Control method and device of permanent magnet synchronous motor and vehicle

Abstract

The invention provides a control method and device of a permanent magnet synchronous motor and a vehicle. The method comprises the steps of obtaining a motor phase current, a motor rotating speed, a motor rotor position, a rotary transformation angle and a target torque of the motor at a single current sampling moment; obtaining d-q reference voltage according to the motor phase current, the motor rotating speed, the motor rotor position and the target rotating speed of the motor; obtaining a compensation angle according to the motor rotating speed; respectively calculating real resolver angles required by the first update and the second update in the same PWM period by using the resolver angle, the compensation angle and the position of the motor rotor; respectively applying the real resolver angle required by the first update and the real resolver angle required by the second update to the d-q reference voltage for Park inverse transformation to obtain a first group of alpha-beta voltage vectors and a second group of alpha-beta voltage vectors; and outputting the duty ratio corresponding to the first group of alpha-beta voltage vectors in the first half section of the PWM period, and outputting the duty ratio corresponding to the second group of alpha-beta voltage vectors in the second half section of the PWM period.

Description

Technical Field

[0001] This application relates to the field of permanent magnet synchronous motors, specifically a control method, device, and vehicle for a permanent magnet synchronous motor. Background Technology

[0002] Existing technology provides a voltage phase compensation method for permanent magnet synchronous motors based on EPS. By accurately measuring the voltage delay time, voltage phase compensation and diagnostic verification can be performed, avoiding the influence of deviations caused by theoretical calculations, ensuring the phase frequency characteristics of the current loop output voltage, and improving the stability of the current controller. However, this existing technology has the following problems: 1. Large computational load, requiring high chip computing power; 2. Weak anti-interference capability, easily affected by current harmonics. Summary of the Invention

[0003] This application provides a control method, device, and vehicle for a permanent magnet synchronous motor, which can compensate for the system bandwidth affected by single sampling and single update errors, and will not impose a huge load on the CPU like double sampling and double update, while also improving the effect of harmonic injection.

[0004] The technical solution of this invention is as follows:

[0005] This application provides a control method for a permanent magnet synchronous motor, including:

[0006] At a single current sampling moment, the motor phase current, motor speed, motor rotor position, resolver angle, and target torque of the motor are obtained.

[0007] The dq reference voltage is obtained based on the motor phase current, motor speed, motor rotor position, and motor target speed.

[0008] The compensation angle is obtained based on the motor speed;

[0009] Using the resolver angle, the compensation angle, and the motor rotor position, the motor phase angles required for the first and second updates within the same PWM cycle are calculated respectively.

[0010] The motor phase angles required for the first update and the motor phase angles required for the second update are used to perform Park inverse transformation on the dq reference voltage to obtain the first set of α-β voltage vectors and the second set of α-β voltage vectors.

[0011] The duty cycle corresponding to the first set of α-β voltage vectors is output in the first half of the PWM cycle, and the duty cycle corresponding to the second set of α-β voltage vectors is output in the second half of the PWM cycle, so as to realize the single sampling and double update control of the motor.

[0012] Preferably, the step of calculating the motor phase angles required for the first and second updates within the same PWM cycle using the resolver angle, the compensation angle, and the motor rotor position includes:

[0013] Determine the motor angular velocity based on the motor rotor position;

[0014] Based on the resolver angle, the compensation angle, and the motor angular velocity, the motor phase angle required for the first update corresponding to 0.5 PWM cycles is determined, as well as the motor phase angle required for the second update corresponding to one PWM cycle is determined.

[0015] Preferably, the step of obtaining the compensation angle based on the motor speed includes:

[0016] The compensation angle is obtained by consulting the preset angle compensation table based on the motor speed.

[0017] Preferably, the step of obtaining the dq reference voltage based on the motor phase current, motor speed, motor rotor position, and target motor speed includes:

[0018] Perform Clark transformation on the phase currents of the motor to determine the α-axis current and β-axis current of the motor;

[0019] Using the rotor position of the motor, the α-axis current and β-axis current of the motor are transformed by Park transformation to determine the d-axis current and q-axis current of the motor.

[0020] Determine the d-axis reference current and q-axis reference current of the motor based on the motor speed and the target torque of the motor;

[0021] The d-axis current error and q-axis current error are obtained by subtracting the motor's d-axis reference current and q-axis reference current from the d-axis current and q-axis current, respectively.

[0022] The d-axis current error and q-axis current error are input into the PI controller, and a feedforward decoupling voltage is added to obtain the d-axis reference voltage and q-axis reference voltage.

[0023] Preferably, the feedforward decoupling voltage is calculated in real time based on the current d-axis inductance, q-axis inductance, stator resistance, d-axis current, q-axis current, permanent magnet flux linkage, and electric angular velocity.

[0024] This application also provides a control device for a permanent magnet synchronous motor, including:

[0025] The acquisition module is used to acquire motor phase current, motor speed, motor rotor position, resolver angle and target torque of the motor at a single current sampling moment;

[0026] The dq reference voltage determination module is used to obtain the dq reference voltage based on the motor phase current, motor speed, motor rotor position, and the target speed of the motor.

[0027] The compensation angle determination module is used to obtain the compensation angle based on the motor speed;

[0028] The motor phase angle determination module is used to calculate the motor phase angles required for the first and second updates within the same PWM cycle using the resolver angle, the compensation angle, and the motor rotor position, respectively.

[0029] The α-β voltage vector determination module is used to perform Park inverse transformation on the dq reference voltage by using the motor phase angles required for the first update and the motor phase angles required for the second update, respectively, to obtain the first set of α-β voltage vectors and the second set of α-β voltage vectors.

[0030] The duty cycle output module is used to output the duty cycle corresponding to the first set of α-β voltage vectors in the first half of the PWM cycle and the duty cycle corresponding to the second set of α-β voltage vectors in the second half of the PWM cycle, so as to realize the single sampling and double update control of the motor.

[0031] Preferably, the motor phase angle determination module includes:

[0032] The motor angular velocity determination unit is used to determine the motor angular velocity based on the motor rotor position.

[0033] The motor phase angle determination unit is used to determine the motor phase angle required for the first update corresponding to 0.5 PWM cycles, and the motor phase angle required for the second update corresponding to one PWM cycle, based on the resolver angle, the compensation angle, and the motor angular velocity.

[0034] Preferably, the compensation angle determination module includes:

[0035] The compensation angle determination unit is used to look up a preset angle compensation table based on the motor speed to obtain the compensation angle.

[0036] Preferably, the dq reference voltage determination module includes:

[0037] The α-β axis current determination unit is used to perform Clark transformation on the phase current of the motor to determine the α-axis current and β-axis current of the motor.

[0038] The dq-axis current determination unit is used to perform Park transformation on the α-axis and β-axis currents of the motor using the rotor position of the motor to determine the d-axis and q-axis currents of the motor.

[0039] The dq-axis reference current determination unit is used to determine the d-axis reference current and q-axis reference current of the motor based on the motor speed and the target torque of the motor.

[0040] The dq-axis current error determination unit is used to calculate the d-axis current error and q-axis current error by subtracting the motor's d-axis reference current and q-axis reference current from the d-axis current and q-axis current, respectively.

[0041] The dq-axis reference voltage determination unit is used to input the d-axis current error and q-axis current error into the PI regulator respectively, and add a feedforward decoupling voltage to obtain the d-axis reference voltage and q-axis reference voltage.

[0042] This application also provides a vehicle including the control device for the aforementioned permanent magnet synchronous motor.

[0043] The beneficial effects of this invention are as follows:

[0044] It can compensate for the system bandwidth affected by single sampling and single update errors, and will not impose a huge load on the CPU like double sampling and double update, while also improving the effect of harmonic injection. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating the control method of the permanent magnet synchronous motor in the embodiments of this application;

[0046] Figure 2 This is a timing diagram of single sampling and double update in the embodiments of this application;

[0047] Figure 3 This is a schematic diagram of the motor control principle in an embodiment of this application;

[0048] Figure 4 This is a block diagram illustrating the phase angle compensation principle in the embodiments of this application;

[0049] Figure 5 This is a schematic diagram of the vehicle architecture in the embodiments of this application. Detailed Implementation

[0050] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings. While the description is quite detailed, it should not be construed as limiting the scope of the present invention. Obvious variations and substitutions of the following examples are all within the scope of protection of this patent.

[0051] The mathematical model for the current loop of the permanent magnet synchronous motor is established as follows:

[0052]

[0053] Among them, U d U q Id I q These represent the dq-axis voltage and current in a synchronous rotating coordinate system, respectively, R. s L d L q These are the stator resistance and the dq-axis inductance in the synchronous rotating coordinate system, ω. e Ψ is the electric angular frequency. f For permanent magnet flux linkage, T e This represents the output torque of the motor.

[0054] The mathematical model can be transformed into the following coupled form:

[0055]

[0056] In the control system, since both the speed loop and current loop employ PI control, during dynamic processes, sudden load changes or alterations to the speed setpoint can simultaneously affect the voltages of the D and Q axes. The Q axis may be more significantly affected by speed changes. For surface-mounted permanent magnet synchronous motors based on vector control, the Q-axis current represents torque. Therefore, sudden changes in the Q-axis current due to speed variations will cause the torque to deviate from the setpoint, resulting in significant fluctuations during dynamic processes.

[0057] To address the fluctuations in the Q-axis current, feedforward control is incorporated to decouple the calculations of the D and Q-axis currents.

[0058]

[0059] After decoupling, vector control can independently control the current and voltage of the direct axis and quadrature axis. This method not only improves the dynamic performance of the system but also simplifies the mathematical model of the entire permanent magnet synchronous motor.

[0060] Given the bandwidth of the closed-loop system and the PI control used in the current loop, the transfer function is described as follows:

[0061] Substituting this equation into the transfer function, we obtain the open-loop transfer function of the system as follows: Then through the zero point of the PI controller The inherent poles of the cancellation system Finally, the relationship between the transfer function of the closed-loop system and the system bandwidth frequency is obtained as follows:

[0062]

[0063] Where K P =Lω b ,K I =Rω b ,ωb The bandwidth of a closed-loop system is defined as the amplitude at which the amplitude decays to zero during the attenuation process, under the amplitude-frequency characteristic of the closed-loop system. Then, based on this amplitude, we can obtain its corresponding frequency, which is the bandwidth of this closed-loop system.

[0064] After introducing the current sampling delay and the PWM modulation wave update delay, the delays of both can be expressed as T. DEALY At this point, the open-loop transfer function changes to:

[0065]

[0066] Zero point of the PI controller The inherent poles of the cancellation system Then select the damping coefficient The closed-loop transfer function of the system with delay is obtained as follows:

[0067]

[0068] in,

[0069] Based on the above formula, the final bandwidth frequency of the closed-loop system is:

[0070]

[0071] In (T) k-1 +T k Current is sampled at time ) / 2, and at T k and (T) k+1 +T k The duty cycle value D is calculated based on the previously collected current at time ) / 2. k1 D k2 Update. The current sampling delay time is 0.5T. PWM T PWM T PWM This refers to one PWM cycle.

[0072] The output delay of an inverter generally varies depending on the output voltage. When the output voltage is 0, the inverter's output delay is 0. When the output voltage is U... dc At that time, the inverter's output delay is 1T. PWM The single-sampling double-update strategy in this embodiment outputs a PWM wave on the rising edge, with a maximum value of 0.5U. dc The maximum latency is 0.5T. PWM At the falling edge, the voltage is recalculated based on the change in angle to output a PWM wave, with a maximum value of 0.5U. dcThe maximum latency is 0.5T. PWM In other words, the latency of a single-sample double-update system is less than or equal to the latency of a single-sample single-update system. Therefore, the closed-loop system bandwidth of a single-sample double-update system is greater than that of a single-sample single-update system.

[0073] Reference Figure 2 and Figure 4 In this embodiment of the application, at the rising edge of a PWM cycle (i.e., the first half of the cycle), the input d-axis reference voltage is used... q-axis reference voltage The first set of α-β voltage vectors (U) is calculated using the motor phase angle θ1 obtained at this time. α1 * and U β1 * The PWM wave is output using a PWM method, and then at the falling edge of one PWM cycle (i.e., the second half of the cycle), the d-axis reference voltage is used as the reference voltage. q-axis reference voltage The second α-β voltage vector (U) is calculated using the motor phase angle θ2 obtained at this time. α2 * and U β2 * This is used to output a PWM wave. Where:

[0074]

[0075] δ is obtained by consulting the angle deviation table for different rotational speeds, θ is the resolver angle at the moment of current acquisition, and ω... m It is the motor angular velocity at the moment of current acquisition.

[0076] Combination Figure 1 , Figure 3 and Figure 4 Based on the above principles, this application provides a control method for a permanent magnet synchronous motor, including:

[0077] Step S101: At a single current sampling moment, acquire the motor phase current, motor speed, motor rotor position, resolver angle, and target torque of the motor.

[0078] Step S102: Obtain the dq reference voltage based on the motor phase current, motor speed, motor rotor position, and target motor speed.

[0079] The process of step S102 specifically includes:

[0080] S1021, as Figure 4 As shown, firstly, based on the collected motor phase current i a and i b Perform a Clark coordinate transformation to obtain the α-axis current i of the motor. αand β-axis current i β :

[0081]

[0082] S1022, Based on the collected motor rotor position θ, adjust the motor's α-axis current i α and β-axis current i β Perform a PARK coordinate transformation to obtain the d-axis current i of the motor. d and q-axis current i q :

[0083]

[0084] S1023, Calculate the motor angular velocity based on the collected motor rotor position θ. The unit of motor rotor position θ is rad, and the unit of motor angular velocity ω is rad / s.

[0085] S1024, based on the current speed and given torque, look up the table to obtain the d-axis reference current.

[0086] q-axis reference current

[0087] S1025, using d-axis reference current q-axis reference current For d current i d and q-axis current i q Perform decoupling calculations, then output a PI regulator to output the d-axis reference voltage. and q-axis reference voltage

[0088] In step S1025, the process specifically includes:

[0089] S10251, Use the motor's d-axis reference current and q-axis reference current The d-axis current i obtained through Clark and Park transformations d and q-axis current i q By subtracting the values ​​from each, we obtain the d-axis current error Δi. d and q-axis current error Δi q :

[0090]

[0091] S10252, The d-axis current error Δi d and q-axis current error Δi q The inputs to the PI controller are respectively used to obtain the d-axis current base regulation voltage u. d_piand q-axis current base voltage u q_pi :

[0092] u d_pi =K pd ·Δi d +K id ∫Δi d dt

[0093] u q_pi =K pq ·Δi q +K iq ∫Δi q dt

[0094] Among them, K pd K is the proportionality coefficient. id is the integral coefficient.

[0095] S10253. Calculate the feedforward voltage used to eliminate inter-axis coupling.

[0096] Specifically, based on the current q-axis inductance L q q-axis current i q and electric angular velocity ω e Calculate the d-axis feedforward voltage u d_ff Based on the current d-axis inductance L d d-axis current i d Permanent magnet flux ψ f and electric angular velocity ω e Calculate the q-axis feedforward voltage u q_ff Among them, the following conditions are met:

[0097] u d_ff =-ω e ·L q ·i q

[0098] u q_ff =-ω e (L d ·i d +ψ f )

[0099] Step S103: Obtain the compensation angle based on the motor speed.

[0100] Specifically, step S103 includes: querying a preset angle compensation table based on the motor speed to obtain the compensation angle.

[0101] Step S104: Using the resolver angle, the compensation angle, and the motor rotor position, calculate the motor phase angles required for the first and second updates within the same PWM cycle.

[0102] Specifically, step S104 includes:

[0103] S1041, multiply the motor angular velocity ω (in rad / s) by the corresponding time, and then compare it with the currently acquired motor phase angle θ. s The true voltage phase angle θ at the PWM wave update moment is obtained by adding the compensation angle δ (in rad) and the compensation angle δ (in rad). i .

[0104] That is, in the embodiments of this application, the formula is used:

[0105]

[0106] θ2=θ s +δ+ω×T PWM

[0107] Calculate the motor phase angle θ2 required for the second update in one PWM cycle.

[0108] Step S105: Use the motor phase angle required for the first update and the motor phase angle required for the second update to perform Park inverse transformation on the dq reference voltage to obtain the first set of α-β voltage vectors and the second set of α-β voltage vectors.

[0109] This step S105 specifically includes:

[0110] S1051 updates the actual voltage phase angle θ at the moment using the PWM wave. i d-axis reference voltage q-axis reference voltage The α-axis reference voltage is obtained by performing the PARK inverse transform. and β-axis reference voltage

[0111]

[0112] Specifically, in the embodiments of this application, the calculation formula for determining the first set of α-β voltage vectors output in the first half of the PWM cycle (i.e., 0.5 PWM cycles) includes:

[0113]

[0114] The formulas for calculating the second set of α-β voltage vectors output in the latter half of the PWM cycle (i.e., one PWM cycle) include:

[0115]

[0116] Step S106: Output the duty cycle corresponding to the first set of α-β voltage vectors in the first half of the PWM cycle, and output the duty cycle corresponding to the second set of α-β voltage vectors in the second half of the PWM cycle to realize single sampling double update control of the motor.

[0117] The duty cycle of the three-phase voltage is calculated using the SVPWM module. During the first half of the PWM cycle, the output follows the first set of α-β voltage vectors (i.e., the first α-axis reference voltage). First β-axis reference voltage The duty cycle calculated is used to output the second group of α-β voltage vectors (i.e., the second α-axis reference voltage) in the second half of the PWM cycle. Second β-axis reference voltage The duty cycle is calculated.

[0118] The above method can compensate for the system bandwidth affected by single sampling and single update errors, without placing a huge load on the CPU like double sampling and double update, and can also improve the effect of harmonic injection.

[0119] This application embodiment also provides a control device for a permanent magnet synchronous motor, including:

[0120] The acquisition module is used to acquire motor phase current, motor speed, motor rotor position, resolver angle and target torque of the motor at a single current sampling moment;

[0121] The dq reference voltage determination module is used to obtain the dq reference voltage based on the motor phase current, motor speed, motor rotor position, and the target speed of the motor.

[0122] The compensation angle determination module is used to obtain the compensation angle based on the motor speed;

[0123] The motor phase angle determination module is used to calculate the motor phase angles required for the first and second updates within the same PWM cycle using the resolver angle, the compensation angle, and the motor rotor position, respectively.

[0124] The α-β voltage vector determination module is used to perform Park inverse transformation on the dq reference voltage by using the motor phase angles required for the first update and the motor phase angles required for the second update, respectively, to obtain the first set of α-β voltage vectors and the second set of α-β voltage vectors.

[0125] The duty cycle output module is used to output the duty cycle corresponding to the first set of α-β voltage vectors in the first half of the PWM cycle and the duty cycle corresponding to the second set of α-β voltage vectors in the second half of the PWM cycle, so as to realize the single sampling and double update control of the motor.

[0126] Preferably, the motor phase angle determination module includes:

[0127] The motor angular velocity determination unit is used to determine the motor angular velocity based on the motor rotor position;

[0128] The motor phase angle determination unit is used to determine the motor phase angle required for the first update corresponding to 0.5 PWM cycles, and the motor phase angle required for the second update corresponding to one PWM cycle, based on the resolver angle, the compensation angle, and the motor angular velocity.

[0129] Preferably, the compensation angle determination module includes:

[0130] The compensation angle determination unit is used to look up a preset angle compensation table based on the motor speed to obtain the compensation angle.

[0131] Preferably, the dq reference voltage determination module includes:

[0132] The α-β axis current determination unit is used to perform Clark transformation on the phase current of the motor to determine the α-axis current and β-axis current of the motor.

[0133] The dq-axis current determination unit is used to perform Park transformation on the α-axis and β-axis currents of the motor using the rotor position of the motor to determine the d-axis and q-axis currents of the motor.

[0134] The dq-axis reference current determination unit is used to determine the d-axis reference current and q-axis reference current of the motor based on the motor speed and the target torque of the motor.

[0135] The dq-axis current error determination unit is used to calculate the d-axis current error and q-axis current error by subtracting the motor's d-axis reference current and q-axis reference current from the d-axis current and q-axis current, respectively.

[0136] The dq-axis reference voltage determination unit is used to input the d-axis current error and q-axis current error into the PI regulator respectively, and add a feedforward decoupling voltage to obtain the d-axis reference voltage and q-axis reference voltage.

[0137] This application also provides a vehicle including the control device for the aforementioned permanent magnet synchronous motor.

[0138] Figure 5 This is a block diagram illustrating a vehicle 200 according to an exemplary embodiment. For example, vehicle 200 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 200 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0139] Reference Figure 5The vehicle 200 may include various subsystems, such as an infotainment system 210, a perception system 220, a decision control system 230, a drive system 240, and a computing platform 250. The vehicle 200 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the vehicle 200 can be interconnected via wired or wireless means. In some embodiments, the infotainment system 210 may include a communication system, an entertainment system, and a navigation system, etc.

[0140] The perception system 220 may include several types of sensors for sensing information about the environment surrounding the vehicle 200. For example, the perception system 220 may include a global positioning system (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0141] The decision control system 230 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system. The drive system 240 may include components that provide power to the vehicle 200. In one embodiment, the drive system 240 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0142] Some or all of the functions of vehicle 200 are controlled by computing platform 250. Computing platform 250 may include at least one processor 251 and memory 252, and processor 251 may execute instructions 253 stored in memory 252.

[0143] Processor 251 can be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0144] The memory 252 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0145] In addition to instruction 253, memory 252 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 252 can be used by computing platform 250.

[0146] In this embodiment of the disclosure, the processor 251 may execute instructions 253 to complete all or part of the steps of the vehicle control method described above.

[0147] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the vehicle control method provided in this disclosure.

[0148] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0149] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding the specification and drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0150] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0151] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

[0152] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0153] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0154] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0155] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processing module, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (control method), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0156] It should be understood that various parts of the embodiments of this disclosure can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0157] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0158] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a single processing module, or each unit can exist physically separately, or two or more units can be integrated into a single module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The aforementioned storage medium can be a read-only memory, a hard disk, or an optical disk, etc.

[0159] Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A control method for a permanent magnet synchronous motor, characterized in that, include: At a single current sampling moment, the motor phase current, motor speed, motor rotor position, resolver angle, and target torque of the motor are obtained. The dq reference voltage is obtained based on the motor phase current, motor speed, motor rotor position, and motor target speed. The compensation angle is obtained based on the motor speed; Using the resolver angle, the compensation angle, and the motor rotor position, the motor phase angles required for the first and second updates within the same PWM cycle are calculated respectively. The motor phase angles required for the first update and the motor phase angles required for the second update are used to perform Park inverse transformation on the dq reference voltage to obtain the first set of α-β voltage vectors and the second set of α-β voltage vectors. The duty cycle corresponding to the first set of α-β voltage vectors is output in the first half of the PWM cycle, and the duty cycle corresponding to the second set of α-β voltage vectors is output in the second half of the PWM cycle, so as to realize the single sampling and double update control of the motor.

2. The control method for a permanent magnet synchronous motor according to claim 1, characterized in that, The steps for calculating the motor phase angles required for the first and second updates within the same PWM cycle using the resolver angle, the compensation angle, and the motor rotor position include: Determine the motor angular velocity based on the motor rotor position; Based on the resolver angle, the compensation angle, and the motor angular velocity, the motor phase angle required for the first update corresponding to 0.5 PWM cycles is determined, as well as the motor phase angle required for the second update corresponding to one PWM cycle is determined.

3. The control method for a permanent magnet synchronous motor according to claim 1, characterized in that, The steps to obtain the compensation angle based on the motor speed include: The compensation angle is obtained by consulting the preset angle compensation table based on the motor speed.

4. The control method for a permanent magnet synchronous motor according to claim 1, characterized in that, The steps to obtain the dq reference voltage based on the motor phase current, motor speed, motor rotor position, and target motor speed include: Perform Clark transformation on the phase currents of the motor to determine the α-axis current and β-axis current of the motor; Using the rotor position of the motor, the α-axis current and β-axis current of the motor are transformed by Park transformation to determine the d-axis current and q-axis current of the motor. Determine the d-axis reference current and q-axis reference current of the motor based on the motor speed and the target torque of the motor; The d-axis current error and q-axis current error are obtained by subtracting the motor's d-axis reference current and q-axis reference current from the d-axis current and q-axis current, respectively. The d-axis current error and q-axis current error are input into the PI controller, and a feedforward decoupling voltage is added to obtain the d-axis reference voltage and q-axis reference voltage.

5. The control method for a permanent magnet synchronous motor according to claim 4, characterized in that, The feedforward decoupling voltage is calculated in real time based on the current d-axis inductance, q-axis inductance, d-axis current, q-axis current, permanent magnet flux linkage, and electric angular velocity.

6. A control device for a permanent magnet synchronous motor, characterized in that, include: The acquisition module is used to acquire motor phase current, motor speed, motor rotor position, resolver angle and target torque of the motor at a single current sampling moment; The dq reference voltage determination module is used to obtain the dq reference voltage based on the motor phase current, motor speed, motor rotor position, and the target speed of the motor. The compensation angle determination module is used to obtain the compensation angle based on the motor speed; The motor phase angle determination module is used to calculate the motor phase angles required for the first and second updates within the same PWM cycle using the resolver angle, the compensation angle, and the motor rotor position, respectively. The α-β voltage vector determination module is used to perform Park inverse transformation on the dq reference voltage by using the motor phase angles required for the first update and the motor phase angles required for the second update, respectively, to obtain the first set of α-β voltage vectors and the second set of α-β voltage vectors. The duty cycle output module is used to output the duty cycle corresponding to the first set of α-β voltage vectors in the first half of the PWM cycle and the duty cycle corresponding to the second set of α-β voltage vectors in the second half of the PWM cycle, so as to realize the single sampling and double update control of the motor.

7. The control device for a permanent magnet synchronous motor according to claim 6, characterized in that, The motor phase angle determination module includes: The motor angular velocity determination unit is used to determine the motor angular velocity based on the motor rotor position; The motor phase angle determination unit is used to determine the motor phase angle required for the first update corresponding to 0.5 PWM cycles, and the motor phase angle required for the second update corresponding to one PWM cycle, based on the resolver angle, the compensation angle, and the motor angular velocity.

8. The control device for a permanent magnet synchronous motor according to claim 6, characterized in that, The compensation angle determination module includes: The compensation angle determination unit is used to look up a preset angle compensation table based on the motor speed to obtain the compensation angle.

9. The control device for a permanent magnet synchronous motor according to claim 6, characterized in that, The dq reference voltage determination module includes: The α-β axis current determination unit is used to perform Clark transformation on the phase current of the motor to determine the α-axis current and β-axis current of the motor. The dq-axis current determination unit is used to perform Park transformation on the α-axis and β-axis currents of the motor using the rotor position of the motor to determine the d-axis and q-axis currents of the motor. The dq-axis reference current determination unit is used to determine the d-axis reference current and q-axis reference current of the motor based on the motor speed and the target torque of the motor. The dq-axis current error determination unit is used to calculate the d-axis current error and q-axis current error by subtracting the motor's d-axis reference current and q-axis reference current from the d-axis current and q-axis current, respectively. The dq-axis reference voltage determination unit is used to input the d-axis current error and q-axis current error into the PI regulator respectively, and add a feedforward decoupling voltage to obtain the d-axis reference voltage and q-axis reference voltage.

10. A vehicle, characterized in that, The control device for the permanent magnet synchronous motor as described in any one of claims 6-9.

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