Motor control method and apparatus based on harmonic injection, and device and storage medium

Abstract

The present application relates to the technical field of motors, and discloses a motor control method and apparatus based on harmonic injection, and a device and a storage medium. The method comprises: on the basis of a motor and noise of the motor, determining a specified-order harmonic wave needing to be injected; acquiring a rotational speed and torque of the motor, and determining a voltage magnitude and a phase angle of the specified-order harmonic wave corresponding to the rotational speed and the torque from a preset specified-order harmonic wave table; performing transformation processing on the voltage magnitude and the phase angle to obtain a target voltage value in a three-phase coordinate system; and superimposing the target voltage value onto a fundamental voltage to obtain a control voltage, wherein the control voltage is used for controlling the operating state of the motor. In the present application, torque harmonic waves generated by the driving of a motor are eliminated, thus significantly reducing the noise during the operation of the motor and a load system.

Description

Motor control method, apparatus, equipment and storage medium based on harmonic injection Technical Field

[0001] This application relates to the field of electronic technology, specifically to a motor control method, apparatus, device, and storage medium based on harmonic injection. Background Technology

[0002] As people's living standards continue to improve, users' demands for home appliances have shifted from basic cooling and heating to a combination of comfort. Various appliance manufacturers have emphasized the need for quiet operation and ease of falling asleep; however, the motor system, as the drive mechanism, is one source of noise.

[0003] Existing technologies reduce noise by modifying the structure, such as optimizing the motor's electromagnetic scheme, structure, and fan blades, but all of these methods increase costs. Summary of the Invention

[0004] In view of this, this application provides a motor control method, apparatus, device and storage medium based on harmonic injection to solve the problem of high cost of noise reduction.

[0005] In a first aspect, this application provides a motor control method based on harmonic injection, the method comprising:

[0006] Based on the motor and its noise, determine the specific order harmonics that need to be injected;

[0007] The motor's speed and torque are obtained, and the voltage amplitude and phase angle of the specified order harmonic corresponding to the speed and torque are determined in the preset table of specified order harmonics.

[0008] The voltage amplitude and phase angle are transformed to obtain the target voltage value in the three-phase coordinate system.

[0009] The target voltage value is superimposed on the fundamental voltage to obtain the control voltage, which is used to control the operating state of the motor.

[0010] By directly identifying the reverse torque harmonics generated by the drive motor from a pre-defined harmonic table (i.e., harmonics with specific voltage amplitude and phase angle), and injecting these harmonics into the motor controller, the torque harmonics generated by the drive motor are eliminated, thereby significantly reducing the noise of the motor and load system during operation. Compared to reducing noise by modifying the structure, this method greatly reduces costs.

[0011] In one optional implementation, the step of transforming the voltage amplitude and phase angle to obtain the target voltage value in a three-phase coordinate system includes:

[0012] By performing an inverse Park transform on the voltage amplitude and phase angle, the first voltage value in a two-phase Cartesian coordinate system is obtained.

[0013] The first voltage value is subjected to Clarke inverse transformation to obtain the target voltage value in the three-phase coordinate system.

[0014] In one optional implementation, the step of determining the voltage amplitude and phase angle of a specified order harmonic corresponding to the rotational speed and torque from a preset specified order harmonic table includes:

[0015] In the multiple harmonic tables of the motor, determine the specific harmonic table corresponding to the specific harmonic to be injected;

[0016] In the specified harmonic table, select the voltage amplitude and phase angle of the specified harmonic corresponding to the rotational speed and torque.

[0017] In one alternative implementation, prior to the step of determining the harmonic table corresponding to the specified order harmonic to be injected, the method includes:

[0018] Determine multiple preset rotational speeds and multiple preset torques arranged in a preset, equally spaced manner;

[0019] Under various preset speed and preset torque conditions, experiments were conducted to determine the preset voltage amplitude and preset phase angle at which the motor noise is less than the preset noise threshold.

[0020] A harmonic table is created based on preset rotational speed, preset torque, and preset voltage amplitude and preset phase angle corresponding to preset rotational speed and preset torque.

[0021] In one alternative implementation, the method further includes:

[0022] Check whether the rotational speed is the same as the preset rotational speed, and / or check whether the torque is the same as the preset torque;

[0023] If the rotational speed is different from the preset rotational speed, and / or the torque is different from the preset torque, then the preset voltage amplitude and preset phase angle are determined by the interpolation model.

[0024] In one alternative implementation, the step of determining the specified order harmonics to be injected based on the motor and its noise includes:

[0025] Obtain the number of pole pairs and noise order of the motor;

[0026] Based on the multiple relationship between the number of motor pole pairs and the noise order, the specified order of one or more harmonics to be injected is determined.

[0027] In one alternative implementation, the step of controlling the motor by controlling the voltage includes:

[0028] Pulse width modulation is applied to the control voltage to generate a pulse width modulated voltage.

[0029] Motors are controlled by pulse-width modulation voltage.

[0030] Secondly, this application provides a motor control device based on harmonic injection, the motor control device based on harmonic injection comprising:

[0031] A designated module is used to determine the specified order harmonics to be injected based on the motor and its noise.

[0032] The determination module is used to obtain the motor speed and torque, and determine the voltage amplitude and phase angle of the specified order harmonic corresponding to the speed and torque in a preset table of specified order harmonics;

[0033] The transformation module is used to transform the voltage amplitude and phase angle to obtain the target voltage value in the three-phase coordinate system.

[0034] The control module is used to superimpose the target voltage value onto the fundamental voltage to obtain the control voltage, which is used to control the operating state of the motor.

[0035] Thirdly, this application provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the motor control method based on harmonic injection described in the first aspect or any corresponding embodiment.

[0036] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the harmonic injection-based motor control method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 is a flowchart of a motor control method based on harmonic injection according to an embodiment of this application;

[0039] Figure 2 is a schematic diagram illustrating the application of the motor control method based on harmonic injection according to an embodiment of this application;

[0040] Figure 3 is a flowchart of another motor control method based on harmonic injection according to an embodiment of this application;

[0041] Figure 4 is a structural block diagram of a motor control device based on harmonic injection according to an embodiment of this application;

[0042] Figure 5 is a schematic diagram of the hardware structure of a computer device according to an embodiment of this application. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] In related technologies, noise reduction methods are all achieved by modifying the structure, which increases costs. This application provides a motor control method based on harmonic injection, which eliminates torque harmonics generated by the drive motor by injecting reverse torque harmonics into the motor controller, thereby significantly reducing the noise of the motor and load system during operation.

[0045] According to an embodiment of this application, an embodiment of a method for injecting harmonics is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0046] This embodiment provides a harmonic injection method, which can be used in the aforementioned mobile terminals, such as mobile phones and tablets. Figure 1 is a flowchart of the harmonic injection method according to an embodiment of this application. As shown in Figure 1, the process includes the following steps:

[0047] Step S101: Based on the motor and its noise, determine the specified order harmonics that need to be injected.

[0048] By analyzing the type of motor in the electronic device and the noise it generates, the specific order of the reverse excitation harmonic to be injected is determined. The specific order n can be n = 2, 3, 4, 5, 7, 11, 13... A harmonic is a component greater than an integer multiple of the fundamental frequency, obtained by performing a Fourier series decomposition on a periodic non-sinusoidal alternating current. It should be noted that the excitation harmonics generating noise will differ depending on the type of motor and the load operating conditions, thus requiring different reverse excitation harmonics to be injected.

[0049] Step S102: Obtain the motor speed and torque, and determine the voltage amplitude and phase angle of the specified order harmonic corresponding to the speed and torque in the preset specified order harmonic table.

[0050] The specified order harmonic table includes speed, torque, voltage amplitude and phase angle. Under different speed and torque conditions, there are different voltage amplitude and phase angles. The voltage amplitude and phase angle of the specified order harmonic are the reverse excitation harmonics.

[0051] Step S103: Transform the voltage amplitude and phase angle to obtain the target voltage value in the three-phase coordinate system.

[0052] After obtaining the voltage amplitude and phase angle of the specified harmonic, a transformation process is performed on the voltage amplitude and phase angle. Specifically, the voltage amplitude and phase angle of the specified harmonic are transformed into the target voltage value in a three-phase coordinate system. This transformation can be a coordinate transformation process, converting the voltage amplitude and phase angle from the dq coordinate system to the three-phase coordinate system, thus obtaining the target voltage value of the reverse excitation harmonic in the three-phase coordinate system. It should be noted that the q-axis in the dq coordinate system is the intersection axis, which is perpendicular to the N and S pole magnets (i.e., intersecting). The intersection axis controls the magnitude of the force. The d-axis is the direct axis, which is in the same direction as the N and S pole magnets (i.e., parallel). The direct axis controls the magnitude of the magnetic field.

[0053] Step S104: The target voltage value is superimposed on the fundamental voltage to obtain the control voltage, which is used to control the operating state of the motor.

[0054] The target voltage value is superimposed on the fundamental voltage to obtain the control voltage, which is to superimpose the reverse excitation harmonic on the torque harmonic. Thus, the control voltage that cancels the torque harmonic generated under the real-time speed and torque conditions is obtained. The motor is controlled by the control voltage, thereby eliminating the noise generated by the motor during operation.

[0055] The harmonic injection-based motor control method provided in this embodiment directly determines the reverse torque harmonics generated by the drive motor from a preset harmonic table of specified orders. These reverse torque harmonics are defined harmonics with specific voltage amplitudes and phase angles. The reverse torque harmonics are then injected into the motor controller, thereby eliminating the torque harmonics generated by the drive motor and significantly reducing the noise during motor and load system operation. Compared to reducing noise by modifying the structure, this method greatly reduces costs.

[0056] In some alternative implementations, step S101 includes:

[0057] Step S1011: Obtain the number of pole pairs and noise order of the motor;

[0058] Step S1012: Based on the multiple relationship between the number of motor pole pairs and the noise order, determine the specified order of one or more harmonics to be injected.

[0059] Since different types of motors have different pole pairs p, the type of noise generated by the motor is determined by testing. Specifically, it can be obtained through NVH (Noise, Vibration, and Harshness) testing.

[0060] For example, if the noise obtained from the test is 2P order noise, then the required injected harmonics are 2nd or 3rd order. If the noise obtained from the test is 6P order noise, then the required injected harmonics are 5th or 7th order, or a combination of 5th and 7th order. If the noise obtained from the test is 12P order noise, then the required injected harmonics are 11th or 13th order, or a combination of 11th and 13th order. It should be noted that the specific order harmonics can be selected as the ones with the best noise reduction effect through prior experiments.

[0061] If the specified order harmonics are combined harmonics, then the target voltage values ​​corresponding to the voltage amplitude and phase angle of each order harmonic in the combined order harmonics are added to the fundamental voltage, thereby generating reverse excitation harmonics, eliminating noise harmonics, and thus reducing the noise of the entire system.

[0062] In some optional implementations, as shown in FIG2, step S103 includes:

[0063] Step S1031: Perform Park inverse transformation on the voltage amplitude and phase angle to obtain the first voltage value in a two-phase planar rectangular coordinate system.

[0064] Step S1032: Perform Clarke inverse transform on the first voltage value to obtain the target voltage value in the three-phase coordinate system.

[0065] Referring to Figure 2, the voltage amplitude and phase angle of the specified harmonic are transformed from the dq-axis coordinate system to the αβ-axis coordinate system through the Park inverse transform, that is, the DC quantity on the dq-axis is transformed into the AC quantity on the αβ-axis. Then, the voltage amplitude and phase angle of the specified harmonic are transformed from the αβ-axis coordinate system to the ABC three-phase coordinate system through the Clarke inverse transform, thereby obtaining the target voltage value U in the three-phase coordinate system. A U B and U C .

[0066] In some optional implementations, the step S102, "determining the voltage amplitude and phase angle of the specified order harmonic corresponding to the rotational speed and torque in a preset specified order harmonic table," includes:

[0067] Step S1021: In the multiple harmonic tables of the motor, determine the specified harmonic table corresponding to the specified harmonic to be injected.

[0068] Step S1022: Select the voltage amplitude and phase angle of the specified order harmonic corresponding to the rotational speed and torque from the specified order harmonic table.

[0069] For different types of motors, specify harmonic tables for each order, such as the 2nd, 3rd, 4th, and 5th harmonic tables. If the 5th harmonic needs to be injected, determine the 5th harmonic table corresponding to the 5th harmonic to be injected in the harmonic tables of each order, and select the voltage amplitude and phase angle of the 5th harmonic component in the 5th harmonic table.

[0070] Specifically, before step S1021, the following are included:

[0071] a1, determine multiple preset rotational speeds and multiple preset torques arranged in a preset equal interval manner;

[0072] a2, under various preset speed and preset torque conditions, the preset voltage amplitude and preset phase angle at which the motor noise is less than the preset noise threshold are determined through experiments;

[0073] a3, based on preset speed, preset torque, and preset voltage amplitude and preset phase angle corresponding to preset speed and preset torque, a harmonic table is formulated.

[0074] Referring to Table 1 below, which is a table for specified order harmonics, 10 preset torques (0 to 2.7) are arranged at torque intervals of 0.3, and 15 preset speeds (0 to 1400) are arranged at speed intervals of 100. The table is structured with torque as columns and speed as rows; that is, the horizontal axis represents even distribution of speeds, and the vertical axis represents even distribution of torques. The intersection of the horizontal and vertical axes represents the voltage amplitude U of the specified order harmonic component to be injected under that operating condition. n and phase angle θ n As shown in Table 1 below, if the real-time torque is 2.7 and the rotational speed is 1400 rpm, the required voltage amplitude U is... 14 And phase angle θ9.

[0075] Table 1

[0076] Under various preset torque and speed conditions, the required voltage amplitude and phase angle are obtained through calibration. That is, through multiple experiments, the reverse excitation harmonic with the lowest noise level is determined under these conditions, thereby determining the voltage amplitude U with the lowest noise level. n and phase angle θ n Of course, the reverse excitation harmonic with noise levels below a preset noise threshold can also be used as the final calibration result. It should be understood that the more times the simulation is performed, the higher the final calibrated voltage amplitude U will be. n and phase angle θ n The more accurate.

[0077] Specifically, the motor control method based on harmonic injection in this application includes:

[0078] b1, detect whether the rotational speed is the same as the preset rotational speed, and / or, detect whether the torque is the same as the preset torque;

[0079] b2, if the rotational speed is different from the preset rotational speed, and / or the torque is different from the preset torque, then the preset voltage amplitude and preset phase angle are determined by the interpolation model.

[0080] If the real-time acquired speed and / or torque does not fall within the preset speed range and / or preset torque range, the voltage amplitude and phase angle corresponding to the speed and torque are calculated through an interpolation model. This improves the accuracy of the reverse harmonics to be injected, thereby improving the noise reduction effect.

[0081] In some optional implementations, the step of "controlling the motor by controlling the control voltage" in step S104 includes:

[0082] Step S1041: Pulse width modulation is performed on the control voltage to generate a pulse width modulated voltage;

[0083] Step S1042: Control the motor by pulse width modulation voltage.

[0084] Specifically, the SVPWM (Space Vector Pulse Width Modulation) module modulates the pulse width of the superimposed voltage to generate a PWM wave (Pulse-width modulation). The PWM wave is a pulse-width modulated voltage. Finally, the motor is controlled by FOC (field-oriented control) based on the PWM wave.

[0085] Referring to Figure 3, set the target speed and torque of the motor, and run it in constant torque or constant speed mode to detect the actual torque and speed. Based on the actual speed and torque, look up the table to obtain the voltage amplitude U of the required nth harmonic value. n and phase angle θ n Of course, the required voltage amplitude U of the nth harmonic can also be obtained by looking up a table based on the set target rotational speed and target torque. n and phase angle θ n If the harmonics to be injected are a combination of multiple orders, the harmonics are combined and superimposed using the harmonic injection processing function. Then, when controlling the motor, the relevant variables and arrays are initialized first. Specifically, this includes the variables, functions, and constants used when injecting harmonic voltage and angle, as well as variables in the program. Then, the Park inverse transform processing module is used to process the voltage amplitude U of the nth harmonic value obtained from the lookup table. n and phase angle θ n The system performs Park inverse transform processing, then Clarke inverse transform processing module performs Clarke inverse transform processing on the data after Park inverse transform processing. Finally, the target voltage under the obtained triangular coordinate system is superimposed on the fundamental voltage, and the superimposed voltage is pulse-width modulated by SVPWM module. Finally, the pulse-width modulated voltage is used to perform FOC control on the motor, thereby achieving the noise reduction effect.

[0086] This embodiment also provides a motor control device based on harmonic injection, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0087] This embodiment provides a motor control device based on harmonic injection, as shown in Figure 4, including:

[0088] Module 501 is specified for determining the specified order harmonics to be injected based on the motor and its noise.

[0089] The determination module 502 is used to obtain the motor speed and torque, and determine the voltage amplitude and phase angle of the specified order harmonic corresponding to the speed and torque in a preset specified order harmonic table.

[0090] The transformation module 503 is used to transform the voltage amplitude and phase angle to obtain the target voltage value in the three-phase coordinate system.

[0091] The control module 504 is used to superimpose the target voltage value onto the fundamental voltage to obtain the control voltage, which is used to control the operating state of the motor.

[0092] In some alternative implementations, the transformation module 503 includes:

[0093] The first transformation unit is used to perform Park inverse transformation on the voltage amplitude and phase angle to obtain the first voltage value in a two-phase planar rectangular coordinate system.

[0094] The second transformation unit is used to perform Clarke inverse transformation on the first voltage value to obtain the target voltage value in the three-phase coordinate system.

[0095] In some alternative implementations, the designated module 501 includes:

[0096] The first determining unit is used to determine, from multiple harmonic tables of the motor, the specified harmonic table corresponding to the specified harmonic to be injected.

[0097] The selection unit is used to select the voltage amplitude and phase angle of a specified order harmonic corresponding to the specified rotational speed and torque from a specified order harmonic table.

[0098] In some alternative implementations, the designated module 501 further includes:

[0099] The arrangement unit is used to determine multiple preset rotational speeds and multiple preset torques arranged in a preset equal interval manner;

[0100] The second determining unit is used to experimentally determine the preset voltage amplitude and preset phase angle at which the noise of the motor is less than the preset noise threshold under various preset speed and preset torque conditions.

[0101] The formulation unit is used to formulate a harmonic table based on a preset rotational speed, a preset torque, and a preset voltage amplitude and a preset phase angle corresponding to the preset rotational speed and preset torque.

[0102] In some alternative implementations, the designated module 501 further includes:

[0103] The detection unit is used to detect whether the rotational speed is the same as the preset rotational speed, and / or to detect whether the torque is the same as the preset torque;

[0104] The interpolation unit is used to determine the preset voltage amplitude and preset phase angle through the interpolation model if the determined rotational speed is different from the preset rotational speed and / or the determined torque is different from the preset torque.

[0105] In some alternative implementations, the designated module 501 includes:

[0106] The acquisition unit is used to acquire the number of pole pairs and noise order of the motor.

[0107] The order determination unit is used to determine the specified order of one or more harmonics to be injected based on the multiple relationship between the number of motor pole pairs and the noise order.

[0108] In some alternative implementations, the control module 504 includes:

[0109] The generation unit is used to perform pulse width modulation on the control voltage and generate a pulse width modulated voltage.

[0110] The control unit is used to control the motor using pulse-width modulated voltage.

[0111] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0112] In this embodiment, the motor control device based on harmonic injection is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0113] This application also provides a computer device having the motor control device based on harmonic injection shown in FIG4 above.

[0114] Please refer to Figure 5, which is a schematic diagram of the hardware structure of a computer device according to an embodiment of this application. As shown in Figure 5, the computer device includes one or more processors 10, a memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components communicate with each other using different buses and can be installed on a common motherboard or otherwise as needed. The processor can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 5 uses one processor 10 as an example.

[0115] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0116] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0117] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0118] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0119] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means; Figure X shows an example of a connection via a bus.

[0120] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0121] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0122] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A motor control method based on harmonic injection, characterized in that, The motor control method based on harmonic injection includes: Based on the motor and the noise of the motor, determine the specified order harmonics that need to be injected; The motor speed and torque are obtained, and the voltage amplitude and phase angle of the specified order harmonic corresponding to the speed and torque are determined in a preset table of specified order harmonics. The voltage amplitude and the phase angle are transformed to obtain the target voltage value in the three-phase coordinate system. The target voltage value is superimposed on the fundamental voltage to obtain the control voltage, which is used to control the operating state of the motor.

2. The method according to claim 1, characterized in that, The step of transforming the voltage amplitude and the phase angle to obtain the target voltage value in the three-phase coordinate system includes: A Park inverse transformation is performed on the voltage amplitude and the phase angle to obtain the first voltage value in a two-phase planar rectangular coordinate system. The first voltage value is subjected to Clarke inverse transformation to obtain the target voltage value in the three-phase coordinate system.

3. The method according to claim 1, characterized in that, The step of determining the voltage amplitude and phase angle of the specified order harmonics corresponding to the rotational speed and the torque in a preset specified order harmonic table includes: In the multiple harmonic tables of the motor, determine the specific harmonic table corresponding to the specific harmonic to be injected; In the specified order harmonic table, select the voltage amplitude and phase angle of the specified order harmonic corresponding to the rotational speed and the torque.

4. The method according to claim 3, characterized in that, Before the step of determining the harmonic table corresponding to the specified order harmonic to be injected, the following steps are included: Determine multiple preset rotational speeds and multiple preset torques arranged in a preset, equally spaced manner; Under the conditions of the preset speed and the preset torque, the preset voltage amplitude and preset phase angle of the motor noise being less than the preset noise threshold are determined by experiment. A harmonic table is created based on preset rotational speed, preset torque, and preset voltage amplitude and preset phase angle corresponding to preset rotational speed and preset torque.

5. The method according to claim 4, characterized in that, The method further includes: Detect whether the rotational speed is the same as the preset rotational speed, and / or detect whether the torque is the same as the preset torque; If it is determined that the rotational speed is different from the preset rotational speed, and / or it is determined that the torque is different from the preset torque, then the preset voltage amplitude and preset phase angle are determined by the interpolation model.

6. The method according to claim 1, characterized in that, The step of determining the specified order harmonics to be injected based on the motor and the motor's noise includes: Obtain the number of pole pairs and noise order of the motor; Based on the multiple relationship between the number of motor pole pairs and the noise order, the specified order of one or more harmonics to be injected is determined.

7. The method according to claim 1, characterized in that, The step of controlling the motor using the control voltage includes: The control voltage is pulse-width modulated to generate a pulse-width modulated voltage; The motor is controlled by the pulse width modulation voltage.

8. A motor control device based on harmonic injection, characterized in that, The motor control device based on harmonic injection includes: A designated module is used to determine the specified order harmonics to be injected based on the motor and the noise of the motor; The determination module is used to acquire the motor speed and torque, and determine the voltage amplitude and phase angle of the specified order harmonic corresponding to the speed and torque in a preset specified order harmonic table; The transformation module is used to transform the voltage amplitude and the phase angle to obtain the target voltage value in the three-phase coordinate system. The control module is used to superimpose the target voltage value onto the fundamental voltage to obtain a control voltage, which is used to control the operating state of the motor.

9. A computer device, characterized in that, include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the motor control method based on harmonic injection as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the motor control method based on harmonic injection as described in any one of claims 1 to 7.

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