Motor driving method and related products

Abstract

The embodiment of the present application provides a motor driving method and related products, the motor driving method comprising: obtaining the motor angle value, the first motor angle value and the first vector value at the current moment, the first motor angle value is the motor angle value when the main inverter last performed vector synchronization, and the first vector value is the vector value generated by the main coil group when the main inverter last performed vector synchronization; determining the second vector value and the second motor angle based on the motor angle value, the first motor angle value and the first vector value at the current moment; synthesizing the target vector value at the current moment by the first vector value and the second vector value; determining the current driving parameters of the auxiliary inverter based on the second vector value and the second motor angle, and driving the auxiliary inverter according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate a second vector value, and the second vector value is used to vector compensate the first vector value. The embodiment of the present application can improve the driving performance of the motor.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a motor driving method and related products. Background Art

[0002] At present, the driving mode of the motor is controlled by the inverter. The principle of controlling the motor is to control the motor current through the inverter to form a vector circle. Because in practical applications, the vector generated by the motor is discrete, and the vector generated by the inverter controlling the motor cannot change continuously and steplessly as the motor rotates. The useful work component of the vector formed eventually forms a jagged polygon, which is inscribed in the target vector circle. The greater the difference between the target vector circle and the jagged polygon, the greater the vibration and noise of the motor will be, which will affect the driving performance of the motor. Summary of the invention

[0003] The embodiments of the present application provide a motor driving method and related products, which can improve the driving performance of the motor.

[0004] A first aspect of an embodiment of the present application provides a motor driving method, the method being applied to a motor control system, the motor control system comprising a controller, a main inverter, an auxiliary inverter and a motor, the motor comprising a main coil group and an auxiliary coil group; the method comprising:

[0005] The controller acquires a motor angle value at a current moment, a first motor angle value, and a first vector value, wherein the first motor angle value is the motor angle value when the main inverter last performs vector synchronization, and the first vector value is the vector value generated by controlling the main coil group when the main inverter last performs vector synchronization;

[0006] The controller determines a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value and the first vector value; the first vector value and the second vector value are combined to form a target vector value at the current moment;

[0007] The controller determines the current driving parameters of the auxiliary inverter based on the second vector value and the second motor angle, and drives the auxiliary inverter according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate the second vector value, and the second vector value is used to perform vector compensation on the first vector value.

[0008] Optionally, the main inverter is used to control the main coil group to generate a main vector, and the auxiliary inverter is used to control the auxiliary coil group to generate an auxiliary vector.

[0009] Optionally, the controller determines a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value and the first vector value; the first vector value and the second vector value synthesize the target vector value at the current moment; including:

[0010] The controller determines the second vector value and the second motor angle according to the vector synthesis law based on the motor angle value at the current moment, the first motor angle value and the first vector value; wherein the first vector value and the second vector value synthesize the target vector value at the current moment according to the vector synthesis law.

[0011] Optionally, the controller determines a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value and the first vector value according to a vector synthesis rule, including:

[0012] The controller calculates the second vector value and the second motor angle according to the following formula:

[0013] b = 2*C*sin(Φ2 / 2);

[0014] Φ3=(180°-Φ2+Φ1) / 2+Φ2;

[0015] Among them, Φ2 is the motor angle value at the current moment, C is the first vector value, Φ1 is the first motor angle value, b is the second vector value, and Φ3 is the second motor angle.

[0016] Optionally, the controller determines a current driving parameter of the auxiliary inverter based on the second vector value and the second motor angle, including:

[0017] The controller performs an inverse Park transform based on the second vector value, the second motor angle and the d-axis value of the motor to obtain a first output result;

[0018] The controller performs an inverse Clarke transform based on the first output result to obtain a second output result;

[0019] The controller performs sector calculation based on the third output result to obtain current driving parameters of the auxiliary inverter.

[0020] Optionally, the motor further includes a motor encoder, and the controller obtains the motor angle value, the first motor angle value and the first vector value at the current moment, including:

[0021] The controller obtains the motor angle value at the current moment through the motor encoder, and obtains the first motor angle value and the first vector value.

[0022] Optionally, the first vector value is greater than the second vector value.

[0023] Optionally, the motor further includes a three-phase stator, the main coil group includes a three-phase main coil, the auxiliary coil group includes a three-phase auxiliary coil, the three-phase main coils are respectively wound on the three-phase stator, and the three-phase auxiliary coils are respectively wound on the three-phase stator.

[0024] Optionally, the winding positions of the main coil and the auxiliary coil wound on each phase stator are the same.

[0025] Optionally, the number of turns of the main coil of each phase is greater than the number of turns of the auxiliary coil of each phase.

[0026] Optionally, a switching frequency of the semiconductor switch in the main inverter is lower than a switching frequency of the semiconductor switch in the auxiliary inverter.

[0027] Optionally, the semiconductor switch in the main inverter includes: an insulated gate bipolar transistor IGBT or a silicon carbide semiconductor switch; the semiconductor switch in the auxiliary inverter includes: a metal oxide semiconductor field effect transistor.

[0028] A second aspect of an embodiment of the present application provides a motor drive device, which is applied to a motor control system, wherein the motor control system includes a main inverter, an auxiliary inverter, and a motor, wherein the motor includes a main coil group and an auxiliary coil group; the motor drive device includes:

[0029] an acquisition unit, configured to acquire a motor angle value at a current moment, a first motor angle value, and a first vector value, wherein the first motor angle value is the motor angle value when the main inverter last performs vector synchronization, and the first vector value is the vector value generated by controlling the main coil group when the main inverter last performs vector synchronization;

[0030] A determination unit, configured to determine a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value, and the first vector value; the first vector value and the second vector value are combined to form a target vector value at the current moment;

[0031] The determining unit is further configured to determine a current driving parameter of the auxiliary inverter based on the second vector value and the second motor angle;

[0032] A drive control unit is used to drive the auxiliary inverter according to the current drive parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate the second vector value, and the second vector value is used to perform vector compensation on the first vector value.

[0033] A third aspect of the embodiments of the present application provides a motor control system, including a controller, a main inverter, an auxiliary inverter and a motor, wherein the motor includes a main coil group and an auxiliary coil group;

[0034] The controller is used to obtain a motor angle value at a current moment, a first motor angle value and a first vector value, wherein the first motor angle value is the motor angle value when the main inverter last performs vector synchronization, and the first vector value is the vector value generated by controlling the main coil group when the main inverter last performs vector synchronization;

[0035] The controller is further configured to determine a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value and the first vector value; the first vector value and the second vector value are combined to form a target vector value at the current moment;

[0036] The controller is also used to determine the current driving parameters of the auxiliary inverter based on the second vector value and the second motor angle, and drive the auxiliary inverter according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate the second vector value, and the second vector value is used to compensate for the first vector value.

[0037] The fourth aspect of an embodiment of the present application provides an electronic device, including a processor and a memory, the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the step instructions in the first aspect of the embodiment of the present application.

[0038] The fifth aspect of the embodiments of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the first aspect of the embodiments of the present application.

[0039] The sixth aspect of the embodiments of the present application provides a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiments of the present application. The computer program product can be a software installation package.

[0040] A seventh aspect of an embodiment of the present application provides a vehicle, comprising a motor control system as described in the third aspect of an embodiment of the present application.

[0041] In an embodiment of the present application, the motor angle value, the first motor angle value and the first vector value at the current moment are obtained, the first motor angle value is the motor angle value when the main inverter last performed vector synchronization, and the first vector value is the vector value generated by the main coil group when the main inverter last performed vector synchronization; the second vector value and the second motor angle are determined based on the motor angle value, the first motor angle value and the first vector value at the current moment; the first vector value and the second vector value are synthesized into the target vector value at the current moment; the current driving parameters of the auxiliary inverter are determined based on the second vector value and the second motor angle, and the auxiliary inverter is driven according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate the second vector value, and the second vector value is used to vector compensate the first vector value. In an embodiment of the present application, the auxiliary inverter can be driven according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate the second vector value, and the first vector value generated by the main coil group is vector compensated by the second vector value, and the target vector value at the current moment is synthesized based on the first vector value and the second vector value. Between two consecutive vector synchronizations of the main inverter, vector compensation is performed by driving the vector value generated by the auxiliary inverter to reduce the difference between the target vector circle and the jagged polygon, thereby improving the driving performance of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 is a structural schematic diagram of a motor control system provided in an embodiment of the present application;

[0044] Figure 2a It is a schematic diagram of a sawtooth polygon and a target vector circle provided by an embodiment of the present application without adding an auxiliary inverter and an auxiliary coil group;

[0045] Figure 2b It is a schematic diagram of a jagged polygon and a target vector circle in a case where an auxiliary inverter and an auxiliary coil group are added, provided in an embodiment of the present application;

[0046] Figure 3 is a flow chart of a motor driving method provided in an embodiment of the present application;

[0047] Figure 4 It is a schematic diagram of a principle of determining a second vector value and a second motor angle based on a motor angle value at a current moment, a first motor angle value and a first vector value provided by an embodiment of the present application;

[0048] Figure 5 is a schematic diagram of a basic vector and a vector circle provided in an embodiment of the present application;

[0049] Figure 6 It is a specific flow chart of a motor driving method provided in an embodiment of the present application;

[0050] Figure 7 is a structural schematic diagram of a motor drive device provided in an embodiment of the present application;

[0051] Figure 8 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0054] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0055] See also Figure 1 , Figure 1 is a structural schematic diagram of a motor control system provided in an embodiment of the present application, the motor control system includes a controller, a main inverter, an auxiliary inverter and a motor, the motor includes a main coil group and an auxiliary coil group;

[0056] The controller is used to obtain a motor angle value at a current moment, a first motor angle value and a first vector value, wherein the first motor angle value is the motor angle value when the main inverter last performs vector synchronization, and the first vector value is the vector value generated by controlling the main coil group when the main inverter last performs vector synchronization;

[0057] The controller is further configured to determine a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value and the first vector value; the first vector value and the second vector value are combined to form a target vector value at the current moment;

[0058] The controller is also used to determine the current driving parameters of the auxiliary inverter based on the second vector value and the second motor angle, and drive the auxiliary inverter according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate the second vector value, and the second vector value is used to compensate for the first vector value.

[0059] The motor of the embodiment of the present application adopts motor vector control, which is also called magnetic field oriented control or magnetic field oriented control, and is an advanced control technology for AC motors. This technology mainly achieves independent control of the motor magnetic field and torque by adjusting the amplitude and phase of the motor input voltage and current, that is, as vector control. The core of vector control is to decompose the three-phase stator current vector of the AC motor into the current component that generates the magnetic field and the current component that generates the torque, and control them separately. This decomposition and control can theoretically make the performance of the AC motor close to that of the DC motor, thereby improving the operating efficiency and performance of the motor.

[0060] In an embodiment of the present application, the main inverter is used to control the main coil group to generate a main vector (for example, the first vector mentioned above), and the auxiliary inverter is used to control the auxiliary coil group to generate an auxiliary vector (for example, the second vector mentioned above). The main inverter can periodically control the main coil group to generate a main vector. Exemplarily, the main inverter can control the main coil group to generate a main vector according to a first frequency. The auxiliary inverter can periodically control the auxiliary coil group to generate an auxiliary vector. Exemplarily, the auxiliary inverter can control the auxiliary coil group to generate an auxiliary vector according to a second frequency. Wherein, the first frequency is less than the second frequency.

[0061] The main inverter may include a three-phase six-arm full-bridge inverter, including three half-bridges and six switches (semiconductor switches), for converting DC to three-phase electricity. Similarly, the auxiliary inverter may include a three-phase six-arm full-bridge inverter, including three half-bridges and six switches (semiconductor switches), for converting DC to three-phase electricity. The auxiliary inverter has a similar structure to the main inverter.

[0062] The controller may periodically control the driving parameters of the main inverter so that the main inverter controls the main coil group to generate a main vector. Exemplarily, the controller may update the driving parameters of the main inverter at a first frequency. The controller may also periodically control the driving parameters of the auxiliary inverter so that the auxiliary inverter controls the auxiliary coil group to generate an auxiliary vector. Exemplarily, the controller may update the driving parameters of the auxiliary inverter at a second frequency.

[0063] The controller may be a motor controller, which is an integrated circuit that actively controls the motor to operate in a set direction, speed, angle, and response time.

[0064] See also Figure 2a , Figure 2a Schematic diagram of a sawtooth polygon and a target vector circle provided by an embodiment of the present application without adding an auxiliary inverter and an auxiliary coil group. Figure 2a As shown, Figure 2a In the case where the motor control system includes a controller, a main inverter and a motor, and the motor includes a main coil group, the vectors generated by the main coil group form a sawtooth polygon, the sawtooth polygon is inscribed in a target vector circle, and there is a large vector difference between the sawtooth polygon and the target vector circle.

[0065] See also Figure 2b , Figure 2b It is a schematic diagram of a jagged polygon and a target vector circle in a case where an auxiliary inverter and an auxiliary coil group are added, provided in an embodiment of the present application. Figure 2b In the case where the motor control system includes a controller, a main inverter, an auxiliary inverter and a motor, and the motor includes a main coil group and an auxiliary coil group, the vector generated by the main coil group and the vector generated by the auxiliary coil group form a new sawtooth polygon, the new sawtooth polygon is inscribed in the target vector circle, and there is a small vector difference between the new sawtooth polygon and the target vector circle. Figure 2a The jagged polygon ( Figure 2b Compared to the original jagged polygon shown in Figure 2b The new jagged polygon has a smaller vector difference with the target vector circle, thereby improving the driving performance of the motor.

[0066] In the embodiment of the present application, the controller can drive the auxiliary inverter according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate a second vector value, perform vector compensation on the first vector value generated by the main coil group through the second vector value, and synthesize the target vector value at the current moment based on the first vector value and the second vector value. Between two consecutive vector synchronizations of the main inverter, vector compensation is performed by driving the vector value generated by the auxiliary inverter to reduce the difference between the target vector circle and the jagged polygon, thereby improving the driving performance of the motor.

[0067] Since the auxiliary inverter is added, the switching frequency of the main inverter can be reduced, and the main inverter can adopt a driving mode with a lower switching frequency without causing torque instability and increased noise.

[0068] Optionally, the motor also includes a motor encoder, and the controller obtains the motor angle value, the first motor angle value and the first vector value at the current moment, including: the controller obtains the motor angle value at the current moment through the motor encoder, and obtains the first motor angle value and the first vector value.

[0069] In the embodiment of the present application, the motor encoder may be a rotary encoder installed on the motor, and the motor encoder provides a closed-loop feedback signal by tracking the speed or position of the motor shaft to obtain a first vector value, wherein the first vector value is a PI closed-loop operation result of the motor Q axis.

[0070] Optionally, the motor further includes a three-phase stator, the main coil group includes a three-phase main coil, the auxiliary coil group includes a three-phase auxiliary coil, the three-phase main coils are respectively wound on the three-phase stator, and the three-phase auxiliary coils are respectively wound on the three-phase stator.

[0071] In the embodiment of the present application, one main coil and one auxiliary coil are wound on each phase of the stator. The motor in the embodiment of the present application is a three-phase motor, including a three-phase stator. Exemplarily, the three-phase stator includes: a first-phase stator, a second-phase stator and a third-phase stator. The three-phase main coil includes: a first-phase main coil, a second-phase main coil and a third-phase main coil. The three-phase auxiliary coil includes: a first-phase auxiliary coil, a second-phase auxiliary coil and a third-phase auxiliary coil. Among them, the first-phase main coil and the first-phase auxiliary coil are wound on the first-phase stator; the second-phase main coil and the second-phase auxiliary coil are wound on the second-phase stator; the third-phase main coil and the third-phase auxiliary coil are wound on the third-phase stator.

[0072] In an embodiment of the present application, the main coil group and the auxiliary coil group are both located on the same three-phase stator, and the phase difference between any two-phase main coils is 120 degrees, and the phase difference between any two-phase auxiliary coils is 120 degrees. The phases of a main coil and an auxiliary coil of the same phase on the stator are the same. Compared with a six-phase motor composed of two groups of coils (the phase difference between any two phases is 60 degrees), the auxiliary inverter introduced in the embodiment of the present application has a safety island characteristic and high fault tolerance. Even if the auxiliary inverter of the embodiment of the present application is damaged and cannot be used, it can be bypassed from the entire circuit without affecting the main inverter driving the motor. In a six-phase motor, if any inverter fails, the six-phase motor cannot be used, and the fault tolerance is low.

[0073] Optionally, the number of turns of the main coil per phase is greater than the number of turns of the auxiliary coil per phase. The current allowed to pass through the main coil per phase is greater than the current allowed to pass through the auxiliary coil per phase. Compared with the main inverter, the auxiliary inverter can use semiconductor switches with lower current resistance, thereby reducing the cost of the auxiliary inverter. In addition, when the auxiliary inverter is damaged, the main inverter can still drive the motor. Since the main inverter allows a larger current to pass, the main inverter can be used in more application scenarios when the auxiliary inverter is damaged.

[0074] Optionally, the number of turns of the main coil per phase is less than the number of turns of the auxiliary coil per phase. The current allowed to pass through the main coil per phase is less than the current allowed to pass through the auxiliary coil per phase. Compared with the auxiliary inverter, the main inverter can use semiconductor switches with lower current resistance, thereby reducing the cost of the main inverter.

[0075] Optionally, the first vector value is greater than the second vector value.

[0076] In the embodiment of the present application, the first vector value is greater than the second vector value, the auxiliary coil can use a smaller number of turns, and the auxiliary inverter can use a semiconductor switch with a lower current resistance, thereby reducing the cost of the auxiliary inverter.

[0077] Optionally, a switching frequency of the semiconductor switch in the main inverter is lower than a switching frequency of the semiconductor switch in the auxiliary inverter.

[0078] Optionally, the maximum current allowed to pass through the semiconductor switch in the main inverter is greater than the maximum current allowed to pass through the semiconductor switch in the auxiliary inverter.

[0079] Exemplarily, the semiconductor switch in the main inverter includes: an insulate-gate bipolar transistor (IGBT) or a silicon carbide semiconductor switch; the semiconductor switch in the auxiliary inverter includes: a metal oxide semiconductor field effect transistor (MOSFET). Among them, MOSFET can also be referred to as MOS tube. Generally speaking, the cost of MOS tube is lower than that of IGBT, and the cost of IGB is lower than that of silicon carbide semiconductor switch. The switching frequency of MOS tube is greater than the switching frequency of silicon carbide semiconductor switch, and the switching frequency of silicon carbide semiconductor switch is greater than the switching frequency of IGBT.

[0080] Although the maximum current allowed to pass through the MOS tube is lower than the maximum current allowed to pass through the IGBT or silicon carbide semiconductor switch, that is, the current resistance of the MOS tube is lower than that of the IGBT or silicon carbide semiconductor switch, the switching frequency of the MOS tube is greater than the switching frequency of the IGBT or silicon carbide semiconductor switch, that is, the auxiliary inverter can use a faster frequency for vector compensation (see Figure 2b , the switching frequency of the semiconductor switches in the auxiliary inverter is 3 times the switching frequency of the semiconductor switches in the main inverter), so that the difference between the target vector circle and the jagged polygon can be reduced, thereby improving the driving performance of the motor.

[0081] Since the current controlled by the auxiliary inverter becomes smaller, the semiconductor switches in the auxiliary inverter can use semiconductor switches with higher switching frequencies (for example, MOS tubes), which can reduce costs. Since the frequency that the controller can emit is generally higher than the switching frequency of the semiconductor switches in the inverter, the performance of the controller can be better exerted. For example, when the motor is under high voltage and high current conditions, the switching frequency of the inverter will be limited. For example, the controller collects the angle every 10 microseconds. However, the semiconductor switches of the inverter cannot be adjusted every 10 microseconds. The semiconductor switches in the auxiliary inverter can use semiconductor switches with higher switching frequencies, so that the performance of the controller can be better exerted.

[0082] based on Figure 1 The motor control system shown in the figure, the present application embodiment provides a motor driving method, please refer to Figure 3 , Figure 3 is a flow chart of a motor driving method provided in an embodiment of the present application. Figure 3 As shown, the motor driving method may include the following steps.

[0083] 301, the electronic device obtains the motor angle value, the first motor angle value and the first vector value at the current moment, wherein the first motor angle value is the motor angle value when the main inverter last performs vector synchronization, and the first vector value is the vector value generated by controlling the main coil group when the main inverter last performs vector synchronization.

[0084] In the embodiment of the present application, the electronic device may include Figure 1 The controller shown. The main inverter can periodically perform vector synchronization. When the main inverter last performs vector synchronization, the vector value (first vector value) generated by the main coil group during the last vector synchronization can be obtained. The electronic device can obtain the motor angle value at the current moment through the motor encoder, and can obtain the motor angle value when the main inverter last performed vector synchronization through the motor encoder.

[0085] The main inverter may periodically control the main coil group to generate a main vector. For example, the main inverter may control the main coil group to generate a main vector at a first frequency. The auxiliary inverter may periodically control the auxiliary coil group to generate an auxiliary vector. For example, the auxiliary inverter may control the auxiliary coil group to generate an auxiliary vector at a second frequency. The first frequency is less than the second frequency. The current moment may be the moment when the auxiliary inverter controls the auxiliary coil group to generate an auxiliary vector.

[0086] 302. The electronic device determines a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value and the first vector value; the first vector value and the second vector value are combined into a target vector value at the current moment.

[0087] In the embodiment of the present application, the target vector value at the current moment can be obtained from the target vector circle. The target vector value at the current moment is the vector value corresponding to the motor angle value at the current moment on the target vector circle.

[0088] See also Figure 4 , Figure 4 1 is a schematic diagram of a principle for determining a second vector value and a second motor angle based on a motor angle value, a first motor angle value and a first vector value at a current moment provided by an embodiment of the present application. Figure 4 As shown, Φ2 is the motor angle value at the current moment, C is the first vector value, Φ1 is the first motor angle value, b is the second vector value, and Φ3 is the second motor angle. Figure 4 The thick black dotted line in is the target vector value at the current moment, wherein the target vector value at the current moment is a vector value synthesized from the first vector value and the second vector value.

[0089] Optionally, step 302 may specifically include the following steps:

[0090] The electronic device determines the second vector value and the second motor angle according to the vector synthesis law based on the motor angle value at the current moment, the first motor angle value and the first vector value; wherein the first vector value and the second vector value synthesize the target vector value at the current moment according to the vector synthesis law.

[0091] In the embodiment of the present application, the first vector value and the second vector value are combined to form the target vector value at the current moment. Since the target vector value at the current moment can be obtained from the target vector circle, the first vector value can be obtained from step 301, and the second vector value and the second motor angle can be obtained according to the vector synthesis method.

[0092] Optionally, the electronic device determines the second vector value and the second motor angle based on the motor angle value at the current moment, the first motor angle value and the first vector value according to a vector synthesis rule, which may specifically include the following steps:

[0093] The second vector value and the second motor angle are calculated according to the following formula:

[0094] b = 2*C*sin(Φ2 / 2);

[0095] Φ3=(180°-Φ2+Φ1) / 2+Φ2;

[0096] Among them, Figure 4 As shown, Φ2 is the motor angle value at the current moment, C is the first vector value, Φ1 is the first motor angle value, b is the second vector value, and Φ3 is the second motor angle.

[0097] According to the above formula, the second vector value and the second motor angle can be calculated, so that the current driving parameters of the auxiliary inverter can be determined according to the second vector value and the second motor angle. At the current moment, the auxiliary inverter is driven according to the current driving parameters of the auxiliary inverter to control the auxiliary coil group to generate the second vector value. The first vector value generated by the main coil group is vector compensated by the second vector value to reduce the difference between the target vector circle and the jagged polygon, thereby improving the driving performance of the motor.

[0098] 303, the electronic device determines the current driving parameters of the auxiliary inverter based on the second vector value and the second motor angle, and drives the auxiliary inverter according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate the second vector value, and the second vector value is used to perform vector compensation on the first vector value.

[0099] In the embodiment of the present application, after obtaining the second vector value b and the second motor angle Φ3, it can be based on Figure 5 The sectors shown control the semiconductor switches in the auxiliary inverter. Figure 5 , Figure 5 It is a schematic diagram of a basic vector and a vector circle provided in an embodiment of the present application. Figure 5 Uref in is the second vector value b, Figure 5 The θ in the figure is the second motor angle Φ3. U1, U2, U3, U4, U5, and U6 in the figure are six basic vectors with a phase difference of 60°. The six basic vectors divide the vector circle into six sectors (such as Figure 5 After the size of θ is obtained, the sector where Uref is located can be determined. According to the size of θ and Uref, the action time of the two basic vectors in the sector can be determined to synthesize the required vector Uref.

[0100] In the embodiment of the present application, in order to adapt to the auxiliary inverter, the motor needs to be modified accordingly, and the original three-phase winding of the motor is divided into coils of appropriate size as compensatory windings (auxiliary coil groups), and auxiliary three-phase connectors are led out. For example, the original three-phase winding of the motor is 100 turns, 10 turns can be separated as auxiliary coil groups, and the remaining 90 turns are used as main coil groups.

[0101] In the embodiment of the present application, the auxiliary inverter can be driven according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate a second vector value, and the first vector value generated by the main coil group is vector-compensated by the second vector value, and the target vector value at the current moment is synthesized based on the first vector value and the second vector value. Between two consecutive vector synchronizations of the main inverter, vector compensation is performed by driving the vector value generated by the auxiliary inverter to reduce the difference between the target vector circle and the jagged polygon, thereby improving the driving performance of the motor.

[0102] Optionally, in step 303, the electronic device determines a current driving parameter of the auxiliary inverter based on the second vector value and the second motor angle, including:

[0103] (11) performing an inverse Park transform based on the second vector value, the second motor angle, and the d-axis value of the motor to obtain a first output result;

[0104] (12) performing an inverse Clarke transform based on the first output result to obtain a second output result;

[0105] (13) Perform sector calculation based on the third output result to obtain current driving parameters of the auxiliary inverter.

[0106] In an embodiment of the present application, steps (11) to (13) are a process for generating driving parameters of the auxiliary inverter in accordance with a space vector pulse width modulation (SVPWM) method, after obtaining a second vector value, a second motor angle and a d-axis value of the motor.

[0107] The d-axis of the motor is the axis where the magnetic pole of the rotor is located, and its direction is from the S pole to the N pole. The d-axis is also called the direct axis, and its function is to control the size of the magnetic field. The q-axis of the motor is the axis perpendicular to the d-axis of the motor. The q-axis is also called the quadrature axis, and its function is to control the size of the force.

[0108] In the embodiment of the present application, after obtaining the second vector value b, the q-axis value of the inverse park transform (park inverse operation) is replaced with the second vector value b. The d-axis value of the motor is the d-axis value of the three-phase PWM modified when the main inverter last performed vector synchronization. After obtaining the second motor angle Φ3, the current encoder value of the motor encoder is replaced with the second motor angle Φ3, and then the inverse park transform operation is performed based on the second vector value b, the second motor angle Φ3 and the d-axis value of the motor.

[0109] SVPWM is a type of pulse width modulation (PWM). PWM is an analog control method that modulates the bias of the control end of the semiconductor switch (transistor base or MOS tube gate) according to the change of the corresponding load to achieve the change of the transistor or MOS tube conduction time.

[0110] based on Figure 1 The motor control system shown in the figure, the present application embodiment provides another motor driving method, please refer to Figure 6 , Figure 6 Schematic diagram of a specific process of a motor driving method provided in an embodiment of the present application. Figure 6 As shown, the motor driving method may include the following steps:

[0111] 601, Clark transformation is performed based on the collected three-phase current to obtain the current vector value I of the stator rectangular coordinate system of the two phases α and I β .

[0112] 602, based on the current encoder angle value Φ1, I α and I β Perform Park transformation to obtain the current vector value I of the two-phase rotor rectangular coordinate system d and I q .

[0113] Among them, I d and I q They are the current vector values ​​of the Q-axis and D-axis of the stator at the current moment.

[0114] The input of the Park transform in step 602 includes the output of the Clark transform in step 601 and the output of step 604 .

[0115] 603, record the current value Φ1 of the encoder angle participating in the main inverter control calculation.

[0116] The main inverter may periodically calculate the updated value of the three-phase PWM drive of the main inverter. The encoder angle value obtained by the main inverter when the main inverter calculates the updated value of the three-phase PWM drive of the main inverter is Φ1, and Φ1 may be recorded.

[0117] Step 603 is performed after step 602. After step 603 is performed, step 611 may be performed.

[0118] 604, obtain the current encoder angle value.

[0119] The current encoder angle value can be obtained through the motor encoder, and the encoder angle value is used as the input of the Park transformation in step 602 or the input of step 606 .

[0120] In step 602, the current encoder angle value obtained by the main inverter is Φ1, and in step 606, the current encoder angle value obtained by the auxiliary inverter is Φ2.

[0121] After executing step 604 , step 602 and step 606 may be executed.

[0122] 605, based on I d and I q , the PI algorithm is used to predict the voltage vector value U required to achieve the set conditions at the next moment q and U d .

[0123] Among them, U q and U d are the voltage vector values ​​of the Q axis and D axis of the stator at the next moment. q and U d are the normalized voltage vector values ​​of the Q axis and D axis of the stator at the next moment. U can be calculated by the PI algorithm according to the set normalization conditions. q and U d For example, the set normalization condition may be determined according to the rotation speed of the motor.

[0124] After executing step 605 , steps 606 and 607 may be executed.

[0125] Among them, the PI algorithm is a proportional-integral (PI) algorithm, which is a commonly used closed-loop control strategy for achieving error adjustment of the system.

[0126] 606, record the current value Φ2 of the encoder angle participating in the auxiliary inverter control calculation, and record the U obtained in step 605 d .

[0127] The auxiliary inverter may periodically calculate the updated value of the three-phase PWM drive of the auxiliary inverter. When the auxiliary inverter calculates the updated value of the three-phase PWM drive of the auxiliary inverter for the current time, the encoder angle value obtained by the auxiliary inverter is Φ2, and the Φ2 may be recorded.

[0128] It should be noted that the period for the main inverter to calculate the update assignment of the three-phase PWM drive of the main inverter is different from the period for the auxiliary inverter to calculate the update assignment of the three-phase PWM drive of the auxiliary inverter. Generally speaking, the period for the main inverter to calculate the update assignment of the three-phase PWM drive of the main inverter is greater than the period for the auxiliary inverter to calculate the update assignment of the three-phase PWM drive of the auxiliary inverter, and the update frequency of the main inverter is lower than the update frequency of the auxiliary inverter. The time when the main inverter and the auxiliary inverter obtain the current encoder angle value is generally different, and Φ1 and Φ2 are not the same.

[0129] After executing step 606 , steps 611 and 612 may be executed.

[0130] 607, based on Φ1, U q and U d Perform the inverse Park transformation of the main inverter to obtain the voltage vector value U of the two-phase stator rectangular coordinate system α and U β .

[0131] 608, based on U α and U β Perform the inverse Clark transformation of the main inverter to obtain the voltage vector U ref .

[0132] Where Uref is U α and U β Two components in the stator rectangular coordinate system.

[0133] 609, sector calculation of the main inverter.

[0134] The specific process of sector calculation can be found in the above Figure 5 .

[0135] 610, the three-phase PWM drive of the main inverter is updated and assigned.

[0136] In step 610, updating the assignment may be to update the duty cycle of the PWM wave of the three-phase switch tube in the main inverter.

[0137] 611, b=2*C*sin(Φ2 / 2); Φ3=(180°-Φ2+Φ1) / 2+Φ2.

[0138] After executing step 611 , step 612 may be executed.

[0139] 612, based on Φ3, U q 'and U d 'Perform the inverse Park transformation of the auxiliary inverter to obtain the voltage vector value U of the two-phase stator rectangular coordinate system α 'and U β '.

[0140] Among them, the input of the inverse Park transformation of the auxiliary inverter is U q 'and U d '. q ' is b calculated in step 611, U d ' is U obtained in step 605 d .

[0141] 613, based on U α 'and U β 'Perform the inverse Clark transformation of the auxiliary inverter to obtain the voltage vector U ref '.

[0142] 614, Sector calculation of auxiliary inverter.

[0143] The specific process of sector calculation can be found in the above Figure 5 .

[0144] 615, the three-phase PWM drive of the auxiliary inverter is updated and assigned.

[0145] In step 615, updating the assignment may be to update the duty cycle of the PWM wave of the three-phase switch tube in the auxiliary inverter.

[0146] Steps 601 to 605 and 607 to 610 are the method flow for updating and assigning values ​​to the three-phase PWM drive of the main inverter. Steps 601 to 606 and 611 to 615 are the method flow for updating and assigning values ​​to the three-phase PWM drive of the auxiliary inverter.

[0147] Among them, step 606, step 611 and step 612 may correspond to the above-mentioned steps 301 to 303.

[0148] The following are definitions of relevant terms:

[0149] Clark transformation: Converts the three-phase stator coordinate system into a two-phase stator rectangular coordinate system.

[0150] Park transformation: The two-phase stator rectangular coordinate system is converted to the two-phase rotor rectangular coordinate system.

[0151] Inverse Park transform (Inverse Park transform): The two-phase rotor rectangular coordinate system is converted into the two-phase stator rectangular coordinate system.

[0152] Inverse Clark transformation: The two-phase stator rectangular coordinate system is converted into a three-phase stator coordinate system.

[0153] In an embodiment of the present application, an auxiliary inverter is introduced to control the auxiliary coil group of the motor to generate a compensatory vector (second vector) to reduce the difference between the target vector circle and the actual sawtooth polygon vector. Since the current controlled by the auxiliary inverter becomes smaller, the semiconductor switches in the auxiliary inverter can use semiconductor switches with higher switching frequency. Since the frequency that the controller can emit is generally higher than the switching frequency of the semiconductor switches in the inverter, the performance of the controller can be better exerted.

[0154] The auxiliary inverter introduced in the embodiment of the present application has a safety island characteristic and high fault tolerance. Even if the auxiliary inverter in the embodiment of the present application is damaged and cannot be used, it can be bypassed from the entire circuit without affecting the main inverter driving the motor.

[0155] The driving method of the embodiment of the present application can be applied to new energy vehicles, which can reduce motor noise and stabilize motor acceleration characteristics. The higher the speed, the better the effect, making the acceleration of new energy vehicles smoother, providing customers with a better driving experience, less high-speed noise, and smoother torque. Due to the addition of an auxiliary inverter, the switching frequency of the main inverter can be reduced, and the main inverter can adopt a driving method with a lower switching frequency, and there will be no unstable torque or increased noise, thereby indirectly improving the reliability of the motor drive solution.

[0156] The above-mentioned scheme of the embodiment of the present application is introduced from the perspective of the execution process of the method side. It is understandable that, in order to realize the above-mentioned functions, the electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0157] The embodiment of the present application can divide the electronic device into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0158] See also Figure 7 , Figure 7 is a schematic diagram of the structure of a motor drive device provided in an embodiment of the present application, the device is applied to a motor control system, the motor control system includes a main inverter, an auxiliary inverter and a motor, the motor includes a main coil group and an auxiliary coil group; the motor drive device 700 may include an acquisition unit 701, a determination unit 702 and a drive control unit 703, wherein:

[0159] An acquisition unit 701 is used to acquire a motor angle value at a current moment, a first motor angle value, and a first vector value, wherein the first motor angle value is the motor angle value when the main inverter last performs vector synchronization, and the first vector value is the vector value generated by controlling the main coil group when the main inverter last performs vector synchronization;

[0160] A determination unit 702 is configured to determine a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value, and the first vector value; the first vector value and the second vector value are combined to form a target vector value at the current moment;

[0161] The determining unit 702 is further configured to determine a current driving parameter of the auxiliary inverter based on the second vector value and the second motor angle;

[0162] The driving control unit 703 is used to drive the auxiliary inverter according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate the second vector value, and the second vector value is used to perform vector compensation on the first vector value.

[0163] Optionally, the main inverter is used to control the main coil group to generate a main vector, and the auxiliary inverter is used to control the auxiliary coil group to generate an auxiliary vector.

[0164] Optionally, the determination unit 702 determines the second vector value and the second motor angle based on the motor angle value at the current moment, the first motor angle value and the first vector value; the first vector value and the second vector value synthesize the target vector value at the current moment; including: based on the motor angle value at the current moment, the first motor angle value and the first vector value, determining the second vector value and the second motor angle according to the vector synthesis law; wherein the first vector value and the second vector value synthesize the target vector value at the current moment according to the vector synthesis law.

[0165] Optionally, the determining unit 702 determines a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value and the first vector value according to a vector synthesis rule, including:

[0166] The second vector value and the second motor angle are calculated according to the following formula:

[0167] b = 2*C*sin(Φ2 / 2);

[0168] Φ3=(180°-Φ2+Φ1) / 2+Φ2;

[0169] Among them, Φ2 is the motor angle value at the current moment, C is the first vector value, Φ1 is the first motor angle value, b is the second vector value, and Φ3 is the second motor angle.

[0170] Optionally, the determining unit 702 determines the current driving parameter of the auxiliary inverter based on the second vector value and the second motor angle, including:

[0171] Performing an inverse Park transform based on the second vector value, the second motor angle, and the d-axis value of the motor to obtain a first output result;

[0172] Performing an inverse Clarke transform based on the first output result to obtain a second output result;

[0173] Sector calculation is performed based on the third output result to obtain current driving parameters of the auxiliary inverter.

[0174] Optionally, the motor also includes a motor encoder, and the acquisition unit 701 acquires the motor angle value, the first motor angle value and the first vector value at the current moment, including: acquiring the motor angle value at the current moment through the motor encoder, and acquiring the first motor angle value and the first vector value.

[0175] Optionally, the first vector value is greater than the second vector value.

[0176] Optionally, the motor further includes a three-phase stator, the main coil group includes a three-phase main coil, the auxiliary coil group includes a three-phase auxiliary coil, the three-phase main coils are respectively wound on the three-phase stator, and the three-phase auxiliary coils are respectively wound on the three-phase stator.

[0177] Optionally, the number of turns of the main coil of each phase is greater than the number of turns of the auxiliary coil of each phase.

[0178] Optionally, a switching frequency of the semiconductor switch in the main inverter is lower than a switching frequency of the semiconductor switch in the auxiliary inverter.

[0179] Exemplarily, the semiconductor switch in the main inverter includes: an insulated gate bipolar transistor IGBT or a silicon carbide semiconductor switch; the semiconductor switch in the auxiliary inverter includes: a metal oxide semiconductor field effect transistor.

[0180] Among them, the acquisition unit 701, the determination unit 702 and the drive control unit 703 in the embodiment of the present application can be processors in the electronic device.

[0181] In the embodiment of the present application, the auxiliary inverter can be driven according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate a second vector value, and the first vector value generated by the main coil group is vector-compensated by the second vector value, and the target vector value at the current moment is synthesized based on the first vector value and the second vector value. Between two consecutive vector synchronizations of the main inverter, vector compensation is performed by driving the vector value generated by the auxiliary inverter to reduce the difference between the target vector circle and the jagged polygon, thereby improving the driving performance of the motor.

[0182] See also Figure 8 , Figure 8 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, such as Figure 8 As shown, the electronic device 800 includes a processor 801 and a memory 802, and the processor 801 and the memory 802 can be connected to each other via a communication bus 803. The communication bus 803 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus or a controller area network (CAN) bus. The communication bus 803 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 The memory 802 is used to store computer programs. The computer programs include program instructions. The processor 801 is configured to call the program instructions. The program includes instructions for executing Figure 3 to Figure 7 Some or all of the steps in the method included.

[0183] The processor 801 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the above program. For example, the processor 801 may be a controller in a motor control system.

[0184] The memory 802 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor via a bus. The memory may also be integrated with the processor.

[0185] The electronic device may be a control module in a vehicle charger. Exemplarily, the electronic device may be a vehicle control device.

[0186] In the embodiment of the present application, the auxiliary inverter can be driven according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate a second vector value, and the first vector value generated by the main coil group is vector-compensated by the second vector value, and the target vector value at the current moment is synthesized based on the first vector value and the second vector value. Between two consecutive vector synchronizations of the main inverter, vector compensation is performed by driving the vector value generated by the auxiliary inverter to reduce the difference between the target vector circle and the jagged polygon, thereby improving the driving performance of the motor.

[0187] The present application also provides a vehicle, comprising the above Figure 1 Motor control system.

[0188] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any motor driving method recorded in the above method embodiments.

[0189] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0190] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0191] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units 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 interfaces, and the indirect coupling or communication connection of the device or unit can be electrical or other forms.

[0192] The units described as separate components may or may not be physically separated, and the components shown as units 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.

[0193] In addition, the functional units in the various embodiments of the 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. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software program modules.

[0194] If the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0195] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which can include: a flash drive, a read-only memory, a random access memory, a magnetic disk or an optical disk, etc.

[0196] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A motor driving method, characterized in that: The method is applied to a motor control system, the motor control system includes a controller, a main inverter, an auxiliary inverter and a motor, the motor includes a main coil group and an auxiliary coil group; the method includes: The controller acquires a motor angle value at a current moment, a first motor angle value, and a first vector value, wherein the first motor angle value is the motor angle value when the main inverter last performs vector synchronization, and the first vector value is the vector value generated by controlling the main coil group when the main inverter last performs vector synchronization; The controller determines a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value and the first vector value; the first vector value and the second vector value are combined to form a target vector value at the current moment; The controller determines the current driving parameters of the auxiliary inverter based on the second vector value and the second motor angle, and drives the auxiliary inverter according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate the second vector value, and the second vector value is used to perform vector compensation on the first vector value.

2. The method according to claim 1, characterized in that The controller determines a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value, and the first vector value; The first vector value and the second vector value are combined into the target vector value at the current moment; comprising: The controller determines the second vector value and the second motor angle according to the vector synthesis law based on the motor angle value at the current moment, the first motor angle value and the first vector value; wherein the first vector value and the second vector value synthesize the target vector value at the current moment according to the vector synthesis law.

3. The method according to claim 2, characterized in that The controller determines a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value and the first vector value according to a vector synthesis rule, including: The controller calculates the second vector value and the second motor angle according to the following formula: b = 2*C*sin(Φ2 / 2); Φ3=(180°-Φ2+Φ1) / 2+Φ2; Among them, Φ2 is the motor angle value at the current moment, C is the first vector value, Φ1 is the first motor angle value, b is the second vector value, and Φ3 is the second motor angle.

4. The method according to claim 1, characterized in that The controller determines a current driving parameter of the auxiliary inverter based on the second vector value and the second motor angle, including: The controller performs an inverse Park transform based on the second vector value, the second motor angle and the d-axis value of the motor to obtain a first output result; The controller performs an inverse Clarke transform based on the first output result to obtain a second output result; The controller performs sector calculation based on the second output result to obtain current driving parameters of the auxiliary inverter.

5. The method according to claim 1, characterized in that The motor further includes a motor encoder, and the controller obtains the motor angle value, the first motor angle value and the first vector value at the current moment, including: The controller obtains the motor angle value at the current moment through the motor encoder, and obtains the first motor angle value and the first vector value.

6. The method according to any one of claims 1 to 5, characterized in that: The first vector value is greater than the second vector value.

7. The method according to any one of claims 1 to 6, characterized in that: The motor also includes a three-phase stator, the main coil group includes a three-phase main coil, the auxiliary coil group includes a three-phase auxiliary coil, the three-phase main coils are respectively wound on the three-phase stator, and the three-phase auxiliary coils are respectively wound on the three-phase stator; the number of turns of each phase main coil is greater than the number of turns of each phase auxiliary coil.

8. The method according to any one of claims 1 to 7, characterized in that: A switching frequency of the semiconductor switches in the main inverter is lower than a switching frequency of the semiconductor switches in the auxiliary inverter.

9. A motor drive device, characterized in that: The device is applied to a motor control system, the motor control system comprises a main inverter, an auxiliary inverter and a motor, the motor comprises a main coil group and an auxiliary coil group; The motor drive device comprises: an acquisition unit, configured to acquire a motor angle value at a current moment, a first motor angle value, and a first vector value, wherein the first motor angle value is the motor angle value when the main inverter last performs vector synchronization, and the first vector value is the vector value generated by controlling the main coil group when the main inverter last performs vector synchronization; A determination unit, configured to determine a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value, and the first vector value; the first vector value and the second vector value are combined to form a target vector value at the current moment; The determining unit is further configured to determine a current driving parameter of the auxiliary inverter based on the second vector value and the second motor angle; A drive control unit is used to drive the auxiliary inverter according to the current drive parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate the second vector value, and the second vector value is used to perform vector compensation on the first vector value.

10. A motor control system, characterized in that: It includes a controller, a main inverter, an auxiliary inverter and a motor, wherein the motor includes a main coil group and an auxiliary coil group; The controller is used to obtain a motor angle value at a current moment, a first motor angle value and a first vector value, wherein the first motor angle value is the motor angle value when the main inverter last performs vector synchronization, and the first vector value is the vector value generated by controlling the main coil group when the main inverter last performs vector synchronization; The controller is further configured to determine a second vector value and a second motor angle based on the motor angle value at the current moment, the first motor angle value and the first vector value; the first vector value and the second vector value are combined to form a target vector value at the current moment; The controller is also used to determine the current driving parameters of the auxiliary inverter based on the second vector value and the second motor angle, and drive the auxiliary inverter according to the current driving parameters of the auxiliary inverter at the current moment to control the auxiliary coil group to generate the second vector value, and the second vector value is used to compensate for the first vector value.

11. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to execute the method according to any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1 to 8.

13. A computer program product, characterized in that The computer program product comprises a computer program, and the computer program is operable to cause a computer to execute the method according to any one of claims 1 to 8.

14. A vehicle, characterized in that: Comprising the motor control system as claimed in claim 10.

Images