A kind of electric machine controller and its control method
阅读说明：本技术 一种电机控制器及其控制方法 (A kind of electric machine controller and its control method ) 是由 张乘玮 陈文杰 于安博 于 2019-08-29 设计创作，主要内容包括：本申请公开了一种电机控制器及其控制方法,以抑制逆变器输出电流中的高次谐波。该方法包括：根据交流电机转速与逆变器开关频率之间的对应关系,计算当前转速下允许达到的最低开关频率FreqCurrent；根据Freq1、FreqMaxSet和FreqMinSet计算随机开关频率取值区间[Freq3,FreqMaxSet]中的下限值Freq3,其中Freq1为大于等于FreqCurrent的任一值,FreqMaxSet、FreqMinSet为根据系统硬件和控制性能要求综合考虑而设置的最高和最低开关频率；从[Freq3,FreqMaxSet]内产生一个随机开关频率作为电机控制器下一个控制节拍的随机开关频率。(This application discloses a kind of electric machine controller and its control methods, to inhibit the higher hamonic wave in inverter output current.This method comprises: calculating the lowermost switch frequency FreqCurrent for allowing to reach under current rotating speed according to the corresponding relationship between alternating current generator revolving speed and inverter switching frequency；Randomized switching frequency value interval [Freq3 is calculated according to Freq1, FreqMaxSet and FreqMinSet, FreqMaxSet] in lower limit value Freq3, wherein Freq1 is any value more than or equal to FreqCurrent, and FreqMaxSet, FreqMinSet are the highest and lowest switching frequency for being comprehensively considered according to system hardware and control performance requirement and being arranged；Randomized switching frequency of the randomized switching frequency as the next control beat of electric machine controller is generated in from [Freq3, FreqMaxSet].)
1. a kind of control method, it is applied to electric machine controller, which is characterized in that the control method includes:
According to the corresponding relationship between alternating current generator revolving speed and inverter switching frequency, calculate allows to reach most under current rotating speed Low switching frequency FreqCurrent；
The lower limit value Freq3 in randomized switching frequency value interval [Freq3, FreqMaxSet] is calculated, calculation formula is
Wherein, Freq1 is any value more than or equal to FreqCurrent, and FreqMaxSet and FreqMinSet are according to system Hardware and control performance require to comprehensively consider and the highest and lowest switching frequency that is arranged；
A randomized switching frequency is generated in from section [Freq3, FreqMaxSet], as the next control section of electric machine controller The randomized switching frequency of bat.
2. control method according to claim 1, which is characterized in that described according to alternating current generator revolving speed and inverter switching device Corresponding relationship between frequency calculates the lowermost switch frequency FreqCurrent for allowing to reach under current rotating speed, comprising:
According to formula F reqCurrent=MotSpd*Np*CarrierRatio/60, calculate allows to reach most under current rotating speed Low switching frequency FreqCurrent；
Wherein, MotSpd indicates current rotating speed, and Np indicates motor number of pole-pairs, and CarrierRatio indicates electric machine controller setting Carrier wave ratio.
3. control method according to claim 1, which is characterized in that described to be produced out of section [Freq3, FreqMaxSet] A raw randomized switching frequency, comprising:
The random number R i in a preset range [R1, R2] is generated using random number generation module；
Section is calculated according to formula F reqOut=Freq3+ (FreqMaxSet-Freq3) * (Ri-R2)/(R1-R2) A randomized switching frequency FreqOut in [Freq3, FreqMaxSet].
4. control method according to claim 3, which is characterized in that R1=1, R2=0.
5. control method according to claim 1, electric machine controller uses the two close cycles control of current inner loop and revolving speed outer ring Mode processed realizes AC Motor Control, which is characterized in that the control method further include:
Change the system parameter that link is preset in current inner loop according to the randomized switching frequency currently generated, so that motor control The randomized switching frequency of the next control beat of device matches with the system parameter, guarantees electric machine controller in high revolving speed area Control effect.
6. control method according to claim 5, which is characterized in that the default link includes PI controller；
The randomized switching frequency that the basis currently generates changes the system parameter that link is preset in current inner loop, so that motor The randomized switching frequency of the next control beat of controller matches with the system parameter, guarantees electric machine controller in high revolving speed The control effect in area, comprising: change the inner parameter of the PI controller, according to the randomized switching frequency currently generated to guarantee The bandwidth of the current inner loop is steady state value.
7. control method according to claim 5 or 6, which is characterized in that the default link includes angle compensation module；
The randomized switching frequency that the basis currently generates changes the system parameter that link is preset in current inner loop, so that motor The randomized switching frequency of the next control beat of controller matches with the system parameter, guarantees electric machine controller in high revolving speed The control effect in area, comprising: change the inner parameter of the angle compensation module according to the randomized switching frequency currently generated, with The output valve of anti-park transformation is applied to prolonging for 1.5 bats existing on alternating current generator triple line port in compensation current inner loop Late.
8. control method according to claim 7, which is characterized in that the randomized switching frequency that the basis currently generates changes Become the inner parameter of the angle compensation module, comprising:
Switch periods value is calculated according to the randomized switching frequency currently generated, the switch periods value is defeated by time delay module Out, time delay module output valve and the switch periods value carry out 0.5 times of amplified output valve of gain and are added, addition result with work as Preceding tachometer value is multiplied, and multiplied result is added to obtain the motor angle input value of anti-park transformation with alternating current generator current angle value.
9. a kind of electric machine controller, including control unit, driving and isolation circuit and inverter, the output letter of described control unit Number through it is described driving and isolation circuit carry out isolation amplification after control the invertor operation, make the inverter by on-vehicle battery The DC voltage of output is converted to alternating voltage；Described control unit includes current inner loop and revolving speed outer ring, which is characterized in that institute It states and is provided with randomized switching frequency generation module in current inner loop；
The switching frequency generation module is used for according to the corresponding relationship between alternating current generator revolving speed and inverter switching frequency, meter Calculate the lowermost switch frequency FreqCurrent for allowing to reach under current rotating speed；Calculating randomized switching frequency value interval [Freq3, FreqMaxSet] in lower limit value Freq3, calculation formula isWherein, Freq1 be more than or equal to Any value of FreqCurrent, FreqMaxSet and FreqMinSet are examined according to system hardware and control performance requirement synthesis The highest and lowest switching frequency considered and be arranged；A randomized switching frequency is generated in from section [Freq3, FreqMaxSet], Randomized switching frequency as the next control beat of electric machine controller.
10. electric machine controller according to claim 9, which is characterized in that the randomized switching frequency generation module includes Random number generation module and frequency computing module, in which:
Random number generation module is used to generate the random number R i in a preset range [R1, R2]；Frequency computing module is used for root According to formula F reqOut=Freq3+ (FreqMaxSet-Freq3) * (Ri-R2)/(R1-R2) be calculated section [Freq3, FreqMaxSet] in a randomized switching frequency.
Technical field
The present invention relates to motor drivens and control technology field, more specifically to a kind of electric machine controller and its control Method processed.
Background technique
Electric machine controller is one of core component of electric car, and major function is that the inverter inside control will be vehicle-mounted The DC voltage of battery output is converted to alternating voltage, when driving alternating current generator is according to the direction of setting, revolving speed, angle, response Between operated.
In traditional electric machine controller, the switching frequency of inverter is mostly fixed and invariable, this meeting is so that inverter is defeated The harmonic wave distribution of phase current concentrates on switching frequency and its locates for several times again out, causes in inverter output current containing apparent high Subharmonic, and then cause electromagnetic interference and energy loss.
Summary of the invention
In view of this, the present invention provides a kind of electric machine controller and its control method, to inhibit in inverter output current The higher hamonic wave contained.
A kind of control method, is applied to electric machine controller, and the control method includes:
According to the corresponding relationship between alternating current generator revolving speed and inverter switching frequency, calculate allows to reach under current rotating speed Lowermost switch frequency FreqCurrent；
The lower limit value Freq3 in randomized switching frequency value interval [Freq3, FreqMaxSet] is calculated, calculation formula is
Wherein, Freq1 is any value more than or equal to FreqCurrent, and FreqMaxSet and FreqMinSet are bases System hardware and control performance require to comprehensively consider and the highest and lowest switching frequency that is arranged；
A randomized switching frequency is generated in from section [Freq3, FreqMaxSet], as the next control of electric machine controller The randomized switching frequency of beat processed.
Optionally, forward is worked as in the corresponding relationship according between alternating current generator revolving speed and inverter switching frequency, calculating The lowermost switch frequency FreqCurrent for allowing to reach under speed, comprising:
According to formula F reqCurrent=MotSpd*Np*CarrierRatio/60, calculate allows to reach under current rotating speed Lowermost switch frequency FreqCurrent；
Wherein, MotSpd indicates current rotating speed, and Np indicates motor number of pole-pairs, and CarrierRatio indicates that electric machine controller is set The carrier wave ratio set.
It is optionally, described that a randomized switching frequency is generated out of section [Freq3, FreqMaxSet], comprising:
The random number R i in a preset range [R1, R2] is generated using random number generation module；
Section is calculated according to formula F reqOut=Freq3+ (FreqMaxSet-Freq3) * (Ri-R2)/(R1-R2) A randomized switching frequency FreqOut in [Freq3, FreqMaxSet].
Optionally, R1=1, R2=0.
Optionally, electric machine controller realizes alternating current generator control using the double circle controling mode of current inner loop and revolving speed outer ring System, the control method further include:
Change the system parameter that link is preset in current inner loop according to the randomized switching frequency currently generated, so that motor The randomized switching frequency of the next control beat of controller matches with the system parameter, guarantees electric machine controller in high revolving speed The control effect in area.
Optionally, the default link includes PI controller；
The randomized switching frequency that the basis currently generates changes the system parameter that link is preset in current inner loop, so that The randomized switching frequency of the next control beat of electric machine controller matches with the system parameter, guarantees electric machine controller in height The control effect in revolving speed area, comprising: change the inner parameter of the PI controller according to the randomized switching frequency currently generated, with The bandwidth for guaranteeing the current inner loop is steady state value.
Optionally, the default link includes angle compensation module；
The randomized switching frequency that the basis currently generates changes the system parameter that link is preset in current inner loop, so that The randomized switching frequency of the next control beat of electric machine controller matches with the system parameter, guarantees electric machine controller in height The control effect in revolving speed area, comprising: joined according to the inside that the randomized switching frequency currently generated changes the angle compensation module Number is applied to 1.5 bats existing on alternating current generator triple line port to compensate the output valve of anti-park transformation in current inner loop Delay.
Optionally, the randomized switching frequency that the basis currently generates changes the inner parameter of the angle compensation module, Include:
Switch periods value is calculated according to the randomized switching frequency currently generated, the switch periods value is passed through into time delay module Output, time delay module output valve and the switch periods value carry out 0.5 times of amplified output valve of gain and are added, addition result and Current rotating speed value is multiplied, and multiplied result is added to obtain the motor angle input of anti-park transformation with alternating current generator current angle value Value.
A kind of electric machine controller, including control unit, driving and isolation circuit and inverter, the output of described control unit Signal controls the invertor operation after the driving and isolation circuit carry out isolation amplification, makes the inverter by vehicle mounted electric The DC voltage of pond output is converted to alternating voltage；Described control unit includes current inner loop and revolving speed outer ring, in the electric current Randomized switching frequency generation module is provided on ring；
The switching frequency generation module is used for according to the corresponding pass between alternating current generator revolving speed and inverter switching frequency System calculates the lowermost switch frequency FreqCurrent for allowing to reach under current rotating speed；Calculate randomized switching frequency value interval Lower limit value Freq3 in [Freq3, FreqMaxSet], calculation formula areWherein, Freq1 be more than or equal to Any value of FreqCurrent, FreqMaxSet and FreqMinSet are examined according to system hardware and control performance requirement synthesis The highest and lowest switching frequency considered and be arranged；A randomized switching frequency is generated in from section [Freq3, FreqMaxSet], Randomized switching frequency as the next control beat of electric machine controller.
Optionally, the randomized switching frequency generation module includes random number generation module and frequency computing module, in which:
Random number generation module is used to generate the random number R i in a preset range [R1, R2]；Frequency computing module is used In section is calculated according to formula F reqOut=Freq3+ (FreqMaxSet-Freq3) * (Ri-R2)/(R1-R2) A randomized switching frequency in [Freq3, FreqMaxSet].
It can be seen from the above technical scheme that the switching frequency compared to inverter in conventional motors controller is fixed not Become, the present invention realizes the random variation of inverter switching frequency in the full range of speeds, so that inverter output current phase is humorous Wavelength-division cloth no longer concentrates on fixed switching frequency and its locates for several times again, but assigns to entire frequency domain, is reduced by this way The amplitude of the higher hamonic wave contained in inverter output current (inhibits the high order contained in inverter output current humorous Wave), the electromagnetic interference emission and energy loss of system can all decrease.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.
Fig. 1 is a kind of control method flow chart disclosed by the embodiments of the present invention；
Fig. 2 is a kind of randomized switching frequency generation module internal control block diagram disclosed by the embodiments of the present invention；
Fig. 3 is a kind of electric machine controller current inner loop control block diagram disclosed in the prior art；
Fig. 4 is a kind of electric machine controller current inner loop control block diagram disclosed by the embodiments of the present invention；
Fig. 5 is a kind of angle compensation inside modules control block diagram disclosed by the embodiments of the present invention；
Fig. 6 is a kind of motor controller structure schematic diagram disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of control methods, are applied to electric machine controller, the control method such as Fig. 1 institute Show, comprising:
Step S01: it according to the corresponding relationship between alternating current generator revolving speed and inverter switching frequency, calculates under current rotating speed The lowermost switch frequency FreqCurrent for allowing to reach.
Specifically, the carrier wave ratio CarrierRatio parameter of electric machine controller setting is given value.To guarantee alternating current generator Stable operation, on inverter control, the lowermost switch frequency FreqCurrent for theoretically allowing to reach is with alternating current generator revolving speed MotSpd variation, change curve meet formula F reqCurrent=MotSpd*Np*CarrierRatio/60, wherein Np table Show motor number of pole-pairs.
Step S02: the lower limit value Freq3 in randomized switching frequency value interval [Freq3, FreqMaxSet], meter are calculated Calculating formula is
Wherein, Freq1 is any value more than or equal to FreqCurrent；FreqMaxSet and FreqMinSet is basis System hardware and control performance require to comprehensively consider and the highest and lowest switching frequency that is arranged.
Step S03: a randomized switching frequency is generated in from section [Freq3, FreqMaxSet], as electric machine controller The randomized switching frequency of next control beat.
Specifically, after the lowermost switch frequency FreqCurrent for theoretically allowing to reach under current rotating speed is calculated, Taking Freq1 is any value for being more than or equal to FreqCurrent under current rotating speed, and Freq1 can be one about FreqCurrent The function of secondary straight line, quadratic function or other forms, does not limit to.
In view of the switching frequency of electric machine controller hardware supported has bound, (upper limit is denoted as FreqMaxSet, lower limit The value size for being denoted as FreqMinSet, FreqMaxSet and FreqMinSet is opened according to what IGBT in electric machine controller allowed It closes frequency and device heating comprehensively considers setting, once electric machine controller hardware determines that the two values are exactly fixed value), institute With Freq1 necessarily cannot exceed section [FreqMinSet, FreqMaxSet], so the embodiment of the present invention take Freq1 and Then maximum value in FreqMinSet takes the minimum value in Freq2 and FreqMaxSet as Freq3, in this way as Freq2 Even when alternating current generator speed is lower, it also can guarantee that the switching frequency under current rotating speed is not less than FreqMinSet and makes At control fail, that is to say the embodiment of the present invention on current rotating speed lower switch frequency theory and actual value range into After row comprehensive consideration, finally by the value range for the switching frequency for allowing to reach under current rotating speed define section [Freq3, FreqMaxSet].Random switching frequency by section [Freq3, FreqMaxSet] as the next control beat of electric machine controller Rate value interval takes a switching frequency in section [Freq3, FreqMaxSet] as the next control of electric machine controller at random The random variation that inverter switching frequency is realized in the full range of speeds can be realized in the randomized switching frequency of beat processed.
Switching frequency compared to inverter in conventional motors controller immobilizes, and the embodiment of the present invention is in the full range of speeds The interior random variation for realizing inverter switching frequency, so that the harmonic wave distribution of inverter output current phase no longer concentrates on one admittedly Fixed switching frequency and its locate for several times again, but assign to entire frequency domain, this reduces in inverter output current The amplitude (inhibiting the higher hamonic wave contained in inverter output current) of the higher hamonic wave contained, the electromagnetic interference hair of system It penetrates and energy loss can all decrease.
For ease of description, hereafter indicating the random switching generated out of section [Freq3, FreqMaxSet] with FreqOut Frequency.
Wherein, the implementation that a randomized switching frequency is generated out of section [Freq3, FreqMaxSet] may is that The random number R i in a preset range [R1, R2] is generated using random number generation module；According to formula F reqOut=Freq3+ (FreqMaxSet-Freq3) * (Ri-R2)/(R1-R2) be calculated one in section [Freq3, FreqMaxSet] it is random Switching frequency.
Above-mentioned FreqOut calculation formula is by introducing random number R i, to randomly select section [Freq3, FreqMaxSet] In any value as the randomized switching frequency FreqOut for allowing to reach under current rotating speed, the life of randomized switching frequency FreqOut It can be found in control block diagram as shown in Figure 2 at process (calling randomized switching frequency generation module in the following text).Wherein, the value of R1 and R2 does not have It is restricted, but consider R1=1, when R2=0, above-mentioned FreqOut calculation formula can be reduced to FreqOut=Freq3+ (FreqMaxSet-Freq3) * Ri, so being calculated to simplify, recommended setting of the embodiment of the present invention R1=1, R2=0.
Wherein, using the randomized switching frequency FreqOut as the random switching of the next control beat of electric machine controller Frequency can be the base for realizing AC Motor Control based on fixed switching frequency in conventional motors controller in technology realization On plinth, it is superimposed a randomized switching frequency generation module, so that the random variation of switching frequency is realized in the full range of speeds, tool Body is described as follows:
The double circle controling mode of current inner loop and revolving speed outer ring is usually used to realize and hand in traditional electric machine controller Motor control is flowed, wherein the setting of parameter is related with current switch frequency in current inner loop, the current inner loop control block diagram such as Fig. 3 It is shown:
D shaft current given value id* and d shaft current of the alternating current generator under d-q coordinate system (i.e. synchronous rotating frame) is anti- Input of the difference of feedback value id as PI controller all the way；Q shaft current given value iq* of the alternating current generator under d-q coordinate system and q axis Input of the difference of current feedback values iq as another way PI controller；D-q axis cross decoupling is passed through in the output of two-way PI controller Link obtains d, q shaft voltage given value ud* and uq*；Ud* and uq* obtains driving inversion by anti-park transformation and SVPWM module The pwm signal of device, shown pwm signal drive inverter work by driving and isolation circuit；Inverter exports on-vehicle battery DC voltage VdcIt is converted into alternating voltage driving alternating current generator operating.Alternating current generator output signal handles mould through over-angle revolving speed Block obtains current angle value MotAngle and current rotating speed value MotSpd, angle value MotAngle and tachometer value MotSpd input angle Degree compensating module obtains the motor angle input value of anti-park voltage transformation.Inverter output current passes through phase current sampling, 3/2 Park transform part is inputted after transformation, park transform part combination angle value MotAngle handles to obtain d, q shaft current value of feedback Id and iq.
The embodiment of the present invention improves on the basis of Fig. 3, increases a randomized switching frequency generation module, such as Fig. 4 institute Show: it obtains randomized switching frequency FreqOut according to the current rotating speed MotSpd of input, and is input to SVPWM module and angle In revolving speed processing module.It should be noted that switching frequency changes at random, then switch periods also change therewith, so SVPWM mould Three-phase PWM register fiducial value in block is also required to change therewith.Switching frequency changes at random, then between the motor position sampling time Every also random variation, therefore time interval of angle rates' processing module in motor speed calculating is also required to accordingly adjust.
Optionally, it also needs to guarantee electric machine controller in the control effect in high revolving speed area, in Fig. 4 according to currently generating Randomized switching frequency changes the system parameter that link is preset in current inner loop, so that the next control beat of electric machine controller Randomized switching frequency matches with the system parameter.
Optionally, the default link includes PI controller.It, can shadow since the bandwidth of current inner loop changes with switching frequency Alternating current generator is rung in the stable operation of high-speed region, therefore the embodiment of the present invention also allows PI controller according to randomized switching frequency FreqOut changes PI controller inner parameter in real time, to guarantee that current inner loop bandwidth is a constant value, referring also to Fig. 4.
Optionally, the default link may also include angle compensation module.Due to the build-in attribute of the discrete control of inverter, Cause the output valve of anti-park transformation be applied on alternating current generator triple line port can exist 1.5 clap delay (1.5 clap prolong Late, be since electric machine controller is generally controlled by dsp chip, control is carried out according to certain beat, i.e., every Regular hour carries out a secondary control, this time interval is denoted as Ts, the output voltage load of the 1.5 i.e. 1.5 times Ts of delay clapped Delay, is the intrinsic delay of system), this delay will lead to control effect of the system in high velocity and be deteriorated, and can cause when serious Current oscillation even system is unstable, and angle compensation module is to compensate for this 1.5 delay clapped, to improve random switching frequency Runnability of the rate mode in high velocity.Since under randomized switching frequency mode, each bat of switching-frequency value can all change, Therefore it needs to change angle compensation inside modules parameter in real time according to FreqOut, the anti-park electricity under present case is calculated The motor angle input value that buckling is changed.
Angle compensation inside modules control block diagram disclosed by the embodiments of the present invention is as shown in Figure 5: 1/FreqOut is obtained Switch periods value is exported by time delay module, and the output valve of Postponement module and the switch periods value carry out 0.5 times of gain and amplify Output valve afterwards is added, and addition result is multiplied with current rotating speed value MotSpd, multiplied result and current angle value MotAngle phase Add the motor angle input value Angleout for obtaining anti-park voltage transformation.
The embodiment of the present invention is according to the ginseng of random the variation real time modifying PI controller and angle compensation module of switching frequency Number, so that system also can steadily be run in high-speed region, ensure that the vibration and electromagnetic compatibility characteristic of electric automobile whole All have clear improvement.
Corresponding to the above method embodiment, the embodiment of the invention also discloses a kind of electric machine controllers, such as Fig. 6 institute Show, including control unit 100, driving and isolation circuit 200 and inverter 300, the output signal of control unit 100 through driving and Control inverter 300 is run after isolation circuit 200 carries out isolation amplification, the direct current for exporting inverter 300 by on-vehicle battery Pressure is converted to alternating voltage, in which:
Described control unit 100 includes current inner loop and revolving speed outer ring, and random switching frequency is provided in the current inner loop Rate generation module 101；
The switching frequency generation module 101 is used for according to corresponding between alternating current generator revolving speed and inverter switching frequency Relationship calculates the lowermost switch frequency FreqCurrent for allowing to reach under current rotating speed；Calculate randomized switching frequency value interval Lower limit value Freq3 in [Freq3, FreqMaxSet], calculation formula areWherein, Freq1 be more than or equal to Any value of FreqCurrent, FreqMaxSet and FreqMinSet are examined according to system hardware and control performance requirement synthesis The highest and lowest switching frequency considered and be arranged；A randomized switching frequency is generated in from section [Freq3, FreqMaxSet], Randomized switching frequency as the next control beat of electric machine controller.
The randomized switching frequency currently generated is input to SVPWM module and angle revolving speed processing module in current inner loop In.It should be noted that switching frequency changes at random, then switch periods also change therewith, so needing to adjust SVPWM mould therewith Three-phase PWM register fiducial value in block.Switching frequency changes at random, then motor position sampling time interval also changes at random, Therefore it is also required to adjust the angle time interval of the velocity process module in motor speed calculating therewith.
Optionally, the randomized switching frequency generation module 101 includes random number generation module and frequency computing module, In:
Random number generation module is used to generate the random number R i in a preset range [R1, R2]；Frequency computing module is used In section is calculated according to formula F reqOut=Freq3+ (FreqMaxSet-Freq3) * (Ri-R2)/(R1-R2) A randomized switching frequency in [Freq3, FreqMaxSet].
Optionally, in any electric machine controller disclosed above, the system parameter of link is preset in the current inner loop Change with the randomized switching frequency currently generated, so that the randomized switching frequency of the next control beat of electric machine controller and institute It states system parameter to match, to guarantee electric machine controller in the control effect in high revolving speed area.
Optionally, the default link includes PI controller.The PI controller is according to the random switching frequency currently generated Rate changes PI controller inner parameter in real time, to guarantee the bandwidth of current inner loop as steady state value.
Optionally, the default link may also include angle compensation module.The inner parameter of the angle compensation module with The randomized switching frequency currently generated changes, and is applied to alternating current generator three to compensate the output valve of anti-park transformation in current inner loop The 1.5 existing delays clapped on phase line port.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For motor disclosed in embodiment For controller, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method Part illustrates.
Herein, relational terms such as first and second and the like be used merely to by an entity or operation with it is another One entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this reality Relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability Contain, so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also including Other elements that are not explicitly listed, or further include for this process, method, commodity or the intrinsic element of equipment. In the absence of more restrictions, the element limited by sentence " including one ", it is not excluded that including process, the side of element There is also other identical elements in method, commodity or equipment.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments in the case where not departing from the spirit or scope of the embodiment of the present invention.Therefore, The embodiment of the present invention is not intended to be limited to the embodiments shown herein, and be to fit to principles disclosed herein and The consistent widest scope of features of novelty.