Vector reluctance motor and control method thereof

Abstract

The invention relates to the field of motors, and discloses a vector reluctance motor and a control method thereof, and the control method comprises the steps: converting a three-phase current inputted to a motor controller into a current under an alpha-beta coordinate system through Clark conversion, and then converting the current under a d-q coordinate system through Park conversion; after the required d-axis current Id and q-axis current Iq are determined according to the preset target torque P and the target magnetic flux # imgabs0 #, the current d-axis current Id and q-axis current Iq are adjusted; according to the actual operation condition of the motor, current output is adjusted through a PID controller; according to the technical scheme, the operation parameters of the motor are monitored in real time, the parameters of the PID controller are dynamically adjusted based on the motor parameters fed back in real time, through the technical scheme, precise control over the vector magnetic group motor is achieved, and the response rate of the vector magnetic group motor is increased.

Description

Technical Field

[0001] The present invention relates to the field of motors, and particularly to a vector reluctance motor and its control method. Background Art

[0002] With the rapid development of modern industry and high-tech fields, the performance requirements for drive systems are increasing day by day. Traditional asynchronous motors and DC motors have many deficiencies in terms of efficiency and torque control. Especially under high-dynamic load conditions, their performance often fails to meet expectations. Therefore, researching and developing a new type of motor and its control technology to improve the operating efficiency of the motor, precisely control torque, and enhance dynamic response capabilities has become an important development direction in current motor technology. As a new type of motor, the vector reluctance motor combines the advantages of a reluctance motor, such as simple structure and low manufacturing cost, and the precise control and high dynamic response of vector control technology, making it an ideal choice for high-performance drive systems.

[0003] Vector control is also known as field-oriented control. Its basic principle is to measure and control the stator current vector of an asynchronous motor, and respectively control the excitation current and torque current of the asynchronous motor according to the field orientation principle, so as to achieve the purpose of controlling the torque of the asynchronous motor. Specifically, this control method decomposes the stator current vector of the asynchronous motor into two components: one is the current component that generates the magnetic field (excitation current), and the other is the current component that generates the torque (torque current). By separately controlling the magnitudes and phases of these two components (i.e., controlling the stator current vector), precise control of the torque of the asynchronous motor can be achieved.

[0004] The core idea of vector control technology is coordinate transformation. It first takes the generation of the same rotating magnetic motive force as the criterion, and equivalently transforms the stator alternating current of the asynchronous motor in the stationary three-phase coordinate system into the alternating current in the two-phase stationary coordinate system. Then, through coordinate rotation transformation, it is equivalently transformed into the direct current in the synchronous rotating coordinate system. In this equivalent process, decoupled control of the magnetic flux and torque is achieved, thus achieving the control effect of a DC motor.

[0005] Although the vector reluctance motor has many advantages, the control of the vector reluctance motor requires relying on precise sensors and feedback mechanisms to monitor the operating state of the motor. Existing sensors and feedback mechanisms still have certain limitations, such as insufficient accuracy, slow response speed, or susceptibility to interference, etc.; these limitations cause the control algorithm to be unable to accurately obtain the real-time state information of the motor, thereby affecting the control effect and the performance of the motor. Summary of the Invention

[0006] The purpose of the present invention is to provide a vector reluctance motor and its control method to solve the above technical problems.

[0007] The object of the present invention can be achieved by the following technical solutions:

[0008] A vector reluctance motor, comprising:

[0009] A motor front end cover, which is used for installing and fixing bearings and is connected to the motor stator assembly;

[0010] A bearing, the outer ring of which is fitted with the motor front end cover and the inner ring is fitted with the motor rotating shaft, for supporting and rotating the motor rotating shaft;

[0011] A motor rotating shaft, which is connected to an external device;

[0012] A rotor fixing bracket, which is used for connecting the rotor silicon steel sheet assembly and the motor rotating shaft;

[0013] Two rotor pressing plates, which are respectively arranged at the head and tail ends of the rotor silicon steel sheet assembly and are used for compacting the rotor silicon steel sheet assembly;

[0014] A rotor silicon steel sheet assembly, which is composed of a plurality of rotor teeth and rotor yokes. Both the rotor teeth and the rotor yokes are formed by stacking a plurality of silicon steel sheets. The rotor teeth adopt grain-oriented silicon steel sheets, and the magnetic conduction direction is from the tooth tip to the tooth root;

[0015] A winding coil, which is wound by multiple groups of enameled wires;

[0016] A stator assembly, which is composed of stator teeth and a stator yoke. The stator teeth are used for winding and fixing the winding coil, and the stator yoke is used for connecting and limiting the stator teeth. The stator teeth are formed by stacking a plurality of tooth-shaped silicon steel sheets;

[0017] A motor rear end cover, which is used for installing and fixing the bearing and is connected to the stator assembly;

[0018] A motor controller, which is used for controlling the operation of the vector reluctance motor.

[0019] A control method for a vector reluctance motor, comprising the following steps:

[0020] S1. Convert the three-phase current (I A , I B , I C ) input to the motor controller into the current (I α , I β ) in the α-β coordinate system through Clark transformation, and then convert the current (I α , I β ) in the α-β coordinate system into the current (I d , Iq );

[0021] S2. Determine the required d-axis current I ref and the target magnetic flux and the q-axis current I dref After that, adjust the current d-axis current I qref and the q-axis current I d to achieve the control of the motor torque and magnetic flux; q

[0022] S3. According to the actual operating conditions of the motor, adjust the current output through a PID controller to ensure the stable operation of the motor under corresponding load conditions;

[0023] S4. Monitor the operating parameters of the motor in real time, and dynamically adjust the parameters of the PID controller based on the real-time feedback of the motor parameters.

[0024] As a further technical solution, the specific calculation formula of the Clark transformation is:

[0025]

[0026] where I A , I B , I C are three-phase currents, and I α , I β are currents in the α-β coordinate system.

[0027] As a further technical solution, the specific calculation formula of the Park transformation is:

[0028]

[0029] where I d , I q are currents in the d-q coordinate system, and θ is the electrical angle of the rotor.

[0030] As a further technical solution, the process of determining the required d-axis current I ref and the q-axis current I in S2 according to the preset target torque P dref is as follows: qref

[0031] Through the formula:

[0032]

[0033] Calculate the torque P e of the motor;

[0034] Through the formula:​​

[0035]

[0036] The magnetic flux value of the motor is calculated

[0037] where ζ is the number of pole pairs of the motor is the magnetic flux component in the d-q coordinate system

[0038] As a further technical solution, the process of adjusting the current output by the PID controller in S4 is as follows

[0039] Through the formula

[0040]

[0041] where μ d (t), μ q (t) are the output voltages of the d-axis and q-axis of the PID controller respectively, K 1 , K 2 , K 3 are the proportional coefficient, integral coefficient and differential coefficient respectively, E d is the difference between the actual current and the required current on the d-axis, E q is the difference between the actual current and the required current on the q-axis, E d (t), E q (t) are the curves of the change of the difference between the actual current and the required current on the d-axis and q-axis with time during the time period of t 0 -t 1 -t

[0042] As a further technical solution, the method further includes

[0043] S5. Based on the real-time monitored motor operation parameters, the operation stability coefficient is processed. According to the comparison result between the operation stability coefficient and the preset operation stability threshold, it is predicted whether the motor will fail. If it is predicted that the motor will fail, an early warning is immediately given; otherwise, no early warning is given

[0044] As a further technical solution, the process of obtaining the operation stability coefficient is

[0045] Obtain the change curve F i (t) of each motor operation parameter with time in the previous monitoring period, and then obtain the reference change curve F i0 (t) of each motor operation parameter by fitting according to historical data

[0046] Obtain the change curve F i (t) of each motor operation parameter with time and the reference change curve F i0The total area S enclosed between (t) iX , is compared with the preset area warning value S iY ;

[0047] If there is at least one area S corresponding to the motor operating parameter iX exceeds the preset area warning value S iY , it is determined that the motor has a risk of failure;

[0048] Then, through the formula:

[0049]

[0050] The stability coefficient θ of the i-th operating parameter of the motor is calculated i ;

[0051] Then, substitute it into the formula:

[0052]

[0053] The operating stability coefficient Η of the motor is calculated;

[0054] Among them, ρ k (x) is a judgment function for each sub-cycle, t i -t i+1 is the start time and end time of any sub-cycle, n is the number of sub-cycles into which a monitoring cycle is divided, is the weight coefficient of the i-th operating parameter, and M is the total number of motor operating parameters.

[0055] As a further technical solution, the expression of the judgment function for each sub-cycle is:

[0056]

[0057] Among them, σ 1 , σ 2 are conversion coefficients. If there is an enclosed area in the current sub-cycle, then ρ k (x) = 1 + σ 1 *S ix , S ix is the area of the currently enclosed area; if there is no enclosed area in the current sub-cycle, then m is the total number of sampling points, F i is the motor operating parameter value at the j-th sampling point, is the average value of the motor operating parameters, and Δφ is the preset standard value.

[0058] Advantages of the present invention:

[0059] (1) When the motor is powered on, the winding coil generates a magnetic field, which interacts with the magnetic field in the rotor silicon steel sheet assembly to generate torque and drive the rotation of the motor shaft. Since the rotor teeth are made of oriented silicon steel sheets, the magnetic conduction direction is from the tooth tip to the tooth root, optimizing the magnetic conduction performance of the rotor and improving the energy density of the motor. At the same time, by adjusting the number of turns and wire diameter of the winding coil, the operating parameters of the motor can be changed to achieve vector control;

[0060] (2) The control method of the present invention combines current conversion technology and intelligent adjustment strategies, significantly improving the control performance and operating efficiency of the motor. Specifically, this method converts three-phase current into direct current in the d-q coordinate system through Clark transformation and Park transformation, thereby achieving high-precision control of motor torque and magnetic flux. It not only surpasses traditional scalar control methods but also ensures that the motor maintains excellent stability and performance under various working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The present invention will be further described below with reference to the accompanying drawings.

[0062] Figure 1 is an explosion schematic diagram of the present invention;

[0063] Figure 2 is an internal structure schematic diagram of the present invention;

[0064] Figure 3 is a step diagram of the method of the present invention.

[0065] BRIEF DESCRIPTION OF THE DRAWINGS: 1. Motor front end cover; 2. Bearing; 3. Motor shaft; 4. Rotor fixing frame; 5. Rotor pressing plate; 6. Rotor silicon steel sheet assembly; 6-1. Rotor tooth; 6-2. Rotor yoke; 7. Winding coil; 8. Stator assembly; 8-1. Stator tooth; 8-2. Stator yoke; 9. Motor rear end cover. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0066] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0067] Please refer to Figures 1 - 3 as shown, the present invention is a vector reluctance motor, including:

[0068] A motor front end cover 1, which is used to install and fix the bearing 2 and is connected to the motor stator assembly 8;

[0069] Bearing 2, the outer ring of the bearing 2 is fitted with the front end cover 1 of the motor, and the inner ring is fitted with the motor shaft 3, for supporting and rotating the motor shaft 3;

[0070] Motor shaft 3, the motor shaft 3 is connected to an external device;

[0071] Rotor fixing bracket 4, the rotor fixing bracket 4 is used to connect the rotor silicon steel sheet assembly 6 and the motor shaft 3;

[0072] Rotor pressing plate 5, there are two rotor pressing plates 5, which are respectively arranged at the head and tail ends of the rotor silicon steel sheet assembly 6 and are connected, for compacting the rotor silicon steel sheet assembly 6; can provide sufficient pre-tightening force, increase the structural strength of the rotor silicon steel sheet assembly 6, and reduce its deformation;

[0073] Rotor silicon steel sheet assembly 6, the rotor silicon steel sheet assembly 6 is composed of a plurality of rotor teeth 6-1 and rotor yokes 6-2, both the rotor teeth 6-1 and the rotor yokes 6-2 are formed by stacking a plurality of silicon steel sheets, and the rotor teeth 6-1 adopt grain-oriented silicon steel sheets, so that the magnetic conduction direction is from the tooth tip to the tooth root, thereby improving the energy density of the motor;

[0074] Winding coil 7, the winding coil 7 is wound by multiple groups of enameled wires; it is wound by multiple groups of enameled wires, and according to the different power and performance of the motor, the winding method changes accordingly. By adjusting the number of turns and wire diameter of the coil, the resistance and inductance value of each coil are changed to match the operating parameters of the motor;

[0075] Stator assembly 8, the stator assembly 8 is composed of stator teeth 8-1 and stator yokes 8-2, the stator teeth 8-1 are used for winding and fixing the winding coil 7, the stator yokes 8-2 are used for connecting and limiting the stator teeth 8-1, and the stator teeth 8-1 are formed by stacking a plurality of toothed silicon steel sheets;

[0076] Motor rear end cover 9, the motor rear end cover 9 is used for installing and fixing the bearing 2, and is connected to the stator assembly 8;

[0077] Motor controller, for controlling the operation of the vector reluctance motor.

[0078] In this embodiment, when the motor is powered on, the winding coil 7 generates a magnetic field, which interacts with the magnetic field in the rotor silicon steel sheet assembly 6 to generate a torque and drive the motor shaft 3 to rotate. Since the rotor teeth 6-1 adopt grain-oriented silicon steel sheets, the magnetic conduction direction is from the tooth tip to the tooth root, optimizing the magnetic conduction performance of the rotor and improving the energy density of the motor; at the same time, by adjusting the number of turns and wire diameter of the winding coil 7, the operating parameters of the motor can be changed to achieve vector control.

[0079] By using oriented silicon steel sheets and optimizing the winding method, the energy density and operating efficiency of the motor are improved, and the energy consumption is reduced. Key components such as the front end cover 1, bearing 2, and motor shaft 3 of the motor are made of high-strength materials, which have good mechanical strength and wear resistance, ensuring the stability and reliability of the motor during long-term operation; components such as the rotor fixing frame 4 and the rear end cover 9 of the motor are made of lightweight high-strength alloy materials, realizing the weight reduction design of the motor, improving the portability and application range of the motor; heat sinks are provided on the rear end cover 9 of the motor, effectively improving the heat dissipation effect of the motor and extending the service life of the motor; by adjusting the number of turns and wire diameter of the winding coil 7, the operating parameters of the motor can be changed to achieve vector control and meet the requirements of different application scenarios. It should be noted that a sensor module is also provided on the motor for detecting various operating parameters of the motor. The sensor uses a sensor in the prior art and can realize the real-time acquisition of various motor operating parameters, so no more details will be elaborated here.

[0080] A control method for a vector reluctance motor includes the following steps:

[0081] S1. Convert the three-phase currents (I A , I B , I C ) input to the motor controller into the currents (I α , I β ) in the α-β coordinate system through Clark transformation, and then convert the currents (I α , I β ) in the α-β coordinate system into the currents (I d , i q ) in the d-q coordinate system through Park transformation;

[0082] S2. After determining the required d-axis current I ref and q-axis current I according to the preset target torque P dref and target magnetic flux qref , adjust the current d-axis current I d and current q-axis current I q to achieve the control of the motor torque and magnetic flux;

[0083] S3. According to the actual operating conditions of the motor, adjust the current output through a PID controller to ensure the stable operation of the motor under corresponding load conditions;

[0084] S4. Real-time monitor the operating parameters of the motor, and dynamically adjust the parameters of the PID controller based on the real-time feedback motor parameters.

[0085] In this embodiment, the control method integrates current conversion technology and intelligent adjustment strategies, significantly improving the control performance and operating efficiency of the motor. Specifically, through Clark transformation and Park transformation, this method converts three-phase current into direct current in the dq coordinate system, thereby achieving high-precision control of motor torque and flux. It not only surpasses traditional scalar control methods but also ensures that the motor can maintain excellent stability and performance under various operating conditions. In terms of dynamic response, this control method introduces a PID controller, enabling the control system to quickly capture and respond to various changes during motor operation. This fast response ability not only improves the dynamic performance of the motor but also ensures stable operation of the motor under complex operating conditions such as load changes and speed changes. By adjusting the current output in a timely manner, the PID controller effectively maintains the stable operating state of the motor, providing strong guarantee for the long-term efficient operation of the motor.

[0086] In addition, this control method also has excellent adaptability. By real-time monitoring the operating parameters of the motor and dynamically adjusting the parameters of the PID controller, the control system can flexibly cope with various challenges during motor operation, not only enhancing the robustness of the control system but also enabling the control system to maintain stable control effects under different operating conditions, thus meeting the requirements of various complex application scenarios. Through precise current control and fast response ability, the motor can maintain efficient operation under different load conditions, not only reducing the energy consumption of the motor but also improving the energy efficiency of the entire system, making positive contributions to energy conservation, emission reduction and sustainable development.

[0087] The specific calculation formula of the Clark transformation is as follows:

[0088]

[0089] where, I A , I B , I C are three-phase currents, and I α , I β are currents in the α-β coordinate system.

[0090] The specific calculation formula of the Park transformation is as follows:

[0091]

[0092] where, I d , I q are currents in the d-q coordinate system, and θ is the electrical angle of the rotor.

[0093] In step S2, according to the preset target torque P ref and target flux to determine the required d-axis current I dref and q-axis current Iqref The process is as follows:

[0094] Through the formula:

[0095]

[0096] Calculate the torque P of the motor e ;

[0097] Through the formula:

[0098]

[0099] Calculate the magnetic flux value of the motor

[0100] where ζ is the number of pole pairs of the motor, is the magnetic flux component in the d-q coordinate system.

[0101] The process of adjusting the current output through the PID controller in S4 is as follows:

[0102] Through the formula:

[0103]

[0104] where μ d (t), μ q (t) are the output voltages of the d-axis and q-axis of the PID controller respectively, K 1 , K 2 , K 3 are the proportional coefficient, integral coefficient and differential coefficient respectively, determined based on historical data analysis, E d is the difference between the actual current and the required current on the d-axis, E q is the difference between the actual current and the required current on the q-axis, E d (t), E q (t) are the curves of the change of the difference between the actual current and the required current on the d-axis and q-axis with time during the time period of t 0 -t 1 .

[0105] The method further includes:

[0106] S5. Based on the real-time monitored motor operation parameters, process to obtain the operation stability coefficient, and predict whether the motor will fail according to the comparison result between the operation stability coefficient and the preset operation stability threshold. If it is predicted that the motor will fail, give an immediate warning; otherwise, do not give a warning.

[0107] The process of obtaining the operation stability coefficient is as follows:

[0108] Obtain the change curve F i (t) of each motor operation parameter over time in the previous monitoring period, and then obtain the reference change curve F i0 (t) of each motor operation parameter by fitting according to historical data;

[0109] Obtain the change curve F i (t) of each motor operation parameter over time and the total area S i0 enclosed between the reference change curve F iX (t); compare it with the preset area warning value S iY ;

[0110] If the area S iX corresponding to at least one motor operation parameter exceeds the preset area warning value S iY , it is determined that the motor has a fault risk;

[0111] Then, through the formula:

[0112]

[0113] Calculate the stability coefficient

[0114] of the i-th operation parameter of the motor, and then substitute it into the formula:

[0115]

[0116] Calculate the operation stability coefficient Η of the motor;

[0117] where ρ k (x) is a judgment function for each sub-period, t i -t i+1 is the start time and end time of any sub-period, n is the number of sub-periods into which a monitoring period is divided, is the weight coefficient of the i-th operation parameter, and M is the total number of motor operation parameters.

[0118] In this embodiment, a method for obtaining the operation stability coefficient of a motor is provided. Specifically, first, obtain the change curve F i (t) of each motor operation parameter over time in the previous monitoring period, and then obtain the reference change curve F i0 (t) of each motor operation parameter by fitting according to historical data; then obtain the total area S i enclosed between the change curve F i0 (t) of each motor operation parameter over time and the reference change curve F iX (t), and compare it with the preset area warning value S iYCompare; according to the comparison result, if there is at least one area S corresponding to the motor operating parameter iX exceeds the preset area warning value S of the area iY , it is determined that the motor has a fault risk; in order to improve the accuracy of predicting motor faults, the formula is used for further prediction calculation to obtain the stability coefficient θ of the current operating parameter i . Obviously, the smaller the deviation between the motor operating parameters in the previous monitoring period and the reference operating parameters, the better the motor operating state, and the larger the deviation between the motor operating parameters and the reference operating parameters, the more deteriorated the motor operating state. Moreover, there are risks when the motor operating parameters are too large or too small. Therefore, through (F i0 (t) - F i (t)) 2 is used for amplification, so that even a small deviation can be amplified and displayed. At the same time, the calculation of each sub-cycle is carried out in a multiplicative way, so that the stability coefficient of the current operating parameter of the motor in the previous monitoring period can more accurately reflect the actual operating situation of the motor, further improving the accuracy of motor fault prediction. Finally, through summation to obtain the overall operating stability coefficient of the motor.

[0119] The expression of the judgment function for each sub-cycle is:

[0120]

[0121] where σ 1 , σ 2 are conversion coefficients. If there is an enclosed area in the current sub-cycle, then ρ k (x) = 1 + σ 1 *S ix , S ix is the area of the currently enclosed area; if there is no enclosed area in the current sub-cycle, then m is the total number of sampling points, F i is the motor operating parameter value of the jth sampling point, is the average value of the motor operating parameters, and Δφ is the preset standard value.

[0122] In this embodiment, in order to assign different weights to each sub-cycle to make the calculation of the motor operating stability coefficient more accurate, the formula is used for calculation. When the sub-cycle includes an area enclosed by two curves, it means that there are large fluctuations in the motor operating parameters in this sub-cycle. Therefore, through 1 + σ 1 *S ixCalculate in the following way. The larger the enclosed area is, the greater the fluctuation of the motor operating parameters in this sub-cycle. If the enclosed area is not included, it indicates that the motor operating parameters are relatively stable, but there will still be a certain degree of fluctuation. Therefore, through Calculate in the following way. Indicates the degree of dispersion of the motor operating parameters in this sub-cycle. Obviously, the greater the degree of dispersion, the more unstable the motor operating parameters. Therefore, The larger the value of, it should be noted that Thereby, adjust the fluctuation in different sub-cycles as weights to achieve the accurate calculation of the final operating stability coefficient, so as to improve the accuracy of predicting motor faults in the future.

[0123] It should be noted that: The calculation formula and each parameter participating in the operation in the present invention have been pre-dimensionless processed, and the process of dimensionless processing is well-known in the industry and will not be described here.

[0124] The above has described in detail an embodiment of the present invention, but the content described is only a preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. Any equivalent changes and improvements made within the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. A vector reluctance motor, characterized in that: include: A motor front end cover (1), the motor front end cover (1) is used to install and fix the bearing (2) and is connected to the motor stator assembly (8); A bearing (2), wherein the outer ring of the bearing (2) cooperates with the front end cover (1) of the motor, and the inner ring cooperates with the motor shaft (3), and is used to support and rotate the motor shaft (3); A motor shaft (3), wherein the motor shaft (3) is connected to an external device; A rotor fixing frame (4), wherein the rotor fixing frame (4) is used to connect the rotor silicon steel sheet assembly (6) and the motor shaft (3); A rotor pressure plate (5), wherein two rotor pressure plates (5) are provided and are respectively arranged at the head and tail ends of the rotor silicon steel sheet assembly (6) and are used to compact the rotor silicon steel sheet assembly (6); A rotor silicon steel sheet assembly (6), the rotor silicon steel sheet assembly (6) comprising a plurality of rotor teeth (6-1) and a rotor yoke (6-2), the rotor teeth (6-1) and the rotor yoke (6-2) both being formed by stacking a plurality of silicon steel sheets, the rotor teeth (6-1) being oriented silicon steel sheets so that the magnetic conductivity direction is from the tooth top to the tooth root; A winding coil (7), wherein the winding coil (7) is wound by a plurality of groups of enameled wires; A stator assembly (8), the stator assembly (8) consisting of stator teeth (8-1) and a stator yoke (8-2), the stator teeth (8-1) being used to wind and fix the winding coil (7), the stator yoke (8-2) being used to connect and limit the stator teeth (8-1), the stator teeth (8-1) being formed by stacking a plurality of tooth-shaped silicon steel sheets; A motor rear end cover (9), the motor rear end cover (9) is used to install and fix the bearing (2) and is connected to the stator assembly (8); A motor controller is used to control the operation of a vector reluctance motor.

2. A control method applicable to the vector reluctance motor according to claim 1, characterized in that: The steps include: S1, input the three-phase current (I A , I B , I C ) is converted into the current (I) in the α-β coordinate system through Clark transformation. α , I β ), and then the current (I α , I β ) is converted to the current in the dq coordinate system (I d , I q ); S2, according to the preset target torque P ref and target flux Determine the required d-axis current I dref and q-axis current I qref After that, the current d-axis current I d and q-axis current I q Make adjustments to achieve control of motor torque and flux; S3. According to the actual operating conditions of the motor, the current output is adjusted through the PID controller to ensure that the motor runs stably under corresponding load conditions; S4: monitor the motor's operating parameters in real time, and dynamically adjust the PID controller's parameters based on the real-time feedback of the motor parameters.

3. The control method of the vector reluctance motor according to claim 2, characterized in that: The specific calculation formula of the Clark transform is: Among them, I A ,I B ,I C is the three-phase current, I α ,I β is the current in the α-β coordinate system.

4. The control method of the vector reluctance motor according to claim 3, characterized in that: The specific calculation formula of the Park transformation is: Among them, I d ,I q is the current in the dq coordinate system, and θ is the rotor electrical angle.

5. The control method of the vector reluctance motor according to claim 4, characterized in that: In step S2, according to the preset target torque P ref and target flux Determine the required d-axis current I dref and q-axis current I qref The process is: By formula: Calculate the motor torque P e ; By formula: Calculate the motor's magnetic flux value in, is the number of pole pairs of the motor, is the magnetic flux component in the dq coordinate system.

6. The control method of the vector reluctance motor according to claim 1, characterized in that: The process of adjusting the current output by the PID controller in S4 is: By formula: Among them, μ d (t), μ q (t) are the output voltages of the d-axis and q-axis of the PID controller, K1, K2, K3 are the proportional coefficient, integral coefficient, and differential coefficient, respectively. d is the difference between the actual current and the required current on the d-axis, E q is the difference between the actual current and the required current on the q axis, E d (t), E q (t) are curves showing the difference between the actual current and the required current of the d-axis and q-axis during the period t0-t1.

7. The control method of the vector reluctance motor according to claim 1, characterized in that: The method further comprises: S5. Based on the real-time monitored motor operating parameters, an operating stability coefficient is obtained through processing. According to the comparison result of the operating stability coefficient with a preset operating stability threshold, it is predicted whether the motor failure will occur. If the motor failure is predicted, an early warning is immediately issued, otherwise, no early warning is issued.

8. The control method of the vector reluctance motor according to claim 7, characterized in that: The process of obtaining the operating stability coefficient is: Get the curve F of each motor operating parameter changing with time in the last monitoring cycle i (t), and then the reference change curve F of each motor operating parameter is obtained by fitting the historical data i0 (t); Get the curves of various motor operating parameters changing with time F i (t) and the reference change curve F i0 (t) The total area enclosed by iX , and the preset area warning value S iY Make comparisons; If there is at least one motor operating parameter corresponding to the area S iX Exceeding the preset area warning value S iY , it is judged that the motor has a failure risk; Then through the formula: Calculate the stability coefficient θ of the i-th operating parameter of the motor i ; Substituting into the formula again: The running stability coefficient H of the motor is calculated; Among them, ρ k (x) is the judgment function for each sub-period, t i -t i+1 is the start time and end time of any sub-period, n is the number of sub-periods into which a monitoring period is divided, is the weight coefficient of the i-th operating parameter, and M is the total number of motor operating parameters.

9. The control method of the vector reluctance motor according to claim 8, characterized in that: The expression of the judgment function for each sub-period is: Among them, σ1 and σ2 are conversion coefficients. If there is an enclosed area in the current sub-period, then ρ k (x)=1+σ1*S ix , S ix is the area of ​​the current enclosed region; if there is no enclosed region in the current sub-period, then m is the total number of sampling points, F i is the motor operating parameter value at the jth sampling point, is the mean value of the motor operating parameters, and Δφ is the preset standard value.

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