Integrated motor field weakening control method and system and computer storage medium

Abstract

The embodiment of the invention discloses an integrated motor field-weakening control method and system and a computer storage medium. The integrated motor field-weakening control method comprises the steps that current reference values of a d axis and a q axis are calculated based on the torque requirement of a motor; generating a d-axis voltage instruction and a q-axis voltage instruction according to the current reference value; performing voltage synthesis of a d axis and a q axis by using the voltage instruction to obtain a synthesized voltage result; and adjusting d-axis current based on a difference value between the synthesized voltage result and a preset maximum voltage so as to realize field weakening control of the motor.

Description

TECHNICAL FIELD

[0001] Embodiments of the present specification relate to the technical field of automobile braking, and in particular to an integrated motor field weakening control method and system and a computer storage medium. BACKGROUND

[0002] With the development of new energy vehicles, integrated hydraulic braking systems have attracted attention due to their high efficiency and energy saving characteristics. Motor control, as one of the key technologies of the system, directly affects the braking performance and safety.

[0003] In the prior art, motor control usually relies on complex current control strategies, which require accurate calculation of the id (direct-axis current) and iq (quadrature-axis current) of the motor to achieve precise control. This control method requires complex algorithms and calculations, increasing the complexity and cost of the system. SUMMARY

[0004] Therefore, embodiments of the present specification provide an integrated motor field weakening control method and system and a computer storage medium to solve the problem of complex current control algorithms in the prior art, which increases the computational burden of the system and causes response delay and poor adaptability.

[0005] Embodiments of the present specification adopt the following technical solutions:

[0006] An integrated motor field weakening control method is provided, comprising:

[0007] calculating the current reference values of the d-axis and q-axis based on the torque demand of the motor;

[0008] generating voltage instructions for the d-axis and q-axis based on the current reference values;

[0009] performing voltage synthesis for the d-axis and q-axis using the voltage instructions to obtain a synthesis voltage result;

[0010] adjusting the d-axis current based on the difference between the synthesis voltage result and the preset maximum voltage to achieve motor field weakening control.

[0011] An integrated motor field weakening control system is also provided, comprising:

[0012] a calculation module that calculates the current reference values of the d-axis and q-axis based on the torque demand of the motor;

[0013] a generation module that generates voltage instructions for the d-axis and q-axis based on the current reference values;

[0014] a synthesis module that performs voltage synthesis for the d-axis and q-axis using the voltage instructions to obtain a synthesis voltage result;

[0015] The adjustment module adjusts the d-axis current based on a difference between the synthesized voltage result and a preset maximum voltage, so as to realize the field weakening control of the motor.

[0016] The embodiment of the present specification also provides a computer storage medium comprising a program used in combination with an electronic device, and the program can be executed by a processor to complete the following steps:

[0017] The current reference values of the d-axis and the q-axis are calculated based on the torque demand of the motor respectively;

[0018] The voltage instructions of the d-axis and the q-axis are generated according to the current reference values;

[0019] The voltage synthesis of the d-axis and the q-axis is performed by using the voltage instructions, so as to obtain a synthesized voltage result;

[0020] The d-axis current is adjusted based on a difference between the synthesized voltage result and a preset maximum voltage, so as to realize the field weakening control of the motor.

[0021] The above at least one technical solution adopted by the embodiment of the present specification can achieve the following beneficial effects:

[0022] The current reference values of the d-axis and the q-axis are calculated based on the torque demand of the motor respectively, and then the voltage instructions of the d-axis and the q-axis are generated, the voltage synthesis of the d-axis and the q-axis is performed, the d-axis current is adjusted based on a difference between the synthesized voltage result and a preset maximum voltage, so as to realize the field weakening control of the motor.

[0023] In this way, without the need of accurately calculating the d-axis and q-axis currents, the d-axis current can be adjusted by output voltage feedback, which can be used to adjust the magnetic flux level of the motor, has robustness to parameter changes, can adapt to different working conditions, simplifies the motor control process, reduces the system complexity and cost, improves the response speed of the system, enhances the stability of the braking performance, reduces the calibration period of the motor field weakening, and improves the development efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings described herein are used to provide further understanding of the embodiments of the present specification, and form a part of the present specification. The schematic embodiments of the present specification and the descriptions thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0025] Figure 1 A flowchart of an integrated motor field weakening control method provided by the embodiment of the present specification is shown;

[0026] Figure 2 A circuit principle block diagram corresponding to the integrated motor field weakening control method provided by the embodiment of the present specification is shown;

[0027] Figure 3A structural schematic diagram of an integrated motor field weakening control system provided by an embodiment of the present specification is shown in the figure.

[0028] Figure 4 A structural schematic diagram of a computer storage medium corresponding to an integrated motor field weakening control method provided by an embodiment of the present specification is shown in the figure. DETAILED DESCRIPTION

[0029] Generally, because the magnetic field generated by the permanent magnet of a permanent magnet synchronous motor (PMSM) is fixed and cannot be adjusted, when the motor terminal voltage reaches the maximum voltage output by the driver, the operating speed cannot continue to rise, and in order to further increase the speed, field weakening control must be performed. Existing permanent magnet synchronous motor field weakening control algorithms include formula calculation, table lookup, negative direct-axis current compensation, voltage feedback, etc.

[0030] Existing motor control methods require complex current control algorithms, increasing the computational burden of the system. For brake systems with high real-time requirements, complex calculations can cause response delays, and changes in temperature, motor body parameters, and other system parameters require current calculations, making the entire software less robust and requiring a long calibration period.

[0031] Therefore, the present specification provides an integrated motor field weakening control method, system, and computer storage medium. The d-axis and q-axis current reference values are calculated based on the torque requirements of the motor, and then the d-axis and q-axis voltage commands are generated. The d-axis and q-axis voltages are synthesized, and the d-axis current is adjusted based on the difference between the synthesized voltage and the preset maximum voltage, thereby achieving motor field weakening control.

[0032] In this way, without the need for accurate calculation of d-axis and q-axis currents, the d-axis current can be adjusted by output voltage feedback, which can be used to adjust the magnetic flux level of the motor. This method is robust to parameter changes and can adapt to different working conditions. It simplifies the motor control process, reduces system complexity and cost, improves system response speed, enhances the stability of brake performance, reduces the calibration period of motor field weakening, and improves development efficiency.

[0033] To make the purpose, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be described in detail below with reference to the specific embodiments of the present specification and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present specification, not all embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0034] The technical solutions provided by the embodiments of the present specification are described in detail below with reference to the drawings.

[0035] As shown in Figure 1 , a flowchart of an integrated motor field weakening control method provided by an embodiment of the present specification.

[0036] In the embodiments of the present specification, the integrated motor field weakening control method can specifically include the following steps:

[0037] S101: calculating current reference values of d-axis and q-axis based on torque requirements of the motor;

[0038] S103: generating voltage instructions of d-axis and q-axis according to the current reference values;

[0039] S105: synthesizing voltages of d-axis and q-axis using the voltage instructions to obtain a synthesis voltage result;

[0040] S107: adjusting the d-axis current based on the difference between the synthesis voltage result and a preset maximum voltage to achieve motor field weakening control.

[0041] In the embodiments of the present specification, in the field of motor control, d-axis (direct-axis) and q-axis (quadrature-axis) are two important concepts used to describe the direction of motor magnetic field and current and their control characteristics.

[0042] The full name of d-axis is "direct-axis", and the direction of d-axis is consistent with the direction of the magnetic field of the motor rotor, i.e., parallel to the magnetic pole direction of the permanent magnet or field winding. d-axis is mainly used to control the size of the magnetic field of the motor, for example, in a permanent magnet synchronous motor, the strength of the magnetic field can be changed by adjusting the d-axis current.

[0043] The full name of q-axis is "quadrature-axis", and the direction of q-axis is perpendicular to d-axis, i.e., at an electrical angle of 90° with the rotor magnetic field direction. q-axis is mainly used to control the size of the motor torque, and the output torque of the motor can be directly affected by adjusting the q-axis current.

[0044] The electrical angle between d-axis and q-axis is 90°, not the mechanical angle. For multi-pole motor, d-axis and q-axis may not be perpendicular in mechanical angle, but they always remain perpendicular in electrical angle.

[0045] In the embodiments of the present specification, the current reference values of d-axis and q-axis are calculated according to the torque requirements of the motor, which can specifically include:

[0046] The current reference values of d-axis and q-axis are calculated using a current reference calculator.

[0047] Specifically, the torque requirements of the motor can be calculated according to the following formula (1):

[0048]

[0049] wherein, T denotes the torque demand of the motor, max T denotes the maximum torque demand of the motor, min T denotes the minimum torque demand of the motor, MAP denotes a proportional factor determined according to the motor speed and the accelerator pedal opening degree.

[0050] Further, the current reference calculator is a key module in the motor control system, which is used to calculate the required d-axis current reference value and q-axis current reference value according to the input torque demand or other control targets. These current reference values are the basis for the motor control system to achieve precise control.

[0051] The current reference calculator can convert the torque demand input by the driver or the system into the required current reference value of the motor, ensuring that the motor can operate efficiently under different working conditions, avoiding overload or low efficiency, optimizing the performance of the motor, and ensuring the stability and response speed of the motor control system through accurate current reference values.

[0052] The operation of the current reference calculator is usually based on the mathematical model and control algorithm of the motor, such as vector control or direct torque control, to calculate the required current reference value. The implementation method of the current reference calculator can be based on look-up table method or real-time calculation. The look-up table method quickly finds the current reference value through the pre-calibrated MAP chart, while the real-time calculation dynamically adjusts the current reference value by real-time calculation of the mathematical model of the motor.

[0053] In one application embodiment of the present specification, after the d-axis and q-axis current reference values are calculated, the method further comprises:

[0054] comparing the d-axis and q-axis current reference values with the preset maximum current value to obtain a comparison result;

[0055] if the comparison result is that the d-axis and q-axis current reference values do not exceed the preset maximum current value, outputting the d-axis and q-axis current reference values;

[0056] if the comparison result is that the d-axis and q-axis current reference values are greater than the preset maximum current value, adjusting the d-axis and q-axis current reference values so that the adjusted d-axis and q-axis current reference values do not exceed the preset maximum current value.

[0057] In the embodiments of the present specification, the preset maximum current value is a key parameter in the motor control system, which is used to ensure that the motor operates within a safe and efficient operating range.

[0058] In practical applications, the maximum value of the current may vary due to factors such as vehicle load, road conditions, temperature, etc. It is determined by the rated current of the motor, the maximum discharge current of the battery, the current limit of the inverter, and the thermal protection of the motor. Therefore, the motor control system usually dynamically adjusts the current limit according to the actual application conditions to adapt to different working conditions.

[0059] By comparing the current reference values of the d-axis and q-axis with the preset maximum current value, when the comparison result is that the current reference values of the d-axis and q-axis are greater than the preset maximum current value, the current reference values of the d-axis and q-axis can be adjusted in time to ensure that they do not exceed the preset maximum current value, so that the output d-axis and q-axis current reference values can be ensured within the safe current value range.

[0060] In an application embodiment of the present specification, a voltage instruction of the d-axis and q-axis is generated according to the current reference value, and the voltage instruction includes voltage values of the d-axis and q-axis, which can specifically include:

[0061] The d-axis current reference value is used to generate a d-axis voltage value

[0062] The q-axis current reference value is used to generate a q-axis voltage value

[0063] The d-axis voltage value and the q-axis voltage value are used to generate a voltage instruction of the d-axis and q-axis to adjust the current of the d-axis and q-axis.

[0064] In the embodiments of the present specification, the d-axis voltage value and the q-axis voltage value

[0065] The current regulator is a key component in the motor control system, and its main function is to adjust the phase current of the motor to be consistent with the given current reference value. The current regulator controls the phase current of the motor to ensure that it is consistent with the given current reference value. This adjustment is crucial for accurate control of the torque and speed of the motor.

[0066] The current regulator usually works based on the principle of feedback control. It compares the difference between the actual current and the set value, and generates a corresponding control signal according to the difference. This control signal is amplified by the power drive circuit and used to drive the motor.

[0067] The current regulator usually adopts proportional-integral (PI) control technology. The PI controller quickly responds to current error through the proportional term, and eliminates steady-state error through the integral term, thereby achieving accurate current control.

[0068] The current regulator needs to respond quickly to current changes to ensure stable operation of the motor under dynamic conditions such as load changes or acceleration. The fast response capability is crucial for improving the dynamic performance of the motor. The current regulator also has an overcurrent protection function. When the motor is overloaded or occurs, the current regulator will limit the current to not exceed the maximum allowed value, thereby protecting the motor and the drive circuit.

[0069] The output voltage of the current regulator is fed back to the flux weakening regulator in the embodiment of the present specification, the output voltage of the current regulator is kept within the voltage limit, and the d-axis current value is further adjusted. Due to the feedback of the output voltage of the current regulator, this method is robust to parameter changes and can adapt to different working conditions.

[0070] Further, the overload protection parameters of the current regulator need to be set according to the rated current of the motor and the actual load condition. For example, the action current of the overload protector is usually set to 1.2-1.5 times the rated current, to ensure that it will not be triggered by mistake during normal operation, while it can protect the motor in time when overloaded.

[0071] In one application embodiment of the present specification, the voltage synthesis of the d-axis and q-axis is performed using the voltage instruction, which can specifically include:

[0072] The voltage synthesis of the d-axis and q-axis is performed using the following formula,

[0073]

[0074] wherein V 合 is the synthesis voltage result, is the d-axis voltage value, is the q-axis voltage value.

[0075] In the embodiments of the present application, a voltage limiting module is used to synthesize the voltages of the d-axis and the q-axis. By synthesizing the voltages, the voltage demand of the motor is ensured not to exceed the maximum output capability of the inverter. This helps to protect the inverter and the motor from damage caused by excessive voltage. The synthesized voltage also reflects the total voltage demand of the motor in the rotating coordinate system. By accurately controlling the synthesized voltage, the torque and speed of the motor can be more accurately controlled, thereby improving the dynamic response speed and stability of the motor.

[0076] In field weakening control, the synthesized voltage can be used as a feedback signal to help adjust the d-axis current, thereby achieving field weakening control. In this way, the magnetic flux level of the motor can be optimized under different operating conditions, improving the efficiency and performance of the motor.

[0077] In an application embodiment of the present application, the difference between the synthesized voltage result and the preset maximum voltage is used to adjust the d-axis current, which can specifically include:

[0078] The difference between the synthesized voltage result and the preset maximum voltage is calculated using the following formula:

[0079]

[0080] where V 差 is the difference between the synthesized voltage result and the preset maximum voltage, V smax is the preset maximum voltage.

[0081] In the embodiments of the present application, the difference between the synthesized voltage result and the preset maximum voltage can be calculated using the above formula (3). By comprehensively considering the output capability of the inverter, the rated voltage of the motor, the bus voltage limit, and the voltage ellipse constraint in field weakening control, the maximum allowable voltage V smax can be determined to ensure the safe operation of the motor and the inverter.

[0082] In actual applications, the preset maximum voltage can be dynamically adjusted according to the operating state of the motor (such as speed, load, etc.) to ensure the safety and efficiency of the system under different operating conditions.

[0083] The difference between the synthesized voltage result and the preset maximum voltage can be used to adjust the d-axis current to achieve field weakening control and ensure that the voltage does not exceed the maximum allowable value.

[0084] In an application embodiment of the present application, the d-axis current can be adjusted, which can specifically include:

[0085] Based on the difference between the synthesized voltage result and the preset maximum voltage, a field weakening regulator is used to obtain the d-axis current adjustment amount.

[0086] The d-axis current adjustment amount is fed back to adjust the d-axis current.

[0087] In the embodiments of the present application, a flux weakening regulator is configured to input the voltage difference V 差 obtained by the formula (3) and output a d-axis current adjustment amount to achieve flux weakening control of the motor.

[0088] Specifically, the flux weakening regulator inputs the voltage difference V 差 into a PI regulator, and the PI regulator outputs an adjustment signal according to the size of the difference, which is the d-axis current adjustment amount The adjustment signal is applied to adjust the d-axis reference current value, so that the d-axis reference current value is increased or decreased to obtain a new d-axis reference current value, thereby changing the magnetic flux of the motor to achieve flux weakening control.

[0089] By setting the flux weakening regulator, the purpose is to reduce the magnetic flux by adjusting the d-axis current when the synthesized voltage approaches or exceeds the maximum allowable voltage during motor operation, so that the motor can operate at a higher speed while keeping the voltage within the allowable range, ensuring stable operation of the motor under different working conditions and achieving flux weakening speed expansion when necessary.

[0090] In an application embodiment of the present application, the d-axis current adjustment amount obtained by the flux weakening regulator can specifically include:

[0091] The output result of the flux weakening regulator is subjected to feedback gain adjustment to optimize the adjusted d-axis current.

[0092] In the embodiments of the present application, after the flux weakening regulator outputs the d-axis current adjustment amount , the d-axis current adjustment amount is input to a feedback gain module, and then an adjusted d-axis current adjustment amount is output, and the feedback gain of the d-axis current adjustment amount is adjusted to optimize the control performance.

[0093] In practical applications, for motor control, feedback gain is a key parameter in feedback control systems, which determines the degree of influence of feedback signals on system output. Reasonable setting of feedback gain is crucial to the stability and dynamic performance of the system.

[0094] Feedback gain determines the strength of feedback signals, thereby affecting the response speed and stability of the system. In a motor control system, feedback gain is usually used to adjust current loop, speed loop and position loop control links. In order to adapt to different working conditions and load changes, feedback gain usually needs to be dynamically adjusted.

[0095] Among them, the common dynamic adjustment methods of feedback gain include:

[0096] Gain Scheduling: dynamically adjust the feedback gain according to the current operating state of the motor (such as speed, load, current, etc.). For example, multiple feedback gain sets can be defined according to the speed interval, and the corresponding gain is switched at different speeds.

[0097] Adaptive Control: automatically adjust the feedback gain by monitoring the operating state of the motor (such as current, speed, position feedback) in real time, to optimize the performance of the system.

[0098] Fuzzy Logic Control: use fuzzy logic reasoning to adjust the feedback gain according to the real-time operating state of the system (such as error and error rate). This method performs well in complex nonlinear systems.

[0099] Neural network or machine learning algorithm: dynamically adjust the feedback gain through training data. These algorithms can learn the behavior and operating mode of the motor through learning, predict the optimal feedback gain, and adjust it in actual operation.

[0100] By reasonably setting and dynamically adjusting the feedback gain, the performance of the motor control system can be significantly improved, ensuring stable and efficient operation under various working conditions.

[0101] The integrated motor field weakening control method provided by the embodiments of the present specification calculates the current reference values of the d-axis and the q-axis based on the torque demand of the motor, and then generates voltage instructions for the d-axis and the q-axis, synthesizes the voltages of the d-axis and the q-axis, adjusts the d-axis current according to the difference between the synthesized voltage result and the preset maximum voltage, and thus realizes the field weakening control of the motor.

[0102] In this way, without the need for accurate calculation of the d-axis and q-axis currents, the d-axis current can be adjusted by output voltage feedback, which can be used to adjust the magnetic flux level of the motor, has robustness to parameter changes, can adapt to different working conditions, simplifies the motor control process, reduces system complexity and cost, improves system response speed, enhances the stability of braking performance, reduces the calibration period of motor field weakening, and improves development efficiency.

[0103] It should be noted that the above specific integrated motor field weakening control method is only used as a specific application embodiment, and does not limit the scope of the embodiments of the present specification, and other specific embodiments can also be included, which will not be repeated here.

[0104] Based on the same inventive concept, embodiments of this specification also provide a circuit block diagram of the above-described integrated motor field weakening control method.

[0105] like Figure 2 The diagram shown is a circuit block diagram corresponding to an integrated motor field weakening control method provided in an embodiment of this specification.

[0106] First, the required torque of the motor The current reference values ​​are input to the Current Reference Calculator module, which outputs the current reference values ​​for the d-axis and q-axis respectively. These values ​​are then input to the Current Limiting module, which compares them with a preset maximum current value to ensure that the current reference values ​​do not exceed the preset maximum current value. The specific comparison process is as described in the above embodiment and will not be repeated here.

[0107] Subsequently, the current limiting module outputs the adjusted d-axis current reference value. Current reference value along the q-axis Adjusted d-axis current reference value Current reference value along the q-axis The output is sent to the current regulator module to generate the d-axis voltage value. and the q-axis voltage value

[0108] Furthermore, the d-axis voltage value output by the current regulator module... and the q-axis voltage value The input is fed into the voltage limiting module to synthesize the d-axis and q-axis voltages, resulting in the synthesized voltage.

[0109] synthesized voltage The input is fed into the flux weakening regulator module to synthesize the voltage. With the preset maximum voltage V smax The voltage difference between the two is obtained by comparison, and the voltage difference is input into the PI regulator. The PI regulator outputs an adjustment signal according to the magnitude of the difference.

[0110] The adjustment signal is further input to the feedback gain (Gfw(s)) module, and then the adjusted d-axis current adjustment is output. Then adjust the d-axis current adjustment amount. The output of the current reference calculator module is input to an output end, a d-axis current reference value is realized by feedback control, a closed-loop control system is formed, and the adjustment of the motor magnetic flux level is realized.

[0111] The specific implementation process of the embodiments of the present specification can refer to the respective implementation steps corresponding to the above-mentioned embodiments, which will not be repeated here.

[0112] Based on the same inventive concept, the embodiments of the present specification also provide an integrated motor field weakening control system. As shown in Figure 3 , it is a structural schematic diagram of an integrated motor field weakening control system provided by the embodiments of the present specification.

[0113] The integrated motor field weakening control system can specifically include:

[0114] The calculation module 301 calculates the current reference values of the d-axis and the q-axis based on the torque demand of the motor;

[0115] The generation module 302 generates the voltage instructions of the d-axis and the q-axis according to the current reference values;

[0116] The synthesis module 303 synthesizes the voltages of the d-axis and the q-axis using the voltage instructions to obtain a synthesis voltage result;

[0117] The adjustment module 304 adjusts the d-axis current based on the difference between the synthesis voltage result and the preset maximum voltage to realize the field weakening control of the motor.

[0118] Based on the system Figure 3 , the embodiments of the present specification also provide some specific implementation schemes of the system, which are described below.

[0119] Further, calculating the current reference values of the d-axis and the q-axis based on the torque demand of the motor can include:

[0120] The current reference calculator is used to calculate the current reference values of the d-axis and the q-axis.

[0121] Further, after the current reference values of the d-axis and the q-axis are calculated, the system can further include:

[0122] The current reference values of the d-axis and the q-axis are compared with the preset maximum current value to obtain a comparison result;

[0123] If the comparison result is that the current reference values of the d-axis and the q-axis do not exceed the preset maximum current value, the current reference values of the d-axis and the q-axis are output;

[0124] If the comparison result is that the current reference values of the d-axis and the q-axis are greater than the preset maximum current value, the current reference values of the d-axis and the q-axis are adjusted so that the adjusted current reference values of the d-axis and the q-axis do not exceed the preset maximum current value.

[0125] Further, a voltage instruction of the d-axis and the q-axis is generated according to the current reference values, the voltage instruction including voltage values of the d-axis and the q-axis, including:

[0126] The d-axis voltage value is generated by using the current reference value of the d-axis

[0127] The q-axis voltage value is generated by using the current reference value of the q-axis

[0128] The d-axis voltage value is generated by using the current reference value of the d-axis And the q-axis voltage value is generated by using the current reference value of the q-axis The voltage instruction of the d-axis and the q-axis is generated to adjust the current of the d-axis and the q-axis.

[0129] Further, the voltage synthesis of the d-axis and the q-axis is performed by using the voltage instruction, including:

[0130] The voltage synthesis of the d-axis and the q-axis is performed by using the following formula,

[0131]

[0132] Wherein, V 合 is the synthesis voltage result, is the d-axis voltage value, is the q-axis voltage value.

[0133] Further, based on the difference between the synthesis voltage result and the preset maximum voltage, the d-axis current is adjusted, including:

[0134] The difference between the synthesis voltage result and the preset maximum voltage is calculated by using the following formula,

[0135]

[0136] Wherein, V 差 is the difference between the synthesis voltage result and the preset maximum voltage, V smax is the preset maximum voltage.

[0137] Further, the d-axis current is adjusted, including:

[0138] Based on the difference between the synthesis voltage result and the preset maximum voltage, the d-axis current adjustment amount is obtained by using a flux weakening regulator;

[0139] The d-axis current is adjusted according to the feedback of the d-axis current adjustment amount.

[0140] Further, the d-axis current adjustment amount is obtained by using a magnetic flux weakening regulator, including:

[0141] The output result of the magnetic flux weakening regulator is subjected to feedback gain adjustment to optimize the adjusted d-axis current.

[0142] The integrated motor flux weakening control system provided by the embodiments of the present specification calculates the current reference values of the d-axis and the q-axis respectively based on the torque demand of the motor, and then generates the voltage instructions of the d-axis and the q-axis, performs voltage synthesis of the d-axis and the q-axis, adjusts the d-axis current according to the difference between the synthesized voltage result and the preset maximum voltage, thereby realizing the flux weakening control of the motor.

[0143] In this way, without the need for accurate calculation of the d-axis and q-axis currents, the d-axis current can be adjusted by output voltage feedback, which can be used to adjust the magnetic flux level of the motor, has robustness to parameter changes, can adapt to different working conditions, simplifies the motor control process, reduces system complexity and cost, improves system response speed, enhances the stability of braking performance, reduces the calibration period of motor flux weakening, and improves development efficiency.

[0144] Based on the same inventive concept, the embodiments of the present specification also provide an electronic device, including at least one processor and a memory, the memory storing a program and being configured to execute the following steps by the at least one processor:

[0145] The current reference values of the d-axis and the q-axis are calculated respectively based on the torque demand of the motor;

[0146] The voltage instructions of the d-axis and the q-axis are generated according to the current reference values;

[0147] The voltage synthesis of the d-axis and the q-axis is performed by using the voltage instructions to obtain a synthesized voltage result;

[0148] The d-axis current is adjusted based on the difference between the synthesized voltage result and a preset maximum voltage to realize the flux weakening control of the motor.

[0149] Other functions of the processor can also be referred to the contents described in the above embodiments, which will not be repeated here.

[0150] Based on the same inventive concept, the embodiments of the present specification also provide a computer readable storage medium, including a program used in combination with an electronic device, the program being executable by a processor to complete the following steps:

[0151] The current reference values of the d-axis and the q-axis are calculated respectively based on the torque demand of the motor;

[0152] The voltage instructions of the d-axis and the q-axis are generated according to the current reference values;

[0153] The voltage synthesis of the d-axis and the q-axis is performed by using the voltage instruction, and a synthesis voltage result is obtained;

[0154] Based on a difference between the synthesis voltage result and a preset maximum voltage, the d-axis current is adjusted to realize the field weakening control of the motor.

[0155] Other functions of the processor can also refer to the content described in the above embodiments, which will not be repeated here.

[0156] As Figure 4 shown, the embodiment of the present specification also provides a structural schematic diagram of a computer storage medium.

[0157] In the 1990s, it was relatively easy to distinguish whether an improvement in a technology was a hardware improvement (e.g., an improvement in the circuit structure of a diode, transistor, switch, etc.) or a software improvement (e.g., an improvement in a method flow). However, as technology has evolved, many improvements in method flows today can be considered as direct improvements in hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structures by programming the improved method flows into hardware circuits. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using hardware entity modules. For example, a programmable logic device (PLD) (e.g., a field programmable gate array (FPGA)) is an integrated circuit whose logic function is determined by user programming of the device. A digital system is "integrated" on a PLD by the designer programming the PLD, rather than by ordering a custom integrated circuit chip from a chip fabricator. Moreover, instead of manually fabricating an integrated circuit chip, this programming is now mostly implemented using "logic compiler" software, which is similar to software compilers used in program development, and the original code to be compiled is written in a specific programming language, which is called a hardware description language (HDL), and there are many such languages, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., and the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should be aware that, as long as the method flow is logically programmed and programmed into an integrated circuit using the above-mentioned hardware description languages, a hardware circuit that implements the logical method flow can be easily obtained.

[0158] The controller can be implemented in any suitable way, for example, the controller can take the form of a microprocessor or processor and a computer readable medium storing computer readable program code, such as software or firmware, executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller and an embedded microcontroller, examples of which include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that, in addition to being implemented in pure computer readable program code, the controller can also be implemented to perform the same functions in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers, etc. by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can even be considered as both a software module implementing a method and a structure within a hardware component.

[0159] The systems, apparatuses, modules or units illustrated by the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0160] For the sake of description, the above apparatuses are described in various units by functions respectively. Of course, the functions of each unit can be implemented in the same or multiple software and / or hardware in the implementation of the present application.

[0161] Those skilled in the art will understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0162] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0163] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0164] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0165] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0166] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, non-volatile memory, such as read-only memory (ROM), EPROM, and / or flash memory. The memory is an example of computer-readable media.

[0167] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0168] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not only include those elements, but also other elements not explicitly listed, or other elements inherent to such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0169] The present application can be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform particular tasks or implement particular abstract data types. The present application can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are connected through a communication network. In a distributed computing environment, program modules can be located in both local and remote computer storage media including storage devices.

[0170] Each embodiment in the specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other, and each embodiment focuses on the difference from other embodiments. In particular, for system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0171] The above merely provides an example of the present application, but is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An integrated motor field weakening control method, characterized in that, The integrated motor field weakening control method includes: Calculate the reference values ​​of the current for the d-axis and q-axis based on the torque requirements of the motor. Voltage commands for the d-axis and q-axis are generated based on the current reference value; The voltage commands are used to synthesize the voltages along the d-axis and q-axis to obtain the synthesized voltage result. Based on the difference between the synthesized voltage result and the preset maximum voltage, the d-axis current is adjusted to achieve field weakening control of the motor.

2. The method as described in claim 1, characterized in that, Calculate the reference current values ​​for the d-axis and q-axis respectively based on the motor's torque requirements, including: Use a current reference calculator to calculate the current reference values ​​for the d-axis and q-axis.

3. The method as described in claim 2, characterized in that, After calculating the current reference values ​​for the d-axis and q-axis, the method further includes: The current reference values ​​of the d-axis and q-axis are compared with the preset maximum current value to obtain the comparison result; If the comparison result shows that the current reference values ​​of the d-axis and q-axis do not exceed the preset maximum current value, then the current reference values ​​of the d-axis and q-axis are output. If the comparison result shows that the current reference values ​​of the d-axis and q-axis are greater than the preset maximum current value, then the current reference values ​​of the d-axis and q-axis are adjusted so that the adjusted current reference values ​​of the d-axis and q-axis do not exceed the preset maximum current value.

4. The method as described in claim 1, characterized in that, Based on the current reference value, voltage commands for the d-axis and q-axis are generated. These voltage commands include voltage values ​​for the d-axis and q-axis, comprising: Generating d-axis voltage values ​​using d-axis current reference values Generate q-axis voltage values ​​using q-axis current reference values. Using the d-axis voltage value and the q-axis voltage value Generate voltage commands for the d-axis and q-axis to adjust the current of the d-axis and q-axis.

5. The method as described in claim 4, characterized in that, The voltage synthesis of the d-axis and q-axis using the voltage command includes: The voltage synthesis of the d-axis and q-axis is performed using the following formula. Among them, V 合 For the synthesized voltage results, This represents the d-axis voltage value. This represents the q-axis voltage value.

6. The method as described in claim 5, characterized in that, Based on the difference between the synthesized voltage result and the preset maximum voltage, the d-axis current is adjusted, including: The difference between the synthesized voltage result and the preset maximum voltage is calculated using the following formula. Wherein, Vdifference is the difference between the synthesized voltage result and the preset maximum voltage. smax The preset maximum voltage.

7. The method as described in claim 6, characterized in that, Adjusting the d-axis current includes: Based on the difference between the synthesized voltage result and the preset maximum voltage, the d-axis current adjustment amount is obtained using a flux weakening regulator. The d-axis current is adjusted based on the d-axis current adjustment amount.

8. The method as described in claim 7, characterized in that, The d-axis current adjustment is obtained using a flux weakening regulator, including: The output of the flux weakening regulator is adjusted by feedback gain to optimize the adjusted d-axis current.

9. An integrated motor field weakening control system, characterized in that, The integrated motor field weakening control system includes: The calculation module calculates the current reference values ​​for the d-axis and q-axis based on the motor's torque requirements. The generation module generates voltage commands for the d-axis and q-axis based on the current reference value; The synthesis module uses the voltage command to synthesize the voltages along the d-axis and q-axis to obtain the synthesized voltage result. The adjustment module adjusts the d-axis current based on the difference between the synthesized voltage result and the preset maximum voltage to achieve field weakening control of the motor.

10. A computer storage medium comprising a program for use in conjunction with an electronic device, the program being executable by a processor to perform the following steps: Calculate the reference values ​​of the current for the d-axis and q-axis based on the torque requirements of the motor. Voltage commands for the d-axis and q-axis are generated based on the current reference value; The voltage commands are used to synthesize the voltages along the d-axis and q-axis to obtain the synthesized voltage result. Based on the difference between the synthesized voltage result and the preset maximum voltage, the d-axis current is adjusted to achieve field weakening control of the motor.

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