[0125] In the formula, is the dynamic compensation coefficient of the motor angular velocity, is the motor rotation time, is the motor rotation integral time point variable, is the angular velocity time-delay response delay, is at the time-delay response time the corresponding target reference angular velocity, is at the time-delay response time the corresponding actual motor angular velocity, is the motor speed fluctuation frequency, is the time-delay response delay adjustment parameter, is the exponential function, is the motor time-delay compensation torque, is the correction coefficient of the motor angular velocity dynamic compensation coefficient.

[0126] The present invention obtains an angular velocity dynamic compensation calculation formula through the use of a specific mathematical model and verification, which is used for the time-delay response compensation calculation of the angular velocity dynamic response corresponding to the motor. This angular velocity dynamic compensation calculation formula is used to solve the time-delay problem in the dynamic response process of the motor. Specifically, when the angular velocity of the motor is affected by external disturbances or internal inertia, resistance, speed fluctuations and other factors, there will be a certain time-delay phenomenon, 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 the time-delay 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. The time-delay often causes a delay in the motor system when responding to external disturbances. By dynamically compensating the time-delay through the compensation formula, the reaction of the motor to external disturbances can be accelerated, and the lag of the system response can be reduced. Time-delay compensation helps to improve the stability of the motor under high load or complex working conditions, avoiding unstable oscillations or overshoot phenomena caused by the time-delay, and ensuring the smooth operation of the motor under dynamic working conditions. This compensation method enables the motor system to maintain good stability and response ability when facing complex external disturbances (such as load changes, speed fluctuations, etc.), and enhances the robustness of the system. By adjusting parameters (such as , , etc.), the non - linear factors in the motor control system, such as internal and external resistance, inertia effect, etc., can be considered, 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. Through the angular velocity dynamic compensation coefficient calculated in advance, it can be directly applied in the real - time control process, thus reducing the demand for real - time calculation complexity and improving the response speed of motor control. To sum up, this formula fully considers the angular velocity dynamic compensation coefficient of the motor , motor rotation time , motor rotation integral time - point variable , angular velocity time - delay response delay , at the time - delay response time the corresponding target reference angular velocity , at the time - delay response time the corresponding actual motor angular velocity , motor speed fluctuation frequency , time - delay response delay adjustment parameter , exponential function , motor time - delay compensation torque , correction coefficient of the motor angular velocity dynamic compensation coefficient , according to the motor angular velocity dynamic compensation coefficient and the mutual correlation relationship between the above - mentioned 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, through the introduction of the correction coefficient of the motor angular velocity dynamic compensation coefficient, it can be adjusted according to the error situation in the calculation process, so as to improve the accuracy and applicability of the angular velocity dynamic compensation calculation formula.

[0127] Further, step S2 includes the following steps:

[0128] Step S21: Use the finite - element analysis method to obtain the current magnetic - field distribution characteristics corresponding to the motor rotor;

[0129] In the embodiment of the present invention, by using the finite element analysis (FEA) method to model and simulate the motor rotor, the magnetic field distribution characteristics of the motor rotor under different current driving conditions are calculated. First, a three-dimensional model is established based on the motor design parameters (such as rotor geometry, material properties, winding layout, etc.), and the current source and magnetic field boundary conditions are defined in the finite element software. Applying appropriate current driving conditions, the magnetic field distribution inside the rotor is simulated, and the magnetic field intensity distribution map in the rotor region is output. Using FEA software (such as ANSYS Maxwell, COMSOL Multiphysics, etc.), the magnetic flux density, magnetic field vector, and corresponding current distribution at each position in the motor rotor are calculated. These calculation results provide detailed characteristics of the motor rotor magnetic field, including the intensity, direction, and distribution uniformity of the magnetic field, and finally the current magnetic field distribution characteristics corresponding to the motor rotor are obtained.

[0130] Step S22: Perform magnetic field spatial decomposition analysis on the motor rotor based on the current magnetic field distribution characteristics corresponding to the motor rotor to obtain the motor rotor current magnetic field distribution matrix;

[0131] In the embodiment of the present invention, through the magnetic field spatial decomposition analysis of the corresponding motor rotor based on the rotor magnetic field distribution characteristics obtained by finite element analysis, using the magnetic field spatial decomposition method, such as Fourier transform or modal analysis, the rotor magnetic field is decomposed into different frequency and spatial components, and by analyzing the relative contributions of each magnetic field component in the motor rotor, the spatial distribution matrix of the rotor magnetic field is obtained. This matrix contains the intensity and direction information of the magnetic field in each spatial region, and can comprehensively 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 according to the current distribution characteristics under different working conditions, and finally the motor rotor current magnetic field distribution matrix is obtained.

[0132] Step S23: Perform 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;

[0133] In the embodiment of the present invention, through vector analysis of the current direction corresponding to the motor rotor by using the matrix of the magnetic field distribution of the motor rotor current obtained by spatial decomposition, according to the magnetic field distribution of the motor rotor, combined with the current conduction law, the calculation of the current vector direction is carried out. By analyzing the mutual 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. This 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 the conditions of dynamic load and speed change, the accurate grasp of the current vector is crucial, and finally the motor rotor current vector direction matrix is obtained.

[0134] Step S24: Orthogonally decompose 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;

[0135] In the embodiment of the present invention, through orthogonal decomposition of the current direction at the corresponding position 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, that is, 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 onto the d-axis and the q-axis to obtain the corresponding d-axis current (Id) and q-axis current (Iq). This process usually uses coordinate transformation formulas (such as Park transformation or Clarke transformation) to convert three-phase current into 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.

[0136] Step S25: Use the motor main control unit MCU to perform motor load control calculation on the direct-axis direction current and the cross-axis direction current to obtain the corresponding direct-axis voltage control amount under the motor load operation state and the cross-axis voltage control amount .

[0137] In the embodiment of the present invention, by using the motor main control unit (MCU), according to the direct-axis current ( ) and the cross-axis current ( ) obtained in the foregoing steps, as well as the load parameters of the motor (such as load torque, speed, etc.), perform motor load control calculation. First, the MCU calculates the required motor torque and the corresponding current components according to the load conditions. According to the current requirements, use control algorithms (such as PI control or Fuzzy control) to adjust and The control quantity is used to achieve the predetermined motor torque output, and further calculate the required d-axis and q-axis voltage control quantities. 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), and through feedback regulation, ensure the stable operation of the motor under different loads and working conditions. The MCU outputs the voltage control quantity to the inverter or driver for motor drive, so as to achieve precise motor load control, and finally obtain the corresponding direct-axis voltage control quantity under the motor load operation state and the cross-axis voltage control quantity , where according to the direct-axis direction current , the proportional constant related to the direct-axis current and the motor magnetism , the motor load parameter , the motor load control coefficient , calculate the corresponding direct-axis voltage control quantity . At the same time, by combining the cross-axis direction current , the proportional constant related to the cross-axis current and the motor magnetism , the current motor speed , the motor speed control coefficient , calculate the corresponding cross-axis voltage control quantity .

[0138] Furthermore, step S25 includes the following steps:

[0139] Step S251: Use the motor main control unit MCU to perform motor magnetic ratio analysis on the direct-axis direction current and the cross-axis direction current, and obtain the proportional constants related to the direct-axis current and the cross-axis current and the motor magnetism;

[0140] In the embodiment of the present invention, by using the motor main control unit (MCU) to perform magnetic ratio analysis on the direct-axis (d-axis) current and the cross-axis (q-axis) current of the motor, this process measures the d-axis and q-axis current values provided by the current sensor and matches them with the motor magnetic field characteristics (for example, magnetic flux and magnetic field strength), so as to calculate the proportional constant between the current and the motor magnetism. This proportional constant is based on the physical characteristics of the motor, such as the interaction between magnetic saturation, rotor magnetic field and stator current, and is calculated using a mathematical model (for example, the stator and rotor magnetic field analysis equation based on motor parameters). The key to this step is to use the MCU to process the current signal in the real-time working state of the motor to ensure obtaining an accurate proportional constant for current regulation and voltage control in the subsequent control process, and finally obtain the proportional constants related to the direct-axis current and the cross-axis current and the motor magnetism, that is , , where is the magnetic flux constant, is the magnetic saturation, is the direct-axis inductance value, is the quadrature-axis inductance value.

[0141] Step S252: Use the motor master control unit (MCU) to obtain the motor load parameters corresponding to different operating load conditions of the motor and the current motor speed;

[0142] In the embodiment of the present invention, by using the communication between the motor master control unit (MCU) and the motor load sensor and the speed sensor, the relevant parameters of the motor under different operating loads are obtained in real time, including load torque, load power, load current, etc. By reading the real-time speed value provided by the speed sensor (such as an encoder or a Hall sensor), the MCU can accurately judge the current speed of the motor. The acquisition method of the load parameters generally includes real-time monitoring of the operating conditions of the motor, and filtering, calibration, and storage of these data by the sensor data processing unit in the motor control system. The obtained load parameters and speed data will be used as the basis for motor load control calculation, and finally the motor load parameters corresponding to different operating load conditions of the motor and the current motor speed are obtained.

[0143] Step S253: Based on the direct-axis current, the quadrature-axis current, the proportional constants related to the motor magnetism, the motor load parameters, and the current motor speed, perform motor load control calculation on the direct-axis current and the quadrature-axis current to obtain the direct-axis voltage control quantity corresponding to the motor load operating state and the quadrature-axis voltage control quantity , where the direct-axis voltage control quantity and the quadrature-axis voltage control quantity Specifically:

[0144] ;

[0145] ;

[0146] Among them, is the direct-axis current, is the proportional constant related to the direct-axis current and the motor magnetism, is the motor load parameter, is the motor load control coefficient, is the quadrature-axis current, is the proportional constant related to the quadrature-axis current and the motor magnetism, is the current motor speed, is the motor speed control coefficient.

[0147] 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 motor magnetism of the direct-axis current and cross-axis current of the motor, the load parameters of the motor, and the current speed of the motor. First, according to the direct-axis direction current , the proportional constant related to the motor magnetism of the direct-axis current , the motor load parameters , the motor load control coefficient , the corresponding direct-axis voltage control amount is calculated. At the same time, by combining the cross-axis direction current , the proportional constant related to the motor magnetism of the cross-axis current , the current speed of the motor , the motor speed control coefficient , the corresponding cross-axis voltage control amount is calculated. These control amounts will be used to generate the control signal of the motor to 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 the load state, so as to provide a stable and efficient operation output. Finally, the corresponding direct-axis voltage control amount and cross-axis voltage control amount under the motor load operation state are obtained.

[0148] Further, step S3 includes the following steps:

[0149] Step S31: Transmit the motor angle parameter , the direct-axis voltage control amount and the cross-axis voltage control amount to the corresponding space vector pulse width modulation SVPWM module of the motor;

[0150] In the embodiment of the present invention, by transmitting the previously inverse-solved motor angle parameter and the quantized and calculated direct-axis voltage control amount and the cross-axis voltage control amount to the space vector pulse width modulation SVPWM module in the motor control system, the SVPWM module is responsible for processing these input data, taking the rotor angle, d-axis voltage control amount and q-axis voltage control amount as input signals to modulate the motor voltage, so as to control the output characteristics of the motor.

[0151] Step S32: Use the space vector pulse width modulation SVPWM module to perform space-time synchronous calculation on the motor angle parameter to obtain the motor rotor angle synchronous vector corresponding to the time and space information;

[0152] In an embodiment of the present invention, by using the SVPWM module of the motor to perform synchronous calculation of the motor angle parameters in time and space to obtain the angle data corresponding to the motor rotor under different time and space conditions. By calculating the real-time angle and ensuring its synchronization with time and space, this is because the movement of the motor is a spatio-temporal change. The angle parameter is not only related to the rotation angle of the motor but also needs to be matched with the time change. The SVPWM module performs spatio-temporal synchronization processing on the angle signal of the motor. 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. This synchronization vector contains the angle information of the motor rotor at different time points and its corresponding space direction, accurately realizing the control of the motor speed and torque, and finally obtaining the motor rotor angle synchronization vector corresponding to the time and space information.

[0153] Step S33: Align the phase of the voltage direction required for controlling the motor rotor based on the motor rotor angle synchronization vector corresponding to the time and space information to obtain the voltage direction vector matrix required for the motor rotor, where the voltage direction vector matrix required for the motor rotor includes the voltage direction vectors corresponding to the direct axis and cross-axis voltages at different angles;

[0154] In an embodiment of the present invention, by combining the obtained motor rotor angle synchronization vector, the phase of the voltage direction required for controlling the motor rotor is aligned. The core of this process is to match the voltage direction of the motor with the rotor angle synchronization vector to make the voltage direction consistent with the direction of the motor rotor magnetic field. In specific implementation, first calculate the voltage direction vector matrix required for the motor rotor. This matrix includes the voltage direction vectors of the direct axis voltage and cross-axis voltage at different angles. These voltage direction vectors are calculated according to 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 for the motor rotor is obtained, which includes the voltage direction vectors corresponding to the direct axis and cross-axis voltages at different angles.

[0155] Step S34: Calculate the corresponding amplitudes of the direct axis voltage control amount and the cross-axis voltage control amount to obtain the voltage control amplitude adjustment matrix of the motor rotor;

[0156] In an embodiment of the present invention, based on the previously determined voltage direction vector matrix required for the motor rotor, the amplitudes of the direct-axis voltage control quantity and the quadrature-axis voltage control quantity are further calculated. 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 operate smoothly under predetermined working conditions. At this time, the SVPWM module automatically adjusts the amplitudes of the d-axis and q-axis voltage control quantities according to the real-time working state of the motor. These amplitude adjustments are dynamically adjusted based on the rotor angle synchronous 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 achieving efficient motor drive. The calculated amplitude information forms the motor rotor voltage control amplitude adjustment matrix, which plays a key role in the subsequent SVPWM modulation process, and finally obtains the motor rotor voltage control amplitude adjustment matrix.

[0157] Step S35: According to the motor rotor voltage control amplitude adjustment matrix, the direct-axis voltage control quantity and the quadrature-axis voltage control quantity are subjected to SVPWM modulation processing to generate the motor rotor control SVPWM waveform.

[0158] In an embodiment of the present invention, based on the motor rotor voltage control amplitude adjustment matrix obtained in the previous step, space vector pulse width modulation (SVPWM) processing is performed on the direct-axis voltage control quantity and the quadrature-axis voltage control quantity of the motor. SVPWM is an effective pulse width modulation method that realizes precise control of the motor by converting the voltage control quantity of the motor into a PWM waveform. First, the SVPWM module takes the motor rotor voltage control amplitude adjustment matrix as the input, 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 signals 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 precisely control the voltage waveform of the motor, thereby controlling the torque output and dynamic response of the motor, enabling the motor to maintain a stable operating state at different working points. The generated SVPWM waveform is output to the motor through an inverter to achieve real-time control of the motor speed and direction, and finally generate the motor rotor control SVPWM waveform.

[0159] Furthermore, step S4 includes the following steps:

[0160] Step S41: Perform rotor angle normalization processing on the motor angle parameters at different time points to obtain the normalized motor rotor angle;

[0161] In the embodiment of the present invention, the motor angle parameters obtained by inverse solution calculation at different time points are subjected to angle normalization processing to map the actual rotor angle of the motor into a standardized interval, usually from 0 to 2π (or 0 to 360 degrees), ensuring that the rotor angles at different time points can be compared and analyzed on a unified scale, and finally obtaining the normalized angle of the motor rotor.

[0162] Step S42: Based on the normalized angle of the motor rotor, the direct-axis voltage control quantity and the quadrature-axis voltage control quantity are decoupled by rotor angle components to generate a decoupling matrix of the motor rotor voltage components;

[0163] In the embodiment of the present invention, by combining the previously normalized motor rotor normalized angle with the previously quantified direct-axis voltage control quantity and the quadrature-axis voltage control quantity component decoupling is performed to form a decoupling matrix. In this step, first, according to the previously normalized rotor angle, the direct-axis voltage (d-axis) and quadrature-axis voltage (q-axis) corresponding to each phase are subjected to component decoupling analysis. The decoupling of these components uses the mathematical model of the motor, and the accuracy of each axis component control is ensured by real-time updating of the rotor angle. The generation process of the decoupling matrix involves real-time obtaining the rotor angle of the motor and calculating the voltage control components of the direct axis and the quadrature axis according to this angle, and finally generating a decoupling matrix of the motor rotor voltage components.

[0164] Step S43: Synchronous modulation control calculation is performed on each motor winding phase voltage corresponding to the motor according to the decoupling matrix of the motor rotor voltage components to obtain the phase voltage control values applied to each motor winding;

[0165] In the embodiment of the present invention, the phase voltage control values of the motor windings are calculated through the decoupling matrix of the motor rotor voltage components. In this process, according to the motor rotor voltage components (d-axis and q-axis voltages) and the electrical parameters of the motor windings (such as winding inductance, impedance, etc.), the decoupled voltage components are converted into three-phase voltage control values of the motor windings through inverse transformation. In this process, the inverse Park transformation is usually used to restore the d-q axis voltage components to three-phase voltage values, and the specific formula is:

[0166] ;

[0167] ;

[0168] ;

[0169] where is the normalized angle of the motor rotor, is the direct-axis voltage control quantity, is the cross-axis voltage control quantity, , , are the three-phase voltage control values. The three-phase voltage control values obtained through this calculation can be directly applied to the motor windings to adjust the output characteristics of the motor, and finally obtain the phase voltage control values applied to each motor winding.

[0170] Step S44: Obtain the corresponding torque and magnetic field direction required by the motor rotor through the motor rotor-controlled SVPWM waveform, and perform duty cycle adjustment analysis on the phase voltage control values 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;

[0171] In the embodiment of the present invention, the corresponding torque and magnetic field direction required by the motor rotor are obtained from the previously modulated motor rotor-controlled SVPWM waveform, and the duty cycle of the voltage control value to be applied to the motor winding can be calculated by combining the corresponding torque and magnetic field direction. First, through the SVPWM waveform generation algorithm, the SVPWM waveform required by the motor is generated according to the phase voltage control value in the previous step. The duty cycle of this waveform (that is, the duty cycle of the signal waveform corresponding to the voltage control value in each phase orientation , where is the duration of the high-level state in the signal waveform, is the total period time of the signal waveform fluctuation) determines the torque magnitude of the motor and the direction of the magnetic field. Specifically, when implementing, first solve the torque and magnetic field direction required by the motor and map them to the duty cycle of the SVPWM waveform. The adjustment of the duty cycle is based on 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 precisely controlling the timing of each voltage component to enable the motor to maintain the best torque and magnetic field state in each operating state, and finally quantitatively calculate and generate the motor control duty cycle corresponding to each phase voltage.

[0172] Step S45: Simultaneously control the speeds and directions of the motors corresponding to each phase voltage according to the motor control duty cycle corresponding to each phase voltage.

[0173] In an embodiment of the present invention, 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 foregoing steps, the rotation speed and direction of the motor are simultaneously controlled. This process depends on the motor controller to adjust the duty cycle through closed-loop control according to the difference between the rotation speed setting of the motor and the actual feedback value, so as to adjust the output rotation speed of the motor. The controller adjusts the output of the phase voltage according to the rotation speed and direction requirements of the motor to ensure that the motor operates at a predetermined rotation speed and direction. Through closed-loop feedback control, it can quickly respond to factors such as changes in the motor load and external environment changes, and keep the motor working in an ideal state. For example, if the motor needs to rotate forward or backward, only the phase and amplitude of the duty cycle need to be adjusted to change the voltage waveform of the motor, thereby changing the rotation speed and direction of the motor. The motor control samples the rotation speed feedback of the motor in real time and compares it with the set value, and automatically adjusts the voltage duty cycle, so as to accurately control the operating state of the motor, and finally realize the simultaneous control of the rotation speed and direction corresponding to each motor.

[0174] 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. The control system for a motor includes:

[0175] An angle parameter inverse solution module, which is used for the motor main control unit MCU to obtain and receive the user-set corresponding target motor rotation speed, and perform angle parameter inverse solution assignment on the target motor rotation speed to obtain the motor angle parameter ;

[0176] A motor rotor load control calculation module, which is used to obtain the direct-axis direction current and the cross-axis direction current corresponding to the motor rotor, and use the motor main control unit MCU to perform motor load control calculation on the direct-axis direction current and the cross-axis direction current, so as to obtain the corresponding direct-axis voltage control amount under the motor load operating state and the cross-axis voltage control amount ;

[0177] An SVPWM waveform modulation module, which is used to transfer the motor angle parameter , the direct-axis voltage control amount and the cross-axis voltage control amount to the space vector pulse width modulation SVPWM module, and use the space vector pulse width modulation SVPWM module to perform SVPWM modulation processing on the motor angle parameter , the direct-axis voltage control amount and the cross-axis voltage control amount to generate a motor rotor control SVPWM waveform;

[0178] A motor rotation speed and direction unified control module, which is used to according to the motor angle parameter , the direct-axis voltage control amount and the cross-axis voltage control amount Determine the phase voltage control values applied to each motor winding; obtain the corresponding torque and magnetic field direction required by the motor rotor through the motor rotor-controlled SVPWM waveform, and perform duty cycle adjustment analysis on the phase voltage control values 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; simultaneously control the speeds and directions of the motors corresponding to each phase voltage according to the motor control duty cycle corresponding to each phase voltage.

[0179] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can 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 these embodiments shown herein, but rather 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 S1 comprises 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 ; 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 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.

3. The control method for a motor according to claim 2, 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.

4. The control method for a motor according to claim 2, characterized in that: The calculation formula of the angular velocity dynamic compensation coefficient 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.

5. 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 corresponding direct axis voltage control value under the motor load operation state. And the cross-axis voltage control quantity .

6. The control method for a motor according to claim 5, 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.

7. 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.

8. 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.

9. 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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