Synchronous motor adaptive angle compensation method and device, motor equipment and computer readable storage medium

Abstract

This application discloses a method and apparatus for adaptive angle compensation of a synchronous motor, a motor device, and a computer-readable storage medium. The method includes: acquiring the current in a two-phase stationary coordinate system; obtaining a compensation angle from an angle compensator based on the d-axis current-related parameters of the target current control cycle; correcting the rotor position observation angle based on the compensation angle to obtain a corrected position angle; acquiring the d-axis current and q-axis current of the current control cycle based on the two-phase stationary coordinate system current and the corrected position angle; and acquiring the d-axis voltage and q-axis voltage based on the d-axis current and q-axis current; and performing an inverse coordinate transformation on the d-axis voltage and q-axis voltage based on the corrected position angle to obtain the three-phase stator voltage of the synchronous motor. This method compensates for observer angle deviations caused by parameter errors, magnetic saturation effects, and inverter nonlinearity, enabling the position angle used in the current loop to meet the performance requirements of high-precision or high-power control systems.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a method and apparatus for adaptive angle compensation of synchronous motors, motor equipment, and computer-readable storage medium. Background Technology

[0002] In sensorless control of permanent magnet synchronous motors, no physical position sensors are used. Instead, the rotor position angle is observed by an observer, and this position angle is then used for current loop decoupling control of the control system. The accuracy of this position angle has a significant impact on the performance and stability of the control system.

[0003] However, due to factors such as motor parameter errors, magnetic saturation effects, and inverter nonlinearity, the position angle observed by the observer will deviate from the actual position angle, and this deviation angle is usually small. Therefore, in non-high-precision or low-power control systems, this deviation angle is often ignored as long as the system performance requirements are met. However, in high-precision or high-power control systems, this deviation angle will lead to increased motor input current, severe heat generation, and decreased system performance and stability, significantly affecting the control effect. In this case, the deviation angle cannot be ignored and further optimization is required to meet the performance requirements of the control system. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this application is to provide a method and device for adaptive angle compensation of synchronous motors, a motor device and a computer-readable storage medium, to solve the problem that the position angle observed by the current synchronous motor observer has a deviation and cannot meet the requirements of high-precision or high-power control systems.

[0005] A first aspect of this application provides an adaptive angle compensation method for a synchronous motor, comprising performing angle compensation control during a portion of the current control cycle of the synchronous motor, wherein the angle compensation control includes: The three-phase stator current of the synchronous motor is obtained, and the two-phase stationary coordinate system current is obtained by coordinate transformation based on the three-phase stator current; The angle compensator obtains the compensation angle based on the d-axis current related parameters of the target current control cycle, and corrects the rotor position observation angle based on the compensation angle to obtain the corrected position angle. The d-axis current and q-axis current of the current control cycle are obtained based on the current in the two-phase stationary coordinate system and the correction position angle, and the d-axis voltage and q-axis voltage are obtained based on the d-axis current and the q-axis current. Based on the corrected position angle, the d-axis voltage and the q-axis voltage are subjected to inverse coordinate transformation to obtain the three-phase stator voltage of the synchronous motor; The target current control period is the current control period preceding the current current control period.

[0006] In some embodiments of this application, the d-axis current related parameter of the target current control period is: the ratio of the d-axis current of the target current control period to the q-axis current correction value of the target current control period; the q-axis current correction value of the target current control period is the sum of the q-axis current of the target current control period and a preset correction parameter.

[0007] In some embodiments of this application, the ratio of the current control frequency of the synchronous motor when angle compensation control is not performed to the current control frequency when angle compensation control is performed is not less than 10.

[0008] In some embodiments of this application, the angle compensation control is performed when the synchronous motor is running at a steady-state uniform speed.

[0009] In some embodiments of this application, the absolute value of the electrical angle of the compensation angle is less than or equal to 30 degrees.

[0010] In some embodiments of this application, obtaining the d-axis voltage and q-axis voltage based on the d-axis current and the q-axis current includes: Based on the d-axis current and the q-axis current, a control algorithm is used to obtain the d-axis voltage and the q-axis voltage.

[0011] In some embodiments of this application, the synchronous motor is a permanent magnet synchronous motor.

[0012] A second aspect of this application provides an adaptive angle compensation device for a synchronous motor, including an angle compensation control module; the angle compensation control module is used to perform angle compensation control during a portion of the current control cycle of the synchronous motor; the angle compensation control module includes a coordinate transformation unit, a correction position angle acquisition unit, a dq axis voltage acquisition unit, and a coordinate transformation unit. The coordinate transformation unit is used to obtain the three-phase stator current of the synchronous motor, and to obtain the two-phase stationary coordinate system current based on the three-phase stator current through coordinate transformation. The correction position angle acquisition unit is used by the angle compensator to obtain the compensation angle based on the d-axis current related parameters of the target current control cycle, and to correct the rotor position observation angle based on the compensation angle to obtain the correction position angle. The dq-axis voltage acquisition unit is used to acquire the d-axis current and q-axis current of the current control cycle based on the current of the two-phase stationary coordinate system and the correction position angle, and to acquire the d-axis voltage and q-axis voltage based on the d-axis current and the q-axis current. The coordinate transformation unit is used to perform inverse coordinate transformation on the d-axis voltage and the q-axis voltage based on the corrected position angle to obtain the three-phase stator voltage of the synchronous motor; The target current control period is the current control period preceding the current current control period.

[0013] A third aspect of this application provides an electrical device, characterized in that it includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the method described above. A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described above.

[0014] Compared with the prior art, one or more embodiments of the above solutions may have the following advantages or beneficial effects: The adaptive angle compensation method for synchronous motors provided in this invention adds an angle compensation loop outside the current loop of the motor control system by performing angle compensation control during a portion of the synchronous motor's current control cycle. This compensates for observer angle deviations caused by factors such as parameter errors, magnetic saturation effects, and inverter nonlinearity, ensuring that the rotor position angle used in the current loop meets the performance requirements of high-precision or high-power control systems. Angle compensation is obtained using d-axis current-related parameters, enabling a self-adaptive angle compensation process. This allows for rapid response under different loads, automatically approximating the deviation angle to compensate for the angle deviation of the rotor position observation angle output by the observer, thus ensuring that the rotor position angle used in the current loop control meets the requirements of high-precision synchronous motor control.

[0015] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 The diagram shown is a schematic representation of the adaptive angle compensation method for synchronous motors described in an embodiment of this application.

[0018] Figure 2 The diagram shown is a flowchart illustrating the angle compensation control process in the adaptive angle compensation method for synchronous motors described in this application embodiment.

[0019] Figure 3 The diagram shown is a structural schematic of the angle compensator in the synchronous motor adaptive angle compensation method described in this application embodiment.

[0020] Figure 4 This diagram shows the deviation between the actual rotor position angle and the observed rotor position angle after the permanent magnet synchronous motor control system stabilizes when the adaptive angle compensation method of the synchronous motor in this embodiment is not used.

[0021] Figure 5 This diagram illustrates the deviation between the actual rotor position angle and the observed rotor position angle after the permanent magnet synchronous motor control system stabilizes when the adaptive angle compensation method of the synchronous motor in this embodiment is used.

[0022] Figure 6 The diagram shown is a structural schematic of the synchronous motor adaptive angle compensation device described in an embodiment of this application.

[0023] Figure 7 The diagram shown is a structural schematic of the motor device described in an embodiment of this application.

[0024] Specific element symbol explanations: 1-Synchronous motor adaptive angle compensation device, 11-Angle compensation control module, 111-Coordinate transformation unit, 112-Corrected position angle acquisition unit, 113-dq axis voltage acquisition unit, 114-Coordinate transformation unit, 2-Motor equipment, 20-Processor, 21-Memory, 22-Computer program. Detailed Implementation

[0025] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0026] It should be noted that when a component is referred to as being "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0027] 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 one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0028] In sensorless control of permanent magnet synchronous motors, the rotor position angle estimated by the observer is crucial for current loop decoupling, and its accuracy directly determines system performance and stability. Due to factors such as motor parameter errors, magnetic saturation, and inverter nonlinearity, the estimated angle deviates from the true value. In low-power, non-high-precision scenarios, small deviations are negligible; however, in high-precision or high-power systems, these deviations can lead to increased motor input current, heightened heating, and reduced motor performance and stability. Therefore, it is necessary to optimize the observer to eliminate these deviations and meet stringent system requirements. For example, industrial applications require an angle error of less than 5 electrical degrees, while high-precision applications require less than 2 electrical degrees.

[0029] Currently, when the angle accuracy of the observer cannot meet the requirements, the solution of adding a position sensor is often adopted. However, this will significantly increase the hardware cost and assembly difficulty. Moreover, under harsh working conditions such as high heat, high humidity and strong vibration, the sensor is easily interfered with, which further increases the risk of system failure and reduces operational reliability.

[0030] Based on this, this application improves the adaptive angle compensation scheme for synchronous motors in related technologies. This application can be applied to permanent magnet synchronous motors, as well as other types of synchronous motors, and is not subject to any fixed limitations.

[0031] The adaptive angle compensation method for synchronous motors in this embodiment includes multiple current control cycles. Since this embodiment requires a sensorless observation scheme and the synchronous motor observer can only output the rotor position angle after the motor starts, the adaptive angle compensation method for synchronous motors in this embodiment needs to be executed when the synchronous motor is running at a steady and uniform speed. Furthermore, the angle compensation control in this embodiment needs to be executed when the synchronous motor is running at a steady and uniform speed, and is suspended during dynamic processes such as starting or acceleration and deceleration of the synchronous motor.

[0032] refer to Figure 1The adaptive angle compensation method for synchronous motors in this embodiment mainly involves performing angle compensation control during a portion of the current control cycle of the synchronous motor. Furthermore, when the synchronous motor uses this adaptive angle compensation method, the compensation angle value gradually converges to the fixed angle deviation value of the observer. This process requires multiple current control cycles, and angle compensation control is only performed during a portion of the current control cycles. The angle compensation control can be set to be performed periodically; for example, it can be performed once after every twenty normal current control cycles. Repeating this process multiple times achieves the goal of gradually converging the angle compensation to the fixed angle deviation value of the observer, thus completing the adaptive angle compensation for the synchronous motor.

[0033] To avoid excessively frequent angle compensation adjustments leading to motor instability, and also to prevent prolonged adjustment times causing the synchronous motor to operate under high current input for extended periods, when implementing adaptive angle compensation for the synchronous motor in this embodiment, the ratio of the current control frequency when angle compensation control is not performed to the current control frequency when angle compensation control is performed can be set to be no less than 10. For example, the current control frequency can be set to 20kHz, and the angle compensation control frequency to 1kHz.

[0034] refer to Figure 1 and Figure 2 As shown, angle compensation control specifically includes the following steps.

[0035] Step S101: Obtain the three-phase stator current of the synchronous motor, and obtain the two-phase stationary coordinate system current based on the three-phase stator current through coordinate transformation.

[0036] Specifically, the three-phase stator current of the synchronous motor is collected first. Then, the three-phase stator current is decoupled using coordinate decoupling. Transform to a two-phase stationary coordinate system to obtain the current in the two-phase stationary coordinate system. .

[0037] In step S102, the angle compensator obtains the compensation angle based on the d-axis current related parameters of the target current control cycle, and corrects the rotor position observation angle based on the compensation angle to obtain the corrected position angle.

[0038] Because the current control frequency of a synchronous motor without angle compensation control differs from that with angle compensation control, and the current control frequency without angle compensation control is much higher than that with angle compensation control, this embodiment uses an angle compensator to obtain the compensation angle. When the angle compensator is in use, the d-axis current-related parameters of any current control cycle before the current current control cycle should be used as the input of the angle compensator. After the current control frequency for which angle compensation control is not performed and the current control frequency for which angle compensation control is performed are set, the current control cycle for which the angle compensator needs to obtain the d-axis current-related parameters should also be fixed. At this time, the current control cycle for which the angle compensator needs to obtain the d-axis current-related parameters can be set as the target current control cycle.

[0039] Obtain the compensation angle based on the angle compensator. The process is as follows: The d-axis current and q-axis current of the target current control cycle are collected; based on the d-axis current and q-axis current, relevant parameters of the d-axis current are obtained; these parameters are used as inputs to the angle compensator, and the output of the angle compensator is the compensation angle. The relevant parameter for the d-axis current of the target current control cycle is the ratio of the d-axis current of the target current control cycle to the q-axis current correction value of the target current control cycle; while the q-axis current correction value of the target current control cycle is the q-axis current of the target current control cycle divided by a preset correction parameter. The sum. It should be noted that the preset correction parameters... To prevent small constants from being divided by zero, their values ​​can be set based on the actual situation; no fixed setting is made here.

[0040] refer to Figure 3 As shown, the parameters in the angle compensator need to be set based on the actual situation. This is because the rotor position observation angle output by the observer... The deviation from the actual rotor position angle is generally a small angular deviation. Therefore, the angle compensator needs to be set with a reasonable output limit value to restrict the angle compensation within a reasonable range. Specifically, the absolute value of the electrical angle for compensation can be set to be less than or equal to 30 degrees. This ensures the angle compensator outputs a suitable compensation angle. Appropriate angle compensator control parameters can be selected. and .in This represents the scaling factor, used to provide a fast response; This represents the integral coefficient, used to eliminate steady-state error. Angle compensator control parameters. and It can be set according to the actual situation, and there are no fixed restrictions on it here.

[0041] The angle compensator outputs the compensation angle. Then, based on the compensation angle Observation angle of rotor position output by the observer Angle compensation is performed to obtain the corrected position angle. Specifically, the rotor position observation angle is... From the perspective of compensation The sum of these values ​​is used as the correction position angle. .

[0042] Step S103: Obtain the d-axis current and q-axis current of the current control cycle based on the two-phase stationary coordinate system current and the correction position angle, and obtain the d-axis voltage and q-axis voltage based on the d-axis current and q-axis current.

[0043] Specifically, this is achieved by correcting the position angle. The current in the two-phase stationary coordinate system Converted to two-phase rotating coordinate axis current That is, d-axis current and q-axis current The d-axis current obtained at this time after decoupling and q-axis current Since it is a DC quantity, the d-axis voltage can then be obtained using a PI closed-loop control algorithm. and q-axis voltage It should be noted that other control algorithms can also be used to obtain the d-axis voltage. and q-axis voltage This embodiment does not impose any fixed limitations on it.

[0044] Step S104: Based on the corrected position angle, perform inverse coordinate transformation on the d-axis voltage and q-axis voltage to obtain the three-phase stator voltage of the synchronous motor.

[0045] Specifically based on the obtained correction position angle For d-axis voltage and q-axis voltage Perform an inverse Park transformation to obtain the control voltage in the two-phase stationary coordinate system. Then based on the control voltage , The three-phase stator voltage of the synchronous motor is controlled using the SVPWM (Space Vector Pulse Width Modulation) method. To take control.

[0046] To facilitate a further understanding of the synchronous motor adaptive angle compensation method in this embodiment, its principle is explained below. The following process is the execution of the current loop once, which is equivalent to the execution of the current control cycle once.

[0047] Taking the PI closed-loop control algorithm for the current loop as an example, firstly, the rotor position observation angle output by the synchronous motor observer is set to... The actual position angle of the rotor is The angle deviation value is The compensation angle is The observed dq coordinate axis is Depend on Define the observed current along the dq axis as... The actual dq coordinate axis is Depend on Defined, the true dq-axis coordinate current is Control the dq coordinate axis as Depend on Define the current controlling the dq axis coordinates as .

[0048] Observe the current along the dq axis , Then, the synchronous motor will automatically stabilize to a certain steady-state operating point. At this steady-state operating point, the relationship between the actual dq-axis current and the reference current can be derived using the following formula. The observed relationship between the dq-axis current and the current in the two-phase stationary coordinate system is: (1) At this time, under the control of the current loop, the control... , That is, following the q-axis given current output by the speed loop, the output dq-axis voltage is... Control the operation of the motor. Under the dq coordinate system, assume the resistance of the dq axis is... The inductance is angular frequency is The permanent magnet flux is The output voltage equation is then: (2) When the system reaches steady state, that is , At that time, When the current is not zero, meaning there is an angle deviation, the current loop will adjust the output voltage. and To force , .

[0049] At the steady-state operating point, the relationship between the observed dq-axis current and the actual dq-axis current is as follows: (3) Solving for: (4) Based on equation (4), it can be seen that when there is an angular deviation (Right now ), and control , At that time, the actual d-axis current Not equal to 0, the actual q-axis current .

[0050] For a salient-pole permanent magnet synchronous motor, its torque formula is: (5) To produce the same torque, the required q-axis reference current is: (6) This indicates that under the same load conditions, when there is an angular deviation... At that time, a larger To produce the same torque, a larger input current would be required, leading to a decrease in the performance and stability of the entire motor control system. To improve the performance of the motor control system, the position angle deviation from the observer needs to be compensated, allowing the control angle accuracy to meet higher precision requirements. Only then can the efficiency of the control system be improved.

[0051] To address the aforementioned issues, this embodiment adds an angle compensation loop outside the traditional current loop to compensate for the observer position angle deviation caused by factors such as parameter errors, magnetic saturation effects, and inverter nonlinearity. This ensures that the converted angle is as consistent as possible with the actual angle, further enabling the synchronous motor to operate on the correct coordinate axis. In this structure, when the angle compensator outputs the compensation angle... Therefore, the angle used for transformation in the current loop becomes: ,further The formula for transforming axis current into dq axis current is: (7) exist When = 0, the true dq-axis current transforms into The formula for the coordinate axis current is: (8) Substituting equation (8) into equation (7), and simultaneously from and We can obtain: (9) In the angle compensation loop, using the formula Based on, when control When it is 0, we can get ;exist If it is not 0, then =0, that is ,so That is, when the angle compensation loop controls... When equal to 0, It will automatically converge to Thus making .

[0052] Since the original current loop controls the voltage, it adjusts... and To make and It tracks a given value, but if the angle deviates, the current loop will adjust accordingly. and To compensate for the effect of angular deviation, this will lead to a decrease in the actual dq axis current of the motor. and If the current increases, it is not in the optimal control state. Therefore, an outer loop with angle compensation is needed to correct the change angle, so that the current loop works in the correct coordinate axis, and the motor control performance reaches the optimal level.

[0053] Based on formula It can be seen that when controlling The compensation angle is 0. Approaching At that time, there exists a gain coefficient. Therefore, it can be known that when the synchronous motor is lightly loaded ( When the angle compensation loop gain is small, the compensation response is slow; when the synchronous motor is under heavy load ( When the load is large, the gain of the angle compensation loop is large, which may cause oscillation. Therefore, this embodiment introduces d-axis current related parameters as input to the angle compensator, so that the compensation process is not affected by the load size.

[0054] The principle behind using e as a parameter related to the d-axis current in this application embodiment is as follows: When the input of the angle compensator is set to The output is The relationship is as follows: (10) In practical sensorless permanent magnet synchronous motor control systems, the observed deviation angle Since they are all relatively small, the above relationship can be approximated as linearized as follows: (11) In order to eliminate the expression (11) The influence of the coefficient, using express Further steps will yield the following results. Therefore, we have: (12) in To prevent small constants from being divided by zero, the input signal e can be directly approximated as equal to... It is independent of the load size.

[0055] After this transformation, the gain of the compensation angle of the synchronous motor system remains the same under different load conditions, unaffected by the load. Furthermore, based on the above formula, an adaptive angle compensator can be designed to ensure that the motor's compensation angle remains consistent under different loads. Both can automatically track the deviation angle at the same gain. .

[0056] Under the above input and output settings, the working process of the angle compensator can be briefly described as follows: when , When e > 0, during the angle compensation control process, the output of the angle compensator gradually increases. Thus making Approaching .

[0057] when , When e < 0, the output of the angle compensator gradually decreases during the angle compensation control process. Thus making Approaching .

[0058] when , When e=0, during the angle compensation control process, the angle compensator enters a stable state and remains stable. constant.

[0059] When the synchronous motor system is running stably, automatic compensation for the observer's output angle is achieved, enabling the use of high-precision position angles in the control system's current loop, thereby reflecting the true dq-axis current. Control is 0. The control is the given current output by the speed loop. This allows the synchronous motor to achieve a better control performance.

[0060] To further understand the effect of the adaptive angle compensation method for synchronous motors in this application, taking a permanent magnet synchronous motor control system without actual position control as an example, the difference between the actual rotor position angle and the observed rotor position angle after the motor control system stabilizes when the adaptive angle compensation method of the synchronous motor in this embodiment is not used, and the difference between the actual rotor position angle and the observed rotor position angle after the motor control system stabilizes when the adaptive angle compensation method of the synchronous motor in this embodiment is used. Figure 4 It can be seen that when the adaptive angle compensation method for synchronous motors in this embodiment is not used, the difference between the actual rotor position angle and the observed rotor position angle is 0.36 rad, approximately equal to 20 electrical degrees. This value is even less than what is required for industrial applications. Figure 5It can be seen that when the actual rotor position angle and the observed rotor position angle obtained by the synchronous motor adaptive angle compensation method of this embodiment are 0.02 rad, which is approximately equal to 1.1 degrees of electrical angle, the requirements for high-precision control can be met.

[0061] The adaptive angle compensation method for synchronous motors used in this embodiment can effectively improve the detection accuracy of position angle in sensorless permanent magnet synchronous motor control systems, thereby improving system control performance and operational stability. This method is simple to implement, easy to apply, and requires no additional hardware costs. In applications requiring high control accuracy, it eliminates the need to select high-cost position encoders to improve rotor position detection accuracy due to insufficient observer angle accuracy, thus further expanding the application scope of sensorless control technology.

[0062] refer to Figure 6 As shown, this embodiment also provides a synchronous motor adaptive angle compensation device 1, including an angle compensation control module 11; the angle compensation control module 11 is used to perform angle compensation control during part of the current control cycle of the synchronous motor; the angle compensation control module 11 includes a coordinate transformation unit 111, a correction position angle acquisition unit 112, a dq axis voltage acquisition unit 113, and a coordinate transformation unit 114.

[0063] The coordinate transformation unit 111 is used to obtain the three-phase stator current of the synchronous motor, and to obtain the two-phase stationary coordinate system current based on the three-phase stator current through coordinate transformation.

[0064] The correction position angle acquisition unit 112 is used by the angle compensator to obtain the compensation angle based on the d-axis current related parameters of the target current control cycle, and to correct the rotor position observation angle based on the compensation angle to obtain the correction position angle.

[0065] The dq-axis voltage acquisition unit 113 is used to acquire the d-axis current and q-axis current of the current control cycle based on the current of the two-phase stationary coordinate system and the correction position angle, and to acquire the d-axis voltage and q-axis voltage based on the d-axis current and q-axis current.

[0066] The coordinate transformation unit 114 is used to perform inverse coordinate transformation on the d-axis voltage and q-axis voltage based on the corrected position angle to obtain the three-phase stator voltage of the synchronous motor.

[0067] The target current control period is the current control period preceding the current current control period.

[0068] Furthermore, the position angle acquisition unit 112 is also specifically used for: The relevant parameters of the d-axis current in the target current control cycle are: the ratio of the d-axis current in the target current control cycle to the q-axis current correction value in the target current control cycle; the q-axis current correction value in the target current control cycle is the sum of the q-axis current in the target current control cycle and the preset correction parameter.

[0069] Furthermore, the angle compensation control module 11 is specifically used for: The ratio of the current control frequency of the synchronous motor without angle compensation control to the current control frequency with angle compensation control is not less than 10.

[0070] Furthermore, the angle compensation control module 11 is specifically used for: Angle compensation control is performed when the synchronous motor is running at a steady, uniform speed.

[0071] Furthermore, the position angle acquisition unit 112 is also specifically used for: The absolute value of the electrical angle of the compensation angle is less than or equal to 30 degrees.

[0072] Furthermore, the dq-axis voltage acquisition unit 113 is also used for: Obtaining d-axis and q-axis voltages based on d-axis and q-axis currents includes: Based on the d-axis current and q-axis current, a control algorithm is used to obtain the d-axis voltage and q-axis voltage.

[0073] Furthermore, the angle compensation control module 11 is specifically used for: The synchronous motor is a permanent magnet synchronous motor.

[0074] This application also provides an electric motor device, such as... Figure 7 As shown, the motor device 2 includes: at least one processor 20, a memory 21, and a computer program 22 stored in the memory 21 and executable on at least one processor 20. When the processor 20 executes the computer program, it implements the steps in any of the above method embodiments, or when the processor 20 executes the computer program, it implements the functions of each module / unit in the above device embodiments.

[0075] For example, a computer program can be divided into one or more modules / units, one or more of which are stored in memory and executed by a processor to complete this application. One or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in an electrical device.

[0076] Those skilled in the art will understand that Figure 7This is merely an example of an electrical device and does not constitute a limitation on the electrical device. It may include more or fewer components than shown, or combine certain components, or different components. For example, an electrical device may also include input / output devices, network access devices, buses, etc.

[0077] The aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), or field-programmable gate arrays (FPGAs). Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0078] The memory can be an internal storage unit of the motor equipment, such as the hard drive or RAM of the motor equipment. The memory can also be an external storage device of the motor equipment, such as a plug-in hard drive, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory can include both internal storage units and external storage devices of the motor equipment.

[0079] This application also provides a readable storage medium storing a computer program, which, when executed by a processor, implements the steps described in the above-described method embodiments.

[0080] This application provides a computer program product that, when run on a motor device, enables a mobile terminal to execute the steps described in the above-described method embodiments.

[0081] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0082] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0083] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0084] In the embodiments provided in this application, it should be understood that the disclosed apparatus / device and method can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0085] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0086] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for adaptive angle compensation of a synchronous motor, characterized in that, This includes performing angle compensation control during a portion of the current control cycle of the synchronous motor, the angle compensation control including: The three-phase stator current of the synchronous motor is obtained, and the two-phase stationary coordinate system current is obtained by coordinate transformation based on the three-phase stator current; The angle compensator obtains the compensation angle based on the d-axis current related parameters of the target current control cycle, and corrects the rotor position observation angle based on the compensation angle to obtain the corrected position angle. The d-axis current and q-axis current of the current control cycle are obtained based on the current in the two-phase stationary coordinate system and the correction position angle, and the d-axis voltage and q-axis voltage are obtained based on the d-axis current and the q-axis current. Based on the corrected position angle, the d-axis voltage and the q-axis voltage are subjected to inverse coordinate transformation to obtain the three-phase stator voltage of the synchronous motor; The target current control period is the current control period preceding the current current control period.

2. The adaptive angle compensation method for synchronous motors according to claim 1, characterized in that, The d-axis current related parameter of the target current control cycle is: the ratio of the d-axis current of the target current control cycle to the q-axis current correction value of the target current control cycle; the q-axis current correction value of the target current control cycle is the sum of the q-axis current of the target current control cycle and the preset correction parameter.

3. The motor adaptive angle compensation method according to claim 1, characterized in that, The ratio of the current control frequency of the synchronous motor without angle compensation control to the current control frequency with angle compensation control is not less than 10.

4. The motor adaptive angle compensation method according to claim 1, characterized in that, The angle compensation control is performed when the synchronous motor is running at a steady and uniform speed.

5. The motor adaptive angle compensation method according to claim 1, characterized in that, The absolute value of the electrical angle of the compensation angle is less than or equal to 30 degrees.

6. The motor adaptive angle compensation method according to claim 1, characterized in that, Obtaining the d-axis voltage and q-axis voltage based on the d-axis current and the q-axis current includes: Based on the d-axis current and the q-axis current, a control algorithm is used to obtain the d-axis voltage and the q-axis voltage.

7. The motor adaptive angle compensation method according to claim 1, characterized in that, The synchronous motor is a permanent magnet synchronous motor.

8. A synchronous motor adaptive angle compensation device, characterized in that, It includes an angle compensation control module; the angle compensation control module is used to perform angle compensation control during part of the current control cycle of the synchronous motor; the angle compensation control module includes a coordinate transformation unit, a correction position angle acquisition unit, a dq axis voltage acquisition unit, and a coordinate transformation unit; The coordinate transformation unit is used to obtain the three-phase stator current of the synchronous motor, and to obtain the two-phase stationary coordinate system current based on the three-phase stator current through coordinate transformation. The correction position angle acquisition unit is used by the angle compensator to obtain the compensation angle based on the d-axis current related parameters of the target current control cycle, and to correct the rotor position observation angle based on the compensation angle to obtain the correction position angle. The dq-axis voltage acquisition unit is used to acquire the d-axis current and q-axis current of the current control cycle based on the current of the two-phase stationary coordinate system and the correction position angle, and to acquire the d-axis voltage and q-axis voltage based on the d-axis current and the q-axis current. The coordinate transformation unit is used to perform inverse coordinate transformation on the d-axis voltage and the q-axis voltage based on the corrected position angle to obtain the three-phase stator voltage of the synchronous motor; The target current control period is the current control period preceding the current current control period.

9. A motor device, characterized in that, include: At least one processor, a memory, and a computer program stored in the memory and executable on at least one processor, wherein the processor, when executing the computer program, implements the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

Images