Fan anti-interference method and device

Abstract

The invention relates to the field of household appliances, and provides a fan anti-interference method and device, and the method comprises the steps: obtaining a motor speed, a motor quadrature-axis current and a motor direct-axis current; according to the motor speed, the preset speed and the motor quadrature-axis current, utilizing proportional integral operation and torque limitation to obtain motor quadrature-axis voltage; obtaining a motor direct-axis voltage according to the motor direct-axis current and a preset motor direct-axis current; according to the motor quadrature-axis voltage and the motor direct-axis voltage, the duty ratio of the inverter is obtained through Parker inverse transformation and space vector pulse width modulation, and the inverter is controlled according to the duty ratio. According to the method, the problems of high anti-interference cost and poor universality of the fan are solved, noise interference is effectively suppressed, stable operation of the fan is ensured, additional cost does not need to be increased, and the universality is high.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliances, and particularly to a method and system for a fan to resist interference. Background Art

[0002] In the household appliance industry, the electronic control of household appliances is gradually developing towards integration, and the products are developing towards miniaturization. For air conditioners, single-chip control integrates six parts of circuits, namely filtering, smoothing, alternating fan and water pump control (Power Factor Correction, PFC), compressor drive, and upper and lower fan drives, of the air conditioner electronic control part into one body, and uses a single chip to drive a compressor and two fans at the same time. However, when the compressor variable-frequency drive, fan variable-frequency drive, and high-frequency PFC are concentrated on one circuit board, interference between signals is inevitable. Especially when the motor runs at a low speed, the current is small, and when the PFC drive and the compressor drive on the same circuit board work at the same time, the signal-to-noise ratio is likely to be low, affecting the MicroController Unit (MCU) to detect effective signals, so that the correct position cannot be calculated by the sensorless observer, resulting in motor out of control.

[0003] Currently, in order to avoid the situation of motor out of control due to the MCU not detecting effective signals, the following two methods are usually adopted: the first is to adopt the method of power isolation, that is, to isolate the control power supply between each drive, so that the reference signals are independent of each other and do not interfere with each other; the second is to increase the maximum id current that can flow through the fixed MOS at low speed, and by increasing the motor output current, increase the signal-to-noise ratio to ensure the stable operation of the fan.

[0004] However, the first method above requires adding a power isolation chip, which not only increases the cost but also increases the area of the circuit board; in the second method, the increased id current is usually relatively fixed and cannot be adaptively adjusted according to different motors, so the versatility is poor. Summary of the Invention

[0005] The present invention provides a method and system for a fan to resist interference, which is used to solve the defects of high cost and poor versatility in the prior art for a fan to resist interference, realize effective suppression of noise interference, ensure the stable operation of the fan, without increasing additional costs, and have strong versatility.

[0006] The present invention provides a method for a fan to resist interference, including: obtaining the motor speed, the motor quadrature-axis current, and the motor direct-axis current; obtaining the motor quadrature-axis voltage according to the motor speed, the preset speed, and the motor quadrature-axis current by using proportional-integral operation and torque limitation; obtaining the motor direct-axis voltage according to the motor direct-axis current and the preset motor direct-axis current; obtaining the duty ratio of the inverter according to the motor quadrature-axis voltage and the motor direct-axis voltage by using Park inverse transformation and space vector pulse width modulation, and controlling the inverter according to the duty ratio.

[0007] It should be noted that by performing proportional-integral operation and torque limitation on the obtained motor speed, motor quadrature-axis current, and preset speed, the motor quadrature-axis voltage is obtained, and by comparing the obtained direct-axis current of the motor with the preset direct-axis current of the motor, the direct-axis voltage of the motor is obtained, so as to perform Park inverse transformation according to the motor quadrature-axis voltage and the motor direct-axis voltage, and use space vector pulse width modulation to obtain the duty cycle, thereby controlling the on and off of the switching tubes of the inverter according to the duty cycle, ensuring that an effective signal can be detected during the calculation of the sensorless sensor, and thus ensuring the stable operation of the motor.

[0008] According to a wind turbine anti-disturbance method provided by the present invention, the direct-axis voltage of the motor is obtained according to the direct-axis current of the motor and the preset direct-axis current of the motor, including: determining whether the motor speed is higher than a preset speed threshold; based on the motor speed being higher than the preset speed threshold, performing field weakening processing on the preset direct-axis current of the motor to obtain an updated preset direct-axis current of the motor; and according to the updated preset direct-axis current of the motor and the direct-axis current of the motor, using proportional-integral operation to obtain the direct-axis voltage of the motor. It should be noted that by determining that the motor speed is higher than the preset speed threshold, field weakening processing is performed on the preset direct-axis current of the motor to increase the speed of the motor, thereby ensuring the stable operation of the motor.

[0009] According to a wind turbine anti-disturbance method provided by the present invention, field weakening processing is performed on the preset direct-axis current of the motor to obtain an updated preset direct-axis current of the motor, including: determining a field weakening current based on the rated speed of the motor, the motor speed, and the preset direct-axis current of the motor; and adjusting the preset direct-axis current of the motor according to the field weakening current to obtain an updated preset direct-axis current of the motor.

[0010] It should be noted that by determining the field weakening current according to the rated speed of the motor, the motor speed, and the preset direct-axis current of the motor, the field weakening current of the motor is adjusted to weaken the magnetic field strength of the motor, so as to achieve the purpose of increasing the speed of the motor, and by adjusting the field weakening current, noise interference can be effectively suppressed, ensuring the stable operation of the wind turbine.

[0011] According to a wind turbine anti-disturbance method provided by the present invention, the direct-axis voltage of the motor is obtained by using proportional-integral operation according to the updated preset direct-axis current of the motor and the direct-axis current of the motor, including: obtaining a direct-axis current difference according to the updated preset direct-axis current of the motor and the direct-axis current of the motor; and obtaining the direct-axis voltage of the motor by using proportional-integral operation according to the direct-axis current difference.

[0012] It should be noted that by performing a PI calculation on the difference between the updated preset direct-axis current of the motor and the direct-axis current of the motor, it is convenient to comprehensively utilize the fast response of the proportion and the characteristic of eliminating the steady-state error of the integral, continuously adjust the action intensity of the proportion and the integral, so as to achieve the stable control and performance optimization of the motor.

[0013] According to a fan anti-interference method provided by the present invention, whether the motor speed is higher than a preset speed threshold is determined, and the method also includes: based on the motor speed not being higher than the preset speed threshold, obtaining a corresponding average speed according to the motor speed within a preset time; obtaining a corresponding speed variance according to the average speed and the motor speed within a preset time; obtaining a proportional integral operation result according to the speed variance and the preset variance; determining whether the proportional integral operation result is greater than 0, and if so, using the proportional integral operation result as a compensation amount, otherwise, using a preset compensation amount as a compensation amount; using the compensation amount to compensate for a preset motor direct-axis current to obtain an updated preset motor direct-axis current.

[0014] It should be noted that by determining that the motor speed is not higher than the preset speed threshold, the speed variance within the preset time is obtained to determine the speed fluctuation within the cycle, and a PI operation is performed based on the difference between the speed variance and the preset variance. The compensation increment of the excitation current is adjusted online according to the PI operation result to improve the signal-to-noise ratio and ensure that the inductive sensor can detect effective signals during calculation, thereby ensuring stable operation of the motor.

[0015] According to a wind turbine anti-interference method provided by the present invention, a motor speed, a motor quadrature-axis current and a motor direct-axis current are obtained, including: obtaining the motor current detected by an inverter; obtaining the motor quadrature-axis current and the motor direct-axis current according to the motor current by using Clarke transformation and Park transformation; obtaining the motor prior quadrature-axis voltage and the motor prior direct-axis voltage, wherein the motor prior quadrature-axis voltage and the motor prior direct-axis voltage are obtained based on the motor prior speed, the motor prior quadrature-axis current and the motor prior direct-axis current obtained in advance, and the motor prior quadrature-axis current and the motor prior direct-axis current are obtained based on the motor prior current detected by the inverter obtained in advance; according to the motor quadrature-axis current, the motor direct-axis current, the motor prior quadrature-axis voltage and the motor prior direct-axis voltage, the motor speed and the angle between the motor direct axis and the α-axis of the two-phase stationary coordinate system are obtained.

[0016] It should be noted that the motor current obtained by acquiring the inverter detection is transformed by using the Clarke transform and the Park transform to obtain the motor cross-axis current and the motor direct-axis current, and the motor speed and the angle between the motor direct axis and the α-axis of the two-phase stationary coordinate system are determined in combination with the prior motor cross-axis voltage and the prior motor direct-axis voltage, so that the angle between the motor direct axis and the α-axis of the two-phase stationary coordinate system can be used to update the Park inverse transform and the Park transform, so as to determine the duty cycle using the motor speed, the updated Park inverse transform and the space vector pulse width modulation, so as to adjust the inverter in time according to the duty cycle, and use the adjusted inverter, the Clarke transform and the updated Park transform to transform the current detected by the adjusted inverter to obtain new motor cross-axis current and motor direct-axis current.

[0017] A wind turbine anti-disturbance method provided by the present invention obtains the motor speed and the angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system according to the quadrature-axis current of the motor, the direct-axis current of the motor, the prior quadrature-axis voltage of the motor, and the prior direct-axis voltage of the motor, including: estimating the motor rotor position according to the quadrature-axis current of the motor, the direct-axis current of the motor, the prior quadrature-axis voltage of the motor, and the prior direct-axis voltage of the motor; determining the errors of the direct axis, the quadrature axis, the α-axis, and the β-axis of the two-phase stationary coordinate system according to the estimated motor rotor position; performing proportional-integral control and integration on the errors to obtain an integration result, and determining whether the integration result meets a preset angle. Based on the integration result meeting the preset angle, obtaining the angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system according to the integration result, and obtaining the motor speed according to the result of performing proportional-integral control on the errors.

[0018] It should be noted that when obtaining the angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system according to the quadrature-axis current of the motor, the direct-axis current of the motor, the prior quadrature-axis voltage of the motor, and the prior direct-axis voltage of the motor, and when the motor speed can also be obtained, the Park inverse transformation and the Park transformation can be updated, so as to determine the duty ratio by using the updated Park inverse transformation and space vector pulse width modulation, and after adjusting the inverter according to the duty ratio, using the Clarke transformation and the updated Park transformation to transform the current detected by the adjusted inverter to obtain a new quadrature-axis current of the motor and a new direct-axis current of the motor.

[0019] A wind turbine anti-disturbance method provided by the present invention for determining whether the integration result meets a preset angle further includes: based on the integration result not meeting the preset angle, re-estimating the motor rotor position, and based on the re-estimated motor rotor position, re-determining the error, and performing proportional-integral control and integration based on the re-determined error until the integration result meets the preset angle.

[0020] It should be noted that when the integration result does not meet the preset angle, it is also necessary to re-estimate the motor rotor position and re-obtain the integration result based on the above steps until the integration result meets the preset angle, then determine that the integration result is the true value, that is, use the integration result as the angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system, and use the corresponding proportional-integral control result as the motor speed.

[0021] A wind turbine anti-disturbance method provided by the present invention obtains the duty ratio of the inverter by using the Park inverse transformation and space vector pulse width modulation according to the quadrature-axis voltage of the motor and the direct-axis voltage of the motor, including: performing the Park inverse transformation according to the quadrature-axis voltage of the motor and the direct-axis voltage of the motor by using the angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system to obtain the α-axis voltage and the β-voltage; obtaining the duty ratio of the inverter by using the space vector pulse width modulation according to the α-axis voltage and the β-voltage.

[0022] It should be noted that by utilizing the previously determined angle between the motor direct axis and the α-axis of the two-phase stationary coordinate system, the motor quadrature-axis voltage and the motor direct axis voltage are subjected to an inverse Park transform to convert the rotating dq coordinate system into a stationary α-β coordinate system. The transformed coordinate system rotates at the same speed as the rotor, and the d-axis rotor flux position is the same, so that the rotor currents on the direct and quadrature axes are equivalent to the stator currents on the α-axis and β-axis, thereby facilitating SVPWM to determine the duty cycle according to the electronic current and generate a pulse signal to control the on and off of the inverter switch tube according to the duty cycle.

[0023] The present invention also provides a fan anti-interference device, including: a data acquisition module, which acquires the motor speed, the motor quadrature-axis current and the motor direct-axis current; a quadrature-axis voltage acquisition module, which obtains the motor quadrature-axis voltage according to the motor speed, the preset speed and the motor quadrature-axis current by using proportional integral operation and torque limitation; a direct-axis voltage acquisition module, which obtains the motor direct-axis voltage according to the motor direct-axis current and the preset motor direct-axis current; a fan anti-interference module, which obtains the duty cycle of the inverter according to the motor quadrature-axis voltage and the motor direct-axis voltage by using inverse Park transformation and space vector pulse width modulation, and controls the inverter according to the duty cycle.

[0024] It should be noted that the motor speed, motor quadrature-axis current and preset speed acquired by the data acquisition module are subjected to proportional-integral operation and torque limitation through the quadrature-axis voltage acquisition module to obtain the motor quadrature-axis voltage, and the motor direct-axis current acquired by the data acquisition module and the preset motor direct-axis current are subjected to the direct-axis voltage acquisition module to obtain the motor direct-axis voltage, so that the fan anti-interference module can perform inverse Park transformation according to the motor quadrature-axis voltage and the motor direct-axis voltage, and obtain the duty cycle by using space vector pulse width modulation, thereby controlling the on and off of the switch tube of the inverter according to the duty cycle, ensuring that the inductive sensor can detect effective signals during calculation, thereby ensuring stable operation of the motor.

[0025] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the above-mentioned wind turbine anti-interference methods are implemented.

[0026] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned wind turbine anti-interference methods are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0028] Figure 1 It is one of the schematic flowcharts of the fan anti-interference method provided by the present invention; Figure 2 It is the second of the schematic flowcharts of the fan anti-interference method provided by the present invention; Figure 3 It is the schematic flowchart of obtaining the direct-axis voltage of the motor provided by the present invention; Figure 4 It is the schematic structural diagram of the fan anti-interference device provided by the present invention; Figure 5 It is the schematic structural diagram of the electronic device provided by the present invention. Detailed implementation manners

[0029] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0030] Figure 1 Describe the schematic flowchart of a fan anti-interference method of the present invention. The method includes: S11. Obtain the motor speed, the quadrature-axis current of the motor, and the direct-axis current of the motor; S12. According to the motor speed, the preset speed, and the quadrature-axis current of the motor, use proportional-integral operation and torque limitation to obtain the quadrature-axis voltage of the motor; S13. According to the direct-axis current of the motor and the preset direct-axis current of the motor, obtain the direct-axis voltage of the motor; S14. According to the quadrature-axis voltage and the direct-axis voltage of the motor, use Park inverse transformation and space vector pulse width modulation to obtain the duty cycle of the inverter, and control the inverter according to the duty cycle.

[0031] It should be noted that the step numbers "S1N" in this specification do not represent the sequence of the fan anti-interference method. The following specifically combines Figures 2 - 3 Describe the fan anti-interference method of the present invention.

[0032] Step S11. Obtain the motor speed, the quadrature-axis current of the motor, and the direct-axis current of the motor.

[0033] In this embodiment, referring to Figure 2 , the motor speed, the motor quadrature-axis current, and the motor direct-axis current are obtained, including: obtaining the motor current I a , I b detected by the inverter; according to the motor current, using the Clarke transformation and the Park transformation, obtaining the motor quadrature-axis current and the motor direct-axis current; obtaining the motor prior quadrature-axis voltage and the motor prior direct-axis voltage, where the motor prior quadrature-axis voltage and the motor prior direct-axis voltage are obtained based on the previously obtained motor prior speed, the motor prior quadrature-axis current, and the motor prior direct-axis current, and the motor prior quadrature-axis current and the motor prior direct-axis current are obtained based on the previously detected motor prior current detected by the inverter; according to the motor quadrature-axis current, the motor direct-axis current, the motor prior quadrature-axis voltage, and the motor prior direct-axis voltage, obtaining the motor speed and the angle between the motor direct axis and the α-axis of the two-phase stationary coordinate system.

[0034] It should be noted that the motor prior speed is the speed obtained once before obtaining the motor speed. The specific steps can refer to the steps of obtaining the motor speed and the angle between the motor direct axis and the α-axis of the two-phase stationary coordinate system below, and will not be further described here. Similarly, the motor prior quadrature-axis voltage and the motor prior direct-axis voltage can refer to the steps of obtaining the motor quadrature-axis voltage and the motor direct-axis voltage below, and will not be further described here. It should be noted that the motor current detected by the inverter is detected after being controlled by the duty ratio obtained by using the inverse Park transformation and the space vector pulse width modulation (Space Vector PWM, abbreviated as APWM) according to the motor prior quadrature-axis voltage and the motor prior direct-axis voltage.

[0035] In addition, by using the Clarke transformation and the Park transformation, the motor current detected by the inverter is transformed to obtain the motor quadrature-axis current and the motor direct-axis current, and combined with the prior motor prior quadrature-axis voltage and the motor prior direct-axis voltage, the motor speed and the angle between the motor direct axis and the α-axis of the two-phase stationary coordinate system are determined, so as to update the inverse Park transformation and the Park transformation by using the angle between the motor direct axis and the α-axis of the two-phase stationary coordinate system subsequently, and then determine the duty ratio by using the motor speed, the updated inverse Park transformation, and the space vector pulse width modulation, so as to adjust the inverter in a timely manner according to the duty ratio, and by using the adjusted inverter, using the Clarke transformation and the updated Park transformation, the current detected by the adjusted inverter is transformed to obtain the new motor quadrature-axis current and the motor direct-axis current.

[0036] Specifically, according to the motor current, using the Clarke transformation and the Park transformation, obtaining the motor quadrature-axis current and the motor direct-axis current, including: according to the motor current I a , I b , using the Clarke transformation, obtaining the α-axis current I α and the β current I β ; according to the α-axis current Iα and β current I β , perform Park transformation using the previously obtained angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system to obtain the quadrature-axis current I q of the motor and the direct-axis current I d . It should be added that the method for obtaining the previously obtained angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system can refer to the method for obtaining the angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system obtained below, and no further description will be made here.

[0037] It should be noted that through Clark transformation, the motor current in the three-phase stationary coordinate system is converted into the α-axis current and β current in the two-phase stationary coordinate system, where the α-axis coincides with the a-axis of the three-phase stationary coordinate system, so as to facilitate the use of Park transformation to project the α-axis current and β current onto the quadrature (q)-axis and direct (d)-axis of the motor to obtain the quadrature-axis current and direct-axis current of the motor, thereby converting the three-phase motor current of the stator to the rotor, and then there is no need to pay attention to the rotating magnetic field generated by the three windings of the stator, but directly care about the rotating magnetic field generated by the equivalent direct axis and quadrature axis, so as to simplify the operation analysis of the synchronous motor.

[0038] In addition, according to the quadrature-axis current of the motor, the direct-axis current of the motor, the previous quadrature-axis voltage of the motor, and the previous direct-axis voltage of the motor, obtain the motor speed and the angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system, including: estimating the rotor position of the motor according to the quadrature-axis current of the motor, the direct-axis current of the motor, the previous quadrature-axis voltage of the motor, and the previous direct-axis voltage of the motor; determining the errors of the direct axis, quadrature axis, α-axis, and β-axis of the two-phase stationary coordinate system according to the estimated rotor position of the motor; performing proportional-integral control and integration on the errors to obtain an integration result, and judging whether the integration result meets the preset angle. Based on the integration result meeting the preset angle, obtain the angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system according to the integration result, and obtain the motor speed according to the result of performing proportional-integral control on the errors.

[0039] It should be noted that when obtaining the angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system according to the quadrature-axis current of the motor, the direct-axis current of the motor, the previous quadrature-axis voltage of the motor, and the previous direct-axis voltage of the motor, the motor speed can also be obtained to update the inverse Park transformation and Park transformation, so as to use the updated inverse Park transformation and space vector pulse width modulation to determine the duty cycle, and after adjusting the inverter according to the duty cycle, use Clark transformation and the updated Park transformation to transform the current detected by the adjusted inverter to obtain a new quadrature-axis current and direct-axis current of the motor.

[0040] In addition, the proportional-integral control can adopt k p + k i / s to obtain the estimated rotational speed, which will not be elaborated further here; integration can adopt 1 / S integration to obtain the estimated angle, so as to facilitate subsequent comparison between the estimated angle and the preset angle to determine whether they are consistent.

[0041] It should be noted that determining whether the integration result conforms to the preset included angle further includes: based on the integration result not conforming to the preset included angle, re-estimating the position of the motor rotor, and based on the re-estimated position of the motor rotor, re-determining the error, and performing proportional-integral control and integration based on the re-determined error until the integration result conforms to the preset included angle.

[0042] It should be noted that when the integration result does not conform to the preset included angle, it is also necessary to re-estimate the position of the motor rotor and obtain the integration result again based on the above steps until the integration result conforms to the preset included angle, then determine that the integration result is the true value, that is, use the integration result as the included angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system, and use the corresponding proportional-integral control result as the motor speed.

[0043] Step S12, according to the motor speed, preset speed, and motor quadrature-axis current, use proportional-integral operation and torque limitation to obtain the motor quadrature-axis voltage.

[0044] In this embodiment, according to the motor speed, preset speed, and motor quadrature-axis current, using proportional-integral operation and torque limitation to obtain the motor quadrature-axis voltage includes: according to the motor speed ω and the preset speed ω_ref, obtain the speed difference; perform proportional-integral (PI) operation on the speed difference to obtain the first operation result; perform torque limitation on the first operation result to obtain the quadrature-axis current reference value I q_ref ; according to the quadrature-axis current reference value I q_ref and the motor quadrature-axis current I q , obtain the quadrature-axis current difference; perform PI operation on the quadrature-axis current difference to obtain the motor quadrature-axis voltage V q .

[0045] It should be noted that the PI operation can refer to the existing PI operation and will not be described further here. The torque limitation can be set according to the required output torque in actual situations and will not be further limited here. In addition, by performing PI operation on the difference between the motor speed and the preset speed, it is convenient to combine the fast response of the proportion and the characteristic of eliminating the steady-state error of the integral. By continuously adjusting the action intensity of the proportion and the integral, the stable control and performance optimization of the motor can be achieved, and by performing torque limitation on the first operation result obtained based on the PI operation, it can be avoided that the equipment is damaged due to excessive complexity, so that the system can operate stably under various working conditions. And through torque limitation, the unnecessary power consumption of the motor can be reduced, the energy utilization rate can be improved, and it is ensured that the equipment is always in an efficient operation state.

[0046] Step S13: Obtain the direct-axis voltage of the motor based on the direct-axis current of the motor and the preset direct-axis current of the motor.

[0047] In this embodiment, referring to Figure 3 , obtaining the direct-axis voltage of the motor based on the direct-axis current of the motor and the preset direct-axis current of the motor includes: determining whether the motor speed is higher than a preset speed threshold; based on the motor speed being higher than the preset speed threshold, performing field weakening processing on the preset direct-axis current I dref to obtain an updated preset direct-axis current I d_ref ; according to the updated preset direct-axis current and the direct-axis current of the motor, using proportional-integral (PI) operation to obtain the direct-axis voltage V d .

[0048] It should be noted that by determining that the motor speed is higher than the preset speed threshold, field weakening processing is performed on the preset direct-axis current to increase the speed of the motor, thereby ensuring the stable operation of the motor. In addition, the preset direct-axis current of the motor is generally set to 0.

[0049] Specifically, performing field weakening processing on the preset direct-axis current to obtain an updated preset direct-axis current includes: determining the field weakening current based on the rated speed of the motor, the motor speed, and the preset direct-axis current of the motor; adjusting the preset direct-axis current according to the field weakening current to obtain an updated preset direct-axis current.

[0050] It should be noted that by determining the field weakening current based on the rated speed of the motor, the motor speed, and the preset direct-axis current of the motor, the field weakening current of the motor is adjusted to weaken the magnetic field strength of the motor, so as to achieve the purpose of increasing the speed of the motor, and by adjusting the field weakening current, noise interference can be effectively suppressed to ensure the stable operation of the fan.

[0051] In addition, obtaining the direct-axis voltage of the motor by using proportional-integral operation according to the updated preset direct-axis current and the direct-axis current of the motor includes: obtaining the difference in direct-axis current according to the updated preset direct-axis current and the direct-axis current of the motor; using proportional-integral (PI) operation according to the difference in direct-axis current to obtain the direct-axis voltage of the motor.

[0052] It should be noted that by performing a PI calculation on the difference between the updated preset direct-axis current and the direct-axis current of the motor, it is convenient to integrate the fast response of the proportion and the characteristic of eliminating the steady-state error of the integral, continuously adjust the action intensity of the proportion and the integral, so as to achieve the stable control and performance optimization of the motor.

[0053] In addition, determining whether the motor speed is higher than the preset speed threshold further includes: based on the motor speed not being higher than the preset speed threshold, obtaining the corresponding average speed according to the motor speed within a preset time; obtaining the corresponding speed variance σ according to the average speed and the motor speed within the preset time2 ; Determine the rotational speed variance σ 2 and the preset variance σ2limit, and use proportional-integral operation to obtain the proportional-integral (PI) operation result; determine whether the proportional-integral operation result is greater than 0. If it is greater than 0, then use the proportional-integral operation result as the compensation amount Δi d , otherwise, use the preset compensation amount as the compensation amount Δi d ; Use the compensation amount Δi d , to compensate the preset direct-axis current I of the motor dref to obtain the updated preset direct-axis current I of the motor d_ref .

[0054] It should be noted that by determining that the motor speed is not higher than the preset speed threshold, obtaining the rotational speed variance within the preset time to determine the rotational speed fluctuation within the period, and performing PI operation based on the difference between the rotational speed variance and the preset variance, to online adjust the compensation increment of the excitation current according to the PI operation result, improve the signal-to-noise ratio, ensure that an effective signal can be detected during the calculation of the sensorless sensor, and thus ensure the stable operation of the motor.

[0055] Step S14, according to the quadrature-axis voltage and the direct-axis voltage of the motor, use Park inverse transformation and space vector pulse width modulation to obtain the duty ratio of the inverter, and control the inverter according to the duty ratio.

[0056] In this embodiment, according to the quadrature-axis voltage and the direct-axis voltage of the motor, using Park inverse transformation and space vector pulse width modulation to obtain the duty ratio of the inverter includes: according to the quadrature-axis voltage V q and the direct-axis voltage V d , use the angle θ between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system to perform Park inverse transformation to obtain the α-axis voltage V α and the β-axis voltage V β ; According to the α-axis voltage and the β voltage, use space vector pulse width modulation (SVPWM) to obtain the duty ratio of the inverter.

[0057] It should be noted that by using the previously determined angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system, performing Park inverse transformation on the quadrature-axis voltage and the direct-axis voltage of the motor, to convert the rotating d-q coordinate system into a stationary α-β coordinate system. The transformed coordinate system rotates at the same speed as the rotor, and the d-axis rotor flux position is the same, to equivalently transform the rotor currents on the direct axis and the quadrature axis to the stator currents on the α-axis and the β-axis, so as to facilitate SVPWM to determine the duty ratio according to the electronic current and generate pulse signals, and to control the on and off of the switching tubes of the inverter according to the duty ratio.

[0058] Further, according to the α-axis voltage and the β-voltage, the duty ratio of the inverter is obtained by using space vector pulse width modulation, including: determining the sector where the α-axis voltage and the β-voltage are located according to the α-axis voltage and the β-voltage; selecting two basic voltage vectors and a zero vector that are closest to the target voltage in the sector where the α-axis voltage and the β-voltage are located; determining the action time of the two basic voltage vectors according to the target voltage and the two closest basic voltage vectors; and obtaining the duty ratio according to the action time of the two basic voltage vectors and a preset time.

[0059] In summary, in the embodiment of the present invention, by performing proportional-integral operation and torque limitation on the obtained motor speed, motor quadrature-axis current, and preset speed, the motor quadrature-axis voltage is obtained, and by obtaining the motor direct-axis current and the preset motor direct-axis current, the motor direct-axis voltage is obtained, so as to perform Park inverse transformation according to the motor quadrature-axis voltage and the motor direct-axis voltage, and use space vector pulse width modulation to obtain the duty ratio, thereby controlling the on and off of the switching tubes of the inverter according to the duty ratio, ensuring that an effective signal can be detected during the calculation of the sensorless sensor, and thus ensuring the stable operation of the motor.

[0060] The fan anti-interference device provided by the present invention will be described below. The fan anti-interference device described below can be correspondingly referred to the fan anti-interference method described above.

[0061] Figure 4 The structural schematic diagram of a fan anti-interference device is shown. The device includes: A data acquisition module 41 for acquiring the motor speed, the motor quadrature-axis current, and the motor direct-axis current; A quadrature-axis voltage acquisition module 42 for obtaining the motor quadrature-axis voltage by using proportional-integral operation and torque limitation according to the motor speed, the preset speed, and the motor quadrature-axis current; A direct-axis voltage acquisition module 43 for obtaining the motor direct-axis voltage according to the motor direct-axis current and the preset motor direct-axis current; A fan anti-interference module 44 for obtaining the duty ratio of the inverter by using Park inverse transformation and space vector pulse width modulation according to the motor quadrature-axis voltage and the motor direct-axis voltage, and controlling the inverter according to the duty ratio.

[0062] In this embodiment, the data acquisition module 41 includes: a current input unit that acquires the motor current detected by the inverter; a transformation unit that, based on the motor current, uses the Clarke transformation and the Park transformation to obtain the motor quadrature-axis current and the motor direct-axis current; a voltage input unit that acquires the motor prior quadrature-axis voltage and the motor prior direct-axis voltage, where the motor prior quadrature-axis voltage and the motor prior direct-axis voltage are obtained based on the previously acquired motor prior speed, the motor prior quadrature-axis current, and the motor prior direct-axis current, and the motor prior quadrature-axis current and the motor prior direct-axis current are obtained based on the previously detected motor prior current detected by the inverter; and a parameter acquisition unit that, based on the motor quadrature-axis current, the motor direct-axis current, the motor prior quadrature-axis voltage, and the motor prior direct-axis voltage, obtains the motor speed and the angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system.

[0063] Specifically, the transformation unit includes: a Clarke transformation subunit that, based on the motor current, uses the Clarke transformation to obtain the α-axis current and the β-axis current; and a Park transformation subunit that, based on the α-axis current and the β-axis current, uses the previously acquired angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system to perform the Park transformation to obtain the motor quadrature-axis current and the motor direct-axis current.

[0064] In addition, the parameter acquisition unit includes: a position estimation subunit that, based on the motor quadrature-axis current, the motor direct-axis current, the motor prior quadrature-axis voltage, and the motor prior direct-axis voltage, estimates the motor rotor position; an error determination subunit that, based on the estimated motor rotor position, determines the errors of the direct axis, the quadrature axis, the α-axis, and the β-axis of the two-phase stationary coordinate system; an error processing subunit that performs proportional-integral control and integration on the errors to obtain an integration result; a judgment subunit that judges whether the integration result meets a preset angle; and a parameter acquisition subunit that, based on the integration result meeting the preset angle, obtains the angle between the direct axis of the motor and the α-axis of the two-phase stationary coordinate system according to the integration result, and obtains the motor speed according to the result of the proportional-integral control of the errors.

[0065] It should be noted that the parameter acquisition unit further includes: a re-evaluation subunit that, based on the integration result not meeting the preset angle, re-estimates the motor rotor position, re-determines the errors based on the re-estimated motor rotor position, and performs proportional-integral control and integration based on the re-determined errors until the integration result meets the preset angle.

[0066] The quadrature-axis voltage acquisition module 42 includes: a speed difference acquisition unit that obtains a speed difference based on the motor speed and a preset speed; a first PI operation unit that performs a proportional-integral (PI) operation on the speed difference to obtain a first operation result; a torque limit unit that performs torque limiting on the first operation result to obtain a quadrature-axis current reference value; a quadrature-axis current difference acquisition unit that obtains a quadrature-axis current difference based on the quadrature-axis current reference value and the motor quadrature-axis current; and a second PI operation unit that performs a PI operation on the quadrature-axis current difference to obtain the motor quadrature-axis voltage.

[0067] The direct-axis voltage acquisition module 43 includes: a judgment unit that judges whether the motor speed is higher than a preset speed threshold; a field weakening processing unit that, based on the motor speed being higher than the preset speed threshold, performs field weakening processing on a preset motor direct-axis current to obtain an updated preset motor direct-axis current; and a third PI operation unit that, based on the updated preset motor direct-axis current and the motor direct-axis current, uses a proportional-integral (PI) operation to obtain the motor direct-axis voltage.

[0068] Specifically, the field weakening processing unit includes: a current determination sub-unit that determines a field weakening current based on the motor rated speed, the motor speed, and the preset motor direct-axis current; and adjusts the preset motor direct-axis current according to the field weakening current to obtain an updated preset motor direct-axis current.

[0069] In addition, the third PI operation unit includes: a direct-axis current difference acquisition sub-unit that obtains a direct-axis current difference based on the updated preset motor direct-axis current and the motor direct-axis current; and a third PI operation sub-unit that, based on the direct-axis current difference, uses a proportional-integral (PI) operation to obtain the motor direct-axis voltage.

[0070] Furthermore, the direct-axis voltage acquisition module 43 further includes: a speed acquisition unit that, based on the motor speed not being higher than the preset speed threshold, obtains a corresponding average speed according to the motor speed within a preset time; a variance acquisition unit that obtains a corresponding speed variance according to the average speed and the motor speed within the preset time; a fourth PI operation unit that, based on the speed variance and a preset variance, uses a proportional-integral operation to obtain a proportional-integral (PI) operation result; a compensation amount determination unit that determines whether the proportional-integral operation result is greater than 0, and if it is greater than 0, uses the proportional-integral operation result as the compensation amount, otherwise, uses a preset compensation amount as the compensation amount; and compensates the preset motor direct-axis current with the compensation amount to obtain an updated preset motor direct-axis current.

[0071] The fan anti-interference module 44 includes: a Park inverse transformation unit that, based on the motor quadrature-axis voltage and the motor direct-axis voltage, performs a Park inverse transformation using the angle between the motor direct-axis and the α-axis of the two-phase stationary coordinate system to obtain the α-axis voltage and the β-axis voltage; and a space vector pulse width modulation unit that, based on the α-axis voltage and the β-axis voltage, uses space vector pulse width modulation (SVPWM) to obtain the duty ratio of the inverter.

[0072] Furthermore, the space vector pulse width modulation unit includes: a sector determination subunit, which determines the sector where the α-axis voltage and the β-axis voltage are located according to the α-axis voltage and the β-axis voltage; a vector selection subunit, which selects two basic voltage vectors and a zero vector closest to the target voltage in the sector where the α-axis voltage and the β-axis voltage are located; an action time determination subunit, which determines the action time of the two basic voltage vectors according to the target voltage and the two closest basic voltage vectors; and a duty cycle determination subunit, which obtains the duty cycle according to the action time of the two basic voltage vectors and the preset time.

[0073] In summary, the embodiment of the present invention obtains the motor quadrature-axis voltage by performing proportional-integral operation and torque limitation on the motor speed, motor quadrature-axis current and preset speed obtained by the data acquisition module through the quadrature-axis voltage acquisition module, and obtains the motor direct-axis voltage by performing direct-axis current obtained by the data acquisition module and preset motor direct-axis current through the direct-axis voltage acquisition module, so that the fan anti-interference module can perform inverse Park transformation according to the motor quadrature-axis voltage and the motor direct-axis voltage, and obtain the duty cycle by using space vector pulse width modulation, thereby controlling the switching tube of the inverter to be turned on and off according to the duty cycle, ensuring that the inductive sensor can detect effective signals during calculation, thereby ensuring stable operation of the motor.

[0074] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the fan anti-interference method, which includes: obtaining the motor speed, the motor quadrature axis current and the motor direct axis current; obtaining the motor quadrature axis voltage according to the motor speed, the preset speed and the motor quadrature axis current by using proportional integral operation and torque limitation; obtaining the motor direct axis voltage according to the motor direct axis current and the preset motor direct axis current; obtaining the inverter duty cycle according to the motor quadrature axis voltage and the motor direct axis voltage by using inverse Park transformation and space vector pulse width modulation, and controlling the inverter according to the duty cycle.

[0075] In addition, when the logic instructions in the above-mentioned memory 530 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may 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, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0076] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the fan anti-disturbance method provided by the above-mentioned various methods. The method includes: obtaining the motor speed, the motor quadrature-axis current, and the motor direct-axis current; according to the motor speed, the preset speed, and the motor quadrature-axis current, using proportional-integral operation and torque limitation to obtain the motor quadrature-axis voltage; according to the motor direct-axis current and the preset motor direct-axis current, obtaining the motor direct-axis voltage; according to the motor quadrature-axis voltage and the motor direct-axis voltage, using Park inverse transformation and space vector pulse width modulation to obtain the duty ratio of the inverter, and controlling the inverter according to the duty ratio.

[0077] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the fan anti-disturbance method provided by the above-mentioned various methods. The method includes: obtaining the motor speed, the motor quadrature-axis current, and the motor direct-axis current; according to the motor speed, the preset speed, and the motor quadrature-axis current, using proportional-integral operation and torque limitation to obtain the motor quadrature-axis voltage; according to the motor direct-axis current and the preset motor direct-axis current, obtaining the motor direct-axis voltage; according to the motor quadrature-axis voltage and the motor direct-axis voltage, using Park inverse transformation and space vector pulse width modulation to obtain the duty ratio of the inverter, and controlling the inverter according to the duty ratio.

[0078] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0079] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for a fan to resist interference, characterized in that, Comprising: Obtaining the motor speed, the motor quadrature-axis current, and the motor direct-axis current; According to the motor speed, the preset speed, and the motor quadrature-axis current, using proportional-integral operation and torque limitation, obtaining the motor quadrature-axis voltage; According to the motor direct-axis current and the preset motor direct-axis current, obtaining the motor direct-axis voltage; According to the motor quadrature-axis voltage and the motor direct-axis voltage, using Park inverse transformation and space vector pulse width modulation, obtaining the duty ratio of the inverter, and controlling the inverter according to the duty ratio.

2. The fan anti-interference method according to claim 1, characterized in that, According to the motor direct-axis current and the preset motor direct-axis current, obtaining the motor direct-axis voltage, including: Judging whether the motor speed is higher than a preset speed threshold; Based on the motor speed being higher than the preset speed threshold, performing field weakening processing on the preset motor direct-axis current to obtain an updated preset motor direct-axis current; According to the updated preset motor direct-axis current and the motor direct-axis current, using proportional-integral operation, obtaining the motor direct-axis voltage.

3. The fan anti-interference method according to claim 2, wherein Performing field weakening processing on the preset motor direct-axis current to obtain an updated preset motor direct-axis current, including: Based on the rated speed of the motor, the motor speed, and the preset motor direct-axis current, determining the field weakening current; According to the field weakening current, adjusting the preset motor direct-axis current to obtain an updated preset motor direct-axis current.

4. The fan anti-interference method according to claim 2, characterized in that According to the updated preset motor direct-axis current and the motor direct-axis current, using proportional-integral operation, obtaining the motor direct-axis voltage, including: According to the updated preset motor direct-axis current and the motor direct-axis current, obtaining the direct-axis current difference; According to the direct-axis current difference, using proportional-integral operation, obtaining the motor direct-axis voltage.

5. The fan anti-interference method according to claim 1, wherein Judging whether the motor speed is higher than a preset speed threshold, further including: Based on the motor speed not being higher than the preset speed threshold, obtaining the corresponding average speed according to the motor speed within a preset time; according to the average speed and the motor speed within the preset time, obtaining the corresponding speed variance; According to the speed variance and the preset variance, using proportional-integral operation, obtaining the proportional-integral operation result; Determining whether the proportional-integral operation result is greater than 0, if it is greater than 0, using the proportional-integral operation result as the compensation amount, otherwise, using a preset compensation amount as the compensation amount; Using the compensation amount to compensate the preset motor direct-axis current to obtain an updated preset motor direct-axis current.

6. The fan anti-interference method according to claim 1, characterized in that The obtaining the motor speed, the motor quadrature-axis current, and the motor direct-axis current, including: Obtaining the motor current detected by the inverter; According to the motor current, using Clarke transformation and Park transformation, obtaining the motor quadrature-axis current and the motor direct-axis current; Obtaining the motor prior quadrature-axis voltage and the motor prior direct-axis voltage, where the motor prior quadrature-axis voltage and the motor prior direct-axis voltage are obtained based on previously obtaining the motor prior speed, the motor prior quadrature-axis current, and the motor prior direct-axis current, and the motor prior quadrature-axis current and the motor prior direct-axis current are obtained based on the motor prior current detected by the inverter obtained previously; Based on the motor quadrature-axis current, the motor direct-axis current, the motor prior quadrature-axis voltage, and the motor prior direct-axis voltage, obtain the motor speed and the angle between the motor direct axis and the α-axis of the two-phase stationary coordinate system.

7. The anti-interference method of the fan according to claim 6, characterized in that, Based on the motor quadrature-axis current, the motor direct-axis current, the motor prior quadrature-axis voltage, and the motor prior direct-axis voltage, obtaining the motor speed and the angle between the motor direct axis and the α-axis of the two-phase stationary coordinate system includes: Based on the motor quadrature-axis current, the motor direct-axis current, the motor prior quadrature-axis voltage, and the motor prior direct-axis voltage, estimate the motor rotor position; Based on the estimated motor rotor position, determine the errors of the direct axis, the quadrature axis, the α-axis, and the β-axis of the two-phase stationary coordinate system; Perform proportional-integral control and integration on the errors to obtain an integration result, and determine whether the integration result meets a preset angle. Based on the integration result meeting the preset angle, obtain the angle between the motor direct axis and the α-axis of the two-phase stationary coordinate system according to the integration result, and obtain the motor speed according to the result of the proportional-integral control of the errors.

8. The fan anti-interference method according to claim 7, characterized in that, Determining whether the integration result meets the preset angle further includes: Based on the integration result not meeting the preset angle, re-estimate the motor rotor position, and based on the re-estimated motor rotor position, re-determine the errors, and perform proportional-integral control and integration based on the re-determined errors until the integration result meets the preset angle.

9. The fan anti-interference method according to claim 6, characterized in that Based on the motor quadrature-axis voltage and the motor direct-axis voltage, using Park inverse transformation and space vector pulse width modulation to obtain the duty ratio of the inverter, including: Based on the motor quadrature-axis voltage and the motor direct-axis voltage, perform Park inverse transformation using the angle between the motor direct axis and the α-axis of the two-phase stationary coordinate system to obtain the α-axis voltage and the β-voltage; Based on the α-axis voltage and the β-voltage, use space vector pulse width modulation to obtain the duty ratio of the inverter.

10. A fan anti-interference device, characterized in that, Includes: A data acquisition module that acquires the motor speed, the motor quadrature-axis current, and the motor direct-axis current; A quadrature-axis voltage acquisition module that, based on the motor speed, a preset speed, and the motor quadrature-axis current, uses proportional-integral operation and torque limitation to obtain the motor quadrature-axis voltage; A direct-axis voltage acquisition module that obtains the motor direct-axis voltage based on the motor direct-axis current and a preset motor direct-axis current; A fan anti-disturbance module that, based on the motor quadrature-axis voltage and the motor direct-axis voltage, uses Park inverse transformation and space vector pulse width modulation to obtain the duty ratio of the inverter, and controls the inverter according to the duty ratio.

11. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, When the processor executes the program, it implements the steps of the fan anti-disturbance method according to any one of claims 1 to 9.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the fan anti-disturbance method according to any one of claims 1 to 9.

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