Motor control method, device and storage medium

文档序号：1407902 发布日期：2020-03-06 浏览：11次中文

阅读说明：本技术 电机的控制方法、装置及存储介质 (Motor control method, device and storage medium ) 是由常九健赛影辉海滨储亚峰阴山慧俞兆伟于 2019-11-26 设计创作，主要内容包括：本申请公开了一种电机的控制方法、装置及存储介质,属于电机技术领域。该方法用于控制弧形驱动电机,该电机包括一个转子和两个定子组,两个定子组之间相差2kπ+π/2电角度,每个定子组中包括两个定子,每个定子之间相差2kπ电角度,该方法包括：确定弧形驱动电机在旋转坐标系下的交轴电流测量值、直轴电流测量值和交轴电流理论值；根据交轴电流测量值、直轴电流测量值和交轴电流理论值,确定驱动弧形驱动电机的驱动时间；根据驱动时间,控制弧形驱动电机进行旋转。本申请中弧形驱动电机包括四块定子,两个定子组之间相差2kπ+π/2电角度。当四块定子结构参数相同时,两个定子组之间的边端力相互抵消,电机动子上的边端力减小。(The application discloses a motor control method, a motor control device and a storage medium, and belongs to the technical field of motors. The method is used for controlling an arc-shaped driving motor, the motor comprises a rotor and two stator groups, the difference between the two stator groups is 2k pi + pi/2 electrical angle, each stator group comprises two stators, and the difference between the stators is 2k pi electrical angle, the method comprises the following steps: determining a quadrature-axis current measurement value, a direct-axis current measurement value and a quadrature-axis current theoretical value of the arc-shaped driving motor under a rotating coordinate system; determining the driving time for driving the arc-shaped driving motor according to the quadrature axis current measured value, the direct axis current measured value and the quadrature axis current theoretical value; and controlling the arc-shaped driving motor to rotate according to the driving time. The arc-shaped driving motor comprises four stators, and the difference between two stator groups is 2k pi + pi/2 electric angles. When the structural parameters of the four stators are the same, the side end forces between the two stator groups are mutually offset, and the side end force on the motor rotor is reduced.)

1. A method of controlling an electric motor, the method being for controlling an arc-drive electric motor comprising a rotor and two stator groups, the two stator groups differing by an electrical angle of 2k pi + pi/2, each stator group comprising two stators, each stator group differing by an electrical angle of 2k pi, the method comprising:

determining a quadrature-axis current measurement value, a direct-axis current measurement value and a quadrature-axis current theoretical value of the arc-shaped driving motor under a rotating coordinate system;

determining the driving time for driving the arc-shaped driving motor according to the quadrature-axis current measured value, the direct-axis current measured value and the quadrature-axis current theoretical value;

and controlling the arc-shaped driving motor to rotate according to the driving time.

2. The method of claim 1, wherein determining quadrature axis current measurements, direct axis current measurements, and quadrature axis current theoretical values for the arc drive motor in a rotating coordinate system comprises:

acquiring the mechanical angle of a rotor of the arc-shaped driving motor and current data in the two stator groups;

determining the rotation speed of the rotor according to the mechanical angle;

carrying out first proportional-integral-derivative PID operation on the rotating speed and a preset speed to obtain a quadrature axis current theoretical value of the arc-shaped driving motor under a rotating coordinate system;

and converting the current data in the two stator groups into a coordinate system to obtain a quadrature-axis current measurement value and a direct-axis current measurement value of the arc-shaped driving motor under the rotating coordinate system.

3. The method of claim 1, wherein determining a drive time for driving the arc drive motor based on the quadrature current measurement, the direct current measurement, and the quadrature current theoretical value comprises:

determining a direct axis driving voltage and a quadrature axis driving voltage of the arc-shaped driving motor under the rotating coordinate system according to the quadrature axis current measured value, the direct axis current measured value and the quadrature axis current theoretical value;

determining a driving time to drive the arc driving motor based on the direct axis driving voltage and the quadrature axis driving voltage.

4. The method of claim 3, wherein determining the quadrature-axis drive voltage and the direct-axis drive voltage of the arc-shaped drive motor in the rotating coordinate system according to the quadrature-axis current measurement value, the direct-axis current measurement value and the quadrature-axis current theoretical value comprises:

performing second PID operation on the quadrature axis current theoretical value and the quadrature axis current measured value to obtain quadrature axis driving voltage;

and carrying out third PID operation on the measured value of the direct-axis current and the preset direct-axis current to obtain the direct-axis driving voltage.

5. The method of claim 2, wherein said obtaining a mechanical angle of a rotor of said arc shaped drive motor comprises:

respectively carrying out position acquisition on the arc-shaped driving motor at two adjacent acquisition time points to obtain a first position and a second position;

determining a difference between the first position and the second position as a mechanical angle of the arc drive motor.

6. The method of claim 3, wherein determining a drive time to drive the arc drive motor based on the quadrature drive voltage and the direct drive voltage comprises:

carrying out inverse park transformation on the quadrature axis driving voltage and the direct axis driving voltage to obtain a first quadrature axis voltage and a second quadrature axis voltage of the arc-shaped driving motor under a static coordinate system;

carrying out voltage change on the first quadrature axis voltage and the second quadrature axis voltage to obtain a first vector voltage, a second vector voltage and a third vector voltage;

determining a sector where a synthesized voltage of the first quadrature axis voltage and the second quadrature axis voltage is located according to the polarity of the first vector voltage, the polarity of the second vector voltage and the polarity of the third vector voltage, wherein the sector is a sector in a voltage space vector diagram obtained by vector division of a voltage space;

determining a first reference quantity, a second reference quantity and a third reference quantity according to the first quadrature axis voltage, the second quadrature axis voltage and the bus voltage;

determining the action time of two adjacent vectors in the sector according to the first reference quantity, the second reference quantity, the third reference quantity and the sector where the synthesized voltage is located;

determining a first switch action time, a second switch action time and a third switch action time according to the action time of the two adjacent vectors and the switching rule of the inverter bridge switch;

and determining the driving time according to the first switching action time, the second switching action time, the third switching action time and the sector.

7. A control device of a motor, the device is used for controlling an arc-shaped driving motor, the arc-shaped driving motor comprises a rotor and two stator groups, the two stator groups have a difference of 2k pi + pi/2 electric angle, each stator group comprises two stators, and the difference of 2k pi electric angle is between each stator, the device comprises:

the first determination module is used for determining a quadrature axis current measurement value, a direct axis current measurement value and a quadrature axis current theoretical value of the arc-shaped driving motor under a rotating coordinate system;

the second determining module is used for determining the driving time for driving the arc-shaped driving motor according to the quadrature-axis current measured value, the direct-axis current measured value and the quadrature-axis current theoretical value;

and the control module is used for controlling the arc-shaped driving motor to rotate according to the driving time.

8. The apparatus of claim 1, wherein the first determining module comprises:

the acquisition submodule is used for acquiring the mechanical angle of a rotor of the arc-shaped driving motor and current data in the two stator groups;

a first determination submodule for determining a rotation speed of the rotor based on the mechanical angle;

the calculation submodule is used for carrying out first proportional-integral-derivative PID (proportion integration differentiation) operation on the rotating speed and the preset speed to obtain a quadrature axis current theoretical value of the arc-shaped driving motor under a rotating coordinate system;

and the transformation submodule is used for carrying out coordinate system transformation on the current data in the two stator groups to obtain a quadrature-axis current measurement value and a direct-axis current measurement value of the arc-shaped driving motor under the rotating coordinate system.

9. The apparatus of claim 7, wherein the second determining module comprises:

the second determining submodule is used for determining the direct-axis driving voltage and the quadrature-axis driving voltage of the arc-shaped driving motor under the rotating coordinate system according to the quadrature-axis current measured value, the direct-axis current measured value and the quadrature-axis current theoretical value;

and the third determining submodule is used for determining the driving time for driving the arc-shaped driving motor based on the direct-axis driving voltage and the quadrature-axis driving voltage.

10. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.

Technical Field

The present disclosure relates to the field of motor technologies, and in particular, to a method and an apparatus for controlling a motor, and a storage medium.

Background

At present, the transmission mode that traditional revolving stage adopted mainly includes: worm and gear transmission, friction transmission and torque motor coaxial installation transmission. These conventional transmission methods play a very important role in the development of large turntable devices. In order to reduce the processing and transportation pressure of the motor, an arc-shaped driving motor can be used for driving large-scale rotary table equipment.

However, the arc-shaped driving motor has large side end force and tooth space force, the side end force is that the magnetic conductance sudden change occurs at the side end of the iron core due to the limited length of the iron core of the stator, so that the interaction force of the stator and the rotor is changed, the moment fluctuation generated by the arc-shaped driving motor is large, and the compact tracking of the turntable equipment is not facilitated.

Disclosure of Invention

The application provides a motor control method, a motor control device and a storage medium, which can solve the problem of large torque fluctuation generated by a medium-arc driving motor in the related art. The technical scheme is as follows:

in one aspect, a method for controlling an arc-shaped driving motor is provided, where the method is used to control an arc-shaped driving motor, where the arc-shaped driving motor includes a rotor and two stator groups, the two stator groups have a difference of 2k pi + pi/2 electrical angle, each stator group includes two stators, and each stator has a difference of 2k pi electrical angle, and the method includes:

and controlling the arc-shaped driving motor to rotate according to the driving time.

In some embodiments, the determining the quadrature-axis current measurement value, the direct-axis current measurement value and the quadrature-axis current theoretical value of the arc-shaped driving motor in the rotating coordinate system includes:

acquiring the mechanical angle of a rotor of the arc-shaped driving motor and current data in the two stator groups;

determining the rotation speed of the rotor according to the mechanical angle;

In some embodiments, the determining a driving time for driving the arc driving motor according to the quadrature-axis current measurement value, the direct-axis current measurement value, and the quadrature-axis current theoretical value includes:

determining a driving time to drive the arc driving motor based on the direct axis driving voltage and the quadrature axis driving voltage.

In some embodiments, the determining the direct-axis driving voltage and the quadrature-axis driving voltage of the arc-shaped driving motor in the rotating coordinate system according to the quadrature-axis current measurement value, the direct-axis current measurement value and the quadrature-axis current theoretical value includes:

performing second PID operation on the quadrature axis current theoretical value and the quadrature axis current measured value to obtain quadrature axis driving voltage;

and carrying out third PID operation on the measured value of the direct-axis current and the preset direct-axis current to obtain the direct-axis driving voltage.

In some embodiments, the obtaining the mechanical angle of the rotor of the arc-shaped driving motor includes:

respectively carrying out position acquisition on the arc-shaped driving motor at two adjacent acquisition time points to obtain a first position and a second position;

determining a difference between the first position and the second position as a mechanical angle of the arc drive motor.

In some embodiments, the determining a driving time for driving the arc driving motor according to the quadrature axis driving voltage and the direct axis driving voltage includes:

carrying out voltage change on the first quadrature axis voltage and the second quadrature axis voltage to obtain a first vector voltage, a second vector voltage and a third vector voltage;

and determining the driving time according to the first switching action time, the second switching action time, the third switching action time and the sector.

In another aspect, there is provided a control apparatus for controlling an arc-shaped driving motor, the arc-shaped driving motor including a rotor and two stator groups, a difference between the two stator groups being 2k pi + pi/2 in electrical angle, each stator group including two stators, and a difference between the stators being 2k pi in electrical angle, the apparatus comprising:

and the control module is used for controlling the arc-shaped driving motor to rotate according to the driving time.

In some embodiments, the first determining module comprises:

the acquisition submodule is used for acquiring the mechanical angle of a rotor of the arc-shaped driving motor and current data in the two stator groups;

a first determination submodule for determining a rotation speed of the rotor based on the mechanical angle;

In some embodiments, the second determining module comprises:

and the third determining submodule is used for determining the driving time for driving the arc-shaped driving motor based on the direct-axis driving voltage and the quadrature-axis driving voltage.

In some embodiments, the second determination submodule is to:

performing second PID operation on the quadrature axis current theoretical value and the quadrature axis current measured value to obtain quadrature axis driving voltage;

and carrying out third PID operation on the measured value of the direct-axis current and the preset direct-axis current to obtain the direct-axis driving voltage.

In some embodiments, the acquisition submodule is to:

respectively carrying out position acquisition on the arc-shaped driving motor at two adjacent acquisition time points to obtain a first position and a second position;

determining a difference between the first position and the second position as a mechanical angle of the arc drive motor.

In some embodiments, the third determination submodule is to:

carrying out voltage change on the first quadrature axis voltage and the second quadrature axis voltage to obtain a first vector voltage, a second vector voltage and a third vector voltage;

and determining the driving time according to the first switching action time, the second switching action time, the third switching action time and the sector.

In another aspect, a control apparatus is provided, which includes a memory for storing a computer program and a processor for executing the computer program stored in the memory to implement the steps of the control method of the motor described above.

In another aspect, a computer-readable storage medium is provided, in which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the above-mentioned control method of an electric motor.

In another aspect, a computer program product is provided comprising instructions which, when run on a computer, cause the computer to perform the steps of the method of controlling an electric machine as described above.

The technical scheme provided by the application can at least bring the following beneficial effects:

in the application, the arc-shaped driving motor comprises four stators, the difference between two adjacent stators is 2k pi electrical angle, and the difference between two stator groups is 2k pi + pi/2 electrical angle. When other structural parameters of the four stators are the same, because the side end force is a periodic function taking the pole pitch of the permanent magnet as a period, if the distance between the two stators is different by odd times of the pole pitch, the side end force of the two unit motors can be mutually counteracted, thereby reducing the whole side end force of the motor to a great extent and reducing the torque fluctuation output by the motor. Simultaneously, carry out the two closed loop control of electric current and speed respectively through two sets of stators in this application, guaranteed that whole platform motor is steady, the high accuracy is rotatory.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an arc-shaped driving motor according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a control system of an electric machine according to an embodiment of the present application;

fig. 3 is a flowchart of a control method of an electric machine according to an embodiment of the present application;

fig. 4 is a flowchart of another control method for an electric motor according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of current and voltage conversion provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a PID module architecture provided in an embodiment of the present application;

fig. 7 is a schematic diagram of a three-phase inverter provided in an embodiment of the present application;

FIG. 8 is a voltage space vector sector diagram provided by an embodiment of the present application;

fig. 9 is a schematic structural diagram of another control device for a motor according to an embodiment of the present application;

FIG. 10 is a schematic structural diagram of a first determining module provided in an embodiment of the present application;

fig. 11 is a schematic structural diagram of a second determining module according to an embodiment of the present disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Before explaining the control method of the motor provided in the embodiment of the present application in detail, an application scenario and an implementation environment provided in the embodiment of the present application are introduced.

First, an application scenario related to the embodiment of the present application is described.

As the existing large-scale rotary table equipment is more and more, in order to reduce the pressure of motor processing and transportation, the arc-shaped driving motor can be adopted to drive the large-scale rotary table equipment. However, the arc-shaped driving motor has large side end force and tooth space force, the side end force is that the magnetic conductance sudden change occurs at the side end of the iron core due to the limited length of the iron core of the stator, so that the interaction force of the stator and the rotor is changed, the moment fluctuation generated by the arc-shaped driving motor is large, and the compact tracking of the turntable equipment is not facilitated.

Based on such a scenario, the embodiment of the present application provides a control method of a motor.

Finally, the arc-shaped driving motor and the control system of the motor related to the embodiment of the application are introduced.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an arc-shaped driving motor according to an embodiment of the present application. The arc-shaped driving motor comprises a rotor and two stator groups, the difference between the two stator groups is 2k pi + pi/2 electrical angle, each stator group comprises two stators, and the difference between each stator is 2k pi electrical angle. Two stators that are not adjacent to each other are determined as one stator group, for example, in fig. 1, the stator a and the stator C are determined as one stator group, and the stator B and the stator D are determined as one stator group.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a control system of a motor according to an embodiment of the present application, the control system of the motor includes a control device 1 and an arc-shaped driving motor 2, the control device 1 may be connected to the arc-shaped driving motor 2, the control device 1 is configured to determine a quadrature axis current measurement value, a direct axis current measurement value, and a quadrature axis current theoretical value of the arc-shaped driving motor 2 in a rotating coordinate system, and determine a driving time for driving the arc-shaped driving motor 2 according to the quadrature axis current measurement value, the direct axis current measurement value, and the quadrature axis current theoretical value; and controlling the arc-shaped driving motor 2 to rotate according to the driving time. The arc-shaped drive motor is rotationally driven under the control of the control device 1.

It should be noted that the control device 1 may include a first IPM (Intelligent Power Module) Module 11, a second IPM Module 12, an EVA (Event manager Module a) Module 13, an EVB Module 14, a CPU (Central Processing Unit) 15, an AD (analog-to-digital) sampling Module 16, an incremental encoder 17, and a CAP/QEP Module 18. The first IPM module 11 may be connected to the first stator group 21 and the EVA module 13 in the two stator groups of the arc driving motor 2 shown in fig. 1, the second IPM module 12 is connected to the second stator group 22 and the EVB module 14 in the two stator groups shown in fig. 1, the EVA module 13 and the EVB module 14 may be connected to the CPU15, the CPU15 may be connected to the AD sampling module 16 and the CAP/QEP module 18, the AD sampling module 16 may be connected to the first stator group 21 and the second stator group 22, the CAP/QEP module 18 may be connected to the incremental encoder 17, and the incremental encoder 17 may be connected to the rotor 23 of the arc driving motor 2 shown in fig. 1.

In addition, the control device may be a DSP, and the control device may also initialize the control device before controlling the arc driving motor. That is, the control device may set the system clock, for example, set the DSP operating frequency to 150 MHz; the control device may initialize the I/O port, for example, set a corresponding GPIO/PWM port as a peripheral function; the control device may set the a/D converter to the single conversion mode; the control device may initialize the event manager, for example, set each universal timer, set the working mode of CAP/QEP; the control device may also initialize interrupt management.

Next, a control method of a motor provided in an embodiment of the present application will be explained in detail with reference to the drawings.

Fig. 3 is a flowchart of a control method of a motor, which is applied to a control device and used for controlling an arc-shaped driving motor, where the arc-shaped driving motor includes a rotor and two stator groups, a difference between the two stator groups is 2k pi + pi/2 electrical angle, each stator group includes two stators, and a difference between the two stators is 2k pi electrical angle. Referring to fig. 3, the method includes the following steps.

Step 301: and determining a quadrature-axis current measured value, a direct-axis current measured value and a quadrature-axis current theoretical value of the arc-shaped driving motor under a rotating coordinate system.

Step 302: and determining the driving time for driving the arc-shaped driving motor according to the quadrature-axis current measured value, the direct-axis current measured value and the quadrature-axis current theoretical value.

Step 303: and controlling the arc-shaped driving motor to rotate according to the driving time.

In the embodiment of the application, the arc-shaped driving motor comprises four stators, the difference between two adjacent stators is 2k pi electrical angle, and the difference between two stator groups is 2k pi + pi/2 electrical angle. When other structural parameters of the four stators are the same, because the side end force is a periodic function taking the pole pitch of the permanent magnet as a period, if the distance between the two stators is different by odd times of the pole pitch, the side end force of the two unit motors can be mutually counteracted, thereby reducing the whole side end force of the motor to a great extent and reducing the torque fluctuation output by the motor. Simultaneously, carry out the two closed loop control of electric current and speed respectively through two sets of stators in this application, guaranteed that whole platform motor is steady, the high accuracy is rotatory.

In some embodiments, determining quadrature axis current measurement, direct axis current measurement, and quadrature axis current theoretical values of the arc drive motor in a rotating coordinate system comprises:

acquiring the mechanical angle of a rotor of the arc-shaped driving motor and current data in the two stator groups;

determining the rotation speed of the rotor according to the mechanical angle;

and carrying out coordinate system transformation on the current data in the two stator groups to obtain a quadrature axis current measurement value and a direct axis current measurement value of the arc-shaped driving motor under the rotating coordinate system.

In some embodiments, determining a driving time for driving the arc driving motor according to the quadrature-axis current measurement value, the direct-axis current measurement value, and the quadrature-axis current theoretical value includes:

determining a driving time for driving the arc driving motor based on the direct axis driving voltage and the quadrature axis driving voltage.

In some embodiments, determining the quadrature-axis driving voltage and the direct-axis driving voltage of the arc-shaped driving motor in the rotating coordinate system according to the quadrature-axis current measurement value, the direct-axis current measurement value and the quadrature-axis current theoretical value comprises:

performing second PID operation on the quadrature axis current theoretical value and the quadrature axis current measured value to obtain quadrature axis driving voltage;

and carrying out third PID operation on the direct-axis current measured value and the preset direct-axis current to obtain the direct-axis driving voltage.

In some embodiments, obtaining the mechanical angle of the rotor of the arc-shaped drive motor comprises:

respectively carrying out position acquisition on the arc-shaped driving motor at two adjacent acquisition time points to obtain a first position and a second position;

and determining the difference between the first position and the second position as the mechanical angle of the arc-shaped driving motor.

In some embodiments, determining a driving time to drive the arc driving motor based on the quadrature axis driving voltage and the direct axis driving voltage includes:

carrying out voltage change on the first quadrature axis voltage and the second quadrature axis voltage to obtain a first vector voltage, a second vector voltage and a third vector voltage;

and determining the driving time according to the first switching action time, the second switching action time, the third switching action time and the sector.

All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.

Fig. 4 is a flowchart of a control method for a motor according to an embodiment of the present application, and referring to fig. 4, the method is used for controlling the arc-shaped driving motor shown in fig. 1, and the method includes the following steps.

Step 401: the control device determines a quadrature-axis current measured value, a direct-axis current measured value and a quadrature-axis current theoretical value of the arc-shaped driving motor under a rotating coordinate system.

As can be seen from fig. 1, the arc-shaped driving motor includes two stator groups, and each stator group is controlled in the same manner. The present application will be described by taking a mode of controlling one stator group as an example.

As an example, the operation of the control device to determine the quadrature-axis current measurement value, the direct-axis current measurement value and the quadrature-axis current theoretical value of the arc-shaped driving motor in the rotating coordinate system may be: acquiring a mechanical angle of a rotor of the arc-shaped driving motor and current data in the two stator groups; determining the rotation speed of the rotor according to the mechanical angle; carrying out first proportional-integral-differential PID (proportion integration differentiation) operation on the rotating speed and a preset speed to obtain a quadrature axis current theoretical value of the arc-shaped driving motor under a rotating coordinate system; and (3) converting the current data in the two stator groups into a coordinate system to obtain a quadrature-axis current measurement value and a direct-axis current measurement value of the arc-shaped driving motor in a rotating coordinate system.

It should be noted that, the control device may obtain the mechanical angle of the rotor of the arc-shaped driving motor through measurement by the position measurement system, as can be seen from fig. 2, the AD sampling module may be connected to the two stator groups of the arc-shaped driving motor, and therefore, the control device may obtain current data in the two stator groups of the arc-shaped driving motor through the AD sampling module. The current data may include motor phase current i_a、i_bAnd i_cAnd so on.

It should be noted that, because the current output by the two stator group inverters has positive or negative, when the control device is a DSP, the input voltage of the DSP is 0-3V. In order to meet the requirement of the DSP input voltage, the voltage bias circuit can be designed to make the output voltage 0.9V-2.1V when the current of the two stator group inverters is in the range of-10A, as shown in FIG. 5.

As an example, the operation of the control apparatus to acquire the mechanical angle of the rotor of the arc-shaped drive motor may be: respectively carrying out position acquisition on the arc-shaped driving motor at two adjacent acquisition time points to obtain a first position and a second position; and determining the difference between the first position and the second position as the mechanical angle of the arc-shaped driving motor.

Since the control device may pass the interrupt function when controlling the arc-shaped driving motor, the two acquisition time points may be a start point and an end point of a cycle in which the midpoint function is performed. That is, the control device may collect the position of the rotor in the arc-shaped driving motor in the underflow interrupt function of the counter, and the mechanical angle rotated by the arc-shaped driving motor in the time period may be obtained by the difference between the position information of the two interrupt functions.

It should be noted that the position measurement system may be an incremental grating ruler position measurement system, and in order to make the angle of each rotation of the arc-shaped driving motor have a zero reference, a zero sensor may be installed on the grating ruler, and the capturing unit CAP shown in fig. 2 may capture the zero position of the rotation of the rotor of the arc-shaped driving motor. When the zero position arrives, the zero position sensor can output a pulse, the control equipment can reset the corresponding position pulse counter after capturing the pulse, and the zero position is set as the rotating zero position of the rotor in the arc-shaped driving motor.

As an example, the operation of the control apparatus determining the rotation speed of the rotor from the mechanical angle may be: the mechanical angle is multiplied by the interrupt frequency of the interrupt function controlling the arc-shaped drive motor to obtain the rotation speed of the rotor. Alternatively, the control device may multiply the mechanical angle by a preset frequency to obtain the rotation speed of the rotor.

It should be noted that the preset frequency and the preset speed can be set in advance according to requirements, for example, the preset frequency can be 30 seconds/time, 60 seconds/time, and the like. The preset speed may be 1500 rpm, 2000 rpm, etc.

As an example, the operation of the control device to perform coordinate system transformation on the current data in the two stator groups to obtain the quadrature-axis current measurement value and the direct-axis current measurement value of the arc-shaped driving motor in the rotating coordinate system may be: and carrying out CLARKE and PARK conversion on the current data in the two stator groups once to obtain a direct-axis current measurement value and a quadrature-axis current measurement value.

In some embodiments, the control device may transform the sampled two-phase winding current through a first formula, namely a CLARKE transformation formula, to obtain a quadrature-axis current in a stationary coordinate system.

In the first formula (1), i is_a、i_bAnd i_cIs the motor phase current i_αAnd i_βIs a quadrature current.

From i_a+i_b+i_cWhen the above variation formula is 0, the above variation formula can be calculated to obtain

In some embodiments, the control device may be configured to control the quadrature axis current i based on the second equation (2) described above_αAnd i_βAnd transforming by a third formula, namely a PARK transformation formula to obtain a quadrature-axis current measurement value and a direct-axis current measurement value under a rotating coordinate system.

In the third formula (3), i is_qAs quadrature axis current measurements in a rotating coordinate system, i_dThe measured value of the direct-axis current in the rotating coordinate system is theta, which is an electrical angle of the arc-shaped driving motor, and the relation between theta and a mechanical angle of the arc-shaped driving motor is theta-2P phi, wherein P is a pole pair number on a rotor in the arc-shaped driving motor, and phi is the mechanical angle.

In some embodiments, the PID calculation performed in the embodiments of the present application may be performed by adjusting parameters of a PID module as shown in fig. 6, and the PID calculation process may be described by the following (1) to (4).

(1) The pre-saturation output variable is obtained by the following fourth formula (4):

u_presat(t)＝u_p(t)+u_i(t)+u_d(t) (4)

(2) the proportional component is represented by the following fifth formula (5):

u_p(t)＝K_pe(t) (5)

(3) the integral component after saturation correction is expressed by the following sixth equation (6):

(4) the differential component is expressed by the following seventh formula (7):

in the above formulas (4) to (7), u (t) is a total output variable, and u is a total output variable_presat(t) is the presaturated output variable, e (t) is the error between the reference and return quantities, K_pIs a proportionality coefficient, T_iFor integration time, T_dIs differential time, K_cFor integrating the correction factors, different input variables can be calculated with the PID module by modifying these parameters.

In order to prevent the output result from being infinitely amplified by the integration module under special conditions, in the embodiment of the present application, a saturation limiting measure is loaded on the output of the PID module, that is, the output result cannot exceed the specified upper and lower limits.

Step 402: and the control equipment determines the driving time for driving the arc-shaped driving motor according to the quadrature-axis current measured value, the direct-axis current measured value and the quadrature-axis current theoretical value.

In some embodiments, the control device may determine the direct-axis driving voltage and the quadrature-axis driving voltage of the arc-shaped driving motor in the rotating coordinate system according to the quadrature-axis current measurement value, the direct-axis current measurement value and the quadrature-axis current theoretical value; determining a driving time for driving the arc-shaped driving motor based on the direct axis driving voltage and the quadrature axis driving voltage.

As an example, the operation of the control device determining the quadrature-axis driving voltage and the direct-axis driving voltage of the arc-shaped driving motor in the rotating coordinate system according to the quadrature-axis current measurement value, the direct-axis current measurement value and the quadrature-axis current theoretical value may be: performing second PID operation on the quadrature axis current theoretical value and the quadrature axis current measured value to obtain quadrature axis driving voltage; and carrying out third PID operation on the measured value of the direct-axis current and the preset direct-axis current to obtain the direct-axis driving voltage.

It should be noted that both the second PID operation and the third PID operation can be performed by adjusting the parameters of the PID module as shown in fig. 6.

For the convenience of understanding of the present application, before describing the operation of determining the driving time for driving the arc-shaped driving motor by the control device according to the quadrature-axis driving voltage and the direct-axis driving voltage, the embodiments of the present application will describe the control principle of the stator group inverter and the voltage space vector sector diagram.

Because the space vector in the voltage Space Vector Pulse Width Modulation (SVPWM) has the sine property in the space distribution, and the space vector at each determined position has the sine property in the time, the space vector can take the ideal circular magnetic flux track of the alternating current motor as the reference when three-phase symmetrical sine wave voltage is used for supplying power, and the actual magnetic flux generated by different switching modes of the stator group inverter is used for approaching a reference magnetic flux circle, thereby achieving higher control performance. The three-phase voltage source inverter consists of six power switching devices Q1, Q2, Q3, Q4, Q5 and Q6 (as shown in fig. 7), and corresponding control signals are a, a ', b ', c and c ', respectively. Because the switching states of the upper arm and the lower arm of the inverter are complementary, the operating state of the inverter can be described by the switching states of the power devices of the three upper arms, and when the on state of the power devices is "1" and the off state is "0", the switching states of the upper arms Q1, Q3 and Q5 have eight combinations, which can be represented by vectors [ a, b and c ] as [000], [001], [010], [011], [100], [101], [110] and [111], respectively, as shown in fig. 8.

The following describes an operation of the control device for determining a driving time for driving the arc-shaped driving motor based on the quadrature-axis driving voltage and the direct-axis driving voltage in an embodiment of the present application.

As an example, the operation of the control device determining the driving time for driving the arc type driving motor based on the quadrature axis driving voltage and the direct axis driving voltage may include the following steps a to G.

Step A: the control equipment carries out inverse park transformation on the quadrature axis driving voltage and the direct axis driving voltage to obtain a first quadrature axis voltage and a second quadrature axis voltage of the arc-shaped driving motor under a static coordinate system.

As an example, the control device may perform inverse park transformation on the quadrature-axis driving voltage and the direct-axis driving voltage by an eighth equation, that is, an inverse transformation equation, to obtain a first quadrature-axis voltage and a second quadrature-axis voltage of the arc-shaped driving motor in the stationary coordinate system.

In the above inverse park transformation formula (8), u is expressed by_αIs a first quadrature axis voltage u_βIs the second quadrature axis voltage u_dFor a direct axis drive voltage, u_qIs the quadrature axis drive voltage.

And B: and the control equipment changes the voltages of the first quadrature axis voltage and the second quadrature axis voltage to obtain a first vector voltage, a second vector voltage and a third vector voltage.

As an example, the control device may perform voltage conversion on the first quadrature axis voltage and the second quadrature axis voltage by a ninth formula below to obtain a first vector voltage, a second vector voltage, and a third vector voltage.

In the ninth formula (9), U is_aIs a first vector voltage, U_bIs a second vector voltage, U_cIs the third vector voltage.

And C: and the control equipment determines a sector where the synthetic voltage of the first quadrature axis voltage and the second quadrature axis voltage is located according to the polarity of the first vector voltage, the polarity of the second vector voltage and the polarity of the third vector voltage, wherein the sector is a sector in a voltage space vector diagram obtained after vector division is carried out on a voltage space.

As an example, the operation of the control device determining a sector in which the combined voltage of the first quadrature axis voltage and the second quadrature axis voltage is located according to the polarity of the first vector voltage, the polarity of the second vector voltage, and the polarity of the third vector voltage may be: determining a relation reference value according to the polarity of the first vector voltage, the polarity of the second vector voltage and the polarity of the third vector voltage; and determining the sector where the synthesized voltage of the first quadrature axis voltage and the second quadrature axis voltage is located according to the relation reference value and the sector corresponding relation.

It should be noted that the control device may determine whether the first vector voltage is greater than 0, whether the second vector voltage is greater than 0, and whether the third vector voltage is greater than 0; when the first vector voltage is larger than 0, determining the polarity A of the first vector voltage to be 1, otherwise, determining the polarity A of the first vector voltage to be 1; when the second vector voltage is larger than 0, determining the polarity B of the second vector voltage to be 1, otherwise, determining the polarity B of the second vector voltage to be 1; and when the third vector voltage is greater than 0, determining the polarity C of the third vector voltage to be 1, otherwise, determining the polarity C of the third vector voltage to be 1.

As an example, the control device may set the relationship reference value as the sum of the polarity of the first vector voltage, the polarity of the second vector voltage, and the polarity of the third vector voltage, or as another calculation relationship, for example, N ═ a +2B +4C, to thereby determine the relationship reference value from the calculation relationship, N being the relationship reference value.

For example, when the polarity of the first vector voltage is 1, the polarity of the second vector voltage is 1, and the polarity of the third vector voltage is 0, and the relationship reference value N is a +2B +4C, the relationship reference value may be determined to be 3, and then, from the relationship reference value and the sector correspondence relationship shown in table 1 below, the sector in which the combined voltage of the first quadrature axis voltage and the second quadrature axis voltage is located may be determined to be the i-th area.

TABLE 1

Sector area	Ⅰ	Ⅱ	Ⅲ	Ⅳ	Ⅴ	Ⅵ
							N	3	1	5	4	6	2

Step D: the control equipment determines a first reference quantity, a second reference quantity and a third reference quantity according to the first quadrature axis voltage, the second quadrature axis voltage and the bus voltage.

As an example, the control apparatus may determine the first reference, the second reference, and the third reference by a tenth formula described below according to the first quadrature voltage, the second quadrature voltage, and the bus voltage.

In the tenth formula (10), U is_dcFor the bus voltage, T is the sampling period of the position (the execution period of the interrupt function), X is the first reference, Y is the second reference, and Z is the third reference.

Step E: and the control equipment determines the action time of two adjacent vectors in the sector according to the first reference quantity, the second reference quantity, the third reference quantity and the sector where the synthesized voltage is located.

As an example, the control device determines the action times T1 and T2 of two adjacent vectors in the sector from the correspondence of the action times of the reference quantity, the three regions and the adjacent vectors according to the first reference quantity, the second reference quantity, the third reference quantity and the sector in which the synthesized voltage is located.

For example, the corresponding relationship between the action time of the reference amount, the three areas and the adjacent vectors may be set in advance, for example, the corresponding relationship between the action time of the reference amount, the action time of the three areas and the adjacent vectors may be as shown in table 2 below.

TABLE 2

Sector area

Ⅰ

Ⅱ

Ⅲ

Ⅳ

Ⅴ

Ⅵ

-Z

-X

-Y

-Z

-X

In some embodiments, the control device may further perform saturation determination on the action times T1 and T2 of two adjacent vectors, determine whether the sum of the two action times T1 and T2 is greater than the sampling period T of the position, and when the sum is greater than the sampling period T of the position, determine that T1 is T1T/(T1 + T2), and T2 is T2T/(T1 + T2).

Step F: and the control equipment determines the action time of the first switch, the action time of the second switch and the action time of the third switch according to the action time of two adjacent vectors and the switching rule of the inverter bridge switch.

As an example, the control apparatus determines the first switching action time, the second switching action time, and the third switching action time by the following eleventh formula according to the action times of two adjacent vectors and the switching rule of the inverter bridge switch.

In the eleventh formula (11), T is_con1For a first switching time, T_con2For a second switching time, T_con3The third switch is active time.

Step G: the control device determines the driving time based on the first switching action time, the second switching action time, the third switching action time, and the sector.

As an example, the control device may determine the driving time from a correspondence relationship between the first switching action time, the second switching action time, the third switching action time, the sector, and the driving time.

It should be noted that the correspondence relationship between the first switching action time, the second switching action time, the third switching action time, and the sector and the driving time may be set in advance, for example, the correspondence relationship between the first switching action time, the second switching action time, the third switching action time, and the sector and the driving time may be shown in table 3 below.

TABLE 3

Sector area

Ⅰ

Ⅱ

Ⅳ

Ⅴ

Ⅵ

T_con1

T_con2

T_con3

T_con2

T_con1

T_con2

T_con1

T_con2

T_con3

T_con2

T_con1

T_con2

In table 3, Ta, Tb, and Tc denote drive times.

Step 403: the control device controls the arc-shaped driving motor to rotate according to the driving time.

As an example, the control apparatus may generate a corresponding SVPWM signal according to the driving time, and control the first and second IPM modules shown in fig. 2 to drive the arc driving motor to rotate according to the SVPWM signal.

After explaining a control method of a motor provided in an embodiment of the present application, a control apparatus of a motor provided in an embodiment of the present application will be described next.

Fig. 9 is a schematic structural diagram of a control device of a motor according to an embodiment of the present application, where the control device of the motor may be implemented by software, hardware, or a combination of the two as part or all of a control apparatus, and the control apparatus may be the control apparatus shown in fig. 2. Referring to fig. 9, the apparatus includes: a first determining module 901, a second determining module 902 and a control module 903.

The first determining module 901 is configured to determine a quadrature-axis current measured value, a direct-axis current measured value and a quadrature-axis current theoretical value of the arc-shaped driving motor in a rotating coordinate system;

a second determining module 902, configured to determine a driving time for driving the arc driving motor according to the quadrature axis current measured value, the direct axis current measured value, and the quadrature axis current theoretical value;

and the control module 903 is used for controlling the arc-shaped driving motor to rotate according to the driving time.

In some embodiments, referring to fig. 10, the first determining module 901 includes:

the obtaining submodule 9011 is used for obtaining a mechanical angle of a rotor of the arc-shaped driving motor and current data in the two stator groups;

a first determining submodule 9012, configured to determine a rotation speed of the rotor according to the mechanical angle;

the calculation submodule 9013 is configured to perform a first proportional-integral-derivative PID operation on the rotation speed and the preset speed to obtain a quadrature axis current theoretical value of the arc-shaped driving motor in a rotation coordinate system;

and the transformation submodule 9014 is configured to perform coordinate system transformation on the current data in the two stator groups to obtain a quadrature-axis current measurement value and a direct-axis current measurement value of the arc-shaped driving motor in the rotating coordinate system.

In some embodiments, referring to fig. 11, the second determining module 902 comprises:

the second determining submodule 9021 is configured to determine a direct-axis driving voltage and a quadrature-axis driving voltage of the arc-shaped driving motor in the rotating coordinate system according to the quadrature-axis current measured value, the direct-axis current measured value and the quadrature-axis current theoretical value;

and a third determining submodule 9022 configured to determine a driving time for driving the arc-shaped driving motor based on the direct-axis driving voltage and the quadrature-axis driving voltage.

In some embodiments, the second determination submodule 9021 is configured to:

performing second PID operation on the quadrature axis current theoretical value and the quadrature axis current measured value to obtain quadrature axis driving voltage;

and carrying out third PID operation on the measured value of the direct-axis current and the preset direct-axis current to obtain the direct-axis driving voltage.

In some embodiments, the obtaining sub-module 9011 is configured to:

respectively carrying out position acquisition on the arc-shaped driving motor at two adjacent acquisition time points to obtain a first position and a second position;

determining a difference between the first position and the second position as a mechanical angle of the arc drive motor.

In some embodiments, the third determination submodule 9022 is configured to:

carrying out voltage change on the first quadrature axis voltage and the second quadrature axis voltage to obtain a first vector voltage, a second vector voltage and a third vector voltage;

and determining the driving time according to the first switching action time, the second switching action time, the third switching action time and the sector.

It should be noted that: in the control device of the motor provided in the above embodiment, when the arc-shaped driving motor is controlled, only the division of the above functional modules is taken as an example, and in practical application, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the above described functions. In addition, the control device of the motor and the control method of the motor provided by the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments and are not described herein again.

In some embodiments, a computer-readable storage medium is also provided, in which a computer program is stored, which, when being executed by a processor, realizes the steps of the control method of the motor in the above-described embodiments. For example, the computer readable storage medium may be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

It is noted that the computer-readable storage medium referred to herein may be a non-volatile storage medium, in other words, a non-transitory storage medium.

It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.

That is, in some embodiments, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the method of controlling an electric machine described above.

The above-mentioned embodiments are provided not to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

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