Permanent magnet synchronous motor control method and device, storage medium and electronic equipment

Abstract

The invention discloses a permanent magnet synchronous motor control method and device, a storage medium and electronic equipment, and the control method comprises the steps: obtaining the real-time rotating speed of a motor if the motor state of the motor is an open-loop state; if the real-time rotating speed meets the preset rotating speed threshold value, timing is started, and the current switching moment is obtained; calculating a current time weighting coefficient according to the current switching moment and a preset switching time constant; acquiring real-time virtual coordinate axis system information of the motor; calculating a target virtual angle and a target virtual quadrature-axis current of the motor according to the virtual coordinate axis system information and the current time weighting coefficient; the motor is controlled according to the target virtual angle and the target virtual quadrature-axis current, so that the state of the motor is switched to a pre-switching state; and if the current time weighting coefficient exceeds a preset coefficient threshold, switching the motor state to a closed-loop state. Smooth switching of the motor from the open-loop state and the pre-switching state to the closed-loop state in sequence is achieved, fluctuation of current, torque and rotating speed is avoided, and stability is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a permanent magnet synchronous motor control method, device, storage medium and electronic equipment. Background Art

[0002] In recent years, permanent magnet synchronous motors (PMSM) have been widely used in automotive thermal management systems due to their high reliability, high power density, and high efficiency. For example, water pumps are the power source of motor / battery cooling circuits, and electric compressors are the core components of air conditioning refrigeration and heating. To achieve effective control of PMSM speed and torque, traditional strategies often use speed / current dual closed-loop control schemes, and motor rotor position information is essential in the above schemes. In order to meet the requirements of automotive thermal management systems for cost, weight, and volume of components, a position sensorless PMSM control strategy is usually used, that is, using relevant information such as motor voltage and current to estimate the rotor position through a certain algorithm.

[0003] At present, there are two main methods for rotor position estimation: the high-frequency signal injection method based on the rotor salient pole effect, and the flux / back-EMF estimation method based on the motor fundamental frequency model (referred to as the model method). The former is limited by the fact that the frequency of the injected signal cannot be too high and its inherent characteristics such as high torque fluctuation and low control bandwidth. It is more suitable for low-speed occasions, but not for medium and high-speed occasions; the latter is a common method in the industry. Although the motor speed range applicable to the model method is higher, the model method will have the problem of inaccurate position estimation under low speed conditions due to the influence of the accuracy of flux / back-EMF estimation. Therefore, the industry currently adopts low-speed open-loop and high-speed closed-loop motor control solutions, that is, using corresponding strategies to make the motor rotate at low speeds, and then switching to a position-free control solution after reaching a certain speed (to ensure accurate flux or back-EMF estimation).

[0004] The current / frequency (I / F) open-loop starting scheme is widely used in the PMSM position sensorless open-loop acceleration process due to its simple algorithm and high reliability. Figure 1 As shown in the figure, this method introduces a virtual coordinate axis system in the open-loop stage, introduces a virtual angle θ′ in the virtual coordinate axis system to replace the actual angle θ, and applies a virtual quadrature axis (abbreviated as q axis) current i′ q The "drag" motor slowly accelerates and switches to closed loop after reaching a certain speed. During the startup phase (i.e. the motor is in open loop), the switch is in "1"; when switching to closed loop, the switch is in "2".

[0005] However, in the process of implementing I / F startup switching to position closed loop, the following problems may occur:

[0006] (1) Before the open-loop switch to the closed-loop, in order to minimize the difference between the actual rotor angle θ and the virtual angle θ′, and to avoid the sudden change of torque at the moment of switching, which may cause motor jitter and further induce motor noise, i′ is usually gradually reduced before switching. q , forcing the actual coordinate axis system to be close to the virtual coordinate axis system (current linear reduction method). However, due to the different actual operating conditions of the motor, i′ q The final value of is set to a constant, and the switching time can only be determined by setting the angle difference threshold, that is, satisfying Switching is performed when (ε is the set angle error threshold, = is the estimated angle). Since the mechanical time constant of the motor is much larger than the electrical constant, the adjustment of the angle difference is slower than the adjustment of the current. Switching based on the angle error threshold may not necessarily achieve the effect of theoretical analysis in engineering applications.

[0007] (2) When the open loop switches to the closed loop, if no processing is performed, since the initial value of the proportional integral (PI) of the speed loop is 0 at this time, the switching moment will cause large current, torque, and speed fluctuations, which is not conducive to the smooth operation of the motor. Therefore, in order to achieve smooth switching as much as possible, the initial value of the integral of the speed loop is usually set to a certain value before switching to the closed loop state (ideally, the q-axis current component in the actual coordinate axis system at the moment of switching). However, due to the different operating conditions of the motor (for example, the load torque of the water pump is different under different flow resistance environments), i q Theoretically, the angle error threshold ε and the virtual q-axis current i′ before switching can be used to calculate q Calculate the actual q-axis current component at this time However, since the speed loop bandwidth is generally much smaller than the current loop bandwidth, there may be errors in the calculation results, which deviate from the theoretical analysis, and it is impossible to achieve smooth switching between open loop and closed loop, which may easily cause current, torque and speed fluctuations. Summary of the invention

[0008] The purpose of this application is to overcome the shortcomings of the permanent magnet synchronous motor control in the prior art, which is that it is impossible to achieve smooth switching between open loop and closed loop, and is prone to current, torque, and speed fluctuations, and to provide a permanent magnet synchronous motor control method, device, storage medium and electronic equipment.

[0009] The technical solution of the present application provides a permanent magnet synchronous motor control method, comprising:

[0010] If the motor state of the motor is an open-loop state, obtaining the real-time rotation speed of the motor;

[0011] If the real-time speed meets the preset speed threshold, start timing to obtain the current switching time;

[0012] Calculating a current time weighting coefficient according to the current switching moment and a preset switching time constant;

[0013] Acquire real-time virtual coordinate axis information of the motor, wherein the real-time virtual coordinate axis information includes a real-time virtual angle, a motor estimated angle, a real-time virtual quadrature axis current, and a speed loop current output by a speed loop controller;

[0014] Calculating a target virtual angle and a target virtual quadrature-axis current of the motor according to the virtual coordinate axis information and the current time weighting coefficient;

[0015] Controlling the motor according to the target virtual angle and the target virtual quadrature-axis current, so that the motor state is switched to a pre-switching state, wherein the pre-switching state is between the open-loop state and the closed-loop state of the motor;

[0016] If the current time weighted coefficient exceeds a preset coefficient threshold, the motor state is switched to the closed-loop state.

[0017] Further, the calculating of the current time weighting coefficient according to the current switching moment and the preset switching time constant includes:

[0018] Obtaining a historical time weighting coefficient of a historical switching moment adjacent to the current switching moment;

[0019] The current time weighting coefficient is calculated according to the historical time weighting coefficient, the preset switching time constant, and the time interval difference between the current switching moment and the historical switching moment.

[0020] Further, the current time weighting coefficient is calculated according to the historical time weighting coefficient, the preset switching time constant, and the time interval difference between the current switching moment and the historical switching moment, including:

[0021] The current time weighting coefficient is calculated using the following formula:

[0022]

[0023] Wherein, K(t) is the current time weighting coefficient, K(t-1) is the historical time weighting coefficient, Δt is the time interval difference, and F K is the preset switching time constant.

[0024] Further, the calculating the target virtual angle and target virtual quadrature axis current of the motor according to the virtual coordinate axis information and the current time weighting coefficient includes:

[0025] Calculating the target virtual angle according to the current time weighting coefficient, the real-time virtual angle and the motor estimated angle;

[0026] The target virtual quadrature-axis current is calculated according to the current time weighting coefficient, the real-time virtual quadrature-axis current and the speed loop current.

[0027] Further, the calculating the target virtual angle and the target virtual quadrature-axis current of the motor according to the virtual coordinate axis information and the weighting coefficient includes:

[0028] The target virtual angle and the target virtual quadrature-axis current are calculated using the following formula:

[0029]

[0030] Among them, θ K is the target virtual angle, θ′ is the real-time virtual angle, The estimated angle for the motor, i q(K) is the target virtual quadrature axis current, i′ q is the real-time virtual quadrature axis current, i″ q is the speed loop current.

[0031] The technical solution of the present application also provides a permanent magnet synchronous motor control device, comprising:

[0032] A first acquisition unit, configured to acquire a real-time rotation speed of the motor when the motor state of the motor is an open-loop state;

[0033] A timing unit, configured to start timing if the real-time speed meets a preset speed threshold, and obtain a current switching time;

[0034] A first calculation unit, configured to calculate a current time weighting coefficient according to the current switching moment and a preset switching time constant;

[0035] A second acquisition unit is used to acquire real-time virtual coordinate axis information of the motor, wherein the real-time virtual coordinate axis information includes a real-time virtual angle, an estimated motor angle, a real-time virtual quadrature axis current, and a speed loop current output by a speed loop controller;

[0036] A second calculation unit, configured to calculate a target virtual angle and a target virtual quadrature-axis current of the motor according to the virtual coordinate axis system information and the current time weighting coefficient;

[0037] a first switching unit, configured to control the motor according to the target virtual angle and the target virtual quadrature-axis current, so that the motor state is switched to a pre-switching state, wherein the pre-switching state is between the open-loop state and the closed-loop state of the motor;

[0038] The second switching unit is used to switch the motor state to the closed-loop state if the current time weighted coefficient exceeds a preset coefficient threshold.

[0039] The technical solution of the present application also provides a storage medium, which stores computer instructions. When a computer executes the computer instructions, it is used to execute all the steps of the permanent magnet synchronous motor control method as described above.

[0040] The technical solution of the present application also provides an electronic device, including:

[0041] at least one processor; and,

[0042] a memory communicatively connected to the at least one processor; wherein,

[0043] The memory stores instructions that can be executed by the one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the permanent magnet synchronous motor control method as described above.

[0044] The technical solution of the present application also provides a vehicle, comprising the permanent magnet synchronous motor control device as described above; or the storage medium as described above; or the electronic device as described above.

[0045] After adopting the above technical scheme, the following beneficial effects are achieved: by adding pre-switching between the open-loop and closed-loop processes in the existing PMSM position sensorless control system and introducing a time weighting coefficient, the position error of the motor is reduced to zero before the closed-loop operation, and the output of the speed loop PI controller reaches the closed-loop state, thereby achieving smooth switching of the permanent magnet synchronous motor position sensorless control from the open-loop state, the pre-switching state to the closed-loop state process in sequence, avoiding current, torque, and speed fluctuations and improving stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The disclosure of the present application will become easier to understand with reference to the accompanying drawings. It should be understood that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present application. In the drawings:

[0047] Figure 1 It is a schematic diagram of the working principle structure of the existing permanent magnet synchronous motor control system;

[0048] Figure 2 It is a schematic diagram of the working principle structure of the permanent magnet synchronous motor control system of the present application;

[0049] Figure 3 This is a workflow diagram of a permanent magnet synchronous motor control method provided by an embodiment of the present application;

[0050] Figure 4 It is a structural schematic diagram of a permanent magnet synchronous motor control device provided by an embodiment of the present application;

[0051] Figure 5 It is a hardware structure diagram of an electronic device for controlling a permanent magnet synchronous motor provided by an embodiment of the present application. DETAILED DESCRIPTION

[0052] The specific implementation of the present application is further described below with reference to the accompanying drawings.

[0053] It is easy to understand that according to the technical solution of the present application, without changing the essential spirit of the present application, a variety of structural modes and implementation modes that can be replaced by those skilled in the art can be replaced with each other. Therefore, the following specific implementation modes and drawings are only exemplary descriptions of the technical solution of the present application, and should not be regarded as the entirety of the present application or as a limitation or restriction on the technical solution of the application.

[0054] The directional terms such as up, down, left, right, front, back, front, back, top, bottom, etc. mentioned or may be mentioned in this specification are defined relative to the structures shown in the drawings. They are relative concepts and may change accordingly according to their different positions and different usage conditions. Therefore, these or other directional terms should not be interpreted as restrictive terms. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0055] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above-mentioned in this application can be understood according to the specific circumstances.

[0056] The permanent magnet synchronous motor control method of the present application is mainly used in a PMSM position sensorless control system based on DC bus single resistor sampling, such as Figure 2 As shown, a third switching state is added on the basis of the open loop (state "1") and closed loop (state "2") in the existing PMSM position sensorless control system: pre-switching (state "3") to ensure a smoother switching state of the PMSM. The specific working process is as follows:

[0057] like Figure 3 As shown, an embodiment of the present application provides a permanent magnet synchronous motor control method, comprising:

[0058] Step S301: if the motor state of the motor is an open-loop state, obtain the real-time speed of the motor;

[0059] Step S302: If the real-time speed meets the preset speed threshold, start timing to obtain the current switching time;

[0060] Step S303: Calculate the current time weighting coefficient according to the current switching moment and the preset switching time constant;

[0061] Step S304: acquiring real-time virtual coordinate axis information of the motor, the real-time virtual coordinate axis information including real-time virtual angle, motor estimated angle, real-time virtual quadrature axis current and speed loop current output by speed loop controller;

[0062] Step S305: Calculating the target virtual angle and target virtual quadrature axis current of the motor according to the virtual coordinate axis information and the current time weighting coefficient;

[0063] Step S306: controlling the motor according to the target virtual angle and the target virtual quadrature-axis current, so that the motor state is switched to a pre-switching state, where the pre-switching state is between the open-loop state and the closed-loop state of the motor;

[0064] Step S307: If the current time weighted coefficient exceeds the preset coefficient threshold, the motor state is switched to a closed-loop state.

[0065] Specifically, before the motor runs, the rotor position of the motor is positioned to zero, and the motor state of the motor is switched to an open-loop state, i.e., state "1", ready to start, and the motor is started using an existing I / F starting method. The controller executes step S301 to obtain the real-time speed of the motor. After obtaining the real-time speed of the motor, the controller determines whether the real-time speed reaches a preset speed threshold. When the real-time speed is increased to the preset speed threshold using the existing I / F starting method, the controller executes step S302 to start timing and obtain the current switching time.

[0066] Then, the controller executes step S303 to calculate the current time weighting coefficient according to the current switching moment and the preset switching time constant;

[0067] Secondly, the controller executes step S304 to obtain the real-time virtual coordinate axis information of the motor, where the real-time virtual coordinate axis information includes the real-time virtual angle, the motor estimated angle, the real-time virtual quadrature axis current and the speed loop current output by the speed loop controller;

[0068] Again, the controller executes step S305 to calculate the target virtual angle and target virtual quadrature axis current of the motor according to the virtual coordinate axis system information and the current time weighting coefficient; then, the controller executes step S306 to control the motor according to the target virtual angle and the target virtual quadrature axis current, so that the motor state switches to the pre-switching state. The current time weighting coefficient increases with time at a rate of a preset switching time constant. From the perspective of the position signal switching process, this means that the motor estimated angle has an increasing proportion in the target virtual angle, while the proportion of the real-time virtual angle is decreasing. Assuming that the real-time virtual quadrature axis current remains unchanged, theoretically the actual current component of the q-axis will increase, and the increase in electromagnetic torque will lead to an increase in the motor speed. However, from the current switching process, the output of the speed loop PI controller accounts for an increasingly larger proportion of the target virtual quadrature axis current, while the initial output value of the speed loop PI controller is 0, which will cause the target virtual quadrature axis current to have a downward trend, thereby causing the actual q-axis current component to decrease. This will interact with the effect of the position signal switching and reach a new motor balance state. Before the motor is fully switched into the closed-loop state, the position error between the virtual coordinate axis system and the actual coordinate axis system will slowly decrease to 0. At the same time, the speed loop PI has already intervened in the reference current setting process in advance, and the output state of the speed loop PI controller has also gradually transitioned from 0 to the closed-loop steady state without causing fluctuations in the motor current, output torque, and speed.

[0069] Finally, the controller executes step S307 to determine whether the current time weighted coefficient exceeds the preset coefficient threshold. If so, the motor state is switched to the closed-loop state, thereby achieving smooth switching between open-loop and closed-loop that cannot be achieved in permanent magnet synchronous motor control, avoiding current, torque, and speed fluctuations and improving stability.

[0070] Among them, the preset speed threshold can be set according to the specific operating conditions of the motor, etc.

[0071] Among them, the preset switching time constant can be set according to the specific operating conditions of the motor, the speed tracking time requirements, etc. The preset switching time constant determines the duration of the entire pre-switching process, and the unit is seconds.

[0072] In this embodiment, by adding pre-switching between the open-loop and closed-loop processes in the existing PMSM position sensorless control system and introducing a time weighting coefficient, the position error of the motor is reduced to zero before the closed-loop operation, and the output of the speed loop PI controller reaches the closed-loop state, thereby realizing smooth switching of the permanent magnet synchronous motor position sensorless control from the open-loop state, the pre-switching state to the closed-loop state process in sequence, avoiding current, torque, and speed fluctuations and improving stability.

[0073] In one embodiment, step S303 includes:

[0074] Obtaining historical time weighting coefficients of historical switching moments adjacent to the current switching moment;

[0075] The current time weighting coefficient is calculated according to the historical time weighting coefficient, the preset switching time constant, and the time interval difference between the current switching moment and the historical switching moment.

[0076] Specifically, if the current switching moment is 0 (that is, the real-time speed of the motor has just reached the preset speed threshold), the historical time weighting coefficient is also 0. When calculating the time weighting coefficient of the next switching moment, the current time weighting coefficient will become the historical time weighting coefficient, thereby achieving the accuracy of the time weighting coefficient calculation and further improving stability.

[0077] In one embodiment, in order to facilitate the calculation of the time weighting coefficient and further improve the accuracy and stability, the current time weighting coefficient is calculated according to the historical time weighting coefficient, the preset switching time constant, and the time interval difference between the current switching moment and the historical switching moment, including:

[0078] The current time weighting coefficient is calculated using the following formula:

[0079]

[0080] Among them, K(t) is the current time weighting coefficient, K(t-1) is the historical time weighting coefficient, Δt is the time interval difference, and F K To preset the switching time constant.

[0081] In one embodiment, in order to further improve the accuracy and stability of the calculation of the target virtual angle and the target virtual quadrature-axis current, step S305 includes:

[0082] Calculate the target virtual angle according to the current time weighting coefficient, the real-time virtual angle and the motor estimated angle;

[0083] The target virtual quadrature-axis current is calculated according to the current time weighting coefficient, the real-time virtual quadrature-axis current and the speed loop current.

[0084] Specifically,

[0085] In one embodiment, in order to facilitate the calculation of the target virtual angle and the target virtual quadrature-axis current and further improve the accuracy and stability, step S305 includes:

[0086] The target virtual angle and target virtual quadrature-axis current are calculated using the following formula:

[0087]

[0088] Among them, θ K is the target virtual angle, θ′ is the real-time virtual angle, is the estimated angle of the motor, i q(K) is the target virtual quadrature axis current, i′ q is the real-time virtual quadrature axis current, i″ q is the speed loop current.

[0089] like Figure 4 As shown, an embodiment of the present application further provides a permanent magnet synchronous motor control device, comprising:

[0090] A first acquisition unit 401 is used to acquire a real-time rotation speed of the motor if the motor state of the motor is an open-loop state;

[0091] A timing unit 402, for starting timing to obtain a current switching time if the real-time speed meets a preset speed threshold;

[0092] A first calculation unit 403, configured to calculate a current time weighting coefficient according to a current switching moment and a preset switching time constant;

[0093] A second acquisition unit 404 is used to acquire real-time virtual coordinate axis information of the motor, where the real-time virtual coordinate axis information includes a real-time virtual angle, an estimated motor angle, a real-time virtual quadrature axis current, and a speed loop current output by a speed loop controller;

[0094] The second calculation unit 405 is used to calculate the target virtual angle and target virtual quadrature axis current of the motor according to the virtual coordinate axis system information and the current time weighting coefficient;

[0095] A first switching unit 406, configured to control the motor according to the target virtual angle and the target virtual quadrature-axis current, so that the motor state is switched to a pre-switching state, where the pre-switching state is between an open-loop state and a closed-loop state of the motor;

[0096] The second switching unit 407 is used to switch the motor state to a closed-loop state if the current time weighted coefficient exceeds a preset coefficient threshold.

[0097] In this embodiment, by adding pre-switching between the open-loop and closed-loop processes in the existing PMSM position sensorless control system and introducing a time weighting coefficient, the position error of the motor is reduced to zero before the closed-loop operation, and the output of the speed loop PI controller reaches the closed-loop state, thereby realizing smooth switching of the permanent magnet synchronous motor position sensorless control from the open-loop state, the pre-switching state to the closed-loop state process in sequence, avoiding current, torque, and speed fluctuations and improving stability.

[0098] In one embodiment, the first computing unit 403 is further configured to:

[0099] Obtaining historical time weighting coefficients of historical switching moments adjacent to the current switching moment;

[0100] The current time weighting coefficient is calculated according to the historical time weighting coefficient, the preset switching time constant, and the time interval difference between the current switching moment and the historical switching moment.

[0101] In one embodiment, the first computing unit 403 is further configured to:

[0102] The current time weighting coefficient is calculated using the following formula:

[0103]

[0104] Among them, K(t) is the current time weighting coefficient, K(t-1) is the historical time weighting coefficient, Δt is the time interval difference, and F K To preset the switching time constant.

[0105] In one embodiment, the second computing unit 405 is further configured to:

[0106] Calculate the target virtual angle according to the current time weighting coefficient, the real-time virtual angle and the motor estimated angle;

[0107] The target virtual quadrature-axis current is calculated according to the current time weighting coefficient, the real-time virtual quadrature-axis current and the speed loop current.

[0108] Specifically,

[0109] In one embodiment, the second computing unit 405 is further configured to:

[0110] The target virtual angle and target virtual quadrature-axis current are calculated using the following formula:

[0111]

[0112] Among them, θ K is the target virtual angle, θ′ is the real-time virtual angle, is the estimated angle of the motor, i q(K) is the target virtual quadrature axis current, i′ q is the real-time virtual quadrature axis current, i″ q is the speed loop current.

[0113] The technical solution of the present application also provides a storage medium, which stores computer instructions. When a computer executes the computer instructions, it is used to execute all steps of the permanent magnet synchronous motor control method in any of the aforementioned embodiments.

[0114] Figure 5 An electronic device of the present application is shown, comprising:

[0115] at least one processor 501; and,

[0116] A memory 502 is communicatively connected to the at least one processor 501; wherein,

[0117] The memory 502 stores instructions that can be executed by the at least one processor 501, and the instructions are executed by the at least one processor 501 so that the at least one processor 501 can execute all steps of the permanent magnet synchronous motor control method in any of the aforementioned method embodiments.

[0118] The electronic device is preferably an on-board electronic control unit (ECU), and further a microcontroller unit (MCU) in the on-board electronic control unit.

[0119] Figure 5 Take a processor 501 as an example:

[0120] The electronic device may further include: an input device 503 and an output device 504 .

[0121] The processor 501, the memory 502, the input device 503 and the output device 504 may be connected via a bus or other means, and the figure takes the connection via a bus as an example.

[0122] The memory 502 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the permanent magnet synchronous motor control method in the embodiment of the present application, for example, Figure 3 The processor 501 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 502, that is, the permanent magnet synchronous motor control method in the above embodiment is implemented.

[0123] The memory 502 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created according to the use of the permanent magnet synchronous motor control method, etc. In addition, the memory 502 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 502 may optionally include a memory remotely arranged relative to the processor 501, and these remote memories may be connected to a device for executing the permanent magnet synchronous motor control method via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0124] The input device 503 can receive user clicks and generate signal inputs related to user settings and function control of the permanent magnet synchronous motor control method. The output device 504 can include display devices such as display screens.

[0125] The one or more modules are stored in the memory 502 , and when executed by the one or more processors 501 , the permanent magnet synchronous motor control method in any of the above method embodiments is executed.

[0126] The technical solution of the present application also provides a vehicle, comprising the permanent magnet synchronous motor control device as described above; or the storage medium as described above; or the electronic device as described above.

[0127] The above description is only the principle and preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this field, the implementation methods obtained by appropriately combining the technical solutions disclosed in different embodiments are also included in the technical scope of the present invention. On the basis of the principle of the present application, several other variations can be made, which should also be regarded as the protection scope of the present application.

Claims

1. A permanent magnet synchronous motor control method, characterized in that: include: If the motor state of the motor is an open-loop state, obtaining the real-time rotation speed of the motor; If the real-time speed meets the preset speed threshold, start timing to obtain the current switching time; Calculating a current time weighting coefficient according to the current switching moment and a preset switching time constant; Acquire real-time virtual coordinate axis information of the motor, wherein the real-time virtual coordinate axis information includes a real-time virtual angle, a motor estimated angle, a real-time virtual quadrature axis current, and a speed loop current output by a speed loop controller; Calculating a target virtual angle and a target virtual quadrature-axis current of the motor according to the virtual coordinate axis information and the current time weighting coefficient; Controlling the motor according to the target virtual angle and the target virtual quadrature-axis current, so that the motor state is switched to a pre-switching state, wherein the pre-switching state is between the open-loop state and the closed-loop state of the motor; If the current time weighted coefficient exceeds a preset coefficient threshold, the motor state is switched to the closed-loop state.

2. The permanent magnet synchronous motor control method according to claim 1, characterized in that: The calculating the current time weighting coefficient according to the current switching moment and the preset switching time constant includes: Obtaining a historical time weighting coefficient of a historical switching moment adjacent to the current switching moment; The current time weighting coefficient is calculated according to the historical time weighting coefficient, the preset switching time constant, and the time interval difference between the current switching moment and the historical switching moment.

3. The permanent magnet synchronous motor control method according to claim 2, characterized in that: The calculating the current time weighting coefficient according to the historical time weighting coefficient, the preset switching time constant, and the time interval difference between the current switching moment and the historical switching moment includes: The current time weighting coefficient is calculated using the following formula: Wherein, K(t) is the current time weighting coefficient, K(t-1) is the historical time weighting coefficient, Δt is the time interval difference, and F K is the preset switching time constant.

4. The permanent magnet synchronous motor control method according to claim 2 or 3, characterized in that: The step of calculating the target virtual angle and the target virtual quadrature axis current of the motor according to the virtual coordinate axis system information and the current time weighting coefficient includes: Calculating the target virtual angle according to the current time weighting coefficient, the real-time virtual angle and the motor estimated angle; The target virtual quadrature-axis current is calculated according to the current time weighting coefficient, the real-time virtual quadrature-axis current and the speed loop current.

5. The permanent magnet synchronous motor control method according to claim 4, characterized in that: The step of calculating the target virtual angle and the target virtual quadrature axis current of the motor according to the virtual coordinate axis system information and the weighting coefficient includes: The target virtual angle and the target virtual quadrature-axis current are calculated using the following formula: Among them, θ K is the target virtual angle, θ′ is the real-time virtual angle, The estimated angle for the motor, i q(K) is the target virtual quadrature axis current, i′ q is the real-time virtual quadrature axis current, i″ q is the speed loop current.

6. A permanent magnet synchronous motor control device, characterized in that: include: A first acquisition unit, configured to acquire a real-time rotation speed of the motor when the motor state of the motor is an open-loop state; A timing unit, configured to start timing if the real-time speed meets a preset speed threshold, and obtain a current switching time; A first calculation unit, configured to calculate a current time weighting coefficient according to the current switching moment and a preset switching time constant; A second acquisition unit is used to acquire real-time virtual coordinate axis information of the motor, wherein the real-time virtual coordinate axis information includes a real-time virtual angle, an estimated motor angle, a real-time virtual quadrature axis current, and a speed loop current output by a speed loop controller; A second calculation unit, configured to calculate a target virtual angle and a target virtual quadrature-axis current of the motor according to the virtual coordinate axis system information and the current time weighting coefficient; a first switching unit, configured to control the motor according to the target virtual angle and the target virtual quadrature-axis current, so that the motor state is switched to a pre-switching state, wherein the pre-switching state is between the open-loop state and the closed-loop state of the motor; The second switching unit is used to switch the motor state to the closed-loop state if the current time weighted coefficient exceeds a preset coefficient threshold.

7. A storage medium, characterized in that: The storage medium stores computer instructions, and when a computer executes the computer instructions, it is used to execute all steps of the permanent magnet synchronous motor control method as described in any one of claims 1 to 5.

8. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the permanent magnet synchronous motor control method as described in any one of claims 1-5.

9. A vehicle, characterized in that: It includes the permanent magnet synchronous motor control device as claimed in claim 6; or the storage medium as claimed in claim 7; or the electronic device as claimed in claim 8.

Images