Motor starting control method, control device, electronic device, and storage medium

Abstract

The present disclosure relates to a motor starting control method, a control device, an electronic device and a storage medium. The method comprises: obtaining the actual current i α , the actual current i β , the actual voltage v α and the actual voltage v β of the motor in a stationary coordinate system during the motor starting process, and inputting i α , i β , v α and v β into a position observer to obtain the estimated electrical angular velocity ω e and the position estimation angle θ e of the motor rotor; if ω e is less than 0, compensating θ e to determine the target position angle θ t of the motor rotor; and then controlling the motor rotor to move according to θ t until the motor rotor rotates forward after moving to the target position. Thus, the present disclosure obtains the position estimation angle of the motor rotor by using the position observer, and compensates the position estimation angle in time when the motor is detected to have a reverse rotation trend, so as to ensure that the motor can be accurately positioned to the target position angle during the starting process, and avoid starting failure caused by reverse rotation or asynchronous abnormal phenomenon.

Description

Technical Field

[0001] This disclosure relates to the field of motor technology, and in particular to a motor starting control method, control device, electronic device and storage medium. Background Technology

[0002] In the widespread application of motor operation control, such as in air conditioner compressors, fans, refrigerator compressors, and washing machine motors, the motor starting process is crucial. Starting methods are classified into two categories based on different system requirements: open-loop starting and closed-loop starting. For applications where reverse rotation is not permitted, such as specific compressor systems, ensuring the accuracy of the initial position during startup is key to maintaining stable motor operation and system reliability. For equipment like fans, which have less stringent starting requirements, open-loop starting is commonly used to simplify control logic and reduce costs. However, open-loop starting, when faced with specific conditions such as headwinds, may fail due to the lack of an effective feedback mechanism, potentially leading to starting failures, including reverse rotation and loss of synchronization. Summary of the Invention

[0003] This disclosure provides an air conditioner and its control method, control device and storage medium. The motor starting control method of this disclosure uses a position observer to obtain the estimated position angle of the motor rotor, and when the motor is detected to have a reverse rotation trend, it promptly compensates the estimated position angle. This compensation mechanism ensures that the motor can accurately position itself to the target position angle during the starting process, thereby effectively avoiding starting failure caused by abnormal phenomena such as reverse rotation or asynchronous operation.

[0004] According to a first aspect of the present disclosure, a motor starting control method is provided, comprising:

[0005] During motor startup, the actual α-axis current i of the motor in the stationary coordinate system is obtained. α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β ;

[0006] The actual current i along the α axis α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. e And position estimation angle θ e ;

[0007] In response to the estimated electric angular velocity ω e If the value is less than 0, the angle θ is estimated for the position. e Compensation is performed to determine the target position angle θ of the motor rotor.t ;

[0008] According to the target position angle θ t The motor rotor is controlled to move until it reaches the target position and then rotates in the forward direction.

[0009] In one embodiment of this disclosure, the actual α-axis current i α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. e ,include:

[0010] Based on the actual current i of the α-axis α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Determine the back electromotive force E s ;

[0011] The back electromotive force E is determined according to the back electromotive force adaptive law preset by the position observer. s Voltage component along the α axis and voltage components on the β axis

[0012] According to the back electromotive force E s Voltage component along the α axis and voltage components on the β axis Determine the estimated electric angular velocity ω e .

[0013] In one embodiment of this disclosure, the back electromotive force E is... s Voltage component along the α axis and voltage components on the β axis Determine the estimated electric angular velocity ω e ,include:

[0014] Obtain the actual position angle of the motor rotor;

[0015] According to the voltage component The voltage component The sine function value and the cosine function value of the actual position angle are used to determine the position estimation angle error ΔE.

[0016] The estimated electrical angular velocity ω is obtained by applying a PI adjustment to the position estimation angle error ΔE. e .

[0017] In one embodiment of this disclosure, the actual α-axis current i α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input a position observer to determine the position and estimate the angle θ. e ,include:

[0018] For the estimated electric angular velocity Integrating, we obtain the estimated position angle θ. e .

[0019] In one embodiment of this disclosure, the position is estimated by angle θ. e Compensation is performed to determine the target position angle θ of the motor rotor. t ,include:

[0020] Obtain the load conditions and environmental factors of the motor;

[0021] The position compensation angle Δθ is determined based on the load conditions and environmental factors.

[0022] Based on the position compensation angle Δθ and the position estimation angle θ e Determine the target position angle θ t .

[0023] In one embodiment of this disclosure, the step of determining the target position angle θ t Controlling the motor rotor to move until it reaches the target position and then rotates forward includes:

[0024] Obtain the actual d-axis voltage v of the motor in the rotating coordinate system. d and the actual voltage v on the q-axis q ;

[0025] For the target position angle θ t The actual voltage v along the d-axis d and the actual voltage v of the q-axis q Perform an inverse Park transform to obtain the α-axis target voltage and the β-axis target voltage;

[0026] A PWM control signal is generated based on the α-axis target voltage and the β-axis target voltage;

[0027] The PWM control signal is converted into a three-phase voltage signal by the inverter, and the motor rotor is driven to move to the target position and then rotate in the forward direction according to the three-phase voltage signal.

[0028] In one embodiment of this disclosure, the actual d-axis voltage vd and the actual voltage v of the q-axis q The steps to obtain it include:

[0029] Obtain the given d-axis current of the motor in the rotating coordinate system. and q-axis given current

[0030] For the target position angle θ t The actual current i along the α axis α and the actual current i along the β axis β Perform the Park transformation to obtain the actual d-axis current i. d and the actual q-axis current i q ;

[0031] A given current for the d-axis and the actual d-axis current i d The error between them is adjusted by PI to obtain the actual voltage v of the d-axis. d ;

[0032] A given current for the q-axis and the actual q-axis current i q The error between them is adjusted by PI to obtain the actual q-axis voltage v. q .

[0033] In one embodiment of this disclosure, the actual α-axis current i α and the actual current i along the β axis β The steps to obtain it include:

[0034] The current in at least two phases of the three-phase windings of the motor is detected to obtain the three-phase current i. a i b i c ;

[0035] For the three-phase current i a i b i c Perform a Clark transformation to obtain the actual α-axis current i. α and the actual current i along the β axis β .

[0036] According to a second aspect of the present disclosure, a motor starting control device is provided, comprising:

[0037] The acquisition module is used to acquire the actual α-axis current i of the motor in the stationary coordinate system during the motor starting process. α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axisβ ;

[0038] The determination module is used to determine the actual current i along the α-axis. α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. e And position estimation angle θ e Compensation module, used in response to the estimated electric angular velocity ω e If the value is less than 0, the angle θ is estimated for the position. e Compensation is performed to determine the target position angle θ of the motor rotor. t ;

[0039] The control module is used to determine the target position angle θ. t The motor rotor is controlled to move until it reaches the target position and then rotates in the forward direction.

[0040] In one embodiment of this disclosure, the determining module is used to determine the actual α-axis current i α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. e At that time, including:

[0041] Based on the actual current i of the α-axis α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Determine the back electromotive force E s ;

[0042] The back electromotive force E is determined according to the back electromotive force adaptive law preset by the position observer. s Voltage component along the α axis and voltage components on the β axis

[0043] According to the back electromotive force E s Voltage component along the α axis and voltage components on the β axis Determine the estimated electric angular velocity ω e .

[0044] In one embodiment of this disclosure, the determining module is configured to determine based on the back electromotive force E s Voltage component along the α axis and voltage components on the β axis Determine the estimated electric angular velocity ω e At that time, including:

[0045] Obtain the actual position angle of the motor rotor;

[0046] According to the voltage component The voltage component The sine function value and the cosine function value of the actual position angle are used to determine the position estimation angle error ΔE.

[0047] The estimated electrical angular velocity ω is obtained by applying a PI adjustment to the position estimation angle error ΔE. e .

[0048] In one embodiment of this disclosure, the determining module is used to determine the actual α-axis current i α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input a position observer to determine the position and estimate the angle θ. e At that time, including:

[0049] For the estimated electric angular velocity Integrating, we obtain the estimated position angle θ. e .

[0050] In one embodiment of this disclosure, the compensation module is used to estimate the angle θ of the position. e Compensation is performed to determine the target position angle θ of the motor rotor. t At that time, including:

[0051] Obtain the load conditions and environmental factors of the motor;

[0052] The position compensation angle Δθ is determined based on the load conditions and environmental factors.

[0053] Based on the position compensation angle Δθ and the position estimation angle θ e Determine the target position angle θ t .

[0054] In one embodiment of this disclosure, the control module is used to determine the target position angle θ. t When controlling the motor rotor to move until it reaches the target position and then rotates forward, the process includes:

[0055] Obtain the actual d-axis voltage v of the motor in the rotating coordinate system. d and the actual voltage v on the q-axis q ;

[0056] For the target position angle θ t The actual voltage v along the d-axis d and the actual voltage v of the q-axis q Perform an inverse Park transform to obtain the α-axis target voltage and the β-axis target voltage;

[0057] A PWM control signal is generated based on the α-axis target voltage and the β-axis target voltage;

[0058] The PWM control signal is converted into a three-phase voltage signal by the inverter, and the motor rotor is driven to move to the target position and then rotate in the forward direction according to the three-phase voltage signal.

[0059] In one embodiment of this disclosure, the control module acquires the actual d-axis voltage v. d and the actual voltage v of the q-axis q Time includes:

[0060] Obtain the given d-axis current of the motor in the rotating coordinate system. and q-axis given current

[0061] For the target position angle θ t The actual current i along the α axis α and the actual current i along the β axis β Perform the Park transformation to obtain the actual d-axis current i. d and the actual q-axis current i q ;

[0062] A given current for the d-axis and the actual d-axis current i d The error between them is adjusted by PI to obtain the actual voltage v of the d-axis. d ;

[0063] A given current for the q-axis and the actual q-axis current i q The error between them is adjusted by PI to obtain the actual q-axis voltage v. q .

[0064] In one embodiment of this disclosure, the acquisition module acquires the actual α-axis current i α and the actual current i along the β axis β At that time, including:

[0065] The current in at least two phases of the three-phase windings of the motor is detected to obtain the three-phase current i. a i b i c ;

[0066] For the three-phase current i a i b i c Perform a Clark transformation to obtain the actual α-axis current i. α and the actual current i along the β axis β .

[0067] According to a third aspect of the present disclosure, an electronic device is provided, comprising:

[0068] At least one processor; and

[0069] A memory communicatively connected to the at least one processor; wherein,

[0070] The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the motor starting control method described above.

[0071] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, which, when the instructions in the storage medium are executed by a processor, enables the processor to perform the motor starting control method described above.

[0072] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the above-described motor starting control method.

[0073] The technical solutions provided by the embodiments of this disclosure have at least the following beneficial effects:

[0074] This disclosure describes how to obtain the actual α-axis current i of the motor in the stationary coordinate system during motor startup. α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β and the actual current i along the α axis α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. e And position estimation angle θ e If we estimate the electric angular velocity ω e If the value is less than 0, then the angle θ is estimated for the position. e Compensation is performed to determine the target position angle θ of the motor rotor. t Then, based on the target position angle θ tThe motor rotor is controlled to move until it reaches the target position and then rotates in the forward direction. Therefore, the motor starting control method of this disclosure uses a position observer to obtain the estimated position angle of the motor rotor, and when a reverse rotation trend is detected, the estimated position angle is compensated in a timely manner. This compensation mechanism ensures that the motor can accurately locate the target position angle during the starting process, thereby effectively avoiding starting failure caused by abnormal phenomena such as reverse rotation or asynchronous operation.

[0075] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0076] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0077] Figure 1 This is a flowchart of a motor starting control method according to an embodiment of the present disclosure;

[0078] Figure 2 This is a schematic diagram of an adaptive position observer according to an embodiment of the present disclosure;

[0079] Figure 3 This is a schematic diagram of motor starting control according to an embodiment of the present disclosure;

[0080] Figure 4 This is a block diagram of a motor starting control device according to an embodiment of the present disclosure. Detailed Implementation

[0081] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0082] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0083] The following description, with reference to the accompanying drawings, outlines an embodiment of a motor starting control method, apparatus, electronic device, and storage medium.

[0084] Figure 1 This is a flowchart of a motor starting control method according to an embodiment of the present disclosure.

[0085] It should be noted that the motor in this embodiment is a permanent magnet synchronous motor (PMSM), but it can also be extended to other types of motors such as asynchronous motors.

[0086] like Figure 1 The motor starting control method described in this embodiment includes the following steps:

[0087] S1, during motor startup, obtain the actual α-axis current i of the motor in the stationary coordinate system. α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β .

[0088] In step S1, the actual current i along the α-axis of the motor in the stationary coordinate system α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β It can be measured by current and voltage sensors installed in the motor.

[0089] In addition, the actual current i along the α-axis of the motor in the stationary coordinate system α and the actual current i along the β axis β It can also be obtained by: first detecting the current in at least two phases of the motor's three-phase windings to obtain the three-phase current i. a i b i c Then, for the three-phase current i a i b i c Perform a Clark transformation to obtain the actual current i along the α-axis. α and the actual current i along the β axis β .

[0090] S2, the actual current i along the α axis α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. e And position estimation angle θ e .

[0091] like Figure 2 As shown, the estimated electric angular velocity ω is determined.e ,include:

[0092] Based on the actual current i along the α axis α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Determine the back electromotive force E s ;

[0093] The back electromotive force E is determined according to the adaptive law of back electromotive force preset by the position observer (as shown in formula (8) below). s Voltage component along the α axis and voltage components on the β axis

[0094] The actual position angle of the motor rotor is obtained, and then output to the sine function (sin) module and the cosine function (cos) module to obtain the sine function value and the cosine function value of the actual position angle.

[0095] According to voltage components voltage component The sine and cosine values ​​of the actual position angle are used to determine the position estimation angle error ΔE; for example, - Subtract the product of the cosine function value of the actual position angle The product of the sine function value of the actual position angle and the position estimation angle is used to obtain the position estimation angle error ΔE.

[0096] Input the position estimation angle error ΔE into the PI module (PI function is...). In this process, the estimated electric angular velocity ω is obtained by adjusting the PI control on the position estimation angle error ΔE. e .

[0097] like Figure 2 As shown, after obtaining the estimated electric angular velocity ω e Next, the electric angular velocity ω will be estimated. e The input is fed into an integrator (with an integration function of 1 / s) to estimate the electric angular velocity. Integrating, we obtain the estimated position angle θ. e .

[0098] S3, in response to the estimated electric angular velocity ω e If less than 0, estimate the angle θ for the position. e Compensation is performed to determine the target position angle θ of the motor rotor. t .

[0099] During motor startup, if the estimated electrical angular velocity ω is detected... eA value less than 0 indicates that the motor may have a reverse rotation tendency. In this case, it is necessary to estimate the angle θ based on the position. e Compensation will be provided.

[0100] Estimating the angle θ at the position e Before compensation, the load conditions and environmental factors are obtained, and the position compensation angle Δθ is determined based on these conditions and factors. After obtaining the position compensation angle Δθ, the position compensation angle and the estimated position angle θ are then used to determine the position compensation angle. e Determine the target position angle θ of the motor rotor. t For example, the position compensation angle Δθ and the position estimation angle θ e The sum of these values ​​is used as the target position angle θ. t .

[0101] The following explanation uses a fan as an example to illustrate the motor.

[0102] For fans, load conditions may include: fan speed requirements, fan air volume requirements, and fan power limitations; environmental factors may include: ambient temperature, ambient humidity, air density, wind speed, and wind direction.

[0103] After obtaining the above load conditions and environmental factors, the compensation angle can be determined through the following steps: calculate the required speed adjustment based on the fan speed requirements and the current estimated electric angular velocity; adjust the compensation angle to adapt to temperature changes, taking into account the influence of ambient temperature on motor performance; and adjust the compensation angle to optimize fan efficiency based on air density and natural wind conditions.

[0104] For example, if the fan is operating at high altitudes where air density is low, it may be necessary to increase the fan speed to provide sufficient airflow. In this case, the compensation angle might be set to a positive value to increase the target position angle of the motor rotor, thereby increasing the fan speed. Conversely, if the ambient temperature is high, it may be necessary to reduce the motor load to prevent overheating. In this case, the compensation angle might be set to a negative value to decrease the target position angle of the motor rotor, thereby reducing the fan speed.

[0105] S4, based on the target position angle θ t The motor rotor is controlled to move until it reaches the target position and then rotates in the forward direction.

[0106] The implementation process of step S4 is as follows: Figure 3 As shown, it includes:

[0107] Obtain the given d-axis current of the motor in the rotating coordinate system and q-axis given current And to detect the current in at least two phases of the three-phase windings of the motor to obtain the three-phase current i a ib i c ;

[0108] The three-phase current i a i b i c The input is fed into a 3s / 2s Clark converter to control the three-phase current i a i b i c Perform a Clark transformation to obtain the actual current i along the α-axis. α and the actual current i along the β axis β ;

[0109] Target position angle θ t α-axis actual current i α and the actual current i along the β axis β The input is fed into a 2s / 2rPark transformer to determine the target position angle θ. t α-axis actual current i α and the actual current i along the β axis β Perform the Park transformation to obtain the actual d-axis current i. d and the actual q-axis current i q ;

[0110] Calculate the given current along the d-axis and the actual current i on the d-axis d The error between them, and the given current on the d-axis. and the actual current i on the d-axis d The error between the two values ​​is input to the PI controller to adjust the error using PI, thereby obtaining the actual d-axis voltage v of the motor in the rotating coordinate system. d And calculate the given q-axis current. and the actual q-axis current i q The error between them, and the current given to the q-axis. and the actual q-axis current i q The error between the two values ​​is input to the PI controller to adjust the error using PI, thereby obtaining the actual q-axis voltage v of the motor in the rotating coordinate system. q ;

[0111] Target position angle θ t d-axis actual voltage v d and the actual voltage v on the q-axis q The input is fed into the 2r / 2s inverse Park transformer to determine the target position angle θ. t d-axis actual voltage v d and the actual voltage v on the q-axis q Perform an inverse Park transform to obtain the α-axis target voltage and the β-axis target voltage;

[0112] The target voltages on the α-axis and β-axis are input into the SVPWM module to generate PWM control signals based on the target voltages on the α-axis and β-axis.

[0113] The PWM control signal is input to the inverter, which converts the PWM control signal into a three-phase voltage signal. The inverter then drives the motor rotor to move according to the target position angle until the target position is reached, and controls the motor to rotate in the forward direction.

[0114] Therefore, the motor starting control method disclosed herein uses a position observer to obtain the estimated position angle of the motor rotor, and promptly compensates for the estimated position angle when a reverse rotation trend is detected. This compensation mechanism ensures that the motor can accurately locate the target position angle during the starting process, thereby effectively avoiding starting failure caused by abnormal phenomena such as reverse rotation or asynchronous operation.

[0115] The following describes the process of determining the pre-defined adaptive law for back electromotive force.

[0116] For a surface-mounted three-phase motor, the current equation in the stationary coordinate system is rewritten as the following formula (1):

[0117]

[0118] in, L s R is the stator inductance, R is the stator resistance, and Ψ is the stator resistance. f This refers to the permanent magnet flux of the rotor.

[0119] i s =[i α i β ] T The actual current u in the stationary coordinate system of the motor. s =[u α u β ] T E is the actual voltage in the stationary coordinate system of the motor. s =[E α E β ] T It is the back electromotive force.

[0120] And the back electromotive force E s =[E α E β ] T The following formula (2) must be satisfied:

[0121]

[0122] The differential equation of the above formula (2) satisfies the following formula (3):

[0123]

[0124] To design the position observer, the sliding surface function is first defined as follows (4):

[0125]

[0126] in, To estimate the current, i s =[i α i β ] T For the actual current, i α i is the actual current along the α-axis. β This represents the actual current along the β axis.

[0127] The observation function for the adaptive position observer is designed as follows (5):

[0128]

[0129] in, k is a negative constant, and satisfies

[0130] Based on the above formulas (1) and (5), the error equation for the current can be obtained as the following formula (6):

[0131]

[0132] Since the system enters the synovial surface, it immediately has From the above formula (6), we can obtain the following formula (7):

[0133]

[0134] Therefore, the adaptive law of the back electromotive force can be set as the following formula (8):

[0135]

[0136] In summary, this disclosure obtains the actual α-axis current i of the motor in the stationary coordinate system during the motor starting process. α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β and the actual current i along the α axis α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. eAnd position estimation angle θ e If we estimate the electric angular velocity ω e If the value is less than 0, then the angle θ is estimated for the position. e Compensation is performed to determine the target position angle θ of the motor rotor. t Then, based on the target position angle θ t The motor rotor is controlled to move until it reaches the target position and then rotates in the forward direction. Therefore, the motor starting control method of this disclosure uses a position observer to obtain the estimated position angle of the motor rotor, and when a reverse rotation trend is detected, the estimated position angle is compensated in a timely manner. This compensation mechanism ensures that the motor can accurately locate the target position angle during the starting process, thereby effectively avoiding starting failure caused by abnormal phenomena such as reverse rotation or asynchronous operation.

[0137] Figure 4 This is a block diagram of a motor starting control device according to an embodiment of the present disclosure.

[0138] like Figure 4 As shown, the motor starting control device of this embodiment includes:

[0139] The acquisition module 410 is used to acquire the actual α-axis current i of the motor in the stationary coordinate system during the motor starting process. α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β ;

[0140] Determine module 420, used to determine the actual α-axis current i α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. e And position estimation angle θ e ;

[0141] Compensation module 430, used in response to estimating electric angular velocity ω e If less than 0, estimate the angle θ for the position. e Compensation is performed to determine the target position angle θ of the motor rotor. t ;

[0142] Control module 440 is used to determine the target position angle θ t The motor rotor is controlled to move until it reaches the target position and then rotates in the forward direction.

[0143] In one embodiment of this disclosure, the determining module 420 is used to determine the actual α-axis current iα β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. e At that time, including:

[0144] Based on the actual current i along the α axis α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Determine the back electromotive force E s ;

[0145] Based on the adaptive law of back electromotive force preset by the position observer, the back electromotive force E is determined. s Voltage component along the α axis and voltage components on the β axis

[0146] According to the back electromotive force E s Voltage component along the α axis and voltage components on the β axis Determine the estimated electric angular velocity ω e .

[0147] In one embodiment of this disclosure, the determining module 420 is configured to determine based on the back electromotive force E s Voltage component along the α axis and voltage components on the β axis Determine the estimated electric angular velocity ω e At that time, including:

[0148] Obtain the actual position angle of the motor rotor;

[0149] According to voltage components voltage component The sine and cosine values ​​of the actual position angle are used to determine the position estimation angle error ΔE.

[0150] By applying PI adjustment to the position estimation angle error ΔE, the estimated electric angular velocity ω is obtained. e .

[0151] In one embodiment of this disclosure, the determining module 420 is used to determine the actual α-axis current i α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input a position observer to determine the position and estimate the angle θ. e At that time, including:

[0152] For estimating electric angular velocity Integrating, we obtain the estimated position angle θ. e .

[0153] In one embodiment of this disclosure, the compensation module 430 is used to estimate the angle θ of the position. e Compensation is performed to determine the target position angle θ of the motor rotor. t At that time, including:

[0154] Obtain the motor's load conditions and environmental factors;

[0155] The position compensation angle Δθ is determined based on load conditions and environmental factors;

[0156] Based on the position compensation angle Δθ and the position estimation angle θ e Determine the target position angle θ t .

[0157] In one embodiment of this disclosure, the control module 440 is used to determine the target position angle θ. t When controlling the motor rotor to move until it reaches the target position and then rotates forward, it includes:

[0158] Obtain the actual d-axis voltage v of the motor in the rotating coordinate system d and the actual voltage v on the q-axis q ;

[0159] For the target position angle θ t d-axis actual voltage v d and the actual voltage v on the q-axis q Perform an inverse Park transform to obtain the α-axis target voltage and the β-axis target voltage;

[0160] PWM control signals are generated based on the target voltages along the α-axis and β-axis.

[0161] The PWM control signal is converted into a three-phase voltage signal by the inverter, and the motor rotor is driven to move to the target position and then rotate in the forward direction according to the three-phase voltage signal.

[0162] In one embodiment of this disclosure, the control module 440 acquires the actual d-axis voltage v. d and the actual voltage v on the q-axis q Time includes:

[0163] Obtain the given d-axis current of the motor in the rotating coordinate system and q-axis given current

[0164] For the target position angle θ t α-axis actual current iα and the actual current i along the β axis β Perform the Park transformation to obtain the actual d-axis current i. d and the actual q-axis current i q ;

[0165] Given a current along the d-axis and the actual current i on the d-axis d The error between them is adjusted by PI to obtain the actual voltage v on the d-axis. d ;

[0166] Given a current along the q-axis and the actual q-axis current i q The error between them is adjusted by PI to obtain the actual q-axis voltage v. q .

[0167] In one embodiment of this disclosure, the acquisition module 410 acquires the actual α-axis current i α and the actual current i along the β axis β At that time, including:

[0168] Detect the current in at least two phases of the three-phase windings of the motor to obtain the three-phase current i. a i b i c ;

[0169] For three-phase current i a i b i c Perform a Clark transformation to obtain the actual current i along the α-axis. α and the actual current i along the β axis β .

[0170] It should be noted that for details not disclosed in the motor starting control device of this disclosure, please refer to the details disclosed in the motor starting control method of this disclosure, which will not be repeated here.

[0171] According to the motor starting control device of this disclosure, during the motor starting process, the acquisition module acquires the actual α-axis current i of the motor in the stationary coordinate system. α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β The module determines the actual α-axis current i α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. e And position estimation angle θ eThe compensation module is used to estimate the electric angular velocity ω. e When the value is less than 0, estimate the angle θ for the position. e Compensation is performed to determine the target position angle θ of the motor rotor. t The control module determines the target position angle θ. t The motor rotor is controlled to move until it reaches the target position and then rotates in the forward direction. Therefore, the motor starting control method of this disclosure uses a position observer to obtain the estimated position angle of the motor rotor, and when a reverse rotation trend is detected, the estimated position angle is compensated in a timely manner. This compensation mechanism ensures that the motor can accurately locate the target position angle during the starting process, thereby effectively avoiding starting failure caused by abnormal phenomena such as reverse rotation or asynchronous operation.

[0172] To implement the above embodiments, this disclosure also proposes an electronic device.

[0173] The electronic device disclosed herein includes:

[0174] At least one processor; and

[0175] A memory communicatively connected to the at least one processor; wherein,

[0176] The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the motor starting control method described above.

[0177] To implement the above embodiments, this disclosure also proposes a computer-readable storage medium.

[0178] When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device is able to execute the motor starting control method described above.

[0179] To implement the above embodiments, this disclosure also provides a computer program product.

[0180] When the computer program is executed by the processor of the electronic device, it enables the electronic device to perform the motor starting control method described above.

[0181] 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.

[0182] 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.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] 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 starting control method, characterized in that, include: During motor startup, the actual α-axis current i of the motor in the stationary coordinate system is obtained. α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β ; The actual current i along the α axis α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. e And position estimation angle θ e ; In response to the estimated electric angular velocity ω e If the value is less than 0, the angle θ is estimated for the position. e Compensation is performed to determine the target position angle θ of the motor rotor. t ; According to the target position angle θ t The motor rotor is controlled to move until it reaches the target position and then rotates in the forward direction.

2. The method according to claim 1, characterized in that, The actual current i along the α axis α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. e ,include: Based on the actual current i of the α-axis α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Determine the back electromotive force E s ; The back electromotive force E is determined according to the back electromotive force adaptive law preset by the position observer. s Voltage component along the α axis and voltage components on the β axis According to the back electromotive force E s Voltage component along the α axis and voltage components on the β axis Determine the estimated electric angular velocity ω e .

3. The method according to claim 2, characterized in that, The back electromotive force E s Voltage component along the α axis and voltage components on the β axis Determine the estimated electric angular velocity ω e ,include: Obtain the actual position angle of the motor rotor; According to the voltage component The voltage component The sine function value and the cosine function value of the actual position angle are used to determine the position estimation angle error ΔE. The estimated electrical angular velocity ω is obtained by applying a PI adjustment to the position estimation angle error ΔE. e .

4. The method according to claim 3, characterized in that, The actual current i along the α axis α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input a position observer to determine the position and estimate the angle θ. e ,include: For the estimated electric angular velocity Integrating, we obtain the estimated position angle θ. e .

5. The method according to claim 1, characterized in that, The position is estimated by angle θ e Compensation is performed to determine the target position angle θ of the motor rotor. t ,include: Obtain the load conditions and environmental factors of the motor; The position compensation angle Δθ is determined based on the load conditions and environmental factors. Based on the position compensation angle Δθ and the position estimation angle θ e Determine the target position angle θ t .

6. The method according to claim 1, characterized in that, The target position angle θ t Controlling the motor rotor to move until it reaches the target position and then rotates forward includes: Obtain the actual d-axis voltage v of the motor in the rotating coordinate system. d and the actual voltage v on the q-axis q ; For the target position angle θ t The actual voltage v along the d-axis d and the actual voltage v of the q-axis q Perform an inverse Park transform to obtain the α-axis target voltage and the β-axis target voltage; A PWM control signal is generated based on the α-axis target voltage and the β-axis target voltage; The PWM control signal is converted into a three-phase voltage signal by the inverter, and the motor rotor is driven to move to the target position and then rotate in the forward direction according to the three-phase voltage signal.

7. The method according to claim 6, characterized in that, The actual voltage v along the d-axis d and the actual voltage v of the q-axis q The steps to obtain it include: Obtain the given d-axis current of the motor in the rotating coordinate system. and q-axis given current For the target position angle θ t The actual current i along the α axis α and the actual current i along the β axis β Perform the Park transformation to obtain the actual d-axis current i. d and the actual q-axis current i q ; A given current for the d-axis and the actual d-axis current i d The error between them is adjusted by PI to obtain the actual voltage v of the d-axis. d ; A given current for the q-axis and the actual q-axis current i q The error between them is adjusted by PI to obtain the actual q-axis voltage v. q .

8. The method according to claim 1, characterized in that, The actual current i along the α axis α and the actual current i along the β axis β The steps to obtain it include: The current in at least two phases of the three-phase windings of the motor is detected to obtain the three-phase current i. a i b i c ; For the three-phase current i a i b i c Perform a Clark transformation to obtain the actual α-axis current i. α and the actual current i along the β axis β .

9. A motor starting control device, characterized in that, include: The acquisition module is used to acquire the actual α-axis current i of the motor in the stationary coordinate system during the motor starting process. α β-axis actual current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β ; The determination module is used to determine the actual current i along the α-axis. α The actual β-axis current i β Actual voltage v along the α axis α and the actual voltage v on the β axis β Input the position observer to obtain the estimated electrical angular velocity ω of the motor rotor. e And position estimation angle θ e ; Compensation module, used in response to the estimated electric angular velocity ω e If the value is less than 0, the angle θ is estimated for the position. e Compensation is performed to determine the target position angle θ of the motor rotor. t ; The control module is used to determine the target position angle θ. t The motor rotor is controlled to move until it reaches the target position and then rotates in the forward direction.

10. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the motor starting control method according to any one of claims 1-8.

11. A computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor, enable the processor to perform the motor starting control method as described in any one of claims 1-8.

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