Induction motor control method, apparatus, device, and storage medium

Abstract

This provides a control method that can improve the operating efficiency and starting capability of induction motors without increasing the cost of the inverter. [Solution] The high-efficiency starting frequency is determined by acquiring the initial equivalent circuit parameters when the induction motor is at zero, and the starting voltage is determined by a preset starting current. The induction motor is enabled to enter the starting operation phase, and when the motor speed in the starting operation phase of the induction motor is accelerated to match a preset stable operation speed, it is determined that the induction motor has switched from the starting operation phase to the stable operation phase. In the stable operation phase, the voltage and current data are used to recognize parameters for the stator branch, rotor branch, and excitation branch, and the induction motor is driven to operate according to the obtained high-efficiency operation frequency, the actual motor speed is monitored in real time, and the drive voltage is adjusted according to the actual motor speed to maintain steady operation of the induction motor.

Description

[Technical Field]

[0001] This application relates to the technical field of induction motor control, and more particularly to induction motor control methods, apparatus, devices, and storage media. [Background technology]

[0002] Induction motors are widely used in many fields due to their advantages such as their simple structure, high reliability, stable performance, and the ease of control programming of the drive controller.

[0003] Induction motors typically reduce operating risks by operating at a light load significantly below their rated load. To improve the operating efficiency of induction motors during light load operation, conventional motor control methods almost always use electronic inverters to control frequency conversion and speed changes for induction motors. To ensure the safety of the controller, it is necessary to increase the safe current capacity of the power semiconductors in the electronic inverter and improve the current redundancy of the power semiconductors to enhance the overload capacity and starting capacity of the induction motor, but this increases the cost of the inverter.

[0004] Therefore, how to improve the operating efficiency and starting capability of induction motors without additionally increasing the cost of inverter power semiconductors is a critical technological challenge that needs to be overcome quickly in the application fields of induction motors. [Overview of the project] [Problems that the invention aims to solve]

[0005] The main objective of this application is to provide an induction motor control method, apparatus, device, and storage medium that aim to achieve a significant improvement in the operating efficiency and optimization of the starting capability of the induction motor without increasing the cost of the inverter. [Means for solving the problem]

[0006] To achieve the above objective, this application provides an induction motor control method, which is applied to a motor driver electrically connected to an induction motor whose equivalent circuit includes a stator branch, a rotor branch, and an excitation branch. The induction motor control method is as follows: The steps include: obtaining the initial equivalent parameters of the equivalent circuit of the induction motor when the motor speed is zero; determining the high-efficiency starting frequency of the induction motor according to the initial equivalent parameters; determining the starting voltage according to the high-efficiency starting frequency and a preset safety starting current; and enabling the induction motor to enter the starting operation phase according to the high-efficiency starting frequency and the starting voltage. The steps include: obtaining the motor starting speed of the induction motor during the starting operation phase; determining that the induction motor has switched from the starting operation phase to the stable operation phase when the motor starting speed is accelerated to match a preset stable operation speed; obtaining voltage and current data of the induction motor during the stable operation phase; performing parameter recognition for the stator branch, rotor branch, and excitation branch according to the voltage and current data; and determining the high-efficiency operating frequency of the induction motor according to the recognized parameters; The method includes the steps of driving the induction motor to operate in the stable operation stage according to the high-efficiency operating frequency, obtaining the actual motor speed when the induction motor is operating in the stable operation stage, and adjusting the drive voltage according to the actual motor speed to maintain steady operation of the induction motor.

[0007] In one embodiment, the step of adjusting the drive voltage according to the actual rotational speed of the motor to maintain steady operation of the induction motor is: The steps include obtaining updated equivalent parameters during steady-state operation of the induction motor and detecting whether the actual motor rotation speed deviates from the stable operating rotation speed, If the actual rotational speed of the motor deviates from the stable operating rotational speed, the step of adjusting the drive voltage according to the updated equivalent parameters to maintain steady operation of the induction motor, The step includes determining that the induction motor will maintain steady-state operation if the actual rotational speed of the motor does not deviate from the stable operating rotational speed.

[0008] In one embodiment, the step of obtaining the updated equivalent parameters during steady-state operation of the induction motor is: The steps include: fine-tuning the drive frequency of the induction motor during steady-state operation at the current fine-tuning time to obtain the current fine-tuning frequency; collecting past fine-tuning frequencies obtained by fine-tuning the drive frequency of the induction motor during steady-state operation at the fine-tuning time prior to the current fine-tuning time; and collecting future fine-tuning frequencies obtained by fine-tuning the drive frequency of the induction motor during steady-state operation at the fine-tuning time following the current fine-tuning time. The steps include constructing a system of simultaneous equations with full rank equivalent parameters according to the current fine-tuning frequency, the past fine-tuning frequency, and the future fine-tuning frequency, The process includes the step of determining the updated equivalent parameters of the induction motor in accordance with the system of equivalent parameter equations of the full rank.

[0009] In one embodiment, the step of constructing a system of full-rank equivalent parameter equations according to the current fine-tuning frequency, the past fine-tuning frequency, and the future fine-tuning frequency is: The steps include obtaining the current drive voltage and current drive current of the induction motor at the current fine adjustment frequency, the past drive voltage and past drive current of the induction motor at the past fine adjustment frequency, and the future drive voltage and future drive current of the induction motor at the future fine adjustment frequency, respectively. The steps include constructing a current equivalent parameter model according to the current fine-tuning frequency, the current drive voltage, and the current drive current, constructing a past equivalent parameter model according to the past fine-tuning frequency, the past drive voltage, and the past drive current, and constructing a future equivalent parameter model according to the future fine-tuning frequency, the future drive voltage, and the future drive current, The process includes the step of performing a system of equations based on the current equivalent parameter model, the past equivalent parameter model, and the future equivalent parameter model to obtain a system of equations with full rank equivalent parameters.

[0010] In one embodiment, the step of determining the updated equivalent parameters of the induction motor according to the full-rank equivalent parameter system of equations is: The steps include: performing parameter recognition processing on the stator branch, rotor branch, and excitation branch, respectively, according to the full-rank equivalent parameter system configuration, to obtain the stator equivalent parameter, rotor equivalent parameter, and excitation equivalent parameter during the steady-state operation phase of the induction motor; The process includes the step of setting the stator equivalent parameter, rotor equivalent parameter, and excitation equivalent parameter to update equivalent parameters for the induction motor.

[0011] In one embodiment, the step of adjusting the drive voltage according to the updated equivalent parameter to maintain steady operation of the induction motor is: The steps include determining the high-efficiency actual frequency at the stable operating speed of the induction motor according to the updated equivalent parameters, The process includes driving the induction motor according to the high-efficiency actual frequency, adjusting the drive voltage of the induction motor at the high-efficiency actual frequency according to the rotational speed difference between the actual motor rotational speed and the stable operation rotational speed, and maintaining steady-state operation of the induction motor according to the adjusted drive voltage and the high-efficiency actual frequency.

[0012] In one embodiment, the step of maintaining steady operation of the induction motor according to the adjusted drive voltage and the high-efficiency actual frequency is: The steps include driving the induction motor to operate according to the adjusted drive voltage and the high-efficiency actual frequency, and obtaining the current motor speed of the induction motor, The current motor rotation speed is set as the next actual motor rotation speed, and the process returns to perform the step of detecting whether the actual motor rotation speed deviates from the stable operating rotation speed, and the number of times the process returns to be performed is accumulated. The process includes the step of detecting that the actual motor speed does not deviate from the stable operating speed within a preset return count threshold, obtaining the high-efficiency drive frequency and actual drive voltage of the induction motor at the actual motor speed, and driving the induction motor to maintain steady-state operation according to the high-efficiency drive frequency and actual drive voltage.

[0013] Furthermore, in order to achieve the above objective, this application further provides an induction motor control device, and the induction motor control device is A starting module for obtaining the initial equivalent parameters of the equivalent circuit of the induction motor when the motor rotation speed is zero, determining the high-efficiency starting frequency of the induction motor according to the initial equivalent parameters, determining the starting voltage according to the high-efficiency starting frequency and a preset safety starting current, and enabling the induction motor to enter the starting operation phase according to the high-efficiency starting frequency and the starting voltage, A steady-state operation module for which the motor starting speed of the induction motor is acquired during the starting operation phase, and when the motor starting speed is accelerated to match a preset stable operation speed, it is determined that the induction motor has switched from the starting operation phase to the stable operation phase, and voltage and current data of the induction motor during the stable operation phase is acquired, parameter recognition is performed for the stator branch, rotor branch, and excitation branch according to the voltage and current data, and the high-efficiency operating frequency of the induction motor is determined according to the recognized parameters, The system includes a steady-state maintenance module that drives the induction motor to operate in the stable operation phase according to the high-efficiency operating frequency, acquires the actual motor speed when the induction motor is operating in the stable operation phase, and adjusts the drive voltage according to the actual motor speed to maintain steady-state operation of the induction motor.

[0014] Each functional module of the induction motor control device of the present invention implements the steps of the induction motor control method of the present invention as described above during operation.

[0015] Furthermore, in order to achieve the above objective, the present invention provides an induction motor control device, the induction motor control device including a memory, a processor, and a motor control program stored in the memory and runnable by the processor, wherein when the motor control program is executed by the processor, the steps of the induction motor control method described above are realized.

[0016] Furthermore, in order to achieve the above objective, the present invention provides a storage medium which is a computer-readable storage medium, in which a motor control program is stored, and when the motor control program is executed by a processor, the steps of the induction motor control method described above are realized. [Effects of the Invention]

[0017] This invention provides an induction motor control method for achieving a significant improvement in the operating efficiency and optimization of the starting capability of the induction motor. Specifically, in order to improve the characteristic of insufficient starting torque during operation of the induction motor, the motor driver provided in this invention accurately acquires the initial equivalent parameters of the equivalent circuit of the induction motor when the motor speed is zero, and, in accordance with the high-efficiency starting frequency obtained from these initial equivalent parameters and the starting voltage determined by a preset safety starting current, a gentle and efficient starting of the induction motor is achieved, thereby significantly improving the starting capability of the induction motor. After starting the induction motor according to the high-efficiency starting frequency and starting voltage and performing the starting operation stage, the motor starting speed of the induction motor is detected in real time, and when the motor starting speed is accelerated to match a preset stable operating speed, the induction motor successfully transitions from the starting stage to the stable operating stage. The system is characterized by the acquisition of voltage and current data during the stable operation phase of the induction motor, efficient parameter recognition for the stator branch, rotor branch, and excitation branch according to the voltage and current data, and accurate acquisition of the high-efficiency operating frequency of the induction motor according to the recognized parameters. The induction motor is then driven to operate during the stable operation phase according to the high-efficiency operating frequency, thereby ensuring that the induction motor maintains high efficiency during steady-state operation. Subsequently, the actual motor speed at which the induction motor operates during the stable operation phase is detected in real time, and the drive voltage is adjusted according to the actual motor speed to dynamically maintain steady-state operation of the induction motor. This achieves a significant improvement in the operating efficiency of the induction motor and a comprehensive optimization of its starting capability without increasing the cost of the inverter.

[0018] These drawings are incorporated into and constitute part of the specification, illustrating embodiments conforming to the present application, and are used together with the specification to interpret the principles of the present application. To more clearly explain the embodiments of this application or the technical concepts in the prior art, the following briefly introduces the drawings that are necessary for use in the description of the embodiments or the prior art, and it is clear that those skilled in the art can obtain other drawings based on these drawings without expending any creative effort. [Brief explanation of the drawing]

[0019] [Figure 1] This is a flowchart of the first embodiment of the induction motor control method of the present invention. [Figure 2] This is a schematic diagram of the equivalent circuit of an induction motor according to an embodiment of the present invention. [Figure 3] This is a flowchart of a multi-stage startup control according to an embodiment of the present invention. [Figure 4] This is a block diagram of the control process according to an embodiment of the present invention. [Figure 5] This is a schematic diagram of the structure of an induction motor control device according to an embodiment of the present invention. [Figure 6] This is a schematic diagram of the structure of an induction motor control device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0020] The realization of the objectives, functions, features, and advantages of this application will be further described with reference to the drawings and the accompanying examples. The embodiments of the present invention provide an induction motor control method, and as shown in Figure 1, Figure 1 is a flowchart of the first embodiment of the induction motor control method of the present invention.

[0021] Herein, the exemplary embodiments shown in the drawings will be described in detail. Where the following description relates to the drawings, unless otherwise stated, the same numbers in different drawings refer to the same or similar elements. The embodiments described in the following exemplary embodiments are not representative of all embodiments consistent with the present application.

[0022] Induction motors are used in many fields because of their simple structure, high reliability, stable performance, and easy-to-program drive controllers. However, such motors have low starting torque. On the other hand, to reduce operating risks, many motors are operated under light load conditions that are significantly lower than their rated load. The efficiency of induction motors under light load conditions is low.

[0023] When speed control is required for an induction motor, an electronic inverter is typically used to drive the motor by frequency conversion. To solve the problem of insufficient starting torque for induction motors, the inverter's current redundancy must be increased to increase the starting torque of the motor by increasing the starting current. This requires increasing the safe current capacity of the inverter's power semiconductors, which also increases the cost of the inverter.

[0024] To solve the above-mentioned defects, this application provides an induction motor control method, apparatus, device, and storage medium.

[0025] The induction motor control method provided in this application may be applied to a motor driver electrically connected to an induction motor, or it may be implemented in an induction motor control device that drives and controls the induction motor. Specifically, the induction motor control method described below is implemented by a control center in a terminal device. The equivalent circuit of the induction motor includes a stator branch, a rotor branch, and an excitation branch; that is, the equivalent circuit provided in this application is a T-shaped equivalent circuit consisting of a stator branch, a rotor branch, and an excitation branch. In the following embodiment, the implementer of this application is omitted.

[0026] Referring to Figure 2, Figure 2 is a schematic diagram of the equivalent circuit of an induction motor according to an embodiment of the present invention, where the stator branch is electrically connected to the rotor branch and the excitation branch, respectively, the excitation branch is electrically connected to the rotor branch, the stator branch includes at least a resistor R1 and an inductor L1, the rotor branch includes at least a resistor R2 and an inductor L2, and the excitation branch includes at least a resistor Rm and an inductor Lm. S in the rotor branch is the slip of the motor rotation speed.

[0027] The induction motor control method of the present invention may include steps S10 to S30.

[0028] Step S10: The initial equivalent parameters of the equivalent circuit of the induction motor when the motor speed is zero are obtained, the high-efficiency starting frequency of the induction motor is determined according to the initial equivalent parameters, the starting voltage is determined according to the high-efficiency starting frequency and a preset safety starting current, and the induction motor is enabled to enter the starting operation phase according to the high-efficiency starting frequency and the starting voltage.

[0029] In this embodiment, before starting the induction motor (i.e., before the induction motor enters the starting operation phase), the motor driver provided in this application accurately acquires the initial equivalent parameters of the induction motor's equivalent circuit when the motor speed is zero, thereby providing accurate and reliable data support for determining the subsequent high-efficiency starting frequency. Subsequently, it can accurately acquire the high-efficiency starting frequency of the induction motor according to these initial equivalent parameters, and determine the starting voltage according to this high-efficiency starting frequency and the safety starting current required by the induction motor (i.e., a preset safety starting current). The motor driver then starts the induction motor according to the high-efficiency starting frequency and starting voltage, thereby causing the induction motor to enter the starting operation phase. This not only ensures a smooth starting process for the induction motor, but also effectively shortens the starting time of the induction motor, reduces energy loss during the starting operation phase of the induction motor, and thereby effectively improves the starting capability of the induction motor.

[0030] It should be noted that the initial equivalent parameters may be customized according to the needs of the application (i.e., pre-configured based on a human interaction interface), or obtained by an automatic parameter recognition operation. The pre-configured safety starting current may also be customized according to the needs of the application, and the present invention does not limit this.

[0031] In a specific embodiment, if the initial equivalent parameters of an induction motor when the motor speed is zero are predetermined based on a human interaction interface, i.e., if these initial equivalent parameters are set in advance, the high-efficiency starting frequency of the induction motor is determined according to the predetermined initial equivalent parameters and a predetermined starting frequency algorithm, and the starting voltage is calculated according to this high-efficiency starting frequency and the starting current required by the induction motor. The induction motor is then started according to this high-efficiency starting frequency and starting voltage, ensuring that the induction motor enters the starting operation phase, thereby achieving a significant improvement in the starting performance and efficiency of the induction motor.

[0032] When the initial equivalent parameters of an induction motor at zero rotational speed are obtained through automatic parameter recognition, the system first acquires voltage and current data during the induction motor's starting phase, and then performs parameter recognition processing on the stator branch, rotor branch, and excitation branch according to this voltage and current data to obtain the stator equivalent parameters, rotor equivalent parameters, and excitation equivalent parameters during the induction motor's starting phase. These stator equivalent parameters, rotor equivalent parameters, and excitation equivalent parameters during the induction motor's starting phase are then used as the initial equivalent parameters for the induction motor's starting phase. The system then determines the high-efficiency starting frequency of the induction motor according to these initial equivalent parameters and a preset starting frequency algorithm, and calculates the starting voltage according to this high-efficiency starting frequency and the starting current required by the induction motor. Subsequently, the induction motor is started according to this high-efficiency starting frequency and starting voltage, ensuring that the induction motor can start at the most appropriate starting voltage and high-efficiency starting frequency during the starting phase, thereby avoiding problems such as motor overload, vibration, or damage due to inappropriate setting of starting parameters. Furthermore, a reasonable starting voltage and high-efficiency starting frequency effectively reduce energy consumption and wear during induction motor startup, extending the service life of the induction motor. It also enhances the dynamic response capability of the induction motor, allowing it to enter a stable operating stage more quickly, thereby improving the operating efficiency and stability of the induction motor.

[0033] It should be explained that the pre-set starting frequency algorithm includes equations (1) and (2), of which equation (1) is shown as follows.

[0034]

number

number

[0035] Equation (2) is shown as follows.

[0036]

Number

[0037] In other embodiments, referring to FIG. 3, FIG. 3 is a multi-stage starting control flowchart according to the embodiment mode of the present application. The starting operation stage may be divided into a plurality of operation stages, for example, starting operation "stage 1", starting operation "stage 2", starting operation "stage ···" and starting operation "stage M". Among them, each starting operation "stage *" includes both the starting rotation speed of the motor rotation speed and the final rotation speed of the motor rotation speed, and the final rotation speed of each starting operation stage is the starting rotation speed of the next starting operation stage of this starting operation stage. Note that the final rotation speed of the last starting operation stage may be equal to the stable operation rotation speed in the stable operation stage of the induction motor, or may be a value close to this stable operation rotation speed. Exemplarily, the starting rotation speed of stage 1 in FIG. 3 is n = 0, and the final rotation speed is n = n s1 and the starting rotation speed of stage 2 is n = n s1 and the final rotation speed is n = n s2 and ···, the starting rotation speed of stage M is n = ns(M-1) And the final number of rotations is n=n sM Furthermore, stage M is the final starting operation stage, and the final rotational speed n in stage M. sM This is the stable operating speed n during the stable operation phase of the induction motor. e This is the stable operating speed n e It is close to that value.

[0038] For example, in the process of adjusting an induction motor from a state where the motor speed is n1, for example n1=0, to another state where the motor speed is n2, the high-efficiency starting frequency f in state n1 follows a linear relationship within a set time T. s0 And the high-efficiency frequency f in the n2 state from the starting voltage V1. s1 The drive voltage V2 is adjusted, and time T is predetermined and input based on the system's moment of inertia and load conditions.

[0039] Step S20: The motor starting speed of the induction motor during the starting operation phase is obtained, and when the motor is accelerated until the starting speed matches a preset stable operation speed, it is determined that the induction motor has switched from the starting operation phase to the stable operation phase, and voltage and current data of the induction motor during the stable operation phase is obtained, parameter recognition is performed for the stator branch, rotor branch, and excitation branch, respectively, according to the voltage and current data, and the high-efficiency operating frequency of the induction motor is determined according to the recognized parameters.

[0040] In this embodiment, the induction motor is enabled to enter the starting operation phase with a starting voltage determined according to the high-efficiency starting frequency and the required safety starting current. Then, the motor starting speed during the induction motor's starting operation phase is collected according to a preset rotation speed collection frequency, and this collected motor starting speed is then used to determine the stable operation speed n during the induction motor's stable operation phase. e It becomes equal to, or this stable operating speed n e The corresponding rotational speed tolerance range (i.e., this stable operating rotational speed n) eWhen the motor is accelerated to a value close to the specified value, it is determined that the motor has been accelerated to match the preset stable operating speed. Furthermore, it is determined that the induction motor has efficiently and smoothly switched from the starting operation stage to the stable operation stage. Voltage and current data are acquired during the stable operation stage of the induction motor, and efficient parameter recognition is performed for the stator branch, rotor branch, and excitation branch according to the voltage and current data. This significantly improves the accuracy of parameter recognition, and the high-efficiency operating frequency of the induction motor can be accurately obtained according to the recognized parameters.

[0041] It should be explained that voltage-current data may include voltage data and current data, of which the voltage data can characterize the operating current and the current data can characterize the driving voltage.

[0042] In a specific embodiment, when it is determined that the motor has been accelerated until the motor starting speed matches a preset stable operating speed, this motor starting speed of the induction motor matches the stable operating speed n e This is the stable operating speed n e When the current value flowing through the stator branch is close to the specified value, the operating current is set, and a high-efficiency operating frequency is calculated according to the operating current and a preset high-efficiency frequency calculation algorithm. The drive voltage is then calculated according to the high-efficiency operating frequency and this operating current. Subsequently, the induction motor is driven to perform steady-state operation according to the high-efficiency operating frequency and drive voltage, ensuring that the induction motor maintains high efficiency during steady-state operation. This significantly improves the performance of the induction motor during the steady-state operation phase and ensures the safe and efficient operation of the induction motor.

[0043] It should be noted that the stable operating speed during the stable operation phase of an induction motor is a fixed value, but may be customized according to the needs of its application.

[0044] The pre-configured high-efficiency frequency calculation algorithm includes equations (3) and (4), of which equation (3) is shown as follows.

[0045]

number

number

[0046] Equation (4) is shown below.

[0047]

number

[0048] Step S30: The induction motor is driven to operate in the stable operation stage according to the high-efficiency operating frequency, and the actual motor speed when the induction motor is operating in the stable operation stage is obtained, and the drive voltage is adjusted according to the actual motor speed to maintain steady operation of the induction motor.

[0049] In this embodiment, after driving the induction motor to continuously operate in a steady state according to the high-efficiency operating frequency and drive voltage, the actual motor speed during the steady-state operation phase of the induction motor is detected in real time, that is, the actual motor speed during steady-state operation of the induction motor is detected in real time, thereby adjusting the drive voltage of the induction motor and dynamically maintaining the steady-state operation of the induction motor. This achieves a significant improvement in the operating efficiency of the induction motor and overall optimization of its starting capability without increasing the cost of the inverter.

[0050] Furthermore, referring to another embodiment, Figure 4, is a block diagram of the control process according to an embodiment of the present application. The induction motor control method provided in the present application further includes steps 100 to 400.

[0051] Step 100: When starting the motor, the high-efficiency starting frequency f is determined according to the motor parameters when the rotational speed is zero. s0The calculation is performed. Based on the motor parameters and the required safe starting current at this time, the motor starting voltage V so The calculation is performed for the high-efficiency starting frequency f. s0 and starting voltage V so Use this to start the motor.

[0052] Step 200: The motor's required stable operating speed n e When starting up to a certain point, the rotational speed will be n according to the motor parameters when the rotational speed is zero. e High-efficiency operating frequency f in this case sM Perform the calculation. Pre-set time T sr Within, the starting frequency is linearly related to f. s0 f sM It modulates, but the drive voltage is V so From the preset stable operating voltage V r Adjust to that.

[0053] Step 300: Motor rotation speed is n e When performing steady-state operation in this state, the drive frequency is finely adjusted multiple times periodically, and the drive voltage and drive current of the motor are sampled and analyzed after each frequency adjustment to establish and solve a system of simultaneous equations related to the motor parameters. Using the obtained motor parameters, the high-efficiency drive frequency f for the current rotational speed is determined. ro (i.e., high efficiency actual frequency f se ) calculate.

[0054] Step 400: Motor rotation speed is n e When performing steady-state operation under these conditions, the high-efficiency frequency f ro The motor is driven by this. During steady-state operation, motor parameters are constantly calculated, the motor speed is observed, and the current f is adjusted according to the new motor parameters. ro Calculate the required rotational speed n. e If it deviates from, the motor will e To ensure stable operation, the motor's rotation speed is adjusted by controlling the drive voltage.

[0055] In summary, this invention provides an induction motor control method for achieving a significant improvement in the operating efficiency of the induction motor and optimization of its starting capability. Specifically, in order to improve the characteristic of insufficient starting torque during motor operation, the motor driver provided in this invention accurately acquires the initial equivalent parameters of the equivalent circuit of the induction motor when the motor speed is zero, and then, in accordance with the high-efficiency starting frequency obtained from these initial equivalent parameters and the starting voltage determined by a preset safety starting current, a gentle and efficient starting of the induction motor is achieved, thereby significantly improving the starting capability of the induction motor. After starting the induction motor according to the high-efficiency starting frequency and starting voltage and performing the starting operation stage, the motor starting speed of the induction motor is detected in real time, and when the motor starting speed is accelerated to match a preset stable operation speed, the induction motor has successfully transitioned from the starting stage to the stable operation stage. The system is characterized by the acquisition of voltage and current data during the stable operation phase of the induction motor, efficient parameter recognition for the stator branch, rotor branch, and excitation branch according to the voltage and current data, and accurate acquisition of the high-efficiency operating frequency of the induction motor according to the recognized parameters. The induction motor is then driven to operate during the stable operation phase according to the high-efficiency operating frequency, thereby ensuring that the induction motor maintains high efficiency during steady-state operation. Subsequently, the actual motor speed at which the induction motor operates during the stable operation phase is detected in real time, and the drive voltage is adjusted according to the actual motor speed to dynamically maintain steady-state operation of the induction motor. This achieves a significant improvement in the operating efficiency of the induction motor and a comprehensive optimization of its starting capability without increasing the cost of the inverter.

[0056] Furthermore, based on the first embodiment of the induction motor control method of the present invention, a second embodiment of the induction motor control method of the present invention is proposed.

[0057] Furthermore, in some viable embodiments, step S30, which adjusts the drive voltage according to the actual motor rotation speed to maintain steady operation of the induction motor, further includes the following implementation steps S301 to S303.

[0058] Step S301: Obtain the updated equivalent parameters during steady-state operation of the induction motor and detect whether the actual motor speed deviates from the stable operating speed.

[0059] In this embodiment, the updated equivalent parameters of the induction motor during steady-state operation are acquired, and it is detected whether the actual motor speed deviates from a preset stable operating speed. The actual motor speed of the induction motor and the preset stable operating speed can be compared in real time, and if a deviation is detected, an adjustment mechanism, such as adjusting the drive voltage, is immediately triggered to ensure that the induction motor can quickly and accurately recover to a stable operating state.

[0060] Step S302: If the actual motor speed deviates from the stable operating speed, the drive voltage is adjusted according to the updated equivalent parameters to maintain steady-state operation of the induction motor.

[0061] In this embodiment, if the actual motor speed of the induction motor deviates from the stable operating speed during steady-state operation, the drive voltage is adjusted according to the updated equivalent parameters, thereby causing the actual motor speed of the induction motor to regress and be stably maintained to match the preset stable operating speed, thereby maintaining steady-state operation of the induction motor and ensuring the continuity and stability of steady-state operation of the induction motor.

[0062] Step S303: If the actual rotational speed of the motor does not deviate from the stable operating rotational speed, it is determined that the induction motor is maintaining steady-state operation.

[0063] In this embodiment, if the actual motor speed during the steady-state operation phase of the induction motor does not deviate from the stable operating speed, the induction motor is continued to be driven to maintain steady-state operation according to the high-efficiency operating frequency and drive voltage.

[0064] Furthermore, in another feasible embodiment, step S301, which obtains updated equivalent parameters during steady-state operation of the induction motor, may further include the following implementation steps S3021 to S3023.

[0065] Step S3021: The current fine-tuning time is used to fine-tune the drive frequency of the induction motor during steady-state operation to obtain the current fine-tuning frequency. The past fine-tuning frequencies obtained by fine-tuning the drive frequency of the induction motor during steady-state operation at the fine-tuning time prior to the current fine-tuning time are collected, and the future fine-tuning frequencies obtained by fine-tuning the drive frequency of the induction motor during steady-state operation at the fine-tuning time following the current fine-tuning time are collected.

[0066] In this embodiment, the induction motor starts from this motor starting speed and then moves to a stable operating speed n e Or this stable operating speed n e When it is determined that the induction motor has been accelerated to a certain point, after performing steady-state operation, the driving frequency of the induction motor during steady-state operation is periodically fine-tuned multiple times to obtain multiple fine-tuned frequencies, thereby providing complete data support for subsequent sampling and analysis of the voltage and current during steady-state operation of the induction motor. Specifically, the driving frequency of the induction motor during steady-state operation is fine-tuned at the current time to obtain the current fine-tuned frequency, past fine-tuned frequencies obtained by fine-tuning the driving frequency of the induction motor during steady-state operation at the fine-tuning time before the current fine-tuning time are collected, and future fine-tuned frequencies obtained by fine-tuning the driving frequency of the induction motor during steady-state operation at the fine-tuning time after the current fine-tuning time are collected, thereby ensuring the stabilization and continuity between the multiple fine-tuned frequencies.

[0067] Furthermore, in another embodiment, the past fine-tuning frequency is (1-ΔL)f, where f is the current fine-tuning frequency and ΔL is a value located within the interval (0.01, 0.5), and the future fine-tuning frequency is (1+ΔH)f, where f is the current fine-tuning frequency and ΔH is a value located within the interval (0.01, 0.5).

[0068] Step S3022: Construct a system of full-rank equivalent parameter equations according to the current fine-tuning frequency, the past fine-tuning frequency, and the future fine-tuning frequency.

[0069] In this embodiment, a full-rank equivalent parameter system is constructed from current and voltage results obtained from fine-tuning frequency data (i.e., current fine-tuning frequency, past fine-tuning frequency, and future fine-tuning frequency) collected at multiple consecutive fine-tuning times. This provides complete data for subsequently acquiring updated equivalent parameters of the induction motor, thereby constructing a full-rank equation (i.e., a full-rank equivalent parameter system).

[0070] Step S3023: Determine the updated equivalent parameters of the induction motor according to the system of equations for the full rank equivalent parameters.

[0071] In this embodiment, by solving this system of equations, the update equivalent parameters of the induction motor can be determined accurately and quickly. As a result, the steady-state operation of the induction motor can be dynamically maintained according to the obtained update equivalent parameters, ensuring that the induction motor can achieve optimal performance in actual operation.

[0072] Furthermore, in some viable embodiments, step S3022, which constructs a system of full-rank equivalent parameter equations based on the current fine-tuning frequency, the past fine-tuning frequency, and the future fine-tuning frequency, may further include the following implementation steps A10 to A30.

[0073] Step A10: Obtain the current drive voltage and current drive current of the induction motor at the current fine adjustment frequency, the past drive voltage and past drive current of the induction motor at the past fine adjustment frequency, and the future drive voltage and future drive current of the induction motor at the future fine adjustment frequency, respectively.

[0074] In this embodiment, discrete Fourier analysis is used and a pre-set current calculation algorithm is employed to calculate the current drive current at the current fine-tuning frequency of the induction motor, the past drive current at past fine-tuning frequencies of the induction motor, and the future drive current at future fine-tuning frequencies of the induction motor. Simultaneously, discrete Fourier analysis is used and a pre-set voltage calculation algorithm is employed to calculate the current drive voltage at the current fine-tuning frequency of the induction motor, the past drive voltage at past fine-tuning frequencies of the induction motor, and the future drive voltage at future fine-tuning frequencies of the induction motor.

[0075] As an example, let's consider the calculation of the current drive current at the current fine-tuning frequency, and the fundamental wave I of this current drive current. i The sine component I s and cosine component I c , and the phase angle φ of this current drive current i Calculate, The pre-configured current calculation algorithm is shown in equation (5) below.

[0076]

number

[0077] In another embodiment, taking the calculation of the current drive current at the current fine-tuning frequency as an example, the sinusoidal component U of the fundamental wave U1 of this current drive voltage U s and cosine component U c , and the phase angle φ of this current drive current u The voltage calculation algorithm, which is pre-set, is calculated as shown in equation (6) below.

[0078]

number

[0079] Step A20: Construct a current equivalent parameter model according to the current fine-tuning frequency, current drive voltage, and current drive current; construct a past equivalent parameter model according to the past fine-tuning frequency, past drive voltage, and past drive current; and construct a future equivalent parameter model according to the future fine-tuning frequency, future drive voltage, and future drive current.

[0080] In this embodiment, the current equivalent parameter model can be accurately constructed according to the current fine-tuning frequency, the current driving voltage, and the current driving current, the past equivalent parameter model can be accurately constructed according to the past fine-tuning frequency, the past driving voltage, and the past driving current, and the future equivalent parameter model can be accurately constructed according to the future fine-tuning frequency, the future driving voltage, and the future driving current.

[0081] It should be noted that the current equivalent parameter model is shown as the following formula (7).

[0082]

Number

Number

Number

[0083] It should be noted that the past equivalent parameter model is shown as the following formula (8).

[0084]

Number

Number

Number

[0085] The future equivalent parameter model is shown in equation (9) below.

[0086]

number

number

number

[0087] Step A30: Perform a system of equations based on the current equivalent parameter model, the past equivalent parameter model, and the future equivalent parameter model to obtain a system of equations with full rank equivalent parameters.

[0088] In this embodiment, a system of equations is performed according to the current equivalent parameter model, past equivalent parameter model, and future equivalent parameter model to obtain a full-rank system of equivalent parameter equations consisting of equations (7) to (9), thereby enabling the solution of the updated equivalent parameters of the induction motor in the current situation.

[0089] Furthermore, in some viable embodiments, step S3023, which determines the updated equivalent parameters of the induction motor according to the full-rank equivalent parameter system of equations, may further include the following implementation steps B10 to B20.

[0090] Step B10: Parameter recognition processing is performed on the stator branch, rotor branch, and excitation branch, respectively, according to the system of equivalent parameters of the full rank, to obtain the stator equivalent parameters, rotor equivalent parameters, and excitation equivalent parameters for the steady-state operation phase of the induction motor.

[0091] Step B20: The stator equivalent parameter, rotor equivalent parameter, and excitation equivalent parameter are set as the updated equivalent parameters for the induction motor.

[0092] In this embodiment, after determining the full-rank equivalent parameter system of equations, the error of the nonlinear equation is accumulated and solved, and it is detected whether this error is greater than a preset error threshold. If this error is less than or equal to the preset error threshold, the parameter recognition process for the stator branch, rotor branch, and excitation branch using the full-rank equivalent parameter system of equations (7) to (9) is completed, and the stator equivalent parameter at the steady-state operation stage of the stator branch, the rotor equivalent parameter at the steady-state operation stage of the rotor branch, and the excitation equivalent parameter at the steady-state operation stage of the excitation branch can be accurately obtained, and these stator equivalent parameter, rotor equivalent parameter, and excitation equivalent parameter are used as the updated equivalent parameter of the induction motor. Such processing not only guarantees the accuracy of the parameter recognition process but also improves the response speed of the parameter recognition process, ensuring that the induction motor can achieve an optimal performance state in actual operation.

[0093] In another embodiment, if the number of iterations of the nonlinear equation is greater than a preset iteration threshold, the solution obtained is the solution to the equation. Such processing can improve the self-adaptiveness and robustness of parameter recognition, allowing for immediate adjustment of policies when the data is abnormal or the model is mismatched, and ensuring the stability and accuracy of the entire parameter recognition process.

[0094] It should be explained that when an induction motor is in a stable operating phase, if other parameters need to be recognized, for example, if the motor speed needs to be recognized, then more operating conditions need to be added to establish and solve the equation. If only some of the parameters that are sensitive to the environment and operating conditions are recognized, the parameter recognition calculation can be simplified. For example, if only the recognition of R1 and L1, and R2 and L2 is considered, then the fine-tuning frequency f id1 and past fine-tuning frequency f id2 Using this method, the equivalent parameters of the stator branch and the rotor branch can be calculated by solving the system of equations established by equations (7) and (8).

[0095] Furthermore, when an induction motor is in a stable operation phase, its equivalent impedance is related to the motor's drive voltage, drive current, load characteristics, and environment. Therefore, to achieve accurate control of the induction motor, parameter recognition should be performed frequently, provided the controller's MCU calculation speed allows.

[0096] Furthermore, in another feasible embodiment, step S302, which maintains steady-state operation of the induction motor in accordance with the updated equivalent parameters, may further include the following implementation steps C10 to C20.

[0097] Step C10: Depending on the updated equivalent parameters, the high-efficiency actual frequency at the stable operating speed of the induction motor can be determined.

[0098] In this embodiment, the high-efficiency actual frequency at the stable operating speed of the induction motor can be accurately obtained according to the updated equivalent parameters and the preset high-efficiency frequency calculation algorithm.

[0099] It should be explained that the updated equivalent parameters include at least the stator equivalent parameters, rotor equivalent parameters, and excitation equivalent parameters during the steady-state operation phase of the induction motor.

[0100] The pre-configured high-efficiency frequency calculation algorithm includes at least equations (10) and (11), of which equation (10) is shown as follows.

[0101]

number

number

[0102] Equation (11) is shown as follows:

[0103]

number

[0104] Furthermore, it should be explained that the calculation algorithm used to calculate the adjusted drive voltage is shown in equation (12) below.

[0105]

number

[0106] Step C20: After driving the induction motor according to the high-efficiency actual frequency, the drive voltage of the induction motor at the high-efficiency actual frequency is adjusted according to the rotational speed difference between the actual motor rotational speed and the stable operation rotational speed, and steady-state operation of the induction motor is maintained according to the adjusted drive voltage and the high-efficiency actual frequency.

[0107] In this embodiment, after driving the induction motor according to the high-efficiency actual frequency, the drive voltage at the high-efficiency actual frequency of the induction motor is adjusted according to the rotational speed difference between the actual motor rotational speed and the stable operating rotational speed. After the actual motor rotational speed is adjusted to match a preset stable operating rotational speed, the adjusted drive voltage is obtained. The steady-state operation of the induction motor is then dynamically maintained according to the adjusted drive voltage and the high-efficiency actual frequency, so that the induction motor is always at the optimal efficiency point during the stable operation stage, thereby significantly improving the operational stability and energy efficiency of the induction motor without increasing the cost of the inverter.

[0108] Furthermore, in some viable embodiments, step C20, which maintains steady-state operation of the induction motor according to the adjusted drive voltage and the high-efficiency actual frequency, may further include the following implementation steps C201 to C203.

[0109] Step C201: Drive the induction motor to operate according to the high-efficiency actual frequency and the adjusted drive voltage, and obtain the current motor speed of the induction motor.

[0110] Step C202: The current motor rotation speed is set to the next actual motor rotation speed, and the process returns to perform the step of detecting whether the actual motor rotation speed deviates from the stable operating rotation speed, and the number of times this process is performed is accumulated.

[0111] In this embodiment, the induction motor is driven to operate according to the high-efficiency actual frequency and the adjusted drive voltage, the current motor speed of the induction motor can be accurately obtained, and the current motor speed is set as the next actual motor speed. Then, the step of detecting whether the actual motor speed deviates from the stable operating speed is performed, thereby contributing to the stable operation of the induction motor.

[0112] Step C203: If it is detected that the actual motor speed has not deviated from the stable operating speed within a preset return count threshold, the high-efficiency drive frequency and actual drive voltage of the induction motor at the actual motor speed are obtained, and the induction motor is driven to maintain steady-state operation according to the high-efficiency drive frequency and actual drive voltage.

[0113] In this embodiment, when it is detected that the actual motor speed has not deviated from the stable operating speed within a preset return count threshold, the high-efficiency drive frequency and actual drive voltage at the actual motor speed of the induction motor can be automatically acquired. By driving the induction motor to maintain steady-state operation according to the high-efficiency drive frequency and actual drive voltage, it is ensured that the induction motor can operate continuously in an efficient and stable state, significantly improving the reliability and energy efficiency of motor operation.

[0114] In summary, the present invention's induction motor driver, unlike conventional induction motor frequency conversion control, determines the drive frequency and drive voltage based on the load, real-time motor parameters, and required motor speed after the motor enters the steady-state operation phase. It can generate a large starting torque at the required "allowable starting current" during motor startup. During steady-state operation, it can reduce the motor's copper losses to a low level. Therefore, the present invention can reduce the cost of induction motor drive controllers and improve motor efficiency. These effects have significant advantages for the application of induction motors.

[0115] Furthermore, this application provides an induction motor control device, and referring to Figure 5, Figure 5 is a schematic diagram of the structure of an induction motor control device according to an embodiment of this application.

[0116] The induction motor control device of this invention is A starting module H01 for obtaining the initial equivalent parameters of the equivalent circuit of the induction motor when the motor rotation speed is zero, determining the high-efficiency starting frequency of the induction motor according to the initial equivalent parameters, determining the starting voltage according to the high-efficiency starting frequency and a preset safety starting current, and enabling the induction motor to enter the starting operation stage according to the high-efficiency starting frequency and the starting voltage, A steady-state operation module H02 for acquiring the motor starting speed of the induction motor during the starting operation phase, determining that the induction motor has switched from the starting operation phase to the stable operation phase when the motor starting speed is accelerated to match a preset stable operation speed, acquiring voltage and current data of the induction motor during the stable operation phase, performing parameter recognition for the stator branch, rotor branch, and excitation branch according to the voltage and current data, and determining the high-efficiency operating frequency of the induction motor according to the recognized parameters, The system includes a steady-state maintenance module H03 that drives the induction motor to operate in the stable operation stage according to the high-efficiency operating frequency, acquires the actual motor rotation speed when the induction motor is operating in the stable operation stage, and adjusts the drive voltage according to the actual motor rotation speed to maintain steady-state operation of the induction motor.

[0117] Each functional module of the induction motor control device of the present invention implements the steps of the induction motor control method of the present invention as described above during operation.

[0118] Furthermore, this application provides induction motor control equipment. Referring to Figure 6, Figure 6 is a schematic diagram of the structure of induction motor control equipment according to an embodiment of this application.

[0119] The induction motor control device in the embodiment of the present application may specifically be a device for a local operation induction motor control method.

[0120] As shown in Figure 6, the induction motor control device in the embodiment of the present invention may include a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Of these, the communication bus 1002 is used to realize connection communication between these assemblies. The user interface 1003 may include a display, an input unit, such as a keyboard, and optionally the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (e.g., a Wi-Fi interface).

[0121] Memory 1005 is located in the main body of the induction motor control device. A program is stored in memory 1005, and when this program is executed by the processor 1001, the corresponding operation is performed. Memory 1005 also stores parameters for use by the induction motor control device. Memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a magnetic disk memory. Memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0122] Those skilled in the art will understand that the structure of the induction motor control device shown in Figure 6 does not constitute a limitation to induction motor control devices, and may include more or fewer components than shown, or may be a combination of several components, or an arrangement of different components.

[0123] As shown in Figure 6, the memory 1005, which serves as a storage medium, may further include an operating system, a network communication module, a user interface module, and a motor control program for induction motor control equipment.

[0124] In the induction motor control device shown in Figure 6, the processor 1001 may be used to call the motor control program for the induction motor control device stored in the memory 1005 and to execute any of the steps of the induction motor control method described above.

[0125] Furthermore, this application provides a storage medium that is a computer-readable storage medium. When a motor control program is stored in this computer-readable storage medium and the motor control program is executed by a processor, the steps of the induction motor control method described above are realized.

[0126] It should be explained that, in this text, the technical terms “include,” “incorporate,” or any other variation thereof are intended to encompass non-exclusive inclusion, so that a process, method, article, or system containing a set of elements includes not only those elements but also other elements not expressly listed, or elements specific to such a process, method, article, or system. Unless otherwise specified, an element limited by the phrase “includes one…” does not preclude the existence of another identical element in a process, method, article, or system containing that element.

[0127] The numbering of the embodiments described above is for descriptive purposes only and does not represent any indication of superiority or inferiority among the embodiments.

[0128] From the above description of the embodiments, those skilled in the art will clearly understand that the methods of the above embodiments can be implemented by adding a general-purpose hardware platform necessary for the software, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical proposal of the present application may be expressed in the form of a software product, which is essentially or contributes to the prior art, and which is stored in a computer-readable storage medium such as ROM / RAM, magnetic disk, or optical disk, and includes several instructions for causing a single induction motor control device (which may be a mobile phone, computer, server, or network device, etc.) to perform the methods described in each embodiment of the present application.

[0129] The foregoing are merely preferred embodiments of the present application and do not limit the scope of the patent. Equivalent structures or equivalent flow transformations created using the contents of the specification and drawings of the present application, or those used directly or indirectly in other related technical fields, are all similarly included within the scope of the patent protection of the present application.

Claims

1. An induction motor control method, applicable to a motor driver electrically connected to an induction motor having an equivalent circuit including a stator branch, a rotor branch, and an excitation branch. The induction motor control method is as follows: The steps include: obtaining the initial equivalent parameters of the equivalent circuit of the induction motor when the motor speed is zero; determining the high-efficiency starting frequency of the induction motor according to the initial equivalent parameters; determining the starting voltage according to the high-efficiency starting frequency and a preset safety starting current; and enabling the induction motor to enter the starting operation phase according to the high-efficiency starting frequency and the starting voltage. The steps include: obtaining the motor starting speed of the induction motor during the starting operation phase; determining that the induction motor has switched from the starting operation phase to the stable operation phase when the motor starting speed is accelerated to match a preset stable operation speed; obtaining voltage and current data of the induction motor during the stable operation phase; performing parameter recognition for the stator branch, rotor branch, and excitation branch according to the voltage and current data; and determining the high-efficiency operating frequency of the induction motor according to the recognized parameters; An induction motor control method characterized by including the steps of: driving the induction motor to operate in the stable operation stage according to the high-efficiency operating frequency, obtaining the actual motor rotation speed when the induction motor is operating in the stable operation stage, and adjusting the drive voltage according to the actual motor rotation speed to maintain steady operation of the induction motor.

2. The step of adjusting the drive voltage according to the actual rotational speed of the motor to maintain steady operation of the induction motor is, The steps include obtaining updated equivalent parameters during steady-state operation of the induction motor, A step of detecting whether the actual motor speed deviates from the stable operating speed, If the actual rotational speed of the motor deviates from the stable operating rotational speed, the step of adjusting the drive voltage according to the updated equivalent parameters to maintain steady operation of the induction motor, The method according to claim 1, further comprising the step of determining that the induction motor maintains steady operation if the actual rotational speed of the motor does not deviate from the stable operating rotational speed.

3. The step of obtaining updated equivalent parameters during steady-state operation of the induction motor is: The steps include: fine-tuning the drive frequency of the induction motor during steady-state operation at the current fine-tuning time to obtain the current fine-tuning frequency; collecting past fine-tuning frequencies obtained by fine-tuning the drive frequency of the induction motor during steady-state operation at the fine-tuning time prior to the current fine-tuning time; and collecting future fine-tuning frequencies obtained by fine-tuning the drive frequency of the induction motor during steady-state operation at the fine-tuning time following the current fine-tuning time. The steps include constructing a system of simultaneous equations with full rank equivalent parameters according to the current fine-tuning frequency, the past fine-tuning frequency, and the future fine-tuning frequency, The method according to claim 2, comprising the step of determining the updated equivalent parameters of the induction motor in accordance with the full-rank equivalent parameter system of equations.

4. The step of constructing a system of full-rank equivalent parameter equations according to the current fine-tuning frequency, the past fine-tuning frequency, and the future fine-tuning frequency is: The steps include obtaining the current drive voltage and current drive current of the induction motor at the current fine adjustment frequency, the past drive voltage and past drive current of the induction motor at the past fine adjustment frequency, and the future drive voltage and future drive current of the induction motor at the future fine adjustment frequency, respectively. The steps include constructing a current equivalent parameter model according to the current fine-tuning frequency, the current drive voltage, and the current drive current, constructing a past equivalent parameter model according to the past fine-tuning frequency, the past drive voltage, and the past drive current, and constructing a future equivalent parameter model according to the future fine-tuning frequency, the future drive voltage, and the future drive current, The method according to claim 3, characterized by comprising the step of performing a system of model equations according to the current equivalent parameter model, the past equivalent parameter model, and the future equivalent parameter model to obtain a system of full-rank equivalent parameter equations.

5. The step of determining the updated equivalent parameters of the induction motor according to the full-rank equivalent parameter system of equations is: The steps include: performing parameter recognition processing on the stator branch, rotor branch, and excitation branch, respectively, according to the full-rank equivalent parameter system configuration, to obtain the stator equivalent parameter, rotor equivalent parameter, and excitation equivalent parameter during the steady-state operation phase of the induction motor; The method according to claim 3, characterized by comprising the step of setting the stator equivalent parameter, the rotor equivalent parameter, and the excitation equivalent parameter to update equivalent parameters for the induction motor.

6. The step of adjusting the drive voltage according to the updated equivalent parameters to maintain steady operation of the induction motor is: The steps include determining the high-efficiency actual frequency at the stable operating speed of the induction motor according to the updated equivalent parameters, The method according to claim 2, characterized in that it includes the steps of: driving the induction motor according to the high-efficiency actual frequency; adjusting the drive voltage of the induction motor at the high-efficiency actual frequency according to the difference in rotational speed between the actual motor rotational speed and the stable operation rotational speed; and maintaining steady-state operation of the induction motor according to the adjusted drive voltage and the high-efficiency actual frequency.

7. The step of maintaining steady-state operation of the induction motor according to the adjusted drive voltage and the high-efficiency actual frequency is: The steps include driving the induction motor to operate according to the adjusted drive voltage and the high-efficiency actual frequency, and obtaining the current motor speed of the induction motor, The steps include: setting the current motor rotation speed as the next actual motor rotation speed, going back, performing the step of detecting whether the actual motor rotation speed deviates from the stable operating rotation speed, and accumulating the number of times the process is repeated; The method according to 6, characterized in that, when it is detected that the actual motor rotation speed has not deviated from the stable operating rotation speed within a preset return count threshold, the method acquires the high-efficiency drive frequency and actual drive voltage of the induction motor at the actual motor rotation speed, and drives the induction motor to maintain steady-state operation according to the high-efficiency drive frequency and actual drive voltage.

8. An induction motor control device, A starting module for obtaining the initial equivalent parameters of the equivalent circuit of the induction motor when the motor rotation speed is zero, determining the high-efficiency starting frequency of the induction motor according to the initial equivalent parameters, determining the starting voltage according to the high-efficiency starting frequency and a preset safety starting current, and enabling the induction motor to enter the starting operation phase according to the high-efficiency starting frequency and the starting voltage, A steady-state operation module for which the motor starting speed of the induction motor is acquired during the starting operation phase, and when the motor starting speed is accelerated to match a preset stable operation speed, it is determined that the induction motor has switched from the starting operation phase to the stable operation phase, and the voltage and current data of the induction motor during the stable operation phase is acquired, parameter recognition is performed for the stator branch, rotor branch, and excitation branch according to the voltage and current data, and the high-efficiency operating frequency of the induction motor is determined according to the recognized parameters, An induction motor control device comprising: a module for driving the induction motor to operate in the stable operation stage according to the high-efficiency operating frequency, acquiring the actual motor rotation speed when the induction motor is operating in the stable operation stage, and adjusting the drive voltage according to the actual motor rotation speed to maintain steady operation of the induction motor.

9. An induction motor control device comprising a memory, a processor, and a motor control program stored in the memory and runnable by the processor, wherein when the processor executes the motor control program, the steps of the method according to any one of claims 1 to 7 are realized.

10. A storage medium, wherein the storage medium is a computer-readable storage medium, a motor control program is stored in the computer-readable storage medium, and when the motor control program is executed by a processor, the steps of the induction motor control method described in any one of claims 1 to 7 are realized.

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