阅读说明：本技术 一种高频注入观测方法、装置及设备 (High-frequency injection observation method, device and equipment ) 是由 王宇 沈文 王二峰 吴轩钦 梅威 于 2020-12-16 设计创作，主要内容包括：本发明公开了一种高频注入观测方法,考虑到电机所带负载越大的情况下,电机的相电流中的换流纹波的幅值也越大并提升了相电流信噪比,因此本申请中可以以负相关的对应关系,根据负载大小对注入脉冲的幅值进行调节,也即在换流纹波幅值较高的情况下降低注入脉冲的幅值,以便在保证可靠观测的前提下,抑制电机相电流的信噪比不超出观测信噪比的需求,可以降低目标电机在运行过程中的高频振动强度并降低电磁噪音,有利于降低电机的高频损耗并提升用户体验。本发明还公开了一种高频注入观测装置及设备,具有如上高频注入观测方法相同的有益效果。(The invention discloses a high-frequency injection observation method, which considers that under the condition that a load carried by a motor is larger, the amplitude of a commutation ripple in the phase current of the motor is larger and the phase current signal-to-noise ratio is improved, so that the amplitude of an injection pulse can be adjusted according to the load by using a negative correlation corresponding relation, namely the amplitude of the injection pulse is reduced under the condition that the amplitude of the commutation ripple is higher, so that the requirement that the signal-to-noise ratio of the phase current of the motor does not exceed the observation signal-to-noise ratio is restrained on the premise that reliable observation is ensured, the high-frequency vibration intensity of a target motor in the operation process can be reduced, the electromagnetic noise is reduced, and the high-frequency loss of the motor is reduced and the. The invention also discloses a high-frequency injection observation device and equipment, which have the same beneficial effects as the high-frequency injection observation method.)

1. A high frequency injection observation method, comprising:

acquiring a torque value used by a target motor for representing the size of a load;

determining a target proportion corresponding to the torque value according to a corresponding relation of negative correlation between the preset load size and the target proportion;

taking the product of the target proportion and a preset calibration amplitude as the final amplitude of the injection pulse;

injecting the injection pulse with the amplitude of the final amplitude into a power supply loop of the target motor so as to observe the rotating speed and the position;

wherein the target ratio is not greater than 1.

2. The high-frequency injection observation method according to claim 1, wherein the obtaining of the torque value of the target motor for representing the load size specifically comprises:

acquiring a torque current detection value of the target motor for representing the magnitude of a load;

the negative correlation corresponding relationship between the preset load size and the target proportion is specifically as follows:

and the preset torque current detection value and the target proportion are in a corresponding relationship of negative correlation.

3. The high-frequency injection observation method according to claim 2, wherein after the obtaining of the torque current detection value of the target motor for representing the magnitude of the load, before the determining of the target ratio corresponding to the torque value according to the correspondence relationship between the preset torque current detection value and the target ratio, the method further comprises:

and performing low-pass filtering on the torque current detection value.

4. The high-frequency injection observation method according to claim 2, wherein the correspondence relationship of the negative correlation between the preset torque current detection value and the target ratio is specifically:

when the torque current detection value is less than or equal to a light-load set threshold value, the target proportion is 1;

when the torque current detection value is larger than the light load set threshold value and smaller than the heavy load set threshold value, the target proportion and the torque current detection value are in an inverse proportion linear relation;

when the torque current detection value is larger than or equal to the heavy load setting threshold value, the target proportion is a preset proportion minimum value.

5. A high frequency injection observation method according to any one of claims 1 to 4, wherein before said multiplying said target proportion by a preset nominal amplitude value is taken as a final amplitude value of said injection pulse, the high frequency injection observation method further comprises:

acquiring the transient adjusting amplitude of the torque current of the target motor;

determining a compensation proportion corresponding to the transient adjustment amplitude according to a corresponding relation of a positive correlation between a preset transient adjustment amplitude and the compensation proportion;

the step of taking the product of the target ratio and the preset calibration amplitude as the final amplitude of the injection pulse specifically includes:

taking the product of the sum of the target proportion and the compensation proportion and a preset calibration amplitude as the final amplitude of the injection pulse;

and the final amplitude is not greater than the preset calibration amplitude.

6. The high-frequency injection observation method according to claim 5, wherein the obtaining of the transient adjustment amplitude of the torque current of the target motor is specifically:

obtaining said target motorControl error of shaft current;

then, according to the corresponding relationship between the preset transient adjustment amplitude and the compensation proportion, determining that the compensation proportion corresponding to the transient adjustment amplitude is specifically:

and determining the compensation proportion corresponding to the control error according to the corresponding relation of positive correlation between the preset control error and the compensation proportion.

7. The high-frequency injection observation method according to claim 6, wherein the correspondence relationship between the positive correlation between the preset control error and the compensation ratio is specifically:

when the control error is less than or equal to a steady state threshold value, the compensation proportion is 0;

when the control error is larger than the steady-state threshold value and smaller than a transient threshold value, the compensation proportion and the torque current detection value are in a direct proportion linear relation;

and when the control error is greater than or equal to the transient threshold value, the compensation proportion is a preset proportion maximum value.

8. A high frequency injection observation method according to claim 7, wherein the preset ratio maximum value is 1.

9. A high-frequency injection observation apparatus, comprising:

the acquisition module is used for acquiring a torque value used by the target motor for representing the size of the load;

the determining module is used for determining a target proportion corresponding to the torque value according to a corresponding relation of negative correlation between a preset load size and the target proportion;

the calculation module is used for taking the product of the target proportion and a preset calibration amplitude as the final amplitude of the injection pulse;

the action module is used for injecting the injection pulse with the final amplitude into a power supply loop of the target motor so as to observe the rotating speed and the position;

wherein the target ratio is not greater than 1.

10. A high frequency injection observation apparatus, comprising:

a memory for storing a computer program;

a processor for implementing the steps of the high frequency injection observation method according to any one of claims 1 to 8 when executing the computer program.

Technical Field

The invention relates to the field of motor control, in particular to a high-frequency injection observation method, a high-frequency injection observation device and equipment.

Background

In some synchronous motors (such as permanent magnet synchronous motors or synchronous reluctance motors) with a certain salient pole ratio, the rotating speed and position of the motor can be observed in a mode of injecting high-frequency pulses, so that a motor control system can control the motor according to the observed rotating speed and position data, however, the effectiveness of zero-low-speed observation of the motor can be guaranteed in a mode of injecting high-frequency pulses, high-frequency vibration in the running process of the motor can be aggravated, electromagnetic noise is improved, high-frequency loss of the motor is increased, and user experience is reduced.

Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.

Disclosure of Invention

The invention aims to provide a high-frequency injection observation method, which can reduce the high-frequency vibration intensity of a target motor in the operation process and reduce electromagnetic noise, is favorable for reducing the high-frequency loss of the motor and improves the user experience; another object of the present invention is to provide a high-frequency injection observation apparatus and device, which can reduce the high-frequency vibration intensity of the target motor during the operation process and reduce the electromagnetic noise, thereby being beneficial to reducing the high-frequency loss of the motor and improving the user experience.

In order to solve the above technical problem, the present invention provides a high frequency injection observation method, including:

acquiring a torque value used by a target motor for representing the size of a load;

determining a target proportion corresponding to the torque value according to a corresponding relation of negative correlation between the preset load size and the target proportion;

taking the product of the target proportion and a preset calibration amplitude as the final amplitude of the injection pulse;

injecting the injection pulse with the amplitude of the final amplitude into a power supply loop of the target motor so as to observe the rotating speed and the position;

wherein the target ratio is not greater than 1.

Preferably, the obtaining of the torque value of the target motor for representing the load size specifically includes:

acquiring a torque current detection value of the target motor for representing the magnitude of a load;

the negative correlation corresponding relationship between the preset load size and the target proportion is specifically as follows:

and the preset torque current detection value and the target proportion are in a corresponding relationship of negative correlation.

Preferably, after the torque current detection value of the target motor used for representing the magnitude of the load is obtained, before the target proportion corresponding to the torque value is determined according to a corresponding relationship of a negative correlation between a preset torque current detection value and the target proportion, the method further includes:

and performing low-pass filtering on the torque current detection value.

Preferably, the corresponding relationship of negative correlation between the preset torque current detection value and the target ratio is specifically:

when the torque current detection value is less than or equal to a light-load set threshold value, the target proportion is 1;

when the torque current detection value is larger than the light load set threshold value and smaller than the heavy load set threshold value, the target proportion and the torque current detection value are in an inverse proportion linear relation;

when the torque current detection value is larger than or equal to the heavy load setting threshold value, the target proportion is a preset proportion minimum value.

Preferably, before the step of taking the product of the target ratio and the preset calibration amplitude as the final amplitude of the injection pulse, the high-frequency injection observation method further includes:

acquiring the transient adjusting amplitude of the torque current of the target motor;

determining a compensation proportion corresponding to the transient adjustment amplitude according to a corresponding relation of a positive correlation between a preset transient adjustment amplitude and the compensation proportion;

the step of taking the product of the target ratio and the preset calibration amplitude as the final amplitude of the injection pulse specifically includes:

taking the product of the sum of the target proportion and the compensation proportion and a preset calibration amplitude as the final amplitude of the injection pulse;

and the final amplitude is not greater than the preset calibration amplitude.

Preferably, the obtaining of the transient adjustment amplitude of the torque current of the target motor is specifically:

obtaining said target motorControl error of shaft current;

then, according to the corresponding relationship between the preset transient adjustment amplitude and the compensation proportion, determining that the compensation proportion corresponding to the transient adjustment amplitude is specifically:

and determining the compensation proportion corresponding to the control error according to the corresponding relation of positive correlation between the preset control error and the compensation proportion.

Preferably, the corresponding relationship of the positive correlation between the preset control error and the compensation proportion is specifically as follows:

when the control error is less than or equal to a steady state threshold value, the compensation proportion is 0;

when the control error is larger than the steady-state threshold value and smaller than a transient threshold value, the compensation proportion and the torque current detection value are in a direct proportion linear relation;

and when the control error is greater than or equal to the transient threshold value, the compensation proportion is a preset proportion maximum value.

Preferably, the preset ratio maximum value is 1.

In order to solve the above technical problem, the present invention further provides a high frequency injection observation apparatus, including:

the acquisition module is used for acquiring a torque value used by the target motor for representing the size of the load;

the determining module is used for determining a target proportion corresponding to the torque value according to a corresponding relation of negative correlation between a preset load size and the target proportion;

the calculation module is used for taking the product of the target proportion and a preset calibration amplitude as the final amplitude of the injection pulse;

the action module is used for injecting the injection pulse with the final amplitude into a power supply loop of the target motor so as to observe the rotating speed and the position;

wherein the target ratio is not greater than 1.

In order to solve the above technical problem, the present invention further provides a high frequency injection observation apparatus, including:

a memory for storing a computer program;

a processor for implementing the steps of the high frequency injection observation method as described above when executing the computer program.

The invention provides a high-frequency injection observation method, which considers that under the condition that a load carried by a motor is larger, the amplitude of a commutation ripple in the phase current of the motor is larger and the phase current signal-to-noise ratio is improved, so that the amplitude of an injection pulse can be adjusted according to the load by using a negative correlation corresponding relation, namely the amplitude of the injection pulse is reduced under the condition that the amplitude of the commutation ripple is higher, so that the requirement that the signal-to-noise ratio of the phase current of the motor does not exceed the observation signal-to-noise ratio is restrained on the premise that reliable observation is ensured, the high-frequency vibration intensity of a target motor in the operation process can be reduced, the electromagnetic noise is reduced, and the high-frequency loss of the motor is reduced and the.

The invention also provides a high-frequency injection observation device and equipment, which have the same beneficial effects as the high-frequency injection observation method.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic flow chart of a high-frequency injection observation method according to the present invention;

FIG. 2 is a block diagram of a high frequency injection-based PMSM position sensorless vector control system provided by the present invention;

FIG. 3 is a schematic block diagram of signal demodulation and phase-locked loop implementation in high frequency injection observation;

FIG. 4 is a schematic flow chart of another high-frequency injection observation method provided by the present invention;

FIG. 5 is a schematic block diagram of a high frequency injection observation method according to the present invention;

FIG. 6 is a comparison graph of the rotational speed signal observation provided by the present invention compared to conventional high frequency injection observation;

FIG. 7 is a comparison of position signal observations provided by the present invention compared to conventional high frequency injection observations;

FIG. 8 shows a V-phase current i of a high-frequency injection observation method according to the present invention_vThe feedback waveform of (1);

FIG. 9a is a schematic diagram of the amplitude of the injection frequency current harmonics in the phase current under full load operation when using conventional high frequency injection observation;

FIG. 9b is a schematic diagram of the amplitude of the injected frequency current harmonics in the phase current under full load operation when the high frequency injection observation method of the present application is employed;

FIG. 10 is a schematic structural diagram of a high-frequency injection observation apparatus according to the present invention;

fig. 11 is a schematic structural diagram of a high-frequency injection observation device provided by the present invention.

Detailed Description

The core of the invention is to provide a high-frequency injection observation method, which can reduce the high-frequency vibration intensity of a target motor in the operation process and reduce electromagnetic noise, is beneficial to reducing the high-frequency loss of the motor and improving the user experience; the other core of the invention is to provide a high-frequency injection observation device and equipment, which can reduce the high-frequency vibration intensity of a target motor in the operation process and reduce electromagnetic noise, and is beneficial to reducing the maintenance cost of the motor and improving the user experience.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic flow chart of a high-frequency injection observation method provided in the present invention, the high-frequency injection observation method includes:

step S1: acquiring a torque value used by a target motor for representing the size of a load;

specifically, considering the technical problems in the above background art, in combination with considering that the load carried by the motor is larger, the amplitude of the commutation ripple in the phase current of the motor is larger and the amplitude of the high-frequency current component is increased, and at this time, the amplitude of the high-frequency current component exceeds the requirement of the observed signal-to-noise ratio and causes the aggravation of the high-frequency vibration of the motor and the increase of the electromagnetic noise; and the factor is not fully considered in the prior art, so that the amplitude of the high-frequency current component in the phase current is detected in real time and kept within a reasonable range through the adjustment of the injection pulse amplitude, and the amplitude of high-frequency vibration and electromagnetic noise is kept controllable on the premise that the observation signal-to-noise ratio meets the requirement. In order to control the signal-to-noise ratio, one of the factors that cause the signal-to-noise ratio to be improved is: the method is used for monitoring the torque value representing the load size, so that the signal-to-noise ratio of the phase current can be conveniently and coordinately controlled in the subsequent steps.

Specifically, for better explaining the embodiments of the present invention, please refer to the drawingsFig. 2 is a block diagram of a permanent magnet synchronous motor position sensorless vector control system based on high-frequency injection, wherein the rotating speed and position observation based on high-frequency injection is realized by 5 parts including pulse injection, signal demodulation, a phase-locked loop, current feedback filtering and rotating speed feedback filtering. The square wave voltage pulse can be injected to the estimated magnetic pole axis when pulse injection is carried outOn the axis, the amplitude and period of the pulse are V_pulAnd T_pulThis injection mode is also called a pulse injection mode. FIG. 3 is a schematic block diagram of an implementation of signal demodulation and phase-locked loop due to pulse injection on phase current i of the motor_v，i_wGenerating a high-frequency current signal, and applying the high-frequency current signal to the estimated rotor coordinate systemAfter extraction in the coordinate system, an error signal epsilon (delta theta) positively correlated with the rotor position estimation error delta theta can be obtained. After the error signal epsilon (delta theta) is sent into the phase-locked loop, the closed-loop regulating action of the phase-locked loop regulates the epsilon (delta theta) to 0 to realize the estimation of the rotating speed and the position of the rotor, and the estimation results are respectively

Specifically, the amplitude I of the high-frequency current (hereinafter referred to as injection frequency current) having a frequency close to the frequency of the injection pulse in the phase current_hfThe signal-to-noise ratio in the observation process of the speed and the position of the motor is directly influenced, as shown in the formula (1). In the formula (1), I_hfIs composed ofAnd the amplitude of the injection frequency current obtained in the coordinate system and xi are the inductance salient pole rate of the motor. Most documents for analyzing the signal-to-noise ratio of high-frequency injection are based on the formula (1), and only the injection pulse amplitude V is considered_pulAnd the influence of the saliency xi of the machine, i.e. V_pulThe greater the xi, the greater the signal-to-noise ratioHigh.

In fact, during the actual operation of the machine, I is affected_hfAnother factor in amplitude is the high frequency current harmonics generated by PWM modulation. Research shows that in the frequency spectrum distribution of the current of the motor carrying the lower phase, obvious harmonic peaks are generated near 0.5 times carrier frequency and 0.25 times carrier frequency, the harmonics are generated by discontinuous commutation action of the inverter, the frequency of the harmonics is similar to the commonly selected injection frequency (1000Hz and 2000Hz), and the amplitude of the harmonics is equal to the amplitude delta I of the commutation ripple in the phase current_hIs in direct proportion. By Delta I in the formula (2)_hAccording to the analytic formula (2), the DC bus voltage V_dcAnd carrier frequency f_cWith a fixed modulation ratio M, or a decrease in winding inductance L, both increase Δ I_h. When the load of the motor is increased, the increase of the resistance-inductance voltage drop and the deepening of the magnetic saturation degree cause the increase of the modulation ratio M and the reduction of the winding inductance L to occur simultaneously, correspondingly, the high-frequency current harmonic amplitude of the frequency near the injection frequency is also increased, the electromagnetic noise in the same frequency band is increased, and the phenomenon is particularly obvious in the motor with smaller stator inductance.

Step S2: determining a target proportion corresponding to the torque value according to a corresponding relation of negative correlation between the preset load size and the target proportion; specifically, as the load of the motor is increased, the amplitude of the injection frequency current component in the phase current is increased so as to exceed the requirement of the observed signal-to-noise ratio, so that the amplitude of the injection frequency current component can be properly reduced, and the signal-to-noise ratio is prevented from being increased too high, therefore, in the application, a target proportion corresponding to the torque value can be determined according to a negative correlation corresponding relation, the proportion is the proportion of the final amplitude of the injection pulse to the preset calibration amplitude (and the proportion is not more than 1), and the limitation on the signal-to-noise ratio and the reduction of the noise generated by the motor can be realized by taking the target proportion as a data basis of the subsequent steps.

Of course, in addition to determining the target ratio by using the preset corresponding relationship, the corresponding relationship between the load size and the injection pulse amplitude may be designed to determine the final amplitude (the final amplitude is not greater than the preset calibration amplitude) so as to directly determine the final amplitude, which is not limited herein in the embodiments of the present invention.

Step S3: taking the product of the target proportion and the preset calibration amplitude as the final amplitude of the injection pulse;

specifically, because the target proportion determined in the above step is the proportion of the final amplitude to the preset calibration amplitude, the product of the target proportion and the preset calibration amplitude can be used as the final amplitude of the injection pulse in the step, the final amplitude is also in a negative correlation with the torque value of the load, and the final amplitude can be used as a data base for the subsequent steps.

Step S4: injecting the injection pulse with the final amplitude into a power supply loop of the target motor so as to observe the rotating speed and the position conveniently;

wherein the target ratio is not more than 1.

Specifically, the amplitude of the injection pulse can be adjusted to be the final amplitude and then injected into the power supply loop of the target motor, that is, the amplitude of the injection pulse is reduced under the condition that the amplitude of the commutation ripple is higher, so that the signal-to-noise ratio of the phase current is kept at a certain level by adjusting the controllable factor of the amplitude of the injection pulse, the signal-to-noise ratio is mainly ensured not to be suddenly increased greatly due to the increase of the load, so that on the premise of ensuring reliable observation, the signal-to-noise ratio of the phase current of the motor is inhibited not to exceed the requirement of observing the signal-to-noise ratio, the vibration intensity of the target motor in the operation process can be reduced, the electromagnetic noise is reduced, the maintenance.

In an embodiment of the present invention, the injection manner of the injection pulse may be various, for example, any one of a pulsed square wave injection manner, a pulsed sinusoidal injection manner, and a rotational sinusoidal injection manner, and the embodiment of the present invention is not limited herein.

The invention provides a high-frequency injection observation method, which considers that under the condition that a load carried by a motor is larger, the amplitude of a commutation ripple in the phase current of the motor is larger and the phase current signal-to-noise ratio is improved, so that the amplitude of an injection pulse can be adjusted according to the load by using a negative correlation corresponding relation, namely the amplitude of the injection pulse is reduced under the condition that the amplitude of the commutation ripple is higher, so that the requirement that the signal-to-noise ratio of the phase current of the motor does not exceed the observation signal-to-noise ratio is restrained on the premise that reliable observation is ensured, the high-frequency vibration intensity of a target motor in the operation process can be reduced, the electromagnetic noise is reduced, and the high-frequency loss of the motor is reduced and the.

On the basis of the above-described embodiment:

as a preferred embodiment, the obtaining of the torque value of the target motor for representing the magnitude of the load is specifically as follows:

acquiring a torque current detection value of a target motor for representing the magnitude of a load;

the negative correlation corresponding relationship between the preset load size and the target proportion is specifically as follows:

and the preset torque current detection value and the target proportion are in a corresponding relationship of negative correlation.

Specifically, the size of the load can be conveniently and accurately represented through the torque current detection value of the motor.

Of course, the torque value may be obtained in other various ways besides obtaining the torque value of the load through the detected torque current value of the motor, and the embodiment of the present invention is not limited herein.

As a preferred embodiment, after obtaining a torque current detection value of the target motor for characterizing the magnitude of the load, before determining the target ratio corresponding to the torque value according to a preset correspondence relationship between the torque current detection value and the target ratio, the method further includes:

the torque current detection value is low-pass filtered.

Specifically, in order to avoid a current transient state and measurement noise from causing a misjudgment of the torque value of the load, a low-pass filtering process may be performed on the torque current detection value, and then the target ratio corresponding to the torque value may be determined according to a preset negative correlation correspondence between the torque current detection value and the target ratio.

As a preferred embodiment, the preset corresponding relationship of negative correlation between the torque current detection value and the target ratio is specifically:

when the torque current detection value is less than or equal to the light load set threshold value, the target proportion is 1;

when the torque current detection value is larger than the light load set threshold value and smaller than the heavy load set threshold value, the target proportion and the torque current detection value are in an inverse proportion linear relation;

when the torque current detection value is larger than or equal to the heavy load setting threshold value, the target proportion is a preset proportion minimum value.

Specifically, considering that under the condition of light load, the signal-to-noise ratio of phase current is not very high, the electromagnetic noise of the motor is not very obvious, and meanwhile, in order to guarantee the reliability of the rotating speed and position observation, the embodiment of the invention is provided with the light load set threshold, when the detected value of the torque current is less than or equal to the light load set threshold, the target proportion is 1, namely the amplitude of the injected pulse is the preset calibration amplitude under the condition, so that the reliability of the observation is ensured, and the electromagnetic noise is not too large.

Specifically, when the torque current detection value is larger than the light load setting threshold value and smaller than the heavy load setting threshold value, the target proportion and the torque current detection value are in an inverse proportion linear relation, the setting of the linear relation basically corresponds to the relation between the load size and the signal-to-noise ratio improvement, and the signal-to-noise ratio improvement caused by the load size improvement can be well overcome.

Of course, in addition to the linear negative correlation provided in this application, the injection pulse amplitude ratio at different torque current magnitudes may also be determined by other types of negative correlations (such as inverse proportional functions, etc.), and the embodiments of the present invention are not limited herein.

Specifically, in order to ensure that the rotating speed and the position of the motor can be reliably observed, in the embodiment of the invention, when the detected value of the torque current is greater than or equal to the heavy load set threshold value, the target proportion is the minimum value of the preset proportion, so as to ensure a reliable observation effect.

For better explaining the embodiment of the present invention, please refer to fig. 4 and fig. 5, fig. 4 is a schematic flow chart of another high-frequency injection observation method provided by the present invention, fig. 5 is a schematic block diagram of a high-frequency injection observation method provided by the present invention, and as a preferred embodiment, before the product of the target proportion and the preset calibration amplitude is used as the final amplitude of the injection pulse, the high-frequency injection observation method further includes:

step S203: acquiring the transient adjusting amplitude of the torque current of the target motor;

step S204: determining a compensation proportion corresponding to the transient adjustment amplitude according to a corresponding relation of positive correlation between the preset transient adjustment amplitude and the compensation proportion;

taking the product of the target proportion and the preset calibration amplitude as the final amplitude of the injection pulse specifically as follows:

step S205: taking the product of the sum of the target proportion and the compensation proportion and a preset calibration amplitude as the final amplitude of the injection pulse;

and the final amplitude is not greater than the preset calibration amplitude.

Specifically, in fig. 4, step S201 is the same as step S1, step S202 is the same as step S2, and step S206 is the same as step S4.

Specifically, in FIG. 5, K₁In the above-mentioned target ratio, and K₂For the above compensation ratio, I_thLSetting a threshold for the above light load, I_thHSetting a threshold, Δ I, for the above-mentioned heavy loads_thLTo a steady state threshold, Δ I_thHAs a transient threshold, i_qFor detecting torque current, Δ i_qcFor transient adjustment of amplitude, V_adjIs the final amplitude.

Specifically, considering that under the condition of a given sudden change of the rotation speed or a sudden change of the load of the motor, the torque current can undergo a transient adjustment process with a short time but a large amplitude, because a large high-frequency interference can be generated in the phase current due to a short-time large change of the torque current, the interference can seriously reduce the signal-to-noise ratio of the observation to cause unreliable observation, therefore, the amplitude of the injection pulse needs to be increased under the large transient adjustment, that is, the positive correlation relationship should be kept between the compensation proportion and the transient adjustment amplitude, so that the stability of the signal-to-noise ratio under the condition of a large transient adjustment amplitude of the torque current is ensured, and the reliability of the observation of the rotation speed and the position and the stability of the operation.

In order to limit the electromagnetic noise of the motor, the final amplitude corresponding to the product of the sum of the target proportion and the compensation proportion and the preset calibration amplitude is not greater than the preset calibration amplitude, and the sum of the target proportion and the compensation proportion is not greater than 1.

As a preferred embodiment, the obtaining of the transient adjustment amplitude of the torque current of the target motor specifically includes:

for obtaining target motorControl error of shaft current;

then, according to the corresponding relationship of the positive correlation between the preset transient adjustment amplitude and the compensation proportion, it is determined that the compensation proportion corresponding to the transient adjustment amplitude is specifically:

and determining the compensation proportion corresponding to the control error according to the corresponding relation of positive correlation between the preset control error and the compensation proportion.

In particular, the amplitude of transient regulation of the target motor to characterize the torque current of the target motorThe control error of the shaft current can quickly and accurately determine the transient adjustment amplitude of the torque current of the target motor, and the realization cost is low.

Of course, besides the above manners, the transient adjustment amplitude of the torque current of the target motor may also be obtained in other various manners, and the embodiment of the present invention is not limited herein.

As a preferred embodiment, the correspondence relationship between the preset control error and the compensation ratio in positive correlation is specifically:

when the control error is less than or equal to the steady state threshold value, the compensation proportion is 0;

when the control error is larger than the steady-state threshold value and smaller than the transient threshold value, the compensation proportion and the torque current detection value are in a direct proportion linear relation;

when the control error is larger than or equal to the transient threshold value, the compensation proportion is the maximum value of the preset proportion.

Specifically, considering that when the load variation is within a certain range of a lower degree, the amount of high-frequency interference introduced into the loop is very small and can be ignored, in this case, it may not be necessary to compensate the target ratio, and therefore, when the control error is equal to or less than the steady-state threshold value, the compensation ratio is 0.

Specifically, considering that the load variation and the degree of the high-frequency interference introduced into the loop are basically in a linear relationship, in the embodiment of the invention, when the control error is greater than the steady-state threshold and smaller than the transient threshold, the compensation proportion and the torque current detection value are in a direct-proportion linear relationship, so that the high-frequency interference caused by sudden load change can be well compensated, and the observation reliability and the stability of the motor operation can be ensured.

Of course, in addition to the linear positive correlation provided in this application, the injection pulse amplitude ratios under different input deviations of the torque current regulator may also be determined by other types of positive correlations (such as quadratic functions, etc.), and the embodiments of the present invention are not limited herein.

In consideration of the fact that the signal-to-noise ratio is directly too high when the amplitude of the injection pulse is too high, the preset proportion maximum value is set in the embodiment of the invention, and when the control error is larger than or equal to the transient threshold value, the compensation proportion is the preset proportion maximum value, so that the phenomenon that the vibration of the motor is aggravated and the noise is aggravated because of the injection pulse is avoided.

As a preferred embodiment, the preset ratio maximum is 1.

Specifically, for convenience of setting, the maximum value of the preset proportion can be set to be 1, and because the final amplitude value is set to be not larger than the preset calibration amplitude value, even if the sum of the compensation proportion and the target proportion is larger than 1, the final amplitude value obtained finally is not higher than the preset calibration amplitude value, and the signal-to-noise ratio is not directly too high.

In addition, for better explaining the embodiment of the present invention, please refer to fig. 6 to 9, fig. 6 is a comparison graph of the rotational speed signal observation compared with the conventional high frequency injection observation provided by the present invention; FIG. 7 is a comparison of position signal observations provided by the present invention compared to conventional high frequency injection observations; FIG. 8 is a feedback waveform of the V-phase current iv of a high frequency injection observation method according to the present invention; FIG. 9a is a schematic diagram of the amplitude of the injection frequency current harmonics in the phase current under full load operation when using conventional high frequency injection observation; FIG. 9b is a schematic diagram of the amplitude of the injected frequency current harmonics in the phase current under full load operation when the high frequency injection observation method of the present application is employed; fig. 6-9 show the vector control results obtained by the above-mentioned high-frequency injection observation method, in which the frequency of the injected pulse is 1000Hz, the motor experiences the load change of no-load-60% rated load-100% rated load-20% rated load-no-load, the observation result of the rotation speed (fig. 6) and the observation result of the position (fig. 7) are always reliable by reasonably adjusting the relevant parameters in the scheme, the V-phase current of the 100% rated load section in fig. 8 is subjected to the spectrum analysis to obtain fig. 9(b), and compared with the spectrum of the full-load V-phase current under the constant injected pulse (fig. 9(a)), the comparison result shows that the amplitude of the injected frequency current is reduced by more than 2 times when the full-load operation is performed after the pulse adjustment, and the generated electromagnetic noise is obviously reduced.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a high-frequency injection observation device provided in the present invention, the high-frequency injection observation device includes:

the acquisition module 1 is used for acquiring a torque value of a target motor for representing the size of a load;

the determining module 2 is used for determining a target proportion corresponding to the torque value according to a corresponding relation of negative correlation between the preset load size and the target proportion;

the calculation module 3 is used for taking the product of the target proportion and the preset calibration amplitude as the final amplitude of the injection pulse;

the action module 4 is used for injecting the injection pulse with the final amplitude into a power supply loop of the target motor so as to observe the rotating speed and the position;

wherein the target ratio is not more than 1.

For the introduction of the high-frequency injection observation device provided by the present invention, please refer to the embodiment of the high-frequency injection observation method described above, and the embodiments of the present invention are not described herein again.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a high-frequency injection observation apparatus provided in the present invention, the high-frequency injection observation apparatus includes:

a memory 5 for storing a computer program;

a processor 6 for implementing the steps of the high frequency injection observation method as in the previous embodiments when executing the computer program.

For the introduction of the high-frequency injection observation device provided by the present invention, reference is made to the foregoing embodiments of the high-frequency injection observation method, and the embodiments of the present invention are not described herein again.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should also be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.