Motor control system and method

Abstract

The invention provides a motor control system and method. The system is applied to a multi-winding motor, and comprises a plurality of converters and a controller, the multi-winding motor comprises a plurality of groups of winding structures, and the converters are connected with the corresponding winding structures; the plurality of converters are respectively in communication connection with the controller; the controller is used for collecting operation parameters of the converter, generating a first control signal of the converter based on the operation parameters, and sending the first control signal to the converter; the converter is configured to operate based on the first control signal. According to the mode, a controller is arranged, operation parameters of the converter are collected through the controller, and a first control signal is generated based on the operation parameters, so that the converter is controlled; when the converter breaks down, the operation parameters collected by the controller can change, so that the control signals are adjusted according to the changed operation parameters, the motor is guaranteed to continue to operate normally, the control mode is high in flexibility and redundancy, and the operation stability of the motor is improved.

Description

Technical Field

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

[0002] High-power motors typically contain multiple winding structures, with each winding structure equipped with a converter, thus requiring the control of multiple converters to work in coordination.

[0003] In related technologies, the control methods for multi-winding motors have poor flexibility and redundancy. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a motor control system and method to improve the flexibility and redundancy of the converter control mode and improve the stability of motor operation.

[0005] In a first aspect, embodiments of this application provide a motor control system applied to a multi-winding motor. The system includes: multiple converters and a controller; the multi-winding motor includes multiple winding structures, and the converters are connected to the corresponding winding structures; the multiple converters are respectively communicatively connected to the controller; the controller is used to: collect the operating parameters of the converters, generate a first control signal for the converters based on the operating parameters, and send the first control signal to the converters; the converters are used to: operate based on the first control signal.

[0006] The controller is also connected to a control device; the control device is an external control device of the motor control system; the controller is also used to: receive a second control signal sent by the control device and send the second control signal to the converter; the converter is also used to: operate based on the second control signal.

[0007] The controller is also used to: collect the operating status information of the converter and send the operating status information to the control equipment so as to monitor the operating status of the converter through the control equipment.

[0008] The aforementioned multi-winding motors include multiple motors; multiple multi-winding motors are connected by couplings; each winding structure is connected to a corresponding converter.

[0009] Secondly, embodiments of this application provide a motor control method applied to a multi-winding motor; the method includes: collecting operating parameters of multiple converters connected to each winding of the multi-winding motor; generating a first control signal for the converters based on the operating parameters; and sending the first control signal to the converters to control the converters to operate based on the first control signal.

[0010] The aforementioned operating parameters include: feedback speed and feedback output power; the aforementioned step of generating the first control signal of the converter based on the operating parameters includes: generating a torque current control value based on the feedback speed and a preset given speed; generating a correction value for the torque current control value based on the feedback output power; and generating the first control signal of the converter based on the torque current control value and the correction value of the torque current control value.

[0011] The steps for generating torque current control values ​​based on feedback speed and preset given speed include: generating speed statistics values ​​of feedback speeds corresponding to multiple converters; subtracting the given speed from the speed statistics values ​​to obtain a first intermediate result; and generating torque current control values ​​based on the first intermediate result.

[0012] The above-mentioned step of generating torque current control value based on the first intermediate result includes: inputting the first intermediate result to the first linear regulator and outputting torque current control value.

[0013] The above-mentioned step of generating a correction value for torque current control based on feedback output power includes: correcting the power deviation of feedback output power based on the structural parameters of the winding structure of the converter connection to obtain the correction value for torque current control.

[0014] Each converter corresponds to a torque current control value and a correction value for the torque current control value. The step of generating the first control signal of the converter based on the torque current control value and the correction value of the torque current control value includes: for each converter, superimposing the torque current control value and the correction value of the torque current control value corresponding to the converter to obtain the first control signal of the converter.

[0015] The aforementioned operating parameters include the feedback voltage; the step of generating the first control signal of the converter based on the operating parameters includes: generating a field weakening current control value based on the feedback voltage and a preset given voltage; generating a correction value for the field weakening current control value based on the feedback voltage; and generating the first control signal of the converter based on the field weakening current control value and the correction value of the field weakening current control value.

[0016] The steps for generating field weakening current control values ​​based on feedback voltage and preset given voltage include: generating voltage statistics of feedback voltages corresponding to multiple converters; subtracting the given voltage from the voltage statistics to obtain a second intermediate result; and generating field weakening current control values ​​based on the second intermediate result.

[0017] The above-mentioned step of generating a field weakening current control value based on the second intermediate result includes: inputting the second intermediate result into the second linear regulator and outputting the field weakening current control value.

[0018] The above-mentioned step of generating the correction value of the field weakening current control value based on the feedback voltage includes: correcting the voltage deviation of the feedback voltage based on the structural parameters of the winding structure of the converter connection to obtain the correction value of the field weakening current control value.

[0019] Each converter corresponds to a field weakening current control value and a correction value for the field weakening current control value. The step of generating the first control signal of the converter based on the field weakening current control value and the correction value of the field weakening current control value includes: for each converter, superimposing the field weakening current control value and the correction value of the field weakening current control value corresponding to the converter to obtain the first control signal of the converter.

[0020] The aforementioned motor control system and method are applied to a multi-winding motor. The system includes multiple converters and a controller. The multi-winding motor comprises multiple winding structures, with converters connected to the corresponding winding structures. Each converter is communicatively connected to the controller. The controller is used to: collect the operating parameters of the converters, generate a first control signal for the converters based on these parameters, and send the first control signal to the converters. The converters operate based on the first control signal. This method uses a controller to collect the operating parameters of the converters and generate a first control signal based on these parameters, thereby controlling the converters. When a converter malfunctions, the operating parameters collected by the controller change, and the controller adjusts the control signal accordingly to ensure the motor continues to operate normally. This control method offers high flexibility and redundancy, improving the stability of motor operation.

[0021] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of this application or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 A schematic diagram of a motor control system provided in an embodiment of this application;

[0024] Figure 2 A schematic diagram of a communication timing provided for an embodiment of this application;

[0025] Figure 3 A schematic diagram of another motor control system provided in an embodiment of this application;

[0026] Figure 4 A schematic diagram of another motor control system provided in an embodiment of this application;

[0027] Figure 5 A flowchart of a motor control method provided in an embodiment of this application;

[0028] Figure 6 This is a schematic diagram of the speed loop adjustment control method provided in the embodiments of this application;

[0029] Figure 7 This is a schematic diagram of the weak magnetic ring adjustment control method provided in the embodiments of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions 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, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] Taking a high-power synchronous motor as an example, this type of motor typically employs a multi-winding output structure, meaning it comprises multiple sets of windings. When a motor has multiple windings, the output current of a single winding is lower, improving the reliability of motor operation. Simultaneously, the motor possesses a certain degree of redundancy. The converters adapted to the motor correspond to the winding structures, and converters connected to different winding structures have independent electrical structures. Each converter corresponding to a single winding structure can operate independently, while converters connected to different winding structures can work collaboratively.

[0032] In related technologies, most control methods adopt a master-slave approach to control multiple converters. That is, one master converter is set among multiple converters, and the other converters are slave converters. This control method of converters has poor flexibility and redundancy.

[0033] Specifically, when multiple converters work together, a typical approach is to use one master converter and multiple slave converters. The master converter receives control signals and forwards them to the slave converters, achieving coordinated control of the multiple converters. In a master-slave control method, one master converter needs to be designated from among the multiple converters, with the others designated as slave converters. The slave converters receive control signals from the master converter. When the master converter fails, the slave converters also fail and stop. However, when a slave converter fails, the master converter still sends the aforementioned control signals to the slave converters. Because the number of normally functioning slave converters is reduced, controlling the slave converters using the aforementioned control signals can easily lead to motor malfunctions. Therefore, the above-mentioned converter control method has poor flexibility and redundancy.

[0034] Based on this, the motor control system and method provided in this application embodiment can be applied to the control of various types of motors.

[0035] To facilitate understanding of this embodiment, a motor control system disclosed in this application will first be described in detail, such as... Figure 1 As shown, the motor control system is applied to a multi-winding motor. The system includes multiple converters 11 and a controller 12. The multi-winding motor includes multiple winding structures, and the converters are connected to the corresponding winding structures. The multiple converters are respectively connected to the controller for communication.

[0036] This embodiment does not limit the type of multi-winding motor; for example, it can be a synchronous motor. The multi-winding motor can operate in either generating or motoring mode.

[0037] Multi-winding motors include multiple winding structures. In one implementation, one winding structure is connected to one converter. There is a one-to-one correspondence between the winding structures and the converters; different winding structures are connected to different converters. The electrical structures of the multiple converters are independent, such as... Figure 1 The example shown is an example of this. In other configurations, multiple winding structures may also exist where some winding structures are connected to the same converter; for example, two winding structures may be connected to one converter. Alternatively, in multiple winding structures, some winding structures may consist of a single winding connected to one converter, while other winding structures may consist of multiple winding structures connected to one converter.

[0038] A controller typically includes a communication interface and a processor. The controller connects to each converter via multiple communication interfaces, and each converter connects to one of these interfaces. The processor can be implemented using a computing chip, such as a DSP (Digital Signal Processing) chip or a microcontroller. The communication medium between the converter and the controller can be fiber optic, Ethernet, power line communication, etc.

[0039] The controller described above is used to: collect the operating parameters of the converter, generate a first control signal for the converter based on the operating parameters, and send the first control signal to the converter; the converter is used to: operate based on the first control signal.

[0040] The controller can collect the converter's operating parameters in real time or at set intervals, or it can collect the converter's operating parameters after receiving a parameter collection command from the control equipment. These operating parameters may include parameters such as output power, speed, and voltage, and the specific operating parameters can be determined according to the converter's operating mode and control method.

[0041] The aforementioned operating parameters regulate the first control signal; when the operating parameters change, the first control signal changes accordingly. For example, when the operating parameter is the real-time voltage of the converter, the difference between the real-time voltage and the given voltage is compared, and a first control signal is generated based on this difference. This first control signal can be a torque current control signal or a field weakening current control signal, etc.; the converter is controlled based on this first control signal. During converter operation, the controller continues to collect operating parameters and thus continues to update the first control signal.

[0042] The first control signal may include control signals such as the PWM carrier synchronization signal, demagnetizing current signal, and torque current signal. To ensure the real-time performance and stability of communication between the controller and each converter, and to achieve a data exchange rate at the switching frequency level, the PWM carrier synchronization signal is generated by the controller. Using the carrier synchronization signal as a reference, the controller initiates communication with the converter. (Reference) Figure 2 In this communication sequence, PWM synchronization signal 1 and PWM synchronization signal 2 form a communication sequence. In this communication sequence, the controller and the converter have two communication interactions. In each communication interaction, the controller first sends a control signal to the converter, and then the converter uploads the operating parameters to the controller.

[0043] The aforementioned motor control system is applied to a multi-winding motor. The system includes multiple converters and a controller. The multi-winding motor comprises multiple winding structures, with converters connected to the corresponding winding structures. Each converter is communicatively connected to the controller. The controller is used to: collect the operating parameters of the converters, generate a first control signal for the converters based on these parameters, and send the first control signal to the converters. The converters operate based on the first control signal. This method uses a controller to collect the operating parameters of the converters and generate a first control signal based on these parameters, thereby controlling the converters. When a converter malfunctions, the operating parameters collected by the controller change, and the controller adjusts the control signal accordingly to ensure the motor continues to operate normally. This control method offers high flexibility and redundancy, improving the stability of motor operation.

[0044] In one specific implementation, see [link to implementation details]. Figure 3 The diagram shows another type of motor control system. Figure 3 Taking four converters as an example, namely converter 1, converter 2, converter 3, and converter 4. Each converter includes a DC / AC converter module and an AC / DC converter module, and the DC / AC converter modules are connected to each other.

[0045] This embodiment uses a multi-winding motor as an example. The multi-winding motor is connected to each converter, specifically to the DC / AC converter module in the converter, and the AC / DC converter module in the converter is connected to the power grid.

[0046] The controller is connected to each converter via a communication medium. Furthermore, the controller is also connected to a control device external to the motor control system. The controller is also used to: receive a second control signal sent by the control device and send the second control signal to the converter; the converter is also used to: operate based on the second control signal.

[0047] The second control signal can specifically be a motor torque control signal or a speed control signal, etc. After receiving the second control signal, the controller sends it to each converter. It should be noted that the second control signal is usually different from the aforementioned first control signal, but it can also be the same. Upon receiving the second control signal, the converter operates according to it.

[0048] Furthermore, the controller is also used to: collect the operating status information of the converter and send the operating status information to the control equipment so as to monitor the operating status of the converter through the control equipment.

[0049] For example, the controller can periodically collect the converter's operating status information and send it to the control equipment. Alternatively, the controller can receive an information collection command from the control equipment and then collect the converter's operating status information. This operating status information may include indication signals indicating whether the converter is faulty, as well as information such as the converter's output power, speed, and voltage. After the operating status information is sent to the control equipment, the control equipment monitors the converter's operating status based on this information. When a converter fault occurs, the control equipment can generate alarm information to prompt relevant personnel to handle the fault.

[0050] In this embodiment, the controller can be implemented using a communication aggregation board. This communication aggregation board includes the aforementioned communication interface and processor; the communication interface includes an interface for connecting to the control device and an interface for connecting to each converter.

[0051] See Figure 4 The diagram shows another type of motor control system. Figure 4 Taking four converters as an example, namely converter 1, converter 2, converter 3, and converter 4. Each converter includes a DC / AC converter module and an AC / DC converter module, and the DC / AC converter modules are connected to each other.

[0052] This embodiment uses a multi-winding motor as an example. The multi-winding motor is connected to each converter, specifically to the DC / AC converter module in the converter, and the AC / DC converter module in the converter is connected to the power grid.

[0053] Figure 4 The motor control system in Figure 3 The difference between the motor control system and the control system is that, Figure 3 It only includes one motor, and Figure 4 This involves multiple motors. In this method, there are multiple multi-winding motors; these multiple multi-winding motors are connected by couplings; each winding structure is connected to a corresponding converter.

[0054] For example, in a plurality of motors, each motor includes multiple sets of winding structures; or in a plurality of motors, some motors include multiple sets of winding structures, while other motors include one set of winding structures; the total number of winding structures in the plurality of motors is multiple sets.

[0055] In one configuration, multiple multi-winding motors are connected in series via couplings, which typically connect to the rotors within the motors. The load equipment is also connected to the motors via couplings. Figure 4 The example described uses two multi-winding motors, but this embodiment can also be configured with three or even more multi-winding motors.

[0056] Multiple multi-winding motors connected by couplings contain multiple sets of winding structures. Each set of winding structures is connected to a converter. These converters are all connected to a controller, which controls these converters to enable multiple motors to work together.

[0057] The motor control system provided in this embodiment can improve the flexibility of converter control. When a converter fails, other converters and motors still operate normally, reducing load shedding impact, increasing the redundant operation capability of motors when some converters fail, and improving system stability.

[0058] This embodiment also provides a motor control method, which is applied to a multi-winding motor, such as... Figure 5 As shown, the method includes the following steps:

[0059] Step S502: Collect the operating parameters of multiple converters connected to each winding of the multi-winding motor;

[0060] Step S504: Generate the first control signal for the converter based on the operating parameters;

[0061] Step S506: Send the first control signal to the converter to control the converter to operate based on the first control signal.

[0062] The controller can collect the converter's operating parameters in real time or at set intervals, or it can collect the converter's operating parameters after receiving a parameter collection command from the control equipment. These operating parameters may include parameters such as output power, speed, and voltage, and the specific operating parameters can be determined according to the converter's operating mode and control method.

[0063] The aforementioned operating parameters regulate the first control signal; when the operating parameters change, the first control signal changes accordingly. For example, when the operating parameter is the real-time voltage of the converter, the difference between the real-time voltage and the given voltage is compared, and a first control signal is generated based on this difference. This first control signal can be a torque current control signal or a field weakening current control signal, etc.; the converter is controlled based on this first control signal. During converter operation, the controller continues to collect operating parameters and thus continues to update the first control signal.

[0064] The aforementioned motor control method collects the operating parameters of the converter, generates a first control signal for the converter based on these parameters, and sends the first control signal to the converter to control its operation. This method collects the converter's operating parameters and generates a first control signal based on these parameters to control the converter. When a converter malfunctions, the collected operating parameters change, and the control signal is adjusted accordingly to ensure the motor continues to operate normally. This control method offers high flexibility and redundancy, improving the stability of motor operation.

[0065] In one specific implementation, during the speed loop regulation control process, the aforementioned operating parameters include: feedback speed and feedback output power; generating torque current control values ​​based on the feedback speed and a preset given speed; generating correction values ​​for the torque current control values ​​based on the feedback output power; and generating the first control signal for the converter based on the torque current control values ​​and the correction values ​​for the torque current control values.

[0066] The controller can collect the feedback speed and feedback output power of each converter in real time or at regular intervals. The feedback speed can be understood as the actual speed of the converter during operation, and the feedback output power is the actual output power of the converter during operation. In this embodiment, a torque current control value is generated based on the feedback speed and the given speed. The given speed can be pre-stored in the controller or obtained from the control device.

[0067] Specifically, the feedback speed and the given speed can be compared. For example, the difference or ratio of the feedback speed and the given speed can be calculated to obtain a comparison result, and a torque current control value can be generated based on this comparison result. In one example, if the comparison result indicates that the feedback speed and the given speed differ significantly, the torque current control value can be increased, thereby increasing the motor's torque current. The torque current control value can specifically be the torque current PU value, which typically ranges from 0 to 1.

[0068] Then, a correction value for the torque current control value is generated based on the feedback output power. Since the feedback output power may differ for different converters, the correction value for the torque current control value may also differ for different converters. Additionally, the feedback output power can be corrected based on the structural parameters of the winding structure corresponding to each converter. Based on the corrected feedback output power, a correction value for the torque current control value corresponding to each converter is generated. Specifically, this correction value for the torque current PU value can be a correction value, typically ranging from 0 to 1.

[0069] The first control signal of the converter is obtained by superimposing a correction value on the torque current control value. It should be noted that each converter corresponds to one first control signal, which can be used to control the torque current of the converter.

[0070] See Figure 6 The diagram shows a speed loop regulation control method. When generating torque current control values, firstly, speed statistics of feedback speeds corresponding to multiple converters are generated; the given speed is subtracted from the speed statistics to obtain a first intermediate result; based on the first intermediate result, torque current control values ​​are generated.

[0071] This speed statistic can be obtained through various statistical methods, such as calculating the average or weighted average of the feedback speeds corresponding to multiple converters, or calculating the average of the remaining feedback speeds after removing the maximum and minimum values ​​from the feedback speeds corresponding to multiple converters.

[0072] In practical implementation, the first intermediate result can be input into a preset function, which outputs the torque current control value corresponding to the first intermediate result. This function can be a linear function, a proportional-integral function, etc.

[0073] Specifically, the first intermediate result is input to the first linear regulator, which outputs the torque current control value. This first linear regulator can be a PI regulator (proportional-integral regulator), a proportional-derivative regulator, or a proportional-integral-derivative regulator, etc.

[0074] Considering the manufacturing differences in winding structures, the output power of the converter may deviate. Therefore, it is necessary to correct the output power. Specifically, based on the structural parameters of the winding structure connected to the converter, the power deviation of the feedback output power is corrected to obtain the corrected value of the torque current control value.

[0075] refer to Figure 6In this system, the feedback output power of each converter can be input to the power deviation correction module to correct the power deviation of the feedback output power. In actual implementation, different converters correspond to different power deviation correction parameters, which are determined based on the structural parameters of the winding structure. Structural parameters may include the number of coils, coil thickness, coil winding area, etc. Each converter performs power deviation correction according to the corresponding power deviation correction parameters to obtain the correction value of the torque current control value corresponding to that converter.

[0076] Furthermore, for each converter, the corresponding torque current control value and the correction value of the torque current control value are superimposed to obtain the first control signal of the converter. The first control signal of each converter is sent to the converter so that the converter operates according to the first control signal.

[0077] In another specific implementation, during the speed loop regulation control process, the operating parameters include feedback voltage; based on the feedback voltage and the preset given voltage, a field weakening current control value is generated; based on the feedback voltage, a correction value for the field weakening current control value is generated; based on the field weakening current control value and the correction value for the field weakening current control value, the first control signal of the converter is generated.

[0078] The controller can collect the feedback voltage of each converter in real time or at regular intervals; the feedback voltage can be understood as the actual voltage during converter operation. In this embodiment, a field weakening current control value is generated based on the feedback voltage and the given voltage; the given voltage can be pre-stored in the controller or obtained from the control device.

[0079] Specifically, the feedback voltage and the given voltage can be compared. For example, the difference or ratio of the feedback voltage and the given voltage can be calculated to obtain a comparison result, which is then used to generate a field weakening current control value. In one example, if the comparison result indicates a large difference between the feedback voltage and the given voltage, the field weakening current control value can be increased, thereby increasing the field weakening current of the motor. The field weakening current control value can specifically be the field weakening current PU value, typically ranging from 0 to 1.

[0080] Then, a correction value for the field weakening current control value is generated based on the feedback voltage. Since the feedback voltage may differ for different converters, the correction value for the field weakening current control value may also differ for different converters. Additionally, the feedback voltage can be corrected based on the structural parameters of the winding structure corresponding to each converter. Based on the corrected feedback voltage, a correction value for the field weakening current control value corresponding to each converter is generated. Specifically, this correction value can be a correction value for the field weakening current PU value, typically ranging from 0 to 1.

[0081] The first control signal of the converter is obtained by superimposing a correction value on the field weakening current control value. It should be noted that each converter corresponds to one first control signal, which can be used to control the field weakening current of the converter.

[0082] See Figure 7 The diagram shows a field weakening loop regulation control method. When generating the field weakening current control value, firstly, voltage statistics of the feedback voltages corresponding to multiple converters are generated; the given voltage is subtracted from the voltage statistics to obtain a second intermediate result; based on the second intermediate result, the field weakening current control value is generated.

[0083] This voltage statistic can be obtained through various statistical methods, such as calculating the average or weighted average of the feedback voltages corresponding to multiple converters, or calculating the average of the remaining feedback voltages after removing the maximum and minimum values ​​from the feedback voltages corresponding to multiple converters.

[0084] In practical implementation, the second intermediate result can be input into a preset function, which outputs the corresponding field weakening current control value. This function can be a linear function, a proportional-integral function, etc.

[0085] Specifically, the second intermediate result is input to the second linear regulator, which outputs the field weakening current control value. This second linear regulator can be a PI regulator (proportional-integral regulator), a proportional-derivative regulator, or a proportional-integral-derivative regulator, etc.

[0086] Considering the manufacturing differences in winding structures, the feedback voltage of the converter may have deviations. Therefore, it is necessary to correct the feedback voltage. Specifically, based on the structural parameters of the winding structure connected to the converter, the feedback voltage is corrected for voltage deviation to obtain the corrected value of the field weakening current control value.

[0087] refer to Figure 7 In this system, the feedback voltage of each converter can be input to the voltage deviation correction module to correct the voltage deviation of the feedback output power. In actual implementation, different converters correspond to different voltage deviation correction parameters, which are determined based on the structural parameters of the winding structure. These structural parameters may include the number of coils, coil thickness, and coil winding area. Each converter performs voltage deviation correction according to its corresponding voltage deviation correction parameters to obtain the correction value for the field weakening current control value corresponding to that converter.

[0088] Furthermore, for each converter, the corresponding field weakening current control value and the correction value of the field weakening current control value are superimposed to obtain the first control signal of the converter. The first control signal of each converter is sent to the converter so that the converter operates according to the first control signal.

[0089] It should be noted that when the motor operates in speed mode, both speed loop regulation and field weakening loop regulation are performed internally by the controller, and the resulting first control signal is sent to each converter. During speed loop regulation, the feedback speed and feedback output power of each converter are obtained; during field weakening loop regulation, the feedback voltage of each converter is obtained. To address the deviation problem caused by manufacturing differences in the motor windings, correction values ​​are superimposed on the torque current control value and the field weakening current control value, respectively, and the correction values ​​are calculated based on the power deviation and voltage deviation of each converter. When the motor operates in torque mode, the controller executes torque distribution, consistent with the control method in speed mode, and performs power deviation correction on the converter's output power to obtain the corrected value for the torque current control value; the field weakening loop control method in torque mode remains consistent with that in speed mode.

[0090] By adopting the above method, when a converter fails, the controller can identify the faulty converter by collecting the converter's operating parameters and remove the faulty converter in a timely manner. This ensures that other converters and motors can continue to operate under low and medium power conditions, and that the controller can maintain load reduction operation under high power conditions.

[0091] In this embodiment, closed-loop motor control is executed within the controller. Through deviation correction, consistent output power across all windings is achieved, resolving the issues of uneven winding output power and terminal voltage caused by manufacturing deviations in the motor process. This embodiment differs from the previous master-slave converter operating mode. In this mode, all converters uniformly receive commands from the controller. When a converter fails, it can be promptly disconnected from the control system, and its output power is shared among the other normally operating converters. This enables normal operation under low-to-medium power conditions and load reduction operation under high-power conditions.

[0092] The computer program product of the motor control system and method provided in this application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0093] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0094] Furthermore, in the description of the embodiments of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0095] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0097] Finally, it should be noted that the above embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the technical scope disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A motor control system, characterized in that, The system is applied to a multi-winding motor and includes: multiple converters and a controller; the multi-winding motor includes multiple winding structures, and the converters are connected to the corresponding winding structures; the multiple converters are respectively communicatively connected to the controller; The controller is used to: collect the operating parameters of the converter, generate a first control signal for the converter based on the operating parameters, and send the first control signal to the converter; The converter is used to operate based on the first control signal.

2. The system according to claim 1, characterized in that, The controller is also connected to a control device; the control device is an external control device of the motor control system. The controller is further configured to: receive a second control signal sent by the control device, and send the second control signal to the converter; The converter is also used to operate based on the second control signal.

3. The system according to claim 2, characterized in that, The controller is also used for: The operating status information of the converter is collected and sent to the control device so that the operating status of the converter can be monitored by the control device.

4. The system according to any one of claims 1-3, characterized in that, The multi-winding motor includes multiple motors; the multiple multi-winding motors are connected by couplings; each group of winding structures is connected to a corresponding converter.

5. A motor control method, characterized in that, The method is applied to multi-winding motors. ， The method includes: The operating parameters of multiple converters connected to each winding of the multi-winding motor are collected; The first control signal for the converter is generated based on the operating parameters; The first control signal is sent to the converter to control the converter to operate based on the first control signal.

6. The method according to claim 5, characterized in that, The operating parameters include: feedback speed and feedback output power; The step of generating the first control signal for the converter based on the operating parameters includes: Based on the feedback speed and the preset given speed, a torque current control value is generated; Based on the feedback output power, a correction value for the torque current control value is generated; The first control signal for the converter is generated based on the torque current control value and the correction value of the torque current control value.

7. The method according to claim 6, characterized in that, The step of generating torque current control values ​​based on the feedback speed and the preset given speed includes: Generate speed statistics for the feedback speeds of multiple converters; Subtracting the given rotational speed from the rotational speed statistical value yields the first intermediate result; Based on the first intermediate result, the torque current control value is generated.

8. The method according to claim 7, characterized in that, The step of generating torque current control values ​​based on the first intermediate result includes: The first intermediate result is input to the first linear regulator, which outputs the torque current control value.

9. The method according to claim 6, characterized in that, The step of generating a correction value for the torque current control value based on the feedback output power includes: Based on the structural parameters of the winding structure connected to the converter, the power deviation of the feedback output power is corrected to obtain the corrected value of the torque current control value.

10. The method according to claim 6, characterized in that, Each converter corresponds to a torque current control value and a correction value for the torque current control value; the step of generating a first control signal for the converter based on the torque current control value and the correction value for the torque current control value includes: For each converter, the torque current control value corresponding to the converter and the correction value of the torque current control value are superimposed to obtain the first control signal of the converter.

11. The method according to claim 5, characterized in that, The operating parameters include the feedback voltage; The step of generating the first control signal for the converter based on the operating parameters includes: Based on the feedback voltage and the preset given voltage, a magnetic weakening current control value is generated; A correction value for the weak magnetic current control value is generated based on the feedback voltage; The first control signal for the converter is generated based on the field weakening current control value and the correction value of the field weakening current control value.

12. The method according to claim 11, characterized in that, The step of generating a field-weakening current control value based on the feedback voltage and a preset given voltage includes: Generate voltage statistics for the feedback voltages of the multiple converters; Subtracting the given voltage from the voltage statistics yields a second intermediate result; Based on the second intermediate result, a magnetic weakening current control value is generated.

13. The method according to claim 12, characterized in that, The step of generating the field weakening current control value based on the second intermediate result includes: The second intermediate result is input into the second linear regulator, which outputs the field weakening current control value.

14. The method according to claim 11, characterized in that, The step of generating a correction value for the field weakening current control value based on the feedback voltage includes: Based on the structural parameters of the winding structure connected to the converter, the feedback voltage is corrected for voltage deviation to obtain the corrected value of the field weakening current control value.

15. The method according to claim 11, characterized in that, Each of the converters corresponds to a field weakening current control value and a correction value for the field weakening current control value; The step of generating the first control signal for the converter based on the field weakening current control value and the correction value of the field weakening current control value includes: For each converter, the field weakening current control value and the correction value of the field weakening current control value corresponding to the converter are superimposed to obtain the first control signal of the converter.

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