Motor control method, system and equipment

Abstract

The invention relates to the technical field of mechanical control, in particular to a motor control method, system and equipment. The method comprises the following steps: at a starting time node of a current control period, acquiring an actual control sector corresponding to a previous control period, a sampling current of a motor and a motor rotation direction of the motor; when the sampling current of the motor is greater than a preset current threshold value, determining a current theoretical sector corresponding to the current control period based on the sampling current of the motor; determining the sector control direction of the motor based on the actual control sector and the current theoretical sector; determining a first target control sector based on a comparison result of the sector control direction and the motor rotation direction; the first target control sector is a current theoretical sector or an actual control sector; controlling the motor to operate based on the first target control sector; by adjusting the target sector of the current control period, the sector switching of the motor is smooth, the control stability of the motor is improved, and the noise of the motor is reduced.

Description

Technical Field

[0001] The present application relates to the field of mechanical control technology, and in particular to a motor control method, system and device. Background Art

[0002] During the operation of the motor, it is usually necessary to sample the motor current to achieve motor control; common current sampling methods include single-resistor sampling, dual-resistor sampling, and three-resistor sampling; among them, single-resistor sampling has a simpler hardware structure and lower cost than the other two sampling methods, and has gradually become the mainstream sampling method.

[0003] However, in the prior art, single-resistance sampling will result in a small difference in the duty cycle of the control signal under low speed or no-load conditions, which will cause abnormal noise due to the uncertainty of the sector; during the operation of the motor, directly determining the control sector of the current cycle based on current sampling will result in uneven sector switching at the sector boundary, resulting in increased current harmonics, causing unstable motor control and noise. Summary of the invention

[0004] In view of the above-mentioned problems in the prior art, the purpose of the present application is to adjust the target sector of the current control cycle to make the motor sector switching smooth, improve the motor control stability and reduce the motor noise.

[0005] In order to solve the above problems, the present application provides a motor control method, comprising:

[0006] At the start time node of the current control cycle, obtaining the actual control sector corresponding to the previous control cycle, the sampled current of the motor, and the motor rotation direction of the motor;

[0007] In a case where the sampled current of the motor is greater than a preset current threshold, determining that the current control cycle corresponds to a current theoretical sector based on the sampled current of the motor;

[0008] Determining a sector control direction of the motor based on the actual control sector and the current theoretical sector;

[0009] Based on the comparison result of the sector control direction and the motor rotation direction, determining a first target control sector; the first target control sector is the current theoretical sector or the actual control sector;

[0010] The motor operation is controlled based on the first target control sector.

[0011] In the embodiment of the present application, the motor control method further includes:

[0012] When the sampled current of the motor is less than or equal to the preset current threshold, the motor rotor angle, the first preset current and the second preset current are obtained; the first preset current is a current preset in the direction of the rotor magnetic field; the second preset current is a current preset in the direction perpendicular to the rotor magnetic field;

[0013] Based on the motor rotor angle, the first preset current and the second preset current, current calculation is performed to obtain a first shaft current and a first phase current; the first shaft current is the current of the motor on a preset target shaft; the first phase current is the current between two phases of the motor;

[0014] Determining a second target control sector corresponding to the first shaft current and the first phase current based on the first shaft current, the first phase current and a preset reference comparison relationship; the preset reference comparison relationship represents a corresponding relationship between a reference shaft current, a reference phase current and a control sector;

[0015] The motor operation is controlled based on the second target control sector.

[0016] In the embodiment of the present application, the determining the first target control sector based on the comparison result of the sector control direction and the motor rotation direction includes:

[0017] When the comparison result indicates that the sector control direction is inconsistent with the motor rotation direction, the actual control sector is determined as the first target control sector.

[0018] In the embodiment of the present application, the determining the first target control sector based on the comparison result of the sector control direction and the motor rotation direction includes:

[0019] When the comparison result indicates that the sector control direction is consistent with the motor rotation direction, the current theoretical sector is determined as the first target control sector.

[0020] In an embodiment of the present application, the sampling current of the motor is determined based on a first sampling current and a second sampling current; the first sampling current is a sampling current in the direction of the rotor magnetic field; the second sampling current is a sampling current in the vertical direction of the rotor magnetic field; when the sampling current of the motor is greater than a preset current threshold, determining the current theoretical sector corresponding to the current control cycle based on the sampling current of the motor includes:

[0021] When the sampled current of the motor is greater than a preset current threshold, obtaining a rotor angle of the motor;

[0022] Based on the motor rotor angle, the first sampled current and the second sampled current, current calculation is performed to obtain a second shaft current and a second phase current; the second shaft current is the current of the motor on a preset target shaft; the first phase current is the current between two phases of the motor;

[0023] Based on the second shaft current, the second phase current and a preset reference comparison relationship, the current theoretical sector corresponding to the second shaft current and the second phase current is determined; the preset reference comparison relationship represents the correspondence between the reference shaft current, the reference phase current and the control sector.

[0024] In an embodiment of the present application, the second axis current includes a first target axis current and a second target axis current; the first target axis is perpendicular to the second target axis; the current operation based on the motor rotor angle, the first sampled current and the second sampled current to obtain the second axis current and the second phase current includes:

[0025] Performing a difference operation on the first product value and the second product value to obtain a first target shaft current; the first product value is the product value of the first sampling current and the cosine of the motor rotor angle; the second product value is the product value of the second sampling current and the sine of the motor rotor angle;

[0026] The third product value and the fourth product value are added together to obtain a second target shaft current; the third product value is the product value of the first sampling current and the sine of the motor rotor angle; the fourth product value is the product value of the second sampling current and the cosine of the motor rotor angle;

[0027] The second shaft current and the second phase current are determined based on the first target shaft current and the second target shaft current.

[0028] In an embodiment of the present application, the second phase current includes a first phase current and a second phase current; the first phase current is a current between a first phase of the motor and a third phase of the motor; the second phase current is a current between a second phase of the motor and a third phase of the motor; and determining the second shaft current and the second phase current based on the first target shaft current and the second target shaft current includes:

[0029] Performing a difference operation on the fifth product value and the sixth product value to obtain a first phase current; the fifth product value is the product value of the first target shaft current and the first preset value; the sixth product value is the product value of the second target shaft current and the second preset value; the sum of the square of the first preset value and the square of the second preset value is one;

[0030] Performing a difference operation on the seventh product value and the sixth product value to obtain a second phase current; the seventh product value is a product value of the first target shaft current and a third preset value; the third preset value and the first preset value are reciprocal numbers of each other;

[0031] The determining, based on the second axis current, the second phase current and a preset reference comparison relationship, a current theoretical sector corresponding to the second axis current and the second phase current comprises:

[0032] The current theoretical sector is determined based on the first target shaft current, the first phase current, the second phase current, and the preset reference comparison relationship.

[0033] In an embodiment of the present application, controlling the operation of the motor based on the first target control sector includes:

[0034] performing a phase shift on the driving signal of the motor based on the first target control sector to obtain a phase-shifted driving signal;

[0035] The operation of the motor is controlled based on the phase-shifted driving signal.

[0036] On the other hand, the present application also provides a motor control system, the system comprising:

[0037] An information acquisition module, used for acquiring, at a starting time node of a current control cycle, an actual control sector corresponding to a previous control cycle, a sampled current of the motor, and a motor rotation direction of the motor;

[0038] A theoretical sector determination module, configured to determine, when the sampled current of the motor is greater than a preset current threshold, that the current control cycle corresponds to a current theoretical sector based on the sampled current of the motor;

[0039] A sector direction determination module, configured to determine a sector control direction of the motor based on the actual control sector and the current theoretical sector;

[0040] a target sector determination module, configured to determine a first target control sector based on a comparison result between the sector control direction and the motor rotation direction; the first target control sector being the current theoretical sector or the actual control sector;

[0041] A motor control module is used to control the operation of the motor based on the first target control sector.

[0042] On the other hand, the present application also provides a device, which includes a motor and a motor control system as described in the embodiments of the present application.

[0043] On the other hand, the present application also provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the motor control method as described above.

[0044] On the other hand, the present application also provides a computer storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the motor control method as described above.

[0045] Due to the above technical solution, the motor control method described in this application has the following beneficial effects:

[0046] By determining the current theoretical sector based on the sampled current at the starting time node of the current control cycle, the sector control direction of the motor is further determined based on the current theoretical sector and the actual control sector, and after comparing the sector control direction with the motor rotation direction, the first target control sector is selected from the current theoretical sector and the actual control sector, thereby improving the accuracy of the control sector corresponding to the current control cycle, thereby avoiding uneven sector switching between control cycles, reducing the generation of current harmonics, improving motor control stability and reducing motor noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 is a flow chart of a motor control method provided in an embodiment of the present application;

[0049] Figure 2 It is a schematic diagram of sector division in the motor control method provided in an embodiment of the present application;

[0050] Figure 3 It is a flow chart of the motor control method provided in the embodiment of the present application when the motor sampling current is too small;

[0051] Figure 4 It is a schematic diagram of the change of the current theoretical sector and the first target control sector corresponding to the counterclockwise rotation in the motor control method provided in the embodiment of the present application;

[0052] Figure 5 It is a schematic diagram of the change of the current theoretical sector and the first target control sector corresponding to the clockwise rotation in the motor control method provided in the embodiment of the present application;

[0053] Figure 6 is a schematic diagram of a current theoretical sector determination process in a motor control method provided in an embodiment of the present application;

[0054] Figure 7 It is a schematic diagram of a flow chart for determining a second axis current and a second phase current in a motor control method provided in an embodiment of the present application;

[0055] Figure 8 is a schematic diagram of a current theoretical sector determination process in a motor control method provided in an embodiment of the present application;

[0056] Fig. 9 It is a schematic diagram of the motor operation control process in the motor control method provided in the embodiment of the present application;

[0057] Fig.10 is a schematic diagram of the structure of a motor control system provided in an embodiment of the present application;

[0058] Fig.11 It is a hardware structure block diagram corresponding to the motor control method provided in the embodiment of the present application. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0060] The term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may include one or more of the features explicitly or implicitly. Moreover, the terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here.

[0061] Combination Figure 1 , introduces a motor control method provided by an embodiment of the present application, the method comprising:

[0062] S1001. At the start time node of the current control cycle, the actual control sector corresponding to the previous control cycle, the sampled current of the motor, and the motor rotation direction of the motor are obtained.

[0063] In a specific embodiment of the present application, the motor controller accurately controls the current input to the motor based on sectors to align the rotor magnetic field. Therefore, when there is an error in the sector corresponding to the current control cycle, it will cause a large error in the current input, and then the rotor magnetic field deviation will generate current harmonics, causing abnormal noise in the motor.

[0064] S1002: When the sampled current of the motor is greater than a preset current threshold, determine whether the current control cycle corresponds to a current theoretical sector based on the sampled current of the motor.

[0065] In a specific embodiment of the present application, a sampled current of the motor being greater than a preset current threshold indicates that the motor speed is normal and there is a load.

[0066] S1003 . Determine the sector control direction of the motor based on the actual control sector and the current theoretical sector.

[0067] refer to Figure 2 In the specific embodiment of the present application, the motor is a three-phase motor, and the sectors are divided into 6 sectors. Specifically, the corresponding relationship between the sectors, the voltage vector angles and the drive signals is shown in the following table:

[0068] Table 1 Correspondence between sectors, voltage vector angles and drive signals

[0069] Sector Number Voltage vector corresponding angle Drive signal Sector 1 [0°,60°) V000→V100→V110→V111 Sector 2 [60°,120°) V000→V010→V110→V111 Sector 3 [120°,180°) V000→V010→V011→V111 Sector 4 [180°,240°) V000→V001→V011→V111 Sector 5 [240°,300°) V000→V001→V101→V111 Sector 6 [300°,360°) V000→V100→V101→V111

[0070] Specifically, sector 1 corresponds to a voltage vector angle [0°, 60°), and sector 1 corresponds to a drive signal V000→V100→V110→V111; sector 2 corresponds to a voltage vector angle [60°, 120°), and sector 2 corresponds to a drive signal V000→V010→V110→V111; sector 3 corresponds to a voltage vector angle [120°, 180°), and sector 2 corresponds to a drive signal V000→V010→V011→V111; Sector 4 corresponds to a voltage vector angle of [180°, 240°), and sector 4 corresponds to a drive signal V000→V001→V011→V111; sector 5 corresponds to a voltage vector angle of [240°, 300°), and sector 5 corresponds to a drive signal V000→V001→V101→V111; sector 6 corresponds to a voltage vector angle of [300°, 360°), and sector 6 corresponds to a drive signal V000→V100→V101→V111.

[0071] It should be noted that the drive signal may refer to a pulse width modulation signal (PWM signal) of a three-phase motor; the three phases of the three-phase motor are divided into phase A, phase B and phase C; the voltage vector angle refers to the angle between the voltage vector and phase A in the three-phase motor, and the drive signal represents the conduction state of the upper bridge and the lower bridge in the three-phase motor; wherein, 1 in the drive signal means that the upper bridge of the corresponding phase is turned on and the lower bridge is not turned on, and 0 in the drive signal means that the upper bridge of the corresponding phase is not turned on and the lower bridge is turned on; the drive signals are arranged in sequence according to phase A, phase B and phase C; for example, V010 means: the upper bridge corresponding to A is not turned on and the lower bridge is turned on, the upper bridge corresponding to B is turned on and the lower bridge is not turned on, and the upper bridge corresponding to C is not turned on and the lower bridge is turned on; V101 means that the upper bridge corresponding to A is turned on and the lower bridge is not turned on, the upper bridge corresponding to B is not turned on and the lower bridge is turned on, and the upper bridge corresponding to C is turned on and the lower bridge is not turned on.

[0072] In a specific embodiment of the present application, the actual control sector and the current theoretical sector are adjacent sectors, and the sector control direction is the direction from the actual control sector to the current theoretical sector; specifically, assuming that the motor sectors are sector 1, sector 2, ..., sector 6, the sector control direction corresponding to sector 1-sector 2-sector 3-...-sector 1 is counterclockwise; the sector control direction corresponding to sector 1-sector 6-sector 5-...-sector 1 is clockwise.

[0073] In a specific embodiment of the present application, assuming that the actual control sector is sector 1 and the current theoretical sector is sector 2, the sector control direction of the motor is counterclockwise; assuming that the actual control sector is sector 1 and the current theoretical sector is sector 6, the sector control direction of the motor is clockwise.

[0074] S1004. Determine a first target control sector based on a comparison result between the sector control direction and the motor rotation direction; the first target control sector is a current theoretical sector or an actual control sector.

[0075] S1005 , controlling the motor operation based on the first target control sector.

[0076] In an embodiment of the present application, at the starting time node of the current control cycle, after determining the current theoretical sector based on the sampled current, the sector control direction of the motor is further determined based on the current theoretical sector and the actual control sector, and after comparing the sector control direction with the motor rotation direction, the first target control sector is selected from the current theoretical sector and the actual control sector, thereby improving the accuracy of the control sector corresponding to the current control cycle, thereby avoiding uneven sector switching between control cycles, reducing the generation of current harmonics, improving motor control stability and reducing motor noise.

[0077] refer to Figure 3 In the embodiment of the present application, the motor control method further includes:

[0078] S2001. When the sampled current of the motor is less than or equal to a preset current threshold, obtain the motor rotor angle, a first preset current and a second preset current; the first preset current is a preset current in the direction of the rotor magnetic field; the second preset current is a preset current in the direction perpendicular to the rotor magnetic field.

[0079] In a specific embodiment of the present application, a sampling current of the motor that is less than or equal to a preset current threshold value indicates that the motor is rotating at a low speed or at no load.

[0080] S2002, performing current calculation based on the motor rotor angle, the first preset current and the second preset current to obtain a first shaft current and a first phase current; the first shaft current is the current of the motor on the preset target shaft; the first phase current is the current between two phases of the motor.

[0081] S2003. Determine a second target control sector corresponding to the first shaft current and the first phase current based on the first shaft current, the first phase current and a preset reference comparison relationship; the preset reference comparison relationship represents the correspondence between the reference shaft current, the reference phase current and the control sector.

[0082] S2004 , controlling the motor operation based on the second target control sector.

[0083] In an embodiment of the present application, by calculating the first axis current and the first phase current based on the first preset current and the second preset current when the sampled current of the motor is less than or equal to the preset current threshold, the duty cycle of the control signal of the motor during no-load or low-speed operation is increased, thereby avoiding abnormal noise of the motor, improving the control stability of the motor and reducing the noise of the motor.

[0084] In the embodiment of the present application, S1004 includes:

[0085] When the comparison result indicates that the sector control direction is inconsistent with the motor rotation direction, the actual control sector is determined as the first target control sector.

[0086] In the embodiment of the present application, the inconsistency between the sector control direction and the motor rotation direction indicates that the current theoretical sector may have calculation errors due to factors such as sampling accuracy, and thus, there may be a problem of uneven sector switching during the motor control process.

[0087] In an embodiment of the present application, when the sector control direction is inconsistent with the motor rotation direction, the actual control sector is determined as the first target control sector, thereby avoiding the current theoretical sector error caused by errors such as current sampling accuracy, thereby avoiding uneven sector switching, reducing the generation of current harmonics, improving motor control stability and reducing motor noise.

[0088] refer to Figure 4 In a specific embodiment of the present application, the above-mentioned motor control method is adopted. During the counterclockwise rotation, when the current theoretical sector jumps, it does not affect the smooth change of the first target control sector.

[0089] refer to Figure 5 In a specific embodiment of the present application, the above-mentioned motor control method is adopted. During the clockwise rotation, when the current theoretical sector has a jump, it does not affect the smooth change of the first target control sector.

[0090] In the embodiment of the present application, S1004 also includes:

[0091] When the comparison result indicates that the sector control direction is consistent with the motor rotation direction, the current theoretical sector is determined as the first target control sector.

[0092] In the embodiment of the present application, by determining the current theoretical sector as the first target control sector when the sector control direction is consistent with the motor rotation direction, it is ensured that the sectors rotate correctly and the motor control stability is improved.

[0093] In an embodiment of the present application, the sampling current of the motor is determined based on a first sampling current and a second sampling current; the first sampling current is a sampling current in the direction of the rotor magnetic field; and the second sampling current is a sampling current in a direction perpendicular to the rotor magnetic field.

[0094] In a specific embodiment of the present application, the calculation formula of the sampling current is as follows:

[0095]

[0096] Among them, i a refers to the sampling current; i d Refers to the first sampling current, specifically the current on the motor d axis; i q It refers to the second sampling current, specifically the current on the q-axis of the motor.

[0097] refer to Figure 6 In the embodiment of the present application, S1002 includes:

[0098] S5001. When the sampled current of the motor is greater than a preset current threshold, obtain the motor rotor angle.

[0099] S5002, performing current calculation based on the motor rotor angle, the first sampled current and the second sampled current to obtain a second shaft current and a second phase current; the second shaft current is the current of the motor on a preset target shaft; the first phase current is the current between two phases of the motor.

[0100] S5003. Determine the current theoretical sector corresponding to the second shaft current and the second phase current based on the second shaft current, the second phase current and a preset reference comparison relationship; the preset reference comparison relationship represents the correspondence between the reference shaft current, the reference phase current and the control sector.

[0101] In an embodiment of the present application, the second axis current and the second phase current are calculated, and then the current theoretical sector is determined by the second axis current, the second phase current and a preset reference comparison relationship, thereby improving the accuracy of determining the current theoretical sector, thereby improving the motor control accuracy and motor control stability.

[0102] In the embodiment of the present application, the second axis current includes a first target axis current and a second target axis current; the first target axis is perpendicular to the second target axis.

[0103] In a specific embodiment of the present application, the target axis includes a first target axis and a second target axis. Specifically, the first sampling current and the second sampling current are decomposed into the first target axis and the second target axis to obtain the first target axis current and the second target axis current.

[0104] refer to Figure 7 In the embodiment of the present application, S5002 includes:

[0105] S6001. Perform a difference operation on the first product value and the second product value to obtain a first target shaft current; the first product value is the product value of the first sampling current and the cosine of the motor rotor angle; the second product value is the product value of the second sampling current and the sine of the motor rotor angle.

[0106] In a specific embodiment of the present application, the first target shaft current can be calculated using the following formula:

[0107] M α =i d cosθ-i q sinθ (2)

[0108] Among them, M α refers to the first target axis current; i d Refers to the first sampling current, specifically the current on the motor d axis; i q refers to the second sampling current, specifically the current on the q-axis of the motor; θ refers to the motor rotor angle.

[0109] S6002, add the third product value and the fourth product value to obtain a second target shaft current; the third product value is the product value of the first sampling current and the sine of the motor rotor angle; the fourth product value is the product value of the second sampling current and the cosine of the motor rotor angle.

[0110] In a specific embodiment of the present application, the second target shaft current can be calculated using the following formula:

[0111] M β =i d sinθ+i q cosθ (3)

[0112] Among them, M β refers to the second target axis current; i d Refers to the first sampling current, specifically the current on the motor d axis; i q refers to the second sampling current, specifically the current on the q-axis of the motor; θ refers to the motor rotor angle.

[0113] S6003. Determine a second shaft current and a second phase current based on the first target shaft current and the second target shaft current.

[0114] In the embodiment of the present application, by calculating the first target shaft current and the second target shaft current, the accuracy of determining the current theoretical sector is improved, thereby improving the motor control accuracy and motor control stability.

[0115] In an embodiment of the present application, the second phase current includes a first phase current and a second phase current; the first phase current is the current between the first phase of the motor and the third phase of the motor; the second phase current is the current between the second phase of the motor and the third phase of the motor.

[0116] In a specific embodiment of the present application, the three-phase motor is divided into phase A, phase B and phase C, the first phase current is the current between phase A and phase C; the second phase current is the current between phase B and phase C.

[0117] refer to Figure 8In the embodiment of the present application, S5002 includes:

[0118] S7001. Perform a difference operation on the fifth product value and the sixth product value to obtain the first phase current; the fifth product value is the product value of the first target shaft current and the first preset value; the sixth product is the product value of the second target shaft current and the second preset value; the sum of the square of the first preset value and the square of the second preset value is one.

[0119] In a specific embodiment of the present application, the first preset value and the second preset value are related to the phase difference of the motor. Specifically, when the motor is a three-phase motor, the first preset value is The second preset value is

[0120] In a specific embodiment of the present application, the first phase current may be determined using the following formula:

[0121]

[0122] Among them, i b Refers to the first phase current; M α Refers to the first target axis current; M β Refers to the second target axis current.

[0123] S7002, performing a difference operation on the seventh product value and the sixth product value to obtain a second phase current; the seventh product value is the product value of the first target shaft current and the third preset value; the third preset value and the first preset value are reciprocal numbers of each other.

[0124] In a specific embodiment of the present application, the third preset value is related to the phase difference of the motor. Specifically, when the motor is a three-phase motor, the third preset value is

[0125] In a specific embodiment of the present application, the second phase current may be determined using the following formula:

[0126]

[0127] Among them, i c Refers to the second phase current; M α Refers to the first target axis current; M β Refers to the second target axis current.

[0128] S5003 includes:

[0129] S7003. Determine the current theoretical sector based on the first target shaft current, the first phase current, the second phase current and a preset reference comparison relationship.

[0130] In a specific embodiment of the present application, the preset reference comparison relationship may be the following table:

[0131] Table 2 Preset reference comparison table

[0132]

[0133]

[0134] Specifically, when the first target shaft current is greater than or equal to zero and the first phase current is greater than or equal to zero, the size of the second phase current is ignored, and the current theoretical sector is sector 1; when the first phase current and the second phase current are both less than zero, the size of the first target shaft current is ignored, and the current theoretical sector is sector 2; when the first target shaft current is greater than or equal to zero and the second phase current is greater than or equal to zero, the size of the first phase current is ignored, and the current theoretical sector is sector 3; when the first target shaft current and the first phase current are both less than zero, the size of the second phase current is ignored, and the current theoretical sector is sector 4; when the first phase current and the second phase current are both greater than or equal to zero, the size of the first target shaft current is ignored, and the current theoretical sector is sector 5; when the first target shaft current and the second phase current are both less than zero, the size of the first phase current is ignored, and the current theoretical sector is sector 6.

[0135] In an embodiment of the present application, the first phase current and the second phase current are calculated, and the current theoretical sector is determined based on the first target shaft current, the first phase current, the second phase current and a preset reference comparison relationship, thereby improving the accuracy of determining the current theoretical sector and further improving the motor control accuracy and motor control stability.

[0136] In a specific embodiment of the present application, the process of determining the second target control sector is similar to the process of determining the current theoretical sector. Specifically, the first preset current replaces the first sampling current, and the second preset current replaces the second sampling current, which will not be elaborated herein.

[0137] In a specific embodiment of the present application, the first preset current and the second preset current are set to increase the duty cycle of the control signal when the motor is running at no load or low speed, thereby avoiding abnormal noise from the motor, improving motor control stability and reducing motor noise.

[0138] refer to Fig. 9 In the embodiment of the present application, S1005 includes:

[0139] S8001. Phase-shift a drive signal of a motor based on a first target control sector to obtain a phase-shifted drive signal.

[0140] In a specific embodiment of the present application, phase shifting of the drive signal of the motor refers to changing the phase difference between the starting current and the operating current of the motor; S8001 refers to shifting the control signal corresponding to the current control cycle to the first target control sector; for example, the current theoretical sector corresponding to the current control cycle is sector 1, then the drive signal corresponding to the current control cycle is: V000→V100→V110→V111; the first target control sector is finally determined to be sector 6, then the drive signal after phase shift is: V000→V100→V101→V111.

[0141] In a specific embodiment of the present application, the driving signal of the motor is a pulse width modulation signal (PWM signal).

[0142] S8002. Control the operation of the motor based on the phase-shifted drive signal.

[0143] In an embodiment of the present application, the drive signal of the motor is phase-shifted based on the first target control sector, thereby avoiding the current theoretical sector error caused by errors such as current sampling accuracy, thereby avoiding uneven sector switching between control cycles, reducing the generation of current harmonics, improving motor control stability, and reducing motor noise.

[0144] In a specific embodiment of the present application, S2004 includes:

[0145] The driving signal of the motor is phase-shifted based on the second target control sector to obtain a phase-shifted driving signal.

[0146] The motor operation is controlled based on the phase-shifted drive signal.

[0147] In a specific embodiment of the present application, the driving signal of the motor is phase-shifted based on the second target control sector, thereby increasing the duty cycle of the control signal when the motor is running at no load or low speed, thereby avoiding abnormal noise from the motor, improving motor control stability and reducing motor noise.

[0148] The motor control method in the embodiment of the present application has the following beneficial effects:

[0149] By determining the current theoretical sector based on the sampled current at the starting time node of the current control cycle, the sector control direction of the motor is further determined based on the current theoretical sector and the actual control sector, and after comparing the sector control direction with the motor rotation direction, the first target control sector is selected from the current theoretical sector and the actual control sector, thereby improving the accuracy of the control sector corresponding to the current control cycle, thereby avoiding uneven sector switching between control cycles, reducing the generation of current harmonics, improving motor control stability and reducing motor noise.

[0150] The present application also provides a motor control system, the system comprising:

[0151] The information acquisition module 101 is used to acquire the actual control sector, the sampled current of the motor and the motor rotation direction of the motor corresponding to the previous control cycle at the starting time node of the current control cycle.

[0152] The theoretical sector determination module 102 is used to determine whether the current control cycle corresponds to the current theoretical sector based on the sampled current of the motor when the sampled current of the motor is greater than a preset current threshold.

[0153] The sector direction determination module 103 is used to determine the sector control direction of the motor based on the actual control sector and the current theoretical sector.

[0154] The target sector determination module 104 is used to determine a first target control sector based on a comparison result between the sector control direction and the motor rotation direction; the first target control sector is a current theoretical sector or an actual control sector.

[0155] The motor control module 105 is used to control the operation of the motor based on the first target control sector.

[0156] The preset current acquisition module is used to obtain the motor rotor angle, the first preset current and the second preset current when the motor sampling current is less than or equal to the preset current threshold; the first preset current is the current preset in the direction of the rotor magnetic field; the second preset current is the current preset in the direction perpendicular to the rotor magnetic field.

[0157] The current calculation module is used to perform current calculation based on the motor rotor angle, the first preset current and the second preset current to obtain the first axis current and the first phase current; the first axis current is the current of the motor on the preset target axis; the first phase current is the current between the two phases of the motor.

[0158] The second target determination module is used to determine the second target control sector corresponding to the first shaft current and the first phase current based on the first shaft current, the first phase current and a preset reference comparison relationship; the preset reference comparison relationship represents the correspondence between the reference shaft current, the reference phase current and the control sector.

[0159] The motor control module is used to control the operation of the motor based on the second target control sector.

[0160] The target sector determination module includes

[0161] The first determination unit is used to determine the actual control sector as the first target control sector when the comparison result indicates that the sector control direction is inconsistent with the motor rotation direction.

[0162] The second determination unit is used to determine the current theoretical sector as the first target control sector when the comparison result indicates that the sector control direction is consistent with the motor rotation direction.

[0163] The theoretical sector determination module includes:

[0164] The rotor acquisition unit is used to acquire the motor rotor angle when the sampled current of the motor is greater than a preset current threshold.

[0165] The current calculation unit is used for performing current calculation based on the motor rotor angle, the first sampled current and the second sampled current to obtain the second axis current and the second phase current; the second axis current is the current of the motor on the preset target axis; the first phase current is the current between the two phases of the motor.

[0166] The sector determination unit is used to determine the current theoretical sector corresponding to the second shaft current and the second phase current based on the second shaft current, the second phase current and a preset reference comparison relationship; the preset reference comparison relationship represents the correspondence between the reference shaft current, the reference phase current and the control sector.

[0167] The current calculation unit includes:

[0168] The first target axis calculation unit is used to perform a difference operation on the first product value and the second product value to obtain the first target axis current; the first product value is the product value of the first sampling current and the cosine of the motor rotor angle; the second product value is the product value of the second sampling current and the sine of the motor rotor angle.

[0169] The second target axis calculation unit is used to accumulate the third product value and the fourth product value to obtain the second target axis current; the third product value is the product value of the first sampling current and the sine of the motor rotor angle; the fourth product value is the product value of the second sampling current and the cosine of the motor rotor angle.

[0170] The phase current calculation unit is used to determine the second shaft current and the second phase current based on the first target shaft current and the second target shaft current.

[0171] The phase current calculation unit includes:

[0172] The first phase calculation unit is used to perform a difference operation on the fifth product value and the sixth product value to obtain a first phase current; the fifth product value is the product value of the first target shaft current and the first preset value; the sixth product is the product value of the second target shaft current and the second preset value; the sum of the square of the first preset value and the square of the second preset value is one.

[0173] The second phase calculation unit is used to perform a difference operation on the seventh product value and the sixth product value to obtain a second phase current; the seventh product value is the product value of the first target shaft current and the third preset value; the third preset value and the first preset value are reciprocal numbers of each other.

[0174] The sector determination unit comprises:

[0175] The relationship comparison unit is used to determine the current theoretical sector based on the first target shaft current, the first phase current, the second phase current and a preset reference comparison relationship.

[0176] The motor control module includes:

[0177] The phase shifting unit is used to perform phase shifting on the driving signal of the motor based on the first target control sector to obtain a phase-shifted driving signal.

[0178] The control operation unit is used to control the operation of the motor based on the phase-shifted driving signal.

[0179] The embodiment of the present application also provides a device, which includes a motor and a motor control system in the embodiment of the present application. Specifically, the motor control system includes a motor controller.

[0180] An embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the motor control method as described above.

[0181] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one hard disk storage device, a flash memory device or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0182] The method embodiments provided in the embodiments of the present application can be executed in electronic devices such as mobile terminals, computer terminals, servers or similar computing devices. Fig.11 is an electronic device provided in an embodiment of the present application. Fig.11As shown, the electronic device 900 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 910 (the processor 910 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 930 for storing data, and one or more storage media 920 (such as one or more mass storage devices) for storing application programs 923 or data 922. Among them, the memory 930 and the storage medium 920 can be short-term storage or permanent storage. The program stored in the storage medium 920 may include one or more modules, and each module may include a series of instruction operations in the electronic device. Furthermore, the central processing unit 910 can be configured to communicate with the storage medium 920 to execute a series of instruction operations in the storage medium 920 on the electronic device 900. The electronic device 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input and output interfaces 940, and / or one or more operating systems 921, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0183] The input / output interface 940 may be used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the electronic device 900. In one example, the input / output interface 940 includes a network adapter (NIC), which may be connected to other network devices via a base station so as to communicate with the Internet. In one example, the input / output interface 940 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0184] It can be understood by those skilled in the art that Fig.11 The structure shown is only for illustration and does not limit the structure of the above electronic device. Fig.11 More or fewer components as shown, or with Fig.11 Different configurations are shown.

[0185] An embodiment of the present application further provides a storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the motor control method as described above.

[0186] The above description has fully disclosed the specific implementation methods of the present application. It should be pointed out that any changes made by technicians familiar with the field to the specific implementation methods of the present application do not deviate from the scope of the claims of the present application. Accordingly, the scope of the claims of the present application is not limited to the above specific implementation methods.

Claims

1. A motor control method, characterized in that: The method comprises: At the start time node of the current control cycle, obtaining the actual control sector corresponding to the previous control cycle, the sampled current of the motor, and the motor rotation direction of the motor; In a case where the sampled current of the motor is greater than a preset current threshold, determining that the current control cycle corresponds to a current theoretical sector based on the sampled current of the motor; Determining a sector control direction of the motor based on the actual control sector and the current theoretical sector; Based on the comparison result of the sector control direction and the motor rotation direction, determining a first target control sector; the first target control sector is the current theoretical sector or the actual control sector; The motor operation is controlled based on the first target control sector.

2. The motor control method according to claim 1, characterized in that: The method further comprises: When the sampled current of the motor is less than or equal to the preset current threshold, the motor rotor angle, the first preset current and the second preset current are obtained; the first preset current is a current preset in the direction of the rotor magnetic field; the second preset current is a current preset in the direction perpendicular to the rotor magnetic field; Based on the motor rotor angle, the first preset current and the second preset current, current calculation is performed to obtain a first shaft current and a first phase current; the first shaft current is the current of the motor on a preset target shaft; the first phase current is the current between two phases of the motor; Determine a second target control sector corresponding to the first shaft current and the first phase current based on the first shaft current, the first phase current and a preset reference comparison relationship; the preset reference comparison relationship represents a corresponding relationship between a reference shaft current, a reference phase current and a control sector; The motor operation is controlled based on the second target control sector.

3. The motor control method according to claim 1, characterized in that: The determining of the first target control sector based on the comparison result of the sector control direction and the motor rotation direction comprises: When the comparison result indicates that the sector control direction is inconsistent with the motor rotation direction, the actual control sector is determined as the first target control sector.

4. The motor control method according to claim 3, characterized in that: The determining of the first target control sector based on the comparison result of the sector control direction and the motor rotation direction comprises: When the comparison result indicates that the sector control direction is consistent with the motor rotation direction, the current theoretical sector is determined as the first target control sector.

5. The motor control method according to claim 1, characterized in that: The sampling current of the motor is determined based on a first sampling current and a second sampling current; the first sampling current is a sampling current in the direction of the rotor magnetic field; the second sampling current is a sampling current in the direction perpendicular to the rotor magnetic field; When the sampled current of the motor is greater than a preset current threshold, determining that the current control cycle corresponds to the current theoretical sector based on the sampled current of the motor includes: When the sampled current of the motor is greater than a preset current threshold, obtaining a rotor angle of the motor; Based on the motor rotor angle, the first sampled current and the second sampled current, current calculation is performed to obtain a second shaft current and a second phase current; the second shaft current is the current of the motor on a preset target shaft; the first phase current is the current between two phases of the motor; Based on the second shaft current, the second phase current and a preset reference comparison relationship, the current theoretical sector corresponding to the second shaft current and the second phase current is determined; the preset reference comparison relationship represents the correspondence between the reference shaft current, the reference phase current and the control sector.

6. The motor control method according to claim 5, characterized in that: The second axis current includes a first target axis current and a second target axis current; the first target axis is perpendicular to the second target axis; the current operation based on the motor rotor angle, the first sampled current and the second sampled current to obtain the second axis current and the second phase current includes: Performing a difference operation on the first product value and the second product value to obtain a first target shaft current; the first product value is the product value of the first sampling current and the cosine of the motor rotor angle; the second product value is the product value of the second sampling current and the sine of the motor rotor angle; The third product value and the fourth product value are added together to obtain a second target shaft current; the third product value is the product value of the first sampling current and the sine of the motor rotor angle; the fourth product value is the product value of the second sampling current and the cosine of the motor rotor angle; The second shaft current and the second phase current are determined based on the first target shaft current and the second target shaft current.

7. The motor control method according to claim 6, characterized in that: The second phase current includes a first phase current and a second phase current; the first phase current is a current between the first phase of the motor and the third phase of the motor; the second phase current is a current between the second phase of the motor and the third phase of the motor; Determining the second shaft current and the second phase current based on the first target shaft current and the second target shaft current includes: Performing a difference operation on the fifth product value and the sixth product value to obtain a first phase current; the fifth product value is the product value of the first target shaft current and the first preset value; the sixth product value is the product value of the second target shaft current and the second preset value; the sum of the square of the first preset value and the square of the second preset value is one; Performing a difference operation on the seventh product value and the sixth product value to obtain a second phase current; the seventh product value is a product value of the first target shaft current and a third preset value; the third preset value and the first preset value are reciprocal numbers of each other; The determining, based on the second axis current, the second phase current and a preset reference comparison relationship, a current theoretical sector corresponding to the second axis current and the second phase current comprises: The current theoretical sector is determined based on the first target shaft current, the first phase current, the second phase current, and the preset reference comparison relationship.

8. The motor control method according to claim 1, characterized in that: The controlling the motor operation based on the first target control sector comprises: performing a phase shift on the driving signal of the motor based on the first target control sector to obtain a phase-shifted driving signal; The operation of the motor is controlled based on the phase-shifted driving signal.

9. A motor control system, characterized in that: include: An information acquisition module, used for acquiring, at a starting time node of a current control cycle, an actual control sector corresponding to a previous control cycle, a sampled current of the motor, and a motor rotation direction of the motor; A theoretical sector determination module, configured to determine, when the sampled current of the motor is greater than a preset current threshold, that the current control cycle corresponds to a current theoretical sector based on the sampled current of the motor; A sector direction determination module, configured to determine a sector control direction of the motor based on the actual control sector and the current theoretical sector; a target sector determination module, configured to determine a first target control sector based on a comparison result between the sector control direction and the motor rotation direction; the first target control sector being the current theoretical sector or the actual control sector; A motor control module is used to control the operation of the motor based on the first target control sector.

10. A device, characterized in that: The invention comprises a motor and a motor control system as claimed in claim 9.

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