Motor control method, device and equipment

Abstract

The embodiment of the invention discloses a motor control method and device. The motor control method comprises the following steps: acquiring working parameters of a motor; the working parameters comprise at least one of stator current, stator voltage, stator resistance and electrical angular velocity; determining a mathematical model of the motor according to the working parameters, and determining an equivalent motor model of the motor according to the mathematical model and the active damping; and determining an active damping coefficient according to the equivalent motor model, and controlling the motor based on the active damping coefficient. According to the motor control method and device provided by the embodiment of the invention, the operation stability of the motor can be ensured.

Description

Technical Field

[0001] The embodiments of the present invention relate to motor control technology, and more particularly to a motor control method, device and equipment. Background Art

[0002] Motors such as permanent magnet synchronous motors are widely used in production and life as devices for converting and transmitting electric energy. The operation of motors requires stable and reliable control. At present, the existing motor control methods have the problem of low damping, which affects the stable operation of the motor. Summary of the invention

[0003] Embodiments of the present invention provide a motor control method, device and equipment to ensure the stability of motor operation.

[0004] In a first aspect, an embodiment of the present invention provides a motor control method, comprising:

[0005] Acquire operating parameters of the motor; the operating parameters include at least one of stator current, stator voltage, stator resistance, and electrical angular velocity;

[0006] Determining a mathematical model of the motor according to the operating parameters, and determining an equivalent motor model of the motor according to the mathematical model and active damping;

[0007] An active damping coefficient is determined according to the equivalent motor model, so as to control the motor based on the active damping coefficient.

[0008] Optionally, determining the mathematical model of the motor according to the operating parameters includes:

[0009] Determine the voltage equation of the motor in the dq axis coordinate system according to the operating parameters;

[0010] The voltage equation is discretized to obtain a discrete motor mathematical model.

[0011] Optionally, determining the equivalent motor model of the motor according to the mathematical model and the active damping includes:

[0012] Determining an equivalent motor model of the motor according to the discrete motor model and active damping;

[0013] According to the equivalent motor model, a closed-loop transfer function of input and output in a control system of the motor is determined.

[0014] Optionally, determining the active damping coefficient according to the equivalent motor model includes:

[0015] Determining a transfer function of a controller in the control system according to the closed-loop transfer function of the input and output;

[0016] Determining a closed-loop response function of the flux linkage in the control system according to the closed-loop transfer function of the input and output and the transfer function of the controller;

[0017] According to the closed-loop response function of the flux linkage, a target matrix in the closed-loop response function of the flux linkage is determined; the anti-disturbance performance of the control system is related to the target matrix, and the target matrix includes an active damping coefficient;

[0018] The active damping coefficient is determined according to the target matrix.

[0019] Optionally, determining a closed-loop response function of the flux in the control system according to the closed-loop transfer function of the input and output and the transfer function of the controller includes:

[0020] Determining a control parameter α according to the closed-loop transfer function of the input and the output; the transfer function of the controller includes the control parameter α;

[0021] The closed-loop response function of the flux linkage is determined according to the closed-loop transfer function of the input and output and the control parameter α, wherein the closed-loop response function of the flux linkage includes the control parameter α.

[0022] Optionally, the target matrix is ​​a matrix in the z domain. Where I is the identity matrix, α is the control parameter, ρ is the active damping coefficient, and P(z) is a non-diagonal matrix.

[0023] Optionally, the closed-loop response function of the magnetic flux is in, is the target input of the control system, k c is a constant, D d-q (z) is the preset disturbance voltage in the control system.

[0024] Optionally, the motor is a permanent magnet synchronous motor.

[0025] In a second aspect, an embodiment of the present invention provides a motor control device, comprising:

[0026] A parameter acquisition module, used to acquire the working parameters of the motor; the working parameters include at least one of stator current, stator voltage, stator resistance, and electrical angular velocity;

[0027] A model determination module, used to determine a mathematical model of the motor according to the operating parameters, and to determine an equivalent motor model of the motor according to the mathematical model and active damping;

[0028] The motor control module is used to determine an active damping coefficient according to the equivalent motor model, so as to control the motor based on the active damping coefficient.

[0029] In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device comprising:

[0030] one or more processors;

[0031] A storage device for storing one or more programs;

[0032] When the one or more programs are executed by the one or more processors, the one or more processors implement the motor control method as described in the first aspect.

[0033] The motor control method and device provided by the embodiment of the present invention include: obtaining the working parameters of the motor; the working parameters include at least one of the stator current, the stator voltage, the stator resistance, and the electrical angular velocity; determining the mathematical model of the motor according to the working parameters, and determining the equivalent motor model of the motor according to the mathematical model and active damping; determining the active damping coefficient according to the equivalent motor model to control the motor based on the active damping coefficient. The motor control method and device provided by the embodiment of the present invention introduce active damping, determine the equivalent motor model of the motor according to the mathematical model and active damping of the motor, and determine the active damping coefficient according to the equivalent motor model, so as to control the motor based on the active damping coefficient, so as to solve the low damping problem that affects the stable operation of the motor in the prior art, thereby ensuring the stability of the motor operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a flow chart of a motor control method provided by Embodiment 1 of the present invention;

[0035] Figure 2 is a flow chart of a motor control method provided by Embodiment 2 of the present invention;

[0036] Figure 3 is a structural schematic diagram of a control system of a motor provided in Embodiment 2 of the present invention;

[0037] Figure 4 is a structural block diagram of a motor control device provided by Embodiment 3 of the present invention;

[0038] Figure 5 It is a structural schematic diagram of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0040] Embodiment 1

[0041] Figure 1 1 is a flow chart of a motor control method provided in Embodiment 1 of the present invention. This embodiment can be applied to controlling a motor such as a permanent magnet synchronous motor. The method can be executed by a motor control device. The control device can be integrated in an electronic device such as a computer. The control device can be implemented in the form of software and / or hardware. The method specifically includes the following steps:

[0042] Step 110, obtaining operating parameters of the motor; the operating parameters include at least one of stator current, stator voltage, stator resistance, and electrical angular velocity.

[0043] Exemplarily, the operating parameters include stator current, stator voltage, stator resistance, and electrical angular velocity. The operating parameters of the motor, such as the stator current, can be acquired by a current sensor, and the motor control device is electrically connected to the current sensor to obtain the operating parameters of the motor.

[0044] Step 120: Determine a mathematical model of the motor according to the operating parameters, and determine an equivalent motor model of the motor according to the mathematical model and active damping.

[0045] Specifically, according to the working parameters, the voltage equation of the motor in the dq axis coordinate system is determined, the voltage equation is discretized to obtain a discrete motor mathematical model, and the equivalent motor model of the motor is determined according to the discrete motor model and active damping.

[0046] Step 130 : Determine an active damping coefficient according to the equivalent motor model, so as to control the motor based on the active damping coefficient.

[0047] Specifically, according to the equivalent motor model, the closed-loop transfer function of the input and output in the control system of the motor is determined, according to the closed-loop transfer function of the input and output, the transfer function of the controller in the control system is determined, according to the closed-loop transfer function of the input and output and the transfer function of the controller, the closed-loop response function of the flux in the control system is determined, according to the closed-loop response function of the flux, the target matrix in the closed-loop response function of the flux is determined, according to the target matrix, the active damping coefficient is determined, and the motor is controlled based on the active damping coefficient.

[0048] It should be noted that the specific duration of the above preset time can be determined according to actual control requirements and is not limited here.

[0049] The motor control method provided in this embodiment includes: obtaining the working parameters of the motor; the working parameters include at least one of the stator current, the stator voltage, the stator resistance, and the electrical angular velocity; according to the working parameters, determining the mathematical model of the motor, and according to the mathematical model and active damping, determining the equivalent motor model of the motor; according to the equivalent motor model, determining the active damping coefficient, so as to control the motor based on the active damping coefficient. The motor control method provided in this embodiment introduces active damping, determines the equivalent motor model of the motor according to the mathematical model and active damping of the motor, and determines the active damping coefficient according to the equivalent motor model, so as to control the motor based on the active damping coefficient, so as to solve the problem that the low damping characteristics existing in the prior art affect the stable operation of the motor, thereby ensuring the stability of the motor operation.

[0050] Embodiment 2

[0051] Figure 2 1 is a flow chart of a motor control method provided in Embodiment 2 of the present invention. This embodiment can be applied to controlling a motor such as a permanent magnet synchronous motor. The method can be executed by a motor control device. The control device can be integrated in an electronic device such as a computer. The control device can be implemented in the form of software and / or hardware. The method specifically includes the following steps:

[0052] Step 210, obtaining operating parameters of the motor; the operating parameters include at least one of stator current, stator voltage, stator resistance, and electrical angular velocity.

[0053] Exemplarily, the operating parameters include stator current, stator voltage, stator resistance, and electrical angular velocity. The operating parameters of the motor, such as the stator current, can be acquired by a current sensor, and the motor control device is electrically connected to the current sensor to obtain the operating parameters of the motor.

[0054] Step 220: Determine the voltage equation of the motor in the dq axis coordinate system according to the operating parameters.

[0055] Specifically, taking the permanent magnet synchronous motor as an example, the permanent magnet synchronous motor has the advantages of high efficiency, high power density, and low maintenance, and is widely used in national defense, industrial and agricultural production, etc. The voltage equation of the permanent magnet synchronous motor in the dq synchronous rotating coordinate system, that is, the dq axis coordinate system is:

[0056]

[0057] Among them, u d and u q Respectively represent the stator voltage of the motor on the d and q axes, i d and i q Respectively represent the stator current of the motor on the d and q axes, L d and Lq Respectively represent the inductance of the motor in the d and q axes, R s Represents the stator resistance of the motor, ω e is the electrical angular velocity of the motor, Represents the permanent magnet flux of the motor, and the permanent magnet flux is a constant.

[0058] Step 230: discretize the voltage equation to obtain a discrete motor mathematical model.

[0059] Specifically, the above voltage equation is discretized by zero-order hold discretization, and the discrete motor mathematical model is obtained as follows:

[0060] F dq (k+1)=φ sim F dq (k)+Hu dq (k)

[0061]

[0062] H=(φ sim -I)·A -1

[0063]

[0064] Among them, F dq =[L d i d L q i q ] T ,u dq =[u d u q ] T , k is the sampling sequence of the motor control system, k is an integer greater than or equal to 1, when k is 1, u dq (1) Calculated from the sampled stator current and ultimately applied to the motor, F dq (1) Calculated by the d-axis and q-axis inductances and the stator currents of the motor in the d-axis and q-axis, T s is the sampling period of the motor control system, and the transfer function from the stator voltage to the armature flux in the z domain can be obtained. The transfer function is G p (z)=(zI-φ sim ) -1 ·(I-φ sim )·(-A) -1 .

[0065] Step 240: Determine an equivalent motor model of the motor according to the discrete motor model and active damping.

[0066] For example, Figure 3 Schematic diagram of a control system for a motor provided by Embodiment 2 of the present invention. Figure 3 ,The control system of the motor includes the controller, the modulation link, the motor model and the introduced active damping. Figure 3 In With F dq (z) are the state variable command value of the control system, i.e., the target input, and the state variable feedback value, i.e., the actual output. z represents the discrete domain, G cad (z) represents the transfer function of the controller, D is the motor voltage command value output by the controller. The modulation link reflects the impact of digital delay on the output voltage. dq (z) is the disturbance voltage that may exist in the control loop, i.e., the preset disturbance voltage, u dq (z) is the actual voltage applied to the motor stator, G p (z) is a high-precision discrete motor mathematical model. By introducing active damping, that is, introducing additional feedback of state variables at the output of the controller, which is equivalent to changing the impedance of the system model, the active damping feedback matrix G is reasonably configured. Rad (z) can achieve the purpose of improving the anti-disturbance performance of the system. Equivalent motor model G including active damping pad The specific expression of (z) is:

[0067] G pad (z)=[z 2 I-zφ sim +k c G cons G Rad (z)] -1 k c G cons

[0068] G cons =(I-φ sim )·(-A) -1

[0069] Among them, k c is a constant matrix.

[0070] Step 250: Determine the closed-loop transfer function of the input and output in the control system of the motor according to the equivalent motor model.

[0071] Specifically, the motor can usually be regarded as an impedance equivalent model, and the order of the system is 1. Based on the concept of internal model control, ignoring the disturbance voltage, the closed-loop transfer function from the state variable command value to the state variable feedback value in the control system, that is, the closed-loop transfer function of the input and output is Among them, α is the control parameter.

[0072] Step 260: Determine the transfer function of the controller in the control system according to the closed-loop transfer function of the input and output.

[0073] Specifically, the closed-loop transfer function of the input and output can be inferred to obtain the discrete internal model controller, that is, the transfer function of the controller is: Among them, k c -1 k c The -1 in the superscript of other parameter matrices indicates the inverse matrix of the parameter matrix.

[0074] Step 270, determining a closed-loop response function of the flux linkage in the control system according to the closed-loop transfer function of the input and output and the transfer function of the controller, specifically includes:

[0075] Determine the control parameter α according to the closed-loop transfer function between the input and the output; the transfer function of the controller includes the control parameter α;

[0076] According to the closed-loop transfer function between input and output and the control parameter α, a closed-loop response function of the flux is determined, and the closed-loop response function of the flux includes the control parameter α.

[0077] Specifically, the control parameter α can be determined by plotting the trajectory of the closed-loop poles of the system as the control parameter α changes. For example, when α is 0.25, the two closed-loop poles of the system are the same and fall on the real axis. The system is in a critical damping state and can achieve the fastest response without overshoot. According to the above control system, the closed-loop response function of the flux linkage after the introduction of active damping is:

[0078]

[0079] D(z)=z 2 I-zφ sim +k c G cons G Rad (z)

[0080] Among them, D dq (z) is the preset disturbance voltage in the control system, I is the unit matrix, i.e., the matrix I in the above discrete motor mathematical model, and α is the control parameter.

[0081] Step 280: Determine a target matrix in the closed-loop response function of the flux linkage according to the closed-loop response function of the flux linkage; the anti-disturbance performance of the control system is related to the target matrix, and the target matrix includes an active damping coefficient.

[0082] Specifically, it can be seen from the closed-loop response function of the above flux linkage that after the introduction of active damping, the matrix that determines the anti-disturbance performance of the system is the target matrix G dad (z) and the matrix G Rad(z) related, its dominant pole can be obtained by designing the matrix G Rad (z) to optimize the configuration. D(z) is a 2×2 matrix and there are parts related to z in the non-diagonal elements, which shows that it is impossible to use a real number matrix G Rad (z) realizes its diagonalization. In fact, although when designing a closed-loop transfer function matrix that characterizes the following performance of a control system, it is expected that the closed-loop transfer function matrix is ​​diagonal to achieve excellent decoupling performance, when designing a closed-loop transfer function matrix that characterizes the anti-disturbance performance of a control system, diagonalization is not necessary. Non-diagonal elements can be retained to reduce control complexity and improve system robustness. The highest order of the matrix D(z) with respect to z is 2 and it is a non-diagonal matrix, so it can be expressed as the product of a diagonal matrix and a non-diagonal matrix, specifically as follows: D(z) = [zI-P(z)]·(zI-ρI), where ρ is the active damping coefficient. The equal sign on both sides of the above formula D(z) = [zI-P(z)]·(zI-ρI) must be the same if z is satisfied. 2 I-zφ sim +k c G cons G Rad (z) = z 2 I-[ρ+P(z)]zI+ρP(z), where P(z) is a non-diagonal matrix, we can get P(z)=zφ sim -ρI, P(z) and G Rad The only unknown quantity in the expression of (z) is the active damping coefficient ρ, which shows that by transforming the form of D(z), the design of the active damping feedback matrix is ​​simplified, and only the value of the active damping coefficient ρ needs to be considered. The matrix G that determines the anti-disturbance performance of the control system dad (z) may be replaced by:

[0083]

[0084] Step 290: Determine an active damping coefficient according to the target matrix, so as to control the motor based on the active damping coefficient.

[0085] Specifically, when the motor parameters are known, G dad The pole locus of (z) is related to the active damping coefficient ρ, G dad The pole of (z) consists of three parts. The first part is completely determined by the control parameter α, G dad The denominator z in the formula (z) 2-z+α is 0, when α=0.25, z=0.5. The second part is provided by the diagonal matrix in D(z), which is a single pole z=ρ. The change of ρ has an obvious impact on the motion trajectory of the pole. The third part is provided by the non-diagonal matrix of D(z). When ρ is 0, its pole in the discrete domain is close to the unit circle boundary, but as ρ increases, the pole trajectory will gradually shift to the left, which is conducive to increasing the damping of the system and improving the anti-disturbance performance of the system. However, if ρ is too large, the single pole in the second part will shift to the unit circle boundary. It can be seen that if ρ is too large or too small, the dominant pole that characterizes the anti-disturbance performance of the system will be close to the unit circle boundary, and it will be in a state of low damping or low dynamic response performance. When the motor parameters are known, by drawing G dad (z) Pole trajectory diagram under different values ​​of active damping coefficient ρ. The dynamic response performance and damping ratio are used as the evaluation indicators of the dominant pole to select the active damping coefficient ρ, and then determine the active damping feedback matrix G Rad (z), the specific form of the discrete internal model controller is also determined, so as to achieve reliable control of the motor.

[0086] The motor control method provided in this embodiment obtains a high-precision motor discrete mathematical model through zero-order hold discretization, thereby reducing the discretization error introduced when the motor control system is digitally implemented; active damping is introduced to change the inherent low damping characteristics of the model, thereby improving the anti-disturbance performance of the control system; a discrete internal model controller is designed based on the internal model control theory to achieve stable operation under square wave conditions.

[0087] Embodiment 3

[0088] Figure 4 The outlet of the condenser is connected to the inlet of the evaporator through a pipeline, the outlet of the evaporator is connected to the inlet of the compressor through a pipeline, the outlet of the compressor is connected to the inlet of the condenser through a pipeline, and the evaporator is located in the water tank. Figure 4 The control device includes: a parameter acquisition module 310, a model determination module 320 and a motor control module 330. The parameter acquisition module 310 is used to acquire the working parameters of the motor; the working parameters include at least one of the stator current, the stator voltage, the stator resistance, and the electrical angular velocity; the model determination module 320 is used to determine the mathematical model of the motor according to the working parameters, and determine the equivalent motor model of the motor according to the mathematical model and the active damping; the motor control module 330 is used to determine the active damping coefficient according to the equivalent motor model, so as to control the motor based on the active damping coefficient.

[0089] In one embodiment, the model determination module 320 includes: a voltage equation determination unit and a discrete model determination unit; wherein the voltage equation determination unit is used to determine the voltage equation of the motor in the dq axis coordinate system according to the working parameters; the discrete model determination unit is used to discretize the voltage equation to obtain a discrete motor mathematical model.

[0090] Based on the above implementation, the motor control module 330 includes: an equivalent model determination unit and a closed-loop transfer function determination unit; wherein the equivalent model determination unit is used to determine the equivalent motor model of the motor according to the discrete motor model and active damping; the closed-loop transfer function determination unit is used to determine the closed-loop transfer function of the input and output in the control system of the motor according to the equivalent motor model.

[0091] Optionally, the motor control module 330 includes a controller transfer function determination unit, a closed-loop response function determination unit, a target matrix determination unit and a damping coefficient determination unit; wherein the controller transfer function determination unit is used to determine the transfer function of the controller in the control system based on the closed-loop transfer function of the input and output; the closed-loop response function determination unit is used to determine the closed-loop response function of the magnetic flux in the control system based on the closed-loop transfer function of the input and output and the transfer function of the controller; the target matrix determination unit is used to determine the target matrix in the closed-loop response function of the magnetic flux based on the closed-loop response function of the magnetic flux; the anti-disturbance performance of the control system is related to the target matrix, and the target matrix includes the active damping coefficient; the damping coefficient determination unit is used to determine the active damping coefficient based on the target matrix.

[0092] Optionally, the closed-loop response function determination unit includes: a control parameter determination subunit and a closed-loop response function determination subunit; wherein the control parameter determination subunit is used to determine the control parameter α according to the closed-loop transfer function of the input and output; the transfer function of the controller includes the control parameter α; the closed-loop response function determination subunit is used to determine the closed-loop response function of the magnetic flux according to the closed-loop transfer function of the input and output and the control parameter α, and the closed-loop response function of the magnetic flux includes the control parameter α.

[0093] The motor control device provided in this embodiment and the motor control method provided in any embodiment of the present invention belong to the same inventive concept and have corresponding beneficial effects. For technical details not detailed in this embodiment, please refer to the motor control method provided in any embodiment of the present invention.

[0094] Embodiment 4

[0095] Figure 5 It is a structural schematic diagram of an electronic device provided in Embodiment 4 of the present invention. Figure 5 A block diagram of an exemplary electronic device 412 suitable for use in implementing embodiments of the present invention is shown. Figure 5The electronic device 412 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0096] like Figure 5 As shown, the electronic device 412 is in the form of a general purpose device. The components of the electronic device 412 may include, but are not limited to: one or more processors 416, a storage device 428, and a bus 418 connecting different system components (including the storage device 428 and the processor 416).

[0097] Bus 418 represents one or more of several types of bus structures, including a storage device bus or storage device controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to Industry Subversive Alliance (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0098] The electronic device 412 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 412, including volatile and non-volatile media, removable and non-removable media.

[0099] The storage device 428 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 430 and / or cache memory 432. The electronic device 412 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 434 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk, such as a read-only optical disk (Compact Disc Read-Only Memory, CD-ROM), a digital video disk (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical media) may be provided. In these cases, each drive may be connected to the bus 418 via one or more data medium interfaces. The storage device 428 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0100] A program / utility 440 having a set (at least one) of program modules 442 may be stored, for example, in storage device 428, such program modules 442 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 442 generally perform the functions and / or methods of the embodiments described herein.

[0101] The electronic device 412 may also communicate with one or more external devices 414 (e.g., a keyboard, a pointing terminal, a display 424, etc.), may also communicate with one or more terminals that enable a user to interact with the electronic device 412, and / or communicate with any terminal that enables the electronic device 412 to communicate with one or more other computing terminals (e.g., a network card, a modem, etc.). Such communication may be performed through an input / output (I / O) interface 422. Furthermore, the electronic device 412 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 420. Figure 5 As shown, the network adapter 420 communicates with other modules of the electronic device 412 via the bus 418. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 412, including but not limited to: microcode, terminal drivers, redundant processors, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.

[0102] The processor 416 executes various functional applications and data processing by running the program stored in the storage device 428, such as implementing the motor control method provided in the embodiment of the present invention, which includes:

[0103] Acquire the working parameters of the motor; the working parameters include at least one of stator current, stator voltage, stator resistance, and electrical angular velocity;

[0104] Determine a mathematical model of the motor according to the working parameters, and determine an equivalent motor model of the motor according to the mathematical model and active damping;

[0105] An active damping coefficient is determined according to the equivalent motor model, so as to control the motor based on the active damping coefficient.

[0106] Embodiment 5

[0107] Embodiment 5 of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the motor control method provided in the embodiment of the present invention is implemented. The method includes:

[0108] Acquire the working parameters of the motor; the working parameters include at least one of stator current, stator voltage, stator resistance, and electrical angular velocity;

[0109] Determine a mathematical model of the motor according to the working parameters, and determine an equivalent motor model of the motor according to the mathematical model and active damping;

[0110] An active damping coefficient is determined according to the equivalent motor model, so as to control the motor based on the active damping coefficient.

[0111] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0112] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0113] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0114] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or terminal. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0115] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, re-modulations, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A motor control method, characterized in that: include: Acquire operating parameters of the motor; the operating parameters include at least one of stator current, stator voltage, stator resistance, and electrical angular velocity; Determining a mathematical model of the motor according to the operating parameters, and determining an equivalent motor model of the motor according to the mathematical model and active damping; An active damping coefficient is determined according to the equivalent motor model, so as to control the motor based on the active damping coefficient.

2. The motor control method according to claim 1, characterized in that: Determining the mathematical model of the motor according to the operating parameters includes: Determine the voltage equation of the motor in the dq axis coordinate system according to the operating parameters; The voltage equation is discretized to obtain a discrete motor mathematical model.

3. The motor control method according to claim 2, characterized in that: Determining the equivalent motor model of the motor according to the mathematical model and the active damping includes: Determining an equivalent motor model of the motor according to the discrete motor model and active damping; According to the equivalent motor model, a closed-loop transfer function of input and output in a control system of the motor is determined.

4. The motor control method according to claim 3, characterized in that: Determining the active damping coefficient according to the equivalent motor model includes: Determining a transfer function of a controller in the control system according to the closed-loop transfer function of the input and output; Determining a closed-loop response function of the flux linkage in the control system according to the closed-loop transfer function of the input and output and the transfer function of the controller; According to the closed-loop response function of the flux linkage, a target matrix in the closed-loop response function of the flux linkage is determined; the anti-disturbance performance of the control system is related to the target matrix, and the target matrix includes an active damping coefficient; The active damping coefficient is determined according to the target matrix.

5. The motor control method according to claim 4, characterized in that: Determining the closed-loop response function of the flux linkage in the control system according to the closed-loop transfer function of the input and output and the transfer function of the controller includes: Determining a control parameter α according to the closed-loop transfer function of the input and the output; the transfer function of the controller includes the control parameter α; The closed-loop response function of the flux linkage is determined according to the closed-loop transfer function of the input and output and the control parameter α, wherein the closed-loop response function of the flux linkage includes the control parameter α.

6. The motor control method according to claim 5, characterized in that: The target matrix is ​​a matrix in the z domain. Where I is the identity matrix, α is the control parameter, ρ is the active damping coefficient, and P(z) is a non-diagonal matrix.

7. The motor control method according to claim 6, characterized in that: The closed-loop response function of the flux linkage is in, is the target input of the control system, k c is a constant, D d-q (z) is the preset disturbance voltage in the control system.

8. The motor control method according to claim 1, characterized in that: The motor is a permanent magnet synchronous motor.

9. A motor control device, characterized in that: include: A parameter acquisition module, used to acquire the working parameters of the motor; the working parameters include at least one of stator current, stator voltage, stator resistance, and electrical angular velocity; A model determination module, used to determine a mathematical model of the motor according to the operating parameters, and to determine an equivalent motor model of the motor according to the mathematical model and active damping; The motor control module is used to determine an active damping coefficient according to the equivalent motor model, so as to control the motor based on the active damping coefficient.

10. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the motor control method as described in any one of claims 1-8.

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