Permanent magnet synchronous motor control methods, devices, storage media and electronic equipment

Abstract

This application discloses a control method, device, storage medium, and electronic device for a permanent magnet synchronous motor. The control method includes: if the motor is in an open-loop state, acquiring the real-time speed of the motor; if the real-time speed meets a preset speed threshold, starting a timer to obtain the current switching moment; calculating a current time weighting coefficient based on the current switching moment and a preset switching time constant; acquiring the real-time virtual coordinate axis information of the motor; calculating the target virtual angle and target virtual quadrature axis current of the motor based on the virtual coordinate axis information and the current time weighting coefficient; controlling the motor based on the target virtual angle and target virtual quadrature axis current to switch the motor state to a pre-switching state; if the current time weighting coefficient exceeds a preset coefficient threshold, switching the motor state to a closed-loop state. This achieves a smooth switching of the motor from an open-loop state, a pre-switching state, to a closed-loop state, avoiding fluctuations in current, torque, and speed, and improving stability.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a method, apparatus, storage medium, and electronic device for controlling a permanent magnet synchronous motor. Background Technology

[0002] In recent years, permanent magnet synchronous motors (PMSMs) have been widely used in automotive thermal management systems due to their high reliability, high power density, and high efficiency. Examples include the water pump, the power source for the motor / battery cooling circuit, and the electric compressor, a core component of air conditioning systems. To achieve effective control of PMSM speed and torque, traditional strategies often employ a dual closed-loop control scheme for both speed and current, where rotor position information is essential. To meet the cost, weight, and size requirements of automotive thermal management systems, sensorless PMSM control strategies are typically used. This involves estimating the rotor position using information such as motor voltage and current through a specific algorithm.

[0003] Currently, there are two main rotor position estimation methods: the high-frequency signal injection method based on rotor salient pole effect and the flux linkage / back EMF estimation method based on motor fundamental frequency model (referred to as the model method). The former is limited by the frequency of the injected signal, which cannot be too high, and its inherent characteristics such as high torque fluctuation and low control bandwidth, making it more suitable for low-speed applications and not suitable for medium and high-speed applications; the latter is the commonly used method in the industry. Although the model method is applicable to a wider range of motor speeds, at low speeds, the accuracy of flux linkage / back EMF estimation can lead to inaccurate position estimation. Therefore, the industry currently adopts a motor control scheme of open-loop at low speeds and closed-loop at high speeds. That is, at low speeds, appropriate strategies are used to get the motor running, and after reaching a certain speed (ensuring accurate flux linkage or back EMF estimation), the system switches to a position-free control scheme.

[0004] Current / frequency (I / F) open-loop startup schemes are widely used in sensorless open-loop acceleration processes of PMSMs due to their simple algorithm and high reliability. For example... Figure 1 As shown, this method introduces a virtual coordinate system in the open-loop phase, replacing the actual angle θ with a virtual angle θ′ in the virtual coordinate system, while simultaneously applying a virtual quadrature axis (q-axis) current i′. q The motor is gradually accelerated, and after reaching a certain speed, it switches to closed loop. During the start-up phase (i.e., when the motor is in open loop), the switch is in position "1"; when switching to closed loop, the switch is in position "2".

[0005] However, the following problems may arise during the process of switching from I / F start-up to position closed loop:

[0006] (1) Before switching from open-loop to closed-loop, in order to minimize the difference between the actual rotor angle θ and the virtual angle θ′, and to avoid sudden torque changes during switching that could cause motor jitter and thus motor noise, i′ is usually gradually reduced before switching. q This forces the actual coordinate system to approach the virtual coordinate system (the linear reduction of current method). However, due to the different actual operating conditions of the motor, it is not possible to reduce i′... q The final value is set to a constant, and the switching time can only be determined by setting an angle difference threshold, i.e., satisfying... Switching is performed at specific times (ε is the set angle error threshold). (For estimating the angle). Since the mechanical time constant of a motor is much larger than its electrical constant, adjusting the angle difference is slower than adjusting the current. Switching based on the angle error threshold may not achieve the same effect as the theoretical analysis in engineering applications.

[0007] (2) When switching from open-loop to closed-loop, without any processing, the initial value of the proportional integral (PI) of the speed loop is 0, which will cause large fluctuations in current, torque, and speed at the moment of switching, which is not conducive to the smooth operation of the motor. Therefore, in order to achieve a smoother switching as much as possible, the initial value of the speed loop integral is usually set to a certain value before switching to the closed-loop state (ideally, it is the q-axis current component in the actual coordinate system at the moment of switching). However, due to different motor operating conditions (for example, the load torque of a water pump varies under different flow resistance environments), i q They are not entirely the same; theoretically, it can be achieved by utilizing the angle error threshold ε and the virtual q-axis current i′ before switching. q Calculate the actual q-axis current component at this time. However, due to the fact that the bandwidth of the speed loop is generally much smaller than that of the current loop, the calculation results may contain errors and deviate from the theoretical analysis. It is impossible to achieve a smooth switch between open and closed loops, and fluctuations in current, torque, and speed are likely to occur. Summary of the Invention

[0008] The purpose of this application is to overcome the shortcomings of existing permanent magnet synchronous motor control technology, which cannot achieve smooth switching between open-loop and closed-loop control and is prone to fluctuations in current, torque, and speed, and to provide a permanent magnet synchronous motor control method, device, storage medium, and electronic device.

[0009] The technical solution of this application provides a permanent magnet synchronous motor control method, including:

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

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

[0012] The current time weighting coefficient is calculated based on the current switching time and the preset switching time constant;

[0013] The real-time virtual coordinate axis information of the motor is obtained, including the real-time virtual angle, the estimated angle of the motor, the real-time virtual cross-axis current, and the speed loop current output by the speed loop controller.

[0014] The target virtual angle and target virtual cross-axis current of the motor are calculated based on the virtual coordinate system information and the current time weighting coefficient.

[0015] The motor is controlled 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, which is located between the open-loop state and the closed-loop state of the motor.

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

[0017] Furthermore, the step of calculating the current time weighting coefficient based on the current handover time and the preset handover time constant includes:

[0018] Obtain the historical time weighting coefficients of historical handover times adjacent to the current handover time;

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

[0020] Furthermore, calculating the current time weighting coefficient based on the historical time weighting coefficient, the preset switching time constant, and the time interval difference between the current switching time and the historical switching time includes:

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

[0022]

[0023] Where 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 The preset switching time constant is denoted as .

[0024] Furthermore, the step of calculating the target virtual angle and target virtual quadrature-axis current of the motor based on the virtual coordinate system information and the current time weighting coefficient includes:

[0025] The target virtual angle is calculated based on the current time weighting coefficient, the real-time virtual angle, and the estimated motor angle.

[0026] The target virtual cross-axis current is calculated based on the current time weighting coefficient, the real-time virtual cross-axis current, and the velocity loop current.

[0027] Furthermore, the step of calculating the target virtual angle and target virtual quadrature-axis current of the motor based on the virtual coordinate system information and the weighting coefficients includes:

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

[0029]

[0030] Where, θ K θ' is the target virtual angle, and θ′ is the real-time virtual angle. Estimate the angle for the motor, i q(K) Let i′ be the target virtual quadrature-axis current. q Let i″ be the real-time virtual quadrature-axis current. q The velocity loop current is mentioned.

[0031] The technical solution of this application also provides a permanent magnet synchronous motor control device, including:

[0032] The first acquisition unit is used to acquire the real-time speed of the motor when the motor state is an open-loop state.

[0033] A timing unit is used to start timing and obtain the current switching time if the real-time rotation speed meets a preset rotation speed threshold.

[0034] The first calculation unit is used to calculate the current time weighting coefficient based on the current switching time and the preset switching time constant;

[0035] The second acquisition unit is used to acquire the real-time virtual coordinate axis information of the motor, which includes real-time virtual angle, estimated motor angle, real-time virtual cross-axis current, and speed loop current output by the speed loop controller.

[0036] The second calculation unit is used to calculate the target virtual angle and target virtual cross-axis current of the motor based on the virtual coordinate axis information and the current time weighting coefficient.

[0037] The first switching unit is used 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, the pre-switching state being 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 weighting coefficient exceeds a preset coefficient threshold.

[0039] The technical solution of this application also provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all the steps of the permanent magnet synchronous motor control method described above.

[0040] The technical solution of this 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 processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the permanent magnet synchronous motor control method as described above.

[0044] The technical solution of this application also provides a vehicle, including 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] The above technical solution has the following beneficial effects: By adding a pre-switching process between the open-loop and closed-loop processes in the existing PMSM sensorless control system and introducing a time weighting coefficient, the position error of the motor is reduced to zero before closed-loop operation, and the output of the speed loop PI controller reaches the closed-loop state. This realizes the smooth switching of the sensorless control of the permanent magnet synchronous motor from the open-loop state, the pre-switching state to the closed-loop state, avoiding fluctuations in current, torque, and speed, and improving stability. Attached Figure Description

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

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

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

[0049] Figure 3 This is a flowchart illustrating a permanent magnet synchronous motor control method according to an embodiment of this application;

[0050] Figure 4 This is a schematic diagram of the structure of a permanent magnet synchronous motor control device provided in one embodiment of this application;

[0051] Figure 5 This is a schematic diagram of the hardware structure of an electronic device for controlling a permanent magnet synchronous motor, provided in one embodiment of this application. Detailed Implementation

[0052] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0053] It is readily understood that, based on the technical solution of this application, various structural and implementation methods can be interchanged by those skilled in the art without altering the essential spirit of this application. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this application and should not be considered as the entirety of this application or as limitations or restrictions on the technical solution of the application.

[0054] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. These are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meanings of the above in this application according to the specific circumstances.

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

[0057] like Figure 3 As shown, one embodiment of this application provides a permanent magnet synchronous motor control method, including:

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

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

[0060] Step S303: Calculate the current time weighting coefficient based on the current handover time and the preset handover time constant;

[0061] Step S304: Obtain the real-time virtual coordinate axis information of the motor. The real-time virtual coordinate axis information includes the real-time virtual angle, the estimated angle of the motor, the real-time virtual quadrature axis current, and the speed loop current output by the speed loop controller.

[0062] Step S305: Calculate the target virtual angle and target virtual quadrature current of the motor based on the virtual coordinate system information and the current time weighting coefficient;

[0063] Step S306: Control the motor according to the target virtual angle and the target virtual quadrature axis current, so that the motor state is switched to the pre-switching state, which is located between the open-loop state and the closed-loop state of the motor.

[0064] Step S307: If the current time weighting coefficient exceeds the preset coefficient threshold, switch the motor state to closed-loop state.

[0065] Specifically, before the motor runs, the rotor position is set to zero, and the motor state is switched to open-loop state, i.e., state "1", ready to start. The motor is started using the 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, the controller determines whether the real-time speed has reached the 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 based on the current switching time 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. The real-time virtual coordinate axis information includes the real-time virtual angle, the estimated angle of the motor, the real-time virtual cross-axis current, and the speed loop current output by the speed loop controller.

[0068] Next, the controller executes step S305 to calculate the target virtual angle and target virtual quadrature-axis current of the motor based on the virtual coordinate system information and the current time weighting coefficient. Then, the controller executes step S306 to control the motor based on the target virtual angle and target virtual quadrature-axis current, causing the motor state to switch to the pre-switching state. The current time weighting coefficient increases at a rate equal to the preset switching time constant over time. From the perspective of the position signal switching process, this means that the estimated angle of the motor has an increasingly larger proportion in the target virtual angle, while the proportion of the real-time virtual angle has an increasingly smaller proportion. Assuming the real-time virtual quadrature-axis current remains constant, theoretically the actual q-axis current component will increase, leading to an increase in electromagnetic torque and thus an increase in motor speed. However, from the perspective of the current switching process, the output of the speed loop PI controller has an increasingly larger proportion in the target virtual quadrature-axis current, while the initial value of the speed loop PI controller output is 0. This will cause the target virtual quadrature-axis current to tend to decrease, which in turn will lead to a decrease in the actual q-axis current component. This will interact with the effect of position signal switching and achieve a new motor equilibrium state. Before the motor fully enters the closed-loop state, the position error between the virtual coordinate axis system and the actual coordinate axis system will gradually decrease to 0. At the same time, the speed loop PI has already intervened in the reference current tuning process in advance, and the output state of the speed loop PI controller gradually transitions from 0 to the closed-loop steady state without causing fluctuations in motor current, output torque, and speed.

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

[0070] The preset speed threshold can be set according to the specific operating conditions of the motor.

[0071] The preset switching time constant can be set according to the specific operating conditions of the motor and the speed tracking time requirements. 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 a pre-switching process between the open-loop and closed-loop processes in the existing PMSM 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. This achieves a smooth transition of the sensorless control of the permanent magnet synchronous motor from the open-loop state, the pre-switching state to the closed-loop state, avoiding fluctuations in current, torque, and speed, and improving stability.

[0073] In one embodiment, step S303 includes:

[0074] Obtain the historical time-weighted coefficients of historical handover times adjacent to the current handover time;

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

[0076] Specifically, if the current switching time is 0 (i.e., 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 for the next switching time, the current time weighting coefficient will become the historical time weighting coefficient, thereby improving the accuracy of the time weighting coefficient calculation and further enhancing stability.

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

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

[0079]

[0080] Where 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 This is the preset switching time constant.

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

[0082] The target virtual angle is calculated based on the current time weighting coefficient, the real-time virtual angle, and the motor estimated angle.

[0083] The target virtual cross-axis current is calculated based on the current time weighting coefficient, the real-time virtual cross-axis current, and the velocity loop current.

[0084] Specifically,

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

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

[0087]

[0088] Where, θ K θ' is the target virtual angle, and θ′ is the real-time virtual angle. To estimate the angle of the motor, i q(K) For the target virtual quadrature-axis current, i′ q For real-time virtual quadrature-axis current, i″ q This is the velocity loop current.

[0089] like Figure 4 As shown, one embodiment of this application also provides a permanent magnet synchronous motor control device, including:

[0090] The first acquisition unit 401 is used to acquire the real-time speed of the motor when the motor state is an open-loop state.

[0091] The timing unit 402 is used to start timing if the real-time rotation speed meets the preset rotation speed threshold, so as to obtain the current switching time.

[0092] The first calculation unit 403 is used to calculate the current time weighting coefficient based on the current switching time and the preset switching time constant;

[0093] The second acquisition unit 404 is used to acquire the real-time virtual coordinate axis information of the motor. The real-time virtual coordinate axis information includes the real-time virtual angle, the estimated angle of the motor, the real-time virtual cross-axis current, and the speed loop current output by the speed loop controller.

[0094] The second calculation unit 405 is used to calculate the target virtual angle and target virtual cross-axis current of the motor based on the virtual coordinate axis information and the current time weighting coefficient.

[0095] The first switching unit 406 is used 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 the pre-switching state, which is located between the open-loop state and the closed-loop state of the motor.

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

[0097] In this embodiment, by adding a pre-switching process between the open-loop and closed-loop processes in the existing PMSM 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. This achieves a smooth transition of the sensorless control of the permanent magnet synchronous motor from the open-loop state, the pre-switching state to the closed-loop state, avoiding fluctuations in current, torque, and speed, and improving stability.

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

[0099] Obtain the historical time-weighted coefficients of historical handover times adjacent to the current handover time;

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

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

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

[0103]

[0104] Where 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 This is the preset switching time constant.

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

[0106] The target virtual angle is calculated based on the current time weighting coefficient, the real-time virtual angle, and the motor estimated angle.

[0107] The target virtual cross-axis current is calculated based on the current time weighting coefficient, the real-time virtual cross-axis current, and the velocity loop current.

[0108] Specifically,

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

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

[0111]

[0112] Where, θ K θ' is the target virtual angle, and θ′ is the real-time virtual angle. To estimate the angle of the motor, i q(K) For the target virtual quadrature-axis current, i′ q For real-time virtual quadrature-axis current, i″ q This is the velocity loop current.

[0113] The technical solution of this application also provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all steps of the permanent magnet synchronous motor control method in any of the foregoing embodiments.

[0114] Figure 5 An electronic device according to this application is shown, comprising:

[0115] At least one processor 501; and,

[0116] The 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, which, when executed by the at least one processor 501, enables the at least one processor 501 to perform all steps of the permanent magnet synchronous motor control method in any of the foregoing method embodiments.

[0118] The electronic device is preferably an in-vehicle electronic control unit (ECU), and more specifically a microcontroller unit (MCU) within the in-vehicle electronic control unit.

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

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

[0121] The processor 501, memory 502, input device 503 and output device 504 can be connected by a bus or other means. The figure shows an example of connection by bus.

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

[0123] Memory 502 may include a program storage area and a data storage area. The program storage area may store an operating system and an application program required for at least one function. The data storage area may store data created based on the use of the permanent magnet synchronous motor control method. Furthermore, memory 502 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 502 may optionally include memory remotely located relative to processor 501, and these remote memories may be connected via a network to the apparatus performing the permanent magnet synchronous motor control method. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, 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 may include a display screen or other display device.

[0125] When one or more modules are stored in the memory 502, and are run by 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 this application also provides a vehicle, including 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 merely the principle and preferred embodiment of this application. It should be noted that for those skilled in the art, implementation methods obtained by appropriately combining the technical solutions disclosed in different embodiments are also included within the technical scope of this invention. Based on the principle of this application, several other modifications can also be made, which should also be considered within the protection scope of this application.

Claims

1. A control method for a permanent magnet synchronous motor, characterized in that, include: If the motor is in an open-loop state, obtain the real-time speed of the motor; If the real-time rotation speed meets the preset rotation speed threshold, start timing to obtain the current switching time; The current time weighting coefficient is calculated based on the current switching time and the preset switching time constant. The real-time virtual coordinate axis information of the motor is obtained, including the real-time virtual angle, the estimated angle of the motor, the real-time virtual cross-axis current, and the speed loop current output by the speed loop controller. The target virtual angle and target virtual cross-axis current of the motor are calculated based on the virtual coordinate system information and the current time weighting coefficient. The step of calculating the target virtual angle and target virtual quadrature-axis current of the motor based on the virtual coordinate system information and the current time weighting coefficient includes: The target virtual angle is calculated based on the current time weighting coefficient, the real-time virtual angle, and the estimated motor angle. The target virtual cross-axis current is calculated based on the current time weighting coefficient, the real-time virtual cross-axis current, and the velocity loop current. The motor is controlled 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, which is located between the open-loop state and the closed-loop state of the motor. If the current time weighting coefficient exceeds the preset coefficient threshold, the motor state is switched to the closed-loop state.

2. The permanent magnet synchronous motor control method as described in claim 1, characterized in that, The step of calculating the current time weighting coefficient based on the current handover time and the preset handover time constant includes: Obtain the historical time weighting coefficients of historical handover times adjacent to the current handover time; The current time weighting coefficient is calculated based on the historical time weighting coefficient, the preset switching time constant, and the time interval difference between the current switching time and the historical switching time.

3. The permanent magnet synchronous motor control method as described in claim 2, characterized in that, The step of calculating the current time weighting coefficient based on the historical time weighting coefficient, the preset switching time constant, and the time interval difference between the current switching time and the historical switching time includes: The current time weighting coefficient is calculated using the following formula: in, The weighting coefficient for the current time is... The weighting coefficients for the historical time are: The time interval difference, The preset switching time constant is denoted as .

4. The permanent magnet synchronous motor control method as described in claim 1, characterized in that, The step of calculating the target virtual angle and target virtual quadrature-axis current of the motor based on the virtual coordinate system information and the weighting coefficients includes: The target virtual angle and the target virtual quadrature-axis current are calculated using the following formulas: in, The virtual angle of the target. For the real-time virtual angle, Estimate the angle for the motor. The target virtual quadrature-axis current, The real-time virtual quadrature-axis current, The velocity loop current is mentioned.

5. A control device for a permanent magnet synchronous motor, characterized in that, include: The first acquisition unit is used to acquire the real-time speed of the motor when the motor state is an open-loop state. A timing unit is used to start timing and obtain the current switching time if the real-time rotation speed meets a preset rotation speed threshold. The first calculation unit is used to calculate the current time weighting coefficient based on the current switching time and the preset switching time constant; The second acquisition unit is used to acquire the real-time virtual coordinate axis information of the motor, which includes real-time virtual angle, estimated motor angle, real-time virtual cross-axis current, and speed loop current output by the speed loop controller. The second calculation unit is used to calculate the target virtual angle and target virtual cross-axis current of the motor based on the virtual coordinate axis information and the current time weighting coefficient. The second calculation unit is further configured to calculate the target virtual angle based on the current time weighting coefficient, the real-time virtual angle, and the estimated motor angle; and to calculate the target virtual cross-axis current based on the current time weighting coefficient, the real-time virtual cross-axis current, and the speed loop current. The first switching unit is used 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, the pre-switching state being 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 weighting coefficient exceeds a preset coefficient threshold.

6. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform all the steps of the permanent magnet synchronous motor control method as described in any one of claims 1-4.

7. 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 processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the permanent magnet synchronous motor control method as described in any one of claims 1-4.

8. A vehicle, characterized in that, It includes the permanent magnet synchronous motor control device as described in claim 5; or the storage medium as described in claim 6; or the electronic device as described in claim 7.

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