Electric-motor torque compensation method, apparatus and device, and storage medium and product

Abstract

Disclosed in the present application are an electric-motor torque compensation method, apparatus and device, and a storage medium and a product. The method comprises: collecting the present input current when an electric motor runs, and determining the present ripple value of the present input current; on the basis of the present ripple value, determining a target filtering coefficient for filtering the present input current; on the basis of the target filtering coefficient, determining an electric-motor zero-point compensation value; and on the basis of the electric-motor zero-point compensation value, compensating for an electric-motor torque.

Description

Motor torque compensation methods, devices, equipment, storage media and products

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202410698587.1, filed on May 31, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of motor technology, and in particular to a method, apparatus, equipment, storage medium, and product for motor torque compensation. Background Technology

[0004] Ideally, the three-phase current waveform of a permanent magnet synchronous motor in an electric vehicle is a standard sine wave. However, in real-world scenarios, due to the influence of nonlinear devices in the circuit and external electromagnetic interference, the sampled three-phase current sine wave contains a large pulsation component and the waveform is not smooth. In this case, it is necessary to use reactive components with energy storage function (such as capacitors and inductors) to form a filter circuit or to use software filtering algorithms to filter out the pulsation component, reduce ripple, and obtain a smooth sine wave.

[0005] However, in actual driving, when the filter coefficient is directly used to filter the input current (i.e., the three-phase current), the filter circuit or the filter coefficient of the software filter algorithm will cause the current phase delay, resulting in torque control deviation. The larger the selected filter coefficient is, the more the three-phase current phase delay will be, resulting in a larger motor torque deviation, which in turn leads to unstable motor control.

[0006] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0007] The main objective of this application is to provide a method, apparatus, device, storage medium, and product for motor torque compensation, aiming to solve the technical problem that in existing technologies, when directly using filter coefficients to filter the input current, the filter coefficients cause current phase delay, resulting in torque control deviation and leading to unstable motor control.

[0008] To achieve the above objectives, this application provides a motor torque compensation method, the method comprising the following steps:

[0009] The current input current during motor operation is collected, and the current ripple value of the current input current is determined;

[0010] Determine the target filtering coefficient for filtering the current input current based on the current ripple value;

[0011] Determine the motor zero-point compensation value based on the target filtering coefficient;

[0012] The motor torque is compensated based on the motor zero-point compensation value.

[0013] In one embodiment, the step of determining the current ripple value of the current input current includes:

[0014] Fit an ideal sine wave of the current input current;

[0015] Determine the actual sine wave of the current input current;

[0016] The current ripple value of the current input current is determined based on the deviation between the actual sine wave and the ideal sine wave.

[0017] In one embodiment, the step of fitting an ideal sine wave of the current input current includes:

[0018] Determine the current motor speed and current torque command;

[0019] The standard frequency of the ideal sine wave required to be obtained is calculated based on the current motor speed.

[0020] Search the preset current command value table for the target quadrature axis current command value and the target direct axis current command value that match the current torque command;

[0021] The preset current command value table records the mapping relationship between different torque commands and corresponding current command values. The current command values ​​include quadrature axis current command values ​​and direct axis current command values.

[0022] Calculate the standard effective value of the ideal sine wave based on the target quadrature-axis current command value and the target direct-axis current command value;

[0023] The ideal sine wave is fitted based on the standard frequency and the standard effective value.

[0024] In one embodiment, the step of determining the current ripple value of the current input current based on the deviation between the actual sine wave and the ideal sine wave includes:

[0025] The actual rate of change of the current input current is determined based on the actual sine wave.

[0026] The standard rate of change of the current input current is determined based on the ideal sine wave.

[0027] The deviation between the actual rate of change and the standard rate of change is calculated to obtain the current ripple value of the current input current.

[0028] In one embodiment, the step of determining the target filtering coefficient for filtering the current input current based on the current ripple value includes:

[0029] Obtain a preset filter coefficient table, which records the correspondence between different pulsation values, different motor speeds, and different filter coefficients;

[0030] The optimal filter coefficient that matches both the current pulsation value and the current motor speed is found in the preset filter coefficient table.

[0031] The optimal filter coefficient is used as the target filter coefficient for filtering the current input current.

[0032] In one embodiment, the step of determining the motor zero-point compensation value based on the target filter coefficient includes:

[0033] Obtain a preset zero-point compensation value table, which records the mapping relationship between different filter coefficients and different zero-point compensation values;

[0034] Look up the motor zero-point compensation value that matches the target compensation coefficient in the preset zero-point compensation value table.

[0035] Furthermore, to achieve the above objectives, this application also proposes a motor torque compensation device, the device comprising:

[0036] The pulsation value determination module is used to collect the current input current when the motor is running and determine the current pulsation value of the current input current;

[0037] The filter coefficient determination module is used to determine the target filter coefficient for filtering the current input current based on the current ripple value.

[0038] The compensation value determination module is used to determine the motor zero-point compensation value based on the target filtering coefficient;

[0039] The motor torque compensation module is used to compensate the motor torque based on the motor zero-point compensation value.

[0040] In addition, to achieve the above objectives, this application also proposes a motor torque compensation device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the motor torque compensation method as described above.

[0041] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the motor torque compensation method described above.

[0042] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the motor torque compensation method described above.

[0043] One or more technical solutions proposed in this application have at least the following technical effects:

[0044] This application collects the current input current of the motor during operation and determines the current ripple value of the current input current; determines the target filter coefficient for filtering the current input current based on the current ripple value; determines the motor zero-point compensation value based on the target filter coefficient; and compensates the motor torque based on the motor zero-point compensation value. Because this application determines the motor zero-point compensation value for motor torque compensation based on the target filter coefficient after determining the target filter coefficient, compared to the prior art method of directly using the filter coefficient to filter the input current, this application can compensate for the torque error caused by the phase delay of the three-phase current due to changes in the filter coefficient. It avoids the situation where a larger filter coefficient results in a greater phase delay of the three-phase current, leading to a larger deviation in motor torque, effectively improving the accuracy of motor torque and thus improving the stability of motor control. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 is a flowchart of the motor torque compensation method provided in Embodiment 1 of this application;

[0048] Figure 2 is a schematic diagram of each shaft of the permanent magnet synchronous motor;

[0049] Figure 3 is a flowchart of the second embodiment of the motor torque compensation method of this application;

[0050] Figure 4 is a flowchart of the motor torque compensation method provided in Embodiment 3 of this application;

[0051] Figure 5 is a schematic diagram of the module structure of the motor torque compensation device according to an embodiment of this application;

[0052] Figure 6 is a schematic diagram of the hardware operating environment involved in the motor torque compensation method in this application embodiment.

[0053] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0054] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0055] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0056] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The main solution of this application embodiment is: to collect the current input current when the motor is running and determine the current ripple value of the current input current; to determine the target filtering coefficient for filtering the current input current based on the current ripple value; to determine the motor zero-point compensation value based on the target filtering coefficient; and to compensate the motor torque based on the motor zero-point compensation value.

[0058] In this embodiment, for ease of description, the following description uses a motor torque compensation device as the execution subject.

[0059] The input current of the permanent magnet synchronous motor of electric vehicle is a three-phase current. Ideally, the three-phase current waveform is a standard sine wave. However, in reality, due to the influence of nonlinear devices in the circuit and external electromagnetic interference, the sampled three-phase current sine wave contains a large pulsation component and the waveform is not smooth. At this time, it is necessary to use reactive components with energy storage function (such as capacitors and inductors) to form a filter circuit or use software filtering algorithms to filter out the pulsation component, reduce ripple, and obtain a smooth sine wave.

[0060] When the filter coefficient of the filtering circuit or software filtering algorithm is small, the filter is more sensitive to changes in the input signal, and vice versa. The filter coefficient also affects the filtering effect of the circuit; the larger the filter coefficient, the smaller the capacitive reactance to the AC component, and the better the filtering effect. In actual driving, the three-phase current ripple varies under different operating conditions, requiring the selection of different filter coefficients. However, different filter coefficients lead to different torque control errors, causing unstable motor control. Generally, a larger filter coefficient results in a better filtering effect, but more phase delay in the three-phase current leads to a greater deviation in motor torque. Therefore, existing methods suffer from the problem that once the selected filter coefficient is large, the phase delay of the three-phase current increases, resulting in a larger deviation in motor torque and consequently, unstable motor control.

[0061] This application provides a solution that, after determining the target filter coefficient, further determines the motor zero-point compensation value for compensating motor torque based on the target filter coefficient, thereby realizing zero-point adjustment of the permanent magnet synchronous motor torque. The permanent magnet synchronous motor torque compensation based on zero-point adjustment in this application can adaptively adjust the motor zero point according to the different filter coefficients under different operating conditions, compensate for the torque error caused by the phase lag of the three-phase current due to the change of the filter coefficient, ensure the accuracy of motor torque, effectively improve the accuracy of motor torque, and thus improve the stability of motor control.

[0062] The executing entity in this embodiment can be a computing service device with motor torque compensation, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or motor torque compensation device capable of performing the above functions. The following description uses a motor torque compensation device as an example to illustrate this embodiment and the subsequent embodiments.

[0063] Based on this, this application provides a motor torque compensation method. Referring to Figure 1, Figure 1 is a flowchart of the first embodiment of the motor torque compensation method provided in this application.

[0064] In this embodiment, the motor torque compensation method includes steps S10 to S40:

[0065] Step S10: Collect the current input current during motor operation and determine the current pulsation value of the current input current.

[0066] The aforementioned current input current can be a three-phase AC current or a two-phase AC current used to control the motor during operation. The motor can be a permanent magnet synchronous motor.

[0067] In practical implementation, due to the influence of nonlinear devices in the circuit and external electromagnetic interference, the sampled input current contains a large pulsation component. The aforementioned motor torque compensation device can collect the current input current to the motor under different operating conditions through a current sensor during motor operation, and extract the value corresponding to the pulsation component of the input current as the current pulsation value through the difference in the rate of change of the input current waveform.

[0068] Step S20: Determine the target filtering coefficient for filtering the current input current based on the current ripple value.

[0069] The aforementioned target filter coefficients can be used to filter the input current under the current operating conditions, filtering out the pulsating components in the input current.

[0070] In practical implementation, pre-testing can be conducted to determine the optimal filtering coefficients for different pulsation values ​​to achieve the best filtering effect. Then, each pulsation value is associated with its corresponding filtering coefficient. After determining the current pulsation value, the aforementioned motor torque compensation device can query the target filtering coefficient associated with that value to achieve the best filtering effect. Furthermore, for pulsation values ​​under different operating conditions, the optimal filtering system can be determined in the above manner, ensuring that the filtering effect on the input current meets the requirements of different operating conditions and improving filtering accuracy.

[0071] Step S30: Determine the motor zero-point compensation value based on the target filtering coefficient.

[0072] The above zero-point compensation values ​​can be used to correct the motor zero point in order to achieve the parameters for motor torque compensation.

[0073] In a practical implementation, the aforementioned motor torque compensation device can calculate the phase delay angle based on the target filter coefficient and the frequency of the current input current, and then determine the motor zero-point compensation value to reduce the phase delay of the input current based on the phase delay angle.

[0074] Step S40: Compensate the motor torque based on the motor zero-point compensation value.

[0075] In practice, the aforementioned motor torque compensation device can superimpose the motor zero-point compensation value with the current motor zero point to compensate for the superimposed zero point, thereby obtaining a new motor zero point and achieving motor torque compensation.

[0076] The aforementioned motor torque compensation device also has motor control functions, as detailed below:

[0077] During motor operation control, after determining the target filtering coefficient, the input current can be filtered based on this coefficient to obtain the filtered current. Then, the filtered current is substituted into a preset Clark formula for Clark transform to obtain the α-axis and β-axis currents. The preset Clark formula is:

[0078] In the formula, iα is the α-axis current, iβ is the β-axis current, ia is the first component of the filtered current, ib is the second component of the filtered current, ic is the third component of the filtered current, and k is a coefficient.

[0079] After obtaining the α-axis and β-axis currents, substitute them into the preset Park formula to perform a Park transformation, yielding the quadrature-axis and direct-axis currents. The preset Park formula is as follows:

[0080] In the formula, id is the quadrature axis current, iq is the direct axis current, iα is the α-axis current, and iβ is the β-axis current.

[0081] Furthermore, for ease of understanding, Figure 2 is provided for illustration, but it does not limit the scope of this scheme. Figure 2 is a schematic diagram of each axis of the permanent magnet synchronous motor. In Figure 2, S is the S pole of the permanent magnet synchronous motor, N is the N pole of the permanent magnet synchronous motor, the d-axis is the quadrature axis, defined as the N pole direction of the rotor magnetic pole of the permanent magnet synchronous motor, the q-axis is the direct axis, defined as the positive direction of the d-axis rotated counterclockwise by 90°, the α-axis is the 0° direction, the β-axis is the 90° direction, Vα is the α-axis voltage, and Vβ is the β-axis voltage.

[0082] After obtaining the quadrature-axis current and direct-axis current, the quadrature-axis current can be compared with the quadrature-axis current command value (id_ref), and the direct-axis current can be compared with the direct-axis current command value (iq_ref) to obtain the corresponding difference. Then, PI regulation is performed based on each difference to generate the quadrature-axis control voltage and the direct-axis control voltage. Finally, a PWM signal is generated based on the quadrature-axis control voltage and the direct-axis control voltage. The switching state of the inverter IGBT is controlled based on the PWM signal to complete the motor control.

[0083] In the aforementioned motor control process, existing methods, when filtering the input current, cause a phase delay in the current, resulting in torque errors. Furthermore, different filter coefficients lead to different phase delays. This application, however, can determine the corresponding motor zero-point compensation value based on different filter coefficients to compensate for the motor torque, thereby compensating for the torque error caused by the phase delay and improving the smoothness of motor control.

[0084] This embodiment provides a motor torque compensation method. It involves acquiring the current input current of the motor during operation and determining its current ripple value; determining a target filtering coefficient for filtering the current input current based on the current ripple value; determining a motor zero-point compensation value based on the target filtering coefficient; and compensating the motor torque based on the motor zero-point compensation value. After determining the target filtering coefficient, this embodiment further determines the motor zero-point compensation value used to compensate for the motor torque based on this target filtering coefficient. Compared to existing technologies that directly use the filtering coefficient to filter the input current, this embodiment can compensate for the torque error caused by the phase delay of the three-phase current due to changes in the filtering coefficient. It avoids the situation where a larger filtering coefficient results in a greater phase delay of the three-phase current, leading to a larger deviation in motor torque, effectively improving the accuracy of motor torque and thus improving the stability of motor control.

[0085] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment can be referred to the above description and will not be repeated hereafter. Based on this, please refer to Figure 3, which is a flowchart illustrating the second embodiment of the motor torque compensation method of this application.

[0086] In this embodiment, the step of determining the current ripple value of the current input current may include steps S101 to S103:

[0087] Step S101: Fit an ideal sine wave of the current input current.

[0088] In practical implementation, the aforementioned motor torque compensation device can fit an ideal sine wave of the input current, i.e., a standard sine wave, based on the current motor speed and current torque command. When the waveform of the input signal is consistent with the ideal sine wave, or the deviation is small, the input signal is considered relatively balanced.

[0089] In one embodiment, step S101 may include steps S1011 to S1015:

[0090] Step S1011: Determine the current motor speed and the current torque command.

[0091] The aforementioned current torque command can be the target value of the motor output torque set in the motor control system according to application requirements. This current torque command can be used to calculate the aforementioned quadrature-axis current command value and direct-axis current command value.

[0092] Step S1012: Calculate the standard frequency of the ideal sine wave to be obtained based on the current motor speed.

[0093] In its implementation, the aforementioned motor torque compensation device can substitute the current motor speed into a preset frequency calculation formula to calculate the standard frequency of the desired ideal sine wave. This preset frequency calculation formula is: f = n * p / 60

[0094] In the formula, f is the standard frequency, n is the current motor speed, and p is the number of motor pole pairs.

[0095] Step S1013: Query the target quadrature axis current command value and the target direct axis current command value that match the current torque command in the preset current command value table.

[0096] The preset current command value table records the mapping relationship between different torque commands and corresponding current command values. The current command values ​​include quadrature axis current command values ​​and direct axis current command values.

[0097] In a specific implementation, the aforementioned motor torque compensation device can traverse the preset current command value table, query the quadrature axis current command value and the matching direct axis current command value that match the current torque command, and take the successfully matched quadrature axis current command value as the target quadrature axis current command value, and take the successfully matched direct axis current command value as the target direct axis current command value.

[0098] Step S1014: Calculate the standard effective value of the ideal sine wave based on the target quadrature-axis current command value and the target direct-axis current command value.

[0099] In its specific implementation, the aforementioned motor torque compensation device can use the target quadrature axis current command value as the quadrature axis current and the target direct axis current command value as the direct axis current, substitute them into the aforementioned preset Park formula, perform an inverse Park transformation, calculate the target α-axis current and the target β-axis current, then substitute the target α-axis current and the target β-axis current into the aforementioned preset Clark formula, perform an inverse Clark transformation, calculate the three components of the ideal sine wave, and use the calculated three components as the standard effective value of the ideal sine wave.

[0100] Step S1015: Fit the ideal sine wave according to the standard frequency and the standard effective value.

[0101] In practical implementation, the aforementioned motor torque compensation device can fit the obtained standard frequency and standard effective value to draw an ideal sine wave under the current operating conditions.

[0102] Step S102: Determine the actual sine wave of the current input current.

[0103] Step S103: Determine the current ripple value of the current input current based on the deviation between the actual sine wave and the ideal sine wave.

[0104] In a practical implementation, the aforementioned motor torque compensation device can compare the actual sine wave with the ideal sine wave to determine the deviation between the actual sine wave and the ideal sine wave. Based on this deviation, the current pulsation value representing the input current pulsation component can be determined.

[0105] In one embodiment, step S103 may include steps S1031 to S1033:

[0106] Step S1031: Determine the actual rate of change of the current input current based on the actual sine wave.

[0107] In its implementation, the aforementioned motor torque compensation device can calculate the actual rate of change of the current input current based on the current value collected by the current sensor at the current moment and the current value collected at the previous moment. That is, it extracts current values ​​from adjacent moments on the actual sine wave and calculates the actual rate of change of the input current based on a preset rate of change formula. This preset rate of change formula is:

[0108] In the formula, r is the rate of change of the input current, i(n) is the current value at the current moment, i(n-1) is the current value at the previous moment, and fi is the current sampling frequency.

[0109] Step S1032: Determine the standard rate of change of the current input current based on the ideal sine wave.

[0110] In practical implementation, the aforementioned motor torque compensation device can extract the current value at adjacent moments on an ideal sine wave and calculate the standard rate of change corresponding to the current input current based on the aforementioned preset rate of change formula.

[0111] Among them, the adjacent moments intercepted on the ideal sine wave are the same as the adjacent moments intercepted on the actual sine wave.

[0112] Step S1033: Calculate the deviation between the actual rate of change and the standard rate of change to obtain the current ripple value of the current input current.

[0113] In practical implementation, the aforementioned motor torque compensation device can compare the actual rate of change with the standard rate of change and calculate the deviation between the two. Ideally, the deviation between the actual rate of change and the standard rate of change should be 0. When the deviation is not 0, it is determined that there is pulsation in the input current. Therefore, the calculated deviation can be used as the current pulsation value characterizing the current input current pulsation component.

[0114] This embodiment determines the current motor speed and current torque command, calculates the standard frequency of the desired ideal sine wave based on the current motor speed, queries a preset current command value table for the target quadrature-axis current command value and the target direct-axis current command value that match the current torque command, and calculates the standard effective value of the ideal sine wave based on the target quadrature-axis current command value and the target direct-axis current command value. The ideal sine wave is then fitted based on the standard frequency and the standard effective value to determine the actual sine wave of the current input current, and the actual rate of change of the current input current is determined based on the actual sine wave. The standard rate of change of the current input current is then determined based on the ideal sine wave. The deviation between the actual rate of change and the standard rate of change is calculated to obtain the current pulsation value of the current input current. Because this embodiment compares the actual sine wave with the ideal sine wave and calculates the current pulsation value based on the deviation between the actual rate of change of the actual sine wave and the standard rate of change of the ideal sine wave, the calculation accuracy of the current pulsation value is effectively improved, thereby improving the accuracy of motor torque compensation.

[0115] Based on the first and second embodiments of this application, in the third embodiment of this application, the content that is the same as or similar to that in the first and second embodiments described above can be referred to the above description and will not be repeated hereafter. Based on this, please refer to Figure 4, which is a flowchart illustrating the motor torque compensation method of the third embodiment of this application.

[0116] In this embodiment, step S20 may include steps S201 to S203:

[0117] Step S201: Obtain a preset filter coefficient table, which records the correspondence between different pulsation values, different motor speeds, and different filter coefficients.

[0118] In one embodiment, for ease of understanding, a feasible preset filter coefficient table is shown in Table 1:

[0119] Table 1: Preset Filter Coefficients Table

[0120] In Table 1, Δγ represents the pulsation value, and n represents the rotational speed. When Δγ ≤ 1 and n ≤ 1000, the filtering coefficient is 0.02; when Δγ ≤ 1 and 1000 < n ≤ 5000, the filtering coefficient is 0.02; when Δγ ≤ 1 and 5000 < n ≤ 8000, the filtering coefficient is 0.04; when Δγ ≤ 1 and 8000 < n ≤ 10000, the filtering coefficient is 0.06; and when Δγ ≤ 1 and 10000 < n ≤ 13000, the filtering coefficient is... The filter coefficient is 0.08 when 10 < Δγ and n ≤ 1000; 0.85 when 10 < Δγ and 1000 < n ≤ 5000; 0.85 when 10 < Δγ and 5000 < n ≤ 8000; 0.8 when 10 < Δγ and 8000 < n ≤ 10000; and 0.7 when 10 < Δγ and 10000 < n ≤ 13000.

[0121] Furthermore, although Table 1 does not show the filter coefficients for the pulsation values ​​of 1 < Δγ ≤ 3, 3 < Δγ ≤ 5, 5 < Δγ ≤ 8, and 8 < Δγ ≤ 10, it does not limit the filter coefficients for these pulsation values. The filter coefficients for these pulsation values ​​can be set according to the actual scenario.

[0122] The filter coefficients in the preset filter coefficient table above can be configured through testing for different pulsation values ​​and motor speeds to achieve the best filtering effect.

[0123] Table 1 above is a feasible preset filter coefficient table. The filter coefficients are not limited to this solution, and the values ​​can be adjusted according to the actual scenario and working conditions.

[0124] Step S202: Query the preset filter coefficient table to find the optimal filter coefficient that matches both the current pulsation value and the current motor speed.

[0125] Step S203: Use the optimal filter coefficient as the target filter coefficient for filtering the current input current.

[0126] In a specific implementation, the aforementioned motor torque compensation device can traverse a preset filter coefficient table based on the current pulsation value and the current motor speed, and query the preset filter coefficient table to find the best filter coefficient that matches both the current pulsation value and the current motor speed as the target filter coefficient.

[0127] This embodiment finds the optimal filter coefficient that matches both the current ripple value and the current motor speed in a preset filter coefficient table; and uses the optimal filter coefficient as the target filter coefficient for filtering the current input current. This allows it to be applicable to different ripple values ​​and motor speeds under different operating conditions, and the optimal filter coefficient can be selected under each operating condition, thereby ensuring that the filtering intensity of the input current meets the changing requirements of different operating conditions.

[0128] Furthermore, in this embodiment, step S30 may include steps S301 to S302:

[0129] Step S301: Obtain a preset zero-point compensation value table, which records the mapping relationship between different filter coefficients and different zero-point compensation values.

[0130] In practice, the zero-point compensation value that achieves the best compensation effect under each filter coefficient can be determined by testing the motor. Then, a mapping relationship between the filter coefficient and the corresponding compensation value can be established, and each mapping relationship can be recorded in a preset zero-point compensation value table.

[0131] Step S302: Query the preset zero-point compensation value table to find the motor zero-point compensation value that matches the target compensation coefficient.

[0132] In practical implementation, the aforementioned motor torque compensation device can traverse the preset zero-point compensation value table based on the determined target compensation coefficient. The zero-point compensation value of the motor that matches the target compensation coefficient can be accurately found in the preset zero-point compensation value table, which effectively improves the accuracy of determining the zero-point compensation value of the motor.

[0133] Furthermore, the aforementioned motor torque compensation device can also fit each filter coefficient to its corresponding compensation value to determine a mathematical model characterizing the relationship between the filter coefficient and the compensation value. Then, after determining the target compensation coefficient, the corresponding motor zero-point compensation value is calculated by substituting it into this mathematical model. This avoids situations where the preset zero-point compensation value table does not record the target filter coefficient or does not record the motor zero-point compensation value corresponding to the target filter coefficient, thus improving the accuracy of determining the motor zero-point compensation value.

[0134] The above examples are only for understanding this application and do not constitute a limitation on the motor torque compensation method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0135] This application also provides a motor torque compensation device. Please refer to Figure 5, which is a schematic diagram of the module structure of the motor torque compensation device according to an embodiment of this application. The motor torque compensation device includes:

[0136] The pulsation value determination module 10 is used to collect the current input current when the motor is running and determine the current pulsation value of the current input current.

[0137] The filter coefficient determination module 20 is used to determine the target filter coefficient for filtering the current input current based on the current ripple value.

[0138] The compensation value determination module 30 is used to determine the motor zero-point compensation value based on the target filtering coefficient.

[0139] The motor torque compensation module 40 is used to compensate the motor torque based on the motor zero-point compensation value.

[0140] The motor torque compensation device provided in this application, employing the motor torque compensation method described in the above embodiments, can solve the technical problem in the prior art where the filtering coefficient causes current phase delay when directly filtering the input current, resulting in torque control deviation and unstable motor control. Compared with the prior art, the beneficial effects of the motor torque compensation device provided in this application are the same as those of the motor torque compensation method provided in the above embodiments, and other technical features in the motor torque compensation device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0141] This application provides a motor torque compensation device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the motor torque compensation method in the above embodiment 1.

[0142] Referring to Figure 6, which is a schematic diagram of the hardware operating environment involved in the motor torque compensation method in this embodiment of the application, it shows a structural schematic diagram of a motor torque compensation device suitable for implementing the embodiments of the application. The motor torque compensation device in this embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. The motor torque compensation device shown in Figure 5 is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the application.

[0143] As shown in Figure 5, the motor torque compensation device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the motor torque compensation device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the motor torque compensation device to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show motor torque compensation devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0144] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0145] The motor torque compensation device provided in this application, employing the motor torque compensation method described in the above embodiments, can solve the technical problem in the prior art where the filtering coefficient causes current phase delay when directly filtering the input current, resulting in torque control deviation and unstable motor control. Compared with the prior art, the beneficial effects of the motor torque compensation device provided in this application are the same as those of the motor torque compensation method provided in the above embodiments, and other technical features of this motor torque compensation device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0146] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0147] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0148] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the motor torque compensation method in the above embodiments.

[0149] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0150] The aforementioned computer-readable storage medium may be included in the motor torque compensation device; or it may exist independently and not assembled into the motor torque compensation device.

[0151] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the motor torque compensation device, cause the motor torque compensation device to: acquire the current input current during motor operation and determine the current ripple value of the current input current; determine a target filtering coefficient for filtering the current input current based on the current ripple value; determine a motor zero-point compensation value based on the target filtering coefficient; and compensate the motor torque based on the motor zero-point compensation value.

[0152] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0153] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0154] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0155] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described motor torque compensation method. This solves the technical problem in the prior art where the filtering coefficient causes current phase delay, resulting in torque control deviation and unstable motor control, when the input current is directly filtered using a filtering coefficient. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the motor torque compensation method provided in the above embodiments, and will not be repeated here.

[0156] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the motor torque compensation method described above.

[0157] The computer program product provided in this application can solve the technical problem that when the filter coefficient is directly used to filter the input current in the prior art, the filter coefficient will cause a current phase delay, resulting in torque control deviation and unstable motor control. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the motor torque compensation method provided in the above embodiments, and will not be repeated here.

[0158] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method of motor torque compensation, wherein, The method comprises: acquiring a current input current of the motor during operation, and determining a current ripple value of the current input current; determining a target filter coefficient for filtering the current input current according to the current ripple value; determining a motor zero point compensation value according to the target filter coefficient; compensating a motor torque based on the motor zero point compensation value.

2. The motor torque compensation method of claim 1, wherein, The step of determining the current ripple value of the current input current comprises: fitting an ideal sinusoidal wave of the current input current; determining an actual sinusoidal wave of the current input current; determining the current ripple value of the current input current according to a deviation between the actual sinusoidal wave and the ideal sinusoidal wave.

3. The motor torque compensation method of claim 2, wherein, The step of fitting the ideal sinusoidal wave of the current input current comprises: determining a current motor speed and a current torque instruction; calculating a standard frequency of the ideal sinusoidal wave to be obtained according to the current motor speed; inquiring a target quadrature axis current instruction value and a target direct axis current instruction value matched with the current torque instruction in a preset current instruction value table; wherein the preset current instruction value table records a mapping relationship between different torque instructions and corresponding current instruction values, and the current instruction value comprises a quadrature axis current instruction value and a direct axis current instruction value; calculating a standard effective value of the ideal sinusoidal wave according to the target quadrature axis current instruction value and the target direct axis current instruction value; fitting the ideal sinusoidal wave according to the standard frequency and the standard effective value.

4. The motor torque compensation method of claim 2, wherein, The step of determining the current ripple value of the current input current according to a deviation between the actual sinusoidal wave and the ideal sinusoidal wave comprises: determining an actual change rate of the current input current according to the actual sinusoidal wave; determining a standard change rate of the current input current according to the ideal sinusoidal wave; calculating a deviation between the actual change rate and the standard change rate to obtain the current ripple value of the current input current.

5. The motor torque compensation method of claim 1, wherein, The step of determining the target filter coefficient for filtering the current input current according to the current ripple value comprises: obtaining a preset filter coefficient table, wherein a corresponding relationship between different ripple values, different motor speeds and different filter coefficients is recorded in the preset filter coefficient table; inquiring an optimal filter coefficient matched with the current ripple value and a current motor speed in the preset filter coefficient table; taking the optimal filter coefficient as the target filter coefficient for filtering the current input current.

6. The motor torque compensation method of any one of claims 1 to 5, wherein, The step of determining the motor zero point compensation value according to the target filter coefficient comprises: obtaining a preset zero point compensation value table, wherein a mapping relationship between different filter coefficients and different zero point compensation values is recorded in the preset zero point compensation value table; inquiring a motor zero point compensation value matched with the target compensation coefficient in the preset zero point compensation value table.

7. An electric motor torque compensation apparatus wherein, The device comprises: a ripple value determination module, configured to acquire a current input current of the motor during operation, and determine a current ripple value of the current input current; a filter coefficient determination module, configured to determine a target filter coefficient for filtering the current input current according to the current ripple value; a compensation value determination module, configured to determine a motor zero point compensation value according to the target filter coefficient; and a compensation module, configured to compensate a motor torque based on the motor zero point compensation value. The motor torque compensation module is configured to compensate motor torque based on the motor zero point compensation value.

8. An electric motor torque compensation apparatus wherein, The device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the motor torque compensation method according to any one of claims 1 to 6.

9. A storage medium, wherein, The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the motor torque compensation method according to any one of claims 1 to 6.

10. A computer program product, wherein, The computer program product comprises a computer program, and the computer program is executed by a processor to implement the steps of the motor torque compensation method according to any one of claims 1 to 6.

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