Motor control method and apparatus, medium, and electronic device

Abstract

The present invention relates to the technical field of motor control, and disclosed are a motor control method and apparatus, a medium, and an electronic device. The method comprises: acquiring feature parameters of a motor; on the basis of the feature parameters, determining a stator flux parameter of the motor; on the basis of the stator flux parameter, performing compensation processing to obtain a target rotor flux parameter; on the basis of the target rotor flux parameter, determining a locking and synchronization angle of the motor; on the basis of the feature parameters, acquiring the current control angle of the motor; and on the basis of the current control angle and the locking and synchronization angle, determining a control angle of the motor.

Description

Motor control method, device, medium and electronic equipment CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This disclosure claims priority to Chinese patent application No. 2023116391362, filed on November 30, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to the field of motor control technology, and in particular, to a motor control method, device, medium, and electronic device. Background Art

[0003] Asynchronous motors are widely used in AC transmissions due to their simple structure, low cost, easy maintenance, and high reliability. Accurate flux measurement has always been a key and challenging aspect of high-performance control of asynchronous motors. Existing flux measurement schemes suffer from flux amplitude attenuation or phase lead / lag, resulting in inaccurate flux measurement. Consequently, the motor locking angle determined by the observed flux is also inaccurate, leading to inaccurate motor angle control and, consequently, failure to maintain correct motor operation. Summary of the Invention

[0004] The present disclosure provides a motor control method, device, medium and electronic device, which can solve the problems of flux amplitude attenuation or phase lead and lag by compensating the stator flux parameters, making the observation of the flux more accurate, and the resulting motor locking angle more accurate, thereby making the motor control angle more accurate, thereby ensuring the normal operation of the motor.

[0005] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by practice of the present disclosure.

[0006] According to one aspect of an embodiment of the present disclosure, a motor control method is provided, the method comprising: obtaining characteristic parameters of the motor; determining the stator flux parameters of the motor based on the characteristic parameters; performing compensation processing based on the stator flux parameters to obtain target rotor flux parameters; determining the locking angle of the motor based on the target rotor flux parameters; obtaining the current control angle of the motor according to the characteristic parameters; and determining the control angle of the motor based on the current control angle and the locking angle.

[0007] According to one aspect of an embodiment of the present disclosure, a motor control device is provided, which includes a first acquisition unit configured to acquire characteristic parameters of the motor; a first determination unit configured to determine the stator flux parameters of the motor based on the characteristic parameters; a compensation unit configured to perform compensation processing based on the stator flux parameters to obtain target rotor flux parameters; a second determination unit configured to determine the locking angle of the motor based on the target rotor flux parameters; a second acquisition unit configured to acquire the current control angle of the motor according to the characteristic parameters; and a third determination unit configured to determine the control angle of the motor based on the current control angle and the locking angle.

[0008] According to one aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the motor control method described in the above embodiment is implemented.

[0009] According to one aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: one or more processors; and a memory configured to store executable instructions of the processors, wherein when the executable instructions are executed by the one or more processors, the one or more processors implement the motor control method as described in the above embodiments.

[0010] According to one aspect of an embodiment of the present disclosure, a computer program product is provided, which includes computer instructions stored in a computer-readable storage medium and suitable for being read and executed by a processor, so that a computer device having the processor executes the method executed by the electronic device as described above.

[0011] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are configured to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0013] FIG1 is a flowchart of a motor control method according to some embodiments of the present disclosure.

[0014] FIG2 is a logic diagram of rotor flux phase compensation according to some embodiments of the present disclosure.

[0015] FIG3 is a block diagram of a motor control device according to some embodiments of the present disclosure.

[0016] FIG4 is a schematic diagram of a system structure of an electronic device according to some embodiments of the present disclosure.

[0017] FIG5 is a logic diagram of rotor flux feed-forward compensation according to some embodiments of the present disclosure.

[0018] FIG6 is a logic diagram of an improved phase-locked loop system according to some embodiments of the present disclosure.

[0019] And FIG7 is a logic diagram of an overall motor control system according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0020] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0021] In addition, the described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid blurring various aspects of the present disclosure.

[0022] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or micro-controller node devices.

[0023] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0024] It should be noted that the term "plurality" used in this document refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0025] The following describes in detail the implementation details of the technical solution of the embodiment of the present disclosure:

[0026] First of all, it should be noted that in the related art, the flux observation scheme of the asynchronous motor not only has the problem of inaccurate flux observation due to the attenuation of flux amplitude or phase lead and lag, but also has the error problem caused by the pure integrator and stator resistance measurement, and the problem of a narrow observation range of the voltage model observer; furthermore, there is the problem of inaccurate flux observation and difficulty in starting the motor due to inaccurate back electromotive force at low speed. The following detailed embodiments of the present disclosure will solve the above-mentioned problems one by one.

[0027] First, the principle of motor flux observation is explained:

[0028] Motor flux observation is divided into stator flux observation and rotor flux observation. In practical applications, the rotor flux observation is primarily analyzed. Therefore, the accuracy of the rotor flux parameters must be guaranteed so that the motor can operate correctly according to the instructions issued by the vehicle controller. Flux observation is divided into the α-axis and the β-axis. The α-axis refers to the first axis described in the following embodiments of the present disclosure, and the β-axis refers to the second axis described in the following embodiments of the present disclosure.

[0029] The observation formula of the asynchronous motor voltage model is as follows:

[0030]

[0031] L r is the rotor inductance, L m is the magnetizing inductance, U sα is the α-axis voltage, U sβ is the β-axis voltage, R s is the stator resistance, i sα is the α-axis current, i sβ is the β-axis current, δ is the leakage inductance coefficient, dt is the time interval, L s is the stator inductance, ψ rα is the α-axis flux linkage oriented by the rotor magnetic field, ψ rβ The β-axis flux linkage is oriented for the rotor magnetic field.

[0032] ψ rα With ψ rβThere is an integral operation in obtaining the value of , which will be affected by the error of the initial value and the DC bias component, resulting in ψ rα With ψ rβ inaccurate; secondly, under low speed conditions, U sα with U sβ It is small, close to the resistor voltage divider value, and the error is large, which affects the accuracy of flux observation when the motor is running at low speed.

[0033] Under the voltage observation model, the rotor flux is: Rotor flux for Ψ rα With Ψ rβ Represents: ψ r =ψ rα +jψ rβ (3) Use complex numbers to express the rotor flux:

[0034] e r is the rotor back EMF, U s is the voltage vector: U s =(U sα2 +U sβ2 )1 / 2,i s is the current vector: i s =(i sα2 +i sβ2 )1 / 2.

[0035] The above formulas (1)(2)(3) express the rotor flux ψ r With Ψ rα , Ψ rβ The relationship between the rotor flux ψ r The relationship between the actual current, voltage, and motor parameters.

[0036] From (4), we know that 1 / s represents the integral. In order to avoid the influence of the initial value and DC bias brought by the integral on the rotor flux, the 1 / s integral term needs to be offset. Now a first-order high-pass filter is used to filter it to offset the influence of the integral. The expression of the high-pass filter is: G HPF =s / (s+k1×w e ) (5) The magnetic flux after high-pass filtering is as follows:

[0037]

[0038] Comparing (4) and (6), it can be seen that although the integral term of 1 / s is eliminated, the newly obtained rotor flux is consistent with the theoretical required flux ψ r The magnitudes are different, and there are problems with flux amplitude attenuation or phase advance and lag. In order to obtain the flux ψ required by the theory r, it is necessary to perform low-pass phase lag processing and amplitude compensation on the newly acquired rotor flux.

[0039] According to one aspect of the present disclosure, a motor control method is provided. FIG1 is a flow chart of the motor control method according to an embodiment of the present disclosure. The motor control method may include at least steps 110 to 160, which are described in detail as follows:

[0040] In step 110 , characteristic parameters of the motor are obtained.

[0041] Specifically, the motor may be an asynchronous motor. In the embodiments of the present disclosure, the analysis is mainly focused on the asynchronous motor. The characteristic parameters of the asynchronous motor may be voltage parameters, current parameters, inductance parameters, etc. The characteristic parameters may be specifically as follows:

[0042] L r is the rotor inductance, L m is the excitation inductance, Us α is the α-axis voltage, U sβ is the β-axis voltage, R s is the stator resistance, i sα is the α-axis current, i sβ is the β-axis current, δ is the leakage inductance coefficient, dt is the time interval, L s is the stator inductance, ψ rα is the α-axis flux linkage oriented by the rotor magnetic field, ψ rβ is the β-axis flux linkage oriented by the rotor magnetic field, E s is the back EMF parameter of the stator flux.

[0043] In step 120 , the stator flux parameters of the motor are determined based on the characteristic parameters.

[0044] Specifically, the stator flux parameters of the motor can be analyzed by characteristic parameters. First, the stator flux ψ s and stator back electromotive force E s The relationship between them is as follows:

[0045]

[0046] It should be noted that the representation of s in the complex frequency domain is j we , the stator flux parameter ψ can be obtained by the above formula (7) s .

[0047] In one embodiment of the present disclosure, determining the stator flux parameters of the motor based on the characteristic parameters may include:

[0048] Acquire stator back electromotive force parameters and motor angular velocity of the motor based on the characteristic parameters;

[0049] The stator flux parameter is determined based on the stator back electromotive force parameter and the motor angular velocity.

[0050] Specifically, the stator back EMF parameter is E in the above formula (7): s , the motor angular velocity is w e , j represents the imaginary parameter, and the corresponding stator flux parameter ψ can be obtained by formula (7) s .

[0051] In step 130 , compensation processing is performed based on the stator flux parameters to obtain target rotor flux parameters.

[0052] In one embodiment of the present disclosure, performing compensation processing based on the stator flux parameters to obtain target rotor flux parameters may include:

[0053] Performing filtering on the stator flux parameters to obtain filtered initial stator flux parameters;

[0054] determining a target stator flux parameter of the motor based on a preset first cutoff frequency coefficient, a preset second cutoff frequency coefficient, and the initial stator flux parameter;

[0055] The target rotor flux parameter is determined based on the target stator flux parameter and the characteristic parameter.

[0056] Specifically, see Figure 2, which is a flow chart of flux compensation. The back electromotive force parameter E s After first-order high-pass and first-order low-pass filtering, the initial stator flux parameter is ψ' s , the expression is as follows:

[0057]

[0058] The preset first cutoff frequency coefficient is K1, and the preset second cutoff frequency coefficient is K2. According to formulas (7) and (8), the target stator flux parameter ψ can be obtained. s and the initial stator flux parameter ψ' s The relationship between:

[0059] ψ s =ψ′ s (1-jK1)(1-jK2) / -jK2 (9)

[0060] The target stator flux parameters can be divided into the relationship between the α axis and the β axis, and the stator magnetic field parameter in the α axis direction is obtained as sα and the stator magnetic field parameter ψ in the β-axis direction sβ Size:

[0061]

[0062] Expanding the imaginary part of (10), we have:

[0063]

[0064]

[0065] From the analysis of the time coordinate axis, we can know that ψ' sα and ψ' sβ are time vectors with equal amplitudes and 90 electrical degrees of difference, then:

[0066]

[0067] Substituting (12) into (11) we have:

[0068]

[0069] The parameter ψ of the stator magnetic field in the α-axis direction sα and the stator magnetic field parameter ψ in the β-axis direction sβ Processing is performed to obtain the rotor magnetic field orientation Ψ rα , Ψ rβ :

[0070]

[0071]

[0072] Specifically, the improved voltage model observation avoids initial value errors and DC bias caused by integration while also compensating for the filtered phase and amplitude, resulting in a voltage model observer that initially meets the requirements. Specifically, by compensating the stator flux parameters to obtain the target rotor flux parameters, the filtered phase and amplitude can be compensated, addressing issues of flux amplitude attenuation or phase lead and lag.

[0073] In one embodiment of the present disclosure, determining the target rotor flux parameter based on the target stator flux parameter and the characteristic parameter may include:

[0074] determining an inductance parameter and a current parameter of the motor based on the characteristic parameters;

[0075] Determining a rotor flux compensation parameter of the motor based on the inductance parameter, a preset compensation coefficient, and the current parameter;

[0076] The target rotor flux parameter is determined based on the rotor flux compensation parameter and the target stator flux parameter.

[0077] Specifically, the inductance parameter and current parameter of the motor are determined by the characteristic parameters, and the rotor directional flux size ψ can be required by the obtained inductance parameter and current parameter. rf , specifically, please refer to FIG5 , which is a schematic diagram of feedforward compensation of rotor flux.

[0078] At low speed, due to the small back electromotive force, the detection error is large. In order to solve this problem, the flux feedforward processing is added to determine the required rotor directional flux size ψ under the current conditions. rf , ψ rf The magnetic flux in the α-axis direction can also be divided into rαf and the magnetic flux ψ in the direction of the β axis rβf , is the control angle θ obtained according to the actual im , and its projection on the α axis and the β axis is:

[0079] ψ rαf =ψ rf ×cos(θ im )

[0080] ψ rβf =ψ rf ×sin(θ im ) (15)

[0081] The final rotor magnetic field orientation is obtained by measuring the magnitude of the magnetic flux on the α-axis and the β-axis:

[0082] ψ rαG =ψ rαf +ψ rα

[0083] ψ rβG =ψ rβf +ψ rβ (16)

[0084] Through the above compensation and analysis, the accurate asynchronous motor rotor magnetic field orientation in a wide speed range is obtained. rαG and ψ on the β axis rβG , which can solve the problem of narrow observation range of voltage model observer mentioned above.

[0085] In step 140 , a locking angle of the motor is determined based on the target rotor flux parameter.

[0086] In one embodiment of the present disclosure, determining the locking angle of the motor based on the target rotor flux parameter may include:

[0087] determining a first-axis rotor flux parameter and a second-axis rotor flux parameter of the motor based on the target rotor flux parameter;

[0088] The locking angle is obtained based on the first-shaft rotor flux parameter and the second-shaft rotor flux parameter as phase-locked loop inputs.

[0089] Specifically, the first-axis rotor flux parameter of the motor is ψ in the above formula (16): rαG , the second-axis rotor flux parameter is ψ in the above formula (16) rβG .

[0090] In one embodiment of the present disclosure, determining the first-axis rotor flux parameter and the second-axis rotor flux parameter of the motor based on the target rotor flux parameter may include:

[0091] Acquire a first-axis initial rotor flux parameter and a second-axis initial rotor flux parameter of the motor based on the target rotor flux parameter;

[0092] Determining a first-axis rotor flux compensation parameter and a second-axis rotor flux compensation parameter of the motor according to the characteristic parameters;

[0093] The first-axis rotor flux parameter is determined according to the first-axis initial rotor flux parameter and the first-axis rotor flux compensation parameter, and the second-axis rotor flux parameter is determined according to the second-axis initial rotor flux parameter and the second-axis rotor flux compensation parameter.

[0094] Specifically, the initial rotor flux parameter of the first axis is ψ in the above formula (16): rα , the initial rotor flux parameter of the second axis is ψ in the above formula (16) rβ The first axis rotor flux compensation parameter is ψ obtained from the above formula (15) rαf , the first-axis rotor flux compensation parameter is ψ obtained from the above formula (15) rβf .

[0095] The above operation obtains the accurate orientation of the rotor magnetic field of the asynchronous motor on the α axis ψ rαG and ψ on the β axis rβG (Both serve as inputs of the phase-locked loop). In order to obtain accurate control angles of asynchronous motors, a PLL phase-locked loop is generally used to lock the angles.

[0096] In step 150, the current control angle of the motor is obtained according to the characteristic parameter.

[0097] Specifically, there may be an error in the current control angle, so it is necessary to perform linear feedback adjustment on the current control angle, and achieve the corresponding target control angle by continuously adjusting the control angle of the motor so that the motor can operate correctly and effectively.

[0098] In step 160 , the control angle of the motor is determined based on the current control angle and the locking angle.

[0099] In one embodiment of the present disclosure, determining the control angle of the motor based on the current control angle and the locking angle may include:

[0100] determining an error angle of the motor based on the current control angle and the locking angle;

[0101] determining a target motor angular velocity of the motor based on the error angle;

[0102] determining a control period of the motor according to the characteristic parameters;

[0103] The control angle is determined based on the target motor angular velocity and the control period.

[0104] The existing locking of the motor control angle is as follows:

[0105]

[0106] When θ is close to θ, there is an approximate relationship:

[0107]

[0108] Perform PI adjustment on Δθ to obtain the required angular velocity W s ,have:

[0109] W s =K p ×Δθ+∑K i ×Δθ (19)

[0110] Angular velocity W s Integrate to obtain the control angle θ required for the asynchronous motor, which is the θ mentioned above. im :

[0111] θ im =∑W s ×T s (20)

[0112] For the above-mentioned phase-locked loop operation, when locking the correct angle, it will take multiple cycles of control to accurately lock, resulting in poor dynamic responsiveness of asynchronous motor control. Therefore, the present disclosure improves the motor control angle through the following methods:

[0113] W sdelay =K p ×Δθ delay +∑K i ×Δθ delay(twenty one)

[0114] W s =K p ×Δ θ +∑K i ×Δ θ (twenty two)

[0115] θ im =∑(W s +W sdelay )×T s (twenty three)

[0116] W sdelay is the motor angular velocity calculated in the previous cycle, θ delay is the angle error calculated in the previous cycle, T s is the control cycle time. W obtained by calculation in the previous cycle sdelay , applied to the angle latch calculation of the current cycle, is equivalent to adding a feedforward angular velocity, which is conducive to the rapid locking of the angle calculation and greatly improves the speed and dynamic responsiveness of the asynchronous motor control.

[0117] The corresponding target motor angular velocity W is obtained by the error angle Δθ obtained above. s , obtain the motor control period T from the characteristic parameters s , and then get the corresponding control angle θ im .

[0118] In some implementations, the initial control angle θ1 of the motor can also be obtained through indirect model observation:

[0119] W f =R r ×i q / (L r ×i d ) (twenty four)

[0120] θ1=∑(W0+W f )×T s (25)

[0121] R r is the rotor resistance, L r is the rotor inductance, i d is the direct axis current, i q is the quadrature axis current, W0 is the resolver angular velocity, W f is the slip angular velocity. θ is obtained by observing the improved voltage model im , and compare this angle with d q Compare the angle θ1 observed by the indirect model and make θ1 move to θim Move closer:

[0122] θ im =θ1+K p ×(θ ima -θ1)+∑K i ×(θ ima -θ1) (26)

[0123] In some embodiments, K p is the preset proportional coefficient, K i is the preset integral coefficient, θ ima is the control angle of the previous cycle. By using formula (26), the control angle of the motor can be quickly adjusted in another way, as shown in Figure 6. Figure 6 is a flowchart of the improved phase-locked loop system, so that after observing the initial control angle θ1, the motor can quickly obtain the corresponding control angle θ im .

[0124] Finally, as shown in Figure 7, Figure 7 is a flow chart of the entire system. Phase compensation can be performed by inputting current parameters and voltage parameters. Feedforward compensation is performed in combination with the required flux size and the current control angle of the motor to obtain the corresponding first-axis rotor flux parameters and second-axis rotor flux parameters as inputs to the phase-locked loop, and the locking angle is obtained. Finally, the corresponding target angular velocity and control angle θ are obtained in combination with the locking angle. im .

[0125] In summary, the improved method of the embodiment of the present invention solves the problems of flux amplitude attenuation or phase lead and lag, inaccurate flux observation, error caused by pure integrator and stator resistance measurement, and narrow observation range of the voltage model observer; furthermore, there are problems such as inaccurate flux observation and difficulty in motor starting due to inaccurate back electromotive force at low speed, etc., which improves the accuracy of the voltage model observation control angle, broadens the speed application range of the voltage model observation, increases the dynamic speed of the voltage model observation, improves the control accuracy of the asynchronous motor control, accelerates the dynamic response, and improves the accuracy of the motor control angle, ensuring that the motor runs effectively and correctly.

[0126] Figure 3 is a block diagram of a motor control device 300 according to an embodiment of the present disclosure. According to an embodiment of the present disclosure, the motor control device 300 includes: a first acquisition unit 301, a first determination unit 302, a compensation unit 303, a second determination unit 304, a second acquisition unit 305, and a third determination unit 306.

[0127] The first acquiring unit 301 is configured to acquire characteristic parameters of the motor.

[0128] The first determining unit 302 is configured to determine a stator flux parameter of the motor based on the characteristic parameter.

[0129] The compensation unit 303 is configured to perform compensation processing based on the stator flux parameters to obtain target rotor flux parameters.

[0130] The second determining unit 304 is configured to determine a locking angle of the motor based on the target rotor flux parameter.

[0131] The second acquisition unit 305 is configured to acquire the current control angle of the motor according to the characteristic parameter.

[0132] The third determining unit 306 is configured to determine the control angle of the motor based on the current control angle and the locking angle.

[0133] In one embodiment of the present disclosure, the first determination unit is configured to: obtain the stator back electromotive force parameters and the motor angular velocity of the motor based on the characteristic parameters; and determine the stator flux parameters based on the stator back electromotive force parameters and the motor angular velocity.

[0134] In one embodiment of the present disclosure, the compensation unit is configured to: filter the stator flux parameters to obtain filtered initial stator flux parameters; determine the target stator flux parameters of the motor based on a preset first cutoff frequency coefficient, a preset second cutoff frequency coefficient and the initial stator flux parameters; and determine the target rotor flux parameters based on the target stator flux parameters and the characteristic parameters.

[0135] In one embodiment of the present disclosure, the compensation unit is configured to: determine the inductance parameter and current parameter of the motor based on the characteristic parameter; determine the rotor flux compensation parameter of the motor based on the inductance parameter, a preset compensation coefficient and the current parameter; determine the target rotor flux parameter based on the rotor flux compensation parameter and the target stator flux parameter.

[0136] In one embodiment of the present disclosure, the second determination unit is configured to: determine the first-axis rotor flux parameters and the second-axis rotor flux parameters of the motor based on the target rotor flux parameters; and obtain the locking angle based on the first-axis rotor flux parameters and the second-axis rotor flux parameters as phase-locked loop inputs.

[0137] In one embodiment of the present disclosure, the second determining unit is configured to: obtain a first-axis initial rotor flux parameter and a second-axis initial rotor flux parameter of the motor based on the target rotor flux parameter;

[0138] Determining a first-axis rotor flux compensation parameter and a second-axis rotor flux compensation parameter of the motor according to the characteristic parameters;

[0139] The first-axis rotor flux parameter is determined according to the first-axis initial rotor flux parameter and the first-axis rotor flux compensation parameter, and the second-axis rotor flux parameter is determined according to the second-axis initial rotor flux parameter and the second-axis rotor flux compensation parameter.

[0140] In one embodiment of the present disclosure, the third determination unit is configured to: determine the error angle of the motor based on the current control angle and the locking angle; determine the target motor angular velocity of the motor based on the error angle; determine the control period of the motor according to the characteristic parameters; and determine the control angle based on the target motor angular velocity and the control period.

[0141] As another aspect, the present disclosure further provides a computer-readable storage medium having stored thereon a program product capable of implementing the methods provided above in this specification. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which may include program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to perform the steps described in the "Example Method" section above according to various exemplary embodiments of the present disclosure.

[0142] According to an embodiment of the present disclosure, a program product configured to implement the above-mentioned method can be a portable compact disc read-only memory (CD-ROM) and can include program code and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0143] The program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media can include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0144] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program configured for use by or in conjunction with an instruction execution system, apparatus, or device.

[0145] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0146] Program code configured to perform the operations of the present disclosure may be written in any combination of one or more programming languages, which may include object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0147] As another aspect, the present disclosure also provides an electronic device capable of implementing the above method.

[0148] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods, or program products. Therefore, various aspects of the present disclosure may be implemented in the following forms: a complete hardware implementation, a complete software implementation (which may include firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits," "modules," or "systems."

[0149] The electronic device 400 according to this embodiment of the present disclosure is described below with reference to Figure 4. The electronic device 400 shown in Figure 4 is merely an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0150] As shown in FIG4 , electronic device 400 is implemented as a general-purpose computing device. Components of electronic device 400 may include, but are not limited to, the aforementioned at least one processing unit 410, the aforementioned at least one storage unit 420, and a bus 430 connecting various system components (which may include storage unit 420 and processing unit 410).

[0151] In some embodiments, the storage unit stores program code, which can be executed by the processing unit 410, so that the processing unit 410 performs the steps described in the above "Example Method" section of this specification according to various exemplary embodiments of the present disclosure.

[0152] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0153] Storage unit 420 may also include a program / utility 424 having a set (at least one) of program modules 425 , such program modules 425 may include, but are not limited to, an operating system, one or more application programs, other program modules, and program data.

[0154] Bus 430 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller node, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0155] The electronic device 400 can also communicate with one or more external devices 1200 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 400, and / or any device that enables the electronic device 400 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 450. Furthermore, the electronic device 400 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 460. As shown, the network adapter 460 communicates with other modules of the electronic device 400 via a bus 430. It should be understood that, although not shown, other hardware and / or software modules can be used in conjunction with the electronic device 400, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0156] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0157] In addition, an embodiment of the present disclosure also provides a computer program product, which includes computer instructions stored in a computer-readable storage medium and suitable for being read and executed by a processor, so that a computer device having the processor executes the method as described above.

[0158] Furthermore, the figures above are merely illustrative of the processes included in the methods according to exemplary embodiments of the present disclosure and are not intended to be limiting. It is readily understood that the processes illustrated in the figures above do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0159] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be performed without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A motor control method, comprising: Obtain characteristic parameters of the motor; Determining a stator flux parameter of the motor based on the characteristic parameter; Performing compensation processing based on the stator flux parameters to obtain target rotor flux parameters; Determining a locking angle of the motor based on the target rotor flux parameter; Acquiring a current control angle of the motor according to the characteristic parameter; And determining the control angle of the motor based on the current control angle and the locking angle.

2. The motor control method according to claim 1, wherein: The step of determining the stator flux parameters of the motor based on the characteristic parameters includes: Acquire the stator back electromotive force parameters and the motor angular velocity of the motor based on the characteristic parameters; The stator flux parameter is determined based on the stator back electromotive force parameter and the motor angular velocity.

3. The motor control method according to claim 1, wherein: The performing compensation processing based on the stator flux parameters to obtain target rotor flux parameters includes: Performing filtering on the stator flux parameters to obtain filtered initial stator flux parameters; Determining a target stator flux parameter of the motor based on a preset first cutoff frequency coefficient, a preset second cutoff frequency coefficient and the initial stator flux parameter; And the target rotor flux parameter is determined based on the target stator flux parameter and the characteristic parameter.

4. The motor control method according to claim 3, wherein: The determining the target rotor flux parameter based on the target stator flux parameter and the characteristic parameter comprises: Determining an inductance parameter and a current parameter of the motor based on the characteristic parameter; Determining a rotor flux compensation parameter of the motor based on the inductance parameter, a preset compensation coefficient and the current parameter; And determining the target rotor flux parameter based on the rotor flux compensation parameter and the target stator flux parameter.

5. The motor control method according to claim 1, wherein: The determining the locking angle of the motor based on the target rotor flux parameter includes: Determining a first-axis rotor flux parameter and a second-axis rotor flux parameter of the motor based on the target rotor flux parameter; The locking angle is obtained based on the first shaft rotor flux parameter and the second shaft rotor flux parameter as phase-locked loop inputs.

6. The motor control method according to claim 5, wherein: The determining of the first-axis rotor flux parameter and the second-axis rotor flux parameter of the motor based on the target rotor flux parameter comprises: Acquire a first-axis initial rotor flux parameter and a second-axis initial rotor flux parameter of the motor based on the target rotor flux parameter; Determining a first-shaft rotor flux compensation parameter and a second-shaft rotor flux compensation parameter of the motor according to the characteristic parameters; The first shaft rotor flux parameters are determined according to the first shaft initial rotor flux parameters and the first shaft rotor flux compensation parameters, and the second shaft rotor flux parameters are determined according to the second shaft initial rotor flux parameters and the second shaft rotor flux compensation parameters.

7. The motor control method according to claim 1, wherein: The determining the control angle of the motor based on the current control angle and the locking angle includes: Determining an error angle of the motor based on the current control angle and the locking angle; determining a target motor angular velocity of the motor based on the error angle; Determining a control period of the motor according to the characteristic parameters; And determining the control angle based on the target motor angular velocity and the control period.

8. A motor control device, comprising: A first acquisition unit, configured to acquire characteristic parameters of the motor; A first determining unit, configured to determine a stator flux parameter of the motor based on the characteristic parameter; a compensation unit configured to perform compensation processing based on the stator flux parameter to obtain a target rotor flux parameter; a second determining unit, configured to determine a locking angle of the motor based on the target rotor flux parameter; a second acquisition unit, configured to acquire a current control angle of the motor according to the characteristic parameter; and a third determining unit configured to determine a control angle of the motor based on the current control angle and the locking angle.

9. The motor control device according to claim 8, wherein: The first determination unit is configured to obtain a stator back electromotive force parameter and a motor angular velocity of the motor based on the characteristic parameter; The stator flux parameter is determined based on the stator back electromotive force parameter and the motor angular velocity.

10. The motor control device according to claim 9, wherein: The compensation unit is configured to filter the stator flux parameter to obtain a filtered initial stator flux parameter; Determining a target stator flux parameter of the motor based on a preset first cutoff frequency coefficient, a preset second cutoff frequency coefficient and the initial stator flux parameter; And the target rotor flux parameter is determined based on the target stator flux parameter and the characteristic parameter.

11. The motor control device according to claim 10, wherein: The compensation unit is configured to determine an inductance parameter and a current parameter of the motor based on the characteristic parameter; Determining a rotor flux compensation parameter of the motor based on the inductance parameter, a preset compensation coefficient and the current parameter; And determining the target rotor flux parameter based on the rotor flux compensation parameter and the target stator flux parameter.

12. The motor control device according to claim 8, wherein: The second determining unit is configured to determine a first-axis rotor flux parameter and a second-axis rotor flux parameter of the motor based on the target rotor flux parameter; The locking angle is obtained based on the first shaft rotor flux parameter and the second shaft rotor flux parameter as phase-locked loop inputs.

13. The motor control device according to claim 12, wherein: The second determining unit is configured to Acquire a first-axis initial rotor flux parameter and a second-axis initial rotor flux parameter of the motor based on the target rotor flux parameter; Determining a first-shaft rotor flux compensation parameter and a second-shaft rotor flux compensation parameter of the motor according to the characteristic parameters; The first shaft rotor flux parameters are determined according to the first shaft initial rotor flux parameters and the first shaft rotor flux compensation parameters, and the second shaft rotor flux parameters are determined according to the second shaft initial rotor flux parameters and the second shaft rotor flux compensation parameters.

14. The motor control device according to claim 8, wherein: a third determining unit, configured to determine an error angle of the motor based on the current control angle and the locking angle; determining a target motor angular velocity of the motor based on the error angle; Determining a control period of the motor according to the characteristic parameters; And determining the control angle based on the target motor angular velocity and the control period.

15. A computer-readable storage medium storing at least one program code, wherein the at least one program code is loaded and executed by a processor to implement the operations performed by the method according to any one of claims 1 to 7.

16. An electronic device, comprising one or more processors and one or more memories, wherein the one or more memories store at least one program code, and the at least one program code is loaded and executed by the one or more processors to implement the operations performed by the method according to any one of claims 1 to 7.

17. A computer program product, comprising computer instructions, the computer instructions being stored in a computer-readable storage medium and being suitable for being read and executed by a processor, so that a computer device having the processor executes the method according to any one of claims 1 to 7.

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