Method and device for suppressing vibration noise of motor

Abstract

The invention discloses a motor vibration noise suppression method and device, and the method comprises the steps: inputting a direct-axis target current and a quadrature-axis target current into a PI controller, and obtaining a direct-axis DC voltage and a quadrature-axis DC voltage; an R controller is added into a PI controller, and in the parameter adjusting process of the PIR controller, the vibration acceleration and harmonic component of each current harmonic order are recorded, and direct-axis alternating voltage and quadrature-axis alternating voltage are extracted; determining a direct-axis compensation voltage and a quadrature-axis compensation voltage; based on the sum value of the direct-axis direct-current voltage and the direct-axis compensation voltage; calculating the sum value of the quadrature-axis DC voltage and the quadrature-axis compensation voltage; and suppressing the vibration noise of the motor according to the final direct-axis voltage and the final quadrature-axis voltage. The harmonic voltage amplitude is extracted through closed-loop control, then the harmonic voltage phase (namely a sinusoidal signal) is calibrated through open-loop control, and by means of the method combining closed-loop and open-loop harmonic injection, the stability of the system is high, and instability caused by improper parameters is not likely to happen.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automotive electronics, in particular to a motor vibration noise suppression method and device. BACKGROUND

[0002] The electronic power steering system for vehicles usually provides assistance through a motor. In this process, the system will produce certain noise problems. With the increasing demand of consumers for in-vehicle quietness, the automotive industry has gradually improved the noise, vibration, and harshness (NVH) standards of the electronic power steering system for vehicles.

[0003] For the noise generated by motor control, the existing noise suppression method mainly suppresses the harmonics generated during motor operation through open-loop or closed-loop harmonic injection, thereby reducing the order noise. However, when adjusting the parameters in the closed-loop harmonic suppression system, the system bandwidth may be changed or a delay may be introduced, especially when the system is nonlinear, the stability is poor, which may cause instability when steering on the whole vehicle. SUMMARY

[0004] The present application provides a motor vibration noise suppression method and device to solve the problem of instability when steering on the whole vehicle.

[0005] In order to achieve the above purpose, the present application provides the following technical solutions:

[0006] A motor vibration noise suppression method, comprising:

[0007] Obtaining the direct-axis and quadrature-axis current harmonic orders, direct-axis target current, and quadrature-axis target current of the motor;

[0008] Inputting the direct-axis target current and quadrature-axis target current into a PI controller to obtain a direct-axis direct-current voltage and a quadrature-axis direct-current voltage;

[0009] Adding an R controller in the PI controller and adjusting the PIR controller parameters;

[0010] During the adjustment of the PIR controller parameters, recording the vibration acceleration and harmonic component of each current harmonic order;

[0011] From all the vibration accelerations and harmonic components, selecting the smallest vibration acceleration and harmonic component, and extracting the direct-axis alternating-current voltage and quadrature-axis alternating-current voltage corresponding to the smallest vibration acceleration and harmonic component;

[0012] Based on the current harmonic order, the direct-axis alternating-current voltage, the quadrature-axis alternating-current voltage, and a sinusoidal alternating-current signal, determining a direct-axis compensation voltage and a quadrature-axis compensation voltage;

[0013] calculating a sum of the direct-axis direct-current voltage and the direct-axis compensation voltage to obtain a final direct-axis voltage;

[0014] calculating a sum of the quadrature-axis direct-current voltage and the quadrature-axis compensation voltage to obtain a final quadrature-axis voltage;

[0015] suppressing motor vibration noise according to the final direct-axis voltage and the final quadrature-axis voltage.

[0016] Optionally, the obtaining of the direct-axis and quadrature-axis current harmonic orders, the direct-axis target current, and the quadrature-axis target current comprises:

[0017] collecting the direct-axis target current and the quadrature-axis target current of the motor;

[0018] controlling the motor to rotate at a fixed speed and collecting the direct-axis current data and the quadrature-axis current data of the motor;

[0019] performing FFT analysis on the direct-axis current data and the quadrature-axis current data to obtain amplitude information of each frequency;

[0020] selecting the amplitude information of the largest frequency from the amplitude information of all frequencies, and determining the harmonic order corresponding to the amplitude information of the largest frequency as the direct-axis and quadrature-axis current harmonic orders.

[0021] Optionally, the determining of the direct-axis compensation voltage and the quadrature-axis compensation voltage according to the current harmonic orders, the direct-axis alternating-current voltage, the quadrature-axis alternating-current voltage, and the sinusoidal alternating-current signal comprises:

[0022] calibrating the sinusoidal alternating-current signal to obtain a calibrated sinusoidal alternating-current signal;

[0023] calculating the direct-axis compensation voltage and the quadrature-axis compensation voltage according to the calibrated sinusoidal alternating-current signal, the current harmonic orders, the direct-axis alternating-current voltage, and the quadrature-axis alternating-current voltage.

[0024] Optionally, the calibrating of the sinusoidal alternating-current signal to obtain a calibrated sinusoidal alternating-current signal comprises:

[0025] controlling the motor to rotate;

[0026] calculating a harmonic voltage according to the quadrature-axis alternating-current voltage and the harmonic orders during the rotation of the motor;

[0027] injecting the harmonic voltage into the direct axis and the quadrature axis by using a full-redundancy controller AB board;

[0028] adjusting the harmonic voltage during the injection of the harmonic voltage, and recording the current harmonic voltage and the current phase when the vibration acceleration of the motor remains at a fixed value.

[0029] The current harmonic voltage is injected into the direct axis and quadrature axis of the motor, and the current direct axis current data and current quadrature axis current data of the motor are collected.

[0030] Perform FFT analysis on the current direct-axis current data and the current quadrature-axis current data to obtain the current harmonic content of the current harmonic order;

[0031] FFT analysis was performed on the original direct-axis current data and the original quadrature-axis current data to obtain the original harmonic content of the current harmonic order;

[0032] If the current harmonic content is a preset multiple of the original harmonic content, then the current phase is added to the sinusoidal AC signal to obtain the calibrated sinusoidal AC signal.

[0033] Optionally, during the harmonic voltage injection process, adjusting the harmonic voltage until the motor's vibration acceleration remains at a fixed value, and then recording the current harmonic voltage, includes:

[0034] During the harmonic voltage injection process, the harmonic voltage is adjusted using the fully redundant controller A board until the vibration acceleration of the motor is maintained at a fixed value, and the first harmonic voltage is recorded.

[0035] During the harmonic voltage injection process, the harmonic voltage is adjusted using the fully redundant controller B board until the vibration acceleration of the motor is maintained at a fixed value, and then the second harmonic voltage is recorded.

[0036] The first harmonic voltage and the second harmonic voltage are determined as the current harmonic voltage.

[0037] A device for suppressing motor vibration noise includes:

[0038] The acquisition unit is used to acquire the harmonic order of the direct-axis and quadrature-axis currents of the motor, the target current of the direct-axis current, and the target current of the quadrature-axis current.

[0039] The input unit is used to input the direct-axis target current and the quadrature-axis target current into the PI controller to obtain the direct-axis DC voltage and the quadrature-axis DC voltage;

[0040] An adjustment unit is used to add an R controller to the PI controller and adjust the PIR controller parameters;

[0041] The recording unit is used to record the vibration acceleration and harmonic components of each current harmonic order during the adjustment of the PIR controller parameters.

[0042] The extraction unit is used to filter out the smallest vibration acceleration and harmonic component from all vibration acceleration and harmonic components, and extract the direct-axis AC voltage and quadrature-axis AC voltage corresponding to the smallest vibration acceleration and harmonic component.

[0043] The determining unit is used to determine the direct-axis compensation voltage and the quadrature-axis compensation voltage based on the current harmonic order, the direct-axis AC voltage, the quadrature-axis AC voltage, and the sinusoidal AC signal.

[0044] The first calculation unit is used to calculate the sum of the direct-axis DC voltage and the direct-axis compensation voltage to obtain the final direct-axis voltage;

[0045] The second calculation unit is used to calculate the sum of the quadrature-axis DC voltage and the quadrature-axis compensation voltage to obtain the final quadrature-axis voltage;

[0046] The third calculation unit is used to suppress motor vibration noise based on the final direct-axis voltage and the final quadrature-axis voltage.

[0047] Optionally, the acquisition unit is specifically used for:

[0048] Collect the direct-axis target current and quadrature-axis target current of the motor;

[0049] The motor is controlled to rotate to a fixed speed, and the direct-axis current data and quadrature-axis current data of the motor are collected;

[0050] FFT analysis is performed on the direct-axis current data and the quadrature-axis current data to obtain the amplitude information of each frequency;

[0051] The amplitude information of the largest frequency is selected from the amplitude information of all frequencies, and the harmonic order corresponding to the amplitude information of the largest frequency is determined as the harmonic order of the direct axis and quadrature axis current.

[0052] Optionally, the determining unit includes:

[0053] The calibration unit is used to calibrate the sinusoidal AC signal to obtain the calibrated sinusoidal AC signal.

[0054] The fourth calculation unit is used to calculate the direct-axis compensation voltage and the quadrature-axis compensation voltage based on the calibrated sinusoidal AC signal, the current harmonic order, the direct-axis AC voltage, and the quadrature-axis AC voltage.

[0055] Optionally, the calibration unit includes:

[0056] The control unit is used to control the rotation of the motor;

[0057] The fifth calculation unit is used to calculate the harmonic voltage based on the quadrature-axis AC voltage and the harmonic order during the rotation of the motor.

[0058] An injection unit is used to inject the harmonic voltage into the direct axis and quadrature axis using a fully redundant controller AB board;

[0059] The target adjustment unit is used to adjust the harmonic voltage during the harmonic voltage injection process until the vibration acceleration of the motor is maintained at a fixed value, and then record the current harmonic voltage and the current phase.

[0060] The acquisition unit is used to inject the current harmonic voltage into the direct axis and quadrature axis of the motor, and to acquire the current direct axis current data and the current quadrature axis current data of the motor.

[0061] The first analysis unit is used to perform FFT analysis on the current direct-axis current data and the current quadrature-axis current data to obtain the current harmonic content of the current harmonic order.

[0062] The second analysis unit is used to perform FFT analysis on the original direct-axis current data and the original quadrature-axis current data to obtain the original harmonic content of the current harmonic order.

[0063] An adding unit is used to add the current phase to the sinusoidal AC signal if the current harmonic content is a preset multiple of the original harmonic content, so as to obtain a calibrated sinusoidal AC signal.

[0064] Optionally, the target adjustment unit is specifically used for:

[0065] During the harmonic voltage injection process, the harmonic voltage is adjusted using the fully redundant controller A board until the vibration acceleration of the motor is maintained at a fixed value, and the first harmonic voltage is recorded.

[0066] During the harmonic voltage injection process, the harmonic voltage is adjusted using the fully redundant controller B board until the vibration acceleration of the motor is maintained at a fixed value, and then the second harmonic voltage is recorded.

[0067] The first harmonic voltage and the second harmonic voltage are determined as the current harmonic voltage.

[0068] The technical solution provided in this application inputs the direct-axis target current and quadrature-axis target current into a PI controller to obtain the direct-axis DC voltage and quadrature-axis DC voltage. An R controller is added to the PI controller. During the adjustment of the PIR controller parameters, the vibration acceleration and harmonic components of each current harmonic order are recorded, and the direct-axis AC voltage and quadrature-axis AC voltage are extracted. The direct-axis compensation voltage and quadrature-axis compensation voltage are determined. Based on the sum of the direct-axis DC voltage and the direct-axis compensation voltage, the sum of the quadrature-axis DC voltage and the quadrature-axis compensation voltage is calculated. Motor vibration noise is suppressed based on the final direct-axis voltage and the final quadrature-axis voltage. First, closed-loop control is used to extract the harmonic voltage amplitude, and then open-loop control is used to calibrate the harmonic voltage phase (i.e., the sine signal). Through this combination of closed-loop and open-loop harmonic injection methods, the system has high stability and is less prone to instability due to inappropriate parameters. Attached Figure Description

[0069] To more clearly illustrate the technical solutions in the embodiments of this application 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0070] Figure 1 A flowchart illustrating a method for suppressing motor vibration noise provided in an embodiment of this application;

[0071] Figure 2 A block diagram illustrating a harmonic suppression control algorithm based on a PIR controller for extracting harmonic amplitudes is provided in this application embodiment.

[0072] Figure 3 This is a schematic diagram of the architecture of a motor vibration noise suppression device provided in an embodiment of this application. Detailed Implementation

[0073] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0074] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover a 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 limitation, 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 said element.

[0075] like Figure 1 The diagram shown is a flowchart of a method for suppressing motor vibration noise provided in an embodiment of this application, including the following steps:

[0076] S101: Obtain the harmonic order of the direct-axis and quadrature-axis currents of the motor, as well as the target current of the direct-axis and quadrature-axis currents.

[0077] Wherein, the direct axis is the d-axis current, the quadrature axis is the q-axis, and the harmonic orders of the direct and quadrature axis currents are multiples of the frequency components that appear in the current.

[0078] Specifically, the direct-axis target current and the quadrature-axis target current refer to the target values ​​of these two currents (d-axis and q-axis currents) calculated by the control system.

[0079] Optionally, in another embodiment of this application, the specific implementation of step S101 includes processes A1 to A4.

[0080] A1: Collect the direct-axis target current and quadrature-axis target current of the motor.

[0081] A2: Control the motor to rotate to a fixed speed and collect the direct-axis current data and quadrature-axis current data of the motor.

[0082] Understandably, the current fluctuates significantly during motor startup and acceleration, especially under conditions of large load changes. Once the motor reaches a fixed speed, its rotational speed stabilizes, and the current data also tends to stabilize. Data collected at this point can more accurately reflect the motor's operating characteristics under constant conditions.

[0083] A3: Perform FFT analysis on the direct-axis current data and quadrature-axis current data to obtain amplitude information for each frequency.

[0084] Specifically, FFT analysis is performed on the direct-axis current data and quadrature-axis current data to convert the time signal into a frequency domain signal, providing amplitude and phase information for each frequency component.

[0085] A4: Select the amplitude information of the largest frequency from all the amplitude information, and determine the harmonic order corresponding to the amplitude information of the largest frequency as the direct-axis and quadrature-axis current harmonic order.

[0086] Among these methods, the largest frequency component is selected from the amplitude information of all frequencies, and its corresponding harmonic order is determined. In other words, by performing Fast Fourier Transform (FFT) analysis on the dq axis current signal, we can identify the most prominent frequency components and determine their corresponding harmonic orders based on the magnitude of these frequencies.

[0087] S102: Input the direct-axis target current and quadrature-axis target current into the PI controller to obtain the direct-axis DC voltage and quadrature-axis DC voltage.

[0088] The direct-axis target current and quadrature-axis target current are input into the PI controller to obtain the specific forms of the direct-axis DC voltage and quadrature-axis DC voltage, as shown in formula (1).

[0089] (1)

[0090] In formula (1), u d1 For direct-axis DC voltage, u q1 For quadrature-axis DC voltage, i d * represents the direct-axis target current, i q * represents the quadrature-axis target current, i d1 i represents the actual current along the direct axis. q1 For the actual quadrature-axis current, k p1 For the kp parameter of the direct axis, k p2 For the kp parameter of the intersection axis, k i1 For the ki parameter of the direct axis, k i2 ki is the parameter of the intersection axis.

[0091] Understandably, the function of a PI controller is to take the direct-axis target current and quadrature-axis target current as inputs, and adjust the output direct-axis and quadrature-axis voltages according to their errors, so that the actual direct-axis and quadrature-axis currents of the motor (i.e., direct-axis DC voltage and quadrature-axis DC voltage) follow the target current as closely as possible.

[0092] S103: Add an R controller to the PI controller and adjust the PIR controller parameters.

[0093] Understandably, traditional PI controllers can only perform error-free control on DC signals. Therefore, when the current contains AC components, the PI controller cannot effectively generate current commands for compensation. In contrast, a resonant controller (R controller) can achieve zero steady-state error control at the resonant frequency. Based on this characteristic, in the dq coordinate system, a quasi-resonant controller is typically connected in parallel with the PI regulator for the d-axis and q-axis currents to control frequency components with high harmonic content. This effectively suppresses higher-order harmonics in the current, ensuring stable operation of the motor system.

[0094] Specifically, assuming the harmonic order in the q-axis is 6th, the actual direct-axis DC voltage and the actual quadrature-axis DC voltage obtained by the 6th harmonic current component after passing through the R controller are shown in formula (2).

[0095] (2)

[0096] In formula (2), the resonant controller suppresses AC harmonics, therefore the target current of the dq axis is 0, and i d2 i represents the actual current along the direct axis. q2 For the actual quadrature-axis current, k ir1 For the ki parameter of the direct axis, k ir2 The kr parameter represents the intersection axis. The electric angular velocity of the motor. This is the cutoff frequency of the resonant controller.

[0097] It should be noted that after passing through the PIR controller, the output direct-axis voltage u d =u d1 +u d2 The output quadrature-axis voltage vector u q =u q1 +u q2 , where u d1 ,u q1 For the DC section, u d2 ,u q2 For the AC section, AC voltage can suppress voltage harmonics of the corresponding order, thereby reducing harmonic components in the current.

[0098] For a better explanation of the above, please refer to [link / reference]. Figure 2 The diagram shows a block diagram of a harmonic suppression control algorithm based on a PIR controller for extracting harmonic amplitude. Figure 2 The three-phase stator current I is first collected through Clark transformation. a I b I c Convert to a two-phase stationary coordinate system current I a I βThen, I in the d-q coordinate system is obtained through the Park transformation. d I q ;I d I q With a given reference current I d_Ref I q_Ref The error is adjusted by a PIR controller containing an R element, and the output voltage v in the dq coordinate system is obtained. a v q The voltage v in the α-β coordinate system is then obtained through InvPark transformation. a v β Then, SVPWM generates three-phase PWM signals to drive the three-phase bridge to power the PMSM; simultaneously, RPS acquires the motor rotor position θ. m It is used for speed calculation and coordinate transformation to achieve high-precision control of the motor.

[0099] S104: During the adjustment of PIR controller parameters, record the vibration acceleration and harmonic components of each current harmonic order.

[0100] In this process, the parameters of the PIR controller are adjusted on the motor test bench, and the vibration acceleration and harmonic components of each current harmonic order are recorded during the adjustment.

[0101] S105: From all vibration acceleration and harmonic components, select the minimum vibration acceleration and harmonic component, and extract the direct-axis AC voltage and quadrature-axis AC voltage corresponding to the minimum vibration acceleration and harmonic component.

[0102] This process involves selecting the minimum vibration acceleration and harmonic components from all vibration acceleration and harmonic components, and then extracting the corresponding direct-axis and quadrature-axis AC voltages. This helps analyze which frequency components in the system have the least impact on the voltage and can further optimize the control system to reduce unnecessary vibration and harmonic effects.

[0103] S106: Determine the direct-axis compensation voltage and the quadrature-axis compensation voltage based on the current harmonic order, direct-axis AC voltage, quadrature-axis AC voltage, and sinusoidal AC signal.

[0104] Specifically, the direct-axis compensation voltage and the quadrature-axis compensation voltage are determined based on the current harmonic order, the direct-axis AC voltage, the quadrature-axis AC voltage, and the sinusoidal AC signal. First, the direct-axis compensation voltage is determined based on the current harmonic order, the direct-axis AC voltage, and the sinusoidal AC signal. Then, the quadrature-axis compensation voltage is determined based on the current harmonic order, the quadrature-axis AC voltage, and the sinusoidal AC signal.

[0105] Optionally, in another embodiment of this application, the specific implementation of step S106 includes processes B1 to B2.

[0106] B1: The sinusoidal AC signal is calibrated to obtain the calibrated sinusoidal AC signal.

[0107] It should be noted that the PIR controller is primarily used to extract the sinusoidal signal amplitude required to suppress d-q axis harmonics. However, directly using the PIR controller in a real vehicle may lead to system instability. Therefore, we need to reconstruct the sinusoidal signals for d-axis and q-axis harmonic injection. Since the phase of these sinusoidal signals is unknown, calibration is necessary to ensure signal accuracy and system stability.

[0108] Optionally, in another embodiment of this application, the specific implementation of process B1 includes processes C1 to C8.

[0109] C1: Controls the motor rotation.

[0110] First, a triaxial acceleration vibration sensor is attached to the surface of the motor to monitor the harmonic suppression effect during calibration in real time and observe the peak value of vibration acceleration at a specific order. Then, the motor is controlled to rotate forward or in reverse.

[0111] C2: During the rotation of the motor, the harmonic voltage is calculated based on the quadrature-axis AC voltage and harmonic order.

[0112] The specific form of harmonic voltage calculated from quadrature-axis alternating voltage is: u d_com1 =u d2 *(n*sin(we*t)+180). Where, u d_com1 For harmonic voltage, u d2 denoted as quadrature-axis AC voltage, n as harmonic order, we as the electric angular velocity of the motor, and t as time.

[0113] C3: Inject harmonic voltages into the direct and quadrature axes using the fully redundant controller AB board.

[0114] Specifically, a fully redundant controller AB board is used to inject harmonic voltage u into the direct and quadrature axes. d_com1 By adjusting the phase ud / q_Phase (0-360°), a set of the most suitable phases is calibrated, thereby constructing a sinusoidal AC voltage u with the best effect. d_com1 .

[0115] C4: During the harmonic voltage injection process, adjust the harmonic voltage until the motor's vibration acceleration remains at a fixed value, and then record the current harmonic voltage and current phase.

[0116] Understandably, during the harmonic voltage injection process, the harmonic voltage is adjusted until the motor's vibration acceleration no longer decreases, and the current harmonic voltage and current phase are recorded.

[0117] Optionally, in another embodiment of this application, during the harmonic voltage injection process in process C4, the harmonic voltage is adjusted until the vibration acceleration of the motor is maintained at a fixed value, and the specific implementation of the current harmonic voltage is recorded, including processes D1 to D3.

[0118] D1: During the harmonic voltage injection process, the harmonic voltage is adjusted using the fully redundant controller A board until the vibration acceleration of the motor is maintained at a fixed value, and the first harmonic voltage is recorded.

[0119] During the harmonic voltage injection process, the harmonic voltage is adjusted using the fully redundant controller A board, increasing or decreasing in increments of 10°. The corresponding order vibration acceleration is observed to see if it decreases. If it continues to decrease, the phase is continuously adjusted in one direction until the vibration acceleration stops decreasing. The first harmonic voltage is then recorded.

[0120] D2: During the harmonic voltage injection process, the harmonic voltage is adjusted using the fully redundant controller B board until the vibration acceleration of the motor is maintained at a fixed value, and then the second harmonic voltage is recorded.

[0121] During the harmonic voltage injection process, the harmonic voltage is adjusted using the fully redundant controller B board, increasing or decreasing in increments of 10°. The corresponding order vibration acceleration is observed to see if it decreases. If it continues to decrease, the phase is continuously adjusted in one direction until the vibration acceleration stops decreasing. The second harmonic voltage is then recorded.

[0122] D3: Determine the first harmonic voltage and the second harmonic voltage as the current harmonic voltage.

[0123] C5: Injects the current harmonic voltage into the direct and quadrature axes of the motor, and collects the current direct axis current data and the current quadrature axis current data of the motor.

[0124] C6: Perform FFT analysis on the current direct-axis current data and the current quadrature-axis current data to obtain the current harmonic content of the current harmonic order.

[0125] It is understandable that performing a fast Fourier transform on the current direct-axis current data and the current quadrature-axis current data converts the time-domain signal into a frequency-domain signal, thereby obtaining the amplitude of different frequency components. From the amplitude of different frequency components, the current harmonic content of the current harmonic order can be obtained.

[0126] C7: Perform FFT analysis on the original direct-axis current data and the original quadrature-axis current data to obtain the original harmonic content of the current harmonic order.

[0127] It should be noted that the specific implementation method of process C7 can be found in process C6, and will not be repeated here.

[0128] C8: If the current harmonic content is a preset multiple of the original harmonic content, then add the current phase to the sinusoidal AC signal to obtain the calibrated sinusoidal AC signal.

[0129] The preset multiplier includes, but is not limited to, 0.5 times.

[0130] It should be noted that the motor is first controlled to rotate forward, and then processes C2 to C8 are executed. After the forward rotation calibration is completed, the motor is then controlled to rotate in reverse, and processes C2 to C8 are executed again. After the forward and reverse rotations are completed, the calibrated sinusoidal AC signal is obtained.

[0131] B2: Based on the calibrated sinusoidal AC signal, current harmonic order, direct-axis AC voltage, and quadrature-axis AC voltage, calculate the direct-axis compensation voltage and quadrature-axis compensation voltage.

[0132] Specifically, the direct-axis compensation voltage is calculated based on the calibrated sinusoidal AC signal, current harmonic order, and direct-axis AC voltage. Its specific form is: u d_com =u d2 *(n*sin(we*t)+u d / q_Phase ). Among them, u d_com For direct-axis compensation voltage, u d / q_Phase The calibrated sinusoidal AC signal is represented by we, where we is the electric angular velocity of the motor, and t is the time.

[0133] Specifically, the quadrature-axis compensation voltage is calculated based on the calibrated sinusoidal AC signal, current harmonic order, and quadrature-axis AC voltage. Its specific form is: u q_com =u q2 *(n*sin(w0*t)+u d / q_Phase ). Among them, u q_com This is the quadrature-axis compensation voltage, and ud / q_Phase is the current phase.

[0134] S107: Calculate the sum of the direct-axis DC voltage and the direct-axis compensation voltage to obtain the final direct-axis voltage.

[0135] The specific form for calculating the sum of the direct-axis DC voltage and the direct-axis compensation voltage is: u d =u d1 +u d_com , where u d This is the final direct-axis voltage.

[0136] S108: Calculate the sum of the quadrature-axis DC voltage and the quadrature-axis compensation voltage to obtain the final quadrature-axis voltage.

[0137] The specific form for calculating the sum of the quadrature-axis DC voltage and the quadrature-axis compensation voltage is: u q =u q1 +uq_com , where u q This is the final direct-axis voltage.

[0138] S109: Suppress motor vibration and noise based on the final direct-axis voltage and the final quadrature-axis voltage.

[0139] Specifically, by controlling the final direct-axis voltage and the final quadrature-axis voltage, vibration noise of the motor at specific frequencies can be reduced or eliminated. For example, a resonant controller can be used to suppress harmonics, or the vibration caused by harmonics can be reduced during motor operation by optimizing the PI controller and harmonic injection strategies.

[0140] In summary, the harmonic voltage amplitude is first extracted using closed-loop control, and then the phase of the harmonic voltage (i.e., the sinusoidal signal) is calibrated using open-loop control. By combining closed-loop and open-loop harmonic injection, the system has high stability and is less prone to instability due to inappropriate parameters.

[0141] like Figure 3 The diagram shown is a schematic of the architecture of a motor vibration noise suppression device provided in an embodiment of this application. The suppression device includes: an acquisition unit 100, an input unit 200, an adjustment unit 300, a recording unit 400, an extraction unit 500, a determination unit 600, a first calculation unit 700, a second calculation unit 800, and a third calculation unit 900.

[0142] The acquisition unit 100 is used to acquire the harmonic order of the direct-axis and quadrature-axis currents of the motor, the target current of the direct-axis current, and the target current of the quadrature-axis current.

[0143] The acquisition unit 100 is specifically used for: acquiring the direct-axis target current and quadrature-axis target current of the motor; controlling the motor to rotate to a fixed speed and acquiring the direct-axis current data and quadrature-axis current data of the motor; performing FFT analysis on the direct-axis current data and quadrature-axis current data to obtain the amplitude information of each frequency; filtering out the amplitude information of the largest frequency from all the amplitude information, and determining the harmonic order corresponding to the amplitude information of the largest frequency as the harmonic order of the direct-axis and quadrature-axis currents.

[0144] The input unit 200 is used to input the direct-axis target current and the quadrature-axis target current into the PI controller to obtain the direct-axis DC voltage and the quadrature-axis DC voltage.

[0145] Adjustment unit 300 is used to add an R controller to the PI controller and adjust the PIR controller parameters.

[0146] The recording unit 400 is used to record the vibration acceleration and harmonic components of each current harmonic order during the adjustment of the PIR controller parameters.

[0147] Extraction unit 500 is used to filter out the smallest vibration acceleration and harmonic component from all vibration acceleration and harmonic components, and extract the direct-axis AC voltage and quadrature-axis AC voltage corresponding to the smallest vibration acceleration and harmonic component.

[0148] The determining unit 600 is used to determine the direct-axis compensation voltage and the quadrature-axis compensation voltage based on the current harmonic order, the direct-axis AC voltage, the quadrature-axis AC voltage, and the sinusoidal AC signal.

[0149] The determining unit 600 includes:

[0150] The calibration unit is used to calibrate the sinusoidal AC signal to obtain the calibrated sinusoidal AC signal.

[0151] The calibration unit includes:

[0152] The control unit is used to control the rotation of the motor.

[0153] The fifth calculation unit is used to calculate the harmonic voltage based on the quadrature-axis AC voltage and harmonic order during the rotation of the motor.

[0154] The injection unit is used to inject harmonic voltages into the direct and quadrature axes using a fully redundant controller AB board.

[0155] The target adjustment unit is used to adjust the harmonic voltage during the harmonic voltage injection process until the vibration acceleration of the motor is maintained at a fixed value, and then record the current harmonic voltage and the current phase.

[0156] The target adjustment unit is specifically used for: during the harmonic voltage injection process, adjusting the harmonic voltage using the fully redundant controller A board until the vibration acceleration of the motor remains at a fixed value, and recording the first harmonic voltage; during the harmonic voltage injection process, adjusting the harmonic voltage using the fully redundant controller B board until the vibration acceleration of the motor remains at a fixed value, and recording the second harmonic voltage; and determining the first harmonic voltage and the second harmonic voltage as the current harmonic voltage.

[0157] The acquisition unit is used to inject the current harmonic voltage into the direct shaft and quadrature shaft of the motor, and to acquire the current direct shaft current data and the current quadrature shaft current data of the motor.

[0158] The first analysis unit is used to perform FFT analysis on the current direct-axis current data and the current quadrature-axis current data to obtain the current harmonic content of the current harmonic order.

[0159] The second analysis unit is used to perform FFT analysis on the original direct-axis current data and the original quadrature-axis current data to obtain the original harmonic content of the current harmonic order.

[0160] An addition unit is used to add the current phase to the sinusoidal AC signal if the current harmonic content is a preset multiple of the original harmonic content, so as to obtain the calibrated sinusoidal AC signal.

[0161] The fourth calculation unit is used to calculate the direct-axis compensation voltage and the quadrature-axis compensation voltage based on the calibrated sinusoidal AC signal, current harmonic order, direct-axis AC voltage, and quadrature-axis AC voltage.

[0162] The first calculation unit 700 is used to calculate the sum of the direct-axis DC voltage and the direct-axis compensation voltage to obtain the final direct-axis voltage.

[0163] The second calculation unit 800 is used to calculate the sum of the quadrature-axis DC voltage and the quadrature-axis compensation voltage to obtain the final quadrature-axis voltage.

[0164] The third calculation unit 900 is used to suppress motor vibration noise based on the final direct-axis voltage and the final quadrature-axis voltage.

[0165] In summary, the harmonic voltage amplitude is first extracted using closed-loop control, and then the phase of the harmonic voltage (i.e., the sinusoidal signal) is calibrated using open-loop control. By combining closed-loop and open-loop harmonic injection, the system has high stability and is less prone to instability due to inappropriate parameters.

[0166] The various embodiments in this 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. In particular, for system or system embodiments, since they are fundamentally similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. Components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0167] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0168] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for suppressing motor vibration noise, characterized in that, include: Obtain the harmonic order of the direct-axis and quadrature-axis currents of the motor, as well as the target current of the direct-axis and quadrature-axis currents; The direct-axis target current and quadrature-axis target current are input into the PI controller to obtain the direct-axis DC voltage and quadrature-axis DC voltage. Add an R controller to the PI controller and adjust the PIR controller parameters; During the adjustment of the PIR controller parameters, the vibration acceleration and harmonic components of each current harmonic order are recorded. From all vibration acceleration and harmonic components, the smallest vibration acceleration and harmonic component is selected, and the direct-axis AC voltage and quadrature-axis AC voltage corresponding to the smallest vibration acceleration and harmonic component are extracted. Based on the current harmonic order, the direct-axis AC voltage, the quadrature-axis AC voltage, and the sinusoidal AC signal, determine the direct-axis compensation voltage and the quadrature-axis compensation voltage; Calculate the sum of the direct-axis DC voltage and the direct-axis compensation voltage to obtain the final direct-axis voltage; Calculate the sum of the quadrature-axis DC voltage and the quadrature-axis compensation voltage to obtain the final quadrature-axis voltage; Motor vibration noise is suppressed based on the final direct-axis voltage and the final quadrature-axis voltage.

2. The method according to claim 1, characterized in that, The acquisition of the harmonic orders of the direct-axis and quadrature-axis currents of the motor, the target direct-axis current, and the target quadrature-axis current includes: Collect the direct-axis target current and quadrature-axis target current of the motor; The motor is controlled to rotate to a fixed speed, and the direct-axis current data and quadrature-axis current data of the motor are collected; FFT analysis is performed on the direct-axis current data and the quadrature-axis current data to obtain the amplitude information of each frequency; The amplitude information of the largest frequency is selected from the amplitude information of all frequencies, and the harmonic order corresponding to the amplitude information of the largest frequency is determined as the harmonic order of the direct axis and quadrature axis current.

3. The method according to claim 1, characterized in that, The step of determining the direct-axis compensation voltage and the quadrature-axis compensation voltage based on the current harmonic order, the direct-axis AC voltage, the quadrature-axis AC voltage, and the sinusoidal AC signal includes: The sinusoidal AC signal is calibrated to obtain the calibrated sinusoidal AC signal. Based on the calibrated sinusoidal AC signal, the current harmonic order, the direct-axis AC voltage, and the quadrature-axis AC voltage, the direct-axis compensation voltage and the quadrature-axis compensation voltage are calculated.

4. The method according to claim 3, characterized in that, The calibration of the sinusoidal AC signal to obtain the calibrated sinusoidal AC signal includes: Control the motor rotation; During the rotation of the motor, the harmonic voltage is calculated based on the quadrature-axis AC voltage and the harmonic order. The harmonic voltages are injected into the direct and quadrature axes using a fully redundant controller AB board. During the harmonic voltage injection process, the harmonic voltage is adjusted until the vibration acceleration of the motor is maintained at a fixed value, and the current harmonic voltage and current phase are recorded. The current harmonic voltage is injected into the direct axis and quadrature axis of the motor, and the current direct axis current data and current quadrature axis current data of the motor are collected. Perform FFT analysis on the current direct-axis current data and the current quadrature-axis current data to obtain the current harmonic content of the current harmonic order; FFT analysis was performed on the original direct-axis current data and the original quadrature-axis current data to obtain the original harmonic content of the current harmonic order; If the current harmonic content is a preset multiple of the original harmonic content, then the current phase is added to the sinusoidal AC signal to obtain the calibrated sinusoidal AC signal.

5. The method according to claim 4, characterized in that, During the harmonic voltage injection process, the harmonic voltage is adjusted until the vibration acceleration of the motor remains at a fixed value, and the current harmonic voltage is recorded, including: During the harmonic voltage injection process, the harmonic voltage is adjusted using the fully redundant controller A board until the vibration acceleration of the motor is maintained at a fixed value, and the first harmonic voltage is recorded. During the harmonic voltage injection process, the harmonic voltage is adjusted using the fully redundant controller B board until the vibration acceleration of the motor is maintained at a fixed value, and then the second harmonic voltage is recorded. The first harmonic voltage and the second harmonic voltage are determined as the current harmonic voltage.

6. A device for suppressing motor vibration noise, characterized in that, include: The acquisition unit is used to acquire the harmonic order of the direct-axis and quadrature-axis currents of the motor, the target current of the direct-axis current, and the target current of the quadrature-axis current. The input unit is used to input the direct-axis target current and the quadrature-axis target current into the PI controller to obtain the direct-axis DC voltage and the quadrature-axis DC voltage; An adjustment unit is used to add an R controller to the PI controller and adjust the PIR controller parameters; The recording unit is used to record the vibration acceleration and harmonic components of each current harmonic order during the adjustment of the PIR controller parameters. The extraction unit is used to filter out the smallest vibration acceleration and harmonic component from all vibration acceleration and harmonic components, and extract the direct-axis AC voltage and quadrature-axis AC voltage corresponding to the smallest vibration acceleration and harmonic component. The determining unit is used to determine the direct-axis compensation voltage and the quadrature-axis compensation voltage based on the current harmonic order, the direct-axis AC voltage, the quadrature-axis AC voltage, and the sinusoidal AC signal. The first calculation unit is used to calculate the sum of the direct-axis DC voltage and the direct-axis compensation voltage to obtain the final direct-axis voltage; The second calculation unit is used to calculate the sum of the quadrature-axis DC voltage and the quadrature-axis compensation voltage to obtain the final quadrature-axis voltage; The third calculation unit is used to suppress motor vibration noise based on the final direct-axis voltage and the final quadrature-axis voltage.

7. The apparatus according to claim 6, characterized in that, The acquisition unit is specifically used for: Collect the direct-axis target current and quadrature-axis target current of the motor; The motor is controlled to rotate to a fixed speed, and the direct-axis current data and quadrature-axis current data of the motor are collected; FFT analysis is performed on the direct-axis current data and the quadrature-axis current data to obtain the amplitude information of each frequency; The amplitude information of the largest frequency is selected from the amplitude information of all frequencies, and the harmonic order corresponding to the amplitude information of the largest frequency is determined as the harmonic order of the direct axis and quadrature axis current.

8. The apparatus according to claim 6, characterized in that, The determining unit includes: The calibration unit is used to calibrate the sinusoidal AC signal to obtain the calibrated sinusoidal AC signal. The fourth calculation unit is used to calculate the direct-axis compensation voltage and the quadrature-axis compensation voltage based on the calibrated sinusoidal AC signal, the current harmonic order, the direct-axis AC voltage, and the quadrature-axis AC voltage.

9. The apparatus according to claim 8, characterized in that, The calibration unit includes: The control unit is used to control the rotation of the motor; The fifth calculation unit is used to calculate the harmonic voltage based on the quadrature-axis AC voltage and the harmonic order during the rotation of the motor. An injection unit is used to inject the harmonic voltage into the direct axis and quadrature axis using a fully redundant controller AB board; The target adjustment unit is used to adjust the harmonic voltage during the harmonic voltage injection process until the vibration acceleration of the motor is maintained at a fixed value, and then record the current harmonic voltage and the current phase. The acquisition unit is used to inject the current harmonic voltage into the direct axis and quadrature axis of the motor, and to acquire the current direct axis current data and the current quadrature axis current data of the motor. The first analysis unit is used to perform FFT analysis on the current direct-axis current data and the current quadrature-axis current data to obtain the current harmonic content of the current harmonic order. The second analysis unit is used to perform FFT analysis on the original direct-axis current data and the original quadrature-axis current data to obtain the original harmonic content of the current harmonic order. An adding unit is used to add the current phase to the sinusoidal AC signal if the current harmonic content is a preset multiple of the original harmonic content, so as to obtain a calibrated sinusoidal AC signal.

10. The apparatus according to claim 8, characterized in that, The target adjustment unit is specifically used for: During the harmonic voltage injection process, the harmonic voltage is adjusted using the fully redundant controller A board until the vibration acceleration of the motor is maintained at a fixed value, and the first harmonic voltage is recorded. During the harmonic voltage injection process, the harmonic voltage is adjusted using the fully redundant controller B board until the vibration acceleration of the motor is maintained at a fixed value, and then the second harmonic voltage is recorded. The first harmonic voltage and the second harmonic voltage are determined as the current harmonic voltage.

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