阅读说明：本技术 电机控制方法、装置、可读存储介质和电器设备 (Motor control method and device, readable storage medium and electrical equipment ) 是由 郑志豪 于 2021-03-09 设计创作，主要内容包括：本发明提供了一种电机控制方法、电机控制装置、可读存储介质和电器设备,电机控制方法,包括：获取至少两组空间电压矢量；根据至少两组空间电压矢量,获取与至少两组空间电压矢量相对应的至少两组电流矢量；获取参考电流矢量；根据至少两组电流矢量和参考电流矢量,获取与至少两组电流矢量相对应的至少两组跟踪误差；根据每组跟踪误差中的最小跟踪误差,获取有效电压矢量；根据参考电流矢量,获取参考电压矢量；根据参考电压矢量和有效电压矢量,获取有效电压矢量的作用时间；根据有效电压矢量的作用时间,生成逆变器的驱动信号,以实现对电机的控制,提升单电阻电流采样的准确性。(The invention provides a motor control method, a motor control device, a readable storage medium and electrical equipment, wherein the motor control method comprises the following steps: acquiring at least two groups of space voltage vectors; obtaining at least two groups of current vectors corresponding to the at least two groups of space voltage vectors according to the at least two groups of space voltage vectors; acquiring a reference current vector; acquiring at least two groups of tracking errors corresponding to the at least two groups of current vectors according to the at least two groups of current vectors and the reference current vector; obtaining an effective voltage vector according to the minimum tracking error in each group of tracking errors; acquiring a reference voltage vector according to the reference current vector; acquiring the action time of the effective voltage vector according to the reference voltage vector and the effective voltage vector; and generating a driving signal of the inverter according to the action time of the effective voltage vector so as to realize the control of the motor and improve the accuracy of single-resistor current sampling.)

1. A motor control method, comprising:

acquiring at least two groups of space voltage vectors;

obtaining at least two groups of current vectors corresponding to the at least two groups of space voltage vectors according to the at least two groups of space voltage vectors;

acquiring a reference current vector;

acquiring at least two groups of tracking errors corresponding to the at least two groups of current vectors according to the at least two groups of current vectors and the reference current vector;

obtaining an effective voltage vector according to the minimum tracking error in each group of tracking errors;

acquiring a reference voltage vector according to the reference current vector;

obtaining the action time of the effective voltage vector according to the reference voltage vector and the effective voltage vector;

and generating a driving signal of the inverter according to the action time of the effective voltage vector so as to realize the control of the motor.

2. The motor control method of claim 1, wherein said obtaining at least two sets of space voltage vectors comprises:

acquiring a plurality of space voltage vectors corresponding to the switching states of a plurality of bridge arms of an inverter according to the switching states of the plurality of bridge arms of the inverter;

the plurality of space voltage vectors are divided into at least two groups of space voltage vectors.

3. The motor control method of claim 2, wherein the obtaining a plurality of space voltage vectors corresponding to switching states on a plurality of legs of the inverter based on the switching states on the plurality of legs of the inverter comprises:

and acquiring a plurality of space voltage vectors corresponding to the switching states of the plurality of arms of the inverter according to the direct-current bus voltage of the inverter, the rotor angle of the motor and the switching states of the plurality of arms of the inverter.

4. The motor control method of claim 1, wherein said obtaining at least two sets of current vectors corresponding to said at least two sets of space voltage vectors from said at least two sets of space voltage vectors comprises:

and acquiring at least two groups of current vectors corresponding to the at least two groups of space voltage vectors according to the stator current feedback quantity of the motor, the stator winding resistance of the motor, the rotor electrical angular speed of the motor, the rotor flux linkage of the motor, the sampling period, the inductance and the at least two groups of space voltage vectors.

5. The motor control method of claim 1, wherein said obtaining a reference current vector comprises:

and acquiring a reference current vector according to the reference electromagnetic torque of the motor, the pole pair number of the motor and the rotor flux linkage of the motor.

6. The motor control method according to any one of claims 1 to 5, wherein the obtaining a reference voltage vector from the reference current vector comprises:

and acquiring a reference voltage vector according to the stator current feedback quantity of the motor, the stator winding resistance of the motor, the rotor electrical angular speed of the motor, the rotor flux linkage of the motor, the sampling period, the inductance and the reference current vector.

7. The motor control method according to any one of claims 1 to 5, wherein the obtaining an effective voltage vector according to a minimum tracking error of each set of tracking errors includes:

acquiring the minimum tracking error in each group of tracking errors according to the at least two groups of tracking errors;

acquiring a space voltage vector corresponding to the minimum tracking error according to the minimum tracking error;

and taking the space voltage vector corresponding to the minimum tracking error as an effective voltage vector.

8. A motor control apparatus, comprising:

a memory configured to store a program or instructions;

a processor configured to execute a stored program or instructions to implement the motor control method of any of claims 1 to 7.

9. A readable storage medium on which a program or instructions are stored, characterized in that the program or instructions, when executed by a processor, implement a motor control method according to any one of claims 1 to 7.

10. An electrical device, comprising:

a motor;

the motor control device of claim 8, said control device being electrically connected to said motor for controlling operation of said motor.

Technical Field

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

Background

Currently, in a single-resistor sampled motor control system, the selection of the space voltage vector is usually determined according to the sector in which the reference voltage vector is located.

In the related technology, the sector switching mode is judged according to the angle of the reference voltage vector, and in the switching process of different sectors, the repeated jump of the voltage vector can be caused by the fluctuation of the angle of the reference voltage vector at the boundary of the sector during the selection, so that the accuracy of single-resistor current sampling is reduced.

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 invention proposes a motor control method.

A second aspect of the invention provides a motor control device.

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

A fourth aspect of the invention proposes an electrical apparatus.

In view of this, a first aspect of the present invention provides a motor control method, including: acquiring at least two groups of space voltage vectors; obtaining at least two groups of current vectors corresponding to the at least two groups of space voltage vectors according to the at least two groups of space voltage vectors; acquiring a reference current vector; acquiring at least two groups of tracking errors corresponding to the at least two groups of current vectors according to the at least two groups of current vectors and the reference current vector; obtaining an effective voltage vector according to the minimum tracking error in each group of tracking errors; acquiring a reference voltage vector according to the reference current vector; acquiring the action time of the effective voltage vector according to the reference voltage vector and the effective voltage vector; and generating a driving signal of the inverter according to the action time of the effective voltage vector so as to realize the control of the motor.

The motor control method provided by the invention obtains at least two groups of space voltage vectors of an inverter of the motor, obtains at least two groups of current vectors through the at least two groups of space voltage vectors, obtains a reference current vector of the inverter of the motor, and further obtains at least two groups of tracking errors, wherein the at least two groups of tracking errors are in one-to-one correspondence with the at least two groups of current vectors. The method comprises the steps of finding out the smallest tracking error in each group of tracking errors from at least two groups of tracking errors, obtaining a space voltage vector corresponding to the smallest tracking error, taking the space voltage vector as an effective voltage vector, further combining the effective voltage vector with a reference voltage vector to obtain the action time of the effective voltage vector, further obtaining a driving signal of an inverter according to the action time of the effective voltage vector, controlling the switching action on each bridge arm of the inverter through the inverted driving signal, further realizing the control of a motor, avoiding the repeated jumping of the voltage vector in a control device during sector switching, improving the accuracy of single-resistance current sampling, reducing current harmonics caused by sector switching, and further reducing motor noise generated due to the current harmonics.

Specifically, the circuit of the control device is a single resistance sampling circuit.

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

in one technical solution of the present invention, obtaining at least two sets of space voltage vectors includes: acquiring a plurality of space voltage vectors corresponding to the switching states of the plurality of bridge arms of the inverter according to the switching states of the plurality of bridge arms of the inverter; the plurality of space voltage vectors are divided into at least two groups of space voltage vectors.

In the technical scheme, the space voltage vectors generated by the inverter in different switching states are grouped, so that a voltage vector which enables the tracking error of a current vector to be minimum can be selected from two groups of space voltage vectors respectively to serve as an effective voltage vector, the action time of the effective voltage vector is calculated by generating a reference voltage vector required by the reference current vector, a switching driving signal of the inverter in each control period is obtained, the control of the motor is realized, the repeated jump of the voltage vector in a motor control system with single resistance sampling is avoided when sectors are switched, and current harmonics generated by sector switching and motor noise caused by the repeated jump are reduced.

Specifically, the inverter circuit may be a three-phase inverter circuit including a first leg, a second leg, and a third leg. The first bridge arm comprises a first upper bridge arm and a first lower bridge arm, the second bridge arm comprises a second upper bridge arm and a second lower bridge arm, and the third bridge arm comprises a third upper bridge arm and a third lower bridge arm.

Grouping the space voltage vectors into groups, and setting different switching states (S) of the inverter_a、S_b、S_c) Corresponding space voltage vector V_n(n-1, 2, … 6) are divided into two groups, V₁(100)、V₃(010) And V₅(001) Are in the same group, V₂(110)、V₄(011) And V₆(101) Is another group. Wherein S is_a、S_b、S_cThe switching states of three-phase arms of the inverter are shown, and if i (i ═ a, b and c) phase upper arms are conducted and lower arms are turned off, S is conducted_i1 is ═ 1; if the i-phase upper bridge arm is turned off, the lower bridge arm is turned on, S_i＝0。

I.e. the space voltage vector V₁(100) The corresponding bridge arm switch states are as follows: the first upper bridge arm is connected, the first lower bridge arm is connected, the second upper bridge arm is connected, the second lower bridge arm is connected, the third upper bridge arm is connected, and the third lower bridge arm is connected.

Space voltage vector V₂(110) The corresponding bridge arm switch states are as follows: the first upper bridge arm is connected, the first lower bridge arm is disconnected, the second upper bridge arm is connected, the second lower bridge arm is disconnected, the third upper bridge arm is disconnected, and the third lower bridge arm is connected.

Space voltage vector V₃(010) The corresponding bridge arm switch states are as follows: the first upper bridge arm is turned off, the first lower bridge arm is turned on, the second upper bridge arm is turned on, the second lower bridge arm is turned off, the third upper bridge arm is turned off, and the third lower bridge arm is turned on.

Space voltage vector V₄(011) The corresponding bridge arm switch states are as follows: the first upper bridge arm is turned off, the first lower bridge arm is turned on, the second upper bridge arm is turned on, the second lower bridge arm is turned off, the third upper bridge arm is turned on, and the third lower bridge arm is turned off.

Space voltage vector V₅(001) The corresponding bridge arm switch states are as follows: the first upper bridge arm is turned off, the first lower bridge arm is turned on, the second upper bridge arm is turned off, the second lower bridge arm is turned on, the third upper bridge arm is turned on, and the third lower bridge arm is turned off.

Space voltage vector V₆(101) The corresponding bridge arm switch states are as follows: the first upper bridge arm is connected, the first lower bridge arm is connected, the second upper bridge arm is connected, the second lower bridge arm is connected, the third upper bridge arm is connected, and the third lower bridge arm is connected.

In one aspect of the present invention, acquiring a plurality of space voltage vectors corresponding to switching states on a plurality of arms of an inverter according to the switching states on the plurality of arms of the inverter includes: and acquiring a plurality of space voltage vectors corresponding to the switching states of the plurality of arms of the inverter according to the direct-current bus voltage of the inverter, the rotor angle of the motor and the switching states of the plurality of arms of the inverter.

In the technical scheme, the acquisition of a plurality of space voltage vectors is realized by acquiring the direct-current bus voltage of the inverter and the rotor angle of the motor and combining the switch states of a plurality of bridge arms of the inverter, so that the control device can finally generate the driving signal of the inverter according to the plurality of space voltage vectors to realize the control of the motor.

Specifically, obtaining a plurality of space voltage vectors according to a rotor angle of the motor, a dc bus voltage of the inverter, and switching states of a plurality of arms of the inverter specifically includes:

wherein, V_dRepresenting the d-axis component, V, of the voltage vector_qRepresenting the q-axis component, V, of the voltage vector_dcRepresenting the DC bus voltage, θ_rIndicating the rotor angle.

In one embodiment of the present invention, obtaining at least two sets of current vectors corresponding to at least two sets of space voltage vectors according to the at least two sets of space voltage vectors includes: and acquiring at least two groups of current vectors corresponding to the at least two groups of space voltage vectors according to the stator current feedback quantity of the motor, the stator winding resistance of the motor, the rotor electrical angular speed of the motor, the rotor flux linkage of the motor, the sampling period, the inductance and the at least two groups of space voltage vectors.

In the technical scheme, the current vector is acquired according to the stator winding resistance of the motor, the rotor flux linkage of the motor, the rotor electrical angular velocity of the motor, the stator current feedback quantity of the motor, the inductance, the sampling period and the space voltage vector, so that the control device can finally generate a driving signal of the inverter according to the current vector to realize the control of the motor.

Specifically, according to the stator winding resistance of the motor, the rotor flux linkage of the motor, the rotor electrical angular velocity of the motor, the stator current feedback quantity of the motor, the inductance, the sampling period, and the space voltage vector, the current vector is calculated as follows:

wherein, I_dRepresenting the d-axis component of the current vector, I_qRepresenting the q-axis component of the current vector, I_{d_fed}D-axis component, I, representing stator current feedback quantity_{q_fed}Q-axis component, R, representing stator current feedback quantity_sRepresenting stator winding resistance, ω_eRepresenting the electrical angular velocity, psi, of the rotor_rIndicating rotor flux linkage, T_sDenotes the sampling period, L_dRepresenting the d-axis component, L, of the inductance_qRepresenting the q-axis component of the inductance.

In one aspect of the present invention, obtaining the reference current vector includes: and acquiring a reference current vector according to the reference electromagnetic torque of the motor, the pole pair number of the motor and the rotor flux linkage of the motor.

In the technical scheme, the calculation of the reference current vector is realized according to the rotor flux linkage of the motor, the reference electromagnetic torque of the motor and the pole pair number of the motor by acquiring the rotor flux linkage of the motor, the reference electromagnetic torque of the motor and the pole pair number of the motor.

Specifically, by obtaining a rotor flux linkage of the motor, a reference electromagnetic torque of the motor, and a pole pair number of the motor, the reference current vector is calculated as follows:

I_{d_ref}＝0

I_{q_ref}＝2T_{e_ref}/3n_pψ_r

wherein, I_{d_ref}Representing the d-axis component, I, of the reference current vector_{q_ref}Representing the q-axis component, T, of the reference current vector_{e_ref}Representing a reference electromagnetic torque, n_pRepresenting the pole pair number, ψ, of the motor_rShowing the rotor flux linkage.

In one aspect of the present invention, obtaining the reference voltage vector according to the reference current vector includes: and acquiring a reference voltage vector according to the stator current feedback quantity of the motor, the stator winding resistance of the motor, the rotor electrical angular speed of the motor, the rotor flux linkage of the motor, the sampling period, the inductance and the reference current vector.

In the technical scheme, the reference voltage vector is obtained by obtaining the rotor flux linkage, the inductance, the sampling period, the reference current vector, the stator current feedback quantity of the motor, the stator winding resistance of the motor and the rotor electrical angular velocity of the motor according to the rotor flux linkage, the inductance, the sampling period, the reference current vector, the stator current feedback quantity of the motor, the stator winding resistance of the motor and the rotor electrical angular velocity of the motor.

Specifically, calculating a reference voltage vector by using a rotor flux, an inductance, a sampling period, a reference current vector, a stator current feedback quantity of the motor, a stator winding resistance of the motor, and an electrical angular velocity of a rotor of the motor specifically includes:

wherein, V_{d_ref}Representing the d-axis component, V, of the reference voltage vector_{q_ref}Representing the q-axis component of the reference voltage vector, I_{d_fed}D-axis component, I, representing stator current feedback quantity_{q_fed}Q-axis component, R, representing stator current feedback quantity_sRepresenting stator winding resistance, ω_eRepresenting the electrical angular velocity, psi, of the rotor_rIndicating rotor flux linkage, T_sDenotes the sampling period, L_dRepresenting the d-axis component, L, of the inductance_qRepresenting the q-axis component of the inductance.

In one technical solution of the present invention, obtaining the tracking error according to the reference current vector and the current vector specifically includes:

wherein, I_{s_err}For tracking errors of current vectors, I_dRepresenting the d-axis component of the current vector, I_qRepresenting the q-axis component of the current vector, I_{d_ref}Representing the d-axis component, I, of the reference current vector_{q_ref}Representing the q-axis component of the reference current vector.

In one technical solution of the present invention, obtaining the effective voltage vector according to a minimum tracking error in each group of tracking errors includes: acquiring the minimum tracking error in each group of tracking errors according to at least two groups of tracking errors; acquiring a space voltage vector corresponding to the minimum tracking error according to the minimum tracking error; the space voltage vector corresponding to the minimum tracking error is taken as the effective voltage vector.

In the technical scheme, at least two groups of tracking errors are obtained, each group of tracking errors comprises a plurality of tracking errors, and among the plurality of tracking errors, the space voltage vector corresponding to the smallest tracking error is the effective voltage vector of the group, so that the effective voltage vector is obtained.

According to the minimum tracking error in each group of tracking errors, the effective voltage vector is obtained by the following specific steps:

wherein, V_min1Represents V₁、V₃And V₅Zhongling I_{s_err}Minimum voltage vector, V_min2Represents V₂、V₄And V₆Zhongling I_{s_err}Minimum voltage vector, I_{s_err}(V₁) Representing a space voltage vector V₁(100) Tracking error of the corresponding current vector, I_{s_err}(V₂) Representing a space voltage vector V₂(100) Tracking error of the corresponding current vector, I_{s_err}(V₃) Representing a space voltage vector V₃(100) Tracking error of the corresponding current vector, I_{s_err}(V₄) Representing a space voltage vector V₄(100) Tracking error of the corresponding current vector, I_{s_err}(V₅) Representing a space voltage vector V₅(100) Tracking error of the corresponding current vector, I_{s_err}(V₆) Representing a space voltage vector V₆(100) The tracking error of the corresponding current vector.

In one technical solution of the present invention, the action time for obtaining the effective voltage vector according to the effective voltage vector and the reference voltage vector is specifically:

wherein, t_min1Representing the effective voltage vector V_minTime of action of t_min2Representing the effective voltage vector V_min2Action time of V_{d_min1}Representing the effective voltage vector V_min1D-axis component of (V)_{q_min1}Representing the effective voltage vector V_min1Q-axis component of (V)_{d_min2}Representing the effective voltage vector V_min2D-axis component of (V)_{q_min2}Representing the effective voltage vector V_min2Q-axis component of (V)_{d_ref}Representing the d-axis component, V, of the reference voltage vector_{q_ref}Representing a reference voltage vectorQ-axis component of (a).

In one technical solution of the present invention, the generating of the driving signal of the inverter according to the acting time of the effective voltage vector specifically includes:

wherein, T_a、T_bAnd T_cIndicating the switching drive signal of the three-phase bridge arm, t_min1Representing the effective voltage vector V_minTime of action of t_min2Representing the effective voltage vector V_min2Time of action of S_{a_min1}Is a V_min1Corresponding switching state of the first bridge arm, S_{b_min1}Is a V_min1Corresponding switching state of the second bridge arm, S_{c_min1}Is a V_min1The corresponding switching state of the third bridge arm, S_{a_min2}Is a V_min2Corresponding switching state of the first bridge arm, S_{b_min2}Is a V_min2Corresponding switching state of the second bridge arm, S_{c_min2}Is a V_min2The switch state of the corresponding third bridge arm.

A second aspect of the present invention provides a motor control device including: a memory and a processor; the memory is configured to store programs or instructions; the processor is configured to execute the stored program or instructions to implement the motor control method according to any of the above-mentioned technical solutions, and therefore the motor control apparatus has all the advantages of the motor control method according to any of the above-mentioned technical solutions.

A third aspect of the present invention provides a readable storage medium, wherein a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the motor control method according to any one of the above-mentioned technical solutions is implemented, so that the readable storage medium has all the advantages of the motor control method according to any one of the above-mentioned technical solutions.

The invention provides electrical equipment, which comprises a motor and the motor control device in any technical scheme, wherein the control device is electrically connected with the motor to control the motor to work, so that the electrical equipment has all the beneficial effects of the motor control device in any technical scheme.

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 a flow diagram of a motor control method according to an embodiment of the invention;

FIG. 2 shows a flow chart of a motor control method according to another embodiment of the invention;

FIG. 3 illustrates a space voltage vector grouping diagram according to an embodiment of the present invention;

FIG. 4 shows a schematic diagram of the effective voltage vector function time calculation according to one 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 and features of the embodiments of the present application 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 by the specific embodiments disclosed below.

A motor control method, a motor control apparatus, a readable storage medium, and an electric appliance according to some embodiments of the present invention are described below with reference to fig. 1 to 4.

The first embodiment is as follows:

as shown in fig. 1, the present invention provides a motor control method including:

102, acquiring at least two groups of space voltage vectors;

104, acquiring at least two groups of current vectors corresponding to the at least two groups of space voltage vectors according to the at least two groups of space voltage vectors;

step 106, acquiring a reference current vector;

108, acquiring at least two groups of tracking errors corresponding to the at least two groups of current vectors according to the at least two groups of current vectors and the reference current vector;

step 110, obtaining an effective voltage vector according to the minimum tracking error in each group of tracking errors;

step 112, acquiring a reference voltage vector according to the reference current vector;

step 114, obtaining the action time of the effective voltage vector according to the reference voltage vector and the effective voltage vector;

and step 116, generating a driving signal of the inverter according to the action time of the effective voltage vector so as to realize the control of the motor.

In this embodiment, the space voltage vectors of the inverter of the motor are obtained, the space voltage vectors may be obtained in two groups or in multiple groups, multiple groups of current vectors are obtained through the multiple groups of space voltage vectors, and then the reference current vectors of the inverter of the motor are obtained, so as to obtain multiple groups of tracking errors, where the multiple groups of tracking errors are in one-to-one correspondence with the multiple groups of current vectors.

In the tracking errors, the smallest tracking error in each group of tracking errors is found, a space voltage vector corresponding to the smallest tracking error is obtained, the space voltage vector is used as an effective voltage vector, the effective voltage vector is combined with a reference voltage vector to obtain the action time of the effective voltage vector, a driving signal of an inverter is obtained according to the action time of the effective voltage vector, the switching action on each bridge arm of the inverter is controlled through the inverted driving signal, the motor is controlled, repeated jumping of the voltage vector in a control device during sector switching is avoided, the accuracy of single-resistance current sampling is improved, current harmonics caused by sector switching are reduced, and motor noise caused by the current harmonics is reduced.

Specifically, the circuit of the control device is a single resistance sampling circuit.

Example two:

as shown in fig. 2, the present invention provides a motor control method including:

step 202, acquiring a plurality of space voltage vectors corresponding to the switching states of the plurality of bridge arms of the inverter according to the switching states of the plurality of bridge arms of the inverter;

step 204, dividing the plurality of space voltage vectors into at least two groups of space voltage vectors.

Step 206, obtaining at least two groups of current vectors corresponding to the at least two groups of space voltage vectors according to the at least two groups of space voltage vectors;

step 208, acquiring a reference current vector;

step 210, obtaining at least two groups of tracking errors corresponding to the at least two groups of current vectors according to the at least two groups of current vectors and the reference current vector;

step 212, obtaining an effective voltage vector according to the minimum tracking error in each group of tracking errors;

step 214, obtaining a reference voltage vector according to the reference current vector;

step 216, obtaining the action time of the effective voltage vector according to the reference voltage vector and the effective voltage vector;

and step 218, generating a driving signal of the inverter according to the action time of the effective voltage vector so as to realize the control of the motor.

In the embodiment, the space voltage vectors generated by the inverter in different switching states are grouped, so that a voltage vector which minimizes the tracking error of the current vector can be selected from two groups of space voltage vectors respectively as an effective voltage vector, the action time of the effective voltage vector is calculated by generating a reference voltage vector required by the reference current vector, and a switching driving signal of the inverter in each control period is obtained, so that the control of the motor is realized, the repeated jump of the voltage vector in a motor control system with single resistance sampling is avoided when sectors are switched, and the current harmonic generated by sector switching and the motor noise caused by the repeated jump are reduced.

Specifically, the inverter circuit may be a three-phase inverter circuit including a first leg, a second leg, and a third leg. The first bridge arm comprises a first upper bridge arm and a first lower bridge arm, the second bridge arm comprises a second upper bridge arm and a second lower bridge arm, and the third bridge arm comprises a third upper bridge arm and a third lower bridge arm.

As shown in fig. 3, when grouping the space voltage vectors, different switching states of the inverter are grouped (S)_a、S_b、S_c) Corresponding space voltage vector V_n(n-1, 2, … 6) are divided into two groups, V₁(100)、V₃(010) And V₅(001) Are in the same group, V₂(110)、V₄(011) And V₆(101) Is another group. Wherein S is_a、S_b、S_cThe switching states of three-phase arms of the inverter are shown, and if i (i ═ a, b and c) phase upper arms are conducted and lower arms are turned off, S is conducted_i1 is ═ 1; if the i-phase upper bridge arm is turned off, the lower bridge arm is turned on, S_i＝0。

I.e. the space voltage vector V₁(100) The corresponding bridge arm switch states are as follows: the first upper bridge arm is connected, the first lower bridge arm is connected, the second upper bridge arm is connected, the second lower bridge arm is connected, the third upper bridge arm is connected, and the third lower bridge arm is connected.

Space voltage vector V₂(110) The corresponding bridge arm switch states are as follows: the first upper bridge arm is connected, the first lower bridge arm is disconnected, the second upper bridge arm is connected, the second lower bridge arm is disconnected, the third upper bridge arm is disconnected, and the third lower bridge arm is connected.

Space voltage vector V₃(010) The corresponding bridge arm switch states are as follows: the first upper bridge arm is turned off, the first lower bridge arm is turned on, the second upper bridge arm is turned on, the second lower bridge arm is turned off, the third upper bridge arm is turned off, and the third lower bridge arm is turned on.

Space voltage vector V₄(011) The corresponding bridge arm switch states are as follows: the first upper bridge arm is turned off, the first lower bridge arm is turned on, the second upper bridge arm is turned on, the second lower bridge arm is turned off, the third upper bridge arm is turned on, and the third lower bridge arm is turned off.

Space voltage vector V₅(001) The corresponding bridge arm switch states are as follows: the first upper bridge arm is turned off, the first lower bridge arm is turned on, the second upper bridge arm is turned off, the second lower bridge arm is turned on, the third upper bridge arm is turned on, and the third lower bridge arm is turned off.

Space voltage vector V₆(101) The corresponding bridge arm switch states are as follows: the first upper bridge arm is connected, the first lower bridge arm is connected, the second upper bridge arm is connected, the second lower bridge arm is connected, the third upper bridge arm is connected, and the third lower bridge arm is connected.

Example three:

the present embodiment provides a motor control method, and in addition to the technical features of the above-described embodiments, the present embodiment further includes the following technical features.

Step 202 comprises: and acquiring a plurality of space voltage vectors corresponding to the switching states of the plurality of arms of the inverter according to the direct-current bus voltage of the inverter, the rotor angle of the motor and the switching states of the plurality of arms of the inverter.

In this embodiment, the acquisition of the plurality of space voltage vectors is realized by acquiring the voltage on the dc bus of the inverter and the rotor angle of the motor and combining the switching states of the plurality of bridge arm switches on the inverter, so that the control device finally generates the driving signal for driving the inverter according to the plurality of space voltage vectors to realize the control of the motor.

Specifically, obtaining a plurality of space voltage vectors according to a rotor angle of the motor, a dc bus voltage of the inverter, and switching states of a plurality of arms of the inverter specifically includes:

wherein, V_dRepresenting the d-axis component, V, of the voltage vector_qRepresenting the q-axis component, V, of the voltage vector_dcRepresenting the DC bus voltage, θ_rIndicating the rotor angle.

Example four:

the present embodiment provides a motor control method, and in addition to the technical features of the above-described embodiments, the present embodiment further includes the following technical features.

Step 104 comprises: and acquiring at least two groups of current vectors corresponding to the at least two groups of space voltage vectors according to the current feedback quantity of the motor stator, the winding resistance of the motor stator, the electrical angular speed of the motor rotor, the flux linkage of the motor rotor, the sampling period, the inductance and the at least two groups of space voltage vectors.

In this embodiment, the current vector is obtained by obtaining the stator winding resistance of the motor, the rotor flux of the motor, the electrical angular velocity of the rotor of the motor, the stator current feedback quantity of the motor, the inductance, the sampling period, and the space voltage vector, so that the control device finally generates a driving signal for driving the inverter according to the current vector to realize the control of the motor.

Specifically, according to the motor stator winding resistance, the motor rotor flux, the motor rotor electrical angular velocity, the motor stator current feedback quantity, the inductance, the sampling period, and the space voltage vector, the current vector is calculated as follows:

wherein, I_dRepresenting the d-axis component of the current vector, I_qRepresenting the q-axis component of the current vector, I_{d_fed}D-axis component, I, representing stator current feedback quantity_{q_fed}Q-axis component, R, representing stator current feedback quantity_sRepresenting stator winding resistance, ω_eRepresenting the electrical angular velocity, psi, of the rotor_rIndicating rotor flux linkage, T_sDenotes the sampling period, L_dRepresenting the d-axis component, L, of the inductance_qRepresenting the q-axis component of the inductance.

Example five:

the present embodiment provides a motor control method, and in addition to the technical features of the above-described embodiments, the present embodiment further includes the following technical features.

Step 106 comprises: and acquiring a reference current vector according to the reference electromagnetic torque of the motor, the pole pair number of the motor and the rotor flux linkage of the motor.

In this embodiment, the reference current vector is calculated by obtaining the rotor flux linkage of the motor, the reference electromagnetic torque of the motor, and the number of pole pairs of the motor, and further according to the rotor flux linkage of the motor, the reference electromagnetic torque of the motor, and the number of pole pairs of the motor.

Specifically, by obtaining a rotor flux linkage of the motor, a reference electromagnetic torque of the motor, and a pole pair number of the motor, calculating a reference current vector specifically includes:

I_{d_ref}＝0

I_{q_ref}＝2T_{e_ref}/3n_pψ_r

wherein, I_{d_ref}Representing the d-axis component, I, of the reference current vector_{q_ref}Representing the q-axis component, T, of the reference current vector_{e_ref}Representing a reference electromagnetic torque, n_pRepresenting the pole pair number, ψ, of the motor_rShowing the rotor flux linkage.

Example six:

the present embodiment provides a motor control method, and in addition to the technical features of the above-described embodiments, the present embodiment further includes the following technical features.

Step 112 includes: and acquiring a reference voltage vector according to the stator current feedback quantity of the motor, the stator winding resistance of the motor, the rotor electrical angular speed of the motor, the rotor flux linkage of the motor, the sampling period, the inductance and the reference current vector.

In this embodiment, the reference voltage vector is obtained by obtaining the rotor flux linkage, the inductance, the sampling period, the reference current vector, the motor stator current feedback amount, the motor stator winding resistance, and the rotor electrical angular velocity of the motor, and according to the rotor flux linkage, the inductance, the sampling period, the reference current vector, the motor stator current feedback amount, the motor stator winding resistance, and the rotor electrical angular velocity of the motor.

Specifically, the calculation of the reference voltage vector is performed by using a rotor flux linkage, an inductance, a sampling period, a reference current vector, a motor stator current feedback quantity, a motor stator winding resistance and a rotor electrical angular velocity of the motor, wherein the reference voltage vector is specifically:

wherein, V_{d_ref}Representing the d-axis component, V, of the reference voltage vector_{q_ref}Representing the q-axis component of the reference voltage vector, I_{d_fed}D-axis component, I, representing stator current feedback quantity_{q_fed}Q-axis component, R, representing stator current feedback quantity_sRepresenting stator winding resistance, ω_eRepresenting the electrical angular velocity, psi, of the rotor_rIndicating rotor flux linkage, T_sDenotes the sampling period, L_dRepresenting the d-axis component, L, of the inductance_qRepresenting the q-axis component of the inductance.

Example seven:

the present embodiment provides a motor control method, and in addition to the technical features of the above-described embodiments, the present embodiment further includes the following technical features.

Obtaining a tracking error according to the reference current vector and the current vector specifically comprises:

wherein, I_{s_err}For tracking errors of current vectors, I_dRepresenting the d-axis component of the current vector, I_qRepresenting the q-axis component of the current vector, I_{d_ref}Representing the d-axis component, I, of the reference current vector_{q_ref}Representing the q-axis component of the reference current vector.

Example eight:

the present embodiment provides a motor control method, and in addition to the technical features of the above-described embodiments, the present embodiment further includes the following technical features.

Step 110 comprises: acquiring the minimum tracking error in each group of tracking errors according to at least two groups of tracking errors; acquiring a space voltage vector corresponding to the minimum tracking error according to the minimum tracking error; the space voltage vector corresponding to the minimum tracking error is taken as the effective voltage vector.

In this embodiment, the obtained tracking errors are at least two groups, each group of tracking errors includes a plurality of tracking errors, and among the plurality of tracking errors, the space voltage vector corresponding to the smallest tracking error is the effective voltage vector of the group, so as to further achieve the obtaining of the effective voltage vector.

Step 110 specifically comprises:

wherein, V_min1Represents V₁、V₃And V₅Zhongling I_{s_err}Minimum voltage vector, V_min2Represents V₂、V₄And V₆Zhongling I_{s_err}Minimum voltage vector, I_{s_err}(V₁) Representing a space voltage vector V₁(100) Tracking error of the corresponding current vector, I_{s_err}(V₂) Representing a space voltage vector V₂(100) Tracking error of the corresponding current vector, I_{s_err}(V₃) Representing a space voltage vector V₃(100) Tracking error of the corresponding current vector, I_{s_err}(V₄) Representing a space voltage vector V₄(100) Tracking error of the corresponding current vector, I_{s_err}(V₅) Representing a space voltage vector V₅(100) Tracking error of the corresponding current vector, I_{s_err}(V₆) Representing a space voltage vector V₆(100) The tracking error of the corresponding current vector.

Example nine:

the present embodiment provides a motor control method, and in addition to the technical features of the above-described embodiments, the present embodiment further includes the following technical features.

As shown in fig. 4, the action time for obtaining the effective voltage vector according to the effective voltage vector and the reference voltage vector is specifically:

wherein, t_min1Representing the effective voltage vector V_minTime of action of t_min2Representing the effective voltage vector V_min2Action time of V_{d_min1}Representing the effective voltage vector V_min1D-axis component of (V)_{q_min1}Representing the effective voltage vector V_min1Q-axis component of (V)_{d_min2}Representing the effective voltage vector V_min2D-axis component of (V)_{q_min2}Representing the effective voltage vector V_min2Q-axis component of (V)_{d_ref}Representing a reference voltage vector V_refD-axis component of (V)_{q_ref}Representing a reference voltage vector V_refQ-axis component of (a).

Example ten:

the present embodiment provides a motor control method, and in addition to the technical features of the above-described embodiments, the present embodiment further includes the following technical features.

According to the action time of the effective voltage vector, the generation of the driving signal of the inverter is specifically as follows:

wherein, T_a、T_bAnd T_cIndicating the switching drive signal of the three-phase bridge arm, t_min1Representing the effective voltage vector V_minTime of action of t_min2Representing the effective voltage vector V_min2Time of action of S_{a_min1}Is a V_min1Corresponding switching state of the first bridge arm, S_{b_min1}Is a V_min1Corresponding switching state of the second bridge arm, S_{c_min1}Is a V_min1The corresponding switching state of the third bridge arm, S_{a_min2}Is a V_min2Of the corresponding first bridge armOn-off state, S_{b_min2}Is a V_min2Corresponding switching state of the second bridge arm, S_{c_min2}Is a V_min2The switch state of the corresponding third bridge arm.

Example eleven:

the present invention provides a motor control device, including: a memory and a processor; the memory is configured to store programs or instructions; the processor is configured to execute the stored program or instructions to implement the motor control method according to any of the above embodiments, and therefore the motor control apparatus has all the advantages of the motor control method according to any of the above embodiments.

Example twelve:

the invention provides a motor control device, which comprises an acquisition unit, a calculation unit and a control unit, wherein the acquisition unit is used for acquiring a motor control signal;

the acquisition unit is used for acquiring space voltage vectors, and the space voltage vectors are at least two groups;

the calculation unit is used for acquiring current vectors corresponding to the space voltage vectors according to the space voltage vectors, and the number of the current vectors is at least two;

the obtaining unit is also used for obtaining a reference current vector;

the calculation unit is also used for acquiring tracking errors corresponding to the current vectors according to the current vectors and the reference current vectors, and the tracking errors are at least two groups;

the calculating unit is also used for acquiring an effective voltage vector according to the minimum tracking error, wherein the minimum tracking error is the minimum value in each group of tracking errors;

the calculating unit is also used for calculating a reference voltage vector according to the reference current vector;

the calculating unit is also used for acquiring the action time of the effective voltage vector according to the reference voltage vector and the effective voltage vector;

the control unit is used for generating a driving signal for driving the inverter according to the action time of the effective voltage vector so as to realize the control of the motor.

In this embodiment, the space voltage vectors of the inverter of the motor are obtained, the space voltage vectors may be obtained in two groups or in multiple groups, multiple groups of current vectors are obtained through the multiple groups of space voltage vectors, and then the reference current vectors of the inverter of the motor are obtained, so as to obtain multiple groups of tracking errors, where the multiple groups of tracking errors are in one-to-one correspondence with the multiple groups of current vectors.

In the tracking errors, the smallest tracking error in each group of tracking errors is found, a space voltage vector corresponding to the smallest tracking error is obtained, the space voltage vector is used as an effective voltage vector, the effective voltage vector is combined with a reference voltage vector to obtain the action time of the effective voltage vector, a driving signal of an inverter is obtained according to the action time of the effective voltage vector, the switching action on each bridge arm of the inverter is controlled through the inverted driving signal, the motor is controlled, repeated jumping of the voltage vector in a control device during sector switching is avoided, the accuracy of single-resistance current sampling is improved, current harmonics caused by sector switching are reduced, and motor noise caused by the current harmonics is reduced.

Example thirteen:

the present embodiment provides a motor control device, and in addition to the technical features of the above-described embodiments, further includes the following technical features.

The acquisition unit comprises an acquisition subunit and a dividing unit.

The acquisition subunit is used for acquiring a plurality of space voltage vectors according to the switch states corresponding to the switches on the plurality of bridge arms of the inverter; the dividing unit is used for dividing the plurality of space voltage vectors into at least two groups of space voltage vectors.

In the embodiment, the space voltage vectors generated by the inverter in different switching states are grouped, so that a voltage vector which minimizes the tracking error of the current vector can be selected from two groups of space voltage vectors respectively as an effective voltage vector, the action time of the effective voltage vector is calculated by generating a reference voltage vector required by the reference current vector, and a switching driving signal of the inverter in each control period is obtained, so that the control of the motor is realized, the repeated jump of the voltage vector in a motor control system with single resistance sampling is avoided when sectors are switched, and the current harmonic generated by sector switching and the motor noise caused by the repeated jump are reduced.

Specifically, the inverter circuit may be a three-phase inverter circuit including a first leg, a second leg, and a third leg. The first bridge arm comprises a first upper bridge arm and a first lower bridge arm, the second bridge arm comprises a second upper bridge arm and a second lower bridge arm, and the third bridge arm comprises a third upper bridge arm and a third lower bridge arm.

As shown in fig. 3, when grouping the space voltage vectors, different switching states of the inverter are grouped (S)_a、S_b、S_c) Corresponding space voltage vector V_n(n-1, 2, … 6) are divided into two groups, V₁(100)、V₃(010) And V₅(001) Are in the same group, V₂(110)、V₄(011) And V₆(101) Is another group. Wherein S is_a、S_b、S_cThe switching states of three-phase arms of the inverter are shown, and if i (i ═ a, b and c) phase upper arms are conducted and lower arms are turned off, S is conducted_i1 is ═ 1; if the i-phase upper bridge arm is turned off, the lower bridge arm is turned on, S_i＝0。

I.e. the space voltage vector V₁(100) The corresponding bridge arm switch states are as follows: the first upper bridge arm is connected, the first lower bridge arm is connected, the second upper bridge arm is connected, the second lower bridge arm is connected, the third upper bridge arm is connected, and the third lower bridge arm is connected.

Space voltage vector V₂(110) The corresponding bridge arm switch states are as follows: the first upper bridge arm is connected, the first lower bridge arm is disconnected, the second upper bridge arm is connected, the second lower bridge arm is disconnected, the third upper bridge arm is disconnected, and the third lower bridge arm is connected.

Space voltage vector V₃(010) The corresponding bridge arm switch states are as follows: the first upper bridge arm is turned off, the first lower bridge arm is turned on, the second upper bridge arm is turned on, the second lower bridge arm is turned off, the third upper bridge arm is turned off, and the third lower bridge arm is turned on.

Space voltage vector V₄(011) The corresponding bridge arm switch states are as follows: the first upper bridge arm is turned off, the first lower bridge arm is turned on, the second upper bridge arm is turned on, the second lower bridge arm is turned off, the third upper bridge arm is turned on, and the third lower bridge arm is turned off。

Space voltage vector V₅(001) The corresponding bridge arm switch states are as follows: the first upper bridge arm is turned off, the first lower bridge arm is turned on, the second upper bridge arm is turned off, the second lower bridge arm is turned on, the third upper bridge arm is turned on, and the third lower bridge arm is turned off.

Space voltage vector V₆(101) The corresponding bridge arm switch states are as follows: the first upper bridge arm is connected, the first lower bridge arm is connected, the second upper bridge arm is connected, the second lower bridge arm is connected, the third upper bridge arm is connected, and the third lower bridge arm is connected.

Example fourteen:

the present invention provides a readable storage medium, on which a program or an instruction is stored, and the program or the instruction, when executed by a processor, implements the motor control method according to any of the above embodiments, so that the readable storage medium has all the advantages of the motor control method according to any of the above embodiments.

Example fifteen:

the invention provides electrical equipment which comprises a motor and the motor control device of any one of the embodiments, wherein the control device is electrically connected with the motor to control the motor to work, so that the electrical equipment has all the beneficial effects of the motor control device of any one of the embodiments.

In the claims, the specification and the drawings of the specification of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the terms "upper", "lower", and the like indicate orientations or positional relationships based on those shown in the drawings only for the purpose of describing the present invention more conveniently and simplifying the description, and do not indicate or imply that the referred device or element must have the described specific orientation, be constructed and operated in the specific orientation, and thus the description should not be construed as limiting the present invention; the terms "connect," "mount," "secure," and the like are to be construed broadly, and for example, "connect" may refer to a fixed connection between multiple objects, a removable connection between multiple objects, or an integral connection; the multiple objects may be directly connected to each other or indirectly connected to each other through an intermediate. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art from the above data specifically.

In the claims, specification, and drawings that follow the present disclosure, the description of the terms "one embodiment," "some embodiments," "specific embodiments," and so forth, 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 present disclosure. In the claims, specification and drawings of the present invention, schematic representations of the above terms 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.