Motor control method, motor control device, motor control system, and storage medium

文档序号：1849377 发布日期：2021-11-16 浏览：7次中文

阅读说明：本技术 电机的控制方法、电机的控制装置、控制系统和存储介质 (Motor control method, motor control device, motor control system, and storage medium ) 是由王彤王志宇于 2021-07-28 设计创作，主要内容包括：本发明提出了一种电机的控制方法、电机的控制装置、控制系统和存储介质,控制方法包括：获取初始电压幅值和初始周期；向电机注入初始电压幅值和初始周期对应的初始电压信号,并获取初始电压信号在电机中产生的响应电流幅值；判断响应电流幅值是否大于电流阈值；若是,将初始电压幅值和初始周期作为电机的注入参数；若否,调节初始电压幅值和/或初始周期,直至响应电流幅值大于电流阈值,并将调节后的电压幅值和/或调节后的周期作为电机的注入参数。通过上述方法,可以使注入信号的幅值以及频率与对应的电机相适配,进而在控制电机运行高频注入算法时,能够提升电机在低速状态下的带载能力和稳定性。(The invention provides a control method of a motor, a control device of the motor, a control system and a storage medium, wherein the control method comprises the following steps: acquiring an initial voltage amplitude and an initial period; injecting an initial voltage amplitude and an initial voltage signal corresponding to an initial period into the motor, and acquiring a response current amplitude generated by the initial voltage signal in the motor; judging whether the response current amplitude is larger than a current threshold value or not; if so, taking the initial voltage amplitude and the initial period as injection parameters of the motor; if not, adjusting the initial voltage amplitude and/or the initial period until the response current amplitude is larger than the current threshold, and taking the adjusted voltage amplitude and/or the adjusted period as the injection parameters of the motor. By the method, the amplitude and the frequency of the injection signal can be matched with the corresponding motor, and the load capacity and the stability of the motor in a low-speed state can be improved when the motor is controlled to operate a high-frequency injection algorithm.)

1. A control method of a motor, characterized by comprising:

acquiring an initial voltage amplitude and an initial period;

injecting the initial voltage amplitude and an initial voltage signal corresponding to the initial period into the motor, and acquiring a response current amplitude generated in the motor by the initial voltage signal;

judging whether the response current amplitude is larger than a current threshold value;

if so, taking the initial voltage amplitude and the initial period as injection parameters of the motor;

if not, adjusting the initial voltage amplitude and/or the initial period until the response current amplitude is larger than the current threshold, and taking the adjusted voltage amplitude and/or the adjusted period as the injection parameters of the motor.

2. The method according to claim 1, wherein the obtaining of the initial voltage amplitude and the initial period specifically comprises:

acquiring rated voltage and control period of the motor;

determining an initial voltage amplitude of the injection voltage signal according to the rated voltage; and

setting the half period of the injection voltage signal as a preset multiple of control period, wherein the initial period is the minimum value of the preset multiple.

3. The method according to claim 2, wherein the adjusting the initial voltage magnitude and/or the initial period until the response current magnitude is greater than the current threshold comprises:

sequentially increasing the initial voltage amplitude according to a preset amount, and injecting a voltage signal corresponding to the increased voltage amplitude into the motor each time;

acquiring the response current amplitude generated in the motor by the voltage signal each time;

when the increased voltage amplitude is larger than a voltage threshold value and the response current amplitude is smaller than the current threshold value, increasing the value of the preset multiple;

and sequentially increasing the initial voltage amplitude according to the preset amount until the response current amplitude is larger than the current threshold.

4. The method according to claim 3, wherein the sequentially increasing the initial voltage amplitude according to a preset amount and injecting a voltage signal corresponding to the voltage amplitude after each increase into the motor specifically comprises:

and injecting a voltage signal corresponding to the increased voltage amplitude into the motor according to a first preset period each time.

5. The control method of the motor according to claim 2, characterized by further comprising:

and if the adjusted voltage amplitude is greater than a voltage threshold and the adjusted period is greater than a period threshold, and the response current amplitude is smaller than the current threshold, taking the voltage threshold and the period threshold as injection parameters of the motor.

6. The method according to claim 5, wherein the using the voltage threshold and the cycle threshold as injection parameters of the motor specifically includes:

judging whether the preset multiple is larger than

If so, taking the voltage threshold and b/2 as injection parameters of the motor;

if not, taking the voltage threshold and the period threshold as injection parameters of the motor;

wherein b is the period threshold, and T is the control period.

7. The method according to any one of claims 1 to 6, wherein the injecting a voltage signal corresponding to the initial voltage amplitude and the initial period into the motor specifically includes:

and injecting a voltage signal corresponding to the initial voltage amplitude and the initial period into the motor according to a second preset period.

8. The control method of an electric motor according to any one of claims 2 to 6,

the rated voltage is U1, the rated current of the motor is I1, the d-axis inductance of the motor is L, and the rated resistance of the motor is R;

the voltage threshold is 80% U1; and/or

The initial voltage amplitude is 10% U1; and/or

The predetermined amount is 5% U1; and/or

The current threshold is 10% I1; and/or

The period threshold is 20% L/R; and/or

The preset multiple is a positive integer greater than 0.

9. A control device for an electric motor, comprising a memory storing a computer program, and a processor executing the computer program to perform the control method for an electric motor according to any one of claims 1 to 8.

10. A control device of a motor, characterized by comprising:

the first acquisition unit is used for acquiring an initial voltage amplitude and an initial period;

the second acquisition unit is used for injecting an initial voltage amplitude and an initial voltage signal corresponding to the initial period into the motor and acquiring a response current amplitude generated in the motor by the initial voltage signal;

the judging unit is used for judging whether the response current amplitude is larger than a current threshold value or not;

the determining unit is used for taking the initial voltage amplitude and the initial period as injection parameters of the motor when the response current amplitude is judged to be larger than the current threshold;

the adjusting unit is used for adjusting the initial voltage amplitude and/or the initial period when the response current amplitude is judged to be smaller than or equal to the current threshold value until the response current amplitude is larger than the current threshold value;

the determining unit is further configured to use the adjusted voltage amplitude and/or the adjusted period as an injection parameter of the motor.

11. The control device of the motor according to claim 10, wherein the first acquisition unit includes:

the first acquisition module is used for acquiring the rated voltage and the control period of the motor;

the determining module is used for determining the initial voltage amplitude of the injection voltage signal according to the rated voltage; and setting a half period of the injection voltage signal as a control period of a preset multiple, wherein the initial period is a minimum value of the preset multiple.

12. The control device of the motor according to claim 10, wherein the adjusting unit includes:

the first adjusting module is used for sequentially increasing the initial voltage amplitude according to a preset amount and injecting a voltage signal corresponding to the increased voltage amplitude into the motor;

the second acquisition module is used for acquiring the response current amplitude generated in the motor by the voltage signal each time;

the judging module is used for judging whether the response current amplitude is larger than the current threshold value or not when the increased voltage amplitude is larger than the voltage threshold value;

the second adjusting module is used for increasing the value of the preset multiple when the judging module judges that the response current amplitude is smaller than the current threshold;

the first adjusting module is further configured to sequentially increase the initial voltage amplitude by the preset amount after increasing the value of the preset multiple until the response current amplitude is greater than the current threshold.

13. A control system comprising a control device of an electric machine according to any one of claims 9 to 12.

14. The control system of claim 13, further comprising:

the motor is connected with the control device of the motor, and the control device of the motor is used for controlling the motor.

15. A readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of controlling an electric machine according to any one of claims 1 to 8.

Technical Field

The invention relates to the technical field of motor equipment, in particular to a motor control method, a motor control device, a control system and a readable storage medium.

Background

At present, a high-frequency injection algorithm is an injection-based built-in permanent magnet motor position sensorless algorithm, and the high-frequency injection algorithm mainly has the function of improving the load carrying capacity and stability of a built-in permanent magnet motor controlled by a position sensorless motor in a low-speed state.

However, for different interior permanent magnet synchronous motors, if the amplitude and frequency of the injection signal are not adapted to the corresponding motor, the control performance of the high-frequency injection algorithm is affected.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, a first aspect of the present invention proposes a method for controlling an electric machine.

A second aspect of the present invention is to provide a control apparatus of an electric motor.

A third aspect of the present invention is to provide a control apparatus of an electric motor.

A fourth aspect of the present invention is to provide a control system.

A fifth aspect of the invention is directed to a readable storage medium.

In view of this, according to a first aspect of the present invention, there is provided a control method of a motor, the control method including: acquiring an initial voltage amplitude and an initial period; injecting an initial voltage amplitude and an initial voltage signal corresponding to an initial period into the motor, and acquiring a response current amplitude generated by the initial voltage signal in the motor; judging whether the response current amplitude is larger than a current threshold value or not; if so, taking the initial voltage amplitude and the initial period as injection parameters of the motor; if not, adjusting the initial voltage amplitude and/or the initial period until the response current amplitude is larger than the current threshold, and taking the adjusted voltage amplitude and/or the adjusted period as the injection parameters of the motor.

The control method of the motor provided by the invention obtains the initial voltage amplitude and the initial period of the injection signal, and controls the injection of the voltage signal corresponding to the initial voltage amplitude and the initial period into the motor. The injected voltage signal can generate a response current in the motor, and the magnitude of the response current is obtained.

And comparing the amplitude of the response current with a current threshold, and if the amplitude of the response current is greater than the current threshold, taking the initial voltage amplitude and the initial period as high-frequency injection parameters of the motor.

It is understood that the reciprocal of the period is the frequency, that is, the initial voltage amplitude and the initial frequency corresponding to the initial period are used as the high frequency injection parameters of the motor.

If the amplitude of the response current is smaller than or equal to the current threshold, the initial voltage amplitude is adjusted, or the initial period is adjusted, or the initial voltage amplitude and the initial period are adjusted together. The specific setting can be carried out according to actual needs.

And until the amplitude of the response current generated in the motor by the adjusted voltage signal is larger than the current threshold value, taking the adjusted voltage amplitude and/or the adjusted period as the high-frequency injection parameter of the motor.

By the method, the amplitude and the frequency of the injection signal can be matched with the corresponding motor, and the load capacity and the stability of the motor in a low-speed state can be improved when the motor is controlled to operate a high-frequency injection algorithm.

In a specific application, when the amplitude of the injected initial voltage and the amplitude of the voltage signal corresponding to the initial period and the amplitude of the response current generated in the motor are smaller than or equal to the current threshold, the initial voltage amplitude and the initial period are adjusted. In particular, the voltage amplitude as well as the period of the injection voltage signal may be scanned.

For example, the initial voltage amplitude is increased to a first voltage amplitude by a preset amount, the initial period is kept unchanged, the first voltage amplitude and a voltage signal corresponding to the initial period are injected into the motor, and the amplitude of a response current generated in the motor by the voltage signal is compared with a current threshold. And if the amplitude of the generated response current is still smaller than or equal to the current threshold, continuously increasing the first voltage amplitude according to a preset amount, and continuously keeping the initial period unchanged.

When the increased voltage amplitude is larger than the voltage threshold, the amplitude of the response current generated in the motor by the corresponding voltage signal is still smaller than or equal to the current threshold, and the initial period is increased, namely the frequency of the injected voltage signal is reduced. Specifically, the half period of the injection signal may be an integer multiple of the control period, and the half period of the injection signal may be 1 time of the control period. That is, the initial period is 2 times the control period. The initial period may be increased by a half period of the signal to be injected being 2 times the control period.

Further, after the initial period is increased, injecting the initial voltage amplitude and the voltage signal corresponding to the increased period into the motor, and obtaining the amplitude of the response current generated by the voltage signal in the motor, if the amplitude of the response current is less than or equal to the current threshold, increasing the initial voltage amplitude by a preset amount, that is, repeating the scanning process. And taking the voltage amplitude and the period corresponding to the regulated voltage signal as high-frequency injection parameters of the motor until the amplitude of the response current generated in the motor by the regulated voltage signal is greater than a current threshold value.

Further, if the adjusted voltage amplitude is greater than the voltage threshold, the adjusted period is greater than the period threshold, and the amplitude of the response current generated by the corresponding voltage signal in the motor is still less than the current threshold. The voltage threshold and the period threshold are used as high frequency injection parameters of the motor.

The rated voltage of the motor is U1, and the rated current is I1. The initial voltage magnitude may be 10% U1. The current threshold may be 10% I1. The voltage threshold is 80% U1. The period threshold value is 20% L/R, wherein L is d-axis inductance, and R is the internal resistance of the motor stator. The specific setting can be carried out according to actual needs.

In addition, according to the control method of the motor in the above technical solution provided by the present invention, the following additional technical features may be further provided:

in the above technical solution, further, obtaining the initial voltage amplitude and the initial period specifically includes: acquiring rated voltage and a control period of the motor; determining an initial voltage amplitude of the injection voltage signal according to the rated voltage; and setting the half period of the injection voltage signal as a preset multiple of control period, wherein the initial period is the minimum value of the preset multiple.

In the technical scheme, specific steps for acquiring the initial voltage amplitude and the initial period are defined. Specifically, the rated voltage and the control period of the motor are obtained, and the initial voltage amplitude of the injected voltage signal is determined according to the rated voltage. For example, 10% of the rated voltage may be used as the initial voltage amplitude, and may be specifically set according to actual needs.

Further, the half period of the injected voltage signal is taken as a preset multiple of the control period, that is, the period of the injected signal is an even multiple of the preset multiple of the control period. The preset multiple value can be 1, 2, 3, 4, 5, etc. Specifically, the value can be taken according to actual needs.

The defined initial period may be a minimum of a preset multiple. Thus, the injected voltage signal can be adjusted in a scanning mode, namely, the voltage signal can be adjusted in a step-by-step and increment mode. And the problem that the response current generated by the motor is overlarge to influence the safety or the use performance of the motor can be prevented.

In the above technical solution, further adjusting the initial voltage amplitude and/or the initial period until the response current amplitude is greater than the current threshold specifically includes: sequentially increasing the initial voltage amplitude according to a preset amount, and injecting a voltage signal corresponding to the increased voltage amplitude into the motor; acquiring the response current amplitude generated in the motor by each voltage signal; when the increased voltage amplitude is larger than the voltage threshold and the response current amplitude is smaller than the current threshold, increasing the value of the preset multiple; and sequentially increasing the initial voltage amplitude according to a preset amount until the response current amplitude is larger than the current threshold.

In the technical scheme, specific steps for adjusting the amplitude and the period of the voltage are defined. Specifically, the initial voltage amplitude is sequentially increased by a preset amount. Specifically, the initial voltage amplitude is increased to a first voltage amplitude according to a preset amount, the initial period is kept unchanged, the first voltage amplitude and a voltage signal corresponding to the initial period are injected into the motor, and the amplitude of a response current generated in the motor by the voltage signal is compared with a current threshold. And if the amplitude of the generated response current is still smaller than or equal to the current threshold, continuously increasing the first voltage amplitude according to a preset amount, and continuously keeping the initial period unchanged.

In the above technical solution, further, the initial voltage amplitude is sequentially increased according to a preset amount, and a voltage signal corresponding to the voltage amplitude after each increase is injected into the motor, specifically including: and injecting a voltage signal corresponding to the increased voltage amplitude into the motor according to a first preset period each time.

In the technical scheme, after the voltage amplitude is limited to be increased every time, the injection voltage signal corresponding to the increased voltage amplitude is injected into the motor in a first preset period. That is, when the initial voltage amplitude and the preset amount are increased to the first voltage amplitude, the first voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor for the number of times corresponding to the first preset period. For example, the first preset period is 10, that is, the first voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor 10 times. And comparing the amplitude of the response current generated each time, preventing the amplitude of the response current caused by current fluctuation from being temporarily larger than a current threshold value, and ensuring that the set parameters are matched with the motor. And further, when the motor is controlled to operate a high-frequency injection algorithm, the loading capacity and the stability of the motor in a low-speed state can be improved.

In the above technical solution, further, the control method further includes: and if the regulated voltage amplitude is greater than the voltage threshold and the regulated period is greater than the period threshold, responding that the current amplitude is less than the current threshold, and taking the voltage threshold and the period threshold as injection parameters of the motor.

In the technical scheme, when the adjusted voltage amplitude is greater than the voltage threshold and the adjusted period is greater than the period threshold, that is, when the voltage amplitude and the period of the injection signal are scanned to the voltage threshold and the period threshold by a preset amount, the amplitude of the response current generated in the motor by the corresponding voltage signal is still less than the current threshold. The voltage threshold and the period threshold are used as high frequency injection parameters of the motor. Therefore, the amplitude and the frequency of the injection signal can be matched with the corresponding motor, and the loading capacity and the stability of the motor in a low-speed state can be improved when the motor is controlled to operate a high-frequency injection algorithm.

In the above technical solution, further, taking the voltage threshold and the period threshold as injection parameters of the motor specifically includes: judging whether the preset multiple is larger thanIf so, taking the voltage threshold and b/2 as injection parameters of the motor; if not, taking the voltage threshold and the period threshold as injection parameters of the motor; where b is a period threshold and T is a control period.

In the technical scheme, when the voltage amplitude and the period of the injection signal are scanned to the voltage threshold and the period threshold according to the preset amount and the amplitude of the response current generated by the corresponding voltage signal in the motor is still smaller than the current threshold, the preset multiple corresponding to the adjusted period and the preset multiple corresponding to the adjusted period are firstly limitedA comparison is made. Wherein b is a period threshold value, and T is a control period of the motor.

When the preset multiple is judged to be larger thanAnd taking the voltage threshold and b/2 as injection parameters of the motor. If the preset multiple is judged to be less than or equal toThe voltage threshold and the period threshold are taken as injection parameters of the motor. Thereby realizing the adjustment of the high-frequency injection parameters of the motor and preventing the motorThe generated response current is too large, and the safety or the use performance of the motor is influenced.

In the above technical solution, further, injecting a voltage signal corresponding to the initial voltage amplitude and the initial period into the motor specifically includes: and injecting a voltage signal corresponding to the initial voltage amplitude and the initial period into the motor according to a second preset period.

In the technical scheme, when the voltage signals corresponding to the initial voltage amplitude and the initial period are injected into the motor in a controlled manner, the voltage signals are injected into the motor in a second preset period. That is, the initial voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor for the number of times corresponding to the second preset period. For example, the second preset period is 10, that is, the initial voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor 10 times. And comparing the amplitude of the response current generated each time, preventing the amplitude of the response current caused by current fluctuation from being temporarily larger than a current threshold value, and ensuring that the set parameters are matched with the motor. And further, when the motor is controlled to operate a high-frequency injection algorithm, the loading capacity and the stability of the motor in a low-speed state can be improved.

It should be noted that the second preset period may be equal to or different from the first preset period, and may be specifically set according to actual needs.

In the above technical solution, further, the rated voltage is U1, the rated current of the motor is I1, the d-axis inductance of the motor is L, and the rated resistance of the motor is R; voltage threshold 80% U1; and/or an initial voltage amplitude of 10% U1; and/or a predetermined amount of 5% U1; and/or a current threshold of 10% I1; and/or a cycle threshold of 20% L/R; and/or the preset multiple is a positive integer greater than 0.

In the technical scheme, the rated voltage of the motor is U1, the rated current is I1, the d-axis inductance of the motor is L, and the rated resistance of the motor is R. A voltage threshold of 80% U1 is defined. The initial voltage amplitude was 10% U1. The preset amount was 5% U1. That is, the voltage amplitude is incremented by 5% U1 based on the initial voltage amplitude of 10% U1. The current threshold was 10% I1. The cycle threshold is 20% L/R. The predetermined multiple is a positive integer greater than 0, for example, 1, 2, 3, 4, 5, etc.

The parameters of the voltage signal injected by the motor are adjusted according to the parameters, so that the amplitude and the frequency of the injected signal can be matched with the corresponding motor, and the load capacity and the stability of the motor in a low-speed state can be improved when the motor is controlled to operate a high-frequency injection algorithm. And the threshold is respectively smaller than the rated voltage and the rated current of the motor, so that the problem that the response current generated by the motor is too large to influence the safety or the service performance of the motor can be solved while the high-frequency injection parameter of the motor is adjusted.

According to an embodiment of the second aspect of the present invention, a control device for an electric motor is provided, which includes a memory, and a processor, wherein the memory stores a computer program, and the processor implements a control method for the electric motor according to any one of the above methods when executing the computer program. Therefore, the motor control device has all the advantages of the motor control method.

According to an embodiment of the third aspect of the present invention, there is provided a control apparatus of a motor, including: the first acquisition unit is used for acquiring an initial voltage amplitude and an initial period; the second acquisition unit is used for injecting an initial voltage amplitude and an initial voltage signal corresponding to an initial period into the motor and acquiring a response current amplitude generated by the initial voltage signal in the motor; the judging unit is used for judging whether the response current amplitude is larger than a current threshold value or not; the determining unit is used for taking the initial voltage amplitude and the initial period as injection parameters of the motor when the response current amplitude is judged to be larger than the current threshold; the adjusting unit is used for adjusting the initial voltage amplitude and/or the initial period when the response current amplitude is judged to be smaller than or equal to the current threshold value until the response current amplitude is larger than the current threshold value; the determining unit is further configured to use the adjusted voltage amplitude and/or the adjusted period as an injection parameter of the motor.

The control device of the motor comprises a first acquisition unit, a second acquisition unit, a judgment unit, a determination unit and an adjustment unit, wherein the first acquisition unit is used for acquiring an initial voltage amplitude and an initial period of an injection signal and controlling injection of the initial voltage amplitude and the voltage signal corresponding to the initial period into the motor. The injected voltage signal is capable of generating a response current in the motor, and the second obtaining unit is used for obtaining the amplitude of the response current.

The judging unit is further used for comparing the amplitude of the response current with a current threshold, and if the amplitude of the response current is larger than the current threshold, the determining unit is used for taking the initial voltage amplitude and the initial period as high-frequency injection parameters of the motor.

If the amplitude of the response current is smaller than or equal to the current threshold, the adjusting unit is further used for adjusting the initial voltage amplitude, or adjusting the initial period, or adjusting the initial voltage amplitude and the initial period together. The specific setting can be carried out according to actual needs.

The determination unit is further configured to use the adjusted voltage amplitude, and/or the adjusted period as a high frequency injection parameter of the motor until the adjusted voltage signal generates a response current in the motor having an amplitude greater than a current threshold.

In addition, according to the control device of the motor in the above technical solution provided by the present invention, the following additional technical features may be further provided:

in the above technical solution, further, the first obtaining unit includes a first obtaining module and a determining module, where the first obtaining module is configured to obtain a rated voltage and a control period of the motor, and the determining module is configured to determine an initial voltage amplitude of the injection voltage signal according to the rated voltage; and setting the half period of the injection voltage signal as a preset multiple of control period, wherein the initial period is the minimum value of the preset multiple.

In the technical scheme, the first acquisition unit is limited to comprise a first acquisition module and a determination module. Specifically, the first obtaining module is used for obtaining the rated voltage and the control period of the motor, and the determining module is used for determining the initial voltage amplitude of the injected voltage signal according to the rated voltage. For example, 10% of the rated voltage may be used as the initial voltage amplitude, and may be specifically set according to actual needs.

In the above technical solution, further, the adjusting unit includes: the first adjusting module is used for sequentially increasing the initial voltage amplitude according to a preset amount and injecting a voltage signal corresponding to the increased voltage amplitude into the motor; the second acquisition module is used for acquiring the response current amplitude generated in the motor by the voltage signal each time; the judging module is used for judging whether the increased voltage amplitude is greater than the voltage threshold or not and responding to whether the current amplitude is greater than the current threshold or not; the second adjusting module is used for increasing the value of the preset multiple when the judging module judges that the response current amplitude is smaller than the current threshold; the first adjusting module is further used for sequentially increasing the initial voltage amplitude according to a preset amount after the value of the preset multiple is increased until the response current amplitude is larger than the current threshold.

In the technical scheme, the regulation unit is limited to comprise a first regulation module, a second acquisition module, a judgment module and a second regulation module. Specifically, the first adjusting module is configured to sequentially increment the initial voltage amplitude by a preset amount. Specifically, the initial voltage amplitude is increased to a first voltage amplitude according to a preset amount, the initial period is kept unchanged, the first voltage amplitude and a voltage signal corresponding to the initial period are injected into the motor, and the amplitude of a response current generated in the motor by the voltage signal is compared with a current threshold. And if the amplitude of the generated response current is still smaller than or equal to the current threshold, continuously increasing the first voltage amplitude according to a preset amount, and continuously keeping the initial period unchanged.

In the above technical solution, further, the first adjusting module is further configured to inject a voltage signal corresponding to the increased voltage amplitude to the motor according to a first preset period each time.

In the technical scheme, the first adjusting module is further configured to inject an injection voltage signal corresponding to the increased voltage amplitude into the motor in a first preset period after the voltage amplitude is increased each time. That is, when the initial voltage amplitude and the preset amount are increased to the first voltage amplitude, the first voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor for the number of times corresponding to the first preset period. For example, the first preset period is 10, that is, the first voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor 10 times. And comparing the amplitude of the response current generated each time, preventing the amplitude of the response current caused by current fluctuation from being temporarily larger than a current threshold value, and ensuring that the set parameters are matched with the motor. And further, when the motor is controlled to operate a high-frequency injection algorithm, the loading capacity and the stability of the motor in a low-speed state can be improved.

In the above technical solution, the determining unit is further configured to determine that the adjusted voltage amplitude is greater than the voltage threshold and the adjusted period is greater than the period threshold at the determining unit, and use the voltage threshold and the period threshold as injection parameters of the motor in response to the current amplitude being less than the current threshold.

In this technical solution, the determining unit is further configured to, when the adjusted voltage amplitude is greater than the voltage threshold and the adjusted period is greater than the period threshold, that is, when the voltage amplitude and the period of the injection signal are scanned by a preset amount to reach the voltage threshold and the period threshold, the amplitude of the response current generated in the motor by the corresponding voltage signal is still smaller than the current threshold. The voltage threshold and the period threshold are used as high frequency injection parameters of the motor. Therefore, the amplitude and the frequency of the injection signal can be matched with the corresponding motor, and the loading capacity and the stability of the motor in a low-speed state can be improved when the motor is controlled to operate a high-frequency injection algorithm.

In the above technical solution, the determining unit further includes: a judging subunit for judging whether the preset multiple is greater thanThe determining unit is further used for judging whether the preset multiple is larger than the preset multipleTaking the voltage threshold and b/2 as injection parameters of the motor; the determining unit is also used for judging that the preset multiple is less than or equal toTaking a voltage threshold and a period threshold as injection parameters of the motor; where b is a period threshold and T is a control period.

In the technical scheme, the determining unit is limited to comprise a judging subunit. Specifically, the determining subunit is configured to determine that, when the voltage amplitude and the period of the injection signal are scanned to the voltage threshold and the period threshold according to the preset amount, and the amplitude of the response current generated in the motor by the corresponding voltage signal is still smaller than the current threshold, the preset multiple and the preset period corresponding to the adjusted period are first adjustedA comparison is made. Wherein b is a period threshold value, and T is a control period of the motor.

When the preset multiple is judged to be larger thanAnd taking the voltage threshold and b/2 as injection parameters of the motor. If the preset multiple is judged to be less than or equal toThe voltage threshold and the period threshold are taken as injection parameters of the motor. Therefore, the problem that the safety or the use performance of the motor is influenced due to overlarge response current generated by the motor can be solved while the high-frequency injection parameters of the motor are adjusted.

In the above technical solution, further, the second obtaining unit includes an injection module, configured to inject a voltage signal corresponding to an initial voltage amplitude and an initial period to the motor according to a second preset period.

In this solution, it is defined that the second acquisition unit comprises an injection module. The injection module is used for injecting the voltage signals corresponding to the initial voltage amplitude and the initial period into the motor in a second preset period when the injection module controls the injection of the voltage signals corresponding to the initial voltage amplitude and the initial period into the motor. That is, the initial voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor for the number of times corresponding to the second preset period. For example, the second preset period is 10, that is, the initial voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor 10 times. And comparing the amplitude of the response current generated each time, preventing the amplitude of the response current caused by current fluctuation from being temporarily larger than a current threshold value, and ensuring that the set parameters are matched with the motor. And further, when the motor is controlled to operate a high-frequency injection algorithm, the loading capacity and the stability of the motor in a low-speed state can be improved.

It should be noted that the second preset period may be equal to or different from the first preset period, and may be specifically set according to actual needs.

According to a fourth aspect of the present invention, there is provided a control system including the control device of the motor as in the above-described embodiments. Therefore, the control system has all the advantages of the control device of the motor of the embodiment.

In addition, according to the control system in the above technical solution provided by the present invention, the following additional technical features may be further provided:

in the above technical solution, further, the control system further includes a motor, the motor is connected to a control device of the motor, and the control device of the motor is used for controlling the motor.

In this solution, the control system further comprises a motor. Specifically, the control device of the motor is connected with the motor for controlling the motor.

In a specific application, the control device of the motor may be a frequency converter.

According to a fifth aspect of the present invention, a readable storage medium is proposed, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the method of controlling an electric machine according to any one of the above. The readable storage medium thus has all the advantageous effects of the control method of the motor according to any one of the above.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows one of the flow diagrams of a control method of an electric machine according to an embodiment of the invention;

fig. 2 shows a second flow chart of a control method of the motor according to an embodiment of the invention;

fig. 3 shows a third schematic flow chart of a control method of the motor according to an embodiment of the invention;

FIG. 4 is a flow chart illustrating a fourth exemplary embodiment of a method for controlling a motor;

fig. 5 shows a fifth flowchart of a control method of the motor according to an embodiment of the invention;

fig. 6 shows a sixth flowchart of a control method of the motor according to an embodiment of the present invention;

fig. 7 shows a seventh flowchart of a control method of the motor according to an embodiment of the present invention;

fig. 8 shows an eighth schematic flow chart of a control method of the motor according to an embodiment of the present invention;

fig. 9 shows a ninth schematic flow chart of a control method of the motor according to an embodiment of the present invention;

fig. 10 shows ten of the flow diagrams of the control method of the motor according to one embodiment of the invention;

fig. 11 shows a schematic block diagram of a control apparatus of a motor according to an embodiment of the present invention.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

A control method of a motor, a control apparatus 1100 of a motor, a control system, and a storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 11.

Example one

As shown in fig. 1, according to an embodiment of a first aspect of the present invention, there is provided a control method of a motor, the control method including:

102, acquiring an initial voltage amplitude and an initial period;

step 104, injecting an initial voltage amplitude and an initial voltage signal corresponding to an initial period into the motor, and acquiring a response current amplitude generated by the initial voltage signal in the motor;

step 106, judging whether the response current amplitude is larger than a current threshold value, if so, entering step 108, and if not, entering step 110;

step 108, taking the initial voltage amplitude and the initial period as injection parameters of the motor;

and step 110, adjusting the initial voltage amplitude and/or the initial period until the response current amplitude is larger than the current threshold, and taking the adjusted voltage amplitude and/or the adjusted period as injection parameters of the motor.

When the voltage signal is injected into the motor, the voltage signal can be injected into the d axis. The specific setting can be carried out according to actual needs.

Example two

As shown in fig. 2, according to an embodiment of the present invention, step 102, acquiring an initial voltage amplitude and an initial period specifically includes:

step 202, obtaining rated voltage and control period of the motor;

step 204, determining an initial voltage amplitude of the injection voltage signal according to the rated voltage; and setting the half period of the injection voltage signal as a preset multiple of control period, wherein the initial period is the minimum value of the preset multiple.

In this embodiment, the specific steps of acquiring the initial voltage amplitude and the initial period are defined. Specifically, the rated voltage and the control period of the motor are obtained, and the initial voltage amplitude of the injected voltage signal is determined according to the rated voltage. For example, 10% of the rated voltage may be used as the initial voltage amplitude, and may be specifically set according to actual needs.

EXAMPLE III

As shown in fig. 3, according to an embodiment of the present invention, step 110, adjusting the initial voltage amplitude and/or the initial period until the response current amplitude is greater than the current threshold specifically includes:

step 302, sequentially increasing the initial voltage amplitude according to a preset amount, and injecting a voltage signal corresponding to the increased voltage amplitude into the motor each time;

step 304, acquiring the response current amplitude generated in the motor by the voltage signal each time;

step 306, when the increased voltage amplitude is larger than the voltage threshold and the response current amplitude is smaller than the current threshold, increasing the value of a preset multiple;

and 308, sequentially increasing the initial voltage amplitude according to a preset amount until the response current amplitude is larger than the current threshold.

In this embodiment, specific steps are defined to adjust the voltage amplitude and period. Specifically, the initial voltage amplitude is sequentially increased by a preset amount. Specifically, the initial voltage amplitude is increased to a first voltage amplitude according to a preset amount, the initial period is kept unchanged, the first voltage amplitude and a voltage signal corresponding to the initial period are injected into the motor, and the amplitude of a response current generated in the motor by the voltage signal is compared with a current threshold. And if the amplitude of the generated response current is still smaller than or equal to the current threshold, continuously increasing the first voltage amplitude according to a preset amount, and continuously keeping the initial period unchanged.

As shown in fig. 4, in a specific embodiment, the control method includes:

step 402, obtaining rated voltage and control period of a motor;

step 404, determining an initial voltage amplitude of the injection voltage signal according to the rated voltage; setting the half period of the injection voltage signal as a control period of a preset multiple, wherein the initial period is the minimum value of the preset multiple;

step 406, injecting an initial voltage amplitude and an initial voltage signal corresponding to the initial period into the motor, and obtaining a response current amplitude generated by the initial voltage signal in the motor;

step 408, judging whether the response current amplitude is larger than the current threshold, if so, entering step 410, and if not, entering step 412;

step 410, taking the initial voltage amplitude and the initial period as injection parameters of the motor;

step 412, sequentially increasing the initial voltage amplitude according to a preset amount, and injecting a voltage signal corresponding to the increased voltage amplitude into the motor each time;

step 414, obtaining the response current amplitude generated in the motor by the voltage signal each time;

step 416, when the increased voltage amplitude is greater than the voltage threshold and the response current amplitude is smaller than the current threshold, increasing the value of the preset multiple;

step 418, sequentially increasing the initial voltage amplitude according to a preset amount until the response current amplitude is larger than the current threshold;

and step 420, taking the adjusted voltage amplitude and/or the adjusted period as injection parameters of the motor.

In the embodiment, the initial voltage amplitude and the initial period of the injection signal are obtained, and the injection to the motor is controlled, wherein the initial voltage amplitude and the initial period correspond to the voltage signal. The injected voltage signal can generate a response current in the motor, and the magnitude of the response current is obtained.

Example four

As shown in fig. 5, according to an embodiment of the present invention, step 302, sequentially increasing the initial voltage amplitude according to a preset amount, and injecting a voltage signal corresponding to the voltage amplitude after each increase into the motor specifically includes:

step 502, injecting a voltage signal corresponding to the increased voltage amplitude to the motor according to a first preset period each time.

In this embodiment, it is defined that, after each voltage amplitude is increased, the injection voltage signal corresponding to the increased voltage amplitude is injected into the motor in a first preset period. That is, when the initial voltage amplitude and the preset amount are increased to the first voltage amplitude, the first voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor for the number of times corresponding to the first preset period. For example, the first preset period is 10, that is, the first voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor 10 times. And comparing the amplitude of the response current generated each time, preventing the amplitude of the response current caused by current fluctuation from being temporarily larger than a current threshold value, and ensuring that the set parameters are matched with the motor. And further, when the motor is controlled to operate a high-frequency injection algorithm, the loading capacity and the stability of the motor in a low-speed state can be improved.

EXAMPLE five

As shown in fig. 6, according to an embodiment of the present invention, there is provided a control method of a motor, the control method further including:

step 602, if the adjusted voltage amplitude is greater than the voltage threshold and the adjusted period is greater than the period threshold, responding that the current amplitude is less than the current threshold, and taking the voltage threshold and the period threshold as injection parameters of the motor.

In this embodiment, when the adjusted voltage amplitude is greater than the voltage threshold and the adjusted period is greater than the period threshold, that is, when the voltage amplitude and the period of the injection signal are scanned by the preset amount to reach the voltage threshold and the period threshold, the amplitude of the response current generated in the motor by the corresponding voltage signal is still smaller than the current threshold. The voltage threshold and the period threshold are used as high frequency injection parameters of the motor. Therefore, the amplitude and the frequency of the injection signal can be matched with the corresponding motor, and the loading capacity and the stability of the motor in a low-speed state can be improved when the motor is controlled to operate a high-frequency injection algorithm.

EXAMPLE six

As shown in fig. 7, according to an embodiment of the present invention, step 602, using a voltage threshold and a period threshold as injection parameters of a motor specifically includes:

step 702, if the adjusted voltage amplitude is greater than the voltage threshold and the adjusted period is greater than the period threshold, responding that the current amplitude is less than the current threshold;

step 704, determine whether the preset multiple is greater than the preset multipleIf yes, go to step 706, if no, go to step 708;

step 706, taking the voltage threshold and b/2 as injection parameters of the motor;

step 708, taking the voltage threshold and the period threshold as injection parameters of the motor;

where b is a period threshold and T is a control period.

In this embodiment, when the voltage amplitude and the period of the injection signal are scanned to the voltage threshold and the period threshold according to the preset amount, and the amplitude of the response current generated in the motor by the corresponding voltage signal is still smaller than the current threshold, the preset multiple and the preset period corresponding to the adjusted period are first definedA comparison is made. Wherein b is a period threshold value, and T is a control period of the motor.

When the preset multiple is judged to be larger thanAnd taking the voltage threshold and b/2 as injection parameters of the motor. If the preset multiple is judged to be less than or equal toUsing voltage and period thresholds as motorAnd (4) injection parameters. Therefore, the problem that the safety or the use performance of the motor is influenced due to overlarge response current generated by the motor can be solved while the high-frequency injection parameters of the motor are adjusted.

As shown in fig. 8, in a specific embodiment, the control method includes:

step 802, obtaining an initial voltage amplitude and an initial period;

step 804, injecting an initial voltage amplitude and an initial voltage signal corresponding to the initial period into the motor, and acquiring a response current amplitude generated by the initial voltage signal in the motor;

step 806, determining whether the response current amplitude is greater than the current threshold, if so, entering step 808, and if not, entering step 810;

808, taking the initial voltage amplitude and the initial period as injection parameters of the motor;

step 810, adjusting the initial voltage amplitude and/or the initial period until the response current amplitude is larger than the current threshold, and taking the adjusted voltage amplitude and/or the adjusted period as the injection parameters of the motor;

step 812, if the adjusted voltage amplitude is greater than the voltage threshold and the adjusted period is greater than the period threshold, the response current amplitude is less than the current threshold;

step 814, determine whether the preset multiple is greater than the preset multipleIf yes, go to step 816, if no, go to step 818;

step 816, taking the voltage threshold and b/2 as injection parameters of the motor;

step 818, the voltage threshold and the period threshold are used as injection parameters of the motor.

In this embodiment, when the voltage amplitude and the period of the injection signal are scanned to the voltage threshold and the period threshold according to the preset amount, and the amplitude of the response current generated in the motor by the corresponding voltage signal is still smaller than the current threshold, the preset multiple and the preset period corresponding to the adjusted period are first adjustedA comparison is made. Wherein b is a period threshold value, and T is a control period of the motor.

When the preset multiple is judged to be larger thanAnd taking the voltage threshold and b/2 as injection parameters of the motor. If the preset multiple is judged to be less than or equal toThe voltage threshold and the period threshold are taken as injection parameters of the motor. Therefore, the problem that the safety or the use performance of the motor is influenced due to overlarge response current generated by the motor can be solved while the high-frequency injection parameters of the motor are adjusted.

EXAMPLE seven

As shown in fig. 9, according to an embodiment of the present invention, step 104, injecting an initial voltage signal corresponding to an initial voltage amplitude and an initial period into the motor specifically includes:

and 902, injecting a voltage signal corresponding to the initial voltage amplitude and the initial period into the motor according to a second preset period.

In this embodiment, when the injection of the voltage signal corresponding to the initial voltage amplitude and the initial period into the motor is controlled, the voltage signal is injected into the motor in a second preset period. That is, the initial voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor for the number of times corresponding to the second preset period. For example, the second preset period is 10, that is, the initial voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor 10 times. And comparing the amplitude of the response current generated each time, preventing the amplitude of the response current caused by current fluctuation from being temporarily larger than a current threshold value, and ensuring that the set parameters are matched with the motor. And further, when the motor is controlled to operate a high-frequency injection algorithm, the loading capacity and the stability of the motor in a low-speed state can be improved.

It should be noted that the second preset period may be equal to or different from the first preset period, and may be specifically set according to actual needs.

On the basis of the above embodiment, further, the rated voltage is U1, the rated current of the motor is I1, the d-axis inductance of the motor is L, and the rated resistance of the motor is R; voltage threshold 80% U1; and/or an initial voltage amplitude of 10% U1; and/or a predetermined amount of 5% U1; and/or a current threshold of 10% I1; and/or a cycle threshold of 20% L/R; and/or the preset multiple is a positive integer greater than 0.

In this embodiment, the motor has a rated voltage of U1, a rated current of I1, a d-axis inductance of L, and a rated resistance of R. A voltage threshold of 80% U1 is defined. The initial voltage amplitude was 10% U1. The preset amount was 5% U1. That is, the voltage amplitude is incremented by 5% U1 based on the initial voltage amplitude of 10% U1. The current threshold was 10% I1. The cycle threshold is 20% L/R. The predetermined multiple is a positive integer greater than 0, for example, 1, 2, 3, 4, 5, etc.

Example eight

As shown in fig. 10, in a specific embodiment, the control method includes:

step 1002, determining 10% U1 as an initial voltage amplitude value and 2T as an initial period;

step 1004, injecting voltage signals corresponding to 10% U1 and 2T into the motor, and acquiring a response current amplitude value generated in the motor by the voltage signals;

step 1006, judging whether the response current amplitude is greater than 10% I1, if so, entering step 1008, and if not, entering step 1010;

step 1008, taking 10% U1 and 2T as injection parameters of the motor;

step 1010, increasing the initial voltage amplitude from 10% U1 to 5% U1 to obtain 15% U1, injecting voltage signals corresponding to 15% U1 and 2T into the motor, and obtaining the response current amplitude generated in the motor by the voltage signals;

step 1012, determining whether the response current amplitude is greater than 10% I1, if so, entering step 1014, and if not, entering step 1016;

step 1014, taking 15% U1 and 2T as injection parameters of the motor;

step 1016, adding 5% U1 to 15% U1 to obtain 20% U1, injecting voltage signals corresponding to 20% U1 and 2T into the motor, and obtaining the response current amplitude of the voltage signals generated in the motor;

step 1018, determining whether the response current amplitude is greater than 10% I1, if so, entering step 1020, and if not, entering step 1022;

step 1020, taking 20% U1 and 2T as injection parameters of the motor;

step 1022, sequentially increasing the voltage according to 5% U1, and injecting a voltage signal corresponding to the voltage amplitude after each increase into the motor;

step 1024, when the increased voltage amplitude is greater than 80% U1 and the response current amplitude is less than 10% I1, increasing the initial period to 4T;

step 1026, sequentially increasing the initial voltage amplitude according to 5% U1 until the response current amplitude is greater than 10% I1;

step 1028, if the adjusted voltage amplitude is greater than 80% U1, and the adjusted period is greater than 20% L/R, responding to the current amplitude being less than 10% I1;

step 1030, judging whether the preset multiple is greater than 10% L/(R multiplied by T), if so, entering step 1032, otherwise, entering step 1034;

step 1032, taking 80% U1 and 10% L/R as injection parameters of the motor;

step 1034, 80% U1 and 20% L/R are used as injection parameters of the motor.

In the embodiment, by the method, the amplitude and the frequency of the injection signal can be matched with the corresponding motor, so that the loading capacity and the stability of the motor in a low-speed state can be improved when the motor is controlled to operate a high-frequency injection algorithm.

Moreover, the problem that the safety or the service performance of the motor is influenced by overlarge response current generated by the motor can be prevented while the high-frequency injection parameters of the motor are adjusted.

Example nine

As shown in fig. 11, according to an embodiment of the second aspect of the present invention, a control apparatus 1100 for a motor is provided, which includes a memory 1102 and a processor 1104, wherein the memory 1102 stores a computer program, and the processor 1104 executes the computer program to implement the control method for the motor according to the above-mentioned embodiment. Therefore, the control device for the motor has all the advantages of the control method for the motor of the embodiment.

Example ten

On the basis of the above embodiment, further, the first obtaining unit includes a first obtaining module and a determining module, where the first obtaining module is configured to obtain a rated voltage and a control period of the motor, and the determining module is configured to determine an initial voltage amplitude of the injection voltage signal according to the rated voltage; and setting the half period of the injection voltage signal as a preset multiple of control period, wherein the initial period is the minimum value of the preset multiple.

In this embodiment, it is defined that the first acquisition unit includes a first acquisition module and a determination module. Specifically, the first obtaining module is used for obtaining the rated voltage and the control period of the motor, and the determining module is used for determining the initial voltage amplitude of the injected voltage signal according to the rated voltage. For example, 10% of the rated voltage may be used as the initial voltage amplitude, and may be specifically set according to actual needs.

On the basis of the above embodiment, further, the adjusting unit includes: the first adjusting module is used for sequentially increasing the initial voltage amplitude according to a preset amount and injecting a voltage signal corresponding to the increased voltage amplitude into the motor; the second acquisition module is used for acquiring the response current amplitude generated in the motor by the voltage signal each time; the judging module is used for judging whether the increased voltage amplitude is greater than the voltage threshold or not and responding to whether the current amplitude is greater than the current threshold or not; the second adjusting module is used for increasing the value of the preset multiple when the judging module judges that the response current amplitude is smaller than the current threshold; the first adjusting module is further used for sequentially increasing the initial voltage amplitude according to a preset amount after the value of the preset multiple is increased until the response current amplitude is larger than the current threshold.

In this embodiment, it is defined that the adjusting unit includes a first adjusting module, a second obtaining module, a judging module, and a second adjusting module. Specifically, the first adjusting module is configured to sequentially increment the initial voltage amplitude by a preset amount. Specifically, the initial voltage amplitude is increased to a first voltage amplitude according to a preset amount, the initial period is kept unchanged, the first voltage amplitude and a voltage signal corresponding to the initial period are injected into the motor, and the amplitude of a response current generated in the motor by the voltage signal is compared with a current threshold. And if the amplitude of the generated response current is still smaller than or equal to the current threshold, continuously increasing the first voltage amplitude according to a preset amount, and continuously keeping the initial period unchanged.

On the basis of the above embodiment, further, the first adjusting module is further configured to inject a voltage signal corresponding to the increased voltage amplitude to the motor according to a first preset period each time.

In this embodiment, the first adjusting module is further configured to inject the injection voltage signal corresponding to the increased voltage amplitude into the motor in a first preset period after the voltage amplitude is increased each time. That is, when the initial voltage amplitude and the preset amount are increased to the first voltage amplitude, the first voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor for the number of times corresponding to the first preset period. For example, the first preset period is 10, that is, the first voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor 10 times. And comparing the amplitude of the response current generated each time, preventing the amplitude of the response current caused by current fluctuation from being temporarily larger than a current threshold value, and ensuring that the set parameters are matched with the motor. And further, when the motor is controlled to operate a high-frequency injection algorithm, the loading capacity and the stability of the motor in a low-speed state can be improved.

On the basis of the foregoing embodiment, further, the determining unit is further configured to, when the determining unit determines that the adjusted voltage amplitude is greater than the voltage threshold and the adjusted period is greater than the period threshold, respond that the current amplitude is less than the current threshold, and use the voltage threshold and the period threshold as injection parameters of the motor.

In this embodiment, the determining unit is further configured to, when the adjusted voltage amplitude is greater than the voltage threshold and the adjusted period is greater than the period threshold, that is, when the voltage amplitude and the period of the injection signal are scanned by the preset amount to reach the voltage threshold and the period threshold, the amplitude of the response current generated in the motor by the corresponding voltage signal is still smaller than the current threshold. The voltage threshold and the period threshold are used as high frequency injection parameters of the motor. Therefore, the amplitude and the frequency of the injection signal can be matched with the corresponding motor, and the loading capacity and the stability of the motor in a low-speed state can be improved when the motor is controlled to operate a high-frequency injection algorithm.

On the basis of the above embodiment, further, the determination unit includes: a judging subunit for judging whether the preset multiple is greater thanThe determining unit is further used for judging whether the preset multiple is larger than the preset multipleTaking the voltage threshold and b/2 as injection parameters of the motor; the determining unit is also used for judging that the preset multiple is less than or equal toTaking a voltage threshold and a period threshold as injection parameters of the motor; where b is a period threshold and T is a control period.

In this embodiment, it is defined that the determination unit includes a judgment subunit. Specifically, the determining subunit is configured to determine that, when the voltage amplitude and the period of the injection signal are scanned to the voltage threshold and the period threshold according to the preset amount, and the amplitude of the response current generated in the motor by the corresponding voltage signal is still smaller than the current threshold, the preset multiple and the preset period corresponding to the adjusted period are first adjustedA comparison is made. Wherein b is a period threshold value, and T is a control period of the motor.

When the preset multiple is judged to be larger thanAnd taking the voltage threshold and b/2 as injection parameters of the motor. If the preset multiple is judged to be less than or equal toThe voltage threshold and the period threshold are taken as injection parameters of the motor. Therefore, the problem that the safety or the use performance of the motor is influenced due to overlarge response current generated by the motor can be solved while the high-frequency injection parameters of the motor are adjusted.

On the basis of the foregoing embodiment, further, the second obtaining unit includes an injection module, configured to inject a voltage signal corresponding to an initial voltage amplitude and an initial period to the motor according to a second preset period.

In this embodiment, it is defined that the second acquisition unit comprises an injection module. The injection module is used for injecting the voltage signals corresponding to the initial voltage amplitude and the initial period into the motor in a second preset period when the injection module controls the injection of the voltage signals corresponding to the initial voltage amplitude and the initial period into the motor. That is, the initial voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor for the number of times corresponding to the second preset period. For example, the second preset period is 10, that is, the initial voltage amplitude and the injection voltage signal corresponding to the initial period are injected into the motor 10 times. And comparing the amplitude of the response current generated each time, preventing the amplitude of the response current caused by current fluctuation from being temporarily larger than a current threshold value, and ensuring that the set parameters are matched with the motor. And further, when the motor is controlled to operate a high-frequency injection algorithm, the loading capacity and the stability of the motor in a low-speed state can be improved.

It should be noted that the second preset period may be equal to or different from the first preset period, and may be specifically set according to actual needs.

EXAMPLE eleven

On the basis of the above embodiment, further, the control system further includes a motor, the motor is connected with a control device of the motor, and the control device of the motor is used for controlling the motor.

In this embodiment, the control system further comprises a motor. Specifically, the control device of the motor is connected with the motor for controlling the motor.

In a specific application, the control device of the motor may be a frequency converter.

Example twelve

According to an embodiment of the fifth aspect of the present invention, a readable storage medium is proposed, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the control method of the motor as the above-mentioned embodiments. The readable storage medium thus has all the advantageous effects of the control method of the motor of the above-described embodiment.

In the description herein, all quantities relating to temperature, including expression units, are in degrees centigrade and the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly stated or limited otherwise; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

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