Motor control device, motor module, and electronic device
By setting a compensation coefficient determination module in the motor control device, the real-time bus voltage is obtained and compensated, which solves the torque pulsation problem caused by bus voltage fluctuation, realizes high-precision and stable motor control, and reduces hardware costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-09
- Publication Date
- 2026-03-10
AI Technical Summary
Existing technologies improve torque ripple caused by bus voltage fluctuations by adding electrolytic capacitors or die inductors, but this increases hardware costs.
The real-time bus voltage of the motor is obtained by setting the compensation coefficient, the voltage compensation coefficient is determined, and the α-axis voltage, β-axis voltage or three-phase PWM control signal is compensated to offset the influence of voltage fluctuation.
It reduces motor torque ripple, improves system control accuracy and stability, reduces motor operating noise, and eliminates the need for additional electrolytic capacitors or common-mode inductors, thus reducing costs.
Smart Images
Figure CN121643545A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of motor control technology, and in particular to a motor control device, motor module and electronic equipment. Background Technology
[0002] Voltage ripple on the bus has several causes. For example, when a brushless motor is operating, the upper and lower arms of the inverter do not simultaneously open or close completely. This means that the current loop between the DC bus and the motor windings is constantly changing. The continuous switching of the upper and lower arms causes the bus capacitor to charge and discharge continuously, resulting in corresponding voltage fluctuations, especially when the bus capacitor is small. Secondly, the input power network of the high-speed fan is AC mains power. After AC-DC rectification, if the capacitance of the electrolytic capacitor used at the downstream end is small, a large ripple voltage with a frequency of 100Hz (corresponding to a 50Hz mains grid) or 120Hz (corresponding to a 60Hz mains grid) will exist on the DC bus. The generated ripple will be transmitted to the output voltage through the space vector pulse width modulator, causing distortion of the output current, resulting in torque pulsation, noise, and additional losses, directly affecting the performance of the motor control system.
[0003] To mitigate the periodic torque pulsation caused by bus voltage fluctuations, common practices include increasing the capacitance of the electrolytic capacitor after the rectifier bridge; the larger the capacitance, the more stable the bus voltage. Alternatively, a pre-amplifier inductor can be added before the rectifier bridge to utilize the energy storage characteristics of the inductor's magnetic field, smoothing current fluctuations, reducing the instantaneous demand for capacitor charging and discharging, and indirectly reducing bus voltage ripple.
[0004] However, improving torque ripple from power supply ripple by increasing the capacitance of electrolytic capacitors or the inductance of modular inductors increases hardware costs. Summary of the Invention
[0005] In view of this, the present disclosure provides a motor control device, the device comprising:
[0006] The compensation coefficient determination module is used to obtain the real-time bus voltage of the motor and determine the voltage compensation coefficient based on the real-time bus voltage.
[0007] A current sampling module, connected to a three-phase inverter, is used to collect the three-phase current of the motor;
[0008] The transformation module, connected to the current sampling module, is used to perform coordinate axis transformation on the three-phase current and determine the d-axis current and q-axis current in combination with the motor rotor position information;
[0009] A PI control module, connected to the conversion module, is used to determine the d-axis voltage command and the q-axis voltage command based on the d-axis current, the q-axis current, the given d-axis current, and the given q-axis current.
[0010] The transformation module is also used to convert the d-axis voltage command and the q-axis voltage command into α-axis voltage and β-axis voltage in a stationary coordinate system;
[0011] The SVPWM control module, connected to the conversion module, is used to generate three-phase PWM control signals based on the α-axis voltage and the β-axis voltage to drive the three-phase inverter and control the motor operation.
[0012] The voltage compensation coefficient is applied to the α-axis voltage, the β-axis voltage, or the voltage compensation coefficient is applied to the three-phase PWM control signal.
[0013] In one possible implementation, the compensation coefficient determination module includes:
[0014] A voltage sampling unit is used to sample the bus voltage of the motor in real time and output the real-time bus voltage.
[0015] A filtering unit, connected to the voltage sampling unit, is used to perform low-pass filtering on the real-time bus voltage and output the filtered real-time bus voltage.
[0016] A compensation coefficient determination unit is connected to the filtering unit and the voltage sampling unit, and is used to determine the compensation coefficient based on the real-time bus voltage and the filtered real-time bus voltage.
[0017] In one possible implementation, the voltage sampling unit includes a voltage divider filter unit and a sampling unit, wherein the voltage divider filter unit includes a resistor unit, a third resistor, a fourth resistor, and a first capacitor, wherein the resistor unit includes a first resistor and a second resistor.
[0018] The first terminal of the first resistor is connected to the bus voltage, and the second terminal of the first resistor is connected to the first terminal of the second resistor.
[0019] The second end of the second resistor is connected to the first end of the third resistor and the first end of the fourth resistor.
[0020] The second terminal of the fourth resistor is connected to the first terminal of the first capacitor to output a voltage divider signal to the sampling unit, so that the sampling unit outputs the real-time bus voltage.
[0021] The second terminal of the third resistor and the second terminal of the first capacitor are grounded.
[0022] In one possible implementation, determining the compensation coefficient based on the real-time bus voltage and the filtered real-time bus voltage includes:
[0023] Determine the difference between the filtered real-time bus voltage and the real-time bus voltage;
[0024] The compensation coefficient is determined based on the ratio of the difference to the real-time bus voltage.
[0025] In one possible implementation, the voltage compensation coefficient acts on the α-axis voltage and the β-axis voltage, including:
[0026] For the voltage of any axis, multiply the voltage compensation coefficient by the voltage of that axis;
[0027] The sum of the multiplication result and the voltage of the corresponding axis is used as the compensated voltage of that axis.
[0028] In one possible implementation, the voltage compensation coefficient acts on the three-phase PWM control signal, including:
[0029] For any phase of the PWM control signal, the voltage compensation coefficient is multiplied by the PWM control signal of that phase;
[0030] The sum of the multiplication result and the corresponding phase's PWM control signal is used as the compensated PWM control signal for that phase.
[0031] In one possible implementation, the device further includes:
[0032] A position sensor is used to detect the position information of the motor rotor.
[0033] According to one aspect of this disclosure, a motor module is provided, the motor module comprising:
[0034] Electric motor; and
[0035] The aforementioned motor control device.
[0036] According to one aspect of this disclosure, an electronic device is provided, the electronic device including the motor module described above.
[0037] In one possible implementation, the electronic device includes a duct.
[0038] This embodiment obtains the real-time bus voltage of the motor by setting a compensation coefficient determination module, determines the voltage compensation coefficient based on the real-time bus voltage, and compensates for the α-axis voltage and the β-axis voltage, or compensates for the three-phase PWM control signal. This can offset the influence of voltage fluctuations in advance in the control loop, reduce motor torque pulsation, improve system control accuracy and stability, reduce motor operating noise, and eliminate the need for adding electrolytic capacitors and common-mode inductors, resulting in lower cost compared to related technologies.
[0039] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description
[0040] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this disclosure together with the specification and serve to explain the principles of this disclosure.
[0041] Figure 1 A block diagram of a motor control device according to an embodiment of the present disclosure is shown.
[0042] Figure 2 A schematic diagram of the control architecture of a three-phase motor according to an embodiment of the present disclosure is shown.
[0043] Figure 3 A block diagram of a compensation coefficient determination module according to an embodiment of the present disclosure is shown.
[0044] Figure 4 A schematic diagram of the circuit structure of a voltage sampling unit according to an embodiment of the present disclosure is shown. Detailed Implementation
[0045] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.
[0046] As used herein, the terms “comprising,” “including,” “having,” or variations thereof are open-ended and include one or more of the stated features, integrals, elements, steps, components, or functions, but do not exclude the presence or addition of one or more other features, integrals, elements, steps, components, functions, or groups thereof.
[0047] When an element is referred to as “connected,” “coupled,” “responding,” or a variation thereof relative to another element, it may be directly connected, coupled, or responding to another element, or there may be an intermediate element present.
[0048] Although the terms first, second, third, etc., may be used herein to describe various elements / operations, these elements / operations should not be limited by these terms. These terms are only used to distinguish one element / operation from another. Therefore, without departing from the teachings of the inventive concept, a first element / operation in some embodiments may be referred to as a second element / operation in other embodiments.
[0049] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.
[0050] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.
[0051] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, data stored, data displayed, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant regions.
[0052] Please see Figure 1 , Figure 1 A block diagram of a motor control device according to an embodiment of the present disclosure is shown.
[0053] like Figure 1 As shown, the device includes:
[0054] The compensation coefficient determination module 10 is used to obtain the real-time bus voltage of the motor 70 and determine the voltage compensation coefficient based on the real-time bus voltage.
[0055] The current sampling module 20 is connected to the three-phase inverter 60 and is used to collect the three-phase current of the motor 70;
[0056] The transformation module 30 is connected to the current sampling module 20 and is used to transform the three-phase current into coordinate axes and determine the d-axis current and q-axis current in combination with the motor rotor position information.
[0057] A PI (proportional-integral) adjustment module 40 is connected to the conversion module 30 and is used to determine the d-axis voltage command and the q-axis voltage command based on the d-axis current, the q-axis current, the given d-axis current, and the given q-axis current.
[0058] The transformation module 30 is further configured to convert the d-axis voltage command and the q-axis voltage command into α-axis voltage and β-axis voltage in a stationary coordinate system.
[0059] The SVPWM (Space Vector Pulse Width Modulation) control module 50, connected to the conversion module 30, is used to generate a three-phase PWM control signal based on the α-axis voltage and the β-axis voltage to drive the three-phase inverter 60 to control the operation of the motor (70).
[0060] The voltage compensation coefficient is applied to the α-axis voltage, the β-axis voltage, or the voltage compensation coefficient is applied to the three-phase PWM control signal.
[0061] This embodiment of the invention obtains the real-time bus voltage of the motor 70 by setting a compensation coefficient determination module 10, determines the voltage compensation coefficient based on the real-time bus voltage, and compensates for the α-axis voltage and the β-axis voltage, or compensates for the three-phase PWM control signal. This can offset the influence of voltage fluctuations in advance in the control loop, reduce the torque pulsation of the motor 70, improve the system control accuracy and stability, reduce the operating noise of the motor 70, and eliminate the need to add electrolytic capacitors and common-mode inductors, resulting in lower costs compared to related technologies.
[0062] The motor 70 in this embodiment is a three-phase motor, for example, it can be a three-phase brushless DC motor.
[0063] This disclosure does not limit the specific implementation of each module in the control architecture of the three-phase motor, nor does it limit the specific method for implementing the function of each module. Those skilled in the art can implement the current sampling module 20, the conversion module 30, the PI adjustment module 40, and the SVPWM control module 50 according to the actual situation and needs, with reference to relevant technologies.
[0064] In one possible implementation, the device further includes a position sensor for detecting the position information of the motor rotor.
[0065] The embodiments disclosed herein do not limit the specific implementation of the position sensor. Those skilled in the art can implement it by referring to relevant technologies according to actual conditions and needs, such as encoders, Hall sensors, etc.
[0066] Furthermore, the embodiments of this disclosure are not limited to obtaining motor rotor position information through position sensors. For example, the embodiments of this disclosure can also employ a sensorless approach. Sensorless technology is a technique in motor control that does not rely on physical position sensors, but estimates rotor position / speed from motor electrical signals using algorithms. The core is to replace traditional position sensors and adapt to the motor control's requirements for rotor position information. For example, the electromagnetic characteristics of the motor itself (such as the back electromotive force of a permanent magnet synchronous motor or the inductance asymmetry of a salient pole motor) can be utilized to collect measurable signals such as phase voltage and phase current, and combined with a motor mathematical model or a specific excitation signal to calculate the rotor position angle. Of course, the specific implementation of the sensorless technical solution is not limited in the embodiments of this disclosure; those skilled in the art can refer to relevant technologies to implement it according to actual conditions and needs.
[0067] Please see Figure 2 , Figure 2A schematic diagram of the control architecture of a three-phase motor according to an embodiment of the present disclosure is shown.
[0068] For example, such as Figure 2 As shown, the transformation module 30 may include a Clarke transformation unit 310, a Park transformation unit 320, and an inverse Park transformation unit 330, wherein the Clarke transformation unit 310 is used to perform the Clarke transformation, the Park transformation unit 320 is used to perform the Park transformation, and the inverse Park transformation unit 330 is used to perform the inverse Park transformation.
[0069] For example, such as Figure 2 As shown, the PI control module 40 may include a first adder 410, a first PI controller 420, a second adder 430, and a second PI controller 440.
[0070] For example, such as Figure 2 As shown, the current sampling module 20 can sample the three-phase current. The three-phase current is processed by the Clarke transformer unit 310. Perform the Clarke transformation (converting the three-phase stationary abc coordinate system to a two-phase stationary αβ coordinate system) to obtain the current in the two-phase stationary coordinate system. .
[0071] For example, such as Figure 2 As shown, in this embodiment of the disclosure, the position information of the motor rotor (such as the motor rotor position angle θ) can be obtained through a position sensor (not shown), and the Parker converter unit 320 can convert the current... By performing a Parker transformation (converting the two-phase stationary αβ coordinate system to a dq rotating coordinate system synchronized with the rotor) based on the motor rotor position angle θ, the actual current in the dq rotating coordinate system, i.e., the d-axis current, is obtained. q-axis current .
[0072] For example, such as Figure 2 As shown, for d-axis PI control, this embodiment of the present disclosure can utilize the second adder 430 to combine the given current id_ref with the actual feedback current, i.e., the d-axis current. The difference is calculated, and the error signal is input to the d-axis PI controller (second PI controller 440), which outputs the d-axis voltage command in the dq coordinate system. .
[0073] For example, such as Figure 2 As shown, for q-axis PI regulation, this embodiment of the disclosure can utilize the first adder 410 to provide a given current. The actual feedback current, i.e., the q-axis current The difference is calculated, and the error signal is input to the q-axis PI controller (first PI controller 420), which outputs the q-axis voltage command in the dq coordinate system. .
[0074] For example, such as Figure 2 As shown, the Parker inverse transformer unit 330 can combine the motor rotor position angle θ with the voltage command. Perform the inverse Park transformation (converting the dq rotating coordinate system to a two-phase stationary αβ coordinate system) to obtain the α-axis voltage in the αβ coordinate system (stationary coordinate system). β-axis voltage .
[0075] Among them, such as Figure 2 As shown, the voltage compensation coefficient can be applied to the α-axis voltage. β-axis voltage For voltage Adjustments and compensations can be made, for example, through the α-axis voltage. The compensation amount for the α-axis is obtained by multiplying the product with the compensation coefficient. α-axis voltage Superimposed compensation amount The compensated α axis Similarly, β-axis voltage Compensation can be stacked. The compensated β axis Then, the compensated α axis can be... and the compensated β axis The signal is sent to the SVPWM control module 50 to generate a three-phase PWM control signal. ).
[0076] Of course, such as Figure 2 As shown, the embodiments of this disclosure can also use voltage. The signal is directly fed into the SVPWM control module 50. After adjusting the control signal using voltage compensation parameters, the SVPWM control module 50 outputs a three-phase PWM control signal. For example, for any phase of the PWM control signal, the voltage compensation coefficient is multiplied by the PWM control signal of that phase; the sum of the multiplication result and the corresponding phase's PWM control signal is used as the compensated PWM control signal for that phase.
[0077] The embodiments disclosed herein do not limit the implementation method of the SVPWM control module 50. Those skilled in the art can refer to relevant technologies to implement it according to actual conditions and needs.
[0078] As an example, the implementation of the SVPWM control module 50 may include four steps. The first step may be to obtain a reference voltage vector, which is obtained by the current closed-loop regulation output (such as the αβ-axis reference voltage Uα obtained by inverse Park transformation of the dq-axis voltage). 、Uβ This includes the magnitude and direction information required for the magnetic field. The second step can be sector determination, dividing the αβ coordinate system into 6 sectors, based on Uα... 、Uβ The sign and ratio of the vector determine the sector where the reference vector is located, thus identifying the two adjacent effective vectors involved in the synthesis. The third step can be time calculation, establishing equations based on the vector synthesis principle to solve for the action times of the two effective vectors and the zero vector, ensuring the equivalence of the synthesized vectors. The fourth step can be generating a three-phase PWM control signal (…). Based on the switching sequence corresponding to the sector, the vector action time is converted into the turn-on and turn-off signals of each bridge arm of the inverter to control the switching of power devices.
[0079] For example, such as Figure 2 As shown, the three-phase PWM control signal ( It can drive a three-phase inverter 60 to convert DC voltage into three-phase AC voltage, supply it to the motor 70, and finally drive the motor 70 to run.
[0080] For example, throughout the entire process, the position sensor can continuously acquire the rotor position angle θ, providing a synchronous angle for Park transformation and inverse Park transformation, ensuring the accuracy of coordinate transformation, and forming a complete current closed-loop vector control.
[0081] Of course, the above description of the control loop is exemplary, and those skilled in the art can change the implementation of the control loop according to the actual situation and needs. This disclosure does not limit the implementation of the control loop.
[0082] The present disclosure does not limit the specific implementation of the compensation coefficient determination module 10. Those skilled in the art can adopt appropriate technologies to implement it according to actual conditions and needs.
[0083] Please see Figure 3 , Figure 3 A block diagram of a compensation coefficient determination module 10 according to an embodiment of the present disclosure is shown.
[0084] For example, in one possible implementation, such as Figure 3 As shown, the compensation coefficient determination module 10 may include:
[0085] The voltage sampling unit 110 is used to sample the bus voltage of the motor 70 in real time and output the real-time bus voltage.
[0086] The filtering unit 120 is connected to the voltage sampling unit 110 and is used to perform low-pass filtering on the real-time bus voltage and output the filtered real-time bus voltage (VDC_REF).
[0087] The compensation coefficient determination unit 130 is connected to the filtering unit 120 and the voltage sampling unit 110, and is used to determine the compensation coefficient based on the real-time bus voltage and the filtered real-time bus voltage.
[0088] In this embodiment, the voltage sampling unit 110 samples the bus voltage of the motor 70 in real time and outputs the real-time bus voltage. The filtering unit 120 performs low-pass filtering on the real-time bus voltage and outputs the filtered real-time bus voltage. Then, the compensation coefficient determination unit 130 determines the compensation coefficient based on the real-time bus voltage and the filtered real-time bus voltage, which can extract the periodic fluctuations of the bus voltage and thus determine the corresponding compensation coefficient.
[0089] The present disclosure does not limit the specific implementation of the voltage sampling unit 110. Those skilled in the art can use appropriate technical means to implement it according to actual conditions and needs. The preferred implementation methods are described below.
[0090] Please see Figure 4 , Figure 4 A schematic diagram of the circuit structure of a voltage sampling unit 110 according to an embodiment of the present disclosure is shown.
[0091] In one possible implementation, the voltage sampling unit 110 includes a voltage divider filter unit 1111 and a sampling unit 1112, wherein, as Figure 4 As shown, the voltage divider filter unit 1111 includes a resistor unit 11110, a third resistor R3, a fourth resistor R4, and a first capacitor C1. The resistor unit 11110 includes a first resistor R1 and a second resistor R2.
[0092] The first terminal of the first resistor R1 is connected to the bus voltage (UDC), and the second terminal of the first resistor R1 is connected to the first terminal of the second resistor R2.
[0093] The second end of the second resistor R2 is connected to the first end of the third resistor R3 and the first end of the fourth resistor R4.
[0094] The second end of the fourth resistor R4 is connected to the first end of the first capacitor C1, and is used to output a voltage divider signal V0 to the sampling unit 1112 so that the sampling unit 1112 outputs the real-time bus voltage (VDC).
[0095] The second terminal of the third resistor R3 and the second terminal of the first capacitor C1 are grounded.
[0096] The implementation of the sampling unit 1112 in this embodiment is not limited. Those skilled in the art can set it according to actual conditions and needs. For example, the sampling unit 1112 can be the analog-to-digital converter (ADC) of the MCU in the device, or a separately set ADC sampling unit.
[0097] For example, since the embodiments disclosed in this disclosure do not achieve the best sampling effect, the resistance values of the first resistor R1, the second resistor R2, and the third resistor R3 can be reasonably set (for example, 200KΩ, 200KΩ, and 4.3KΩ respectively) so that the divided voltage signal is less than the reference voltage of the sampling unit 1112.
[0098] It should be noted that although the embodiments of this disclosure are illustrated by taking the resistor unit 11110 including a first resistor R1 and a second resistor R2 as an example, the embodiments of this disclosure are not limited thereto. In other embodiments, the resistor unit 11110 may include one resistor or a combination of two or more resistors (a combination of series and / or parallel). Those skilled in the art can set it according to actual conditions and needs.
[0099] For example, such as Figure 4 As shown, the fourth resistor R4 and the first capacitor C1 can form an RC filter. The specific parameters of the fourth resistor R4 and the first capacitor C1 are not limited in this embodiment, and those skilled in the art can set them according to actual conditions and needs. For example, the parameters of the fourth resistor R4 and the first capacitor C1 can be set to a matching filter time constant of 1~10us, thereby improving the control accuracy of the motor 70 and improving the stability of operation.
[0100] For example, as a preferred embodiment, the fourth resistor R4 can be 1KΩ, and the first capacitor C1 can be 4.7nF / 25V. In this case, the time constant of the filter is... .
[0101] The present disclosure does not limit the specific implementation of the filtering unit 120. For example, the filtering unit 120 can be a first-order digital low-pass filter. In the present disclosure, the filtering unit 120 performs low-pass filtering on the real-time bus voltage output by the sampling unit 1112 to obtain the filtered real-time bus voltage. The filtered real-time bus voltage can be regarded as the ideal value of the bus voltage.
[0102] For example, suppose the typical difference equation for a first-order digital low-pass filter is: ,in These are the filter coefficients, and .
[0103] This disclosure embodiment addresses the filtering coefficients. The specific settings are not limited, and those skilled in the art can set them according to the actual situation and needs. The following is an example.
[0104] Assuming that when the value of a is close to 1, the cutoff frequency is... , where fs is the calculated frequency.
[0105] Assuming AC mains power is either 220V 50Hz or 100V 60Hz, select the filter coefficient based on the preset parameters. The value;
[0106] Calculate the filter coefficients in advance For example, in the case of 220V 50Hz mains power:
[0107] The mains power, after passing through the rectifier bridge, exhibits twice the frequency, i.e., 100Hz. Therefore, the ripple voltage frequency of the bus voltage UDC is 100Hz, and fs can be taken as 25kHz, which can be calculated. In this example, the filter coefficients It can be set to
[0108] This disclosure does not limit the specific implementation of the compensation coefficient determination unit 130. Those skilled in the art can configure it according to actual conditions and needs. For example, the compensation coefficient determination unit 130 may include a processing component. In one example, the processing component includes, but is not limited to, a separate processor, discrete components, or a combination of a processor and discrete components. The processor may include a controller in an electronic device with instruction execution capabilities. The processor can be implemented in any suitable manner, for example, by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components. Within the processor, the executable instructions can be executed through hardware circuits such as logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers.
[0109] In one possible implementation, determining the compensation coefficient based on the real-time bus voltage and the filtered real-time bus voltage may include:
[0110] Determine the difference between the filtered real-time bus voltage and the real-time bus voltage;
[0111] The compensation coefficient is determined based on the ratio of the difference to the real-time bus voltage.
[0112] For example, the compensation coefficient is: , This represents the filtered real-time bus voltage. This represents the real-time bus voltage.
[0113] For example, as mentioned above, the voltage compensation coefficient is applied to the α-axis voltage, the β-axis voltage, or the voltage compensation coefficient is applied to the three-phase PWM control signal.
[0114] In one possible implementation, the voltage compensation coefficient, acting on the α-axis voltage and the β-axis voltage, may include:
[0115] For the voltage of any axis, multiply the voltage compensation coefficient by the voltage of that axis;
[0116] The sum of the multiplication result and the voltage of the corresponding axis is used as the compensated voltage of that axis.
[0117] The voltage compensation coefficient is multiplied by the voltage of the shaft as shown in the following formula:
[0118] .
[0119] in, Indicates the result of multiplication. This represents the α-axis voltage and the β-axis voltage.
[0120] Wherein, the compensated α-axis voltage and β-axis voltage are .
[0121] In one possible implementation, the voltage compensation coefficient acts on the three-phase PWM control signal, including:
[0122] For any phase of the PWM control signal, the voltage compensation coefficient is multiplied by the PWM control signal of that phase;
[0123] The sum of the multiplication result and the corresponding phase's PWM control signal is used as the compensated PWM control signal for that phase.
[0124] The voltage compensation coefficient is multiplied by the PWM control signal of that phase, as shown in the following formula:
[0125] .
[0126] in, This represents the result of multiplying the voltage compensation coefficient by the PWM control signal of that phase. This indicates a three-phase PWM control signal.
[0127] The compensated three-phase PWM control signal is: .
[0128] In this way, the embodiments of the present disclosure can ensure that when the real-time voltage is lower than the ideal value, the compensation value is positive, increasing the system output voltage; when the real-time voltage is higher than the ideal value, the compensation value is negative, decreasing the system output voltage. By adjusting the output voltage in real time, the sudden change in current is reduced, and torque compensation is performed.
[0129] It is worth mentioning that in the aforementioned motor control architecture, the core of the current loop is to adjust the output voltage. or , to make the current Tracking a given current Because the bus voltage UDC fluctuates periodically (decreases or increases), and the PI regulation is lagging, the PI regulator cannot adjust quickly enough, which will cause the torque to fluctuate periodically.
[0130] Therefore, by introducing bus voltage detection and calculating the compensation amount based on voltage fluctuations, the present embodiment of the invention preemptively offsets the impact of voltage fluctuations in the control loop, thus overcoming the shortcomings of insufficient bandwidth in traditional feedback control.
[0131] The technical solution of this disclosure is timely, computationally efficient, and simple to implement. It can significantly reduce the torque pulsation of motor 70, improve the system control accuracy and stability, and reduce the operating noise of motor 70.
[0132] According to one aspect of this disclosure, a motor module is provided, the motor module comprising:
[0133] Electric motor; and
[0134] The aforementioned motor control device.
[0135] According to one aspect of this disclosure, an electronic device is provided, the electronic device including the motor module described above.
[0136] In one possible implementation, the electronic device includes a duct.
[0137] Of course, electronic devices may also include hair dryers, electric drills, lawnmowers, robot vacuum cleaners, and other devices driven by three-phase motors, which are not limited in this disclosure.
[0138] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.
Claims
1. An electric motor control device characterized by comprising: The device comprises: The compensation coefficient determination module is used for acquiring a real-time bus voltage of the motor, and determining a voltage compensation coefficient according to the real-time bus voltage; The current sampling module is connected to the three-phase inverter, and is used for collecting three-phase currents of the motor; The transformation module is connected to the current sampling module, and is used for performing coordinate axis transformation on the three-phase currents, and determining d-axis currents and q-axis currents in combination with motor rotor position information; The PI adjustment module is connected to the transformation module, and is used for determining d-axis voltage instructions and q-axis voltage instructions according to the d-axis currents, the q-axis currents, given d-axis currents and given q-axis currents; The transformation module is further used for converting the d-axis voltage instructions and the q-axis voltage instructions into α-axis voltage and β-axis voltage in a static coordinate system; The SVPWM control module is connected to the transformation module, and is used for generating three-phase PWM control signals according to the α-axis voltage and the β-axis voltage, so as to drive the three-phase inverter to control the motor to operate, Wherein, the voltage compensation coefficient acts on the α-axis voltage and the β-axis voltage, or the voltage compensation coefficient acts on the three-phase PWM control signals.
2. The apparatus of claim 1, wherein, The compensation coefficient determination module comprises: The voltage sampling unit is used for sampling the bus voltage of the motor in real time, and outputs the real-time bus voltage; The filter unit is connected to the voltage sampling unit, and is used for low-pass filtering the real-time bus voltage, and outputs the filtered real-time bus voltage; The compensation coefficient determination unit is connected to the filter unit and the voltage sampling unit, and is used for determining the compensation coefficient according to the real-time bus voltage and the filtered real-time bus voltage.
3. The apparatus of claim 2, wherein, The voltage sampling unit comprises a voltage division filter unit and a sampling unit, wherein the voltage division filter unit comprises a resistor unit, a third resistor, a fourth resistor and a first capacitor, wherein the resistor unit comprises a first resistor and a second resistor, The first end of the first resistor is connected to the bus voltage, and the second end of the first resistor is connected to the first end of the second resistor, The second end of the second resistor is connected to the first end of the third resistor and the first end of the fourth resistor, The second end of the fourth resistor and the first end of the first capacitor are connected, and are used for outputting a voltage division signal to the sampling unit, so that the sampling unit outputs the real-time bus voltage, The second end of the third resistor and the second end of the first capacitor are grounded.
4. The apparatus of claim 2, wherein, The compensation coefficient determination unit is connected to the filter unit and the voltage sampling unit, and is used for determining the compensation coefficient according to the real-time bus voltage and the filtered real-time bus voltage. The compensation coefficient determination unit is connected to the filter unit and the voltage sampling unit, and is used for determining the compensation coefficient according to the real-time bus voltage and the filtered real-time bus voltage. The voltage compensation coefficient acts on the α-axis voltage and the β-axis voltage, comprising:
5. The apparatus of claim 1, wherein, For the voltage of any axis, the voltage compensation coefficient is multiplied by the voltage of the axis; The sum of the multiplication result and the voltage of the corresponding axis is taken as the compensated voltage of the axis. The voltage compensation coefficient acts on the three-phase PWM control signal, comprising:
6. The apparatus of claim 1, wherein, For the PWM control signal of any phase, the voltage compensation coefficient is multiplied by the PWM control signal of the phase; The sum of the multiplication result and the voltage of the corresponding axis is taken as the compensated voltage of the axis. The sum of the multiplication result and the PWM control signal of the corresponding phase is taken as the compensated PWM control signal of the phase.
7. The apparatus of claim 1, wherein, The device further comprises: A position sensor for detecting the motor rotor position information.
8. An electric machine module characterized by The motor module comprises: A motor; and The motor control device according to any one of claims 1-7.
9. An electronic device, comprising: The electronic device comprises the motor module according to claim 8.
10. The electronic device of claim 9, wherein, The electronic device comprises a fan. The electronic device comprises a fan.