CN108448981B - Motor control method and device - Google Patents
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- CN108448981B CN108448981B CN201810297605.XA CN201810297605A CN108448981B CN 108448981 B CN108448981 B CN 108448981B CN 201810297605 A CN201810297605 A CN 201810297605A CN 108448981 B CN108448981 B CN 108448981B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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Abstract
The invention provides a motor control method and device, wherein the method comprises the following steps: determining a first phase difference that a current vector generated by a stator lags behind a voltage vector required to be applied when the rotor rotates at a target rotating speed according to a pre-established corresponding relation between the phase difference that the current vector generated by the stator lags behind the applied voltage vector and the rotating speed of the rotor; determining a second phase difference that a voltage vector required to be applied leads back electromotive force generated by the motor when the rotor rotates at the target rotating speed according to the first phase difference; determining the phase of the voltage vector required to be applied according to the second phase difference and the position of the rotor; applying a voltage vector across the motor according to the phase of the voltage vector required to be applied. The invention can simplify the complexity of the motor control algorithm and reduce the calculated amount of the motor control algorithm.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a motor control method and device.
Background
In the Field of motor Control technology, Field Oriented Control (FOC) is a commonly used Control algorithm. The FOC can directionally control the magnetic field direction to obtain torque according to the magnetic field direction of the stator and the magnetic field direction of the rotor.
In the existing FOC control algorithm, a common algorithm is to convert a three-phase current vector into a rotating two-phase direct current scalar. In this conversion process, a "three-phase stationary-two-phase stationary" conversion, a "two-phase stationary-two-phase rotating" conversion, and an inverse conversion of the two conversions are usually required. In addition, after obtaining the converted two-phase dc scalar, the two-phase dc scalar needs to be controlled. Such an algorithm is high in complexity and large in calculation amount.
Disclosure of Invention
Aspects of the present invention provide a motor control method and apparatus to simplify the complexity of a motor control algorithm and reduce the amount of calculation of the motor control algorithm.
The invention provides a motor control method, which comprises the following steps:
determining a first phase difference that a current vector generated by a stator lags behind a voltage vector required to be applied when the rotor rotates at a target rotating speed according to a pre-established corresponding relation between the phase difference that the current vector generated by the stator lags behind the applied voltage vector and the rotating speed of the rotor;
determining a second phase difference that a voltage vector required to be applied leads back electromotive force generated by the motor when the rotor rotates at the target rotating speed according to the first phase difference;
determining the phase of the voltage vector required to be applied according to the second phase difference and the position of the rotor;
applying a voltage vector across the motor according to the phase of the voltage vector required to be applied.
Further optionally, after applying the voltage vector to the motor, the method further includes: the voltage intensity value of the applied voltage vector is adjusted according to a preset current closed loop.
Further optionally, adjusting the voltage strength value of the applied voltage vector according to a preset current closed loop includes: acquiring the current intensity value of a current vector generated by the stator in real time in the rotation process of the rotor; if the current intensity value is greater than a set threshold value, increasing the voltage intensity value of the applied voltage vector; and if the current intensity value is smaller than the set threshold value, reducing the voltage intensity value of the applied voltage vector.
Further alternatively, determining, based on the first phase difference, a second phase difference that the voltage vector to be applied leads a back electromotive force generated by the motor when the rotor rotates at the target rotation speed, includes: determining that a second phase difference of the voltage vector required to be applied ahead of the back electromotive force generated by the motor when the rotor rotates at the target rotation speed is equal to the first phase difference.
Further optionally, determining a phase of a required applied voltage vector based on the second phase difference and the position of the rotor comprises: determining the phase of the back electromotive force generated by the motor according to the position of the rotor; the phase leading the counter electromotive force is the phase of the second phase difference, and the phase of the voltage vector to be applied is determined.
Further optionally, the step of pre-establishing a corresponding relationship between a phase difference of a current vector generated by a stator in the motor lagging behind an applied voltage vector and a rotation speed of the rotor includes: recording a first phase of a voltage vector applied by the motor and measuring a second phase of a current vector generated by the stator while the rotor is rotating at different rotational speeds; determining a function of the phase difference of the second phase lagging the first phase with respect to the rotational speed of the rotor; and determining the corresponding relation between the phase difference of the current vector generated by the stator in the motor lagging behind the applied voltage vector and the rotating speed of the rotor according to the curve function.
The present invention also provides a motor control apparatus including: a memory and a processor;
wherein the memory is configured to store one or more computer instructions;
the processor executes the one or more computer instructions to: determining a first phase difference that a current vector generated by a stator lags behind a voltage vector required to be applied when the rotor rotates at a target rotating speed according to a pre-established corresponding relation between the phase difference that the current vector generated by the stator lags behind the applied voltage vector and the rotating speed of the rotor; determining a second phase difference that a voltage vector required to be applied leads back electromotive force generated by the motor when the rotor rotates at the target rotating speed according to the first phase difference; determining the phase of the voltage vector required to be applied according to the second phase difference and the position of the rotor; applying a voltage vector across the motor according to the phase of the voltage vector required to be applied.
Further optionally, the processor is further configured to: after the voltage vector is applied to the motor, the voltage intensity value of the applied voltage vector is adjusted according to a preset current closed loop.
Further optionally, the processor is specifically configured to: determining that a second phase difference of the voltage vector required to be applied ahead of the back electromotive force generated by the motor when the rotor rotates at the target rotation speed is equal to the first phase difference.
Further optionally, the processor is specifically configured to: determining the phase of the back electromotive force generated by the motor according to the position of the rotor; the phase leading the counter electromotive force is the phase of the second phase difference, and the phase of the voltage vector to be applied is determined.
In the invention, the corresponding relation between the phase difference of the current vector generated by the stator lagging behind the applied voltage vector and the rotating speed of the rotor is established in advance, and the phase of the voltage vector required to be applied is determined after the target rotating speed of the rotor is determined based on the corresponding relation, so that the current vector generated by the stator is indirectly controlled by controlling the voltage vector, the complexity of a motor control algorithm is simplified, and the calculation amount of the motor control algorithm is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1a is a schematic diagram of a magnetomotive force of rotation generated by an AC motor after a three-phase stator winding is energized with an AC current;
FIG. 1b is a schematic diagram of a magnetomotive force of rotation generated by two-phase stator windings of an AC motor after AC current is applied to the stator windings;
FIG. 1c is a schematic diagram of the rotational magnetomotive force generated by two perpendicular stator windings of a DC motor after energizing with DC power;
FIG. 1d is a schematic diagram of the stator field aligning to the rotor field in the field-oriented control, which is equivalent to the current and back EMF in the stator being in phase;
fig. 2 is a flowchart of a method of controlling a motor according to an embodiment of the present invention;
FIG. 3a is a flowchart of a method for controlling a motor according to another embodiment of the present invention;
fig. 3b is a schematic diagram of the stator with the same phase of the current and the back electromotive force according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a motor control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The motor described in the embodiments of the present invention is an ac motor, which is a device for converting electrical energy of ac power into mechanical energy, and is mainly composed of an electromagnet winding or a distributed stator winding for generating a magnetic field, and a rotating armature or a rotor. After the stator is electrified, a vector magnetic field can be generated and interacts with the magnetic field of the rotor, so that the motor outputs certain torque. When the vector magnetic field generated by the stator is consistent with the magnetic field direction of the rotor, the direction of the acting force generated by the two magnetic fields is consistent with the direction of the rotating shaft of the rotor, and the motor does not output torque at the moment. When the vector magnetic field generated by the stator is orthogonal to the magnetic field direction of the rotor, the two magnetic fields generate a force to enable the rotor to rotate, and the torque output by the motor can be maximized.
In FIG. 1a, A, B, C shows three-phase symmetrical stationary windings of an AC motor, each fed with a three-phase balanced sinusoidal current iA、iBAnd iCIn other scenarios, any symmetrical multiple winding, e.g., two-phase, three-phase, four-phase, five-phase, etc., with balanced multi-phase currents can produce a rotating magnetomotive force.1, the resulting magnetomotive force is a rotating magnetomotive force F1. the rotating magnetomotive force F1 rotates in space with a phase sequence of A-B-C at a synchronous speed ω 1 (i.e., the angular frequency of the current). fig. 1B illustrates two-phase stationary windings α and β spatially separated by 90 ° from each other, with two-phase balanced alternating currents i temporally separated by 90 ° from each otherαAnd iβThe rotary magnetomotive force F2 is generated, and the rotary magnetomotive force F2 rotates at the synchronous rotational speed ω 2.
FIG. 1c shows two perpendicular stator windings M and T of a DC motor, supplied with DC current iMAnd iTA schematic diagram of the rotary magnetomotive force F3 is generated. If the whole core containing two windings is controlled to rotate at the synchronous speed omegaWhen 3 rotates, the magnetomotive force F3 naturally also rotates, and becomes a rotational magnetomotive force. The direct current motor has better speed regulation performance, can realize uniform and smooth stepless speed regulation under the heavy load condition, and has wider speed regulation range. Therefore, in many application scenarios, it is necessary to control the ac motor to achieve a speed regulation performance similar to that of the dc motor.
Generally, the FOC algorithm is typically employed for control of the ac motor. FOC, also known as vector control, is a method of controlling the field current and the torque current of a motor, respectively, according to the field-oriented principle, so that the control for an ac motor is equivalent to the control for a dc motor. That is, the control process shown in fig. 1a and 1b is equivalent to the method of the control process shown in fig. 1 c.
Existing FOC algorithms typically require performing a "three-phase stationary-two-phase stationary transform (Clarke transform)" and a "two-phase stationary-two-phase rotational transform (Park transform)", as well as the inverse of these two transforms. Clarke and Park transforms convert polyphase AC to a rotating two-phase DC scalar, i.e. magnet current iMAnd torque current iT. Furthermore, by controlling the two direct current scalars, the permanent magnet synchronous motor can achieve the speed regulation performance similar to that of a direct current motor.
However, the existing FOC algorithm has high complexity, large calculation amount and more occupied calculation resources. In order to solve the above-mentioned drawbacks, the present invention provides a motor control method, which aligns a stator magnetic field to a rotor magnetic field according to the maximum torque output by a motor from the current/voltage perspective, as shown in fig. 1d, and can effectively achieve the feature that a current vector and a back electromotive force in a stator are in the same phase, thereby reducing the complexity and the calculation amount of the FOC control algorithm. The technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Fig. 2 is a flowchart of a method of controlling a motor according to an embodiment of the present invention. As shown in fig. 1, the method includes:
And step 202, determining a second phase difference that the voltage vector required to be applied leads the counter electromotive force generated by the motor when the rotor rotates at the target rotating speed according to the first phase difference.
And step 203, determining the phase of the voltage vector required to be applied according to the second phase difference and the position of the rotor.
And step 204, applying a voltage vector on the motor according to the phase of the voltage vector required to be applied.
In step 201, the applied voltage vector refers to a multi-phase alternating current applied to the rotor. The current vector is a multi-phase current composite vector induced by a multi-phase winding in the stator after a voltage vector is applied to the rotor. In an ac motor, the stator is an inductive winding. Depending on the characteristics of the inductive winding, the phase of the current vector generated by the stator lags behind the phase of the applied voltage vector after the voltage vector has been applied to the rotor. During the rotation of the rotor at different rotational speeds, the phase of the current vector generated by the stator lagging the applied voltage vector will differ.
The target rotation speed of the rotor refers to the rotation speed that the rotor can achieve in a specific application scenario. In the present embodiment, the correspondence relationship between the phase difference of the current vector generated by the stator lagging the applied voltage vector and the rotational speed of the rotor is established in advance, and after the target rotational speed of the rotor is determined, the phase difference of the current vector generated by the stator lagging the voltage vector to be applied can be determined based on the correspondence relationship when the rotor is moving at the target rotational speed. For convenience, the phase difference is marked as a first phase difference thetaui。
In the field orientation control, the relationship between the stator magnetic field and the rotor magnetic field may be equivalent to the relationship between the phase of the current vector in the stator and the phase of the back electromotive force.
Since the phase of the voltage vector leads the phase of the back emf, while the phase of the current vectorThe bit lags the phase of the applied voltage vector. Thus, the phase relationship between the current vector and the back emf can be controlled by controlling the phase of the voltage vector. The phase of the back electromotive force is determined by the position of the rotor, and the phase of the voltage vector applied to the motor can be adjusted based on the determined position of the rotor. Further, in step 202, the first phase θ is determineduiAfter the difference, the first phase difference theta can be obtaineduiAnd the phase relationship between the target desired current vector and the back emf determines a second phase difference θue。
In step 203, the rotor, which refers to the rotor of the controlled motor, is positioned to determine the current phase of the back emf. In determining the second phase difference thetaueThe phase of the voltage vector required to be applied can then be determined from the current phase of the back emf.
In step 204, after determining the phase of the voltage vector that needs to be applied, a voltage may be applied to the controlled motor based on the phase.
In this embodiment, a correspondence relationship between a phase difference, in which a current vector generated by the stator lags behind an applied voltage vector, and a rotation speed of the rotor is established in advance, and based on the correspondence relationship, after a target rotation speed of the rotor is determined, a phase of a voltage vector to be applied is determined, so that the current vector generated by the stator is indirectly controlled by controlling the voltage vector, and further, magnetic field orientation control is realized from a current/voltage angle, complexity of a motor control algorithm is simplified, and a calculation amount of the motor control algorithm is reduced.
Fig. 3a is a flowchart of a method of controlling a motor according to another embodiment of the present application, as shown in fig. 2, the method includes:
And step 303, determining the corresponding relation between the phase difference of the current vector generated by the stator in the motor lagging behind the applied voltage vector and the rotating speed of the rotor according to the curve function.
And step 304, determining a first phase difference that the current vector generated by the stator lags behind the voltage vector required to be applied when the rotor rotates at the target rotating speed according to the corresponding relation between the phase difference that the current vector generated by the stator lags behind the applied voltage vector and the rotating speed of the rotor.
And step 306, determining the phase of the counter electromotive force generated by the motor according to the position of the rotor, and taking the phase which is ahead of the counter electromotive force as the phase of the second phase difference as the phase of the voltage vector required to be applied.
And 307, applying a voltage vector to the motor according to the phase of the voltage vector required to be applied.
In the present embodiment, the correspondence relationship between the phase difference, in which the current vector generated by the stator lags behind the applied voltage vector, and the rotational speed of the rotor, which is recorded as θ, can be established by an experimental methodui(v) In that respect The above experimental method can be as described in steps 301 to 303.
In step 301, the rotor rotates at different speeds, which may be full speed ranges from a lowest speed to a highest speed. In recording the first phase of the voltage vector and measuring the second phase of the stator generated current vector, the granularity of recording and measuring should be small enough to cover the full speed range as much as possible and increase θui(v) The reliability of (2).
In step 302, optionally, after obtaining the first phase and the second phase, a difference θ is calculated that the second phase lags the first phaseuiAnd fitting to obtain thetauiA function of a curve with respect to the rotational speed v of the rotor. This stepIn the step, the fitting of the curve function has an advantageous effect in that θ can be obtaineduiRelative to the trend of continuous variation of v, to compensate for the defect that the recorded and measured particle size cannot be completely covered.
In step 303, after determining the curve function, the corresponding relation characterized by the curve function may be regarded as θui(v)。
In step 304, θ, which may be determined according to the above steps, is determined when the target rotational speed v1 of the rotor is knownui(v) Determining a first phase difference thetaui(v1)。
In step 305, optionally, when the motor outputs the maximum torque, the stator magnetic field is perpendicular to the rotor magnetic field, that is, the phase of the current vector in the stator is the same as the phase of the back electromotive force. In this step, in order to make the current vector and the counter electromotive force in the stator in the same phase, the second phase difference θ may be madeueEqual to the first phase difference thetaui(v 1). That is, the phase difference that leads the applied voltage vector from the back electromotive force is made equal to the phase difference that lags the current vector from the voltage vector in the stator.
In step 306, optionally, the motor used in this embodiment may be a permanent magnet synchronous motor. Accordingly, the position of the rotor refers to the position of the permanent magnet. Alternatively, it is assumed that the phase of the back electromotive force is determined to be θ according to the position of the rotor1The phase θ of the voltage vector to be applied2Relative to theta1Lead thetaue。
In step 307, after determining the phase of the voltage vector that needs to be applied, the voltage vector may be applied across the motor. Optionally, the initial voltage intensity value of the voltage vector may be determined according to a withstand voltage value of an electrical element (e.g., a resistor, a transistor, or a capacitor) in a circuit where the motor is located, which is not described herein again. After applying this voltage vector, the following can be achieved as shown in fig. 1 b: the current vector i in the stator lags the voltage vector u, which leads the counter electromotive force e, and is in phase with the counter electromotive force e.
In one possible embodiment, adjusting the voltage level according to the current closed loop may be represented as: if the current intensity value is smaller than a set threshold value, increasing the voltage intensity value of the applied voltage vector; if the current intensity value is greater than the set threshold value, the voltage intensity value of the applied voltage vector is reduced.
In the present embodiment, a correspondence relationship between a phase difference, in which a current vector generated by a stator lags behind an applied voltage vector, and a rotational speed of a rotor is established in advance through experimental means. Based on the corresponding relation, after the target rotating speed of the rotor is determined, the phase of the voltage vector required to be applied is determined, so that the current vector generated by the stator is indirectly controlled by controlling the voltage vector, the phase of the current vector is controlled to be the same as that of the counter electromotive force, and further the magnetic field orientation control for the motor is realized. By adopting the mode, the complexity of the motor control algorithm is reduced, and the calculated amount of the motor control algorithm and the occupation amount of calculation resources are reduced.
It should be noted that the execution subjects of the steps of the methods provided in the above embodiments may be the same device, or different devices may be used as the execution subjects of the methods. For example, the execution subjects of steps 301 to 303 may be device a; for another example, the execution subject of steps 301 and 302 may be device a, and the execution subject of step 203 may be device B; and so on.
In addition, in some of the flows described in the above embodiments and the drawings, a plurality of operations are included in a specific order, but it should be clearly understood that the operations may be executed out of the order presented herein or in parallel, and the sequence numbers of the operations, such as 301, 302, etc., are merely used for distinguishing different operations, and the sequence numbers do not represent any execution order per se. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.
An alternative embodiment of the motor control method is described above, as shown in fig. 4, and in practice the motor control method may be implemented by a motor control apparatus, as shown in fig. 4, comprising: memory 401, processor 402, input device 403, and output device 404.
The memory 401, the processor 402, the input device 403, and the output device 404 may be connected by a bus or other means, and fig. 4 illustrates a bus connection as an example.
The memory 301 is used to store one or more computer instructions and may be configured to store other various data to support operations on the motor control apparatus. Examples of such data include instructions for any application or method operating on the motor control device.
The memory 401 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
In some embodiments, the memory 401 may optionally include memory located remotely from the processor 402, which may be connected to the background service control 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.
A processor 402, coupled with the memory 401, for executing the one or more computer instructions for: determining a first phase difference that a current vector generated by a stator lags behind a voltage vector required to be applied when the rotor rotates at a target rotating speed according to a pre-established corresponding relation between the phase difference that the current vector generated by the stator lags behind the applied voltage vector and the rotating speed of the rotor; determining a second phase difference that a voltage vector required to be applied leads back electromotive force generated by the motor when the rotor rotates at the target rotating speed according to the first phase difference; determining the phase of the voltage vector required to be applied according to the second phase difference and the position of the rotor; applying a voltage vector across the motor according to the phase of the voltage vector required to be applied.
Further optionally, the processor 402 is further configured to: after the voltage vector is applied to the motor, the voltage intensity value of the applied voltage vector is adjusted according to a preset current closed loop.
Further optionally, the processor 402 is specifically configured to: acquiring the current intensity value of a current vector generated by the stator in real time in the rotation process of the rotor; if the current intensity value is greater than a set threshold value, increasing the voltage intensity value of the applied voltage vector; and if the current intensity value is smaller than the set threshold value, reducing the voltage intensity value of the applied voltage vector.
Further optionally, the processor 402 is specifically configured to: determining that a second phase difference of the voltage vector required to be applied ahead of the back electromotive force generated by the motor when the rotor rotates at the target rotation speed is equal to the first phase difference.
Further optionally, the processor 402 is specifically configured to: determining the phase of the back electromotive force generated by the motor according to the position of the rotor; the phase leading the counter electromotive force is the phase of the second phase difference, and the phase of the voltage vector to be applied is determined.
Further optionally, the processor 402 is specifically configured to: recording a first phase of a voltage vector applied by the motor and measuring a second phase of a current vector generated by the stator while the rotor is rotating at different rotational speeds; determining a function of the phase difference of the second phase lagging the first phase with respect to the rotational speed of the rotor; and determining the corresponding relation between the phase difference of the current vector generated by the stator in the motor lagging behind the applied voltage vector and the rotating speed of the rotor according to the curve function.
In some embodiments, processor 402 may be implemented using various Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), micro-central control elements, microprocessors, or other electronic elements.
The input device 403 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the motor control apparatus. The output device 404 may include a display device such as a display screen.
Further, as shown in fig. 4, the motor control apparatus further includes: a power supply component 405. The power supply component 405 provides power to the various components of the device in which the power supply component is located. The power components may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device in which the power component is located.
The motor control device can execute the motor control method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided in the embodiment of the present application, and details are not described again.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A motor control method, comprising:
determining a first phase difference that a current vector generated by a stator lags behind a voltage vector required to be applied when the rotor rotates at a target rotating speed according to a pre-established corresponding relation between the phase difference that the current vector generated by the stator lags behind the applied voltage vector and the rotating speed of the rotor;
determining a second phase difference that a voltage vector required to be applied leads back electromotive force generated by the motor when the rotor rotates at the target rotating speed according to the first phase difference;
determining the phase of the voltage vector required to be applied according to the second phase difference and the position of the rotor;
applying a voltage vector across the motor according to the phase of the voltage vector required to be applied.
2. The method of claim 1, further comprising, after applying the voltage vector across the motor:
the voltage intensity value of the applied voltage vector is adjusted according to a preset current closed loop.
3. The method of claim 2, wherein adjusting the voltage magnitude of the applied voltage vector according to a predetermined current closed loop comprises:
acquiring the current intensity value of a current vector generated by the stator in real time in the rotation process of the rotor;
if the current intensity value is greater than a set threshold value, increasing the voltage intensity value of the applied voltage vector;
and if the current intensity value is smaller than the set threshold value, reducing the voltage intensity value of the applied voltage vector.
4. The method of claim 1, wherein determining from the first phase difference that the desired applied voltage vector leads a second phase difference of back emf generated by the motor when the rotor is rotating at the target speed comprises:
determining that a second phase difference of the voltage vector required to be applied ahead of the back electromotive force generated by the motor when the rotor rotates at the target rotation speed is equal to the first phase difference.
5. The method of claim 1, wherein determining the phase of the voltage vector required to be applied based on the second phase difference and the position of the rotor comprises:
determining the phase of the back electromotive force generated by the motor according to the position of the rotor;
the phase leading the counter electromotive force is the phase of the second phase difference, and the phase of the voltage vector to be applied is determined.
6. The method according to any one of claims 1-5, wherein the step of previously establishing the correspondence of the phase difference of the current vector generated by the stator in the motor lagging behind the applied voltage vector and the rotation speed of the rotor comprises:
recording a first phase of a voltage vector applied by the motor and measuring a second phase of a current vector generated by the stator while the rotor is rotating at different rotational speeds;
determining a function of the phase difference of the second phase lagging the first phase with respect to the rotational speed of the rotor;
and determining the corresponding relation between the phase difference of the current vector generated by the stator in the motor lagging behind the applied voltage vector and the rotating speed of the rotor according to the curve function.
7. A motor control apparatus characterized by comprising: a memory and a processor;
wherein the memory is configured to store one or more computer instructions;
the processor executes the one or more computer instructions to: determining a first phase difference that a current vector generated by a stator lags behind a voltage vector required to be applied when the rotor rotates at a target rotating speed according to a pre-established corresponding relation between the phase difference that the current vector generated by the stator lags behind the applied voltage vector and the rotating speed of the rotor; determining a second phase difference that a voltage vector required to be applied leads back electromotive force generated by the motor when the rotor rotates at the target rotating speed according to the first phase difference; determining the phase of the voltage vector required to be applied according to the second phase difference and the position of the rotor; applying a voltage vector across the motor according to the phase of the voltage vector required to be applied.
8. The device of claim 7, wherein the processor is further configured to:
after the voltage vector is applied to the motor, the voltage intensity value of the applied voltage vector is adjusted according to a preset current closed loop.
9. The device of claim 7, wherein the processor is specifically configured to:
determining that a second phase difference of the voltage vector required to be applied ahead of the back electromotive force generated by the motor when the rotor rotates at the target rotation speed is equal to the first phase difference.
10. The device of claim 7, wherein the processor is specifically configured to:
determining the phase of the back electromotive force generated by the motor according to the position of the rotor;
the phase leading the counter electromotive force is the phase of the second phase difference, and the phase of the voltage vector to be applied is determined.
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| CN111953262A (en) * | 2019-05-17 | 2020-11-17 | 杭州三花研究院有限公司 | Control method, control device and system thereof |
| CN113014158B (en) * | 2019-12-18 | 2023-03-28 | 珠海格力电器股份有限公司 | Motor control method and device, motor controller, motor and storage medium |
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