Motor control method and device, motor controller and motor

Abstract

The invention relates to a motor control method and device, a motor controller and a motor, and belongs to the technical field of motor control. The motor control method comprises the steps that the real-time rotating speed value of a three-phase permanent magnet synchronous motor at the current moment and the rotating speed expected value of the three-phase permanent magnet synchronous motor at the next moment serve as input of an engineering steepest controller; obtaining a quadrature-axis stator current expected value of the three-phase permanent magnet synchronous motor output by the engineering steepest controller; taking the expected value of the quadrature-axis stator current and the current value of the three-phase stator of the three-phase permanent magnet synchronous motor at the current moment as the input of a three-vector current prediction model, and obtaining target voltage vectors output by the three-vector current prediction model and the action time of each target voltage vector; and controlling the three-phase permanent magnet synchronous motor based on the target voltage vectors and the action time of each target voltage vector. The method has accuracy and robustness on control of the three-phase permanent magnet synchronous motor.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and particularly to a motor control method, device, motor controller and motor. Background Art

[0002] Permanent magnet synchronous motors have the advantages of small volume, high energy density, high working efficiency, simple structure and good reliability, and are widely used in today's industries and manufacturing.

[0003] In existing permanent magnet motor control methods, most of them adopt a simple linear PID (Proportion-Integral-Derivative) control method or a model predictive control method. However, the existing control methods have limitations in the control of three-phase permanent magnet synchronous motors, and the prediction control accuracy is not high, unable to meet the current high-precision control requirements.

[0004] It can be seen that the existing technology cannot meet the control requirements of high-precision three-phase permanent magnet synchronous motors. Summary of the Invention

[0005] In view of this, it is necessary to provide a motor control method, device, motor controller and motor to solve the problem that the existing technology cannot meet the control requirements of high-precision three-phase permanent magnet synchronous motors.

[0006] To solve the above problems, in a first aspect, the present invention provides a motor control method, including: Taking the real-time speed value of the three-phase permanent magnet synchronous motor at the current moment and the expected speed value at the next moment as inputs of an engineering fastest controller, and obtaining the expected value of the quadrature-axis stator current of the three-phase permanent magnet synchronous motor output by the engineering fastest controller; Taking the expected value of the quadrature-axis stator current and the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment as inputs of a three-vector current prediction model, and obtaining the target voltage vector and the action time of each target voltage vector output by the three-vector current prediction model; Controlling the three-phase permanent magnet synchronous motor based on the target voltage vector and the action time of each target voltage vector.

[0007] In some possible embodiments, the transfer function of the engineering fastest controller is:

[0008]

[0009]

[0010]

[0011]

[0012]

[0013] Among them, is the transfer function of the engineering fastest controller, is the transfer function of the acceleration type engineering fastest proportional derivative controller, is the transfer function of the acceleration type engineering fastest proportional-integral controller; is the transfer function of the acceleration type engineering fastest integrator, is the transfer function of the acceleration type engineering fastest differentiator, is the transfer function of the acceleration type engineering fastest tracking filter, is the external gain of the acceleration type engineering fastest proportional-integral controller, is the external gain of the acceleration type engineering fastest integrator, is the external gain of the acceleration type engineering fastest differentiator, is the external gain of the acceleration type engineering fastest differentiator, is the inertia time constant of the first-order inertia filter, n is the selectable order, i and l are summation symbols, S is the input.

[0014] In some possible implementation manners, the step of using the quadrature-axis stator current expected value and the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment as the inputs of the three-vector current prediction model includes: Obtaining the quadrature-axis stator real-time current value and the direct-axis stator real-time current value of the three-phase permanent magnet synchronous motor at the current moment by performing Clack transformation and Park transformation on the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment; Using the quadrature-axis stator current expected value, the quadrature-axis stator real-time current value, and the direct-axis stator real-time current value as the inputs of the three-vector current prediction model.

[0015] In some possible implementation manners, the prediction process of the three-vector current prediction model includes: Based on the quadrature-axis stator current expected value, the quadrature-axis stator real-time current value, and the direct-axis stator real-time current value, determining the action duration of the candidate voltage vectors by using the quadrature-axis current prediction equation and the direct-axis current prediction equation of the three-phase permanent magnet synchronous motor; Determining the target voltage vector according to the relationship between the action duration of each candidate voltage vector and the preset motor control period.

[0016] In some possible implementation manners, the quadrature-axis current prediction equation and the direct-axis current prediction equation are:

[0017] Among them, is the expected value of the direct-axis stator current, is the expected value of the quadrature-axis stator current, is the predicted value of the direct-axis stator current at the (k + 1)-th moment, is the predicted value of the quadrature-axis stator current at the (k + 1)-th moment, is the measured value of the direct-axis stator current at the k-th moment, is the measured value of the quadrature-axis stator current at the k-th moment, is the candidate voltage vector The voltage vector component of the candidate voltage vector on the direct axis, The voltage vector component of the candidate voltage vector on the quadrature axis, is the voltage vector component of the candidate voltage vector on the direct axis, The voltage vector component of the candidate voltage vector on the quadrature axis, is the voltage vector component of the zero voltage vector on the direct axis, is the voltage vector component of the zero voltage vector is the acting duration of is the acting duration of is the acting duration of

[0018] In some possible implementation manners, according to the relationship between the acting duration of each candidate voltage vector and the preset motor control period, the target voltage vector is determined, including: When is not within the motor control period, and and are both within the motor control period, and are determined as the target voltage vector; When is not within the motor control period, and and only one of them is within the motor control period, the candidate voltage vector with the acting time within the motor control period is determined as the target voltage vector; When is within the motor control period, and and When there is exactly one within the motor control period, determine the zero voltage vector and the non-zero voltage vectors with action times within the motor control period as target voltage vectors.

[0019] In some possible implementation manners, controlling the three-phase permanent magnet synchronous motor based on the target voltage vector and the action times of each target voltage vector includes: Using a pulse generator to generate a pulse width modulation wave based on the target voltage vector and the action times of each target voltage vector; Controlling the three-phase permanent magnet synchronous motor using a two-level three-phase inverter based on the pulse width modulation wave.

[0020] In a second aspect, the present invention provides a motor control device, including: A current expected value calculation module, configured to use the real-time speed value of the three-phase permanent magnet synchronous motor at the current moment and the expected speed value at the next moment as inputs to an engineering fastest controller, and obtain the q-axis stator current expected value of the three-phase permanent magnet synchronous motor output by the engineering fastest controller; A voltage vector determination module, configured to use the q-axis stator current expected value and the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment as inputs to a three-vector current prediction model, and obtain the target voltage vector and the action times of each target voltage vector output by the three-vector current prediction model; A motor control module, configured to control the three-phase permanent magnet synchronous motor based on the target voltage vector and the action times of each target voltage vector.

[0021] In a third aspect, the present invention provides a motor controller, including a memory and a processor, wherein, The memory is used to store a program; The processor is coupled to the memory and is configured to execute the program stored in the memory to implement the steps in the motor control method according to any of the above implementation manners.

[0022] In a fourth aspect, the present invention provides a motor, characterized in that the motor is controlled by the motor control method according to any of the above implementation manners.

[0023] The beneficial effects of the present invention are as follows: The motor control method provided by the present invention takes the real-time rotational speed value of the three-phase permanent magnet synchronous motor at the current moment and the rotational speed expected value at the next moment as the inputs of the engineering fastest controller, and obtains the expected value of the quadrature-axis stator current of the three-phase permanent magnet synchronous motor output by the engineering fastest controller. The engineering fastest controller can effectively reduce the overshoot, greatly improve the static and dynamic performance of the system, and ensure that the controller has robust heterosexuality. By taking the expected value of the quadrature-axis stator current and the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment as the inputs of the three-vector current prediction model, the target voltage vector output by the three-vector current prediction model and the action time of each target voltage vector are obtained. The three-vector current prediction model can traverse the voltage vectors to improve the accuracy of current prediction. Controlling the three-phase permanent magnet synchronous motor according to the target voltage vector output by the three-vector current prediction model and the action time of each target voltage vector can ensure the accuracy of the control of the three-phase permanent magnet synchronous motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0025] Figure 1 It is a schematic flow chart of a motor control method provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the control principle of a three-phase permanent magnet synchronous motor provided by an embodiment of the present invention; Figure 3 It is a schematic structural diagram of an acceleration-type engineering fastest proportional-integral controller provided by an embodiment of the present invention; Figure 4 It is a schematic structural diagram of an acceleration-type engineering fastest proportional derivative controller provided by an embodiment of the present invention; Figure 5 It is a schematic flow chart of an input transformation method provided by an embodiment of the present invention; Figure 6 It is a schematic flow chart of a three-vector current prediction model prediction method provided by an embodiment of the present invention; Figure 7 It is a schematic flow chart of controlling a three-phase permanent magnet synchronous motor based on vector voltage provided by an embodiment of the present invention; Figure 8 It is a schematic structural diagram of a motor control device provided by an embodiment of the present invention; Figure 9 It is a schematic structural diagram of a motor controller provided by an embodiment of the present invention. Detailed implementation manners

[0026] The preferred embodiments of the present invention will be specifically described below with reference to the accompanying drawings, in which the accompanying drawings form a part of this application and are used together with the embodiments of the present invention to explain the principles of the present invention, rather than to limit the scope of the present invention.

[0027] The descriptions such as "first", "second", etc. involved in the embodiments of the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Therefore, the technical features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0028] Referring to "embodiment" herein means that the specific features, structures or characteristics described in connection with the embodiment may be included in at least one embodiment of the present invention. The appearance of this phrase at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.

[0029] A specific embodiment of the present invention, as Figure 1 shown, discloses a method for controlling a motor, including: S101, using the real-time rotational speed value of the three-phase permanent magnet synchronous motor at the current moment and the rotational speed expected value at the next moment as the inputs of an engineering fastest controller, and obtaining the expected value of the quadrature-axis stator current of the three-phase permanent magnet synchronous motor output by the engineering fastest controller.

[0030] In the embodiments of the present invention, for the convenience of description, the control diagram of the three-phase permanent magnet synchronous motor (PMSM, permanent-magnet synchronous motor) shown in Figure 2 is now used for illustration. Among them, the rotation angle of the PMSM is monitored, and the rotation angle is differentiated to obtain the real-time rotational speed value of the PMSM at the current moment, and the rotational speed expected value of the PMSM at the next moment. Based on the external conditions, the difference between the rotational speed expected value at the next moment and the real-time rotational speed value at the current moment is used as the input of the engineering fastest controller, and the expected value of the quadrature-axis stator current of the three-phase permanent magnet synchronous motor output by the engineering fastest controller can be obtained.

[0031] S102. Take the expected value of the quadrature-axis stator current and the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment as the inputs of the three-vector current prediction model, and obtain the target voltage vector output by the three-vector current prediction model and the action time of each target voltage vector.

[0032] In the implementation of the present invention, the three-vector current prediction model is used to establish a discrete current prediction mathematical model with the stator current of the three-phase permanent magnet synchronous motor as the state variable, calculate the action time of each vector in combination with the current deadbeat principle, and then obtain the predicted current after voltage vector optimization, voltage vector synthesis, and substitution into the current prediction model calculation. Based on the predicted current, the target voltage vector and the action time of each target voltage vector are determined.

[0033] In the embodiment of the present invention, the space vector diagram of the three-phase inverter is divided into six sectors by six non-zero vectors, each sector has a span of 60 degrees, the zero voltage vector is located at the origin, and the three voltage vector combinations in each sector are composed of the following: Table 1: Schematic Table of Voltage Vector Synthesis

[0034] The three-vector current prediction model determines the target voltage vector that meets the requirements and the action time of each target voltage vector through all the voltage vectors in the sectors.

[0035] S103. Control the three-phase permanent magnet synchronous motor based on the target voltage vector and the action time of each target voltage vector.

[0036] In the embodiment of the present invention, after determining the target voltage vector and the action time of each target voltage vector, the control pulse signal of the three-phase permanent magnet synchronous motor can be determined based on the target voltage vector and the action time of each target voltage vector.

[0037] The motor control method provided by the present invention takes the real-time speed value of the three-phase permanent magnet synchronous motor at the current moment and the expected speed value at the next moment as the inputs of the engineering fastest controller, and obtains the expected value of the quadrature-axis stator current of the three-phase permanent magnet synchronous motor output by the engineering fastest controller. The engineering fastest controller can effectively reduce the overshoot, greatly improve the static and dynamic performance of the system, and ensure that the controller has excellent robustness. By taking the expected value of the quadrature-axis stator current and the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment as the inputs of the three-vector current prediction model, the target voltage vector output by the three-vector current prediction model and the action time of each target voltage vector are obtained. The three-vector current prediction model can traverse the voltage vectors to improve the accuracy of current prediction. Controlling the three-phase permanent magnet synchronous motor according to the target voltage vector output by the three-vector current prediction model and the action time of each target voltage vector can ensure the accuracy of the control of the three-phase permanent magnet synchronous motor.

[0038] In some possible embodiments of the present invention, the transfer function of the engineering fastest controller is: (1) (2) (3) (4) (5) (6) Wherein, is the transfer function of the engineering fastest controller, is the transfer function of the accelerated engineering fastest proportional derivative controller, is the transfer function of the accelerated engineering fastest proportional-integral controller; is the transfer function of the accelerated engineering fastest integrator, is the transfer function of the accelerated engineering fastest differentiator, is the transfer function of the accelerated engineering fastest tracking filter, is the external gain of the accelerated engineering fastest proportional-integral controller, is the external gain of the accelerated engineering fastest integrator, is the external gain of the accelerated engineering fastest differentiator, is the external gain of the accelerated engineering fastest differentiator, is the inertia time constant of the first-order inertia filter, n is the selectable order, i and l are summation symbols, S is the input.

[0039] In the embodiments of the present invention, the fastest engineering controller is a cascade structure of an accelerated engineering fastest proportional-integral controller and an accelerated engineering fastest proportional derivative controller. Among them, both the accelerated engineering fastest proportional-integral controller and the accelerated engineering fastest proportional derivative controller are improved after engineering a zero-acceleration tracking filter. The transfer function of the zero-acceleration tracking filter is:

[0040] Wherein, is the transfer function of the accelerated engineering fastest tracking filter, is the inertia time constant of the first-order inertia filter, n is the selectable order, i and l are summation symbols, S is the input.

[0041] As shown Figure 3 in the figure, it is a schematic structural diagram of an accelerated engineering fastest proportional-integral controller. Among them, the transfer function of the accelerated engineering fastest integrator is:

[0042] And the transfer function of the accelerated engineering fastest proportional-integral controller is:

[0043] Among them, is the external gain of the accelerated engineering fastest proportional-integral controller, is the external gain of the accelerated engineering fastest integrator.

[0044] As shown Figure 4 in the figure, it is a schematic structural diagram of an accelerated engineering fastest proportional-derivative controller. Among them, the transfer function of the accelerated engineering fastest differentiator is:

[0045] And the transfer function of the accelerated engineering fastest proportional-derivative controller is:

[0046] Among them, is the external gain of the accelerated engineering fastest differentiator, is the external gain of the accelerated engineering fastest differentiator.

[0047] Specifically, the Z - N tuning method can be used to tune the parameters of the engineering fastest controller, and the parameter tuning formula is: (7) Among them, is the Z - N gain of the tuning method, is the Z - N pure dead time constant of the tuning method, is the Z - N time constant of the tuning method, is the constant adjustment term.

[0048] The embodiments of the present invention give the specific structure of the engineering fastest controller and the corresponding transfer function, greatly reducing overshoot and improving the robustness of the system.

[0049] In some possible embodiments of the present invention, as shown Figure 5As shown, the expected value of the quadrature-axis stator current and the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment are used as the inputs of the three-vector current prediction model, including: S501: Obtain the real-time quadrature-axis stator current value and the real-time direct-axis stator current value of the three-phase permanent magnet synchronous motor at the current moment after performing Clark transformation and Park transformation on the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment; S502: Use the expected value of the quadrature-axis stator current, the real-time quadrature-axis stator current value, and the real-time direct-axis stator current value as the inputs of the three-vector current prediction model.

[0050] In the embodiment of the present invention, before inputting the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment into the three-vector current prediction model, it is necessary to first transform the three-phase stator current values. On the premise of ignoring the saturation of the motor iron core, not considering the eddy current and hysteresis losses of the motor, ignoring the damping winding on the rotor, the excitation magnetic field, and the armature reaction magnetic field being uniformly sinusoidally distributed in the air gap, and the induced electromotive force in the stator winding being a sine wave, the stator voltage equation of the three-phase permanent magnet synchronous motor in abc the three-phase stationary coordinate system is converted into d - q the voltage equation in the d-q (direct-axis and quadrature-axis) synchronous rotating coordinate system through Clark transformation and Park transformation. Then, the corresponding three-phase stator current values can be converted into the real-time quadrature-axis stator current value and the real-time direct-axis stator current value of the three-phase permanent magnet synchronous motor at the current moment through Clark transformation and Park transformation. Then, use the expected value of the quadrature-axis stator current, the real-time quadrature-axis stator current value, and the real-time direct-axis stator current value as the inputs of the three-vector current prediction model.

[0051] In some possible embodiments of the present invention, as Figure 6 shown, the prediction process of the three-vector current prediction model includes: S601: Based on the expected value of the quadrature-axis stator current, the real-time quadrature-axis stator current value, and the real-time direct-axis stator current value, use the quadrature-axis current prediction equation and the direct-axis current prediction equation of the three-phase permanent magnet synchronous motor to determine the action duration of the candidate voltage vectors; S602: Determine the target voltage vector according to the relationship between the action duration of each candidate voltage vector and the preset motor control period.

[0052] In the embodiment of the present invention, the three-vector current prediction model takes the stator current of the PMSM as the state variable, establishes a discrete current prediction mathematical model, calculates the action time of each vector by combining the current deadbeat principle, then obtains the predicted current after voltage vector optimization, voltage vector synthesis, and substitution into the current prediction model calculation, and finally substitutes it into the value function to obtain the optimal voltage vector combination. Among them, generally d - qMathematical model in the axis synchronous rotation coordinate system, and its stator voltage equation is: (8) Wherein, , are the d , q axis voltages of the three-phase permanent magnet synchronous motor, is the stator resistance, , are the d , q axis stator inductances, , are the d , q axis currents, is the permanent magnet flux linkage, is the rotor angular velocity. Forward discretization of the above formula (8) gives d - q The axis current prediction model is: (9) Wherein, is the k - th moment d axis voltage, is the k - th moment q axis voltage, is the k - th moment d axis current, is the k - th moment q axis current, is the k + 1 - th moment d axis current, is the k + 1 - th moment q axis current.

[0053] In the embodiment of the present invention, as in the foregoing embodiment, there are 6 voltage vector combinations in the three - vector model predictive current control. Combining with the current deadbeat principle, it is necessary to calculate the d , q axis current change rates corresponding to the basic voltage vectors and their respective action times. The calculation formulas are as follows: (10) Assume that the two effective voltage vectors are respectively and . The components of these two effective voltage vectors on the quadrature axis and the direct axis are , , , , the shaft current change rates corresponding to the two effective voltage vectors are: d , q The shaft current change rate is: (11) Based on this, the shaft current prediction equations for d , q can be written according to the current deadbeat principle as: (12) Wherein, is the expected value of the direct-axis stator current, is the expected value of the quadrature-axis stator current, is the predicted value of the direct-axis stator current at the k +1-th moment, is the predicted value of the quadrature-axis stator current at the k +1-th moment, is the measured value of the direct-axis stator current at the k th moment, is the measured value of the quadrature-axis stator current at the k th moment, is the voltage vector component of the candidate voltage vector on the direct axis, The voltage vector component of the candidate voltage vector on the quadrature axis, is the voltage vector component of the candidate voltage vector on the direct axis, The voltage vector component of the candidate voltage vector on the quadrature axis, is the voltage vector component of the zero voltage vector on the direct axis, is the voltage vector component of the zero voltage vector on the quadrature axis, is the action duration of is the action duration of is the action duration of

[0054] In some possible embodiments of the present invention, the target voltage vector is determined according to the relationship between the action duration of each candidate voltage vector and the preset motor control cycle, including: When is not within the motor control cycle, and and are both within the motor control cycle, and are determined as the target voltage vector; When is not within the motor control cycle, and and When only one of them is within the motor control period, the candidate voltage vector with an action time within the motor control period is determined as the target voltage vector; When within the motor control period, and and when only one of them is within the motor control period, the zero voltage vector and the non-zero voltage vectors with action times within the motor control period are determined as the target voltage vectors.

[0055] In the embodiments of the present invention, according to the working principle of the three-phase permanent magnet synchronous motor, the relationship between the action duration of the voltage vector and the preset motor control period may have the above three situations. According to the above three situations, the target voltage vector that meets the requirements can be determined, and the target voltage vectors that meet the requirements are vector synthesized to obtain the synthesized voltage vector. It is possible that there are multiple finally obtained synthesized voltage vectors, and then a value function needs to be used to determine the optimal synthesized voltage vector. The specific value function is: (13) Wherein, J is the value of the value function, and the target voltage vector corresponding to the synthesized voltage vector with the smallest J is selected as the optimal voltage vector.

[0056] In the embodiments of the present invention, by traversing all voltage vectors through the three-vector current prediction model, the optimal voltage vector that meets the requirements can be obtained, and the three-phase permanent magnet synchronous motor is controlled by using the optimal voltage vector to ensure the accuracy of the control.

[0057] In some possible embodiments of the present invention, as Figure 7 shown, controlling the three-phase permanent magnet synchronous motor based on the target voltage vector and the action time of each target voltage vector includes: S701, using a pulse generator to generate a pulse width modulation wave based on the target voltage vector and the action time of each target voltage vector; S702, controlling the three-phase permanent magnet synchronous motor based on the pulse width modulation wave by using a two-level three-phase inverter.

[0058] In the embodiments of the present invention, after determining the target voltage vector, based on the target voltage vector and the action time of each optimal voltage vector, a pulse generator is used to generate the corresponding pulse width modulation wave, and then the three-phase permanent magnet synchronous motor is controlled by using the two-level three-phase inverter based on the pulse width modulation wave to achieve the precise control of the three-phase permanent magnet synchronous motor.

[0059] To better implement the motor control method in the embodiments of the present invention, correspondingly, on the basis of the motor control method, as Figure 8As shown in the figure, an embodiment of the present invention further provides a motor control device. The motor control device 800 includes: A current expected value calculation module 801, configured to use the real-time speed value of the three-phase permanent magnet synchronous motor at the current moment and the expected speed value at the next moment as inputs to an engineering fastest controller, and obtain the quadrature-axis stator current expected value of the three-phase permanent magnet synchronous motor output by the engineering fastest controller; A voltage vector determination module 802, configured to use the quadrature-axis stator current expected value and the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment as inputs to a three-vector current prediction model, and obtain the target voltage vector output by the three-vector current prediction model and the action time of each target voltage vector; A motor control module 803, configured to control the three-phase permanent magnet synchronous motor based on the target voltage vector and the action time of each target voltage vector.

[0060] The motor control device 800 provided in the above embodiment can implement the technical solutions described in the above embodiments of the motor control method. The specific implementation principles of the above modules or units can be referred to the corresponding content in the above embodiments of the motor control method, and will not be elaborated here.

[0061] As Figure 9 shown in the figure, the present invention also correspondingly provides a motor controller 900. The motor controller 900 includes a processor 901, a memory 902, and a display 903. Figure 9 Only some components of the motor controller 900 are shown, but it should be understood that it is not required to implement all the shown components, and more or fewer components can be alternatively implemented.

[0062] The processor 901 may be a central processing unit (CPU), a microprocessor, or other data processing chips in some embodiments, and is configured to run the program code stored in the memory 902 or process data, such as the motor control method in the present invention.

[0063] In some embodiments, the processor 901 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, the processor 901 may be local or remote. In some embodiments, the processor 901 may be implemented on a cloud platform. In some embodiments, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-cloud, etc., or any combination of the above.

[0064] The memory 902 can be an internal storage unit of the motor controller 900 in some embodiments, such as the hard disk or memory of the motor controller 900. The memory 902 can also be an external storage device of the motor controller 900 in other embodiments, such as a plug-in hard disk equipped on the motor controller 900, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc.

[0065] Furthermore, the memory 902 can include both the internal storage unit of the motor controller 900 and an external storage device. The memory 902 is used to store the application software and various types of data for installing the motor controller 900.

[0066] The display 903 can be an LED display, a liquid crystal display, a touch liquid crystal display, and an OLED (Organic Light-Emitting Diode) toucher, etc. in some embodiments. The display 903 is used to display the information of the motor controller 900 and to display a visual user interface. The components 901 - 903 of the motor controller 900 communicate with each other through the system bus.

[0067] In some embodiments, when the processor 901 executes the motor control program in the memory 902, the following steps can be implemented: Taking the real-time speed value of the three-phase permanent magnet synchronous motor at the current moment and the expected speed value at the next moment as the inputs of the engineering fastest controller, and obtaining the expected value of the quadrature-axis stator current of the three-phase permanent magnet synchronous motor output by the engineering fastest controller; Taking the expected value of the quadrature-axis stator current and the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment as the inputs of the three-vector current prediction model, and obtaining the target voltage vector output by the three-vector current prediction model and the action time of each target voltage vector; Controlling the three-phase permanent magnet synchronous motor based on the target voltage vector and the action time of each target voltage vector.

[0068] It should be understood that when the processor 901 executes the motor control program in the memory 902, in addition to the above functions, other functions can also be implemented. For details, please refer to the description of the corresponding method embodiments above.

[0069] Furthermore, the embodiments of the present invention do not specifically limit the type of the motor controller 900 mentioned. The motor controller 900 may be a portable motor controller such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop, etc. Exemplary embodiments of the portable motor controller include, but are not limited to, portable motor controllers equipped with IOS, android, microsoft, or other operating systems. The above-mentioned portable motor controllers may also be other portable motor controllers, such as a laptop with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the motor controller 900 may not be a portable motor controller, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0070] Correspondingly, an embodiment of the present application also provides a motor, which is controlled by the motor control method in any of the foregoing embodiments.

[0071] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. A motor control method, characterized in that, Including: Taking the real-time speed value of the three-phase permanent magnet synchronous motor at the current moment and the expected speed value at the next moment as the inputs of the engineering fastest controller, and obtaining the expected quadrature-axis stator current of the three-phase permanent magnet synchronous motor output by the engineering fastest controller; Taking the expected quadrature-axis stator current and the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment as the inputs of the three-vector current prediction model, and obtaining the target voltage vector output by the three-vector current prediction model and the action time of each target voltage vector; Controlling the three-phase permanent magnet synchronous motor based on the target voltage vector and the action time of each target voltage vector.

2. The motor control method according to claim 1, wherein, The transfer function of the engineering fastest controller is: Among them, is the transfer function of the engineering fastest controller, is the transfer function of the acceleration type engineering fastest proportional derivative controller, is the transfer function of the acceleration type engineering fastest proportional-integral controller; is the transfer function of the acceleration type engineering fastest integrator, is the transfer function of the acceleration type engineering fastest differentiator, is the transfer function of the acceleration type engineering fastest tracking filter, is the external gain of the acceleration type engineering fastest proportional-integral controller, is the external gain of the acceleration type engineering fastest integrator, is the external gain of the acceleration type engineering fastest differentiator, is the external gain of the acceleration type engineering fastest differentiator, is the inertia time constant of the first-order inertia filter, n is the selectable order, i and l are the summation symbols, S is the input.

3. The motor control method according to claim 1, wherein The step of taking the expected quadrature-axis stator current and the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment as the inputs of the three-vector current prediction model includes: Obtaining the real-time quadrature-axis stator current value and the real-time direct-axis stator current value of the three-phase permanent magnet synchronous motor at the current moment by performing Clack transformation and Park transformation on the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment; Taking the expected quadrature-axis stator current, the real-time quadrature-axis stator current value, and the real-time direct-axis stator current value as the inputs of the three-vector current prediction model.

4. The motor control method according to claim 3, characterized in that, The prediction process of the three-vector current prediction model includes: Based on the expected quadrature-axis stator current, the real-time quadrature-axis stator current value, and the real-time direct-axis stator current value, using the quadrature-axis current prediction equation and the direct-axis current prediction equation of the three-phase permanent magnet synchronous motor to determine the action duration of the candidate voltage vectors; Determining the target voltage vector according to the relationship between the action duration of each candidate voltage vector and the preset motor control period.

5. The motor control method according to claim 4, wherein The quadrature-axis current prediction equation and the direct-axis current prediction equation are: wherein, is the expected value of the direct-axis stator current, is the expected value of the quadrature-axis stator current, is the predicted value of the direct-axis stator current at the (k + 1)-th moment, is the predicted value of the quadrature-axis stator current at the (k + 1)-th moment, is the measured value of the direct-axis stator current at the k-th moment, is the measured value of the quadrature-axis stator current at the k-th moment, is the candidate voltage vector is the voltage vector component of the candidate voltage vector on the direct axis, is the voltage vector component of the candidate voltage vector on the quadrature axis, is the voltage vector component of the candidate voltage vector on the direct axis, is the voltage vector component of the candidate voltage vector on the quadrature axis, is the voltage vector component of the zero voltage vector on the direct axis, is the voltage vector component of the zero voltage vector is the action duration of is the action duration of is the action duration of 6. The motor control method according to claim 5, characterized in that, Determining the target voltage vector according to the relationship between the action duration of each candidate voltage vector and the preset motor control period includes: When is not within the motor control cycle, and and are both within the motor control cycle, then and are determined as the target voltage vectors; When is not within the motor control period, and and when only one of them is within the motor control period, the candidate voltage vector with an action time within the motor control period is determined as the target voltage vector; When within the motor control period, and and when there is and only one within the motor control period, determine the zero voltage vector and the non-zero voltage vector with the action time within the motor control period as the target voltage vector.

7. The motor control method according to claim 1, characterized in that The step of controlling the three-phase permanent magnet synchronous motor based on the target voltage vector and the action time of each target voltage vector includes: Using a pulse generator to generate a pulse width modulation wave based on the target voltage vector and the action time of each target voltage vector; Controlling the three-phase permanent magnet synchronous motor using a two-level three-phase inverter based on the pulse width modulation wave.

8. A motor control device, characterized in that, Including: A current expected value calculation module, configured to take the real-time speed value of the three-phase permanent magnet synchronous motor at the current moment and the expected speed value at the next moment as the inputs of the engineering fastest controller, and obtain the expected quadrature-axis stator current of the three-phase permanent magnet synchronous motor output by the engineering fastest controller; A voltage vector determination module, configured to take the expected quadrature-axis stator current and the three-phase stator current values of the three-phase permanent magnet synchronous motor at the current moment as the inputs of the three-vector current prediction model, and obtain the target voltage vector output by the three-vector current prediction model and the action time of each target voltage vector; A motor control module, configured to control the three-phase permanent magnet synchronous motor based on the target voltage vector and the action time of each target voltage vector.

9. A motor controller, characterized in that, Including a memory and a processor, wherein, The memory is used to store programs; The processor, which is coupled to the memory, is configured to execute the program stored in the memory to implement the steps in the motor control method according to any one of claims 1 to 7 above.

10. A motor, characterized in that, The motor is controlled by the motor control method according to any one of claims 1 to 7.

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