Motor control system, motor control method, device and storage medium
By using the V/F control method, the compensated electric angular velocity and stator voltage are calculated based on the current and voltage of the motor in a two-phase stationary coordinate system. This solves the problem of dependence on rotor position signals in the existing technology, and realizes low-cost and high-efficiency motor control, which is applicable to a variety of motor types.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- XIAOMI TECH (WUHAN) CO LTD
- Filing Date
- 2024-12-02
- Publication Date
- 2026-06-02
AI Technical Summary
Existing control methods for permanent magnet synchronous motors require accurate rotor position or speed information, which increases the cost of the drive unit and reduces system reliability. Furthermore, they cannot be used under special operating conditions, thus limiting their application scope.
The constant voltage-frequency ratio (V/F) control method is adopted. By detecting the current and voltage of the motor in the two-phase stationary coordinate system, the compensation electric angular velocity and stator voltage are calculated to control the motor, without the need for speed, rotor position signals and stator current and voltage feedback signals.
It reduces motor control costs, improves control efficiency, enhances system versatility and reliability, and is suitable for various types of motors, including permanent magnet synchronous motors and asynchronous motors.
Smart Images
Figure CN122137296A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of motor control technology, and in particular to a motor control system, motor control method, device and storage medium. Background Technology
[0002] Electric motors, as energy conversion devices, are widely used in various industrial, household, and transportation equipment. Controlling electric motors ensures they operate at the expected speed, torque, and power output, thereby achieving precise, efficient, and stable operation of the equipment. Summary of the Invention
[0003] This disclosure aims to at least partially address one of the technical problems in the related art.
[0004] The first aspect of this disclosure provides a motor control system, including: a detection module, an active power compensation module, a stator voltage calculation module, and a drive module;
[0005] The detection module is used to detect the current and voltage of the motor in the two-phase stationary coordinate system, and output the current and voltage to the active power compensation module and the stator voltage calculation module respectively.
[0006] The active power compensation module is used to determine the compensation electric angular velocity based on the current and voltage.
[0007] The stator voltage calculation module is used to determine the current stator voltage based on the current and voltage.
[0008] The drive module is used to determine the voltage in the two-phase stationary coordinate system at the next moment based on the current reference electric angular velocity, the compensated electric angular velocity, and the stator voltage, and to drive the motor based on the voltage in the two-phase stationary coordinate system at the next moment.
[0009] A second aspect of this disclosure provides a motor control method, comprising:
[0010] Obtain the current and voltage of the motor in the two-phase stationary coordinate system;
[0011] Based on the current and voltage, determine the compensated electric angular velocity;
[0012] Based on the current and voltage, determine the current stator voltage;
[0013] Based on the current reference electric angular velocity, the compensated electric angular velocity, and the stator voltage, determine the voltage in the two-phase stationary coordinate system at the next moment;
[0014] The motor is controlled based on the voltage in the two-phase stationary coordinate system at the next moment.
[0015] A third aspect of this disclosure provides a motor control device, comprising:
[0016] The acquisition module is used to acquire the current and voltage of the motor in the two-phase stationary coordinate system.
[0017] The first determining module is used to determine the compensated electric angular velocity based on the current and voltage;
[0018] The second determining module is used to determine the current stator voltage based on the current and voltage.
[0019] The third determining module is used to determine the voltage in the two-phase stationary coordinate system at the next moment based on the current reference electric angular velocity, the compensated electric angular velocity, and the stator voltage.
[0020] The control module is used to control the motor based on the voltage in the two-phase stationary coordinate system at the next moment.
[0021] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the motor control method as described in a second aspect of this disclosure.
[0022] The motor control system, motor control method, device, and storage medium provided in this disclosure have the following beneficial effects:
[0023] In this embodiment, the compensated electrical angular velocity and stator voltage are calculated based on the current and voltage detected in the two-phase stationary coordinate system at the current moment. Then, combined with the reference electrical angular velocity used to control the motor at the current target, the voltage in the two-phase stationary coordinate system at the next moment is determined. The motor is then driven based on this voltage to achieve motor control. Therefore, motor control can be achieved without configuring sensors to obtain signals such as rotational speed and rotor position. This method is low-cost, highly versatile, and improves the efficiency of motor control.
[0024] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description
[0025] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:
[0026] Figure 1 A schematic diagram of a motor control system provided in an embodiment of this disclosure;
[0027] Figure 2A schematic diagram of an active power compensation process provided in an embodiment of this disclosure;
[0028] Figure 3 A schematic diagram of a reactive power compensation process provided in an embodiment of this disclosure;
[0029] Figure 4 This is a schematic flowchart illustrating a stator voltage calculation method provided in an embodiment of this disclosure.
[0030] Figure 5 This is a schematic flowchart of a motor control method provided in an embodiment of the present disclosure;
[0031] Figure 6 This is a schematic diagram of the structure of a motor control device provided in an embodiment of the present disclosure;
[0032] Figure 7 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present disclosure is shown. Detailed Implementation
[0033] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting this disclosure.
[0034] It should be noted that the motor control system proposed in this disclosure can be applied to all scenarios involving motor operation control, such as compressors and fans in air conditioners, refrigerator compressors, and washing machine motors. Furthermore, it can control various types of motors, such as permanent magnet synchronous motors (PMSM) and asynchronous motors. In this disclosure, a permanent magnet synchronous motor will be used as an example for illustration.
[0035] The most common control method for permanent magnet synchronous motors (PMSMs) currently utilizes vector control technology to achieve decoupled control, allowing the PMSM's control performance to approach that of a DC motor. However, this method requires accurate rotor position or speed information to achieve high control performance. In practical applications, speed sensors are often installed on the rotor shaft to obtain the necessary rotor position information, thereby orienting the rotor's magnetic field. The use of speed / position sensors not only increases the cost of the drive unit but also necessitates additional interface circuits and wiring for interconnecting the motor and control system. This increases the likelihood of electromagnetic interference, reducing system reliability. Furthermore, position / speed sensors cannot be used in high-speed motor operation or other special conditions, significantly limiting the application range of permanent magnet synchronous motors.
[0036] The motor control system and method proposed in this disclosure can control the voltage amplitude and phase of the motor using a constant voltage-frequency ratio (V / F). It does not require the introduction of speed and rotor position signals from the motor end, nor does it require feedback signals such as stator current and voltage. It has less dependence on motor parameters, and the control system and algorithm are simple, easy to implement, low in cost, and highly versatile.
[0037] The basic principle of V / F control is based on the relationship that the motor speed is proportional to the power supply frequency and the motor torque is proportional to the square of the power supply voltage. By adjusting the power supply frequency and voltage, the motor speed and torque can be controlled.
[0038] The following description, with reference to the accompanying drawings, describes an embodiment of a motor control system, motor control method, apparatus, and storage medium.
[0039] Figure 1 This is a schematic diagram of the structure of a motor control system provided in an embodiment of this disclosure. Figure 1 As shown, the motor control system may include: a detection module 10, an active power compensation module 20, a stator voltage calculation module 30, and a drive module 40.
[0040] The detection module 10 of the motor control system can be used to detect the current and voltage of the motor in the two-phase stationary coordinate system, and output the current and voltage to the active power compensation module 20 and the stator voltage calculation module 30 respectively.
[0041] Among them, the two-phase stationary coordinate system is used to describe and analyze the changes in physical quantities such as current and voltage when the motor is running. In this coordinate system, the current and voltage of the motor can be projected onto two mutually perpendicular coordinate axes, that is, the signal in the AC circuit can be decomposed into two orthogonal components.
[0042] Understandably, in AC circuits, motor current is typically represented in a three-phase coordinate system. However, to simplify motor control and reduce inter-phase coupling, the current in the three-phase coordinate system is usually converted to a two-phase stationary coordinate system. Therefore, the detection module 10 can detect the current and voltage of the motor in the two-phase stationary coordinate system to achieve motor control.
[0043] In this embodiment of the disclosure, the two coordinate axes of the two-phase stationary coordinate system can be labeled as the α-axis and the β-axis, respectively. The current of the motor in the two-phase stationary coordinate system is then i. α i β The voltage is V α V β .Depend on Figure 1 It can be seen that the detected current i α i βand voltage V α V β The current and voltage can be output to the active power compensation module 20 and the stator voltage calculation module 30, respectively. In particular, in the stator voltage calculation module 30, the current and voltage can be input to the reactive power compensation unit, and the current can be input to the calculation unit for calculation, respectively.
[0044] In some embodiments, the detection module 10 may include a current detection terminal 11, a voltage detection terminal 12, and a first coordinate transformation unit 13. Then, the detection module 10 in... Figure 1 The middle part is marked by a dashed box.
[0045] The current detection terminal 11 is connected to the three-phase current input terminal of the motor and can be used to detect the drive current of the motor.
[0046] In this embodiment of the disclosure, the drive current detected by the current detection terminal 11 is the three-phase current input to the motor, that is, in Figure 1 The middle is represented as i a i b i c .
[0047] It should be noted that, in Figure 1 The current detection terminal 11 is not represented by a rectangle because the current detection terminal 11 is an accessory used to realize electrical connection. It can be installed at any position between the three-phase current input terminal of the motor and the first coordinate transformation unit 13 as needed. This disclosure does not limit it.
[0048] The first coordinate transformation unit 13 can be used to convert the three-phase current detected by the current detection terminal 11 into the current in a two-phase stationary coordinate system.
[0049] In this embodiment, because there is coupling between the currents of each phase in a three-phase motor, controlling the current of one phase is affected by the currents of other phases, making direct control of the three-phase current difficult. Therefore, in this disclosure, the three-phase current can be converted into current in a two-phase stationary coordinate system by the first coordinate transformation unit 13, achieving decoupled current control and reducing the complexity of motor control. The first coordinate transformation unit 13 can use a 3S / 2S Clark transformation to convert the three-phase current detected by the current detection terminal 11 into current in a two-phase stationary coordinate system. Figure 1 The rectangle in the middle corresponds to the one marked with the 3S / 2S Clark transform.
[0050] The voltage detection terminal 12 is connected to the output terminal of the stator voltage calculation module 30 and can be used to detect the voltage in the two-phase stationary coordinate system output by the stator voltage calculation module 30.
[0051] In this embodiment of the disclosure, motor control is a continuous process. The motor detection terminal 12 can detect the voltage in the two-phase stationary coordinate system output by the stator voltage calculation module 30 at the current moment for controlling the motor, and then use the voltage for the control voltage calculation at the next moment to ensure the stability of voltage control.
[0052] The active power compensation module 20 of the motor control system can be used to determine the compensation electric angular velocity based on current and voltage.
[0053] The following is combined with Figure 2 The process of calculating the compensated electric angular velocity by the active power compensation module is explained. Figure 2 This is a schematic diagram of an active power compensation process provided in an embodiment of the present disclosure.
[0054] Depend on Figure 2 It can be seen that the detected current i can be first... α i β and voltage is V α V β Substitute into Figure 2 The active power P is calculated in the formula within the first rectangle on the left. Then, P is passed through a high-pass filter (HPF) set empirically to filter out lower-frequency signals, yielding the compensated active power ΔP. Finally, ΔP is input to... Figure 2 The formula in the first rectangle on the right is used to calculate the compensated electric angular velocity Δω, where k e This is a proportional parameter factor that can be preset based on experience.
[0055] The stator voltage calculation module 30 of the motor control system can be used to determine the current stator voltage based on current and voltage.
[0056] It is understood that stator voltage is a parameter for motor control. By adjusting the stator voltage, the motor speed can be adjusted, thereby improving the motor's torque and efficiency. Therefore, in this disclosure, the stator voltage used to control the motor at the next moment can be determined through calculation based on the current motor current and voltage.
[0057] In some embodiments, the stator voltage calculation module 30 may include a reactive power compensation unit 31, an electric angular velocity compensation unit 32, a calculation unit 33, an integration unit 34, and a second coordinate transformation unit 35. The stator voltage calculation module 30 then... Figure 1 The middle part is marked by a dashed box.
[0058] The reactive power compensation unit 31 can be used to determine the compensation voltage based on current and voltage.
[0059] In this embodiment of the disclosure, by Figure 1It can be seen that the current and voltage output by the detection module 10 to the sub-voltage calculation module 30 can be directly input into the reactive power compensation unit 31. Then, the reactive power compensation unit 31 can process the received current and voltage to obtain the compensation voltage ΔV.
[0060] The following is combined with Figure 3 The process of calculating the compensation voltage for the reactive power compensation unit is explained. Figure 3 This is a schematic diagram of a reactive power compensation process provided in an embodiment of the present disclosure.
[0061] Depend on Figure 3 It can be seen that the current i can be... α i β and voltage is V α V β Substitute into the calculation of reactive power Q in the stationary coordinate system αβ From the formula, we obtain Q. αβ And how the current objective controls the reference electrical angular velocity ω of the motor. f Current i α i β Substitute into the calculation of reactive power Q in the rotating coordinate system dq From the formula, we obtain Q. dq Then Q dq and Q dq Compensation is performed using a proportional-integral controller (PI), and then a low-pass filter (LPF) set by empirical values is used to filter out signals higher than the cutoff frequency, thereby determining the current compensation voltage ΔV.
[0062] The electric angular velocity compensation unit 32 can be used to compensate the reference electric angular velocity based on the compensated electric angular velocity and output the compensated electric angular velocity.
[0063] In this embodiment of the present disclosure, the electric angular velocity compensation unit 32 is in Figure 1 The middle corresponds to the component marked by the hollow circle in the upper left corner. (By...) Figure 1 As shown, the compensated electric angular velocity Δω and the reference electric angular velocity ω can be... f The input is fed into the electric angular velocity compensation unit 32, thereby using Δω to adjust ω. f Compensation is performed to obtain the compensated electric angular velocity ω. e .
[0064] Integrating unit 34 can be used to integrate the compensated electric angular velocity to obtain the position angle.
[0065] In this embodiment of the disclosure, the integration unit 34 corresponds to... Figure 1The rectangle marked with the integral sign "∫" is used to integrate the compensated electric angular velocity using integration unit 34 to obtain the position angle θ. e .
[0066] The calculation unit 33 can be used to calculate the stator voltage based on the position angle, reference electric angular velocity, current and compensation voltage.
[0067] In this embodiment of the present disclosure, the computing unit 33 is in Figure 1 The rectangle in the middle corresponds to the one labeled "Stator Voltage Calculation". Figure 1 As shown, the position angle θ can be... e Reference electric angular velocity ω f Current i α i β Both the compensation voltage ΔV and the input voltage ΔV are fed into the calculation unit 33 to obtain the stator voltage V. s .
[0068] The following is combined with Figure 4 The calculation of stator voltage is explained. Figure 4 This is a schematic flowchart illustrating a stator voltage calculation method provided in an embodiment of this disclosure.
[0069] Depend on Figure 4 It can be seen that the position angle θ can be determined first. e and current i α i β Substituting into formula (1), we can calculate i. s and Formula (1) is shown below:
[0070]
[0071] in, This is expressed as the power factor angle.
[0072] Then, a low-pass filter (LPF) can be used to filter i. s and Perform filtering, and then filter the i... s and And the reference electric angular velocity ω f The calculated stator induced phase voltage amplitude E s Substituting this into formula (2), we obtain the calculation result, as shown in formula (2) below:
[0073]
[0074] It should be noted that, in Figure 4 The value E is used to calculate the amplitude of the stator induced phase voltage. s In the formula, Ψ f It is expressed as the rotor permanent magnet flux.
[0075] Then, the result obtained from formula (2) can be compensated using the compensation voltage ΔV to obtain the stator voltage V. s The compensation voltage ΔV is determined by... Figure 3 The reactive power compensation shown is obtained.
[0076] The second coordinate transformation unit 35 can be used to transform the stator voltage to obtain the voltage in the two-phase stationary coordinate system at the next moment.
[0077] In this embodiment of the present disclosure, the second coordinate transformation unit 35 can be combined with the position angle θ output by the integration unit 34. e For the stator voltage V s Perform a polar coordinate transformation to obtain the voltage V in the two-phase stationary coordinate system at the next moment. α V β .exist Figure 1 In the middle, the second coordinate transformation unit 35 is a rectangle labeled "polar coordinate transformation".
[0078] The drive module 40 of the motor control system can be used to determine the voltage in the two-phase stationary coordinate system at the next moment based on the current reference electric angular velocity, compensated electric angular velocity and stator voltage, and drive the motor based on the voltage in the two-phase stationary coordinate system at the next moment.
[0079] In this embodiment of the present disclosure, in the drive module 40, the position angle can be obtained by integrating the current reference electrical angular velocity and the compensated electrical angular velocity, and the voltage in the two-phase stationary coordinate system at the next moment can be obtained by performing polar coordinate transformation on the stator voltage. The voltage in the two-phase stationary coordinate system at the next moment is then input into the space vector pulse width modulation (SVPWM). By controlling the three-phase voltage output by the inverter, the three-phase current is indirectly controlled, thereby realizing the control of the permanent magnet synchronous motor PMSM.
[0080] The motor control system proposed in this disclosure calculates the compensated electrical angular velocity and stator voltage based on the current and voltage detected in the two-phase stationary coordinate system at the current moment. Then, combined with the reference electrical angular velocity used to control the motor at the current target, it determines the voltage in the two-phase stationary coordinate system at the next moment. The motor is then driven based on this voltage to achieve motor control. Therefore, motor control can be achieved without configuring sensors to obtain signals such as speed and rotor position. This approach is low-cost, highly versatile, and improves the efficiency of motor control.
[0081] Figure 5 This is a schematic flowchart of a motor control method provided in an embodiment of the present disclosure.
[0082] It should be noted that the motor control method of this embodiment can be applied to a motor control device. In some possible embodiments, the device can be configured in an electronic device or chip so that the electronic device or chip can perform motor control functions. For example, the electronic device can be a motor control system. In addition, in some possible embodiments, the device can also be software in an electronic device.
[0083] like Figure 5 As shown, the motor control method may include the following steps:
[0084] Step 501: Obtain the current and voltage of the motor in the two-phase stationary coordinate system.
[0085] It should be noted that the current and voltage of the motor in the two-phase stationary coordinate system can be obtained by detecting the voltage of the control node or by performing coordinate transformation on the current, and this disclosure does not limit this.
[0086] In some embodiments, the current and voltage of the motor in the two-phase stationary coordinate system can be obtained through the detection module 10 in the above embodiments of this disclosure. For a detailed description of step 501, please refer to the description of the detection module 10 in the above embodiments, which will not be repeated here.
[0087] Step 502: Determine the compensated electric angular velocity based on the current and voltage.
[0088] In some embodiments, the active power compensation module 20 in the above embodiments of this disclosure can be used to determine the compensated electrical angular velocity based on current and voltage. For a detailed description of step 502, please refer to the description of the active power compensation module 20 in the above embodiments, which will not be repeated here.
[0089] Optionally, according to the embodiments provided in this disclosure... Figure 2 It can be seen that the specific process of determining the compensated electrical angular velocity may include: first, determining the current active power of the motor based on the current and voltage; then, performing a high-pass filter on the active power to determine the active power compensation power; and finally, determining the compensated electrical angular velocity based on the active power compensation power and preset parameter factors.
[0090] Step 503: Determine the current stator voltage based on the current and voltage.
[0091] In some embodiments, the current stator voltage can be determined based on current and voltage using the stator voltage calculation module 30 in the above embodiments of this disclosure. For a detailed description of step 503, please refer to the description of the stator voltage calculation module 30 in the above embodiments; it will not be repeated here.
[0092] Optionally, according to the embodiments provided in this disclosure... Figure 4 It can be seen that the specific process of determining the current stator voltage may include: performing reactive power compensation on the current and voltage to obtain the current compensated voltage. Then, the current stator voltage can be determined based on the current, the compensated voltage, and the reference electric angular velocity.
[0093] Optionally, according to the embodiments provided in this disclosure... Figure 3 As can be seen, the specific process of determining the current compensation voltage can include: first, determining the reactive power in the current stationary coordinate system based on the current and voltage; and second, determining the reactive power in the current rotating coordinate system based on the current and reference electric angular velocity. Then, compensation can be performed on the reactive power in both the stationary and rotating coordinate systems to obtain the current reactive power. Finally, low-pass filtering can be applied to the reactive power to determine the current compensation voltage.
[0094] Optionally, the specific process of determining the current stator voltage based on the current, compensation voltage, and reference electrical angular velocity may include: first determining the current position angle and the amplitude of the stator induced phase voltage based on the reference electrical angular velocity.
[0095] In this embodiment of the disclosure, the reference electric angular velocity ω can be... f Substitute into Figure 4 From formula (3), the amplitude E of the stator induced phase voltage is obtained. s Formula (3) is shown below:
[0096] E s =ω f ψ f (3)
[0097] Among them, Ψ f It is expressed as the rotor permanent magnet flux.
[0098] Furthermore, the compensated electric angular velocity Δω can be used to adjust the reference electric angular velocity ω. f After compensation and integration, the current position angle θ is obtained. e The calculation process is in Figure 1 As shown in the image.
[0099] Then, the current and position angle can be substituted into formula (1) to determine the current stator current and power factor angle. Then, based on the stator current, power factor angle, and stator induced phase voltage amplitude, the first voltage can be determined using formula (2). Finally, based on the... Figure 3 The compensation voltage obtained from the reactive power compensation calculation is used to compensate the first voltage to obtain the current stator voltage.
[0100] Step 504: Determine the voltage in the two-phase stationary coordinate system at the next moment based on the current reference electric angular velocity, compensated electric angular velocity, and stator voltage.
[0101] In some embodiments, the voltage in the two-phase stationary coordinate system at the next moment can be determined by the second coordinate transformation unit in the above embodiments of this disclosure, based on the current reference electrical angular velocity, compensated electrical angular velocity, and stator voltage. For a detailed description of step 504, please refer to the description of the second coordinate transformation unit in the above embodiments; it will not be repeated here.
[0102] Step 505: Control the motor based on the voltage in the two-phase stationary coordinate system at the next moment.
[0103] In some embodiments, the drive module 40 in the above embodiments of this disclosure can be used to control the motor based on the voltage in the two-phase stationary coordinate system at the next moment. For a detailed description of step 505, please refer to the description of the drive module 40 in the above embodiments, which will not be repeated here.
[0104] It should be noted that the motor control method of this embodiment is applicable to the motor control system described in the above embodiments.
[0105] The motor control method proposed in this disclosure calculates the compensated electrical angular velocity and stator voltage based on the current and voltage detected in the two-phase stationary coordinate system at the current moment. Then, combined with the reference electrical angular velocity used to control the motor at the current target, the voltage in the two-phase stationary coordinate system at the next moment is determined. The motor is then driven based on this voltage to achieve motor control. Therefore, motor control can be achieved without configuring sensors to obtain signals such as rotational speed and rotor position. This method is low-cost, highly versatile, and improves the efficiency of motor control.
[0106] To implement the above embodiments, this disclosure also proposes a motor control device.
[0107] Figure 6 This is a schematic diagram of the structure of the motor control device provided in the embodiments of this disclosure.
[0108] like Figure 6 As shown, the motor control device 600 may include:
[0109] The acquisition module 601 is used to acquire the current and voltage of the motor in the two-phase stationary coordinate system.
[0110] The first determining module 602 is used to determine the compensated electric angular velocity based on current and voltage;
[0111] The second determining module 603 is used to determine the current stator voltage based on the current and voltage.
[0112] The third determining module 604 is used to determine the voltage in the two-phase stationary coordinate system at the next moment based on the current reference electric angular velocity, compensated electric angular velocity and stator voltage;
[0113] The control module 605 is used to control the motor based on the voltage in the two-phase stationary coordinate system at the next moment.
[0114] In some embodiments, the first determining module 602 may be specifically used for:
[0115] Determine the current active power of the motor based on the current and voltage;
[0116] The active power is high-pass filtered to determine the active power compensation power;
[0117] The compensation electric angular velocity is determined based on the active power supplement and the preset parameter factors.
[0118] In some embodiments, the second determining module 603 may be specifically used for:
[0119] A reactive power compensation module is used to calculate the current and voltage to obtain the current compensation voltage.
[0120] The current stator voltage is determined based on the current, compensation voltage, and reference electric angular velocity.
[0121] In some embodiments, the second determining module 603 may be specifically used for:
[0122] Determine the reactive power in the current stationary coordinate system based on the current and voltage.
[0123] Determine the reactive power in the current rotating coordinate system based on the current and the reference electric angular velocity;
[0124] Compensate for the reactive power in the stationary coordinate system and the reactive power in the rotating coordinate system to obtain the current reactive power;
[0125] The reactive power is low-pass filtered to determine the current compensation voltage.
[0126] In some embodiments, the second determining module 603 may be specifically used for:
[0127] Based on the reference electrical angular velocity, determine the current position angle and the amplitude of the stator induced phase voltage;
[0128] Based on the current and position angle, determine the current stator current and power factor angle;
[0129] The first voltage is determined based on the stator current, power factor angle, and stator induced phase voltage amplitude.
[0130] The current stator voltage is obtained by compensating the first voltage based on the compensation voltage.
[0131] The functions and specific implementation principles of the modules described in this embodiment can be found in the above method embodiments, and will not be repeated here.
[0132] The motor control device of this disclosure calculates the compensated electrical angular velocity and stator voltage based on the current and voltage detected in the two-phase stationary coordinate system at the current moment. Then, combined with the reference electrical angular velocity used to control the motor at the current target, it determines the voltage in the two-phase stationary coordinate system at the next moment. The motor is then driven based on this voltage to achieve motor control. Therefore, motor control can be achieved without configuring sensors to obtain signals such as rotational speed and rotor position. This method is low-cost, highly versatile, and improves the efficiency of motor control.
[0133] To implement the above embodiments, this disclosure may also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the motor control method as proposed in the foregoing embodiments of this disclosure.
[0134] To implement the above embodiments, this disclosure may also provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the motor control method proposed in the foregoing embodiments of this disclosure.
[0135] Figure 7 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present disclosure is shown. Figure 7 The electronic device 12 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.
[0136] like Figure 7 As shown, the electronic device 12 is represented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).
[0137] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.
[0138] Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12, including volatile and non-volatile media, removable and non-removable media.
[0139] Memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and / or cache memory 32. Electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 7 Not shown; usually referred to as a "hard drive"). Although Figure 7 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disc drive for reading and writing to a removable non-volatile optical disc (e.g., a compact disc read-only memory (CD-ROM), a digital video disc read-only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this disclosure.
[0140] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of this disclosure.
[0141] Electronic device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 12, and / or with any device that enables electronic device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, electronic device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of electronic device 12 via bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.
[0142] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the methods mentioned in the foregoing embodiments.
[0143] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0144] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0145] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.
[0146] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.
[0147] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
[0148] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
[0149] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.
[0150] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.
Claims
1. A motor control system, characterized in that, include: Detection module, active power compensation module, stator voltage calculation module and drive module; The detection module is used to detect the current and voltage of the motor in the two-phase stationary coordinate system, and output the current and voltage to the active power compensation module and the stator voltage calculation module respectively. The active power compensation module is used to determine the compensation electric angular velocity based on the current and voltage. The stator voltage calculation module is used to determine the current stator voltage based on the current and voltage. The drive module is used to determine the voltage in the two-phase stationary coordinate system at the next moment based on the current reference electric angular velocity, the compensated electric angular velocity, and the stator voltage, and to drive the motor based on the voltage in the two-phase stationary coordinate system at the next moment.
2. The system as described in claim 1, characterized in that, The detection module includes a current detection terminal, a voltage detection terminal, and a first coordinate transformation unit; The current detection terminal is connected to the three-phase current input terminal of the motor and is used to detect the drive current of the motor. The first coordinate transformation unit is used to convert the three-phase current detected by the current detection terminal into the current in the two-phase stationary coordinate system; The voltage detection terminal is connected to the output terminal of the stator voltage calculation module and is used to detect the voltage in the two-phase stationary coordinate system output by the stator voltage calculation module.
3. The system as described in claim 1, characterized in that, The stator voltage calculation module includes a reactive power compensation unit, an electric angular velocity compensation unit, a calculation unit, an integration unit, and a second coordinate transformation unit. The reactive power compensation unit is used to determine the compensation voltage based on the current and voltage. The electric angular velocity compensation unit is used to compensate the reference electric angular velocity based on the compensated electric angular velocity and output the compensated electric angular velocity. The integration unit is used to integrate the compensated electric angular velocity to obtain the position angle; The calculation unit is used to calculate the stator voltage based on the position angle, the reference electrical angular velocity, the current, and the compensation voltage; The second coordinate transformation unit is used to transform the stator voltage to obtain the voltage in the two-phase stationary coordinate system at the next moment.
4. A motor control method, characterized in that, include: Obtain the current and voltage of the motor in the two-phase stationary coordinate system; Based on the current and voltage, determine the compensated electric angular velocity; Based on the current and voltage, determine the current stator voltage; Based on the current reference electric angular velocity, the compensated electric angular velocity, and the stator voltage, determine the voltage in the two-phase stationary coordinate system at the next moment; The motor is controlled based on the voltage in the two-phase stationary coordinate system at the next moment.
5. The method as described in claim 4, characterized in that, The determination of the compensated electric angular velocity based on the current and voltage includes: Based on the current and voltage, determine the current active power of the motor; The active power is high-pass filtered to determine the active power compensation power; The compensated electric angular velocity is determined based on the active power supplement and the preset parameter factors.
6. The method as described in claim 4, characterized in that, Determining the current stator voltage based on the current and voltage includes: Reactive power compensation is performed on the current and voltage to obtain the current compensation voltage; The current stator voltage is determined based on the current, the compensation voltage, and the reference electric angular velocity.
7. The method as described in claim 6, characterized in that, The reactive power compensation of the current and voltage to obtain the current compensation voltage includes: Based on the current and voltage, determine the reactive power in the current stationary coordinate system. Determine the reactive power in the current rotating coordinate system based on the current and the reference electric angular velocity; Compensate for the reactive power in the stationary coordinate system and the reactive power in the rotating coordinate system to obtain the current reactive power; The reactive power is low-pass filtered to determine the current compensation voltage.
8. The method as described in claim 6, characterized in that, Determining the current stator voltage based on the current, the compensation voltage, and the reference electric angular velocity includes: Based on the reference electrical angular velocity, determine the current position angle and the amplitude of the stator induced phase voltage; Based on the current and the position angle, determine the current stator current and power factor angle; The first voltage is determined based on the stator current, the power factor angle, and the amplitude of the stator induced phase voltage. The first voltage is compensated based on the compensation voltage to obtain the current stator voltage.
9. A motor control device, characterized in that, include: The acquisition module is used to acquire the current and voltage of the motor in the two-phase stationary coordinate system. The first determining module is used to determine the compensated electric angular velocity based on the current and voltage; The second determining module is used to determine the current stator voltage based on the current and voltage. The third determining module is used to determine the voltage in the two-phase stationary coordinate system at the next moment based on the current reference electric angular velocity, the compensated electric angular velocity, and the stator voltage. The control module is used to control the motor based on the voltage in the two-phase stationary coordinate system at the next moment.
10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the motor control method as described in any one of claims 4-8.