CN114362602B - A control method, device, equipment and readable storage medium of a multi-phase motor - Google Patents

Abstract

Translated fromChinese

本发明提供了一种多相电机的控制方法、装置、设备及可读存储介质，包括：获取电动装载机整车的当前运行参数，并根据运行参数生成多相电机的目标转速，其中，运行参数包括当前载荷、主泵压力以及手柄开度；根据目标转速和额定转速确定多相电机的目标磁通；获取多相电机的当前转速，并根据当前转速和目标转速确定多相电机的目标转矩；获取多相电机的当前转矩和当前磁通，根据当前转矩和目标转矩、当前磁通和目标磁通在定子静止坐标系中直接计算生成用于控制所述多相电机的转矩和磁链补偿电压，旨在实现电动装载机在不同复杂工况下的快速响应要求，满足整车动力需求，更加匹配装载机工作特性，提高装载机工作性能。

The present invention provides a multi-phase motor control method, device, equipment and readable storage medium, including: obtaining the current operating parameters of the electric loader vehicle, and generating the target rotational speed of the multi-phase motor according to the operating parameters, wherein, the operating Parameters include current load, main pump pressure and handle opening; determine the target magnetic flux of the multi-phase motor according to the target speed and rated speed; obtain the current speed of the multi-phase motor, and determine the target speed of the multi-phase motor according to the current speed and the target speed obtain the current torque and the current flux of the multi-phase motor, and directly calculate and generate the torque used to control the multi-phase motor in the stationary coordinate system of the stator according to the current torque and the target torque, the current flux and the target flux The torque and flux linkage compensation voltage is designed to realize the rapid response requirements of the electric loader under different complex working conditions, meet the power demand of the whole vehicle, better match the working characteristics of the loader, and improve the working performance of the loader.

Description

Control method, device and equipment of multiphase motor and readable storage medium

Technical Field

The present invention relates to the field of motor control, and in particular, to a method, apparatus, device, and readable storage medium for controlling a multiphase motor.

Background

The loader is used as a typical traction type earth and stone engineering mechanical equipment and is widely applied to the fields of construction, water conservancy, mines and the like. Common working modes of the loader are: the six processes of no-load advancing, material shoveling, backing, steering, advancing, material discharging and backing to the original point form a complete working cycle. The traditional loader uses the fuel engine as a power unit, and has the problems of low energy utilization rate, high exhaust emission and the like. The electric loader has the advantages of zero emission, low noise, high energy utilization rate and the like. The working capacity of the loader represents the merits of the loader, and the power system is used as a core component of the loader, so that the working capacity of the loader is directly influenced.

Because the loader has a bad working environment, complex and special working conditions and high requirements on system reliability, the loader has the characteristics of strong working periodicity and severe output power fluctuation in one working period, and therefore the existing common three-phase speed regulating system is difficult to meet the requirements. The multiphase motor has the advantages of low voltage, high power, rapid torque response, high reliability, abundant modulation resources and the like, and can further improve the dynamic response of a speed regulation system, reduce torque pulsation and improve the working efficiency and reliability of the loader.

As a new technology, the control of the multiphase speed regulating system still has a plurality of problems in theory and practice, and aiming at the characteristics of the multiphase speed regulating system, the control method needs to be further perfected so as to fully exert the advantages of the multiphase speed regulating system and better match the working characteristics of the electric loader.

In view of this, the present application is presented.

Disclosure of Invention

The invention discloses a control method, a device, equipment and a readable storage medium of a multiphase motor, which aim to realize the quick response requirements of an electric loader under different complex working conditions, meet the power requirements of the whole loader, better match the working characteristics of the loader and improve the working performance of the loader.

A first embodiment of the present invention provides a control method of a multiphase motor, including:

acquiring current operation parameters of the whole electric loader, and generating a target rotating speed of a multiphase motor according to the operation parameters, wherein the operation parameters comprise current load, main pump pressure and handle opening;

determining a target magnetic flux of the multiphase motor according to the target rotating speed and the rated rotating speed;

acquiring the current rotating speed of the multiphase motor, and determining the target torque of the multiphase motor according to the current rotating speed and the target rotating speed;

and acquiring the current torque and the current magnetic flux of the multiphase motor, and directly calculating and generating torque and flux linkage compensation voltage for controlling the multiphase motor in a stator static coordinate system according to the current torque and the target torque and the current magnetic flux and the target magnetic flux.

Preferably, the generating the target rotation speed of the multiphase motor according to the operation parameters specifically includes:

when the loader is started, determining a first target flow according to the opening of the handle;

and when the load changes, determining a second target flow according to the current load and the main pump pressure, wherein the first target flow and the second target flow are used for calculating the target rotating speed of the multiphase motor.

Preferably, the determining the target magnetic flux of the multiphase motor according to the target rotation speed and the rated rotation speed specifically includes:

judging whether the target rotating speed is smaller than a rated rotating speed or not;

if yes, generating a target magnetic flux value according to the current load and the opening of the handle;

if not, setting the target magnetic flux of the multi-phase motor as the magnetic flux value of the multi-phase motor at the rated rotating speed.

Preferably, the obtaining the current rotation speed of the multiphase motor, and determining the target torque according to the current rotation speed and the target rotation speed is specifically:

judging whether the current rotating speed and the target rotating speed have deviation or not;

if yes, converting the deviation value of the current rotating speed and the target rotating speed into target torque through a PID regulator.

A second embodiment of the present invention provides a control device for a multiphase motor, including:

the target rotating speed generation unit is used for acquiring the current operating parameters of the whole electric loader and generating the target rotating speed of the multiphase motor according to the operating parameters, wherein the operating parameters comprise the current load, the main pump pressure and the handle opening;

a target magnetic flux determining unit for determining a target magnetic flux of the multiphase motor according to the target rotational speed and the rated rotational speed;

a target torque determining unit, configured to obtain a current rotation speed of the multiphase motor, and determine a target torque of the multiphase motor according to the current rotation speed and the target rotation speed;

and the compensation unit is used for acquiring the current torque and the current magnetic flux of the multiphase motor, and directly calculating and generating torque and flux linkage compensation voltage for controlling the multiphase motor in a stator static coordinate system according to the current torque and the target torque and the current magnetic flux and the target magnetic flux.

Preferably, the target rotation speed generation unit is specifically configured to:

when the loader is started, determining a first target flow according to the opening of the handle;

and when the load changes, determining a second target flow according to the current load and the main pump pressure, wherein the first target flow and the second target flow are used for calculating the target rotating speed of the multiphase motor.

Preferably, the target magnetic flux determining unit is specifically configured to:

judging whether the target rotating speed is smaller than a rated rotating speed or not;

if yes, generating a target magnetic flux value according to the current load and the opening of the handle;

if not, setting the target magnetic flux of the multi-phase motor as the magnetic flux value of the multi-phase motor at the rated rotating speed.

Preferably, the target torque determination unit is specifically configured to:

judging whether the current rotating speed and the target rotating speed have deviation or not;

if yes, converting the deviation value of the current rotating speed and the target rotating speed into target torque through a PID regulator.

A third embodiment of the present invention provides a control apparatus of a multiphase motor, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor executing the computer program to implement a control method of a multiphase motor as set forth in any one of the above.

A fourth embodiment of the present invention provides a readable storage medium storing a computer program executable by a processor of a device in which the storage medium is located to implement a method of controlling a multiphase motor as described in any one of the above.

According to the control method, the device, the equipment and the readable storage medium of the multiphase motor, the current operation parameters of the whole electric loader are firstly obtained, the target rotating speed of the multiphase motor is generated according to the operation parameters, the target torque and the target magnetic flux are determined according to the target rotating speed, the rated rotating speed and the current rotating speed, and the torque and the flux compensation voltage for controlling the multiphase motor are directly calculated and generated in a stator static coordinate system according to the current torque and the target torque and the current magnetic flux and the target magnetic flux. The quick response requirements of the electric loader under different complex working conditions are met, the power requirement of the whole loader is met, the working characteristics of the loader are matched, and the working performance of the loader is improved.

Drawings

Fig. 1 is a schematic flow chart of a control method of a multiphase motor according to a first embodiment of the present invention;

FIG. 2 is a graph of the operating characteristics of the motor governor system provided by the present invention;

fig. 3 is a schematic block diagram of a control device of a multiphase motor according to a second embodiment of the present invention;

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

For a better understanding of the technical solution of the present invention, the following detailed description of the embodiments of the present invention refers to the accompanying drawings.

It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the 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 this application 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.

It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

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

References to "first\second" in the embodiments are merely to distinguish similar objects and do not represent a particular ordering for the objects, it being understood that "first\second" may interchange a particular order or precedence where allowed. It is to be understood that the "first\second" distinguishing objects may be interchanged where appropriate to enable the embodiments described herein to be implemented in sequences other than those illustrated or described herein.

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The invention discloses a control method, a device, equipment and a readable storage medium of a multiphase motor, which aim to realize the quick response requirements of an electric loader under different complex working conditions, meet the power requirements of the whole loader, better match the working characteristics of the loader and improve the working performance of the loader.

Referring to fig. 1, a first embodiment of the present invention provides a control method of a multiphase motor, which may be executed by a control device of the multiphase motor (hereinafter referred to as a control device), and in particular, by one or more processors in the control device, so as to implement the following steps:

s101, acquiring current operation parameters of the whole electric loader, and generating target rotating speeds of the multiphase motor according to the operation parameters, wherein the operation parameters comprise current load, main pump pressure and handle opening;

in this embodiment, the control device may be a motor controller, which may be in communication with the operating handle, the main pump pressure sensor, and the pressure sensor disposed at the outlet of the multiway valve, so as to implement data interaction.

Specifically: in this embodiment, as shown in fig. 2, the motor speed regulation system of the electric loader has the characteristics of strong periodicity and large load variation, when the loader is started, the corresponding flow requirement of the working system is calculated by the opening of the handle, so as to obtain the flow output requirement of the multiphase motor pump device, and the formula q=v·n is used, wherein Q represents the flow, V represents the displacement, and the multiphase motor target rotation speed n can be obtained; in the working process of the loader, detecting a pressure difference value between the load and the pressure of the main pump, dynamically adjusting a target rotating speed value n of the motor by the pressure difference value, and increasing the pressure difference when the load is increased, namely increasing the target rotating speed value of the motor; when the load is reduced, the pressure difference is reduced, and the system flow value, namely the target rotating speed value of the motor, is required to be reduced.

S102, determining target magnetic flux of the multiphase motor according to the target rotating speed and the rated rotating speed;

specifically: in this embodiment, it is determined whether the target rotation speed is less than a rated rotation speed;

if yes, generating a target magnetic flux value according to the current load and the opening of the handle;

if not, setting the target magnetic flux of the multi-phase motor as the magnetic flux value of the multi-phase motor at the rated rotating speed.

After the target rotating speed value n of the motor is calculated, judging whether the target rotating speed value n is larger than the rated rotating speed value, if so, calculating a target magnetic flux value phi of motor control according to the target load and the corresponding handle parameter value, wherein the larger the load is, the larger the required magnetic flux value is; the larger the handle opening, the smaller the required magnetic flux value. The target magnetic flux value of the modified motor is calculated in a proportional relationship. If not, the default motor target magnetic flux value is the magnetic flux value at the rated rotation speed of the multiphase motor.

S103, acquiring the current rotating speed of the multiphase motor, and determining the target torque of the multiphase motor according to the current rotating speed and the target rotating speed;

specifically: in this embodiment, whether the current rotation speed and the target rotation speed deviate or not is determined;

if yes, converting the deviation value of the current rotating speed and the target rotating speed into target torque through a PID regulator.

It should be noted that, in other embodiments, the target torque may be generated in other manners, which are not specifically limited herein, but all the schemes are within the scope of the present invention.

S104, acquiring the current torque and the current magnetic flux of the multiphase motor, and directly calculating and generating torque and flux linkage compensation voltage for controlling the multiphase motor in a stator static coordinate system according to the current torque and the target torque and the current magnetic flux and the target magnetic flux.

Specifically: in the embodiment, the deviation of the current torque value and the magnetic flux value of the motor and the deviation of the target torque value and the magnetic flux value are detected, the generated torque and the compensation voltage are directly calculated in a stator static coordinate system, meanwhile, the multi-phase motor is simplified into a two-phase motor under the stator static coordinate system through a space structure transformation matrix and a stator and rotor rotation transformation matrix, the torque and the magnetic flux are directly controlled under the stator static coordinate system, the torque demand is responded rapidly, and the low-voltage high-power characteristic of the multi-phase system is exerted.

The above embodiment includes at least the following advantages:

the control of the multiphase variable frequency speed regulating system is completed under the stator static coordinate system, the torque compensation and the magnetic flux compensation are preferentially responded, the characteristics of low voltage and high power of the multiphase speed regulating system and rapid torque response can be fully exerted, the rapid response requirements of the electric loader under different complex working conditions can be realized, the power requirements of the whole loader are met, the working characteristics of the loader are more matched, and the working performance of the loader is improved.

Referring to fig. 3, a second embodiment of the present invention provides a control device for a multiphase motor, including:

a target rotationspeed generation unit 201, configured to obtain a current operation parameter of an electric loader for a whole vehicle, and generate a target rotation speed of a multiphase motor according to the operation parameter, where the operation parameter includes a current load, a main pump pressure, and a handle opening;

a target magneticflux determining unit 202 for determining a target magnetic flux of the multiphase motor according to the target rotational speed and the rated rotational speed;

a targettorque determining unit 203, configured to obtain a current rotation speed of the multiphase motor, and determine a target torque of the multiphase motor according to the current rotation speed and the target rotation speed;

and thecompensation unit 204 is used for acquiring the current torque and the current magnetic flux of the multiphase motor, and directly calculating and generating torque and flux linkage compensation voltages for controlling the multiphase motor in a stator static coordinate system according to the current torque and the target torque and the current magnetic flux and the target magnetic flux.

Preferably, the target rotation speed generation unit is specifically configured to:

when the loader is started, determining a first target flow according to the opening of the handle;

and when the load changes, determining a second target flow according to the current load and the main pump pressure, wherein the first target flow and the second target flow are used for calculating the target rotating speed of the multiphase motor.

Preferably, the target magnetic flux determining unit is specifically configured to:

judging whether the target rotating speed is smaller than a rated rotating speed or not;

if yes, generating a target magnetic flux value according to the current load and the opening of the handle;

if not, setting the target magnetic flux of the multi-phase motor as the magnetic flux value of the multi-phase motor at the rated rotating speed.

Preferably, the target torque determination unit is specifically configured to:

judging whether the current rotating speed and the target rotating speed have deviation or not;

if yes, converting the deviation value of the current rotating speed and the target rotating speed into target torque through a PID regulator.

A third embodiment of the present invention provides a control apparatus of a multiphase motor, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor executing the computer program to implement a control method of a multiphase motor as set forth in any one of the above.

A fourth embodiment of the present invention provides a readable storage medium storing a computer program executable by a processor of a device in which the storage medium is located to implement a method of controlling a multiphase motor as described in any one of the above.

According to the control method, the device, the equipment and the readable storage medium of the multiphase motor, the current operation parameters of the whole electric loader are firstly obtained, the target rotating speed of the multiphase motor is generated according to the operation parameters, the target torque and the target magnetic flux are determined according to the target rotating speed, the rated rotating speed and the current rotating speed, and the torque and the flux compensation voltage for controlling the multiphase motor are directly calculated and generated in a stator static coordinate system according to the current torque and the target torque and the current magnetic flux and the target magnetic flux. The quick response requirements of the electric loader under different complex working conditions are met, the power requirement of the whole loader is met, the working characteristics of the loader are matched, and the working performance of the loader is improved.

Illustratively, the computer programs described in the third and fourth embodiments of the present invention may be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program in the control device implementing a multiphase motor. For example, the device described in the second embodiment of the present invention.

The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is a control center of the control method of a multiphase motor, and which connects the various parts of the overall implementation of the control method of a multiphase motor with various interfaces and lines.

The memory may be used to store the computer program and/or the module, and the processor may implement various functions of a control method of the multiphase motor by running or executing the computer program and/or the module stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, a text conversion function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, text message data, etc.) created according to the use of the cellular phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.

Wherein the modules may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a stand alone product. Based on this understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of each method embodiment described above when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (4)

1. A method of controlling a multiphase motor, comprising:

the method comprises the steps of obtaining current operation parameters of the whole electric loader, and generating target rotating speeds of the multiphase motor according to the operation parameters, wherein the target rotating speeds are specifically as follows: when the loader is started, determining a first target flow according to the opening of the handle; when the load changes, determining a second target flow according to the current load and the main pump pressure, wherein the first target flow and the second target flow are used for calculating a target rotating speed of the multiphase motor, and the operating parameters comprise the current load, the main pump pressure and the handle opening;

determining a target magnetic flux of the multiphase motor according to the target rotating speed and the rated rotating speed, wherein the target magnetic flux is specifically: judging whether the target rotating speed is smaller than a rated rotating speed or not; if yes, generating a target magnetic flux value according to the current load and the opening of the handle; if not, setting the target magnetic flux of the multi-phase motor as the magnetic flux value of the multi-phase motor at the rated rotating speed;

the current rotating speed of the multiphase motor is obtained, and the target torque of the multiphase motor is determined according to the current rotating speed and the target rotating speed, specifically: judging whether the current rotating speed and the target rotating speed have deviation or not; if yes, converting the deviation value of the current rotating speed and the target rotating speed into target torque through a PID regulator;

and acquiring the current torque and the current magnetic flux of the multiphase motor, and directly calculating and generating torque and flux linkage compensation voltage for controlling the multiphase motor in a stator static coordinate system according to the current torque and the target torque and the current magnetic flux and the target magnetic flux.

2. A control device for a multiphase motor, comprising:

the target rotating speed generating unit is used for acquiring the current operating parameters of the whole electric loader and generating the target rotating speed of the multiphase motor according to the operating parameters, and is specifically used for: when the loader is started, determining a first target flow according to the opening of the handle;

when the load changes, determining a second target flow according to the current load and the main pump pressure, wherein the first target flow and the second target flow are used for calculating a target rotating speed of the multiphase motor, and the operating parameters comprise the current load, the main pump pressure and the handle opening;

the target magnetic flux determining unit is used for determining the target magnetic flux of the multiphase motor according to the target rotating speed and the rated rotating speed, and is specifically used for: judging whether the target rotating speed is smaller than a rated rotating speed or not; if yes, generating a target magnetic flux value according to the current load and the opening of the handle; if not, setting the target magnetic flux of the multi-phase motor as the magnetic flux value of the multi-phase motor at the rated rotating speed;

the target torque determining unit is used for obtaining the current rotating speed of the multiphase motor and determining the target torque of the multiphase motor according to the current rotating speed and the target rotating speed, and is specifically used for: judging whether the current rotating speed and the target rotating speed have deviation or not; if yes, converting the deviation value of the current rotating speed and the target rotating speed into target torque through a PID regulator;

and the compensation unit is used for acquiring the current torque and the current magnetic flux of the multiphase motor, and directly calculating and generating torque and flux linkage compensation voltage for controlling the multiphase motor in a stator static coordinate system according to the current torque and the target torque and the current magnetic flux and the target magnetic flux.

3. A control device of a multiphase motor, characterized by comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor executing the computer program to implement a control method of a multiphase motor according to claim 1.

4. A readable storage medium, characterized in that a computer program is stored, which computer program is executable by a processor of a device in which the storage medium is located, for implementing a method of controlling a multiphase motor according to claim 1.

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