Motor control method, device and system, electronic equipment and modulation device

Abstract

The invention relates to the technical field of motors, and particularly discloses a motor control method, device and system, electronic equipment and a modulation device. For the discrete square wave modulation mode and the field-oriented control mode, firstly, a field-oriented control modulation module is adopted to generate a pulse width driving signal according to an input modulation control parameter, under the field-oriented control mode, the pulse width driving signal is transparently transmitted to drive a target motor, and under the discrete square wave modulation mode, the pulse width driving signal is transmitted to drive the target motor; if yes, the pulse width driving signal is converted into a square wave pulse width driving signal to drive the target motor, so that the continuity and consistency of a driving signal generation source of the motor are ensured, the driving signal of the motor does not generate step type sudden change at the moment of modulation mode switching any more, the stability of motor operation can be realized, and the rotating speed fluctuation is avoided; damage to motor elements during mode jumping is avoided, and stable and efficient operation of the motor under all working conditions is supported.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to a motor control method, device, system, electronic device, and modulation device. Background Technology

[0002] Field-Oriented Control (FOC) modulation offers improved motor control accuracy compared to discrete square wave modulation (such as the classic six-step commutation modulation). However, relying solely on FOC modulation presents starting difficulties at low motor speeds. To address this, engineers have proposed using discrete square wave modulation in the low-speed range and FOC modulation in the high-speed range. However, switching between these two modulation methods can cause abrupt changes in the control signal, leading to shocks to the motor. This can damage motor components, cause speed fluctuations, and negatively impact motor stability.

[0003] How to solve the problem of control signal jump during modulation mode switching in motor control systems using discrete square wave modulation and field-oriented control modulation is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a motor control method, device, system, electronic device, and modulation device to solve the problem of control signal jump during modulation mode switching in motor control systems employing discrete square wave modulation and field-oriented control modulation.

[0005] To solve the above-mentioned technical problems, the present invention provides a motor control method, comprising: Determine the current control mode of the target motor; Obtain the voltage amplitude command and voltage vector angle command for the target motor; The magnetic field orientation control modulation module is invoked to modulate the voltage amplitude command and the voltage vector angle command to generate a pulse width drive signal. When the current control mode is magnetic field orientation control mode, the target motor is driven by the pulse width drive signal; When the current control mode is discrete square wave modulation mode, the pulse width drive signal is converted into a square wave pulse width drive signal to drive the target motor.

[0006] In some implementations, when the current control mode is discrete square wave modulation mode, the voltage vector angle command is a discrete voltage vector angle command; the pulse width drive signal includes the drive signal corresponding to each bridge arm in the multi-bridge arm; The step of converting the pulse width driving signal into a square wave pulse width driving signal includes: Based on the discrete voltage vector angle command, determine the target bridge arm that remains on among the multi-path bridge arms; The driving signal corresponding to the target bridge arm in the pulse width driving signal is retained, and the driving signals of other bridge arms in the pulse width driving signal other than the target bridge arm are converted into turn-off signals to obtain the square wave pulse width driving signal.

[0007] In some implementations, determining the target bridge arm to remain on among the multiple bridge arms based on the discrete voltage vector angle command includes: Determine the target sector corresponding to the discrete voltage vector angle command in the vector space plane; the vector space plane includes a predetermined number of sectors that are evenly divided. The bridge arm corresponding to the target sector is determined from the preset sector bridge arm relationship table.

[0008] In some implementations, determining the current control mode of the target motor includes: Obtain the current speed of the target motor; If the current speed is less than the speed threshold, the current control mode is determined to be discrete square wave modulation mode; If the current rotational speed is greater than or equal to the rotational speed threshold, the current control mode is determined to be the field-oriented control mode.

[0009] In some implementations, when the current control mode is field-oriented control mode, the voltage amplitude command is obtained by the field-oriented controller performing modulo operation on the AC / DC voltage command; the voltage vector angle command is a continuous voltage vector angle command obtained by the field-oriented controller performing phase angle operation on the AC / DC voltage command and then superimposing the rotor magnetic pole position signal.

[0010] In some implementations, when the current control mode is discrete square wave control mode, the voltage amplitude command is calculated by the discrete square wave controller through the speed regulator or current regulator; the voltage vector angle command is a discrete voltage vector angle command acquired by the discrete square wave controller through the position sensor or detected by the back electromotive force.

[0011] To solve the above-mentioned technical problems, the present invention also provides a motor control system, including: a discrete square wave controller, a field orientation controller, and a modulation device; The modulation device includes a magnetic field orientation control modulation module and a signal output module; The modulation control parameter output terminal of the discrete square wave controller and the modulation control parameter output terminal of the magnetic field orientation controller are respectively connected to the input terminal of the magnetic field orientation control modulation module. The signal output module includes a first channel and a second channel; The first channel is located between the output terminal of the field-oriented control modulation module and the control terminal of the power switch of the inverter of the target motor. It is used to transmit the pulse width drive signal output by the field-oriented control modulation module to drive the target motor when the current control mode of the target motor is the field-oriented control mode. The second channel is located between the output terminal of the field-oriented control modulation module and the control terminal of the power switch tube, and the second channel is equipped with a signal conversion module, which is used to convert the pulse width drive signal output by the field-oriented control modulation module into a discrete square wave drive signal to drive the target motor when the current control mode is discrete square wave modulation mode.

[0012] To solve the above-mentioned technical problems, the present invention also provides a motor control device, comprising: The determination unit is used to determine the current control mode of the target motor; The acquisition unit is used to acquire the voltage amplitude command and voltage vector angle command for the target motor; The modulation control unit is used to call the field-oriented control modulation module to modulate according to the voltage amplitude command and the voltage vector angle command to generate a pulse width drive signal; when the current control mode is the field-oriented control mode, the target motor is driven by the pulse width drive signal; when the current control mode is the discrete square wave modulation mode, the pulse width drive signal is converted into a square wave pulse width drive signal to drive the target motor.

[0013] To address the aforementioned technical problems, the present invention also provides an electronic device, comprising: Memory, used to store computer programs; A processor for executing the computer program, which, when executed by the processor, implements the steps of the motor control method as described in any of the preceding descriptions.

[0014] The motor control method provided by this invention has the advantage of invoking a field-oriented control modulation module to modulate the voltage amplitude command and the voltage vector angle command to generate a pulse width drive signal. When the current control mode of the target motor is field-oriented control mode, the target motor is driven by this pulse width drive signal. When the current control mode is discrete square wave modulation mode, the pulse width drive signal is converted into a square wave pulse width drive signal before driving the target motor. This realizes a universal modulation layer with a unified interface for both the upper-level controller and the inverter. In related technologies, discrete square wave modulation and field-oriented control modulation methods use two independent control systems. Due to different modulation principles, hardware tolerances, and software execution errors, it is difficult to ensure the consistency of the output effects of the two control systems. This causes the output signal of the inverter to jump instead of be a continuous signal when the modulation mode is switched. The universal modulation layer provided by this invention is implemented based on a unified underlying architecture for both modulation modes, ensuring the continuity and consistency of the motor drive signal generation source. This prevents the motor drive signal from undergoing a step change during modulation mode switching, thereby not only achieving stable motor operation and avoiding speed fluctuations, but also preventing damage to motor components during mode transitions. In motor control systems using discrete square wave modulation and field-oriented control modulation, it supports stable and efficient operation of the motor under all operating conditions.

[0015] The present invention also provides a motor control device, system, electronic device and modulation device, which have the above-mentioned beneficial effects, and will not be described in detail here. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of a motor control system provided in an embodiment of the present invention; Figure 2 A flowchart of a motor control method provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a motor control device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0018] The core of this invention is to provide a motor control method, device, system, electronic device, and modulation device to solve the problem of control signal jump during modulation mode switching in motor control systems using discrete square wave modulation and field-oriented control modulation.

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Here, we will first explain some key terms used in the embodiments of the present invention.

[0021] Motor modulation, specifically modulation techniques for motor inverters, involves the inverter driving the motor converting direct current (DC) into alternating current (AC) of the required form and frequency through a set of switching logic, thereby controlling the motor's torque and speed. For motors driven by inverters, such as permanent magnet synchronous motors (PMSMs) and brushless direct current motors (BLDCs), a rotating magnetic field is generated using three-phase AC power. Since the power source (such as a battery) is typically DC, an inverter is needed to convert the DC to AC. A motor inverter consists of six switching transistors (usually insulated-gate bipolar transistors (IGBTs) or metal-oxide-semiconductor field-effect transistors (MOSFETs), one on each phase. By controlling the "on" and "off" states of these transistors, different voltages can be output at the motor terminals. Therefore, the core problem that modulation aims to solve is how to generate the desired voltage waveform by controlling the on / off state of these six transistors.

[0022] Discrete square wave modulation (DSM) is a traditional modulation method. Within each modulation cycle, the state (on or off) of the power switching devices changes only a finite number of times, resulting in a series of discrete, predefined voltage vectors that are ultimately synthesized into a square wave or quasi-square wave voltage waveform. The six-step commutation method is the most representative DSM. Its working principle is as follows: within a complete electrical cycle (360° electrical angle), the inverter's switching state is divided into six discrete intervals based on the rotor position signal (such as a Hall sensor). Within each 60° electrical angle interval, only one upper bridge arm and one lower bridge arm of the inverter are conducting (two switches in total), forming a defined current path. Each interval corresponds to a valid non-zero voltage vector. Every 60°, a commutation occurs, meaning the two currently conducting switches are turned off, and the next set of switches is turned on, causing the conduction state to advance in a predetermined sequence.

[0023] Field-Oriented Control (FOC), also known as vector control, modulates the stator three-phase current through a series of mathematical transformations (Clarke transform and Park transform). , , By transforming from a stationary coordinate system to a dq coordinate system that rotates synchronously with the rotor's magnetic field, independent and linear control of the motor torque and magnetic field is achieved. Furthermore, by generating a continuous and smooth sinusoidal current, torque pulsation is suppressed to the maximum extent, resulting in fast torque response and making it suitable for high-performance servo drives.

[0024] Compared to discrete square wave modulation, field-oriented control modulation (FOCCM) achieves continuous, smooth, precise, and fast closed-loop control of electrode torque, effectively improving control efficiency and reducing motor noise. However, FOCCM suffers from starting difficulties at low motor speeds. Related technologies propose a multi-mode motor control system. To achieve high efficiency or high torque performance across a wide speed range, a hybrid strategy is often adopted: using discrete square wave modulation in the low-speed range and switching to FOCCM in the high-speed range. In this multi-mode motor control system, discrete square wave modulation and FOCCM typically employ two independent and heterogeneous modulation strategies to generate the PWM signal driving the inverter: the discrete square wave modulation module generates a square wave (six-step) PWM drive signal with a fixed 120° conduction sequence based on discrete rotor position signals (voltage vector angle changes every 60°) using hardware logic or a lookup table. The FOCCM modulation module receives the continuous voltage vector command calculated from the current loop (usually in the form of a current loop). , The form is represented in a rotating coordinate system, and a continuous and smooth sinusoidal equivalent pulse width modulation (PWM) drive signal is generated by the Space Vector Pulse Width Modulation (SVPWM) algorithm through continuous rotor position angles.

[0025] This multi-mode motor control system not only suffers from system complexity and resource redundancy—requiring the design and maintenance of two independent modulation logics and software / hardware resources for each control mode, increasing system complexity and development costs—it also presents significant challenges. In microcontroller units (MCUs), this typically means configuring different timer parameters or interrupt logic for different modes, resulting in bloated code and increased storage and computational resource consumption. More seriously, the switching between the two control modes is prone to shocks and jitters. Because the two modulation mechanisms are fundamentally different in principle (discrete square wave vs. continuous vector), the PWM drive signal at the moment of switching undergoes a step-like change in phase, amplitude, and waveform. This change can lead to: current surges, causing drastic transient changes in motor phase current, potentially triggering overcurrent protection or even damaging power devices; torque jitter, resulting in significant pulsations in motor output torque, causing mechanical vibration and noise, severely affecting system stability and control accuracy; and speed fluctuations, where the motor speed may become unstable near the switching point, requiring a long time to return to a steady state, impacting dynamic performance. Furthermore, the rigidity of the two independent modulation architectures makes it difficult to achieve dynamic and smooth mode transitions. The controller's inability to quickly and seamlessly switch between the two modes based on real-time operating conditions (such as load fluctuations) limits further optimization of system performance.

[0026] To address the issue of control signal abrupt changes during modulation mode switching in motor control systems employing discrete square wave modulation and field-oriented control modulation, this invention provides a motor control scheme. By invoking a field-oriented control modulation module to modulate voltage amplitude and voltage vector angle commands, a pulse-width drive signal is generated. When the target motor's current control mode is field-oriented control, this pulse-width drive signal drives the target motor. When the current control mode is discrete square wave modulation, the pulse-width drive signal is converted to a square wave pulse-width drive signal before driving the target motor. This achieves a universal modulation layer with a unified interface for both the upper-level controller and the inverter. In related technologies, discrete square wave modulation and field-oriented control modulation employ two independent control systems. Due to differences in modulation principles, hardware tolerances, and software execution errors, it is difficult to guarantee the consistency of the output effects of the two control systems. This results in abrupt changes in the inverter's output signal instead of a continuous signal during modulation mode switching. The universal modulation layer provided by this invention is implemented based on a unified underlying architecture for both modulation modes, ensuring the continuity and consistency of the motor drive signal generation source. This prevents the motor drive signal from undergoing a step change during modulation mode switching, thereby not only achieving stable motor operation and avoiding speed fluctuations, but also preventing damage to motor components during mode transitions. In motor control systems using discrete square wave modulation and field-oriented control modulation, it supports stable and efficient operation of the motor under all operating conditions.

[0027] To facilitate understanding, the modulation module and motor control system provided in the embodiments of the present invention will be introduced first.

[0028] Figure 1 This is a schematic diagram of a motor control system provided in an embodiment of the present invention.

[0029] like Figure 1As shown, the motor control system provided in this embodiment of the invention may include: a discrete square wave controller 101, a field-oriented controller 102, and a modulation device 103; wherein, the modulation device 103 includes a field-oriented control modulation module and a signal output module; the modulation control parameter output terminals of the discrete square wave controller 101 and the field-oriented controller 102 are respectively connected to the input terminal of the field-oriented control modulation module; the signal output module includes a first channel and a second channel; the first channel is located between the output terminal of the field-oriented control modulation module and the control terminal of the power switch of the inverter of the target motor, and is used to transmit the pulse width drive signal output by the field-oriented control modulation module to drive the target motor when the current control mode of the target motor is the field-oriented control mode; the second channel is located between the output terminal of the field-oriented control modulation module and the control terminal of the power switch and the second channel is provided with a signal conversion module, which is used to convert the pulse width drive signal output by the field-oriented control modulation module into a discrete square wave drive signal to drive the target motor when the current control mode is the discrete square wave modulation mode.

[0030] The motor control system provided in this embodiment of the invention can be implemented in hardware, software, or a combination of both. In some optional embodiments of this invention, the motor control system can be based on the same motor controller, which can be one of a microcontroller unit (MCU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or other types of controllers.

[0031] The modulation device 103 provided in this embodiment of the invention is a general-purpose modulation device 103 with a unified interface, used to abstract instructions for different modulation modes at the upper layer, providing standardized input for subsequent processing. For different upper-layer controllers (discrete square wave controller 101, field-oriented controller 102), the modulation device 103 has the same instruction input interface; that is, regardless of whether discrete square wave modulation or field-oriented control modulation is used, modulation control parameters can be input to the modulation device 103 based on this instruction input interface. For the inverter's power switching transistors, the modulation device 103 has a unified drive signal output interface; that is, regardless of whether discrete square wave modulation or field-oriented control modulation is used, PWM drive signals are output to the inverter switching transistors based on this drive signal output interface.

[0032] In this embodiment of the invention, the modulation device 103 includes at least a field-oriented control modulation module and a signal output module. The signal output module provides a first channel and a second channel. The first channel is used to transmit the pulse-width drive signal generated by the field-oriented control modulation module directly to the power switch of the inverter. The second channel is used to convert the pulse-width drive signal generated by the field-oriented control modulation module into a discrete square wave drive signal before outputting it to the power switch of the inverter. That is, regardless of whether the input signal of the modulation device 103 comes from the discrete square wave controller 101 or the field-oriented controller 102, the field-oriented control modulation module first generates a pulse-width drive signal based on the input signal. Then, the output channel of the signal output module is selected according to whether the current control mode is field-oriented control mode or discrete square wave modulation mode. If the current control mode is field-oriented control mode, the first channel of the signal output module is selected for output; if the current control mode is discrete square wave modulation mode, the second channel of the signal output module is selected for output.

[0033] Using the motor control system provided in this embodiment of the invention, the discrete square wave controller 101 and the field-oriented controller 102 generate modulation control parameters based on the input motor speed setpoint and the detected actual motor speed.

[0034] The steps for the discrete square wave controller 101 to generate modulation control parameters may include: calculating the voltage amplitude command using a speed regulator or a current regulator; and obtaining the discrete voltage vector angle command using data acquired by a position sensor or detected by back electromotive force. Specifically, the speed regulator can first calculate the error between the set motor speed and the actual motor speed to obtain a current-based speed regulation value, and then the current regulator can generate the voltage amplitude command based on the speed regulation value. Furthermore, discrete voltage vector angle commands are generated through methods such as position monitoring by Hall position sensors and zero-crossing detection of back electromotive force. .

[0035] The steps for the field-oriented controller 102 to generate modulation control parameters may include: performing modulus calculation on the AC / DC voltage command to obtain the voltage amplitude command; performing phase angle calculation on the AC / DC voltage command and superimposing the rotor magnetic pole position signal to obtain the continuous voltage vector angle command. Specifically, the continuous voltage vector command calculated by the current loop ( , ) is converted into voltage control parameters consistent with the output voltage control parameters of the discrete square wave controller 101 (specifically, this can be achieved through...). , (Perform conversion), that is, generate voltage amplitude command based on continuous voltage vector command. and continuous voltage vector angle setting value It combines position monitoring by Hall effect sensors, encoders, and position sensor algorithms to generate continuous voltage vector angle commands. .

[0036] As can be seen, in this embodiment of the invention, the modulation device 103 provides a unified interface for the discrete square wave controller 101 and the field-oriented controller 102, allowing the two upper-level controllers to use a set of modulation control parameters (voltage amplitude command). and voltage vector angle command ( ) to control the modulation of modulation module 103.

[0037] Based on the current control mode (discrete square wave modulation or magnetic field orientation control modulation), the connection relationship of the instruction input interface of the discrete square wave controller 101, the magnetic field orientation controller 102 and the modulation device 103 is switched, as well as the channel selected by the signal output module is switched, thereby realizing the unified modulation output of discrete square wave modulation and magnetic field orientation control modulation as described above.

[0038] Figure 2 A flowchart of a motor control method provided in an embodiment of the present invention.

[0039] The motor control method provided in this embodiment of the invention can be applied to the motor controller described in the above embodiments, and can be further implemented based on the modulation device in the motor controller.

[0040] like Figure 2 As shown, the motor control method provided in this embodiment of the invention may include: S201: determining the current control mode of the target motor.

[0041] In some optional embodiments of the present invention, determining the current control mode of the target motor in S201 may include: receiving a modulation command sent by an upper-level controller, and determining the current control mode based on the modulation command. That is, if based on a modulation device, the current control mode can be determined by receiving the current control mode input from an upper-level controller (current controller or a higher-level controller).

[0042] In some optional embodiments of the present invention, determining the current control mode of the target motor in step S201 may further include: acquiring the current speed of the target motor; determining the current control mode as a discrete square wave modulation mode when the current speed is less than a speed threshold; and determining the current control mode as a field-oriented control mode when the current speed is greater than or equal to the speed threshold. That is, a first speed can be used as a boundary to distinguish between the low-speed and high-speed regions of the target motor. In specific implementations, the current control mode can be determined based on the magnitude of the current speed of the target motor, and this determination process can be implemented by the upper-level controller of the modulation device.

[0043] In some optional embodiments of the present invention, the modulation device can also identify the rotational speed of the target motor to determine the current control mode, specifically based on the control logic in the modulation device. Therefore, determining the current control mode of the target motor in S201 may further include: determining the current control mode as a discrete square wave modulation mode when the voltage amplitude command value is less than the voltage amplitude threshold; and determining the current control mode as a field-oriented control mode when the voltage amplitude command value is greater than or equal to the voltage amplitude threshold. Typically, the voltage amplitude is positively correlated with the motor speed; therefore, the modulation device can distinguish between the low-speed and high-speed regions of the target motor based on the magnitude of the voltage amplitude command value, and determine the current control mode.

[0044] S202: Obtain the voltage amplitude command and voltage vector angle command for the target motor.

[0045] In this embodiment of the invention, the modulation command input to the modulation module is a voltage amplitude command. and voltage vector angle command .

[0046] Unlike the discrete square wave modulation method and the magnetic field directional control modulation method in related technologies, which use two independent control systems, the modulation method provided in this embodiment of the invention uses a unified input interface for the upper-level controller.

[0047] In different control modes, the voltage amplitude command of the input modulation device is... The voltage vector angle command θ can be provided by different upper-level controllers. Specifically, in the current control mode of field-oriented control, the voltage amplitude command can be obtained by the field-oriented controller performing a modulo operation on the AC / DC voltage command; the voltage vector angle command can be obtained by the field-oriented controller performing a phase angle operation on the AC / DC voltage command and then superimposing the rotor pole position signal to obtain a continuous voltage vector angle command. Specifically, the field-oriented controller can use the continuous voltage vector command calculated by the current loop (θ) , ) is converted into voltage control parameters consistent with the output voltage control parameters of the discrete square wave controller 101 (specifically, this can be achieved through...). , (Perform conversion), that is, generate voltage amplitude command based on continuous voltage vector command. and continuous voltage vector angle setting value It combines position monitoring by Hall effect sensors, encoders, and position sensor algorithms to generate continuous voltage vector angle commands. .

[0048] In the current control mode of discrete square wave control, the voltage amplitude command can be calculated by the discrete square wave controller through a speed regulator or a current regulator; the voltage vector angle command can be obtained by the discrete square wave controller through a position sensor or by back electromotive force detection. Specifically, the discrete square wave controller can first use a speed regulator to calculate the error between the motor speed setpoint and the actual motor speed to obtain a current-based speed regulation value, and then use a current regulator to generate the voltage amplitude command based on the speed regulation value. Furthermore, discrete voltage vector angle commands are generated through methods such as position monitoring by Hall position sensors and zero-crossing detection of back electromotive force. .

[0049] S203: Call the magnetic field orientation control modulation module to modulate according to the voltage amplitude command and voltage vector angle command, and generate a pulse width drive signal.

[0050] In this embodiment of the invention, for both the magnetic field orientation control mode and the discrete square wave modulation mode, the magnetic field orientation control modulation module is invoked to modulate according to the input voltage amplitude command and voltage vector angle command to generate a pulse width drive signal.

[0051] The magnetic field orientation control modulation module can use the Space Vector Pulse Width Modulation (SVPWM) algorithm to generate pulse width drive signals.

[0052] The field-oriented control modulation module may include a DC power supply, a DC bus capacitor, a gate drive circuit, and a control unit. The control unit, implemented based on the logic circuitry of the motor controller, is used to run the field-oriented control algorithm and the space vector pulse width modulation algorithm, calculating and generating six PWM signals in real time. The gate drive circuit amplifies the low-power PWM signal output from the control unit to the voltage and current required to drive the power switching transistors. It may include optocouplers or magnetic couplers to electrically isolate the low-voltage control section of the control unit from the high-voltage main power section of the inverter. The DC power supply provides power to the entire system and can be obtained from rectified AC power or from a battery pack. The DC bus capacitor stabilizes the DC bus voltage, prevents voltage surges, provides instantaneous high current to the inverter switching transistors, and absorbs regenerative energy from the motor side.

[0053] S204: When the current control mode is field-oriented control mode, the target motor is driven by the pulse width drive signal.

[0054] When the current control mode is field-oriented control mode, the target motor can be directly driven by the pulse width drive signal to achieve motor speed control in field-oriented control mode.

[0055] S205: When the current control mode is discrete square wave modulation mode, the pulse width drive signal is converted into a square wave pulse width drive signal so as to drive the target motor using the square wave pulse width drive signal.

[0056] The field-oriented control modulation module cannot be used to generate discrete square wave pulse width drive signals. When the modulation control parameters input to the field-oriented control modulation module are discrete signals, the module cannot generate either a continuous PWM signal or a discrete square wave drive signal. Therefore, in this embodiment of the invention, the pulse width drive signal modulated by the field-oriented control modulation module needs to be converted into a square wave pulse width drive signal to achieve motor drive in discrete square wave modulation mode.

[0057] The motor control method provided in this invention utilizes a field-oriented control modulation module to modulate voltage amplitude and voltage vector angle commands, generating a pulse-width drive signal. When the target motor's current control mode is field-oriented control, this pulse-width drive signal drives the target motor. When the current control mode is discrete square wave modulation, the pulse-width drive signal is converted into a square wave pulse-width drive signal before driving the target motor. This achieves a universal modulation layer with a unified interface for both the upper-level controller and the inverter. In related technologies, discrete square wave modulation and field-oriented control modulation employ two independent control systems. Due to differences in modulation principles, hardware tolerances, and software execution errors, it is difficult to guarantee the consistency of the output effects of the two control systems. This results in a jump in the inverter's output signal instead of a continuous signal when switching modulation modes. The universal modulation layer provided by this invention is implemented based on a unified underlying architecture for both modulation modes, ensuring the continuity and consistency of the motor drive signal generation source. This prevents the motor drive signal from undergoing a step change during modulation mode switching, thereby not only achieving stable motor operation and avoiding speed fluctuations, but also preventing damage to motor components during mode transitions. In motor control systems using discrete square wave modulation and field-oriented control modulation, it supports stable and efficient operation of the motor under all operating conditions.

[0058] Based on the above embodiments, in the motor control method provided by the embodiments of the present invention, when the current control mode is discrete square wave modulation mode, the voltage vector angle command is a discrete voltage vector angle command; the pulse width drive signal may include the drive signal corresponding to each bridge arm in the multi-bridge arm.

[0059] In this embodiment of the invention, S205 converting the pulse width drive signal into a square wave pulse width drive signal may include: determining the target bridge arm that remains on among the multiple bridge arms according to the discrete voltage vector angle command; retaining the drive signal corresponding to the target bridge arm in the pulse width drive signal, and converting the drive signals of the other bridge arms in the pulse width drive signal except the target bridge arm into turn-off signals to obtain the square wave pulse width drive signal.

[0060] The three phases of a three-phase motor are usually referred to as phase A, phase B, and phase C. The magnetic field direction is usually A→B→C, and the phase difference between them is 120°. Each phase includes a pair of power switches, which can be referred to as the upper bridge arm (the power switch connected to the positive (P) terminal of the DC bus, which can be denoted as A+, B+, C+) and the lower bridge arm (the power switch connected to the negative (N) terminal of the DC bus, which can be denoted as A-, B-, C-).

[0061] Based on the conduction sequence of each power switch in the discrete square wave modulation mode, the form of the required square wave pulse width drive signal can be determined. Furthermore, based on the magnitude of the voltage vector angle (first voltage vector angle) of the target motor, its position in the conduction sequence can be determined. Therefore, the second pulse width drive signal can be "corrected" to obtain the correct square wave pulse width drive signal.

[0062] In this embodiment of the invention, determining the target bridge arm that remains on among multiple bridge arms according to the discrete voltage vector angle command may include: determining the target sector corresponding to the discrete voltage vector angle command in the vector space plane; the vector space plane includes a preset number of sectors that are evenly divided; and determining the bridge arm corresponding to the target sector as the target bridge arm from a preset sector bridge arm relationship table.

[0063] In some optional embodiments of the present invention, the preset sector bridge arm relationship table can be as shown in Table 1. Table 1

[0064] Where A+ represents the upper bridge arm of phase A, A- represents the lower bridge arm of phase A, B+ represents the upper bridge arm of phase B, B- represents the lower bridge arm of phase B, C+ represents the upper bridge arm of phase C, and C- represents the lower bridge arm of phase C. × indicates that this power switch is turned off (that is, the second pulse width drive signal at the corresponding moment is set to the turn-off control signal), and ○ indicates that no processing is done on this power switch (that is, the second pulse width drive signal at the corresponding moment is passed through).

[0065] Based on Table 1, determining the target bridge arm that remains conducting among the multiple bridge arms according to the discrete voltage vector angle command can include: if the magnitude of the first voltage vector angle falls within the first voltage vector angle period, determining the upper bridge arm of phase B and the lower bridge arm of phase C of the target motor as the first target bridge arm; if the magnitude of the first voltage vector angle falls within the second voltage vector angle period, determining the lower bridge arm of phase A and the upper bridge arm of phase B of the target motor as the first target bridge arm; if the magnitude of the first voltage vector angle falls within the third voltage vector angle period, determining the lower bridge arm of phase A and the upper bridge arm of phase C of the target motor as the first target bridge arm; if the magnitude of the first voltage vector angle falls within the fourth voltage vector angle period, determining the lower bridge arm of phase B of the target motor as the first target bridge arm. The lower bridge arm and the upper bridge arm of phase C are the first target bridge arms; when the magnitude of the first voltage vector angle belongs to the fifth voltage vector angle cycle, the upper bridge arm of phase A and the lower bridge arm of phase B of the target motor are determined as the first target bridge arms; when the magnitude of the first voltage vector angle belongs to the sixth voltage vector angle cycle, the upper bridge arm of phase A and the lower bridge arm of phase C of the target motor are determined as the first target bridge arms; wherein, the first voltage vector angle cycle, the second voltage vector angle cycle, the third voltage vector angle cycle, the fourth voltage vector angle cycle, the fifth voltage vector angle cycle, and the sixth voltage vector angle cycle are six adjacent voltage vector angle cycles starting from the reference voltage vector angle of the target motor, and the interval size of each voltage vector angle cycle is 60°.

[0066] It should be noted that the sequence relationship, i.e., the angle values, of the first to sixth voltage vector angle periods mentioned above are only illustrative. In practical applications, the first voltage vector angle period starts from the reference voltage vector angle of the target motor, and each 60° period constitutes one voltage vector angle period. That is to say, the concept of converting pulse width drive signals into square wave pulse width drive signals provided by the embodiments of the present invention allows for the selection of which voltage vector angle period to use as the first voltage vector angle period of the preset sector bridge arm relationship table, all of which fall within the protection scope of the embodiments of the present invention.

[0067] It should be noted that in the embodiments of the motor control methods of the present invention, some steps or features may be omitted or not executed. The division of hardware or software functional modules for ease of explanation is not the only implementation of the motor control methods provided in the embodiments of the present invention.

[0068] This invention also provides a modulation device, which may include: a field-oriented control modulation module and a signal output module; wherein, the signal output module includes a first channel and a second channel; the first channel is disposed between the output terminal of the field-oriented control modulation module and the control terminal of the power switch of the inverter of the target motor, and is used to transmit the pulse width drive signal output by the field-oriented control modulation module to drive the target motor when the current control mode of the target motor is the field-oriented control mode; the second channel is disposed between the output terminal of the field-oriented control modulation module and the control terminal of the power switch and the second channel is provided with a signal conversion module, which is used to convert the pulse width drive signal output by the field-oriented control modulation module into a discrete square wave drive signal to drive the target motor when the current control mode is the discrete square wave modulation mode.

[0069] For specific implementation methods of the modulation device provided in the embodiments of the present invention, please refer to the above description of the motor control system and motor control method embodiments.

[0070] The present invention also discloses a motor modulation device, an electronic device, and a computer-readable storage medium corresponding to the above-described motor control method.

[0071] Figure 3 This is a schematic diagram of the structure of a motor control device provided in an embodiment of the present invention.

[0072] like Figure 3 As shown, the motor control device provided in this embodiment of the invention may include: a determining unit 301, used to determine the current control mode of the target motor; an acquiring unit 302, used to acquire voltage amplitude command and voltage vector angle command for the target motor; and a modulation control unit 303, used to call the field-oriented control modulation module to modulate according to the voltage amplitude command and voltage vector angle command to generate a pulse width drive signal; when the current control mode is the field-oriented control mode, the target motor is driven by the pulse width drive signal; when the current control mode is the discrete square wave modulation mode, the pulse width drive signal is converted into a square wave pulse width drive signal to drive the target motor.

[0073] It should be noted that in the various embodiments of the motor control device provided in this invention, the division of units is only a logical functional division, and other division methods can be used. The connection between different units can be electrical, mechanical, or other connection methods. Separate units can be located in the same physical location or distributed across multiple network nodes. Each unit can be implemented in hardware or as a software functional unit. That is, according to actual needs, some or all of the units provided in this invention can be selected and corresponding connection or integration methods can be used to achieve the purpose of the solution in this invention.

[0074] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0075] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0076] like Figure 4 As shown, the electronic device provided in this embodiment of the invention includes: a memory 410 for storing a computer program 411; and a processor 420 for executing the computer program 411, wherein the computer program 411, when executed by the processor 420, implements the steps of the motor control method provided in any of the above embodiments.

[0077] The processor 420 may include one or more processing cores, such as a 3-core processor or an 8-core processor. The processor 420 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array. The processor 420 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 420 may integrate a Graphics Processing Unit (GPU) responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 420 may also include an Artificial Intelligence (AI) processor for handling computational operations related to machine learning.

[0078] The memory 410 may include one or more computer-readable storage media, which may be non-transitory. The memory 410 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 410 is used to store at least the following computer program 411, which, after being loaded and executed by the processor 420, can implement the relevant steps in the motor control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 410 may also include an operating system 412 and data 413, and the storage method may be temporary storage or permanent storage. The operating system 412 may be Windows or other types of operating systems. The data 413 may include, but is not limited to, the data involved in the above methods.

[0079] In some embodiments, the electronic device may further include a display screen 430, a power supply 440, a communication interface 450, an input / output interface 460, a sensor 470, and a communication bus 480.

[0080] Those skilled in the art will understand that Figure 4 The structures shown do not constitute a limitation on electronic devices and may include more or fewer components than those shown.

[0081] The electronic device provided in this embodiment of the invention includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the steps of the motor control method provided in the above embodiment, and the effect is the same as above.

[0082] This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, can implement the steps of the motor control method provided in any of the above embodiments.

[0083] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0084] For a description of the computer-readable storage medium provided in the embodiments of the present invention, please refer to the above method embodiments, and its effects are the same as those of the motor control method provided in the embodiments of the present invention, which will not be repeated here.

[0085] The foregoing has provided a detailed description of a motor control method, apparatus, system, electronic device, and modulation device provided by the present invention. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The modulation device, motor control device, electronic device, and computer-readable storage medium disclosed in the embodiments are described simply because they correspond to the motor control system and motor control method disclosed in the embodiments; relevant parts can be referred to in the description of the motor control system and motor control method. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the present invention.

[0086] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

Claims

1. A motor control method, characterized in that, include: Determine the current control mode of the target motor; Obtain the voltage amplitude command and voltage vector angle command for the target motor; The magnetic field orientation control modulation module is invoked to modulate the voltage amplitude command and the voltage vector angle command to generate a pulse width drive signal. When the current control mode is magnetic field orientation control mode, the target motor is driven by the pulse width drive signal; When the current control mode is discrete square wave modulation mode, the pulse width drive signal is converted into a square wave pulse width drive signal to drive the target motor.

2. The motor control method according to claim 1, characterized in that, When the current control mode is discrete square wave modulation mode, the voltage vector angle command is a discrete voltage vector angle command; the pulse width drive signal includes the drive signal corresponding to each bridge arm in the multi-bridge arm; The step of converting the pulse width driving signal into a square wave pulse width driving signal includes: Based on the discrete voltage vector angle command, determine the target bridge arm that remains on among the multi-path bridge arms; The driving signal corresponding to the target bridge arm in the pulse width driving signal is retained, and the driving signals of other bridge arms in the pulse width driving signal other than the target bridge arm are converted into turn-off signals to obtain the square wave pulse width driving signal.

3. The motor control method according to claim 2, characterized in that, The step of determining the target bridge arm that remains on among the multiple bridge arms according to the discrete voltage vector angle command includes: Determine the target sector corresponding to the discrete voltage vector angle command in the vector space plane; the vector space plane includes a predetermined number of sectors that are evenly divided. The bridge arm corresponding to the target sector is determined from the preset sector bridge arm relationship table.

4. The motor control method according to claim 1, characterized in that, Determining the current control mode of the target motor includes: Obtain the current speed of the target motor; If the current speed is less than the speed threshold, the current control mode is determined to be discrete square wave modulation mode; If the current rotational speed is greater than or equal to the rotational speed threshold, the current control mode is determined to be the field-oriented control mode.

5. The motor control method according to claim 1, characterized in that, When the current control mode is field-oriented control mode, the voltage amplitude command is obtained by the field-oriented controller performing modulo operation on the AC / DC voltage command; the voltage vector angle command is a continuous voltage vector angle command obtained by the field-oriented controller performing phase angle operation on the AC / DC voltage command and then superimposing the rotor magnetic pole position signal.

6. The motor control method according to claim 5, characterized in that, When the current control mode is discrete square wave control mode, the voltage amplitude command is calculated by the discrete square wave controller through the speed regulator or current regulator; the voltage vector angle command is the discrete voltage vector angle command acquired by the discrete square wave controller through the position sensor or detected by the back electromotive force.

7. A modulation device, characterized in that, include: Magnetic field orientation control modulation module and signal output module; The signal output module includes a first channel and a second channel; The first channel is located between the output terminal of the field-oriented control modulation module and the control terminal of the power switch of the inverter of the target motor. It is used to transmit the pulse width drive signal output by the field-oriented control modulation module to drive the target motor when the current control mode of the target motor is the field-oriented control mode. The second channel is located between the output terminal of the magnetic field orientation control modulation module and the control terminal of the power switch tube, and the second channel is equipped with a signal conversion module, which is used to convert the pulse width drive signal output by the magnetic field orientation control modulation module into a discrete square wave drive signal to drive the target motor when the current control mode is discrete square wave modulation mode.

8. A motor control system, characterized in that, include: Discrete square wave controller, magnetic field orientation controller and modulation device; The modulation device includes a magnetic field orientation control modulation module and a signal output module; The modulation control parameter output terminal of the discrete square wave controller and the modulation control parameter output terminal of the magnetic field orientation controller are respectively connected to the input terminal of the magnetic field orientation control modulation module. The signal output module includes a first channel and a second channel; The first channel is located between the output terminal of the field-oriented control modulation module and the control terminal of the power switch of the inverter of the target motor. It is used to transmit the pulse width drive signal output by the field-oriented control modulation module to drive the target motor when the current control mode of the target motor is the field-oriented control mode. The second channel is located between the output terminal of the field-oriented control modulation module and the control terminal of the power switch tube, and the second channel is equipped with a signal conversion module, which is used to convert the pulse width drive signal output by the field-oriented control modulation module into a discrete square wave drive signal to drive the target motor when the current control mode is discrete square wave modulation mode.

9. A motor control device, characterized in that, include: The determination unit is used to determine the current control mode of the target motor; The acquisition unit is used to acquire the voltage amplitude command and voltage vector angle command for the target motor; The modulation control unit is used to call the field-oriented control modulation module to modulate according to the voltage amplitude command and the voltage vector angle command to generate a pulse width drive signal; when the current control mode is the field-oriented control mode, the target motor is driven by the pulse width drive signal; when the current control mode is the discrete square wave modulation mode, the pulse width drive signal is converted into a square wave pulse width drive signal to drive the target motor.

10. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program, which, when executed by the processor, implements the steps of the motor control method as described in any one of claims 1 to 6.

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