Open-loop control method, device and equipment of permanent magnet synchronous motor and medium

Abstract

The invention provides an open-loop control method and device for a permanent magnet synchronous motor, equipment and a medium. The method comprises the steps that the given frequency and the current given angle of a control system corresponding to the permanent magnet synchronous motor and the current direct-axis current fluctuation quantity and the current operation mode corresponding to the permanent magnet synchronous motor are obtained; according to the positive and negative characteristics of the gain coefficient corresponding to the current operation mode and the current direct-axis current fluctuation quantity, feedback compensation corresponding to the given frequency is calculated; according to the given frequency and feedback compensation, the latest given angle and the latest given voltage are calculated; and controlling the operation of the permanent magnet synchronous motor based on the newest given angle and given voltage. Feedback compensation can be carried out on the given frequency in combination with the current operation mode, then the given angle and the given voltage of the control system corresponding to the permanent magnet synchronous motor are adjusted, and the problems of motor overcurrent, instability and the like caused by torque and rotating speed oscillation of the permanent magnet synchronous motor under the medium-high speed or large load working condition are avoided.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and in particular to an open-loop control method, device, equipment and medium for a permanent magnet synchronous motor. Background Art

[0002] Permanent magnet synchronous motor is a synchronous motor that uses permanent magnets to generate magnetic fields. It has the advantages of high density, high efficiency, and high power factor, and is widely used in various fields such as new energy vehicles. The open-loop control of permanent magnet synchronous motor is a relatively simple control method, which mainly controls the operation of the motor by giving the motor voltage or frequency.

[0003] However, traditional open-loop control is prone to torque and speed oscillations under medium-speed or high-load conditions, eventually leading to serious problems such as motor overcurrent and instability. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide an open-loop control method, device, equipment and medium for a permanent magnet synchronous motor, which can perform feedback compensation on a given frequency in combination with the current operating mode, and then adjust the given angle and given voltage of the control system corresponding to the permanent magnet synchronous motor, thereby avoiding the occurrence of torque and speed oscillations in the permanent magnet synchronous motor under medium and high speed or high load conditions, leading to problems such as motor overcurrent and instability.

[0005] In a first aspect, an embodiment of the present application provides an open-loop control method for a permanent magnet synchronous motor, the open-loop control method for a permanent magnet synchronous motor comprising:

[0006] Obtaining a given frequency and a current given angle of a control system corresponding to the permanent magnet synchronous motor, as well as a current direct-axis current fluctuation and a current operating mode corresponding to the permanent magnet synchronous motor;

[0007] Calculate the feedback compensation corresponding to a given frequency according to the positive and negative gain coefficient corresponding to the current operating mode and the current direct-axis current fluctuation;

[0008] According to the given frequency and feedback compensation, the latest given angle and given voltage are calculated; and the operation of the permanent magnet synchronous motor is controlled based on the latest given angle and given voltage.

[0009] In a possible implementation, the feedback compensation corresponding to a given frequency is calculated according to the positive and negative value of the gain coefficient corresponding to the current operation mode and the current direct-axis current fluctuation, including:

[0010] The gain coefficient is determined according to the positive or negative nature of the gain coefficient corresponding to the current operation mode; the absolute value of the gain coefficient is a value corresponding to the cutoff frequency of the high-pass filter used to determine the current direct-axis current fluctuation amount; the cutoff frequency of the high-pass filter is determined based on the rated frequency corresponding to the permanent magnet synchronous motor;

[0011] The product of the gain coefficient and the current direct-axis current fluctuation is determined as the feedback compensation corresponding to the given frequency.

[0012] In a possible implementation, the method further includes:

[0013] If the current operation mode is electric operation mode, the gain coefficient is a negative number;

[0014] If the current operation mode is the power generation operation mode, the gain coefficient is a positive number.

[0015] In a possible implementation manner, the latest given voltage is calculated according to the given frequency and feedback compensation, including:

[0016] Substitute the given frequency and feedback compensation into the following formula to obtain the latest given voltage:

[0017]

[0018] Among them, U s is the latest given voltage, U N is the rated voltage of the permanent magnet synchronous motor, f s is the given frequency, Δf is the feedback compensation, f N is the rated frequency of the permanent magnet synchronous motor.

[0019] In a possible implementation manner, calculating the latest given angle according to the given frequency and feedback compensation includes:

[0020] Substitute the given frequency and feedback compensation into the following formula to obtain the latest given angle:

[0021] θ * =∫[2π(f s -Δf)]dt;

[0022] Among them, θ * is the latest given angle, and t is the time.

[0023] In a possible implementation manner, the current operating mode corresponding to the permanent magnet synchronous motor is determined by the following steps:

[0024] Get the current torque corresponding to the permanent magnet synchronous motor;

[0025] If the current torque is greater than or equal to 0, the current operation mode is the electric operation mode;

[0026] If the current torque is less than 0, the current operation mode is the power generation operation mode.

[0027] In a second aspect, an embodiment of the present application further provides an open-loop control device for a permanent magnet synchronous motor, the open-loop control device for a permanent magnet synchronous motor comprising:

[0028] An acquisition module is used to acquire a given frequency and a current given angle of a control system corresponding to the permanent magnet synchronous motor, as well as a current direct-axis current fluctuation amount and a current operating mode corresponding to the permanent magnet synchronous motor;

[0029] A calculation module, used to calculate the feedback compensation corresponding to a given frequency according to the positive and negative value of the gain coefficient corresponding to the current operation mode and the current direct-axis current fluctuation;

[0030] The calculation module is also used to calculate the latest given angle and given voltage according to the given frequency and feedback compensation; and control the operation of the permanent magnet synchronous motor based on the latest given angle and given voltage.

[0031] In one possible implementation, a calculation module is specifically used to determine a gain coefficient according to the positivity of the gain coefficient corresponding to a current operating mode; the absolute value of the gain coefficient is a numerical value corresponding to a cutoff frequency of a high-pass filter used to determine a current direct-axis current fluctuation; the cutoff frequency of the high-pass filter is determined based on a rated frequency corresponding to the permanent magnet synchronous motor; and the product of the gain coefficient and the current direct-axis current fluctuation is determined as feedback compensation corresponding to a given frequency.

[0032] In a possible implementation, the computing module is further configured to:

[0033] If the current operation mode is electric operation mode, the gain coefficient is a negative number;

[0034] If the current operation mode is the power generation operation mode, the gain coefficient is a positive number.

[0035] In a possible implementation manner, the calculation module is specifically configured to substitute the given frequency and the feedback compensation into the following formula to obtain the latest given voltage:

[0036]

[0037] Among them, U s is the latest given voltage, U N is the rated voltage of the permanent magnet synchronous motor, f s is the given frequency, Δf is the feedback compensation, f N is the rated frequency of the permanent magnet synchronous motor.

[0038] In a possible implementation manner, the calculation module is specifically configured to substitute the given frequency and the feedback compensation into the following formula to obtain the latest given angle:

[0039] θ * =∫[2π(fs -Δf)]dt;

[0040] Among them, θ * is the latest given angle, and t is the time.

[0041] In a possible implementation, the acquisition module is specifically used to acquire the current torque corresponding to the permanent magnet synchronous motor; if the current torque is greater than or equal to 0, the current operating mode is the electric operating mode; if the current torque is less than 0, the current operating mode is the power generation operating mode.

[0042] In the third aspect, an embodiment of the present application also provides an electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, when the electronic device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to perform the steps of the open-loop control method of a permanent magnet synchronous motor as described in any one of the first aspects.

[0043] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the open-loop control method of a permanent magnet synchronous motor as described in any one of the first aspects are executed.

[0044] The embodiment of the present application provides an open-loop control method, device, equipment and medium for a permanent magnet synchronous motor, the method comprising: obtaining a given frequency, a current given angle, and a current direct-axis current fluctuation amount and a current operating mode of a control system corresponding to the permanent magnet synchronous motor; calculating feedback compensation corresponding to a given frequency according to the positive and negative gain coefficient and the current direct-axis current fluctuation amount corresponding to the current operating mode; calculating the latest given angle and given voltage according to the given frequency and feedback compensation; and controlling the operation of the permanent magnet synchronous motor based on the latest given angle and given voltage. The present application can perform feedback compensation on a given frequency in combination with the current operating mode, and then adjust the given angle and given voltage of the control system corresponding to the permanent magnet synchronous motor, thereby avoiding the occurrence of problems such as overcurrent and instability of the motor caused by torque and speed oscillation of the permanent magnet synchronous motor under medium-high speed or high load conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1A flow chart of an open-loop control method for a permanent magnet synchronous motor provided in an embodiment of the present application is shown;

[0047] Figure 2 The schematic diagram of the open-loop control of the permanent magnet synchronous motor provided in the embodiment of the present application is shown;

[0048] Figure 3 A schematic structural diagram of an open-loop control device for a permanent magnet synchronous motor provided in an embodiment of the present application is shown;

[0049] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0050] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0051] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0052] In order to enable those skilled in the art to use the contents of this application, the following implementation is provided in conjunction with a specific application scenario, "motor control field". For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is mainly described around the "motor control field", it should be understood that this is only an exemplary embodiment.

[0053] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0054] An open-loop control method for a permanent magnet synchronous motor provided in an embodiment of the present application is described in detail below.

[0055] Reference Figure 1 As shown, it is a flow chart of an open-loop control method of a permanent magnet synchronous motor provided in an embodiment of the present application. The specific execution process of the open-loop control method of the permanent magnet synchronous motor is as follows:

[0056] S101, obtaining a given frequency and a current given angle of a control system corresponding to the permanent magnet synchronous motor, as well as a current direct-axis current fluctuation amount and a current operation mode corresponding to the permanent magnet synchronous motor.

[0057] S102 , calculating feedback compensation corresponding to a given frequency according to the positive and negative sign of the gain coefficient corresponding to the current operation mode and the current direct-axis current fluctuation.

[0058] S103. Calculate the latest given angle and given voltage according to the given frequency and feedback compensation; and control the operation of the permanent magnet synchronous motor based on the latest given angle and given voltage.

[0059] The embodiment of the present application provides an open-loop control method for a permanent magnet synchronous motor, the method comprising: obtaining a given frequency, a current given angle, and a current direct-axis current fluctuation amount and a current operating mode of a control system corresponding to the permanent magnet synchronous motor; calculating feedback compensation corresponding to the given frequency according to the positive and negative gain coefficient and the current direct-axis current fluctuation amount corresponding to the current operating mode; calculating the latest given angle and given voltage according to the given frequency and feedback compensation; and controlling the operation of the permanent magnet synchronous motor based on the latest given angle and given voltage. The present application can perform feedback compensation on the given frequency in combination with the current operating mode, and then adjust the given angle and given voltage of the control system corresponding to the permanent magnet synchronous motor, thereby avoiding the occurrence of problems such as overcurrent and instability of the motor caused by torque and speed oscillation of the permanent magnet synchronous motor under medium-high speed or high load conditions.

[0060] The following is a description of the exemplary steps of the present application embodiment:

[0061] S101, obtaining a given frequency and a current given angle of a control system corresponding to the permanent magnet synchronous motor, as well as a current direct-axis current fluctuation amount and a current operation mode corresponding to the permanent magnet synchronous motor.

[0062] In an embodiment of the present application, in response to a start command of a permanent magnet synchronous motor initiated by a control user, a given frequency corresponding to the permanent magnet synchronous motor input by the control user is obtained, and the latest given angle and given voltage are calculated based on the given frequency corresponding to the permanent magnet synchronous motor and the initial feedback compensation; wherein, when the permanent magnet synchronous motor is initially turned on, no current is generated, and there is no need to perform feedback compensation on the given frequency, so the initial feedback compensation is 0. Next, the operation of the permanent magnet synchronous motor is controlled based on the latest given angle and given voltage; then, during the operation of the permanent magnet synchronous motor, the given frequency, current given angle, current direct-axis current fluctuation amount and current operating mode corresponding to the permanent magnet synchronous motor are obtained according to preset control rules. The preset control rules can be real-time control or interval control. If it is real-time control, the given frequency, current given angle, current direct-axis current fluctuation amount and current operating mode corresponding to the permanent magnet synchronous motor are obtained in real time. If it is interval control, the given frequency, current given angle, current direct-axis current fluctuation amount and current operating mode corresponding to the permanent magnet synchronous motor are obtained according to preset time intervals;

[0063] Among them, the given frequency corresponding to the permanent magnet synchronous motor refers to the driving frequency required by the motor during operation; the given angle refers to the parameter used to describe the position and direction of the motor rotor in the control system of the permanent magnet synchronous motor. In the control system of the permanent magnet synchronous motor, the given frequency and given angle of the motor are very important parameters, which have a direct impact on the performance and operating stability of the motor.

[0064] Specifically, the current direct-axis current fluctuation corresponding to the permanent magnet synchronous motor is obtained through the following steps:

[0065] Step 1: Collect the current three-phase current i corresponding to the permanent magnet synchronous motor through the current sensor a 、i b 、i c , and based on the current given angle, the current three-phase current is transformed into the dq axis coordinates. The equation is as follows:

[0066]

[0067] Among them, i d is the current d-axis current (i.e., the current direct-axis current), i q is the current q-axis current (i.e. the current quadrature-axis current).

[0068] Step 2: Pass the current direct-axis current through a first-order high-pass filter HPF to obtain the current direct-axis current fluctuation.

[0069] In the implementation manner of the present application, the transfer function of the high-pass filter is as follows:

[0070]

[0071] Among them, X is the input of the high-pass filter (i.e., the current direct-axis current), Y is the output of the high-pass filter (i.e., the current direct-axis current fluctuation), s is the Laplace transform complex variable, and f c is the cut-off frequency of the high-pass filter. The cut-off frequency of the high-pass filter is determined based on the rated frequency corresponding to the permanent magnet synchronous motor, and can be 1 / 25 of the rated frequency corresponding to the permanent magnet synchronous motor.

[0072] Here, in signal processing, a high-pass filter (HPF) is used to allow signals above a certain cutoff frequency to pass through while attenuating signals below the cutoff frequency. The direct-axis current signal is passed through a first-order high-pass filter HPF.

[0073] In addition, the above high-pass filter is discretized using the bilinear transformation method, and the expression of the bilinear transformation method is as follows:

[0074]

[0075] Among them, T s To calculate the period, z is a complex frequency variable in the discrete time domain, z -1 The value of the complex frequency variable at the previous moment.

[0076] In the implementation manner of the present application, the process of discretizing the high-pass filter using the bilinear transformation method is as follows:

[0077]

[0078] therefore,

[0079] Specifically, the current operating mode corresponding to the permanent magnet synchronous motor is determined by the following steps: obtaining the current torque T corresponding to the permanent magnet synchronous motor e ; If the current torque is greater than or equal to 0, the current operating mode is the electric operating mode; if the current torque is less than 0, the current operating mode is the generating operating mode; the motoring and generating conditions of the permanent magnet synchronous motor (PMSM) are its two basic operating modes.

[0080] S102 , calculating feedback compensation corresponding to a given frequency according to the positive and negative sign of the gain coefficient corresponding to the current operation mode and the current direct-axis current fluctuation.

[0081] Specifically, the feedback compensation corresponding to a given frequency is calculated by the following steps:

[0082] Step 1: determine the gain coefficient according to the positivity of the gain coefficient corresponding to the current operating mode; the absolute value of the gain coefficient is a value corresponding to the cutoff frequency of the high-pass filter used to determine the current direct-axis current fluctuation; the cutoff frequency of the high-pass filter is determined based on the rated frequency corresponding to the permanent magnet synchronous motor.

[0083] In the implementation mode of the present application, if the current operation mode is the electric operation mode, the gain coefficient is a negative number; if the current operation mode is the power generation operation mode, the gain coefficient is a positive number. It can be specifically expressed by the following formula:

[0084]

[0085] Among them, k p is the gain factor, f c The cut-off frequency of the high-pass filter is determined based on the rated frequency of the permanent magnet synchronous motor, and can be 1 / 25 of the rated frequency of the permanent magnet synchronous motor.

[0086] Step 2: Determine the product of the gain coefficient and the current direct-axis current fluctuation as the feedback compensation corresponding to the given frequency.

[0087] In the implementation manner of the present application, the feedback compensation can be determined by the following formula:

[0088] Δf=k p ·Δi d ;

[0089] Where Δf is the feedback compensation corresponding to a given frequency, Δi d is the current direct-axis current fluctuation.

[0090] Here, this solution takes the current operation mode into consideration when determining the feedback compensation, thereby avoiding the problem of unstable operation of the permanent magnet synchronous motor in the power generation operation mode.

[0091] S103. Calculate the latest given angle and given voltage according to the given frequency and feedback compensation; and control the operation of the permanent magnet synchronous motor based on the latest given angle and given voltage.

[0092] Specifically, the given frequency and feedback compensation are substituted into the following formula to obtain the latest given voltage:

[0093]

[0094] Among them, U s is the latest given voltage, U N is the rated voltage of the permanent magnet synchronous motor, f s is the given frequency, Δf is the feedback compensation, f Nis the rated frequency of the permanent magnet synchronous motor.

[0095] Specifically, the given frequency and feedback compensation are substituted into the following formula to obtain the latest given angle:

[0096] θ * =∫[2π(f s -Δf)]dt;

[0097] Among them, θ * is the latest given angle, and t is the time.

[0098] Here, in addition to adjusting the given angle, the present application also adjusts the given voltage to avoid large torque fluctuations in the permanent magnet synchronous motor under the condition of load torque step.

[0099] Reference Figure 2 As shown, it is a principle structure diagram of the open-loop control of the permanent magnet synchronous motor provided in the embodiment of the present application. When the user initiates the start command of the permanent magnet synchronous motor, the latest given angle θ is calculated based on the given frequency corresponding to the permanent magnet synchronous motor and the initial feedback compensation. * And given voltage U s ; and set the given angle θ * And given voltage U s The input is modulated into the space vector pulse width modulation technology SVPWM and the corresponding pulse signal is output. The pulse signal is input into the inverter, which is processed accordingly and then input into the permanent magnet synchronous motor PMSM. During the operation of the permanent magnet synchronous motor, the current three-phase current is transformed into the dq axis coordinates based on the current given angle to obtain the current direct axis current i d ; The current direct axis current i d The current direct-axis current fluctuation Δi is obtained through a first-order high-pass filter HPF. d , according to the current torque T e Determine the current operating mode corresponding to the permanent magnet synchronous motor, and then determine the gain coefficient kp, and calculate the current direct axis current fluctuation Δi d Multiply by the gain coefficient kp to get the feedback compensation Δf. Finally, calculate the latest given angle θ based on the given frequency and feedback compensation. * And given voltage U s ; and based on the latest given angle θ * And given voltage U s Control the operation of permanent magnet synchronous motor.

[0100] Based on the same inventive concept, an open-loop control device of a permanent magnet synchronous motor corresponding to the open-loop control method of a permanent magnet synchronous motor is also provided in an embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the open-loop control method of the permanent magnet synchronous motor in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0101] Reference Figure 3 , which is a schematic diagram of an open-loop control device for a permanent magnet synchronous motor provided in an embodiment of the present application, the open-loop control device for the permanent magnet synchronous motor includes:

[0102] The acquisition module 301 is used to acquire a given frequency and a current given angle of a control system corresponding to the permanent magnet synchronous motor, and a current direct axis current fluctuation amount and a current operation mode corresponding to the permanent magnet synchronous motor;

[0103] A calculation module 302 is used to calculate the feedback compensation corresponding to a given frequency according to the positive and negative value of the gain coefficient corresponding to the current operation mode and the current direct-axis current fluctuation amount;

[0104] The calculation module 302 is further used to calculate the latest given angle and given voltage according to the given frequency and feedback compensation; and control the operation of the permanent magnet synchronous motor based on the latest given angle and given voltage.

[0105] In one possible implementation, the calculation module 302 is specifically used to determine the gain coefficient according to the positivity of the gain coefficient corresponding to the current operating mode; the absolute value of the gain coefficient is a numerical value corresponding to the cutoff frequency of the high-pass filter used to determine the current direct-axis current fluctuation amount; the cutoff frequency of the high-pass filter is determined based on the rated frequency corresponding to the permanent magnet synchronous motor; and the product of the gain coefficient and the current direct-axis current fluctuation amount is determined as the feedback compensation corresponding to the given frequency.

[0106] In a possible implementation, the calculation module 302 is further configured to:

[0107] If the current operation mode is electric operation mode, the gain coefficient is a negative number;

[0108] If the current operation mode is the power generation operation mode, the gain coefficient is a positive number.

[0109] In a possible implementation manner, the calculation module 302 is specifically configured to substitute the given frequency and the feedback compensation into the following formula to obtain the latest given voltage:

[0110]

[0111] Among them, U s is the latest given voltage, U n is the rated voltage of the permanent magnet synchronous motor, fs is the given frequency, Δf is the feedback compensation, f N is the rated frequency of the permanent magnet synchronous motor.

[0112] In a possible implementation manner, the calculation module 302 is specifically configured to substitute the given frequency and the feedback compensation into the following formula to obtain the latest given angle:

[0113] θ * =∫[2π(f s -Δf)]dt;

[0114] Among them, θ * is the latest given angle, and t is the time.

[0115] In a possible implementation, the acquisition module 301 is specifically used to acquire the current torque corresponding to the permanent magnet synchronous motor; if the current torque is greater than or equal to 0, the current operating mode is the electric operating mode; if the current torque is less than 0, the current operating mode is the power generation operating mode.

[0116] The embodiment of the present application provides an open-loop control device for a permanent magnet synchronous motor, the method comprising: an acquisition module 301, used to acquire a given frequency, a current given angle, and a current direct-axis current fluctuation amount and a current operating mode of a control system corresponding to the permanent magnet synchronous motor; a calculation module 302, used to calculate the feedback compensation corresponding to the given frequency according to the positive and negative gain coefficient and the current direct-axis current fluctuation amount corresponding to the current operating mode; the calculation module 302, further used to calculate the latest given angle and given voltage according to the given frequency and feedback compensation; and control the operation of the permanent magnet synchronous motor based on the latest given angle and given voltage. The present application can perform feedback compensation on the given frequency in combination with the current operating mode, and then adjust the given angle and given voltage of the control system corresponding to the permanent magnet synchronous motor, thereby avoiding the occurrence of problems such as overcurrent and instability of the motor caused by torque and speed oscillation of the permanent magnet synchronous motor under medium and high speed or large load conditions.

[0117] like Figure 4 As shown, an electronic device 400 provided in an embodiment of the present application includes: a processor 401, a memory 402 and a bus, the memory 402 stores machine-readable instructions executable by the processor 401, when the electronic device is running, the processor 401 and the memory 402 communicate through the bus, and the processor 401 executes the machine-readable instructions to perform the steps of the open-loop control method of the permanent magnet synchronous motor as mentioned above.

[0118] Specifically, the memory 402 and the processor 401 can be general-purpose memories and processors, which are not specifically limited here. When the processor 401 runs the computer program stored in the memory 402, the open-loop control method of the permanent magnet synchronous motor can be executed.

[0119] Corresponding to the above-mentioned open-loop control method of the permanent magnet synchronous motor, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned open-loop control method of the permanent magnet synchronous motor are executed.

[0120] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0121] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0123] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the information processing method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0124] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An open-loop control method for a permanent magnet synchronous motor, characterized in that: The method comprises: Obtaining a given frequency and a current given angle of a control system corresponding to the permanent magnet synchronous motor, as well as a current direct-axis current fluctuation amount and a current operating mode corresponding to the permanent magnet synchronous motor; Calculating feedback compensation corresponding to the given frequency according to the positive and negative gain coefficient corresponding to the current operating mode and the current direct-axis current fluctuation; According to the given frequency and the feedback compensation, the latest given angle and given voltage are calculated; and based on the latest given angle and given voltage, the operation of the permanent magnet synchronous motor is controlled.

2. The open-loop control method of a permanent magnet synchronous motor according to claim 1, characterized in that: Calculating the feedback compensation corresponding to the given frequency according to the positive and negative gain coefficient corresponding to the current operation mode and the current direct-axis current fluctuation amount, including: The gain coefficient is determined according to the positive or negative property of the gain coefficient corresponding to the current operation mode; the absolute value of the gain coefficient is a value corresponding to the cutoff frequency of the high-pass filter used to determine the current direct-axis current fluctuation amount; the cutoff frequency of the high-pass filter is determined based on the rated frequency corresponding to the permanent magnet synchronous motor; The product of the gain coefficient and the current direct-axis current fluctuation amount is determined as the feedback compensation corresponding to the given frequency.

3. The open-loop control method of a permanent magnet synchronous motor according to claim 2, characterized in that: The method further comprises: If the current operation mode is the electric operation mode, the gain coefficient is a negative number; If the current operation mode is the power generation operation mode, the gain coefficient is a positive number.

4. The open-loop control method of a permanent magnet synchronous motor according to claim 1, characterized in that: Calculating the latest given voltage according to the given frequency and the feedback compensation, including: Substituting the given frequency and the feedback compensation into the following formula, the latest given voltage is obtained: Among them, U s is the latest given voltage, U N is the rated voltage of the permanent magnet synchronous motor, f s is the given frequency, Δf is the feedback compensation, f N is the rated frequency of the permanent magnet synchronous motor.

5. The open-loop control method of a permanent magnet synchronous motor according to claim 4, characterized in that: Calculating the latest given angle according to the given frequency and the feedback compensation, including: Substituting the given frequency and the feedback compensation into the following formula, the latest given angle is obtained: θ * =∫[2π(f s -Δf)]dt; Among them, θ * is the latest given angle, and t is the time.

6. The open-loop control method of a permanent magnet synchronous motor according to any one of claims 1 to 3, characterized in that: The current operation mode corresponding to the permanent magnet synchronous motor is determined by the following steps: Obtaining a current torque corresponding to the permanent magnet synchronous motor; If the current torque is greater than or equal to 0, the current operation mode is the electric operation mode; If the current torque is less than 0, the current operation mode is a power generation operation mode.

7. An open-loop control device for a permanent magnet synchronous motor, characterized in that: The device comprises: An acquisition module is used to acquire a given frequency and a current given angle of a control system corresponding to the permanent magnet synchronous motor, as well as a current direct-axis current fluctuation amount and a current operation mode corresponding to the permanent magnet synchronous motor; A calculation module, used for calculating the feedback compensation corresponding to the given frequency according to the positive and negative values ​​of the gain coefficient corresponding to the current operation mode and the current direct-axis current fluctuation amount; The calculation module is also used to calculate the latest given angle and given voltage according to the given frequency and the feedback compensation; and control the operation of the permanent magnet synchronous motor based on the latest given angle and given voltage.

8. The open-loop control device for a permanent magnet synchronous motor according to claim 7, characterized in that: The computing module is specifically used for: The gain coefficient is determined according to the positive or negative property of the gain coefficient corresponding to the current operation mode; the absolute value of the gain coefficient is a value corresponding to the cutoff frequency of the high-pass filter used to determine the current direct-axis current fluctuation amount; the cutoff frequency of the high-pass filter is determined based on the rated frequency corresponding to the permanent magnet synchronous motor; The product of the gain coefficient and the current direct-axis current fluctuation amount is determined as the feedback compensation corresponding to the given frequency.

9. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the open-loop control method of the permanent magnet synchronous motor as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the open-loop control method of the permanent magnet synchronous motor according to any one of claims 1 to 6 are executed.

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