Motor controller, input power compensation method and device thereof, medium and product

Abstract

The invention provides a motor controller and an input power compensation method and device thereof, a medium and a product. The method comprises the following steps: acquiring the current motor input power of a motor and a fitting equation of a power compensation coefficient of the motor and the motor input power, wherein the fitting equation is obtained by fitting in advance; determining a fitting power compensation coefficient corresponding to the current motor input power of the motor according to the obtained fitting equation of the power compensation coefficient of the motor and the motor input power; and compensating the current motor input power of the motor according to the determined fitting power compensation coefficient to obtain the current motor controller input power of the motor. The scheme provided by the invention can estimate the input power of the motor controller.

Description

Technical Field

[0001] The present invention relates to the field of control, and particularly to a motor controller and its input power compensation method, device, medium and product, specifically to a motor controller and its input power compensation method, device, computer-readable storage medium and computer program product. Background Art

[0002] The input power of a motor has always been a parameter that has received key attention in the field of motor controller design. Therefore, when designing a motor controller, a corresponding solution is generally specifically designed to monitor the input power of the motor. However, for the input power of the motor controller, there is generally no specifically designed monitoring solution. Summary of the Invention

[0003] The main objective of the present invention is to overcome the defects of the above-mentioned related technologies, and provide a motor controller and its input power compensation method, device, medium and product, so as to solve the problem of monitoring the input power of the motor controller in the related technologies.

[0004] On the one hand, the present invention provides a method for compensating the input power of a motor controller, including: obtaining the current input power of the motor and the fitting equation of the power compensation coefficient and the input power of the motor obtained by pre-fitting; determining the fitting power compensation coefficient corresponding to the current input power of the motor according to the obtained fitting equation of the power compensation coefficient and the input power of the motor; compensating the current input power of the motor according to the determined fitting power compensation coefficient to obtain the current input power of the motor controller of the motor.

[0005] Optionally, the fitting equation of the power compensation coefficient and the input power of the motor is obtained by pre-fitting through the following steps: obtaining the input power of the motor and the input power of the motor controller at different speeds of the motor; calculating the actual power compensation coefficient of the motor at different speeds according to the obtained input power of the motor and the input power of the motor controller at different speeds;

[0006] Performing curve fitting according to the obtained input power of the motor at different speeds and the calculated actual power compensation coefficient of the motor at different speeds to obtain the fitting curve of the power compensation coefficient and the input power of the motor; determining the fitting equation of the power compensation coefficient and the input power of the motor according to the obtained fitting curve of the power compensation coefficient and the input power of the motor.

[0007] Optionally, according to the obtained motor input power and motor controller input power at different rotational speeds, calculate the actual power compensation coefficient of the motor at different rotational speeds, including: the actual power compensation coefficient of the motor at different rotational speeds is equal to the ratio of the motor controller input power to the motor input power at different rotational speeds of the motor.

[0008] Optionally, compensate the current motor input power of the motor according to the obtained fitting power compensation coefficient to obtain the current motor controller input power of the motor, including: the current motor controller input power of the motor is equal to the product of the current motor input power of the motor and the fitting power compensation coefficient.

[0009] On the other hand, the present invention provides a device for compensating the input power of a motor controller, including: an acquisition unit for acquiring the current motor input power of the motor and the fitting equation of the power compensation coefficient and the motor input power of the motor obtained by pre-fitting; determining the fitting power compensation coefficient corresponding to the current motor input power of the motor according to the obtained fitting equation of the power compensation coefficient and the motor input power of the motor; a compensation unit for compensating the current motor input power of the motor according to the determined fitting power compensation coefficient to obtain the current motor controller input power of the motor.

[0010] Optionally, it further includes: a fitting unit for pre-fitting the fitting equation of the power compensation coefficient and the motor input power of the motor. The fitting unit pre-fits the fitting equation of the power compensation coefficient and the motor input power of the motor through the following steps: acquiring the motor input power and the motor controller input power of the motor at different rotational speeds; calculating the actual power compensation coefficient of the motor at different rotational speeds according to the obtained motor input power and motor controller input power at different rotational speeds; performing curve fitting according to the obtained motor input power at different rotational speeds and the calculated actual power compensation coefficient of the motor at different rotational speeds to obtain the fitting curve of the power compensation coefficient and the motor input power of the motor; determining the fitting equation of the power compensation coefficient and the motor input power of the motor according to the obtained fitting curve of the power compensation coefficient and the motor input power of the motor.

[0011] Optionally, the fitting unit calculates the actual power compensation coefficient of the motor at different rotational speeds according to the obtained motor input power and motor controller input power at different rotational speeds, including: the actual power compensation coefficient of the motor at different rotational speeds is equal to the ratio of the motor controller input power to the motor input power at different rotational speeds of the motor.

[0012] Optionally, the compensation unit compensates the current motor input power of the motor according to the obtained fitting power compensation coefficient to obtain the current motor controller input power of the motor, including: the current motor controller input power of the motor is equal to the product of the current motor input power of the motor and the fitting power compensation coefficient.

[0013] In another aspect of the present invention, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the foregoing methods are implemented.

[0014] In yet another aspect of the present invention, a motor controller is provided, including a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of any one of the foregoing methods are implemented.

[0015] In yet another aspect of the present invention, a motor controller is provided, including the motor controller input power compensation device of any one of the foregoing.

[0016] In yet another aspect of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of any one of the foregoing methods are implemented.

[0017] According to the technical solution of the present invention, based on the motor input power calculated at different speeds and the actually measured motor controller input power, a fitting equation between the power compensation coefficient of the motor and the motor input power is pre-fitted. Based on this fitting equation, the current motor input power is compensated and calculated to obtain the estimated motor controller input power, solving the problem of the lack of monitoring of the motor controller input power in the related art.

[0018] According to the technical solution of the present invention, based on the strong correlation between the calculated motor input power and the actually measured motor controller input power in terms of numerical values, the relationship coefficient between the two parameters is fitted by using the fitting equation. Finally, the motor controller input power is estimated through the calculated motor input power and the relationship coefficient. The scheme has a simple configuration and at the same time solves the problem that the calculation of the motor controller input power is inaccurate due to the change of the power factor of the inductive load. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 is a schematic diagram of a method of an embodiment of the method for compensating the input power of a motor controller provided by the present invention;

[0021] Figure 2The flowchart of the fitting equation of the power compensation coefficient of the motor obtained by fitting and the input power of the motor is shown;

[0022] Figure 3 An example of the fitting curve of the power compensation coefficient and the input power of the motor according to the present invention is shown;

[0023] Figure 4 The ratios of the power before compensation to the measured input power of the motor controller and the power after compensation to the measured input power of the motor controller are shown;

[0024] Figure 5 It is the structural block diagram of an embodiment of the input power compensation device for a motor controller provided by the present invention. Detailed implementation manners

[0025] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. 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.

[0026] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] As an inductive load, when calculating the input power of a motor, its input power is generally calculated according to the power factor of the motor at the rated power. However, for a motor with an unconstant power, the calculation of the input power of the motor will be inaccurate due to the variation of the power factor at different powers. The influence of the variation of the power factor of such an inductive load will also affect the calculation of the input power of the motor controller.

[0028] To monitor the input power of a motor controller, most related technologies adopt the direct measurement method, that is, a traditional method is used to specially design a set of hardware monitoring circuits for the input power of the motor controller. Although such methods have high measurement accuracy, they have the disadvantages of high sensor cost, complex circuits, the need to redesign the circuits of existing motor controllers, and the inability to handle changes in the power factor of inductive loads.

[0029] The present invention provides a method for compensating the input power of a motor controller.

[0030] Figure 1 It is a schematic diagram of a method of an embodiment of the method for compensating the input power of a motor controller provided by the present invention.

[0031] Such as Figure 1 shown, according to an embodiment of the present invention, the method for compensating the input power of the motor controller at least includes step S110, step S120, and step S130.

[0032] Step S110, obtaining the current motor input power of the motor and the fitting equation of the power compensation coefficient of the motor and the motor input power obtained by pre-fitting.

[0033] Specifically, the input power P of the motor controller 电机控制器输入 is equal to the sum of the motor input power P 电机输入 and the power consumed by the controller P 控制器消耗 , that is:

[0034] P 电机控制器输入 =P 电机输入 +P 控制器消耗

[0035] Among them, the motor input power P 电机输入 is the power output by the controller to the motor body, U rms is the effective value of the motor winding voltage, I rms is the effective value of the motor winding current, and cosφ is the power factor.

[0036] The effective values of the voltage and current are actually measured by the motor controller. The effective value of the current is obtained by the controller sampling the three-phase winding currents multiple times and then calculating the root mean square and summing them. The effective value of the voltage is obtained by the root mean square of V α and V β under FOC control.

[0037] Inside the FOC algorithm for motor speed control, the reference q-axis current Iq_ref is calculated through the speed loop based on the target speed, and the d-axis reference current Id_ref is calculated based on the target speed and field weakening. The reference current Iq_ref and the reference current Id_ref are then respectively calculated through the current loop to obtain the q-axis voltage Vq and the d-axis voltage Vd, and then Vq and Vd are subjected to the inverse Park transformation to obtain V α and V β ,

[0038] The effective voltage value is equal to the root mean square of V α and V β , that is

[0039] The power factor varies with the load of the motor. Therefore, the power factor measured under the rated power of the motor only makes the calculation of the motor input power accurate under the rated power. At the same time, there is a lack of actual measurement data for the power consumed by the controller. Therefore, it is difficult to directly calculate the input power of the motor controller.

[0040] The present invention pre-fits the fitting equation of the power compensation coefficient of the motor and the motor input power, and then compensates the motor input power according to the fitting equation to obtain the current input power of the motor controller.

[0041] Figure 2 Shows the flowchart of the fitting equation of the power compensation coefficient of the motor and the motor input power obtained by fitting.

[0042] As Figure 2 shown, the fitting equation of the power compensation coefficient of the motor and the motor input power obtained by fitting may specifically include steps S1 to S4.

[0043] Step S1, obtain the motor input power and the input power of the motor controller at different speeds of the motor.

[0044] Specifically, obtain the motor input power P 电机输入 and the input power of the motor controller at different speeds respectively. The input power of the motor controller at different speeds can be measured by an instrument to obtain P 电机控制器输入 . For example, the input power of the motor controller at different speeds is obtained through experimental tests. The input power of the motor is calculated, that is, the motor input power P 电机输入 is calculated by the motor controller, and the motor input power P 电机输入 is the power output by the controller to the motor body, U rms is the effective value of the motor winding voltage, I rmsis the effective value of the motor winding current, and cosφ is the power factor. The effective value of voltage and the effective value of current can be actually measured and calculated by the motor controller. The effective value of current is obtained by the controller sampling the three-phase winding currents multiple times, then calculating the root mean square respectively, and then summing them up. The effective value of voltage is obtained from the root mean square of V α and V β .

[0045] Step S2, according to the obtained motor input power and motor controller input power at different speeds, calculate the actual power compensation coefficient of the motor at different speeds.

[0046] Specifically, the actual power compensation coefficient of the motor at different speeds is equal to the ratio of the motor controller input power to the motor input power at different speeds of the motor, that is

[0047] P 电机控制器输入 = P 电机输入 ×λ.

[0048] According to the motor input power and the motor controller input power of the motor at different speeds, a series of actual compensation coefficients λ 实际 are calculated, that is, the actual power compensation coefficient λ 实际 of the motor at different speeds.

[0049] Step S3, according to the obtained motor input power of the motor at different speeds and the calculated actual power compensation coefficient of the motor at different speeds, perform curve fitting to obtain the fitting curve of the power compensation coefficient of the motor and the motor input power.

[0050] Specifically, taking the motor input power at different speeds as the independent variable and the actual power compensation coefficient at different speeds as the dependent variable, draw a scatter plot, and perform fitting on the drawn scatter plot to obtain the fitting curve of the power compensation coefficient and the motor input power.

[0051] Step S4, according to the obtained fitting curve of the power compensation coefficient of the motor and the motor input power, determine the fitting equation of the power compensation coefficient of the motor and the motor input power.

[0052] For example, performing curve fitting to obtain the fitting curve of the power compensation coefficient of the motor and the motor input power is an inverse proportional function curve, so the inverse proportional function expression of this curve can be obtained.

[0053] Figure 3 shows an example of the fitting curve of the power compensation coefficient and the motor input power according to the present invention. As Figure 3As shown in the figure, the horizontal axis x represents the motor input power at different rotational speeds (unit: W). Since the data sampling points are sampled according to the equal-interval rotational speed adjustment, there are more scatter points distributed in the low-power interval. The vertical axis y represents the actual power compensation coefficient at different rotational speeds, and this fitting curve is an inverse proportional function curve. This fitting curve can be obtained through a fitting tool. For example, using the Curve Fitting tool in Matlab, the fitting method is selected as the Power power function. For example, Figure 3 The fitting equation of the curve shown is This expression reflects the fitting power compensation coefficient λ corresponding to the motor input power at different rotational speeds 拟合 .

[0054] So far, the discrete actual power compensation coefficient λ 实际 After fitting, a continuous fitting power compensation coefficient λ is obtained 拟合 , the actual compensation coefficient λ 实际 and the fitting compensation coefficient λ 拟合 are in agreement within the fitting motor input power range.

[0055] Step S120, according to the obtained fitting equation of the power compensation coefficient and the motor input power of the motor, determine the fitting power compensation coefficient corresponding to the current motor input power of the motor.

[0056] Specifically, substituting the current motor input power of the motor into the previously obtained fitting equation of the power compensation coefficient and the motor input power of the motor, the fitting power compensation coefficient λ corresponding to the current input power of the motor can be obtained 拟合 .

[0057] Step S130, compensate the current motor input power of the motor according to the determined fitting power compensation coefficient to obtain the current motor controller input power of the motor.

[0058] Specifically, the current motor controller input power of the compensated motor is equal to the product of the current motor input power of the motor and the fitting power compensation coefficient. That is, after obtaining the fitting power compensation coefficient λ 拟合 , according to P 电机控制器输入 = P 电机输入 × λ, the estimated motor controller input power P 估算的电机控制器输入 = P 电机输入 × λ 拟合 .

[0059] For example, substituting Figure 3 the fitting equation of the fitting curve shown into it, then

[0060] In the above embodiments of the present invention, the estimated input power of the motor controller is obtained through compensation calculation based on the input power of the motor. This power compensation method solves the problems of the power factor variation affecting the calculation of the input power of the motor controller and the lack of actual measurement data for the power consumed by the controller.

[0061] Define the power before compensation as the input power of the motor, and the power after compensation as the estimated input power of the motor controller. Calculate the ratio of them to the actually measured input power of the motor controller, that is, divide the two numbers. The closer this value is to 100%, the more similar the two numbers are. Figure 4 Shows the ratio of the power before compensation to the actually measured input power of the motor controller and the ratio of the power after compensation to the actually measured input power of the motor controller. As Figure 4 shown, the horizontal axis represents the input power of the motor (unit: W) at different speeds, and the vertical axis represents the power ratio. The power ratio is equal to the power to be compared divided by the actually measured input power of the motor controller. The actually measured input power of the motor controller is obtained by measuring it with an instrument. Figure 4 The power ratio curve with diamond data points in it is the power ratio before compensation, which is obtained by dividing the input power of the motor by the actually measured input power of the motor controller; the power ratio curve with square data points is the power ratio after compensation, which is obtained by dividing the estimated input power of the motor controller by the actually measured input power of the motor controller.

[0062] According to the definition of the power ratio, the closer the power ratio is to 100%, the closer the power to be compared is to the actually measured input power of the motor controller. As can be seen from Figure 4 it, the power ratio before compensation deviates from 100% more. Therefore, the power before compensation, that is, the input power of the motor, differs greatly from the actually measured input power of the motor controller, while the power ratio after compensation is relatively close to 100%. Therefore, the power after compensation, that is, the estimated input power of the motor controller, is almost equal to the actually measured input power of the motor controller.

[0063] As can be seen from Figure 4 it, the power before compensation differs greatly from the actually measured input power of the motor controller, with a maximum difference of 35.5% and a minimum difference of 14.9%. The power after compensation is almost the same as the actually measured input power of the motor controller, with a maximum difference of 1.3% and a minimum difference of 0.04%. Therefore, by adopting the technical solution of the present invention, the input power of the motor can be compensated to the input power of the motor controller.

[0064] The present invention also provides a device for compensating the input power of a motor controller.

[0065] Figure 5 is the structural block diagram of an embodiment of the device for compensating the input power of a motor controller provided by the present invention. As Figure 5As shown, the motor controller input power compensation device 100 includes: an acquisition unit 110, a determination unit 120, and a compensation unit 130.

[0066] The acquisition unit 110 is configured to acquire the current motor input power of the motor and the fitting curve of the power compensation coefficient of the motor and the motor input power obtained by pre-fitting.

[0067] Specifically, the motor controller input power P 电机控制器输入 is equal to the sum of the motor input power P 电机输入 and the controller power consumption P 控制器消耗 , that is:

[0068] P 电机控制器输入 = P 电机输入 + P 控制器消耗

[0069] Among them, the motor input power P 电机输入 is the power output by the controller to the motor body, U rms is the effective value of the motor winding voltage, I rms is the effective value of the motor winding current, and cosφ is the power factor.

[0070] The effective values of the voltage and current are actually measured by the motor controller. The effective value of the current is obtained by the controller sampling the three-phase winding currents multiple times, then calculating the root mean square respectively and finally adding them up. The effective value of the voltage is obtained from the root mean square of V α and V β under FOC control.

[0071] Inside the FOC algorithm for motor speed control, according to the target speed, the reference q-axis current Iq_ref is calculated through the speed loop, and the d-axis reference current Id_ref is calculated according to the target speed and field weakening. The reference current Iq_ref and the reference current Id_ref are then respectively calculated through the current loop to obtain the q-axis voltage Vq and the d-axis voltage Vd, and then Vq and Vd are subjected to Park inverse transformation to obtain V α and V β .

[0072] The effective value of the voltage is equal to the root mean square of V α and V β , that is

[0073] The power factor varies with the load of the motor, so the power factor measured at the rated power of the motor only makes the calculation of the motor input power accurate at the rated power. At the same time, there is a lack of actual measurement data for the controller power consumption. Therefore, it is difficult to directly calculate the motor controller input power.

[0074] The present invention pre-fits the fitting equation of the power compensation coefficient of the motor and the input power of the motor, and then compensates the input power of the motor according to the fitting equation to obtain the current input power of the motor controller.

[0075] The device 100 further includes: a fitting unit (not shown) for pre-fitting the fitting equation of the power compensation coefficient of the motor and the input power of the motor.

[0076] Figure 2 The flowchart showing the fitting equation of the power compensation coefficient of the motor and the input power of the motor obtained by fitting is as follows. Figure 2 As shown, the fitting equation of the power compensation coefficient of the motor and the input power of the motor obtained by fitting may specifically include steps S1 to S3.

[0077] Step S1: Obtain the input power of the motor and the input power of the motor controller at different speeds of the motor.

[0078] Specifically, obtain the input power P of the motor at different speeds 电机输入 and the input power of the motor controller respectively. The input power of the motor controller at different speeds can be measured by an instrument to obtain P of the motor controller at different speeds 电机控制器输入 . For example, the input power of the motor controller at different speeds is obtained through experimental tests. The input power of the motor is calculated, that is, the input power P of the motor 电机输入 is calculated by the motor controller. The input power of the motor P 电机输入 is the power output by the controller to the motor body, U rms is the effective value of the motor winding voltage, I rms is the effective value of the motor winding current, and cosφ is the power factor. The effective value of the voltage and the effective value of the current can be actually measured and calculated by the motor controller. The effective value of the current is obtained by the controller sampling the three-phase winding current multiple times, then calculating the root mean square respectively, and then adding them up. The effective value of the voltage is obtained from the root mean square of V α and V β under FOC control.

[0079] Step S2: Calculate the actual power compensation coefficient of the motor at different speeds according to the obtained input power of the motor and the input power of the motor controller at different speeds.

[0080] Specifically, the actual power compensation coefficient of the motor at different speeds is equal to the ratio of the input power of the motor controller to the input power of the motor at different speeds of the motor, that is

[0081] P 电机控制器输入 = P 电机输入 ×λ.

[0082] A series of actual compensation coefficients λ are calculated based on the motor input power and the motor controller input power at different motor speeds. 实际 , that is, the actual power compensation coefficient λ of the motor at different speeds. 实际 .

[0083] Step S3: Curve fitting is performed according to the obtained motor input power at different motor speeds and the calculated actual power compensation coefficients at different motor speeds to obtain a fitting curve of the power compensation coefficient of the motor and the motor input power.

[0084] Specifically, taking the motor input power at different speeds as the independent variable and the actual power compensation coefficients at different speeds as the dependent variable, a scatter plot is drawn, and the scatter plot obtained is fitted to obtain a fitting curve of the power compensation coefficient and the motor input power.

[0085] Step S4: According to the obtained fitting curve of the power compensation coefficient of the motor and the motor input power, a fitting equation of the power compensation coefficient of the motor and the motor input power is determined.

[0086] For example, curve fitting is performed to obtain that the fitting curve of the power compensation coefficient of the motor and the motor input power is an inverse proportional function curve, so the inverse proportional function expression of this curve can be obtained.

[0087] Figure 3 Shows an example of the fitting curve of the power compensation coefficient and the motor input power according to the present invention. As Figure 3 shown, the horizontal axis x represents the motor input power at different speeds. Since the data sampling points are sampled according to equal-interval speed adjustment, the scatter points are more distributed in the low-power interval. The vertical axis y represents the actual power compensation coefficients at different speeds, and this fitting curve is an inverse proportional function curve. This fitting curve can be obtained by fitting with a fitting tool. For example, using the Curve Fitting tool of Matlab, the fitting method is selected as the Power power function. For example, Figure 3 The curve expression shown is This expression reflects the fitting power compensation coefficient λ corresponding to the motor input power at different speeds. 拟合 .

[0088] So far, the discrete actual power compensation coefficients λ 实际 After fitting, a continuous fitting power compensation coefficient λ is obtained. 拟合 , the actual compensation coefficient λ 实际 and the fitting compensation coefficient λ 拟合 Are in agreement within the fitting motor input power range.

[0089] A determination unit 120, configured to determine a fitting power compensation coefficient corresponding to the current motor input power of the motor according to a fitting equation of a power compensation coefficient of the motor and a motor input power obtained by the obtaining unit.

[0090] Specifically, the determination unit 120 substitutes the current motor input power of the motor into the fitting equation of the power compensation coefficient of the motor and the motor input power obtained by pre-fitting, and can obtain a fitting power compensation coefficient λ corresponding to the current input power of the motor. 拟合 。

[0091] A compensation unit 130, configured to compensate the current motor input power of the motor according to the determined fitting power compensation coefficient to obtain the current motor controller input power of the motor.

[0092] Specifically, the current motor controller input power of the compensated motor is equal to the product of the current motor input power of the motor and the fitting power compensation coefficient. That is, after obtaining the fitting power compensation coefficient λ 拟合 According to P 电机控制器输入 =P 电机输入 ×λ, the estimated motor controller input power P 估算的电机控制器输入 =P 电机输入 ×λ 拟合 。

[0093] For example, substituting the Figure 3 expression of the fitting curve shown will result in

[0094] In the above embodiments of the present invention, the estimated motor controller input power is obtained through compensation calculation according to the motor input power, and the problems of the power factor variation affecting the calculation of the motor controller input power and the lack of actual measurement data for the power consumed by the controller are solved.

[0095] The present invention also provides a storage medium corresponding to the motor controller input power compensation method, on which a computer program is stored, and when the program is executed by a processor, the steps of any of the foregoing methods are implemented.

[0096] The present invention also provides a motor controller corresponding to the motor controller input power compensation method, including a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of any of the foregoing methods are implemented.

[0097] The present invention also provides a motor controller corresponding to the motor controller input power compensation device, including any of the foregoing motor controller input power compensation devices.

[0098] The present invention also provides a computer program product corresponding to the input power compensation method of the motor controller, including a computer program, and when the computer program is executed by a processor, the steps of any one of the foregoing methods are implemented.

[0099] Accordingly, in the solution provided by the present invention, the estimated input power of the motor controller is obtained by compensating and calculating the input power of the motor, solving the problem of lack of monitoring of the input power of the motor controller in the related art.

[0100] In the solution provided by the present invention, based on the strong correlation between the calculated motor input power and the measured input power of the motor controller in terms of numerical value, the relationship coefficient between the two parameters is fitted by using a fitting equation, and finally the input power of the motor controller is estimated through the calculated motor input power and the relationship coefficient. The solution has a simple configuration and at the same time solves the problem that the change of the power factor of the inductive load causes inaccurate calculation of the input power of the motor controller.

[0101] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored on a computer-readable medium or transmitted via a computer-readable medium as one or more instructions or codes. Other examples and embodiments are within the scope and spirit of the present invention and the appended claims. For example, due to the nature of software, the functions described above can be implemented using software executed by a processor, hardware, firmware, hardwiring, or any combination of these. In addition, each functional unit can be integrated in one processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0102] In several embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the coupling or direct coupling or communication connection shown or discussed with each other can be through some interfaces, and the indirect coupling or communication connection of units or modules can be in an electrical or other form.

[0103] The units described as separate components may or may not be physically separated. The components of the control device may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0104] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention, in essence, or the part that contributes to the related technology, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0105] The above are only the embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A motor controller input power compensation method, characterized in that: include: Acquire the current motor input power of the motor and a pre-fitted fitting equation of the motor power compensation coefficient and the motor input power; Determine the fitted power compensation coefficient corresponding to the current motor input power of the motor according to the obtained fitting equation of the power compensation coefficient of the motor and the motor input power; The current motor input power of the motor is compensated according to the determined fitting power compensation coefficient to obtain the current motor controller input power of the motor.

2. The method according to claim 1, characterized in that The fitting equation of the power compensation coefficient of the motor and the motor input power is obtained in advance by the following steps: Obtaining the motor input power and the motor controller input power of the motor at different speeds; Calculating the actual power compensation coefficient of the motor at different speeds according to the motor input power and motor controller input power at the different speeds obtained; Performing curve fitting according to the acquired motor input power of the motor at different speeds and the calculated actual power compensation coefficient of the motor at different speeds to obtain a fitting curve of the power compensation coefficient of the motor and the motor input power; According to the obtained fitting curve of the power compensation coefficient of the motor and the motor input power, a fitting equation of the power compensation coefficient of the motor and the motor input power is determined.

3. The method according to claim 2, characterized in that According to the obtained motor input power and motor controller input power at different speeds, the actual power compensation coefficient of the motor at different speeds is calculated, including: The actual power compensation coefficient of the motor at different speeds is equal to the ratio of the motor controller input power to the motor input power at different speeds.

4. The method according to any one of claims 1 to 3, characterized in that: Compensating the current motor input power of the motor according to the acquired fitting power compensation coefficient to obtain the current motor controller input power of the motor, including: The current motor controller input power of the motor is equal to the product of the current motor input power of the motor and the fitting power compensation coefficient.

5. A motor controller input power compensation device, characterized in that: include: An acquisition unit, used for acquiring the current motor input power of the motor and a pre-fitted fitting equation of the motor power compensation coefficient and the motor input power; a determination unit, configured to determine a fitting power compensation coefficient corresponding to a current motor input power of the motor according to the acquired fitting equation of the power compensation coefficient of the motor and the motor input power; The compensation unit is used to compensate the current motor input power of the motor according to the determined fitting power compensation coefficient to obtain the current motor controller input power of the motor.

6. The device according to claim 5, characterized in that Also includes: A fitting unit is used to pre-fit the fitting equation of the power compensation coefficient of the motor and the motor input power. The fitting unit pre-fits the fitting equation of the power compensation coefficient of the motor and the motor input power through the following steps: Obtaining the motor input power and the motor controller input power of the motor at different speeds; Calculating the actual power compensation coefficient of the motor at different speeds according to the motor input power and motor controller input power at the different speeds obtained; Performing curve fitting according to the acquired motor input power of the motor at different speeds and the calculated actual power compensation coefficient of the motor at different speeds to obtain a fitting curve of the power compensation coefficient of the motor and the motor input power; According to the obtained fitting curve of the power compensation coefficient of the motor and the motor input power, a fitting equation of the power compensation coefficient of the motor and the motor input power is determined.

7. The device according to claim 6, characterized in that The fitting unit calculates the actual power compensation coefficient of the motor at different speeds according to the motor input power and the motor controller input power at the different speeds obtained, including: The actual power compensation coefficient of the motor at different speeds is equal to the ratio of the motor controller input power to the motor input power at different speeds.

8. A storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the steps of any method described in claims 1-4 are implemented.

9. A motor controller, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method described in any one of claims 1 to 4 are implemented, or the motor controller input power compensation device described in any one of claims 5 to 7 are included.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the steps of the method according to any one of claims 1 to 4 when being executed by a processor.

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