阅读说明：本技术 电机控制方法、装置、可移动平台和存储介质 (Motor control method, motor control device, movable platform and storage medium ) 是由 金学健 于 2020-04-03 设计创作，主要内容包括：本发明实施例提供一种电机控制方法、装置、可移动平台和存储介质,该电机控制方法包括：确定当前时刻电机的直轴输出电流信号和交轴输出电流信号；获取直轴参考电流信号和交轴参考电流信号；根据直轴输出电流信号和直轴参考电流信号,确定直轴电流误差信号,以及,根据交轴输出电流信号和交轴参考电流信号,确定交轴电流误差信号；通过第一PI控制器对直轴电流误差信号进行调整,以得到直轴输入电压信号,通过第二PI控制器对交轴电流误差信号进行调整,以得到交轴输入电压信号；根据直轴输入电压信号和交轴输入电压信号控制电机转动。采用本发明,在保障响应速度的同时,能够保障电机控制系统在控制电机进行提速过程中的稳定性。(The embodiment of the invention provides a motor control method, a device, a movable platform and a storage medium, wherein the motor control method comprises the following steps: determining a direct-axis output current signal and a quadrature-axis output current signal of a motor at the current moment; acquiring a direct-axis reference current signal and a quadrature-axis reference current signal; determining a direct-axis current error signal according to the direct-axis output current signal and the direct-axis reference current signal, and determining a quadrature-axis current error signal according to the quadrature-axis output current signal and the quadrature-axis reference current signal; adjusting the direct-axis current error signal through a first PI controller to obtain a direct-axis input voltage signal, and adjusting the quadrature-axis current error signal through a second PI controller to obtain a quadrature-axis input voltage signal; and controlling the motor to rotate according to the direct-axis input voltage signal and the quadrature-axis input voltage signal. By adopting the invention, the response speed is ensured, and the stability of the motor control system in the process of controlling the motor to speed up is ensured.)

1. A motor control method, comprising:

determining a direct-axis output current signal and a quadrature-axis output current signal of a motor at the current moment;

acquiring a direct-axis reference current signal and a quadrature-axis reference current signal;

determining a direct-axis current error signal according to the direct-axis output current signal and the direct-axis reference current signal, and determining a quadrature-axis current error signal according to the quadrature-axis output current signal and the quadrature-axis reference current signal;

adjusting the direct-axis current error signal through a first PI controller to obtain a direct-axis input voltage signal, and adjusting the quadrature-axis current error signal through a second PI controller to obtain a quadrature-axis input voltage signal;

and controlling the motor to rotate according to the direct-axis input voltage signal and the quadrature-axis input voltage signal.

2. The method of claim 1, wherein the obtaining the quadrature reference current signal comprises:

acquiring a quadrature axis reference voltage signal;

and determining the quadrature reference current signal according to the quadrature reference voltage signal.

3. The method of claim 2, wherein determining the quadrature reference current signal from the quadrature reference voltage signal comprises:

determining a voltage difference value between the quadrature axis reference voltage signal and a quadrature axis voltage signal input in a last control period of the motor;

and adjusting the voltage difference value through a third PI controller, and taking a current signal output by the third PI controller as the quadrature axis reference current signal.

4. The method of claim 2, wherein determining the quadrature reference current signal from the quadrature reference voltage signal comprises:

acquiring a calibration current signal corresponding to the quadrature axis reference voltage signal;

and determining the sum of the current signal output by the third PI controller and the calibration current signal as the quadrature axis reference current signal.

5. The method of claim 1, wherein the direct-axis reference current signal is a current signal of a predetermined magnitude.

6. The method of claim 2, wherein the predetermined magnitude is 0.

7. The method of claim 1, wherein determining the direct-axis output current signal and the quadrature-axis output current signal of the motor at the present time comprises:

collecting three-phase current signals and three-phase voltage signals of a motor at the current moment;

and carrying out Clark conversion and park conversion on the three-phase current signals and the three-phase voltage signals to obtain direct-axis output current signals and quadrature-axis output current signals of the motor at the current moment.

8. The method of claim 7, wherein the performing Clark transformation and park transformation on the three-phase current signals and the three-phase voltage signals to obtain direct-axis output current signals and quadrature-axis output current signals of the motor at the current moment comprises:

performing Clark transformation on the three-phase current signals and the three-phase voltage signals to obtain orthogonal input current signals and orthogonal input voltage signals of the motor at the current moment;

determining a rotation angle of the motor at the current moment based on the quadrature input current signal and the quadrature input voltage signal;

and carrying out park transformation on the orthogonal input current signal and the orthogonal input voltage signal based on the rotation angle to obtain a direct-axis output current signal and a quadrature-axis output current signal of the motor at the current moment.

9. The method of claim 8, wherein said controlling the rotation of the motor based on the direct-axis input voltage signal and the quadrature-axis input voltage signal comprises:

performing park inverse transformation on the direct-axis input voltage signal and the quadrature-axis input voltage signal based on the rotation angle to obtain an orthogonal output voltage signal;

controlling the motor to rotate based on the quadrature output voltage signal.

10. The method of claim 9, wherein said controlling the rotation of the motor based on the quadrature output voltage signal comprises:

determining three-phase current signals and three-phase voltage signals which correspond to the orthogonal voltage signals and are input in the next control period of the motor;

determining three-phase current signals and duty ratio signals corresponding to the three-phase voltage signals input in the next control period of the motor;

and controlling the motor to rotate based on the duty ratio signal.

11. A motor control apparatus, comprising:

the determining module is used for determining a direct-axis output current signal and a quadrature-axis output current signal of the motor at the current moment;

the acquisition module is used for acquiring a direct-axis reference current signal and a quadrature-axis reference current signal;

the determining module is used for determining a direct-axis current error signal according to the direct-axis output current signal and the direct-axis reference current signal, and determining a quadrature-axis current error signal according to the quadrature-axis output current signal and the quadrature-axis reference current signal;

the adjusting module is used for adjusting the direct-axis current error signal through a first PI controller to obtain a direct-axis input voltage signal, and adjusting the quadrature-axis current error signal through a second PI controller to obtain a quadrature-axis input voltage signal;

and the control module is used for controlling the motor to rotate according to the direct-axis input voltage signal and the quadrature-axis input voltage signal.

12. The apparatus of claim 11, wherein the obtaining module is configured to:

acquiring a quadrature axis reference voltage signal;

and determining the quadrature reference current signal according to the quadrature reference voltage signal.

13. The apparatus of claim 12, wherein the obtaining module is configured to:

determining a voltage difference value between the quadrature axis reference voltage signal and a quadrature axis voltage signal input in a last control period of the motor;

and adjusting the voltage difference value through a third PI controller, and taking a current signal output by the third PI controller as the quadrature axis reference current signal.

14. The apparatus of claim 12, wherein the obtaining module is configured to:

acquiring a calibration current signal corresponding to the quadrature axis reference voltage signal;

and determining the sum of the current signal output by the third PI controller and the calibration current signal as the quadrature axis reference current signal.

15. The apparatus of claim 11, wherein the direct-axis reference current signal is a current signal of a predetermined magnitude.

16. The apparatus of claim 12, wherein the predetermined magnitude is 0.

17. The apparatus of claim 11, wherein the determining module is configured to:

collecting three-phase current signals and three-phase voltage signals of a motor at the current moment;

and carrying out Clark conversion and park conversion on the three-phase current signals and the three-phase voltage signals to obtain direct-axis output current signals and quadrature-axis output current signals of the motor at the current moment.

18. The apparatus of claim 17, wherein the determining module is configured to:

performing Clark transformation on the three-phase current signals and the three-phase voltage signals to obtain orthogonal input current signals and orthogonal input voltage signals of the motor at the current moment;

determining a rotation angle of the motor at the current moment based on the quadrature input current signal and the quadrature input voltage signal;

and carrying out park transformation on the orthogonal input current signal and the orthogonal input voltage signal based on the rotation angle to obtain a direct-axis output current signal and a quadrature-axis output current signal of the motor at the current moment.

19. The apparatus of claim 18, wherein the determining module is configured to:

performing park inverse transformation on the direct-axis input voltage signal and the quadrature-axis input voltage signal based on the rotation angle to obtain an orthogonal output voltage signal;

controlling the motor to rotate based on the quadrature output voltage signal.

20. The apparatus of claim 19, wherein the determining module is configured to:

determining three-phase current signals and three-phase voltage signals which correspond to the orthogonal voltage signals and are input in the next control period of the motor;

determining three-phase current signals and duty ratio signals corresponding to the three-phase voltage signals input in the next control period of the motor;

and controlling the motor to rotate based on the duty ratio signal.

21. A movable platform, comprising: the motor control device of any one of claims 11-20 and the motor.

22. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium in which program instructions for implementing the motor control method according to any one of claims 1 to 10 are stored.

Technical Field

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

Background

The user may increase the rotational speed of the motor by triggering an acceleration command.

When the user triggers the acceleration instruction, a quadrature axis voltage signal corresponding to the acceleration instruction is generated, and the quadrature axis voltage signal is embodied as the voltage value is increased. The increased quadrature axis voltage signal is applied to a motor control system, and the motor control system can control and increase the rotating speed of the motor.

In the above process, when the quadrature axis voltage signal suddenly increases, the quadrature axis current signal also suddenly increases accordingly. Due to the coupling effect of the quadrature-axis current signal and the direct-axis voltage signal, the direct-axis voltage signal is also suddenly increased, and the direct-axis voltage signal cannot be effectively adjusted and oscillates. The oscillating direct-axis voltage signal also reacts back to the quadrature-axis current signal, causing the quadrature-axis current signal to also oscillate. Due to the interaction of the quadrature-axis current signal and the direct-axis voltage signal, oscillation is difficult to adjust, and the whole motor control system is unstable.

Disclosure of Invention

The embodiment of the invention provides a motor control method, a motor control device, motor control equipment and a storage medium, which are used for ensuring the stability of a motor control system in the process of accelerating a motor.

In a first aspect, an embodiment of the present invention provides a motor control method, where the method includes:

determining a direct-axis output current signal and a quadrature-axis output current signal of a motor at the current moment;

acquiring a direct-axis reference current signal and a quadrature-axis reference current signal;

determining a direct-axis current error signal according to the direct-axis output current signal and the direct-axis reference current signal, and determining a quadrature-axis current error signal according to the quadrature-axis output current signal and the quadrature-axis reference current signal;

adjusting the direct-axis current error signal through a first PI controller to obtain a direct-axis input voltage signal, and adjusting the quadrature-axis current error signal through a second PI controller to obtain a quadrature-axis input voltage signal;

and controlling the motor to rotate according to the direct-axis input voltage signal and the quadrature-axis input voltage signal.

In a second aspect, an embodiment of the present invention provides a motor control apparatus, including:

the determining module is used for determining a direct-axis output current signal and a quadrature-axis output current signal of the motor at the current moment;

the acquisition module is used for acquiring a direct-axis reference current signal and a quadrature-axis reference current signal;

the determining module is used for determining a direct-axis current error signal according to the direct-axis output current signal and the direct-axis reference current signal, and determining a quadrature-axis current error signal according to the quadrature-axis output current signal and the quadrature-axis reference current signal;

the adjusting module is used for adjusting the direct-axis current error signal through a first PI controller to obtain a direct-axis input voltage signal, and adjusting the quadrature-axis current error signal through a second PI controller to obtain a quadrature-axis input voltage signal;

and the control module is used for controlling the motor to rotate according to the direct-axis input voltage signal and the quadrature-axis input voltage signal.

In a third aspect, an embodiment of the present invention provides a movable platform, which includes the motor control device and the motor according to the second aspect of the present invention.

In a fourth aspect, the embodiment of the present invention provides a non-transitory machine-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the motor control method according to the first aspect of the present invention.

According to the method provided by the embodiment of the invention, in the process that the motor control system carries out speed acceleration according to the speed acceleration instruction, the response speed is guaranteed, and meanwhile, the direct axis input current signal and the quadrature axis input current signal are respectively regulated by the first PI controller and the second PI controller, so that the direct axis input current signal and the quadrature axis input current signal can be in a stable state, the stability of the motor control system in the process of controlling the motor to carry out speed acceleration is ensured, and the motor control system is prevented from generating oscillation in the process of controlling the motor to carry out speed acceleration.

Drawings

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

Fig. 1 is a flowchart of a motor control method according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a motor control system according to an embodiment of the present invention;

FIG. 3 is a flow chart of another method for controlling a motor according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of another motor control system according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a motor control device according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.

Detailed Description

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.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

In addition, the sequence of steps in each method embodiment described below is only an example and is not strictly limited.

The motor control method provided by the embodiment of the invention can be executed by a movable platform, and the movable platform can be an unmanned aerial vehicle, a robot, a sweeper and the like.

Using unmanned aerial vehicle's scene as an example, the user can control unmanned aerial vehicle flight through the controller, and the user can send the controller and let unmanned aerial vehicle carry out the acceleration instruction with higher speed, and the controller can be according to this acceleration instruction, control unmanned aerial vehicle and carry out the speed-up. It can be understood that the power that unmanned aerial vehicle flies comes from the motor, and when needs unmanned aerial vehicle to carry out the speed-up, the rotational speed of motor needs corresponding promotion. By the method provided by the embodiment of the invention, the rotating speed of the motor can be stably increased under the condition that the response speed of the motor to the acceleration instruction is guaranteed, so that the acceleration process of the unmanned aerial vehicle is realized.

The following describes the implementation of the motor control method provided herein with reference to some embodiments.

Fig. 1 is a flowchart of a motor control method according to an embodiment of the present invention, and as shown in fig. 1, the method includes the following steps:

and step S101, determining a direct-axis output current signal and a quadrature-axis output current signal of the motor at the current moment.

Step S102, a direct-axis reference current signal and a quadrature-axis reference current signal are obtained.

Step S103, determining a direct-axis current error signal according to the direct-axis output current signal and the direct-axis reference current signal, and determining a quadrature-axis current error signal according to the quadrature-axis output current signal and the quadrature-axis reference current signal.

And step S104, adjusting the direct-axis current error signal through the first PI controller to obtain a direct-axis input voltage signal, and adjusting the quadrature-axis current error signal through the second PI controller to obtain a quadrature-axis input voltage signal.

And step S105, controlling the motor to rotate according to the direct-axis input voltage signal and the quadrature-axis input voltage signal.

In practical applications, when a user triggers an acceleration command, a quadrature reference voltage signal corresponding to the acceleration command is generated, and for convenience of description, the quadrature reference voltage signal is denoted by Vq _ ref. For example, assuming that the unmanned aerial vehicle can be accelerated through five acceleration gears, wherein Vq _ ref corresponding to the lowest acceleration gear is 1V, and Vq _ ref corresponding to the highest acceleration gear is 5V, when any acceleration gear is selected by a user, Vq _ ref is correspondingly generated and input into the motor control system.

Fig. 2 is a schematic structural diagram of a motor control system according to an embodiment of the present invention. Through the processing of the motor control system on Vq _ ref, a duty ratio signal for controlling the three-phase bridge is correspondingly generated, the duty ratio signal directly influences the magnitude of three-phase voltage signals and three-phase current signals output by the three-phase bridge, and finally three-phase electricity output by the three-phase bridge acts on the motor to realize the speed increasing and reducing of the motor.

It should be noted that the motor control system regulates and controls the motor according to the control period, and in each control period, the motor control system realizes the regulation and control of the motor based on Vq _ ref, the direct-axis output current signal and the quadrature-axis output current signal of the motor at the present time. For convenience of description, Id will be used hereinafter to represent a direct-axis output current signal of the motor at the present time, and Iq represents a quadrature-axis output current signal of the motor at the present time.

The above Id affects the maximum rotation speed of the motor, and in the embodiment of the present invention, Id is close to equal to 0, without interfering with the value of Id. The above Iq affects the torque of the motor, when Iq is increased, the torque of the motor is increased, the motor is accelerated, when Iq is decreased, the torque of the motor is decreased, and the motor is decelerated.

In order to obtain Id and Iq, three-phase current signals and three-phase voltage signals of the motor at the current moment can be acquired, and clark transformation (Clarke transformation expressed in english) and Park transformation (Park transformation expressed in english) are performed on the three-phase current signals and the three-phase voltage signals to obtain Id and Iq. The three-phase current signals of the motor at the present time may be represented as Ia, Ib, and Ic, and the three-phase voltage signals may be represented as Va, Vb, and Vc.

Ia, Ib, Ic, Va, Vb and Vc on the motor can be collected through a three-phase electric detection device, after Ia, Ib and Ic are collected, Clarke transformation can be carried out on Ia, Ib and Ic, quadrature input current signals (hereinafter expressed as I alpha and I beta) of the motor at the current moment are obtained, and the I alpha and the I beta are values under a static coordinate system. After Va, Vb and Vc are collected, Clarke transformation can be performed on Va, Vb and Vc to obtain orthogonal input voltage signals (hereinafter denoted as V α and V β), which are also values in a stationary coordinate system. After the I α, I β, V α, and V β are obtained, the I α, I β, V α, and V β may be input into a motor angle observer, which outputs the speed and the rotation angle (hereinafter, denoted as θ) of the motor at the present time. After θ is obtained, Park transformation may be performed on I α and I β according to θ to obtain Id and Iq, where Id and Iq are values in a rotating coordinate system.

In addition to obtaining Id and Iq, a direct-axis reference current signal (hereinafter denoted as Id _ ref) and a quadrature-axis reference current signal (hereinafter denoted as Iq _ ref) may also be obtained. Id _ ref can be used as a reference regulation signal for Id, and Iq _ ref can be used as a reference regulation signal for Iq.

It is mentioned above that Id can be made nearly equal to a predetermined amplitude, which can be 0. To achieve this, Id _ ref may be set to 0, so that when Id is regulated with reference to Id _ ref, Id and Id _ ref can be made nearly equal, and the value of Id can be controlled to be in the vicinity of 0.

The above-described procedure of acquiring Iq _ ref can be implemented as: obtaining Vq _ ref; from Vq _ ref, Iq _ ref is determined.

In practical applications, from Vq _ ref, the process of determining Iq _ ref can be implemented as: determining a voltage difference between Vq _ ref and a quadrature input voltage signal (hereinafter, Vq) input at a previous control cycle of the motor; and inputting the voltage difference value into a third PI controller to obtain Iq _ ref.

The PI controller is a linear controller, and may form a deviation signal according to the reference regulation signal and the electrical signal actually output in the system, linearly combine the proportion and the integral of the deviation signal to form a control quantity, and adjust the electrical signal actually output in the system according to the control quantity.

The Vq can be made to follow the value of Vq _ ref by the regulation of the third PI controller, which implements the regulation of Vq by the control quantity Iq _ ref during the actual regulation.

In practical applications, when the user does not trigger an acceleration command, the motor control system is in a steady state after a certain regulation, where Vq ' is also relatively fixed, and Vq ' is nearly equal to Vq _ ref '. When the user has just triggered the acceleration command, Vq _ ref increases suddenly, Vq at this time has not changed, and there is a large error between Vq and Vq _ ref. When a larger error signal is input to the third PI controller, the third PI controller outputs a relatively larger Iq _ ref by which Vq rises rapidly through the action of the control loop, but this time Vq is a fast approach to Vq _ ref, there may still be an error between them, which is smaller. When a smaller error signal is input to the third PI controller in the following regulation period, the third PI controller outputs a relatively smaller Iq _ ref by which Vq is slowly raised and is brought closer to and even finally equal to Vq _ ref.

Through the above-described procedure, after Vq _ ref is given, Iq _ ref at the present time can be calculated from Vq. After Iq and Iq _ ref are acquired, a quadrature current error signal can be determined from Iq and Iq _ ref. Accordingly, after Id _ ref is given, a direct axis current error signal can be determined from Id _ ref and the obtained Id. The direct-axis current error signal is input to a first PI controller, resulting in a direct-axis input voltage signal (hereinafter Vd). And inputting the quadrature axis current error signal into a second PI controller to obtain Vq.

As can be seen from fig. 2, in the motor control system provided in the embodiment of the present invention, a d-axis current loop and a q-axis current loop are provided. The main module in the q-axis current loop is a second PI controller, the q-axis current loop is from Iq to Vq through the second controller, and from Vq to the three-phase bridge, three-phase current signals and three-phase voltage signals output by the three-phase bridge are collected, subjected to Clarke conversion, subjected to Park conversion and finally returned to Iq.

When Vq _ ref suddenly increases after the user triggers an acceleration command, Iq also increases rapidly. Due to the coupling between Iq and Vd, the rapid increase in Iq will cause Vd to also increase in speed, while Vd can be regulated by the first PI controller in the d-axis current loop. Accordingly, after Iq increases rapidly, Iq is regulated by a second PI controller in the q-axis current loop, the regulation by the second PI controller causing Iq to always follow the value of Iq _ ref, which is also stable when Iq _ ref is stable. Thus, stable Iq and regulated Vd do not interact through coupling to produce oscillation that is difficult to suppress.

After the first PI controller outputs Vd and the second PI controller outputs Vq, the motor control system may control the motor to rotate according to Vd and Vq.

Alternatively, the process of controlling the rotation of the motor according to Vd and Vq may be implemented as: performing inverse Park transformation (which may be denoted as Park inverse transformation) on Vd and Vq based on θ, resulting in quadrature output voltage signals (hereinafter denoted as V α and V β); and controlling the motor to rotate based on the V alpha and the V beta.

Alternatively, the process of controlling the rotation of the motor based on V α and V β may be implemented as: determining three-phase current signals (shown as Ia ', Ib' and Ic ') and three-phase voltage signals (shown as Va', Vb 'and Vc') input in the next control period of the motor corresponding to the V alpha and the V beta; determining duty ratio signals corresponding to Ia ', Ib', Ic ', Va', Vb 'and Vc'; and controlling the motor to rotate based on the duty ratio signal.

In practical application, as shown in fig. 2, Ia ', Ib', Ic ', Va', Vb ', and Vc' may be input to a Space Vector Pulse Width Modulation (SVPWM) module to obtain corresponding duty ratio signals. The duty ratio signal can be used for adjusting the working parameters of a Metal-Oxide-Semiconductor Field-Effect Transistor (MOSFET), and finally the purpose of controlling the motor to rotate is achieved by adjusting the working parameters of the MOSFET.

Fig. 3 is a flowchart of another motor control method according to an embodiment of the present invention, and as shown in fig. 3, the method includes the following steps:

step S301, determining a direct-axis output current signal and a quadrature-axis output current signal of the motor at the current moment.

Step S302, a direct-axis reference current signal is obtained.

Step S303, a quadrature reference voltage signal is obtained.

Step S304, a calibration current signal corresponding to the quadrature axis reference voltage signal is obtained.

In step S305, the sum of the current signal output by the third PI controller and the calibration current signal is determined as the quadrature reference current signal.

Step S306, determining a direct-axis current error signal according to the direct-axis output current signal and the direct-axis reference current signal, and determining a quadrature-axis current error signal according to the quadrature-axis output current signal and the quadrature-axis reference current signal.

In step S307, the direct axis current error signal is adjusted by the first PI controller to obtain a direct axis input voltage signal, and the quadrature axis current error signal is adjusted by the second PI controller to obtain a quadrature axis input voltage signal.

And step S308, controlling the motor to rotate according to the direct-axis input voltage signal and the quadrature-axis input voltage signal.

Different from the embodiment corresponding to fig. 1, in the embodiment of the present invention, another way of obtaining the quadrature reference current signal (Iq _ ref) is provided, and the processing ways of other signals are similar to the embodiment corresponding to fig. 1, and refer to the content specifically described in the embodiment corresponding to fig. 1, which is not repeated herein.

In practical applications, as shown in fig. 4, after Vq _ ref is acquired, a calibration current signal (hereinafter denoted as Iq _ f) corresponding to Vq _ ref may be acquired. This process may be implemented by a feed forward module.

It is to be understood that since Iq _ f corresponding to Vq _ ref can be acquired, the correspondence relationship between Vq _ ref and Iq _ f can be calibrated in advance, and can be expressed in a list form or an algorithm. The specific range of values that Vq _ ref can take is certain, possible values of Vq _ ref can be determined, and then different given Vq _ ref are input into the motor control system, so that a q-axis input current signal is tested under the stable state of the motor control system, and Iq _ f is obtained. These Vq _ ref and measured Iq _ f can be stored in a list, respectively, from which the Iq _ f of the system in steady state can be found when Vq _ ref is given. It is also possible to fit a formula of the correspondence between Vq _ ref and Iq _ f based on these Vq _ ref and measured Iq _ f, by which the corresponding Iq _ f can be calculated when Vq _ ref is given.

In practical situations, when Vq _ ref is given, the motor control system needs to be regulated and controlled for several control cycles to enable the motor control system to be in a stable state, and the process is time-consuming. And through the feedforward module, when Vq _ ref is given, the corresponding relation between the Vq _ ref and Iq _ f in a stable state is inquired, so that the Iq _ f corresponding to the given Vq _ ref can be immediately determined, and the response speed of the motor control system is improved.

In order to eliminate a deviation between the current signal (hereinafter, referred to as Iq _ PI) output from the third PI controller and Iq _ f, which may exist between the actually steady-state Iq _ f' and the experimentally measured Iq _ f when the motor control system is actually used due to the deviation between the experimental environment in which the correspondence relationship between Vq _ ref and Iq _ f is measured and the environment in which the motor control system is actually used, the sum may be taken as Iq _ ref.

According to the method provided by the embodiment of the invention, the response speed of the motor control system can be improved by arranging the feedforward module, and meanwhile, the motor control system can be ensured to stably run when a user triggers an acceleration instruction under the condition that the motor system has higher response speed due to the regulating action of the d-axis current loop and the q-axis current loop arranged in the motor control system. Therefore, when motor control system can the steady operation, the motor can be stable carry out the speed-up, prevents that the shake phenomenon from appearing at speed-up in-process unmanned aerial vehicle.

The motor control device of one or more embodiments of the present invention will be described in detail below. Those skilled in the art will appreciate that these motor control devices can be configured using commercially available hardware components through the steps taught in this scheme.

Fig. 5 is a schematic structural diagram of a motor control device according to an embodiment of the present invention. As shown in fig. 5, the apparatus includes: a determination module 51, an acquisition module 52, an adjustment module 53, and a control module 54.

The determining module 51 is configured to determine a direct-axis output current signal and a quadrature-axis output current signal of the motor at the current moment.

The obtaining module 52 is configured to obtain a direct-axis reference current signal and a quadrature-axis reference current signal.

The determining module 51 is configured to determine a direct-axis current error signal according to the direct-axis output current signal and the direct-axis reference current signal, and determine a quadrature-axis current error signal according to the quadrature-axis output current signal and the quadrature-axis reference current signal.

The adjusting module 53 is configured to adjust the direct-axis current error signal through the first PI controller to obtain a direct-axis input voltage signal, and adjust the quadrature-axis current error signal through the second PI controller to obtain a quadrature-axis input voltage signal.

And a control module 54 for controlling the motor to rotate according to the direct-axis input voltage signal and the quadrature-axis input voltage signal.

Optionally, the obtaining module 52 is configured to: acquiring a quadrature axis reference voltage signal; and determining a quadrature reference current signal according to the quadrature reference voltage signal.

Optionally, the obtaining module 52 is configured to: determining a voltage difference value between a quadrature axis reference voltage signal and a quadrature axis voltage signal input in a last control period of the motor; and adjusting the voltage difference value through a third PI controller, and taking a current signal output by the third PI controller as a quadrature axis reference current signal.

Optionally, the obtaining module 52 is configured to: acquiring a calibration current signal corresponding to the quadrature axis reference voltage signal; and determining the sum of the current signal output by the third PI controller and the calibration current signal as a quadrature reference current signal.

Optionally, the direct-axis reference current signal is a current signal with a preset amplitude.

Optionally, the preset amplitude is 0.

Optionally, the determining module 51 is configured to: collecting three-phase current signals and three-phase voltage signals of a motor at the current moment; and carrying out Clark conversion and park conversion on the three-phase current signals and the three-phase voltage signals to obtain direct-axis output current signals and quadrature-axis output current signals of the motor at the current moment.

Optionally, the determining module 51 is configured to: performing Clark transformation on the three-phase current signals and the three-phase voltage signals to obtain orthogonal input current signals and orthogonal input voltage signals of the motor at the current moment; determining the rotation angle of the motor at the current moment based on the orthogonal input current signal and the orthogonal input voltage signal; and carrying out park transformation on the orthogonal input current signal and the orthogonal input voltage signal based on the rotation angle to obtain a direct-axis output current signal and a quadrature-axis output current signal of the motor at the current moment.

Optionally, the determining module 51 is configured to: on the basis of the rotation angle, carrying out inverse park transformation on the direct-axis input voltage signal and the quadrature-axis input voltage signal to obtain an orthogonal output voltage signal; the motor is controlled to rotate based on the quadrature output voltage signal.

Optionally, the determining module 51 is configured to: determining three-phase current signals and three-phase voltage signals which correspond to the orthogonal voltage signals and are input in the next control period of the motor; determining the duty ratio signals corresponding to the three-phase current signals and the three-phase voltage signals input in the next control period of the motor; and controlling the motor to rotate based on the duty ratio signal.

The apparatus shown in fig. 5 can execute the motor control method provided in the foregoing embodiments shown in fig. 1 to fig. 4, and the detailed execution process and technical effect refer to the description in the foregoing embodiments, which are not described herein again.

In one possible design, the motor control and motor configuration described above with respect to FIG. 5 may be implemented as a movable platform. As shown in fig. 6, the movable platform may include: a motor control device 61 and a motor 62.

In addition, embodiments of the present invention provide a non-transitory machine-readable storage medium having executable code stored thereon, which when executed by a movable platform, enables the movable platform to implement at least the motor control method provided in the foregoing embodiments shown in fig. 1 to 4.

The above-described apparatus embodiments are merely illustrative, wherein the units described as separate components may or may not be physically separate. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

The motor control method provided in the embodiment of the present invention may be executed by a certain program/software, the program/software may be provided by a network side, the removable platform mentioned in the foregoing embodiment may download the program/software into a local nonvolatile storage medium, and when it needs to execute the motor control method, the program/software is read into a memory by a CPU, and then the CPU executes the program/software to implement the motor control method provided in the foregoing embodiment, and an execution process may refer to the schematic in fig. 1 to fig. 4.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.