Motor and control method and device thereof, storage medium and computer program product

Abstract

The invention discloses a motor and a control method and device thereof, a storage medium and a computer program product, and the method comprises the steps: arranging an inductance filtering module between the output end of an inverter and the input end of the motor, obtaining the parameters of the motor before the motor is powered on, and obtaining the parameters of the inductance filtering module; according to the parameters of the motor and the parameters of the inductance filtering module, inductance filtering compensation voltage of the inductance filtering module is determined; in a vector control system of the power supply control end of the motor, vector control is carried out according to the parameters of the motor and the inductance filtering compensation voltage of the inductance filtering module, and a control signal of an inverter is determined, so that the inverter controls the motor to operate based on the control signal of the inverter. According to the scheme, the inductance filter is added to the output end of the inverter in the power supply control end of the motor, and inductance filtering voltage compensation is added on the basis of motor vector control, so that current harmonics can be suppressed, the motor performance can be improved, and few resources are occupied.

Description

Technical Field

[0001] The present invention belongs to the field of motor technology, and specifically relates to a motor control method, device, motor, storage medium and computer program product, and more particularly to a current harmonic suppression method, device, motor, storage medium and computer program product for a permanent magnet synchronous motor. Background Art

[0002] Motors (such as permanent magnet synchronous motors) have the characteristics of small inductance and high speed. Their drive control is often accompanied by high current harmonics, which affects the motor performance.

[0003] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The object of the present invention is to provide a motor control method, device, motor, storage medium and computer program product to solve the problem of high current harmonics accompanying the drive control of a motor (such as a permanent magnet synchronous motor), which affects the motor performance. By adding an inductor filter to the inverter output end of the motor power supply control end and adding inductor filter voltage compensation on the basis of motor vector control, the current harmonics can be suppressed, the motor performance can be improved, and the resource consumption is reduced.

[0005] The present invention provides a method for controlling a motor, wherein a power supply control end of the motor has an inverter; an inductance filter module is provided between an output end of the inverter and an input end of the motor; the method for controlling the motor comprises: before the motor is powered on, obtaining parameters of the motor and parameters of the inductance filter module; determining an inductance filter compensation voltage of the inductance filter module according to the parameters of the motor and the parameters of the inductance filter module; and performing vector control in a vector control system at the power supply control end of the motor according to the parameters of the motor and the inductance filter compensation voltage of the inductance filter module, and determining a control signal of the inverter, so that the inverter controls the operation of the motor based on the control signal of the inverter.

[0006] In some embodiments, the parameters of the motor include: the angular frequency of the motor and the stator current vector of the motor; the parameters of the inductance filtering module include: the inductance value of the inductance filtering module; wherein, determining the inductance filtering compensation voltage of the inductance filtering module based on the parameters of the motor and the parameters of the inductance filtering module includes: determining the inductance compensation voltage of the inductance filtering module based on the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filtering module.

[0007] In some embodiments, determining the inductance compensation voltage of the inductance filter module according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module includes: calculating the voltage of the inductance filter module according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module according to a calculation formula for the voltage of the inductance filter module; and using the component of the voltage of the inductance filter module on the dq axis as the inductance compensation voltage of the inductance filter module; wherein the calculation formula for the voltage of the inductance filter module is as follows:

[0008] u L =jωLi m ;

[0009] Wherein, j is an imaginary unit, ω is the angular frequency of the motor, L is the inductance of the inductor filter module, i m is the stator current vector of the motor.

[0010] In some embodiments, the parameters of the motor also include: the rotor position angle of the motor, the stator current of the motor, the given speed of the motor, and the actual speed of the motor; the vector control system of the power supply control end of the motor is a dual closed-loop vector control system, and the dual closed-loop vector control system has a current loop and a speed loop; in the vector control system of the power supply control end of the motor, vector control is performed according to the parameters of the motor and the inductance filter compensation voltage of the inductance filter module to determine the control signal of the inverter, including: in the current loop, according to the stator current of the motor and the rotor position angle of the motor, determining the d-axis actual current and the q-axis actual current of the motor; in the speed loop, according to the given speed of the motor, the actual speed of the motor, the d-axis actual current and the q-axis actual current of the motor, the inductance compensation voltage of the inductance filter module, and the rotor position angle of the motor, determining the control signal of the inverter.

[0011] In some embodiments, in the current loop, the d-axis actual current and the q-axis actual current of the motor are determined based on the stator current of the motor and the rotor position angle of the motor, including: performing a Clarke transformation on the stator current of the motor to obtain the components of the stator current of the motor in the αβ coordinate system; and performing a Park transformation on the components of the stator current of the motor in the αβ coordinate system based on the rotor position angle of the motor to obtain the d-axis actual current and the q-axis actual current of the motor.

[0012] In some embodiments, in the speed loop, the control signal of the inverter is determined according to the given speed of the motor, the actual speed of the motor, the actual current of the d-axis and the actual current of the q-axis of the motor, the inductance compensation voltage of the inductance filter module, and the rotor position angle of the motor, including: obtaining the current loop control quantity of the motor after PI processing of the difference between the given speed of the motor and the actual speed of the motor; obtaining the d-axis given current and the q-axis given current of the motor after the preset coordinate transformation of the current loop control quantity of the motor; and converting the d-axis given current of the motor into the actual current of the d-axis of the motor. The difference between the current and the actual current of the q-axis of the motor is processed by PI to obtain the d-axis control voltage of the motor; the difference between the given current of the q-axis of the motor and the actual current of the q-axis of the motor is processed by PI to obtain the q-axis control voltage of the motor; the d-axis control voltage of the motor and the q-axis control voltage of the motor are used as the control voltage of the motor; the sum of the control voltage of the motor and the inductance compensation voltage of the inductance filter module is used as the actual control voltage of the motor; based on the rotor position angle of the motor, the actual control voltage of the motor is subjected to inverse Park transformation and SVPWM vector transformation to obtain the control signal of the inverter.

[0013] Matching the above method, the present invention provides, on the other hand, a control device for a motor, wherein the power supply control end of the motor has an inverter; an inductance filter module is arranged between the output end of the inverter and the input end of the motor; the control device for the motor comprises: an acquisition unit, configured to acquire the parameters of the motor and the parameters of the inductance filter module before the motor is powered on; a control unit, configured to determine the inductance filter compensation voltage of the inductance filter module according to the parameters of the motor and the parameters of the inductance filter module; the control unit is further configured to perform vector control in a vector control system of the power supply control end of the motor according to the parameters of the motor and the inductance filter compensation voltage of the inductance filter module, and determine the control signal of the inverter, so that the inverter controls the operation of the motor based on the control signal of the inverter.

[0014] In some embodiments, the parameters of the motor include: the angular frequency of the motor and the stator current vector of the motor; the parameters of the inductance filtering module include: the inductance value of the inductance filtering module; wherein the control unit determines the inductance filtering compensation voltage of the inductance filtering module according to the parameters of the motor and the parameters of the inductance filtering module, including: determining the inductance compensation voltage of the inductance filtering module according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filtering module.

[0015] In some embodiments, the control unit determines the inductance compensation voltage of the inductance filter module based on the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module, including: calculating the voltage of the inductance filter module according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module according to a calculation formula for the voltage of the inductance filter module; and using the component of the voltage of the inductance filter module on the dq axis as the inductance compensation voltage of the inductance filter module; wherein the calculation formula for the voltage of the inductance filter module is as follows:

[0016] u L =jωLi m ;

[0017] Wherein, j is an imaginary unit, ω is the angular frequency of the motor, L is the inductance of the inductor filter module, i m is the stator current vector of the motor.

[0018] In some embodiments, the parameters of the motor also include: the rotor position angle of the motor, the stator current of the motor, the given speed of the motor, and the actual speed of the motor; the vector control system of the power supply control end of the motor is a dual closed-loop vector control system, and the dual closed-loop vector control system has a current loop and a speed loop; the control unit, in the vector control system of the power supply control end of the motor, performs vector control according to the parameters of the motor and the inductance filter compensation voltage of the inductance filter module, and determines the control signal of the inverter, including: in the current loop, determining the actual d-axis current and the actual q-axis current of the motor according to the stator current of the motor and the rotor position angle of the motor; in the speed loop, determining the control signal of the inverter according to the given speed of the motor, the actual speed of the motor, the actual d-axis current and the actual q-axis current of the motor, the inductance compensation voltage of the inductance filter module, and the rotor position angle of the motor.

[0019] In some embodiments, the control unit determines the d-axis actual current and q-axis actual current of the motor in the current loop based on the stator current of the motor and the rotor position angle of the motor, including: performing a Clarke transformation on the stator current of the motor to obtain the components of the stator current of the motor in the αβ coordinate system; and performing a Park transformation on the components of the stator current of the motor in the αβ coordinate system based on the rotor position angle of the motor to obtain the d-axis actual current and q-axis actual current of the motor.

[0020] In some embodiments, the control unit determines the control signal of the inverter in the speed loop according to the given speed of the motor, the actual speed of the motor, the actual current of the d-axis and the actual current of the motor, the inductance compensation voltage of the inductance filter module, and the rotor position angle of the motor, including: obtaining the current loop control quantity of the motor after PI processing of the difference between the given speed of the motor and the actual speed of the motor; obtaining the d-axis given current and the q-axis given current of the motor after the current loop control quantity of the motor is subjected to a preset coordinate transformation; and obtaining the d-axis given current of the motor and the d-axis given current of the motor. The difference between the actual currents is processed by PI to obtain the d-axis control voltage of the motor; the difference between the q-axis given current of the motor and the actual q-axis current of the motor is processed by PI to obtain the q-axis control voltage of the motor; the d-axis control voltage of the motor and the q-axis control voltage of the motor are used as the control voltage of the motor; the sum of the control voltage of the motor and the inductance compensation voltage of the inductance filter module is used as the actual control voltage of the motor; based on the rotor position angle of the motor, the actual control voltage of the motor is subjected to inverse Park transformation and SVPWM vector transformation to obtain the control signal of the inverter.

[0021] Matching the above device, the present invention provides a motor on another aspect, including: the control device of the motor described above.

[0022] In accordance with the above method, the present invention further provides a storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the motor control method described above.

[0023] In accordance with the above method, the present invention further provides a computer program product, comprising a computer program, which implements the steps of the above motor control method when executed by a processor.

[0024] Therefore, the solution of the present invention is for the frequency converter (or motor controller) of the motor, and the frequency converter adopts a dual closed-loop vector control system, and the dual closed-loop vector control system has a current loop and a speed loop; a three-phase inductor filter is correspondingly connected between the output end of the frequency converter (specifically the output end of the inverter in the frequency converter) and the three-phase winding of the motor; the inductor filter compensation voltage of the three-phase inductor filter is calculated, and the inductor filter compensation voltage is added to the speed loop to realize inductor filter voltage compensation; thus, by adding an inductor filter to the inverter output end in the power supply control end of the motor, and adding inductor filter voltage compensation on the basis of motor vector control (specifically, inductor filter voltage compensation is performed in the speed loop), current harmonics can be suppressed, motor performance can be improved, and less resources are occupied.

[0025] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention.

[0026] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 1 is a flow chart of an embodiment of a method for controlling a motor according to the present invention;

[0028] Figure 2 1. A schematic diagram of a flow chart of an embodiment of the method of the present invention for determining the inductance compensation voltage of the inductance filter module;

[0029] Figure 3 A flow chart of an embodiment of performing dual closed-loop vector control to determine the control signal of the inverter in the method of the present invention;

[0030] Figure 4 A schematic diagram of a flow chart of an embodiment of determining the actual d-axis current and the actual q-axis current of the motor in the current loop in the method of the present invention;

[0031] Figure 5 1. A flow chart of an embodiment of determining the control signal of the inverter in the speed loop in the method of the present invention;

[0032] Figure 6 Schematic diagram of the structure of an embodiment of a motor control device of the present invention;

[0033] Figure 7 A control flow diagram of an embodiment of a current harmonic suppression system for a permanent magnet synchronous motor;

[0034] Figure 8 Schematic diagram of the control output vector;

[0035] Figure 9 is the vector u′ L Schematic diagram of the vector relationship;

[0036] Figure 10 This is a schematic diagram of the motor control waveform under current harmonic suppression;

[0037] Figure 11 This is a schematic diagram of the motor control waveform without current harmonic suppression.

[0038] In conjunction with the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0039] 102 - acquisition unit; 104 - control unit. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0041] Considering the high current harmonics associated with the drive control of motors (such as permanent magnet synchronous motors), they can affect motor performance. For example, these high current harmonics increase motor losses and cause torque ripple, significantly impacting the efficiency and reliability of the system in which the motor is installed. Therefore, suppressing current harmonics is key to improving motor performance.

[0042] To reduce current harmonics, numerous studies have focused on compensating for the effects of nonlinear factors such as inverter dead time and inherent diode voltage drop, drawing on motor control theory. Dead time compensation involves pre-adding a waveform that counteracts the distortion caused by dead time to the control signal to counteract the effects of dead time. This requires measurement, modeling, design, and calculation of the distorted waveform. Inherent diode voltage drop compensation involves incorporating closed-loop feedback into the control algorithm, adjusting the control signal by real-time monitoring of the output voltage and comparing it with a reference value. This requires the design of a compensation algorithm to adjust the PWM duty cycle based on the error between the output voltage and the reference voltage. As can be seen, most of these methods have complex principles and calculations.

[0043] Some studies have focused on the controlled object, reducing current harmonics by connecting an inductive filter in series between the inverter output and the motor. While these methods avoid excessive computation, they change the controlled object of the control system, rendering the original control ineffective. For control purposes, all objects after the inverter output are controlled objects. In typical control systems, only the motor is connected after the inverter output; that is, the controlled object is the motor. If a filter is added between the inverter output and the motor, the controlled object becomes the filter plus the motor. This significantly changes the controlled object, and its related parameters also change. The original control cannot adapt to the changed controlled object, resulting in control failure.

[0044] Therefore, the solution of the present invention proposes a motor control method, specifically a current harmonic suppression method for a permanent magnet synchronous motor. By connecting an inductor filter in series between the output end of the inverter and the motor, and analyzing the changed controlled object model after the series connection of the inductor filter, voltage compensation is designed and added on the basis of the permanent magnet synchronous motor vector control. This method can not only suppress current harmonics and improve motor performance; but also does not require adjustment of the original control structure and parameters, and occupies less computing resources.

[0045] According to an embodiment of the present invention, a method for controlling a motor is provided. Figure 1 The flow chart of an embodiment of the method of the present invention is shown. The power supply control end of the motor has an inverter, such as the inverter in the motor frequency converter or the inverter in the motor controller of the motor; an inductor filter module is provided between the output end of the inverter and the input end of the motor, specifically, a three-phase inductor filter is provided between the three-phase output end of the inverter and the three-phase winding of the motor, such as Figure 7 The three-phase inductor filter La, Lb, Lc is shown. Figure 7 FIG. 1 is a control flow diagram of an embodiment of a current harmonic suppression system for a permanent magnet synchronous motor, as shown in FIG. Figure 7 As shown, three-phase inductance filters La, Lb, and Lc are added between the three-phase input terminals of the inverter in the frequency converter and the corresponding phases of the three-phase windings of the motor. La, Lb, and Lc are the single-phase inductance values ​​of the three-phase inductance filter, respectively. La=Lb=Lc=the inductance value of the three-phase inductance filter.

[0046] In the solution of the present invention, Figure 1 As shown, the motor control method includes: steps S110 to S130.

[0047] In step S110 , before the motor is powered on, the parameters of the motor and the parameters of the inductor filter module are acquired. In other words, before the motor is powered on, the parameters of the motor and the parameters of the inductor filter module are acquired.

[0048] In step S120 , the inductance filtering compensation voltage of the inductance filtering module is determined according to the parameters of the motor and the parameters of the inductance filtering module.

[0049] At step S130, in the vector control system of the power supply control end of the motor, vector control is performed according to the parameters of the motor and the inductance filter compensation voltage of the inductance filter module, and the control signal of the inverter is determined so that the inverter controls the operation of the motor based on the control signal of the inverter.

[0050] This invention proposes a current harmonic suppression scheme for a permanent magnet synchronous motor. By connecting an inductor filter in series between the inverter output and the motor, it suppresses current harmonics and improves motor performance. The scheme analyzes the changes in the controlled object model after the inductor filter is connected, and designs and incorporates voltage compensation based on the permanent magnet synchronous motor vector control to address the changes in the controlled object caused by the addition of the inductor filter. This compensation method eliminates the need to adjust the existing control structure and parameters and consumes only a small amount of computing resources. This scheme has been proven to effectively suppress current harmonics and achieve stable control.

[0051] In some embodiments, the parameters of the motor include: the angular frequency of the motor (such as the angular frequency ω of the motor operation), the stator current vector of the motor (such as the stator current vector i m ); the parameters of the inductor filter module include: the inductance value of the inductor filter module (such as the inductance value L of the inductor filter).

[0052] Wherein, in step S120, the inductance filter compensation voltage of the inductance filter module is determined according to the parameters of the motor and the parameters of the inductance filter module, including: determining the inductance compensation voltage of the inductance filter module (such as the d-axis inductance filter compensation voltage u of the inductance filter module) according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module Ld and q-axis sense filter compensation voltage u Lq ).

[0053] In this solution, an inductor filter is added to the motor control system to address the high current harmonic content in permanent magnet synchronous motor control, suppressing current harmonics and improving motor performance. Furthermore, voltage compensation is designed and added to existing vector control to address the changes in the controlled object caused by the addition of the inductor filter. This compensation method does not require adjustments to the existing control structure and parameters and consumes only a small amount of computing resources.

[0054] In some embodiments, in step S120, the specific process of determining the inductance compensation voltage of the inductance filter module according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module is described in the following exemplary embodiment.

[0055] The following combination Figure 2 FIG2 is a flow chart of an embodiment of determining the inductance compensation voltage of the inductance filter module in the method of the present invention, further illustrating the specific process of determining the inductance compensation voltage of the inductance filter module in step S120, including steps S210 to S220.

[0056] Step S210, according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductor filter module, the voltage of the inductor filter module (such as the voltage u of the inductor filter) is calculated according to the voltage calculation formula of the inductor filter module. L ).

[0057] Step S220: Using the voltage component of the inductor filter module on the dq axis as the inductor compensation voltage of the inductor filter module. The voltage of the inductor filter module is calculated as follows:

[0058] uL =jωLi m ;

[0059] Wherein, j is an imaginary unit, ω is the angular frequency of the motor, L is the inductance of the inductor filter module, i m is the stator current vector of the motor.

[0060] In the solution of the present invention, the principle of adding an inductor filter and performing inductor filter voltage compensation is as follows: the inductor filter is connected in series with the motor, so the current of the inductor filter is equal to the phase current of the motor, and the voltage of the inductor filter leads the phase current of the motor by 90 degrees. From this, the voltage vectors in the dq coordinate axis can be obtained, such as Figure 8 As shown, Figure 8 Schematic diagram of the control output vector. Figure 8 in,i m is the stator current vector of the motor; u m is the stator voltage vector of the motor, u d and u q for u m Component on the dq axis; u L is the voltage vector of the inductor filter, u L with i m The difference is 90°, u Lq and u Lq for u L The component on the dq axis, u * for u m with u L The resultant vector, that is, the actual output voltage, and for u * Components on the dq axis.

[0061] Set vector u′ L , which is a 90° equal-amplitude vector of the voltage of the lagging inductor filter. Figure 9 is the vector u′ L Schematic diagram of the vector relationship, such as Figure 9 As shown, u L with u′ L The difference is 90°, u′ L with i m In phase, vector u′ Ld and u′ Lq u′ L The component on the dq axis. From this we can know that u′ L , the voltage u of the inductor filter l and the stator current i of the motor m Relationship:

[0062] u L =jωLim =ju' L (2-1).

[0063] Where j is the imaginary unit, ω is the angular frequency of the motor operation, and L is the inductance of the inductor filter.

[0064] For a motor with one pair of poles: motor speed (ran / min) = angular frequency (Hz) * 60; for a motor with two pairs of poles: motor speed (ran / min) = angular frequency (Hz) * 30; the inductor filter is a three-phase inductor filter, which has three phases ABC, and the inductance of each phase is L, La = Lb = Lc = L. From the 90° relationship, it can be seen that u′ L with u L The components on the dq axis are in corresponding relationship:

[0065]

[0066] From formula (2-1), we can know that u′ L with i m In phase, and |u' L |=ωL|i m |, so u′ L The components in the abc coordinate system can be expressed as:

[0067]

[0068] Among them, i a 、i b 、i c are the three-phase stator currents of the motor, u′ La 、u′ Lb 、u′ Lc u L 'Components on the abc axis. Formula (2-3) is transformed into Clark coordinates:

[0069]

[0070] Among them, Clarke transformation is to convert the current (or voltage) in the three-phase stationary coordinate system into the two-phase stationary coordinate system (αβ coordinate system) to simplify the analysis and control of the three-phase system. α 、i β are the stator current of the motor in the αβ coordinate system, u′ Lα 、u′ Lβ u L 'The components on the abc axis.

[0071] i α 、i β The three-phase stator current i of the motor a 、ib and i c Obtained by Clark transformation. After Park coordinate transformation:

[0072]

[0073] Among them, θ1 is the rotor position of the motor (θ1 is the same as θ), and finally combined with formula (2-2) to obtain the voltage u of the inductor filter Ld and u Lq The Park transform is a mathematical transformation used in motor analysis to convert three-phase stator current into two-phase orthogonal current.

[0074] In the solution of the present invention, the inductance compensation voltage of the inductance filter module is determined based on the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module. The inductance compensation voltage of the inductance filter module is used to design and add voltage compensation on the basis of the original vector control to solve the problem of changes in the controlled object after the inductance filter is added. This compensation method does not require adjustment of the original control structure and parameters and only occupies a small amount of computing resources.

[0075] In some embodiments, the parameters of the motor further include: the rotor position angle of the motor (such as the rotor position angle θ of the motor), the stator current of the motor (such as the three-phase stator current i a 、i b 、i c ), the given speed of the motor (such as the given speed of the motor w * ), the actual speed of the motor (such as the actual speed w of the motor). The vector control system of the power supply control end of the motor is a double closed-loop vector control system, and the double closed-loop vector control system has a current loop and a speed loop. Among them, the rotor position angle is the real-time position of the rotor rotation, which is obtained by integrating the observed rotation speed in the formula and is not a fixed parameter of the motor. In the solution of the present invention, the harmonic suppression permanent magnet synchronous motor (PMSM) vector control system adds an inductor filter and designs voltage compensation on the basis of the original double closed-loop vector control. Figure 7 In the example shown, the dual closed-loop vector control includes speed loop control and current loop control.

[0076] In step S130, in the vector control system of the power supply control end of the motor, vector control is performed according to the parameters of the motor and the inductance filter compensation voltage of the inductance filter module to determine the specific process of the control signal of the inverter. Please refer to the following exemplary description.

[0077] The following combination Figure 3The flowchart of an embodiment of performing dual closed-loop vector control to determine the control signal of the inverter in the method of the present invention further illustrates the specific process of performing dual closed-loop vector control to determine the control signal of the inverter in step S130, including: steps S310 to S320.

[0078] Step S310: In the current loop, according to the stator current of the motor and the rotor position angle of the motor, determine the actual d-axis current and the actual q-axis current of the motor (such as the actual d-axis current i of the motor). d and the q-axis actual current i q ).

[0079] Step S320: In the speed loop, a control signal of the inverter is determined according to the given speed of the motor, the actual speed of the motor, the actual d-axis current and the actual q-axis current of the motor, the inductance compensation voltage of the inductance filter module, and the rotor position angle of the motor.

[0080] Specifically, before the motor is powered on, the rotor position angle of the motor (such as the rotor position angle θ of the motor) is obtained; the stator current of the motor (such as the three-phase stator current i a 、i b 、i c ), obtain the given speed of the motor (such as the given speed of the motor w * ), obtain the actual speed of the motor (such as the actual speed w of the motor), obtain the stator current vector of the motor (such as the stator current vector i of the motor) m ), and obtaining the inductance value of the inductor filter module (such as the inductance value L of the inductor filter).

[0081] Furthermore, in the current loop, the actual d-axis current and the actual q-axis current of the motor (such as the actual d-axis current i of the motor) are determined according to the stator current of the motor and the rotor position angle of the motor. d and the q-axis actual current i q ).

[0082] Furthermore, according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module, the inductance compensation voltage of the inductance filter module (such as the d-axis inductance filter compensation voltage u of the inductance filter module) is determined. Ld and q-axis sense filter compensation voltage u Lq ).

[0083] Furthermore, in the speed loop, the control signal of the inverter is determined according to the given speed of the motor, the actual speed of the motor, the actual d-axis current and the actual q-axis current of the motor, the inductance compensation voltage of the inductance filter module, and the rotor position angle of the motor, so that the inverter controls the operation of the motor based on the control signal of the inverter.

[0084] In this solution, an inductor filter is connected in series between the inverter output and the motor to effectively suppress current harmonics and improve motor performance. Furthermore, voltage compensation is designed and added to the permanent magnet synchronous motor vector control. Without changing the original control structure and control parameters, only a small amount of additional computation is required to adapt the control to the changed controlled object, thus resolving the issue of the controlled object changing after the inductor filter is added. This solution has been proven to effectively suppress current harmonics and achieve stable control.

[0085] In some embodiments, the specific process of determining the actual d-axis current and the actual q-axis current of the motor in the current loop according to the stator current of the motor and the rotor position angle of the motor in step S310 is described in the following exemplary embodiment.

[0086] The following combination Figure 4 The flowchart of an embodiment of determining the actual d-axis current and the actual q-axis current of the motor in the current loop in the method of the present invention further illustrates the specific process of determining the actual d-axis current and the actual q-axis current of the motor in the current loop in step S310, including: steps S410 to S420.

[0087] Step S410: After performing Clarke transformation on the stator current of the motor, the components of the stator current of the motor in the αβ coordinate system are obtained (e.g., i α 、i β ).

[0088] Step S420 : Based on the rotor position angle of the motor, Park transformation is performed on the components of the stator current of the motor in the αβ coordinate system to obtain the actual d-axis current and the actual q-axis current of the motor.

[0089] In the solution of the present invention, the current loop is controlled according to the stator current of the motor and the rotor position angle of the motor to determine the actual d-axis current and the actual q-axis current of the motor. Then, in the speed loop, the control signal of the inverter is determined according to the given speed of the motor, the actual speed of the motor, the actual d-axis current and the actual q-axis current of the motor, the inductance compensation voltage of the inductance filter module, and the rotor position angle of the motor. Voltage compensation is designed and added on the basis of permanent magnet synchronous motor vector control. Without changing the original control structure and control parameters, only a small amount of calculation is added to make the control adapt to the changed controlled object, thereby solving the problem of the controlled object changing after the inductance filter is added, and effectively suppressing current harmonics and achieving stable control.

[0090] In some embodiments, in step S320, in the speed loop, the specific process of determining the control signal of the inverter is based on the given speed of the motor, the actual speed of the motor, the actual d-axis current and the actual q-axis current of the motor, the inductance compensation voltage of the inductance filter module, and the rotor position angle of the motor. See the following exemplary description.

[0091] The following combination Figure 5 The flowchart of an embodiment of determining the control signal of the inverter in the speed loop in the method of the present invention further illustrates the specific process of determining the control signal of the inverter in the speed loop in step S320, including: steps S510 to S550.

[0092] Step S510: The difference between the given speed of the motor and the actual speed of the motor is processed by PI to obtain the current loop control quantity of the motor (such as the current loop control quantity ).

[0093] Step S520: The motor current loop control quantity is transformed into the preset coordinates to obtain the d-axis given current and the q-axis given current of the motor (such as the d-axis given current and q-axis given current ).

[0094] Step S530: The motor's d-axis given current and q-axis given current, and the motor's d-axis actual current and q-axis actual current are processed by PI to obtain the motor's d-axis control voltage and the motor's q-axis control voltage (e.g., d-axis control voltage u d and q-axis control voltage u q) as the control voltage of the motor. Specifically, the difference between the motor's d-axis given current and the motor's actual d-axis current is processed by PI to obtain the motor's d-axis control voltage; the difference between the motor's q-axis given current and the motor's actual q-axis current is processed by PI to obtain the motor's q-axis control voltage; and the motor's d-axis control voltage and the motor's q-axis control voltage are used as the motor's control voltage.

[0095] Step S540: taking the sum of the control voltage of the motor and the inductance compensation voltage of the inductance filter module as the actual control voltage of the motor (such as the actual output voltage of the d-axis). and the actual output voltage of the q-axis ).

[0096] Step S550 : Based on the rotor position angle of the motor, perform inverse Park transformation and SVPWM vector transformation on the actual control voltage of the motor to obtain a control signal of the inverter.

[0097] exist Figure 7 In the example shown, in the external speed loop control, the speed error (the difference between the given speed w and the actual speed w) is calculated by the speed PI (i.e. proportional-integral) to obtain the current loop control quantity Current loop receives control quantity The dq axis control quantity in the rotating coordinate system is obtained by current control (such as coordinate transformation), such as the d axis given current. and q-axis given current D-axis given current and q-axis given current Then compare it with the actual current obtained by sampling, such as the d-axis actual current i d and the q-axis actual current i q The two-phase current error is obtained by making a difference respectively; the two-phase current error is calculated by current PI control to obtain the motor control voltage such as the d-axis control voltage u d and q-axis control voltage u q Then, the inductor filter compensation voltage in the dq coordinate system is introduced, such as the d-axis compensation voltage u Ld and q-axis compensation voltage u Lq , motor control voltage such as d-axis voltage u d and q-axis voltage u q , and the inductance filter compensation voltage such as the d-axis inductance filter compensation voltage u Ld and q-axis sense filter compensation voltage u Lq The sum of the values ​​is used as the actual output voltage, such as the actual output voltage of the d-axis and the actual output voltage of the q-axis

[0098]

[0099] in, and is the actual output voltage, u d 、u q is the motor control voltage, u Ld 、u Lq is the compensation voltage of the inductor filter. d 、u q The voltage equation of the permanent magnet synchronous motor in the dq coordinate system is calculated as follows:

[0100]

[0101] Among them, Rs is the stator phase resistance of the motor, L d 、L q are the direct and quadrature axis inductances of the motor respectively, ω is the electrical angular velocity of the motor, id and iq are the direct and quadrature axis components of the stator phase current of the motor respectively, ψ f is the permanent magnet flux of the motor; finally, the actual output voltage is transformed into a switching value through coordinate transformation and SVPWM vector transformation to control the on-off of the insulated-gate bipolar transistor (IGBT) module in the inverter, thereby further realizing the control output.

[0102] In the field-oriented control (FOC) of a motor, coordinate transformation and SVPWM vector transformation are used to output switching values ​​to control the on / off switching of the IGBT module, further achieving control output. Ultimately, the control signal is output to the motor, achieving motor control. In the solution of the present invention, the addition of an inductor filter suppresses harmonics, but this changes the controlled object; when the controlled object is changed, the variable frequency control should also be adjusted. Therefore, in the solution of the present invention, an inductor filter compensation voltage is added to the general FOC control to offset the filter's effect on the controlled object. This allows the inductor filter to suppress harmonics while eliminating the need to adjust the existing variable frequency control.

[0103] Figure 10 The figure is a schematic diagram of the motor control waveform under current harmonic suppression. In order to verify the scheme of the present invention, experiments were carried out in an actual motor system. The actual motor system includes: an inverter, a three-phase inductor filter and a motor under test. Among them, the phase inductance of the motor is 0.1mH, and the inductance value of each inductor filter in the three-phase inductor filter is 0.18mH. Under the current harmonic suppression control scheme described in the scheme of the present invention, the motor runs smoothly, and the rated operating waveform is as follows Figure 10 shown. Figure 10The output line voltage of the inverter is the line voltage measured from the output rear end of the inverter and the front end of the inductor filter; the line voltage of the motor is the line voltage from the rear end of the inductor filter to the front end of the motor, which is the actual control voltage of the motor; the phase current of the motor is the actual rated control current of the motor.

[0104] Figure 11 This is a schematic diagram of the motor control waveform without current harmonic suppression. In order to prove the effectiveness of the current harmonic suppression of the solution of the present invention, a comparative experiment was set up. The control method of this comparative experiment removes the inductance filter and voltage compensation in the method described in the solution of the present invention, that is, the traditional double closed-loop vector control method. The motor control waveform under the same working condition is as follows Figure 11 As shown. By comparison, it can be found that Figure 10 and Figure 11 The line voltage output by the inverter is the same, which is a conventional pulse width modulation voltage. Figure 11 The effective value of the phase current of the motor is Figure 10 The effective values ​​of the phase currents of the motors are basically close, but the current harmonics are larger. Figure 10 Total Harmonics Distortion (THD) of the motor phase current = 4.3%; Figure 11 The harmonic THD of the motor phase current is 8.7%. Figure 10 The harmonics of the phase current of the motor are significantly reduced, which proves that the solution of the present invention effectively reduces the current harmonics.

[0105] Some solutions are based on the principle of harmonic injection, extracting current harmonic components and calculating compensation values. This method can only suppress harmonics of specific orders. It also involves operations such as integration, and the process is complicated, which may cause calculation delays in practical applications. Other solutions connect a second-order high-pass filter to the motor end for filtering. This method changes the controlled object and does not compensate for the control, requiring additional adjustment of the control parameters. In the solution of the present invention, the harmonic suppression method is to suppress harmonics through an inductor filter, and the control compensation method is to compensate the output voltage u d and u q ,The compensation principle is simple and occupies little computing resources.

[0106] The technical solution of this embodiment is adopted, through the frequency converter (or motor controller) for the motor, the frequency converter adopts a double closed-loop vector control system, and the double closed-loop vector control system has a current loop and a speed loop; a three-phase inductance filter is connected between the output end of the frequency converter (specifically the output end of the inverter in the frequency converter) and the three-phase winding of the motor; the inductance filter compensation voltage of the three-phase inductance filter (such as the d-axis compensation voltage u Ld and q-axis compensation voltage u Lq), an inductor filter compensation voltage is added to the speed loop to realize inductor filter voltage compensation; thus, by adding an inductor filter to the inverter output end in the power supply control end of the motor, and adding inductor filter voltage compensation on the basis of motor vector control (specifically, inductor filter voltage compensation is performed in the speed loop), current harmonics can be suppressed, motor performance can be improved, and less resources are occupied.

[0107] According to an embodiment of the present invention, a motor control device corresponding to the motor control method is also provided. Figure 6 The structure diagram of an embodiment of the device of the present invention is shown in FIG. The power supply control end of the motor has an inverter, such as the inverter in the motor frequency converter or the inverter in the motor controller of the motor; an inductor filter module is provided between the output end of the inverter and the input end of the motor, specifically, a three-phase inductor filter is provided between the three-phase output end of the inverter and the three-phase winding of the motor, such as Figure 7 The three-phase inductor filter La, Lb, Lc is shown. Figure 7 FIG. 1 is a control flow diagram of an embodiment of a current harmonic suppression system for a permanent magnet synchronous motor, as shown in FIG. Figure 7 As shown, three-phase inductance filters La, Lb, and Lc are added between the three-phase input terminals of the inverter in the frequency converter and the corresponding phases of the three-phase windings of the motor. La, Lb, and Lc are the single-phase inductance values ​​of the three-phase inductance filter, respectively. La=Lb=Lc=the inductance value of the three-phase inductance filter.

[0108] In the solution of the present invention, Figure 6 As shown, the motor control device includes: an acquisition unit 102 and a control unit 104.

[0109] The acquisition unit 102 is configured to acquire the parameters of the motor and the parameters of the inductor filter module before the motor is powered on. The specific functions and processing of the acquisition unit 102 are shown in step S110.

[0110] The control unit 104 is configured to determine the inductance filter compensation voltage of the inductance filter module according to the parameters of the motor and the parameters of the inductance filter module. The specific functions and processing of the control unit 104 are shown in step S120.

[0111] The control unit 104 is further configured to perform vector control in a vector control system at the power supply control end of the motor based on the motor parameters and the inductor filter compensation voltage of the inductor filter module, and determine a control signal for the inverter, so that the inverter controls the operation of the motor based on the inverter control signal. The specific functions and processing of the control unit 104 are further described in step S130.

[0112] This invention proposes a current harmonic suppression scheme for a permanent magnet synchronous motor. By connecting an inductor filter in series between the inverter output and the motor, it suppresses current harmonics and improves motor performance. The scheme analyzes the changes in the controlled object model after the inductor filter is connected, and designs and incorporates voltage compensation based on the permanent magnet synchronous motor vector control to address the changes in the controlled object caused by the addition of the inductor filter. This compensation method eliminates the need to adjust the existing control structure and parameters and consumes only a small amount of computing resources. This scheme has been proven to effectively suppress current harmonics and achieve stable control.

[0113] In some embodiments, the parameters of the motor include: the angular frequency of the motor (such as the angular frequency ω of the motor operation), the stator current vector of the motor (such as the stator current vector i m ); the parameters of the inductor filter module include: the inductance value of the inductor filter module (such as the inductance value L of the inductor filter).

[0114] The control unit 104 determines the inductance filter compensation voltage of the inductance filter module according to the parameters of the motor and the parameters of the inductance filter module, including: the control unit 104 is further configured to determine the inductance compensation voltage of the inductance filter module (such as the d-axis inductance filter compensation voltage u of the inductance filter module) according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module. Ld and q-axis sense filter compensation voltage u Lq ).

[0115] In this solution, an inductor filter is added to the motor control system to address the high current harmonic content in permanent magnet synchronous motor control, suppressing current harmonics and improving motor performance. Furthermore, voltage compensation is designed and added to existing vector control to address the changes in the controlled object caused by the addition of the inductor filter. This compensation method does not require adjustments to the existing control structure and parameters and consumes only a small amount of computing resources.

[0116] In some embodiments, the control unit 104 determines the inductance compensation voltage of the inductance filter module according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module, including:

[0117] The control unit 104 is further configured to calculate the voltage of the inductor filter module (such as the voltage u of the inductor filter) according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductor filter module according to the voltage calculation formula of the inductor filter module. L ). The specific functions and processing of the control unit 104 are also shown in step S210.

[0118] The control unit 104 is further configured to use the dq-axis component of the voltage of the inductor filter module as the inductor compensation voltage of the inductor filter module. The specific functions and processing of the control unit 104 are also shown in step S220.

[0119] The voltage calculation formula of the inductor filter module is as follows:

[0120] u L =jωLi m ;

[0121] Wherein, j is an imaginary unit, ω is the angular frequency of the motor, L is the inductance of the inductor filter module, i m is the stator current vector of the motor.

[0122] In the solution of the present invention, the principle of adding an inductor filter and performing inductor filter voltage compensation is as follows: the inductor filter is connected in series with the motor, so the current of the inductor filter is equal to the phase current of the motor, and the voltage of the inductor filter leads the phase current of the motor by 90 degrees. From this, the voltage vectors in the dq coordinate axis can be obtained, such as Figure 8 As shown, Figure 8 Schematic diagram of the control output vector. Figure 8 in,i m is the stator current vector of the motor; u m is the stator voltage vector of the motor, u d and u q for u m Component on the dq axis; u L is the voltage vector of the inductor filter, u L with i m The difference is 90°, u Lq and u Lq for u L The component on the dq axis, u * for u m with u L The resultant vector, that is, the actual output voltage, and for u * Components on the dq axis.

[0123] Set vector u′ L , which is a 90° equal-amplitude vector of the voltage of the lagging inductor filter. Figure 9 is a vector relationship diagram of vector u′, such as Figure 9 As shown, u L with u′ L The difference is 90°, u′ L with i m In phase, vector u′Ld and u′ Lq u′ l The component on the dq axis. From this we can know that u′ L , the voltage u of the inductor filter l and the stator current i of the motor m Relationship:

[0124] u L =jωLi m =ju' L (2-1).

[0125] Where j is the imaginary unit, ω is the angular frequency of the motor, and L is the inductance of the inductor filter. From the 90° relationship, we can see that u′ l with u l The components on the dq axis are in corresponding relationship:

[0126]

[0127] From formula (2-1), we can know that u′ L with i m In phase, and |u' L |=ωL|i m |, so u′ L The components in the abc coordinate system can be expressed as:

[0128]

[0129] Among them, i a 、i b 、i c are the three-phase stator currents of the motor, u′ La 、u′ Lb 、u′ Lc u L 'Components on the abc axis. Formula (2-3) is transformed into Clark coordinates:

[0130]

[0131] Among them, Clarke transformation is to convert the current (or voltage) in the three-phase stationary coordinate system into the two-phase stationary coordinate system (αβ coordinate system) to simplify the analysis and control of the three-phase system. α 、i β are the stator current of the motor in the αβ coordinate system, u′ Lα 、u′ Lβ u L 'The components on the abc axis.

[0132] i α 、i βThe three-phase stator current i of the motor a 、i b and i c Obtained by Clark transformation. After Park coordinate transformation:

[0133]

[0134] Among them, θ1 is the rotor position of the motor, and finally combined with formula (2-2) to obtain the voltage u of the inductor filter Ld and u Lq The Park transform is a mathematical transformation used in motor analysis to convert three-phase stator current into two-phase orthogonal current.

[0135] In the solution of the present invention, the inductance compensation voltage of the inductance filter module is determined based on the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module. The inductance compensation voltage of the inductance filter module is used to design and add voltage compensation on the basis of the original vector control to solve the problem of changes in the controlled object after the inductance filter is added. This compensation method does not require adjustment of the original control structure and parameters and only occupies a small amount of computing resources.

[0136] In some embodiments, the parameters of the motor further include: the rotor position angle of the motor (such as the rotor position angle θ of the motor), the stator current of the motor (such as the three-phase stator current i a 、i b 、i c ), the given speed of the motor (such as the given speed of the motor w * ), the actual speed of the motor (such as the actual speed w of the motor). The vector control system of the power supply control end of the motor is a double closed-loop vector control system, and the double closed-loop vector control system has a current loop and a speed loop. In the solution of the present invention, the harmonic suppression permanent magnet synchronous motor (PMSM) vector control system adds an inductor filter and designs voltage compensation on the basis of the original double closed-loop vector control. Figure 7 In the example shown, the dual closed-loop vector control includes speed loop control and current loop control.

[0137] The control unit 104 performs vector control in a vector control system at the power supply control end of the motor according to the parameters of the motor and the inductor filter compensation voltage of the inductor filter module to determine the control signal of the inverter, including:

[0138] The control unit 104 is further configured to determine the actual d-axis current and the actual q-axis current of the motor (such as the actual d-axis current i of the motor) in the current loop according to the stator current of the motor and the rotor position angle of the motor. d and the q-axis actual current i q ). The specific functions and processing of the control unit 104 are also shown in step S310.

[0139] The control unit 104 is further configured to determine, within the speed loop, a control signal for the inverter based on the given speed of the motor, the actual speed of the motor, the actual d-axis current and the actual q-axis current of the motor, the inductance compensation voltage of the inductor filter module, and the rotor position angle of the motor. The specific functions and processing of the control unit 104 are further described in step S320.

[0140] Specifically, the acquisition unit 102 is further configured to acquire the rotor position angle of the motor (such as the rotor position angle θ of the motor) before the motor is powered on; acquire the stator current of the motor (such as the three-phase stator current i a 、i b 、i c ), obtain the given speed of the motor (such as the given speed of the motor w * ), obtain the actual speed of the motor (such as the actual speed w of the motor), obtain the stator current vector of the motor (such as the stator current vector i of the motor) m ), and obtaining the inductance value of the inductor filter module (such as the inductance value L of the inductor filter).

[0141] The control unit 104 is further configured to determine the actual d-axis current and the actual q-axis current of the motor (such as the actual d-axis current i of the motor) in the current loop according to the stator current of the motor and the rotor position angle of the motor. d and the q-axis actual current i q ).

[0142] The control unit 104 is further configured to determine the inductance compensation voltage of the inductance filter module (such as the d-axis inductance filter compensation voltage u of the inductance filter module) according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module. Ld and q-axis sense filter compensation voltage u Lq ).

[0143] The control unit 104 is further configured to determine, in the speed loop, a control signal of the inverter according to the given speed of the motor, the actual speed of the motor, the actual d-axis current and the actual q-axis current of the motor, the inductance compensation voltage of the inductance filter module, and the rotor position angle of the motor, so that the inverter controls the operation of the motor based on the control signal of the inverter.

[0144] In this solution, an inductor filter is connected in series between the inverter output and the motor to effectively suppress current harmonics and improve motor performance. Furthermore, voltage compensation is designed and added to the permanent magnet synchronous motor vector control. Without changing the original control structure and control parameters, only a small amount of additional computation is required to adapt the control to the changed controlled object, thus resolving the issue of the controlled object changing after the inductor filter is added. This solution has been proven to effectively suppress current harmonics and achieve stable control.

[0145] In some embodiments, the control unit 104 determines the actual d-axis current and the actual q-axis current of the motor according to the stator current of the motor and the rotor position angle of the motor in the current loop, including:

[0146] The control unit 104 is further configured to perform Clarke transformation on the stator current of the motor to obtain the components of the stator current of the motor in the αβ coordinate system (such as i α 、i β ). The specific functions and processing of the control unit 104 are also shown in step S410.

[0147] The control unit 104 is further configured to perform a Park transform on the components of the stator current of the motor in the αβ coordinate system based on the rotor position angle of the motor to obtain the actual d-axis current and the actual q-axis current of the motor. The specific functions and processing of the control unit 104 are further described in step S420.

[0148] In the solution of the present invention, the current loop is controlled according to the stator current of the motor and the rotor position angle of the motor to determine the actual d-axis current and the actual q-axis current of the motor. Then, in the speed loop, the control signal of the inverter is determined according to the given speed of the motor, the actual speed of the motor, the actual d-axis current and the actual q-axis current of the motor, the inductance compensation voltage of the inductance filter module, and the rotor position angle of the motor. Voltage compensation is designed and added on the basis of permanent magnet synchronous motor vector control. Without changing the original control structure and control parameters, only a small amount of calculation is added to make the control adapt to the changed controlled object, thereby solving the problem of the controlled object changing after the inductance filter is added, and effectively suppressing current harmonics and achieving stable control.

[0149] In some embodiments, the control unit 104 determines, in the speed loop, a control signal for the inverter based on a given speed of the motor, an actual speed of the motor, an actual d-axis current and an actual q-axis current of the motor, an inductance compensation voltage of the inductance filter module, and a rotor position angle of the motor, including:

[0150] The control unit 104 is further configured to process the difference between the given speed of the motor and the actual speed of the motor through PI processing to obtain the current loop control quantity of the motor (such as the current loop control quantity ). The specific functions and processing of the control unit 104 are also shown in step S510.

[0151] The control unit 104 is further configured to obtain the d-axis given current and q-axis given current of the motor (such as the d-axis given current) after the current loop control quantity of the motor is subjected to a preset coordinate transformation. and q-axis given current ). The specific functions and processing of the control unit 104 are also shown in step S520.

[0152] The control unit 104 is further configured to process the corresponding differences between the d-axis given current and the q-axis given current of the motor, and the d-axis actual current and the q-axis actual current of the motor, respectively, through PI processing to obtain the d-axis control voltage of the motor and the q-axis control voltage of the motor (such as the d-axis control voltage u d and q-axis control voltage u q ) as the control voltage of the motor. Specifically, the control unit 104 is further configured to perform PI processing on the difference between the motor's d-axis set current and the motor's actual d-axis current to obtain the motor's d-axis control voltage; perform PI processing on the difference between the motor's q-axis set current and the motor's actual q-axis current to obtain the motor's q-axis control voltage; and use the motor's d-axis control voltage and the motor's q-axis control voltage as the motor's control voltage. The specific functions and processing of the control unit 104 are further described in step S530.

[0153] The control unit 104 is further configured to use the sum of the control voltage of the motor and the inductance compensation voltage of the inductance filter module as the actual control voltage of the motor (such as the actual output voltage of the d-axis). and the actual output voltage of the q-axis ). The specific functions and processing of the control unit 104 are also shown in step S540.

[0154] The control unit 104 is further configured to perform an inverse Park transform and an SVPWM vector transform on the actual control voltage of the motor based on the rotor position angle of the motor to obtain a control signal for the inverter. The specific functions and processing of the control unit 104 are further described in step S550.

[0155] exist Figure 7 In the example shown, in the external speed loop control, the speed error (the difference between the given speed w and the actual speed w) is calculated by the speed PI (i.e. proportional-integral) to obtain the current loop control quantity Current loop receives control quantity The dq axis control quantity in the rotating coordinate system is obtained by current control (such as coordinate transformation), such as the d axis given current. and q-axis given current D-axis given current and q-axis given current Then compare it with the actual current obtained by sampling, such as the d-axis actual current i d and the q-axis actual current i q The two-phase current error is obtained by making a difference respectively; the two-phase current error is calculated by current PI control to obtain the motor control voltage such as the d-axis control voltage u d and q-axis control voltage u q Then, the inductor filter compensation voltage in the dq coordinate system is introduced, such as the d-axis compensation voltage u Ld and q-axis compensation voltage u Lq , motor control voltage such as d-axis voltage u d and q-axis voltage u q , and the inductance filter compensation voltage such as the d-axis inductance filter compensation voltage u Ld and q-axis sense filter compensation voltage u Lq The sum of the values ​​is used as the actual output voltage, such as the actual output voltage of the d-axis and the actual output voltage of the q-axis

[0156]

[0157] in, and is the actual output voltage, u d 、u q is the motor control voltage, u Ld 、u Lq is the compensation voltage of the inductor filter. d 、u q The voltage equation of the permanent magnet synchronous motor in the dq coordinate system is calculated as follows:

[0158]

[0159] Among them, Rs is the stator phase resistance of the motor, L d 、L q are the direct and quadrature axis inductances of the motor respectively, ω is the electrical angular velocity of the motor, id and iq are the direct and quadrature axis components of the stator phase current of the motor respectively, ψ f is the permanent magnet flux of the motor; finally, the actual output voltage is transformed into a switching value through coordinate transformation and SVPWM vector transformation to control the on-off of the insulated-gate bipolar transistor (IGBT) module in the inverter, thereby further realizing the control output.

[0160] In the field-oriented control (FOC) of a motor, coordinate transformation and SVPWM vector transformation are used to output switching values ​​to control the on / off switching of the IGBT module, further achieving control output. Ultimately, the control signal is output to the motor, achieving motor control. In the solution of the present invention, the addition of an inductor filter suppresses harmonics, but this changes the controlled object; when the controlled object is changed, the variable frequency control should also be adjusted. Therefore, in the solution of the present invention, an inductor filter compensation voltage is added to the general FOC control to offset the filter's effect on the controlled object. This allows the inductor filter to suppress harmonics while eliminating the need to adjust the existing variable frequency control.

[0161] Since the processing and functions implemented by the device of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0162] According to an embodiment of the present invention, a motor corresponding to the motor control device is also provided. The motor may include: the motor control device described above.

[0163] Since the processing and functions implemented by the motor of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned device, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0164] According to an embodiment of the present invention, a computer program product corresponding to a motor is further provided, comprising a computer program, which implements the steps of the above-mentioned motor control method when executed by a processor.

[0165] Since the processing and functions implemented by the product of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned motor, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0166] According to an embodiment of the present invention, a storage medium corresponding to the motor control method is also provided, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the motor control method described above.

[0167] Since the processing and functions implemented by the storage medium of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0168] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0169] The foregoing description is merely an embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of the claims.

Claims

1. A method for controlling a motor, characterized in that: The power supply control end of the motor has an inverter; an inductor filter module is arranged between the output end of the inverter and the input end of the motor; The control method of the motor comprises: Before the motor is powered on, obtaining parameters of the motor and obtaining parameters of the inductor filter module; Determining an inductance filter compensation voltage of the inductance filter module according to the parameters of the motor and the parameters of the inductance filter module; In the vector control system of the power supply control end of the motor, vector control is performed according to the parameters of the motor and the inductance filter compensation voltage of the inductance filter module, and the control signal of the inverter is determined so that the inverter controls the operation of the motor based on the control signal of the inverter.

2. The motor control method according to claim 1, characterized in that: The parameters of the motor include: the angular frequency of the motor, the stator current vector of the motor; the parameters of the inductor filter module include: the inductance value of the inductor filter module; in, Determining the inductance filter compensation voltage of the inductance filter module according to the parameters of the motor and the parameters of the inductance filter module includes: The inductance compensation voltage of the inductance filtering module is determined according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filtering module.

3. The motor control method according to claim 2, characterized in that: Determining the inductance compensation voltage of the inductance filter module according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductance filter module includes: The voltage of the inductor filter module is calculated according to the angular frequency of the motor, the stator current vector of the motor, and the inductance value of the inductor filter module and the calculation formula of the voltage of the inductor filter module; Using the component of the voltage of the inductor filter module on the dq axis as the inductor compensation voltage of the inductor filter module; The calculation formula of the voltage of the inductor filter module is as follows: and L =jωLi m ; Wherein, j is an imaginary unit, ω is the angular frequency of the motor, L is the inductance of the inductor filter module, i m is the stator current vector of the motor.

4. The method for controlling a motor according to any one of claims 1 to 3, characterized in that: The parameters of the motor also include: the rotor position angle of the motor, the stator current of the motor, the given speed of the motor, and the actual speed of the motor; the vector control system of the power supply control end of the motor is a double closed-loop vector control system, and the double closed-loop vector control system has a current loop and a speed loop; In the vector control system of the power supply control end of the motor, vector control is performed according to the parameters of the motor and the inductance filter compensation voltage of the inductance filter module to determine the control signal of the inverter, including: In the current loop, according to the stator current of the motor and the rotor position angle of the motor, the actual d-axis current and the actual q-axis current of the motor are determined; In the speed loop, the control signal of the inverter is determined according to the given speed of the motor, the actual speed of the motor, the actual current of the d-axis and the actual current of the q-axis of the motor, the inductance compensation voltage of the inductance filter module, and the rotor position angle of the motor.

5. The motor control method according to claim 4, characterized in that: In the current loop, determining the actual d-axis current and the actual q-axis current of the motor according to the stator current of the motor and the rotor position angle of the motor includes: After performing Clarke transformation on the stator current of the motor, components of the stator current of the motor in an αβ coordinate system are obtained; Based on the rotor position angle of the motor, the components of the stator current of the motor in the αβ coordinate system are subjected to Park transformation to obtain the d-axis actual current and the q-axis actual current of the motor.

6. The motor control method according to claim 4, characterized in that: In the speed loop, a control signal of the inverter is determined according to a given speed of the motor, an actual speed of the motor, an actual d-axis current and an actual q-axis current of the motor, an inductance compensation voltage of the inductance filter module, and a rotor position angle of the motor, including: The difference between the given speed of the motor and the actual speed of the motor is processed by PI to obtain the current loop control amount of the motor; The current loop control quantity of the motor is subjected to a preset coordinate transformation to obtain a d-axis given current and a q-axis given current of the motor; The difference between the d-axis given current of the motor and the actual d-axis current of the motor is processed by PI to obtain the d-axis control voltage of the motor; the difference between the q-axis given current of the motor and the actual q-axis current of the motor is processed by PI to obtain the q-axis control voltage of the motor; and the d-axis control voltage of the motor and the q-axis control voltage of the motor are used as the control voltage of the motor; Taking the sum of the control voltage of the motor and the inductance compensation voltage of the inductance filter module as the actual control voltage of the motor; Based on the rotor position angle of the motor, the actual control voltage of the motor is subjected to inverse Park transformation and SVPWM vector transformation to obtain a control signal of the inverter.

7. A control device for a motor, characterized in that: The power supply control end of the motor has an inverter; an inductor filter module is arranged between the output end of the inverter and the input end of the motor; The control device of the motor comprises: An acquisition unit, configured to acquire parameters of the motor and parameters of the inductor filter module before the motor is powered on; A control unit, configured to determine an inductance filtering compensation voltage of the inductance filtering module according to parameters of the motor and parameters of the inductance filtering module; The control unit is also configured to perform vector control in a vector control system at the power supply control end of the motor according to the parameters of the motor and the inductance filter compensation voltage of the inductance filter module, and determine the control signal of the inverter so that the inverter controls the operation of the motor based on the control signal of the inverter.

8. A motor, characterized in that: include: The control device for a motor as claimed in claim 7.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the motor control method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method for controlling a motor according to any one of claims 1 to 6 are implemented.

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