阅读说明：本技术 电机降噪方法、计算机装置以及计算机可读存储介质 (Motor noise-reducing method, computer installation and computer readable storage medium ) 是由 郭伟林 许柳 李燕 于 2019-09-23 设计创作，主要内容包括：本发明提供一种电机降噪方法、计算机装置以及计算机可读存储介质,该电机降噪方法包括：获取电机定子的三相采样电流；对三相采样电流进行矢量控制,获得三相预调制电压；对三相采样电流进行谐波电流提取,对谐波电流进行谐波电压补偿控制,获得谐波补偿电压；利用谐波补偿电压对预调制三相预调制电压进行补偿,获得三相调制电压；根据三相调制电压驱动电机。该计算机装置包括控制器,控制器用于执行存储器中存储的计算机程序时实现上述的电机降噪方法。该计算机可读存储介质,其上存储有计算机程序,计算机程序被控制器执行时实现上述的电机降噪方法。应用本发明的电机降噪方法可对电机驱动电压进行简单、精确降噪。(The present invention provides a kind of motor noise-reducing method, computer installation and computer readable storage medium, which includes: the three-phase sample rate current for obtaining motor stator；Vector controlled is carried out to three-phase sample rate current, obtains three-phase premodulated voltage；Harmonic current extraction is carried out to three-phase sample rate current, harmonic voltage compensation control is carried out to harmonic current, obtains harmonic compensation voltage；Premodulated three-phase premodulated voltage is compensated using harmonic compensation voltage, obtains three-phase modulations voltage；According to three-phase modulations voltage driving motor.The computer installation includes controller, and controller is for realizing above-mentioned motor noise-reducing method when executing the computer program stored in memory.The computer readable storage medium, is stored thereon with computer program, and above-mentioned motor noise-reducing method is realized when computer program is executed by a controller.Using motor noise-reducing method of the invention simple, accurate noise reduction can be carried out to motor driven voltage.)

1. a kind of motor noise-reducing method, it is characterised in that: include:

Obtain the three-phase sample rate current of motor stator；

Vector controlled is carried out to the three-phase sample rate current, obtains three-phase premodulated voltage；

Harmonic current extraction is carried out to the three-phase sample rate current, harmonic voltage compensation control is carried out to the harmonic current, is obtained Obtain harmonic compensation voltage；

Premodulated three-phase premodulated voltage is compensated using the harmonic compensation voltage, obtains three-phase modulations voltage；

According to the three-phase modulations voltage driving motor.

2. motor noise-reducing method according to claim 1, it is characterised in that:

It is described to the three-phase sample rate current carry out vector controlled, obtain three-phase premodulated voltage the step of include:

Parker transform is carried out again after carrying out Clarke transform to the three-phase sample rate current, obtains D shaft current component and Q shaft current Component；

Proportional integration adjusting is carried out to the D shaft current component and the Q shaft current component, obtains D shaft voltage component and Q axis electricity Press component；

Anti- Clarke transform is carried out again after carrying out anti-Parker transform to the D shaft voltage component and the Q shaft voltage component, is obtained The three-phase premodulated voltage.

3. motor noise-reducing method according to claim 2, it is characterised in that:

It is described that proportional integration adjusting is carried out to the D shaft current component and the Q shaft current component, obtain D shaft voltage component and Q The step of shaft voltage component includes:

It obtains the D shaft current component corresponding first and adjusts threshold value and the corresponding second adjusting threshold of the Q shaft current component Value；

Threshold value is adjusted according to described first, proportional integration adjusting is carried out to the D shaft current component, obtain the D shaft voltage point Amount；

Threshold value is adjusted according to described second, proportional integration adjusting is carried out to the Q shaft current component, obtain the Q shaft voltage point Amount.

4. motor noise-reducing method according to claim 3, it is characterised in that:

The D shaft current component corresponding first that obtains adjusts threshold value and corresponding second tune of the Q shaft current component Save threshold value the step of include:

Obtain motor speed and rotational speed regulation threshold value；

Proportional integration adjusting is carried out to the motor speed according to the rotational speed regulation threshold value, obtains the Q shaft current component pair Described second answered adjusts threshold value.

5. motor noise-reducing method according to any one of claims 1 to 4, it is characterised in that:

The step of harmonic current extraction is carried out to the three-phase sample rate current further include:

The three-phase sample rate current is filtered using default trapper, using default Second Order Generalized Integrator to filtered Three-phase sample rate current carries out integral operation, obtains the harmonic current.

6. motor noise-reducing method according to claim 5, it is characterised in that:

The transmission function of the default trapper are as follows:Wherein, k is ratio increasing Benefit, ω are the corresponding cutoff frequency in harmonic wave place, and s is Laplace operator, v₁It (s) is the output signal of default trapper, v_i1 It (s) is the input signal of default trapper.

7. motor noise-reducing method according to claim 5, it is characterised in that:

The transmission function of the default Second Order Generalized Integrator are as follows:Wherein, k For proportional gain, ω is the corresponding cutoff frequency in fundamental wave place, and s is Laplace operator, v₂It (s) is default second order improper integral The output signal of device, v_i2It (s) is the input signal of default Second Order Generalized Integrator.

8. motor noise-reducing method according to any one of claims 1 to 4, it is characterised in that:

It is described to the harmonic current carry out harmonic voltage compensation control the step of include:

Harmonic voltage compensation control is carried out to the harmonic current using preset ratio resonant controller.

9. motor noise-reducing method according to claim 8, it is characterised in that:

The transmission function of the preset ratio resonant controller are as follows:Wherein, k_pFor Proportional gain, k_iFor the resonance gain at harmonic wave, ω_cFor the resonance frequency at harmonic wave, ω is the corresponding cutoff frequency in harmonic wave place Rate, s are Laplace operator.

10. motor noise-reducing method according to claim 9, it is characterised in that:

The harmonic compensation voltage is obtained by following formula:

Wherein,For the corresponding scheduled current threshold of harmonic current Value,For harmonic current.

11. motor noise-reducing method according to claim 10, it is characterised in that:

The three-phase modulations voltage is obtained by following formula:

Wherein, u_as、u_bsAnd u_csFor three-phase premodulated voltage,WithFor harmonic compensation electricity Pressure.

12. a kind of computer installation, including processor and memory, it is characterised in that: the memory is stored with computer Program realizes the motor as described in any one of claim 1 to 11 when the computer program is executed by the processor The step of noise-reduction method.

13. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the computer program The step of motor noise-reducing method as described in any one of claim 1 to 11 is realized when being executed by a controller.

Technical field

The present invention relates to motor noise-reducing technical fields, specifically, being related to a kind of motor noise-reducing method, further relate to using the electricity The computer installation of machine noise-reduction method further relates to the computer readable storage medium using the motor noise-reducing method.

Background technique

Due to the distortion of alternating current generator air-gap field and the presence for the factors such as inverter is non-linear, lead to motor three-phase current In harmonic component rich in, these harmonic contents can make motor produce apparent vibration and noise, increase motor in this way Loss and reduce efficiency, greatly affected the quality and working environment of motor product, limit it applied to household electrical appliance Equal frequency conversions field.

In order to solve problem above, there has been proposed a variety of solutions, such as the Chinese patent of publication number CN1588757A Application discloses a kind of rotor of low harmony wave permanent magnet synchronous motor, and the patent application is mainly to optimize motor gas-gap Distribution of Magnetic Field Sine degree improves current harmonics component caused by distorted magnetic field, but it is unable to improve since inverter nonlinear characteristic causes Current harmonics component.And the Chinese patent application of publication number CN102201770A discloses a kind of harmonic voltage and inhibits forever The control method of magnetic-synchro motor harmonic current, the method which is proposed are mainly used to improve in electric current 5 times and 7 times Current harmonics component, but this method needs to carry out multiple coordinate transform, program calculation amount is very big, and structure is complicated, no Conducive to the execution of dsp processor.

Therefore, it is necessary to simpler and accurate noise control methods, to improve the working efficiency of motor.

Summary of the invention

The first object of the present invention is to provide a kind of motor noise-reducing that simple, accurate noise reduction can be carried out to motor driven voltage Method.

The second object of the present invention is to provide a kind of computer dress that simple, accurate noise reduction can be carried out to motor driven voltage It sets.

The third object of the present invention is to provide a kind of computer that simple, accurate noise reduction can be carried out to motor driven voltage can Read storage medium.

In order to realize that above-mentioned first purpose, motor noise-reducing method provided by the invention include: the three-phase for obtaining motor stator Sample rate current；Vector controlled is carried out to three-phase sample rate current, obtains three-phase premodulated voltage；Harmonic wave is carried out to three-phase sample rate current Current draw carries out harmonic voltage compensation control to harmonic current, obtains harmonic compensation voltage；Using harmonic compensation voltage to pre- Modulation three-phase premodulated voltage compensates, and obtains three-phase modulations voltage；According to three-phase modulations voltage driving motor.

By above scheme as it can be seen that motor noise-reducing method of the invention using the three-phase sample rate current of motor stator by being obtained Three-phase premodulated voltage, and harmonic voltage compensation control is carried out to the harmonic current of three-phase sample rate current and obtains harmonic compensation electricity Pressure reduces the harmonic content in three-phase premodulated voltage to compensate using harmonic compensation voltage to three-phase premodulated voltage, To achieve the purpose that reduce motor driven voltage noise.Motor noise-reducing method of the invention is relatively easy, shortens DSP control The execution time of device, improve response speed.

In further embodiment, to three-phase sample rate current carry out vector controlled, obtain three-phase premodulated voltage the step of wrap It includes: carrying out Parker transform again after carrying out Clarke transform to three-phase sample rate current, obtain D shaft current component and Q shaft current component； Proportional integration adjusting is carried out to D shaft current component and Q shaft current component, obtains D shaft voltage component and Q shaft voltage component；To D axis Component of voltage and Q shaft voltage component carry out anti-Clarke transform after carrying out anti-Parker transform again, obtain three-phase premodulated voltage.

It can be seen that the driving voltage of acquisition driving motor in order to be more accurate, it need to be to the progress gram of three-phase sample rate current Clarke transformation and Parker transform, and proportional integration adjusting is carried out to D shaft current component and Q shaft current component, then to D shaft voltage point Amount and Q shaft voltage component carry out anti-Parker transform and anti-Clarke transform, so that three-phase premodulated voltage is obtained, so that three-phase is pre- Modulation voltage automatically adjusts with three-phase sample rate current, to improve the precision of the driving voltage of motor.

In further embodiment, proportional integration adjusting is carried out to D shaft current component and Q shaft current component, obtains D shaft voltage The step of component and Q shaft voltage component includes: to obtain D shaft current component corresponding first to adjust threshold value and Q shaft current component Corresponding second adjusts threshold value；Threshold value is adjusted according to first, proportional integration adjusting is carried out to D shaft current component, obtain D shaft voltage Component；Threshold value is adjusted according to second, proportional integration adjusting is carried out to Q shaft current component, obtain Q shaft voltage component.

It can be seen that when carrying out proportional integration adjusting to D shaft current component and Q shaft current component, it need to be according to corresponding tune It saves threshold value and carries out proportional integration adjusting, so that the adjusting threshold value that D shaft current component and Q shaft current component can be as needed is adjusted Section, improves the accuracy of control.

In further embodiment, obtains the corresponding first adjusting threshold value of D shaft current component and Q shaft current component is corresponding The step of second adjusting threshold value includes: to obtain motor speed and rotational speed regulation threshold value；Motor is turned according to rotational speed regulation threshold value Speed carries out proportional integration adjusting, obtains Q shaft current component corresponding second and adjusts threshold value.

It can be seen that adjusting by the two close cycles proportional integration of der Geschwindigkeitkreis and electric current loop, the accurate of modulation voltage can be improved Degree.

In further embodiment, the step of harmonic current extraction is carried out to three-phase sample rate current further include: utilize pre- trapping Wave device is filtered three-phase sample rate current, is accumulated using default Second Order Generalized Integrator to filtered three-phase sample rate current Partite transport is calculated, and harmonic current is obtained.

In further embodiment, the transmission function of trapper is preset are as follows: Wherein, k is proportional gain, and ω is the corresponding cutoff frequency in harmonic wave place, and s is Laplace operator, v₁It (s) is default trapper Output signal, v_i1It (s) is the input signal of default trapper.

In further embodiment, the transmission function of Second Order Generalized Integrator is preset are as follows: Wherein, k is proportional gain, and ω is the corresponding cutoff frequency in fundamental wave place, and s is Laplace operator, v₂(s) wide for default second order The output signal of adopted integrator, v_i2It (s) is the input signal of default Second Order Generalized Integrator.

It can be seen that humorous by the electric current that the trapper and bandpass filter of Second Order Generalized Integrator building carry out cascade construction Wave, which extracts link, can simply, accurately extract corresponding harmonic current.

In further embodiment, carrying out the step of harmonic voltage compensation controls to harmonic current includes: to utilize preset ratio Resonant controller carries out harmonic voltage compensation control to harmonic current.

In further embodiment, the transmission function of preset ratio resonant controller are as follows: Wherein, k_pFor proportional gain, k_iFor the resonance gain at harmonic wave, ω_cFor the resonance frequency at harmonic wave, ω at harmonic wave by corresponding to Cutoff frequency, s is Laplace operator.

It can be seen that using preset ratio resonant controller can preferably realize zero error track, thus preferably into Row harmonic current compensation.

In further embodiment, harmonic compensation voltage is obtained by following formula: Wherein,For the corresponding predetermined current threshold of harmonic current,For harmonic current.

It can be seen that by above-mentioned formula, the harmonic compensation voltage of acquisition is more accurate.

In further embodiment, three-phase modulations voltage is obtained by following formula:Wherein, u_as、 u_bsAnd u_csFor three-phase premodulated voltage,WithFor harmonic compensation voltage.

It can be seen that by above-mentioned formula, the three-phase modulations voltage of acquisition is more accurate.

In order to realize the second object of the present invention, it includes processor and memory that the present invention, which provides computer installation, is deposited The step of reservoir is stored with computer program, and above-mentioned motor noise-reducing method is realized when computer program is executed by processor.

In order to realize the third object of the present invention, computer readable storage medium provided by the invention is stored thereon with meter Calculation machine program, the step of above-mentioned motor noise-reducing method is realized when computer program is executed by a controller.

Detailed description of the invention

Fig. 1 is the schematic block diagram using the circuit for controlling motor of motor noise-reducing method of the present invention.

Fig. 2 is the flow chart of motor noise-reducing embodiment of the method for the present invention.

Fig. 3 is the control block diagram of motor noise-reducing in motor noise-reducing embodiment of the method for the present invention.

Fig. 4 is the control block diagram that harmonic current extraction is carried out in motor noise-reducing embodiment of the method for the present invention.

Fig. 5 is the control block diagram that Second Order Generalized Integrator is preset in motor noise-reducing embodiment of the method for the present invention.

Fig. 6 is the control block diagram of the trapper based on SOGI building in motor noise-reducing embodiment of the method for the present invention.

Fig. 7 is the control block diagram of preset ratio resonant controller in motor noise-reducing embodiment of the method for the present invention.

The invention will be further described with reference to the accompanying drawings and embodiments.

Specific embodiment

Motor noise-reducing method of the invention is the application program applied in circuit for controlling motor, is driven for realizing to motor Dynamic noise reduction.Preferably, as shown in Figure 1, circuit for controlling motor include governor circuit 1, driving circuit 2, inverter circuit 3, motor 4 with And sample circuit 5, governor circuit 1 is for handling various logic control and operation, and driving circuit 2 is for driving and protecting inversion electric The normal work of switching tube in road 3, inverter circuit 3 are full bridge inverter, for turning on and off output by switching tube The alternating current of frequency conversion removes driving motor 4, and sample circuit 5 is made of operational amplifier circuit and voltage follower, three for motor stator Phase current is sampled, and governor circuit 1, driving circuit 2, inverter circuit 3, motor 4 and sample circuit 5 are all made of existing known Circuit, details are not described herein.

Motor noise-reducing method of the invention is the application program applied in governor circuit 1, is dropped for realizing to motor driven It makes an uproar.The present invention also provides a kind of computer installation, which includes controller, and controller is deposited for executing in memory The step of above-mentioned motor noise-reducing method is realized when the computer program of storage.The present invention also provides a kind of computer-readable storage mediums The step of matter, is stored thereon with computer program, and above-mentioned motor noise-reducing method is realized when computer program is executed by a controller.

Motor noise-reducing embodiment of the method:

Motor noise-reducing method of the invention is the application program applied in governor circuit 1, is dropped for realizing to motor driven It makes an uproar.

Referring to fig. 2, step S1 is first carried out when to motor driven noise reduction in motor noise-reducing method of the invention, obtains electricity The three-phase sample rate current of machine stator.For the ease of carrying out driving voltage control to motor, the three-phase for needing to obtain motor stator is adopted Sample electric current can obtain the adjusting for carrying out driving voltage, so that the control of motor is more accurate by three-phase sample rate current.This implementation In example, the three-phase sample rate current of motor stator is obtained by sample circuit 5.

After the three-phase sample rate current for obtaining motor stator, step S2 is executed, vector controlled is carried out to three-phase sample rate current, is obtained Obtain three-phase premodulated voltage.By carrying out vector controlled to three-phase sample rate current to obtain three-phase premodulated voltage, can have The performance of good control motor.

In the present embodiment, to three-phase sample rate current carry out vector controlled, obtain three-phase premodulated voltage the step of include: pair Three-phase sample rate current carries out Parker transform (Park after carrying out Clarke transform (Clark Transformation) again Transformation), D shaft current component and Q shaft current component are obtained；D shaft current component and Q shaft current component are compared Example integral adjustment, obtains D shaft voltage component and Q shaft voltage component；Anti- Parker is carried out to D shaft voltage component and Q shaft voltage component Anti- Clarke transform is carried out after transformation again, obtains three-phase premodulated voltage.

Referring to Fig. 3, the three-phase sample rate current got is i_a、i_b、i_c, Clarke transform is carried out to three-phase sample rate current, gram Clarke transformation for mula are as follows:Then Parker transform, Parker transform formula are carried out are as follows:To obtain D shaft current component i_dWith Q shaft current component i_q, electricity is sampled to three-phase Stream carries out Clarke transform and Parker transform technology known to those skilled in the art, and details are not described herein.

Obtain D shaft current component i_dWith Q shaft current component i_qAfterwards, to D shaft current component i_dWith Q shaft current component i_qIt carries out Proportional integration adjusts (i.e. PI adjusting), obtains D shaft voltage component u_dsWith Q shaft voltage component u_qs.In the present embodiment, to D shaft current Component i_dWith Q shaft current component i_qProportional integration adjusting is carried out, D shaft voltage component u is obtained_dsWith Q shaft voltage component u_qsThe step of It include: to obtain D shaft current component i_dCorresponding first adjusts threshold valueAnd Q shaft current component i_qCorresponding second adjusts threshold valueThreshold value is adjusted according to firstTo D shaft current component i_dProportional integration adjusting is carried out, D shaft voltage component u is obtained_ds；According to Two adjust threshold valueTo Q shaft current component i_qProportional integration adjusting is carried out, Q shaft voltage component u is obtained_qs.According to threshold value and input Value carries out proportional integration and is adjusted to technology known in those skilled in the art, and details are not described herein.

Wherein, D shaft current component i is obtained_dCorresponding first adjusts threshold valueAnd Q shaft current component i_qCorresponding second Adjust threshold valueThe step of include: obtain motor speed ω₀And rotational speed regulation threshold valueAccording to rotational speed regulation threshold valueIt is right Motor speed ω₀Proportional integration adjusting is carried out, Q shaft current component corresponding second is obtained and adjusts threshold value.In the present embodiment, by One adjusts threshold valueIt is set as 0.

Threshold value is adjusted according to firstTo D shaft current component i_dIt carries out proportional integration and adjusts acquisition D shaft voltage component u_d, root Threshold value is adjusted according to secondTo Q shaft current component i_qIt carries out proportional integration and adjusts acquisition Q shaft voltage component u_q, then, to D axis electricity Press component u_dWith Q shaft voltage component u_qCarry out anti-Parker transform, the formula of anti-Parker transform are as follows: Then anti-Clarke transform, the formula of anti-Clarke transform are carried out are as follows:To obtain Three-phase premodulated voltage u_as、u_bsAnd u_cs。

After obtaining three-phase premodulated voltage, step S3 is executed, harmonic current extraction is carried out to three-phase sample rate current, to humorous Wave electric current carries out harmonic voltage compensation control, obtains harmonic compensation voltage.In the present embodiment, harmonic wave is carried out to three-phase sample rate current The step of current draw further include: three-phase sample rate current is filtered using default trapper, utilizes default second order Generalized Product Divide device to carry out integral operation to filtered three-phase sample rate current, obtains harmonic current.

Referring to fig. 4, due in motor stator electric current fundamental wave content it is big relative to harmonic content, so in order to be more accurate Extract harmonic current, using default Second Order Generalized Integrator (second order generalized integrator, SOGI the extraction of harmonic current) and by the trapper cascade of SOGI building is carried out.The control of trapper based on SOGI building Block diagram is as shown in figure 5, preset the transmission function of trapper are as follows:Wherein, k is Proportional gain, ω are the corresponding cutoff frequency in harmonic wave place, and s is Laplace operator, v₁It (s) is the output letter of default trapper Number, v_i1It (s) is the input signal of default trapper.SOGI is to be cascaded by depression of order Generalized Integrator to realize, is preset The control block diagram of Second Order Generalized Integrator is as shown in fig. 6, preset the transmission function of Second Order Generalized Integrator are as follows:Wherein, k is proportional gain, and ω is the corresponding cutoff frequency in fundamental wave place, s For Laplace operator, v₂It (s) is the output signal of default Second Order Generalized Integrator, v_i2It (s) is default Second Order Generalized Integrator Input signal.The transmission function of trapper is preset by simultaneous and the transmission function of default Second Order Generalized Integrator adopts three-phase Sample electric current is i_a、i_b、i_cOperation is carried out, can get harmonic currentWithSecond Order Generalized Integrator can be to specific frequency The AC signal of rate carries out integral operation, so that input signal will have infinitely great gain at specific frequency, can guarantee Floating between output signal and input signal.It should be noted that those skilled in the art should know preset trapper and pre- If Second Order Generalized Integrator is software module.

After obtaining harmonic current, harmonic voltage compensation control is carried out to harmonic current, obtains harmonic compensation voltage.Wherein, The step of carrying out harmonic voltage compensation control to harmonic current includes: to be carried out using preset ratio resonant controller to harmonic current Harmonic voltage compensation control.

In the present embodiment, in order to guarantee to compensate to the voltage at harmonic wave, need to allow output harmonic wave at harmonic wave electricity StreamWithTrack to no steady-state error the corresponding predetermined current threshold of given harmonic currentWithIn advance Constant current threshold valueWithIt is disposed as 0, preferably harmonic current could be inhibited in this way.In the present embodiment The control block diagram of the ratio resonant controller (i.e. PR controller) of use as shown in fig. 7, ratio resonant controller transmission function Are as follows:Wherein, k_pFor proportional gain, k_iFor the resonance gain at harmonic wave, ω_cIt is humorous Resonance frequency at wave, ω are the corresponding cutoff frequency in harmonic wave place, and s is Laplace operator.Therefore, harmonic compensation voltage by Following formula obtains:Wherein,It is corresponding for harmonic current Predetermined current threshold,For harmonic current.It should be noted that those skilled in the art should know ratios Resonant controller is software module.

After obtaining harmonic compensation voltage, step S4 is executed, using harmonic compensation voltage to premodulated three-phase premodulated electricity Pressure compensates, and obtains three-phase modulations voltage.In the present embodiment, three-phase modulations voltage is obtained by following formula:Wherein, u_as、u_bsAnd u_csFor three-phase premodulated voltage,WithFor harmonic compensation voltage.

After obtaining three-phase modulations voltage, step S5 is executed, according to three-phase modulations voltage driving motor.By to harmonic current Three-phase modulations voltage after being inhibited can reduce the noise of driving motor voltage, to improve the control performance to motor.

Computer installation embodiment:

The computer installation of the present embodiment includes controller, and controller realizes above-mentioned motor noise-reducing when executing computer program Step in embodiment of the method.

For example, computer program can be divided into one or more modules, one or more module, which is stored in, is deposited It in reservoir, and is executed by controller, to complete the present invention.One or more modules can be the system that can complete specific function Column count machine program instruction section, the instruction segment is for describing implementation procedure of the computer program in computer installation.

Computer installation may include, but be not limited only to, controller, memory.It will be understood by those skilled in the art that calculating Machine device may include more or fewer components, perhaps combine certain components or different components, such as computer installation It can also include input-output equipment, network access equipment, bus etc..

For example, controller can be central processing unit (Central Processing Unit, CPU), it can also be His general purpose controller, digital signal controller (Digital Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic, Discrete hardware components etc..General purpose controller can be microcontroller or the controller is also possible to any conventional controller Deng.Controller is the control centre of computer installation, utilizes each portion of various interfaces and the entire computer installation of connection Point.

Memory can be used for storing computer program and/or module, and controller is stored in memory by operation or execution Interior computer program and/or module, and the data being stored in memory are called, realize the various function of computer installation Energy.For example, memory can mainly include storing program area and storage data area, wherein storing program area can storage program area, Application program needed at least one function (such as sound receive capabilities, sound are converted into literal function etc.) etc.；Storing data Area, which can be stored, uses created data (such as audio data, text data etc.) etc. according to mobile phone.In addition, memory can be with It can also include nonvolatile memory, such as hard disk, memory, plug-in type hard disk, intelligence including high-speed random access memory Storage card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card), at least one disk memory, flush memory device or other volatile solid-state parts.

Computer readable storage medium embodiment:

If the integrated module of the computer installation of above-described embodiment is realized in the form of SFU software functional unit and as only Vertical product when selling or using, can store in a computer readable storage medium.Based on this understanding, in realization State all or part of the process in motor noise-reducing embodiment of the method, can also be instructed by computer program relevant hardware come It completes, computer program can be stored in a computer readable storage medium, which, can when being executed by a controller The step of realizing above-mentioned motor noise-reducing embodiment of the method.Wherein, computer program includes computer program code, computer program Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Storage medium can wrap It includes: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, meter of computer program code can be carried Calculation machine memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that computer-readable medium includes Content can be according to making laws in jurisdiction and the requirement of patent practice carries out increase and decrease appropriate, such as in certain judicial pipes Area under one's jurisdiction does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium.

It can be seen from the above, motor noise-reducing method of the invention is by obtaining three-phase using the three-phase sample rate current of motor stator Premodulated voltage, and harmonic voltage compensation control is carried out to the harmonic current of three-phase sample rate current and obtains harmonic compensation voltage, from And three-phase premodulated voltage is compensated using harmonic compensation voltage, the harmonic content in three-phase premodulated voltage is reduced, thus Achieve the purpose that reduce motor driven voltage noise.Motor noise-reducing method of the invention is relatively easy, shortens dsp controller The time is executed, response speed is improved.Using motor noise-reducing method of the invention, not only hardware circuit is simple, but also adjusts ginseng Number is few, does not also need to carry out complicated changes in coordinates in Harmonic currents detection link, directly using by Second Order Generalized Integrator structure The trapper and Second Order Generalized Integrator built carry out the harmonic current extraction module of cascade building, extract in threephase stator electric current Harmonic current, and the ratio resonant controller in compensation tache can preferably realize zero error track, simplify harmonic wave The program of current draw, while realizing that zero error tracks.

It should be noted that the above is only a preferred embodiment of the present invention, but the design concept invented is not limited thereto, All insubstantial modifications made using this design to the present invention, are also fallen within the scope of protection of the present invention.