阅读说明：本技术 一种电机控制方法、装置、电子设备及存储介质 (Motor control method and device, electronic equipment and storage medium ) 是由 陈刚 于 2020-04-09 设计创作，主要内容包括：本申请涉及一种电机控制方法、装置、电子设备及存储介质,适用于新能源动力汽车驱动的电机。该方法基于获取的位置信号确定电机转子的当前位置角和当前转速；根据当前位置角和当前转速确定当前目标位置角集合；当前目标位置角集合包括当前磁场定向控制周期内的多个目标位置角；根据获取的各相电流、当前位置角、获取的扭矩请求信号和当前转速,确定期望交轴电压值和期望直轴电压值；基于期望交轴电压值、期望直轴电压值和多个目标位置角确定各相脉宽调制波形的多个占空比；基于各相脉宽调制波形的多个占空比确定各相的控制电压。如此,可以优化电机控制器CPU的负载率,从而使得电机运行更加稳定可靠。(The application relates to a motor control method, a motor control device, electronic equipment and a storage medium, which are suitable for a motor driven by a new energy power automobile. The method comprises the steps of determining a current position angle and a current rotating speed of a motor rotor based on an obtained position signal; determining a current target position angle set according to the current position angle and the current rotating speed; the current set of target position angles includes a plurality of target position angles within a current magnetic field orientation control period; determining an expected quadrature axis voltage value and an expected direct axis voltage value according to the acquired current of each phase, the current position angle, the acquired torque request signal and the current rotating speed; determining a plurality of duty cycles for each phase of the pulse width modulated waveform based on the desired quadrature axis voltage value, the desired direct axis voltage value, and the plurality of target position angles; the control voltage for each phase is determined based on a plurality of duty cycles of the pulse width modulated waveform for each phase. Therefore, the load factor of the CPU of the motor controller can be optimized, and the motor can run more stably and reliably.)

1. A motor control method, comprising:

determining a current position angle and a current rotating speed of the motor rotor based on the acquired position signal;

determining a current target position angle set according to the current position angle and the current rotating speed; the current set of target position angles includes a plurality of target position angles within a current magnetic field orientation control period; the plurality of target position angles comprises the current position angle;

determining an actual quadrature axis current value and an actual direct axis current value according to the obtained currents of each phase and the current position angle;

determining an expected quadrature axis current value and an expected direct axis current value according to the acquired torque request signal and the current rotating speed;

determining an expected quadrature-axis voltage value and an expected direct-axis voltage value based on the actual quadrature-axis current value, the actual direct-axis current value, the expected quadrature-axis current value, and the expected direct-axis current value;

determining a plurality of duty cycles for each phase of the pulse width modulated waveform based on the desired quadrature axis voltage value, the desired direct axis voltage value, and the plurality of target position angles; the plurality of target position angles and the plurality of duty ratios correspond one to one;

determining a control voltage for each phase based on a plurality of duty cycles of the pulse width modulated waveform for each phase.

2. The method of claim 1, wherein the position signal comprises a sine signal and a cosine signal;

the determining a current position angle and a current rotation speed of the motor rotor based on the acquired position signal includes:

carrying out offset and amplitude correction processing on the sine signal and the cosine signal to obtain the corrected sine signal and cosine signal;

performing phase correction on the sine signal or the cosine signal to obtain the orthogonal sine signal and the orthogonal cosine signal;

determining a current position angle based on the sine signal and the cosine signal;

determining the current rotating speed according to the current position angle;

performing zero compensation on the current position angle according to the acquired zero compensation angle to obtain the zero-compensated current position angle;

and carrying out delay compensation on the current position angle according to the determined sampling time difference to obtain the current position angle after delay compensation.

3. The method of claim 1, wherein determining a current set of target position angles based on the current position angle and the current rotational speed comprises:

acquiring a pulse width modulation period; the magnetic field orientation control period is a preset multiple of the pulse width modulation period;

determining a plurality of target position angles based on the current position angle, the current rotating speed and the pulse width modulation period to obtain a current target position angle set; the number of the current target position angle sets is equal to the preset multiple;

and performing delay compensation on each target position angle of the current target position angle set to obtain the compensated current target position angle set.

4. The method of claim 1, wherein determining a plurality of duty cycles for each phase of the pulse width modulated waveform based on the desired quadrature axis voltage value, the desired direct axis voltage value, and the plurality of target position angles comprises:

performing inverse park transformation on the basis of the expected quadrature axis voltage value, the expected direct axis voltage value and the target position angles to obtain a plurality of control voltages based on a two-phase coordinate system;

performing space vector pulse width modulation on the control voltages based on the two-phase coordinate system to obtain a plurality of switching times of the inverter full bridge of each phase;

and determining a plurality of duty ratios of the pulse width modulation waveforms of each phase according to a plurality of switching times of the inverter full bridge of each phase.

5. A motor control apparatus, comprising:

the first determination module is used for determining the current position angle and the current rotating speed of the motor rotor based on the acquired position signal;

the second determining module is used for determining a current target position angle set according to the current position angle and the current rotating speed; the current set of target position angles includes a plurality of target position angles within a current magnetic field orientation control period; the plurality of target position angles comprises the current position angle;

the third determining module is used for determining an actual quadrature axis current value and an actual direct axis current value according to the obtained currents of each phase and the current position angle;

the fourth determining module is used for determining an expected quadrature axis current value and an expected direct axis current value according to the acquired torque request signal and the current rotating speed;

a fifth determining module for determining an expected quadrature axis voltage value and an expected direct axis voltage value based on the actual quadrature axis current value, the actual direct axis current value, the expected quadrature axis current value and the expected direct axis current value;

a sixth determining module for determining a plurality of duty cycles of each phase of the pulse width modulated waveform based on the desired quadrature axis voltage value, the desired direct axis voltage value, and the plurality of target position angles; the plurality of target position angles and the plurality of duty ratios correspond one to one;

a seventh determining module to determine a control voltage for each phase based on a plurality of duty cycles of the pulse width modulated waveform for each phase.

6. The apparatus of claim 5, wherein the position signal comprises a sine signal and a cosine signal;

the first determining module is further configured to perform offset and amplitude correction processing on the sine signal and the cosine signal to obtain a corrected sine signal and a corrected cosine signal; performing phase correction on the sine signal or the cosine signal to obtain the orthogonal sine signal and the orthogonal cosine signal; determining a current position angle based on the sine signal and the cosine signal; determining the current rotating speed according to the current position angle; performing zero compensation on the current position angle according to the acquired zero compensation angle to obtain the zero-compensated current position angle; and carrying out delay compensation on the current position angle according to the determined sampling time difference to obtain the current position angle after delay compensation.

7. The apparatus of claim 5,

the second determining module is further configured to obtain a pulse width modulation period; the magnetic field orientation control period is a preset multiple of the pulse width modulation period; determining a plurality of target position angles based on the current position angle, the current rotating speed and the pulse width modulation period to obtain a current target position angle set; the number of the current target position angle sets is equal to the preset multiple; and performing delay compensation on each target position angle of the current target position angle set to obtain the compensated current target position angle set.

8. The apparatus of claim 5,

the sixth determining module is further configured to perform inverse park transformation on the basis of the expected quadrature axis voltage value, the expected direct axis voltage value and the plurality of target position angles to obtain a plurality of control voltages based on a two-phase coordinate system; performing space vector pulse width modulation on the control voltages based on the two-phase coordinate system to obtain a plurality of switching times of the inverter full bridge of each phase; and determining a plurality of duty ratios of the pulse width modulation waveforms of each phase according to a plurality of switching times of the inverter full bridge of each phase.

9. An electronic device, characterized in that it comprises a processor and a memory, in which at least one instruction or at least one program is stored, which is loaded by the processor and executes the motor control method according to any one of claims 1-4.

10. A computer storage medium, characterized in that at least one instruction or at least one program is stored in the storage medium, which is loaded and executed by a processor to implement the motor control method according to any one of claims 1-4.