CN114385976A - Control method and control equipment for electrical equipment - Google Patents

Abstract

Translated fromChinese

本发明公开了一种电气设备的控制方法及控制设备，通过构建的关系曲线计算角度信息的函数值，有效简化了正余弦函数的计算量，在保证精度的同时无需占用大量存储空间。该方法包括：获取电气设备的运行参数的角度信息，按照预设角度集合中各个预设角度与所述角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度；根据预先建立的所述预设角度和标准值的对应关系，确定多个所述预设角度分别对应的所述标准值；根据所述预设角度和所述标准值的关系曲线，确定所述关系曲线上所述角度信息对应的函数值，其中所述关系曲线用于表征多个所述预设角度分别对应的所述标准值的变化趋势；根据所述函数值控制所述电气设备的运行。

The invention discloses a control method and control device for electrical equipment. The function value of the angle information is calculated through the constructed relation curve, which effectively simplifies the calculation amount of the sine and cosine functions, and does not need to occupy a large amount of storage space while ensuring the accuracy. The method includes: acquiring angle information of operating parameters of the electrical equipment, and filtering out a plurality of the preset angles from the preset angle set according to the difference between each preset angle in the preset angle set and the angle information; According to the pre-established corresponding relationship between the preset angle and the standard value, the standard values corresponding to a plurality of the preset angles are determined respectively; according to the relationship curve between the preset angle and the standard value, the The function value corresponding to the angle information on the relationship curve, wherein the relationship curve is used to represent the change trend of the standard values corresponding to the plurality of preset angles respectively; the operation of the electrical equipment is controlled according to the function value .

Description

Translated fromChinese

一种电气设备的控制方法及控制设备A kind of control method and control device of electrical equipment

技术领域technical field

本发明涉及电气控制技术领域，特别涉及一种电气设备的控制方法及控制设备。The invention relates to the technical field of electrical control, in particular to a control method and control device for electrical equipment.

背景技术Background technique

近年来，随着社会的快速发展，电机、电网等电力电子技术越来越普及。在电力电子技术领域，基于半导体的应用领域也越来越广泛，因其可控制电、磁、化学、光等的变换，从而有效满足人们的实际生产生活需求，而变换过程中则需要使用正余弦函数进行计算，以满足实际电机的变速/恒速运转、电网有功/无功运行等控制要求。In recent years, with the rapid development of society, power electronic technologies such as motors and power grids have become more and more popular. In the field of power electronics technology, the application fields based on semiconductors are becoming more and more extensive, because they can control the transformation of electricity, magnetism, chemistry, light, etc., so as to effectively meet people's actual production and life needs, and in the transformation process, it is necessary to use positive The cosine function is calculated to meet the control requirements of the variable speed/constant speed operation of the actual motor and the active/reactive power operation of the grid.

目前基于数字化芯片实现正/余弦函数计算的方法主要有查表法和cordic(coordinate rotation digital computer，坐标旋转数字计算机)迭代算法等。查表法需要建立表格从而占用大量存储空间，且精度要求越高，消耗存储空间越大，cordic算法需要多次迭代，且精度受角度的变化而变化，在速度变化较大或角度频率变化较大的场合难以保证高精度，从而难以满足控制需求。At present, the methods for realizing sine/cosine function calculation based on digital chips mainly include look-up table method and cordic (coordinate rotation digital computer, coordinate rotation digital computer) iterative algorithm and so on. The table look-up method needs to establish a table, which takes up a lot of storage space, and the higher the accuracy requirement, the more storage space is consumed. The cordic algorithm requires multiple iterations, and the accuracy is changed by the change of the angle. It is difficult to ensure high precision in large occasions, so it is difficult to meet the control requirements.

发明内容SUMMARY OF THE INVENTION

本发明提供一种电气设备的控制方法及控制设备，通过构建的关系曲线计算角度信息的函数值，有效简化了正余弦函数的计算量，在保证精度的同时无需占用大量存储空间。The invention provides a control method and control device for electrical equipment. The function value of angle information is calculated through the constructed relationship curve, which effectively simplifies the calculation amount of the sine and cosine functions, and does not need to occupy a large amount of storage space while ensuring accuracy.

第一方面，本发明实施例提供的一种电气设备的控制方法，该方法包括：In a first aspect, an embodiment of the present invention provides a control method for an electrical device, the method comprising:

获取电气设备的运行参数的角度信息，按照预设角度集合中各个预设角度与所述角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度；Obtaining angle information of operating parameters of the electrical equipment, and filtering out a plurality of the preset angles from the preset angle set according to the difference between each preset angle in the preset angle set and the angle information;

根据预先建立的所述预设角度和标准值的对应关系，确定多个所述预设角度分别对应的所述标准值；According to the pre-established correspondence between the preset angle and the standard value, determine the standard values corresponding to a plurality of the preset angles respectively;

根据所述预设角度和所述标准值的关系曲线，确定所述关系曲线上所述角度信息对应的函数值，其中所述关系曲线用于表征多个所述预设角度分别对应的所述标准值的变化趋势；According to the relationship curve between the preset angle and the standard value, the function value corresponding to the angle information on the relationship curve is determined, wherein the relationship curve is used to represent the corresponding values of the preset angles respectively. Change trend of standard value;

根据所述函数值控制所述电气设备的运行。The operation of the electrical device is controlled according to the function value.

本实施例提供的控制方法，通过构建的关系曲线计算角度信息的函数值，其中关系曲线是通过与角度信息相关的预设角度和对应的标准值构建的，有效简化了正余弦函数的计算量，在保证精度的同时只需要获取多个预设角度和对应的标准值，无需占用大量存储空间，从而保证了控制精度和运算速度。In the control method provided in this embodiment, the function value of the angle information is calculated by using the constructed relation curve, wherein the relation curve is constructed by using the preset angle related to the angle information and the corresponding standard value, which effectively simplifies the calculation amount of the sine and cosine functions. , while ensuring the accuracy, it only needs to obtain multiple preset angles and corresponding standard values, without occupying a large amount of storage space, thus ensuring the control accuracy and operation speed.

作为一种可选的实施方式，通过如下方式预先建立所述预设角度和所述标准值的对应关系：As an optional implementation manner, the corresponding relationship between the preset angle and the standard value is pre-established in the following manner:

将任意一个周期内的标准函数的角度区间划分成多个子区间，按设定间隔对任意一个所述子区间包含的角度进行采样，得到各个所述预设角度，其中所述标准函数包括正弦函数或余弦函数；Divide the angle interval of the standard function in any cycle into a plurality of sub-intervals, and sample the angles included in any one of the sub-intervals at set intervals to obtain each of the preset angles, wherein the standard function includes a sine function or cosine function;

根据各个所述预设角度和所述标准函数，确定各个所述预设角度分别对应的所述标准值；According to each of the preset angles and the standard function, determine the standard values corresponding to each of the preset angles respectively;

根据各个所述预设角度分别对应的所述标准值，建立所述预设角度和所述标准值的对应关系。The corresponding relationship between the preset angle and the standard value is established according to the standard value corresponding to each of the preset angles.

作为一种可选的实施方式，As an optional implementation,

任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；或，Any one of the subintervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is greater than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零；或，Any one of the subintervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is less than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；或，Any one of the subintervals is a monotonically decreasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is greater than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零。Any one of the sub-intervals is a monotonically decreasing interval of the standard function, and the standard values of the standard function corresponding to the sub-intervals are all less than or equal to zero.

作为一种可选的实施方式，所述预设角度为归一化处理后的所述预设角度，则所述获取电气设备的运行参数的角度信息之后，还包括：As an optional implementation manner, the preset angle is the preset angle after normalization processing, and after obtaining the angle information of the operating parameters of the electrical equipment, the method further includes:

对获取的所述角度信息进行归一化处理，得到所述归一化处理后的所述角度信息，以按照各个所述预设角度与所述归一化处理后的所述预设角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度。Normalizing the acquired angle information to obtain the normalized angle information, so as to obtain the normalized angle information according to each of the preset angles and the normalized preset angle information The gap is selected from the preset angle set to filter out a plurality of the preset angles.

作为一种可选的实施方式，还包括：As an optional implementation, it also includes:

若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，则对所述角度信息进行角度转换，得到角度转换后的角度信息；或，If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on the angle information to obtain angle information after angle conversion; or,

若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对所述角度信息进行角度转换，得到角度转换后的角度信息，以及对所述角度信息对应的函数值的符号进行转换；或，If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, angle conversion is performed on the angle information, the angle information after angle conversion is obtained, and the angle information is obtained after the angle conversion. Convert the sign of the function value corresponding to the angle information; or,

若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度；或，If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on any one of the preset angles, obtaining the preset angle after the angle conversion; or,

若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度，以及对所述角度转换后的所述预设角度对应的所述标准值的符号进行转换。If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, then any one of the preset angles The angle is converted into an angle to obtain the preset angle after the angle conversion, and the sign of the standard value corresponding to the preset angle after the angle conversion is converted.

作为一种可选的实施方式，通过如下方式确定所述关系曲线：As an optional implementation manner, the relationship curve is determined in the following manner:

构建多个初始曲线函数，其中所述初始曲线函数与初始坐标点对应，任意一个所述初始曲线函数经过对应的所述初始坐标点，任意一个所述初始坐标点的横坐标表示角度，纵坐标表示所述角度对应的正弦函数值或余弦函数值；Build a plurality of initial curve functions, wherein the initial curve functions correspond to the initial coordinate points, any one of the initial curve functions passes through the corresponding initial coordinate points, the abscissa of any one of the initial coordinate points represents the angle, and the ordinate represents the sine function value or cosine function value corresponding to the angle;

对多个所述初始曲线函数进行多项式组合，得到经过多个所述初始坐标点的多项式函数；performing a polynomial combination on a plurality of the initial curve functions to obtain a polynomial function passing through a plurality of the initial coordinate points;

根据多个所述预设角度、多个所述预设角度分别对应的所述标准值以及所述多项式函数，确定所述关系曲线。The relationship curve is determined according to the plurality of preset angles, the standard values corresponding to the plurality of preset angles respectively, and the polynomial function.

作为一种可选的实施方式，所述根据多个所述预设角度、多个所述预设角度分别对应的所述标准值以及所述多项式函数，确定所述关系曲线，包括：As an optional implementation manner, the determining the relationship curve according to the multiple preset angles, the standard values corresponding to the multiple preset angles respectively, and the polynomial function includes:

根据多个所述预设角度和多个所述预设角度分别对应的所述标准值，确定多个已知坐标点；determining a plurality of known coordinate points according to a plurality of the preset angles and the standard values corresponding to the plurality of the preset angles respectively;

将所述多项式函数中的多个所述初始坐标点替换为多个所述已知坐标点，得到所述关系曲线。The relationship curve is obtained by replacing a plurality of the initial coordinate points in the polynomial function with a plurality of the known coordinate points.

作为一种可选的实施方式，若所述电气设备包括三相交流电机设备，则所述根据所述函数值控制所述电气设备的运行，包括：As an optional implementation manner, if the electrical equipment includes a three-phase AC motor equipment, the controlling the operation of the electrical equipment according to the function value includes:

对所述三相交流电机设备的三相交流信号对应的坐标系进行旋转变换，并根据所述函数值，确定旋转变换的变换矩阵；Perform rotational transformation on the coordinate system corresponding to the three-phase AC signal of the three-phase AC motor device, and determine the transformation matrix of the rotational transformation according to the function value;

根据所述变换矩阵，控制所述三相交流信号对应的所述运行参数。According to the transformation matrix, the operating parameter corresponding to the three-phase AC signal is controlled.

第二方面，本发明实施例提供的一种电气设备的控制设备，该控制设备包括处理器和存储器，所述存储器用于存储所述处理器可执行的程序，所述处理器用于读取所述存储器中的程序并执行如下步骤：In a second aspect, an embodiment of the present invention provides a control device for an electrical device. The control device includes a processor and a memory, where the memory is used to store a program executable by the processor, and the processor is used to read all the program in the memory and perform the following steps:

获取电气设备的运行参数的角度信息，按照预设角度集合中各个预设角度与所述角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度；Obtaining angle information of operating parameters of the electrical equipment, and filtering out a plurality of the preset angles from the preset angle set according to the difference between each preset angle in the preset angle set and the angle information;

根据预先建立的所述预设角度和标准值的对应关系，确定多个所述预设角度分别对应的所述标准值；According to the pre-established correspondence between the preset angle and the standard value, determine the standard values corresponding to a plurality of the preset angles respectively;

根据所述预设角度和所述标准值的关系曲线，确定所述关系曲线上所述角度信息对应的函数值，其中所述关系曲线用于表征多个所述预设角度分别对应的所述标准值的变化趋势；According to the relationship curve between the preset angle and the standard value, the function value corresponding to the angle information on the relationship curve is determined, wherein the relationship curve is used to represent the corresponding values of the preset angles respectively. Change trend of standard value;

根据所述函数值控制所述电气设备的运行。The operation of the electrical device is controlled according to the function value.

作为一种可选的实施方式，所述处理器具体被配置为通过如下方式预先建立所述预设角度和所述标准值的对应关系：As an optional implementation manner, the processor is specifically configured to pre-establish the corresponding relationship between the preset angle and the standard value in the following manner:

将任意一个周期内的标准函数的角度区间划分成多个子区间，按设定间隔对任意一个所述子区间包含的角度进行采样，得到各个所述预设角度，其中所述标准函数包括正弦函数或余弦函数；Divide the angle interval of the standard function in any cycle into a plurality of sub-intervals, and sample the angles included in any one of the sub-intervals at set intervals to obtain each of the preset angles, wherein the standard function includes a sine function or cosine function;

根据各个所述预设角度和所述标准函数，确定各个所述预设角度分别对应的所述标准值；According to each of the preset angles and the standard function, determine the standard values corresponding to each of the preset angles respectively;

根据各个所述预设角度分别对应的所述标准值，建立所述预设角度和所述标准值的对应关系。The corresponding relationship between the preset angle and the standard value is established according to the standard value corresponding to each of the preset angles.

作为一种可选的实施方式，As an optional implementation,

任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；或，Any one of the subintervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is greater than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零；或，Any one of the subintervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is less than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；或，Any one of the subintervals is a monotonically decreasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is greater than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零。Any one of the sub-intervals is a monotonically decreasing interval of the standard function, and the standard values of the standard function corresponding to the sub-intervals are all less than or equal to zero.

作为一种可选的实施方式，所述预设角度为归一化处理后的所述预设角度，则所述获取电气设备的运行参数的角度信息之后，所述处理器具体还被配置为执行：As an optional implementation manner, the preset angle is the preset angle after normalization processing, and after acquiring the angle information of the operating parameters of the electrical equipment, the processor is specifically further configured to: implement:

对获取的所述角度信息进行归一化处理，得到所述归一化处理后的所述角度信息，以按照各个所述预设角度与所述归一化处理后的所述预设角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度。Normalizing the acquired angle information to obtain the normalized angle information, so as to obtain the normalized angle information according to each of the preset angles and the normalized preset angle information The gap is selected from the preset angle set to filter out a plurality of the preset angles.

作为一种可选的实施方式，所述处理器具体还被配置为执行：As an optional implementation manner, the processor is further configured to execute:

若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，则对所述角度信息进行角度转换，得到角度转换后的角度信息；或，If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on the angle information to obtain angle information after angle conversion; or,

若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对所述角度信息进行角度转换，得到角度转换后的角度信息，以及对所述角度信息对应的函数值的符号进行转换；或，If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, angle conversion is performed on the angle information, the angle information after angle conversion is obtained, and the angle information is obtained after the angle conversion. Convert the sign of the function value corresponding to the angle information; or,

若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度；或，If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on any one of the preset angles, obtaining the preset angle after the angle conversion; or,

若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度，以及对所述角度转换后的所述预设角度对应的所述标准值的符号进行转换。If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, then any one of the preset angles The angle is converted into an angle to obtain the preset angle after the angle conversion, and the sign of the standard value corresponding to the preset angle after the angle conversion is converted.

作为一种可选的实施方式，所述处理器具体被配置为通过如下方式确定所述关系曲线：As an optional implementation manner, the processor is specifically configured to determine the relationship curve in the following manner:

构建多个初始曲线函数，其中所述初始曲线函数与初始坐标点对应，任意一个所述初始曲线函数经过对应的所述初始坐标点，任意一个所述初始坐标点的横坐标表示角度，纵坐标表示所述角度对应的正弦函数值或余弦函数值；Build a plurality of initial curve functions, wherein the initial curve functions correspond to the initial coordinate points, any one of the initial curve functions passes through the corresponding initial coordinate points, the abscissa of any one of the initial coordinate points represents the angle, and the ordinate represents the sine function value or cosine function value corresponding to the angle;

对多个所述初始曲线函数进行多项式组合，得到经过多个所述初始坐标点的多项式函数；performing a polynomial combination on a plurality of the initial curve functions to obtain a polynomial function passing through a plurality of the initial coordinate points;

根据多个所述预设角度、多个所述预设角度分别对应的所述标准值以及所述多项式函数，确定所述关系曲线。The relationship curve is determined according to the plurality of preset angles, the standard values corresponding to the plurality of preset angles respectively, and the polynomial function.

作为一种可选的实施方式，所述处理器具体被配置为执行：As an optional implementation manner, the processor is specifically configured to execute:

根据多个所述预设角度和多个所述预设角度分别对应的所述标准值，确定多个已知坐标点；determining a plurality of known coordinate points according to a plurality of the preset angles and the standard values corresponding to the plurality of the preset angles respectively;

将所述多项式函数中的多个所述初始坐标点替换为多个所述已知坐标点，得到所述关系曲线。The relationship curve is obtained by replacing a plurality of the initial coordinate points in the polynomial function with a plurality of the known coordinate points.

作为一种可选的实施方式，若所述电气设备包括三相交流电机设备，所述处理器具体被配置为执行：As an optional implementation manner, if the electrical device includes a three-phase AC motor device, the processor is specifically configured to execute:

对所述三相交流电机设备的三相交流信号对应的坐标系进行旋转变换，并根据所述函数值，确定旋转变换的变换矩阵；Perform rotational transformation on the coordinate system corresponding to the three-phase AC signal of the three-phase AC motor device, and determine the transformation matrix of the rotational transformation according to the function value;

根据所述变换矩阵，控制所述三相交流信号对应的所述运行参数。According to the transformation matrix, the operating parameter corresponding to the three-phase AC signal is controlled.

第三方面，本发明实施例还提供一种电气设备的控制装置，该控制装置包括：In a third aspect, an embodiment of the present invention further provides a control device for an electrical device, the control device comprising:

获取角度单元，用于获取电气设备的运行参数的角度信息，按照预设角度集合中各个预设角度与所述角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度；an angle obtaining unit, used for obtaining angle information of operating parameters of the electrical equipment, and filtering out a plurality of the preset angles from the preset angle set according to the difference between each preset angle in the preset angle set and the angle information angle;

确定标准值单元，用于根据预先建立的所述预设角度和标准值的对应关系，确定多个所述预设角度分别对应的所述标准值；a standard value determining unit, configured to determine the standard values corresponding to a plurality of the preset angles according to the pre-established correspondence between the preset angle and the standard value;

确定函数值单元，用于根据所述预设角度和所述标准值的关系曲线，确定所述关系曲线上所述角度信息对应的函数值，其中所述关系曲线用于表征多个所述预设角度分别对应的所述标准值的变化趋势；A function value determining unit, configured to determine a function value corresponding to the angle information on the relationship curve according to the relationship curve between the preset angle and the standard value, wherein the relationship curve is used to represent a plurality of the preset angles. Set the change trends of the standard values corresponding to the angles respectively;

控制设备运行单元，用于根据所述函数值控制所述电气设备的运行。A control device operation unit, configured to control the operation of the electrical device according to the function value.

作为一种可选的实施方式，所述确定标准值单元具体用于通过如下方式预先建立所述预设角度和所述标准值的对应关系：As an optional implementation manner, the unit for determining the standard value is specifically configured to pre-establish the corresponding relationship between the preset angle and the standard value in the following manner:

将任意一个周期内的标准函数的角度区间划分成多个子区间，按设定间隔对任意一个所述子区间包含的角度进行采样，得到各个所述预设角度，其中所述标准函数包括正弦函数或余弦函数；Divide the angle interval of the standard function in any cycle into a plurality of sub-intervals, and sample the angles included in any one of the sub-intervals at set intervals to obtain each of the preset angles, wherein the standard function includes a sine function or cosine function;

根据各个所述预设角度和所述标准函数，确定各个所述预设角度分别对应的所述标准值；According to each of the preset angles and the standard function, determine the standard values corresponding to each of the preset angles respectively;

根据各个所述预设角度分别对应的所述标准值，建立所述预设角度和所述标准值的对应关系。The corresponding relationship between the preset angle and the standard value is established according to the standard value corresponding to each of the preset angles.

作为一种可选的实施方式，As an optional implementation,

任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；或，Any one of the subintervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is greater than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零；或，Any one of the subintervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is less than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；或，Any one of the subintervals is a monotonically decreasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is greater than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零。Any one of the sub-intervals is a monotonically decreasing interval of the standard function, and the standard values of the standard function corresponding to the sub-intervals are all less than or equal to zero.

作为一种可选的实施方式，所述预设角度为归一化处理后的所述预设角度，则所述获取电气设备的运行参数的角度信息之后，还包括归一化处理单元用于：As an optional implementation manner, the preset angle is the preset angle after normalization processing, and after acquiring the angle information of the operating parameters of the electrical equipment, further includes a normalization processing unit for :

对获取的所述角度信息进行归一化处理，得到所述归一化处理后的所述角度信息，以按照各个所述预设角度与所述归一化处理后的所述预设角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度。Normalizing the acquired angle information to obtain the normalized angle information, so as to obtain the normalized angle information according to each of the preset angles and the normalized preset angle information The gap is selected from the preset angle set to filter out a plurality of the preset angles.

作为一种可选的实施方式，还包括转换单元具体用于：As an optional embodiment, it also includes a conversion unit that is specifically used for:

若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，则对所述角度信息进行角度转换，得到角度转换后的角度信息；或，If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on the angle information to obtain angle information after angle conversion; or,

若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对所述角度信息进行角度转换，得到角度转换后的角度信息，以及对所述角度信息对应的函数值的符号进行转换；或，If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, angle conversion is performed on the angle information, the angle information after angle conversion is obtained, and the angle information is obtained after the angle conversion. Convert the sign of the function value corresponding to the angle information; or,

若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度；或，If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on any one of the preset angles, obtain the preset angle after angle conversion; or,

若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度，以及对所述角度转换后的所述预设角度对应的所述标准值的符号进行转换。If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, then any one of the preset angles The angle is converted into an angle to obtain the preset angle after the angle conversion, and the sign of the standard value corresponding to the preset angle after the angle conversion is converted.

作为一种可选的实施方式，所述确定函数值单元具体用于通过如下方式确定所述关系曲线：As an optional implementation manner, the determining function value unit is specifically configured to determine the relationship curve in the following manner:

构建多个初始曲线函数，其中所述初始曲线函数与初始坐标点对应，任意一个所述初始曲线函数经过对应的所述初始坐标点，任意一个所述初始坐标点的横坐标表示角度，纵坐标表示所述角度对应的正弦函数值或余弦函数值；Build a plurality of initial curve functions, wherein the initial curve functions correspond to the initial coordinate points, any one of the initial curve functions passes through the corresponding initial coordinate points, the abscissa of any one of the initial coordinate points represents the angle, and the ordinate represents the sine function value or cosine function value corresponding to the angle;

对多个所述初始曲线函数进行多项式组合，得到经过多个所述初始坐标点的多项式函数；performing a polynomial combination on a plurality of the initial curve functions to obtain a polynomial function passing through a plurality of the initial coordinate points;

根据多个所述预设角度、多个所述预设角度分别对应的所述标准值以及所述多项式函数，确定所述关系曲线。The relationship curve is determined according to the plurality of preset angles, the standard values corresponding to the plurality of preset angles respectively, and the polynomial function.

作为一种可选的实施方式，所述确定函数值单元具体用于：As an optional implementation manner, the determining function value unit is specifically used for:

根据多个所述预设角度和多个所述预设角度分别对应的所述标准值，确定多个已知坐标点；determining a plurality of known coordinate points according to a plurality of the preset angles and the standard values corresponding to the plurality of the preset angles respectively;

将所述多项式函数中的多个所述初始坐标点替换为多个所述已知坐标点，得到所述关系曲线。The relationship curve is obtained by replacing a plurality of the initial coordinate points in the polynomial function with a plurality of the known coordinate points.

作为一种可选的实施方式，若所述电气设备包括三相交流电机设备，则控制设备运行单元具体用于：As an optional implementation manner, if the electrical equipment includes a three-phase AC motor equipment, the control equipment operation unit is specifically used for:

对所述三相交流电机设备的三相交流信号对应的坐标系进行旋转变换，并根据所述函数值，确定旋转变换的变换矩阵；Perform rotational transformation on the coordinate system corresponding to the three-phase AC signal of the three-phase AC motor device, and determine the transformation matrix of the rotational transformation according to the function value;

根据所述变换矩阵，控制所述三相交流信号对应的所述运行参数。According to the transformation matrix, the operating parameter corresponding to the three-phase AC signal is controlled.

第四方面，本发明实施例还提供计算机存储介质，其上存储有计算机程序，该程序被处理器执行时用于实现上述第一方面所述方法的步骤。In a fourth aspect, an embodiment of the present invention further provides a computer storage medium on which a computer program is stored, and when the program is executed by a processor, is used to implement the steps of the method described in the first aspect above.

本申请的这些方面或其他方面在以下的实施例的描述中会更加简明易懂。These and other aspects of the present application will be more clearly understood in the description of the following embodiments.

附图说明Description of drawings

为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简要介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

图1为本发明实施例提供的一种控制系统旋转变换示意图；FIG. 1 is a schematic diagram of a rotation transformation of a control system provided by an embodiment of the present invention;

图2为本发明实施例提供的一种电气设备的控制方法实施流程图；FIG. 2 is an implementation flowchart of a control method for an electrical device provided by an embodiment of the present invention;

图3为本发明实施例提供的一种预设角度的采集示意图；FIG. 3 is a schematic diagram of collecting a preset angle according to an embodiment of the present invention;

图4为本发明实施例提供的一种详细的电气设备的控制方法实施流程图；FIG. 4 is an implementation flowchart of a detailed control method for an electrical device provided by an embodiment of the present invention;

图5为本发明实施例提供的一种计算角度信息正弦值的函数曲线示意图；5 is a schematic diagram of a function curve for calculating a sine value of angle information provided by an embodiment of the present invention;

图6为本发明实施例提供的一种函数值计算结果精确度对比图；6 is a comparison diagram of the accuracy of a function value calculation result provided by an embodiment of the present invention;

图7为本发明实施例提供的一种电气设备的控制设备示意图；7 is a schematic diagram of a control device of an electrical device provided by an embodiment of the present invention;

图8为本发明实施例提供的一种电气设备的控制装置示意图。FIG. 8 is a schematic diagram of a control device of an electrical device provided by an embodiment of the present invention.

具体实施方式Detailed ways

为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步地详细描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

本发明实施例中术语“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。In this embodiment of the present invention, the term "and/or" describes the association relationship between associated objects, indicating that there may be three relationships, for example, A and/or B, which may indicate that A exists alone, A and B exist simultaneously, and B exists alone these three situations. The character "/" generally indicates that the associated objects are an "or" relationship.

本发明实施例描述的应用场景是为了更加清楚的说明本发明实施例的技术方案，并不构成对于本发明实施例提供的技术方案的限定，本领域普通技术人员可知，随着新应用场景的出现，本发明实施例提供的技术方案对于类似的技术问题，同样适用。其中，在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。The application scenarios described in the embodiments of the present invention are for the purpose of illustrating the technical solutions of the embodiments of the present invention more clearly, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. It appears that the technical solutions provided by the embodiments of the present invention are also applicable to similar technical problems. Wherein, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

实施例1、近年来，随着社会的快速发展，电机、电网等电力电子技术越来越普及。在电力电子技术领域，基于半导体的应用领域也越来越广泛，因其可控制电、磁、化学、光等的变换，从而有效满足人们的实际生产生活需求，而变换过程中则需要使用正余弦函数进行计算，以满足实际电机的变速/恒速运转、电网有功/无功运行等控制要求。正/余弦函数计算是科学计算和工程应用程序中非常重要，无论是数学模型推导还是实时角度计算都需要准确的计算结果和较快的运算速度。目前基于数字化芯片实现正/余弦函数计算的方法主要有查表法和cordic迭代算法等。查表法需要建立表格从而占用大量存储空间，且精度要求越高，消耗存储空间越大，cordic算法需要多次迭代，且精度受角度的变化而变化，在速度变化较大或角度频率变化较大的运行场景难以保证高精度，从而难以满足控制需求。Embodiment 1. In recent years, with the rapid development of society, power electronic technologies such as motors and power grids have become more and more popular. In the field of power electronics technology, the application fields based on semiconductors are becoming more and more extensive, because they can control the transformation of electricity, magnetism, chemistry, light, etc., so as to effectively meet people's actual production and life needs, and in the transformation process, it is necessary to use positive The cosine function is calculated to meet the control requirements of the variable speed/constant speed operation of the actual motor and the active/reactive power operation of the grid. Sine/cosine function calculation is very important in scientific computing and engineering applications. Whether it is mathematical model derivation or real-time angle calculation, accurate calculation results and fast operation speed are required. At present, the methods for realizing sine/cosine function calculation based on digital chips mainly include look-up table method and cordic iterative algorithm. The table look-up method needs to establish a table, which takes up a lot of storage space, and the higher the accuracy requirement, the more storage space is consumed. The cordic algorithm requires multiple iterations, and the accuracy is changed by the change of the angle. It is difficult to ensure high precision in large operating scenarios, so it is difficult to meet the control requirements.

在电气领域，尤其涉及到三相交流电系统，通常为了更好的控制转速、电流等，常会用到坐标系变换来简化控制系统，而坐标系变换离不开正余弦函数。目前正余弦函数主要通过两种方法计算：1、查表法，若采用查表法，获得高精度函数值会使得存储数据多，占用存储空间大；2、cordic算法，精度易受角度影响。In the electrical field, especially when it comes to three-phase alternating current systems, coordinate system transformation is often used to simplify the control system in order to better control the speed, current, etc., and the coordinate system transformation is inseparable from the sine and cosine functions. At present, the sine and cosine functions are mainly calculated by two methods: 1. Table look-up method. If the table look-up method is used, obtaining high-precision function values will result in a large amount of stored data and occupy a large storage space; 2. Cordic algorithm, the accuracy is easily affected by the angle.

为了解决上述技术问题，本实施提出一种新的计算方法，核心思想是构建一个新的曲线关系(新函数)，然后通过构建的关系曲线计算角度信息的函数值，即将需要转换的角度代入该新函数，得到正/余弦值。其中，曲线关系是通过与角度信息相关的预设角度和对应的标准值构建的，由于预设角度和角度信息相关，那么可以通过关系曲线中表征多个所述预设角度分别对应的所述标准值的变化趋势，能够确定出该关系曲线上角度信息对应的函数值，基于同样的关系曲线变化趋势，确定出角度信息对应的函数值，实际计算过程中，不需进行复杂的函数计算，只需要找到与角度信息相关的预设角度和对应的标准值，即可根据构建的关系曲线确定角度信息的函数值，计算简单，只需要存储预设角度和标准值的对应关系，占用存储空间小。In order to solve the above technical problems, this implementation proposes a new calculation method. The core idea is to construct a new curve relationship (new function), and then calculate the function value of the angle information through the constructed relationship curve, and then substitute the angle that needs to be converted into the New function to get sine/cosine values. Wherein, the curve relationship is constructed by the preset angle related to the angle information and the corresponding standard value. Since the preset angle is related to the angle information, the relationship curve can be used to characterize the multiple preset angles corresponding to the preset angles respectively. The change trend of the standard value can determine the function value corresponding to the angle information on the relationship curve. Based on the change trend of the same relationship curve, the function value corresponding to the angle information can be determined. In the actual calculation process, there is no need to perform complex function calculation. It is only necessary to find the preset angle related to the angle information and the corresponding standard value, and then the function value of the angle information can be determined according to the constructed relationship curve. The calculation is simple, and only the corresponding relationship between the preset angle and the standard value needs to be stored, which takes up storage space. Small.

本实施提供的一种电气设备的控制方法，可以应用于电气控制领域内的控制系统旋转变换，实现高精度、低存储空间、快速的计算，可以快速完成基于角度信息的函数值的各类控制变换，达到转速、磁链、电流等的目标控制，如在三相交流电机控制系统中正余弦函数值需要准确计算，获取电机旋转角度确保正余弦函数值快速精确计算，完成控制算法所需要的各类变换，从而实现整体控制算法，达到转速、磁链、电流等的目标控制，三相交流电机系统中常利用Clark变换(三相坐标系到两相坐标系)和Park变换(静止坐标系到旋转坐标系)，简化控制系统，实现转速、电流等的控制，如图1所示，其中：The control method for electrical equipment provided by this embodiment can be applied to the rotation transformation of the control system in the field of electrical control, realizes high precision, low storage space, and fast calculation, and can quickly complete various types of control based on the function value of angle information Transform to achieve the target control of speed, flux linkage, current, etc. For example, in the three-phase AC motor control system, the sine and cosine function values need to be accurately calculated, and the rotation angle of the motor needs to be obtained to ensure fast and accurate calculation of the sine and cosine function values. Class transformation, so as to realize the overall control algorithm, to achieve the target control of speed, flux linkage, current, etc., Clark transformation (three-phase coordinate system to two-phase coordinate system) and Park transformation (stationary coordinate system to rotating) are often used in three-phase AC motor systems. Coordinate system), simplify the control system and realize the control of speed, current, etc., as shown in Figure 1, where:

Park变换(静止坐标系到旋转坐标系变换)的变换矩阵如下：The transformation matrix of Park transformation (stationary coordinate system to rotating coordinate system transformation) is as follows:

反Park变换(旋转坐标系变换到静止坐标系)的变换矩阵如下：The transformation matrix of the inverse Park transformation (transformation of the rotating coordinate system to the stationary coordinate system) is as follows:

基于各类控制变换都需要计算角度的正/余弦值，因此，本实施提供的控制方法可以应用于上述控制系统的旋转变换等控制变换场景，能够快速准确计算出角度信息的函数值，以实现对电气设备的运行参数快速精确地控制。Based on various control transformations, it is necessary to calculate the sine/cosine value of the angle. Therefore, the control method provided in this implementation can be applied to control transformation scenarios such as the rotation transformation of the above control system, and can quickly and accurately calculate the function value of the angle information to achieve Fast and precise control of operating parameters of electrical equipment.

需要说明的是，本实施例的角度信息的函数值的计算方法，该函数值包括但不限于正/余弦函数值，还可以计算除正余弦函数以外的其他函数值，上述场景仅为一种示例，基于同一实施原理的其他应用场景都可以采用本实施例中的方法，只需要利用不同的函数算法预先设置预设角度和标准值的对应关系即可，本实施例对此不作过多限定，基于同一设计思想计算函数值的方法，都属于本发明实施例的保护范围。It should be noted that, in the method for calculating the function value of the angle information in this embodiment, the function value includes but is not limited to the sine/cosine function value, and other function values other than the sine and cosine function can also be calculated, and the above scenario is only one. For example, other application scenarios based on the same implementation principle can use the method in this embodiment, and it is only necessary to use different function algorithms to preset the corresponding relationship between the preset angle and the standard value, which is not limited in this embodiment. , and methods for calculating function values based on the same design idea all belong to the protection scope of the embodiments of the present invention.

如图2所示，本实施例提供的一种电气设备的控制方法，该方法的实施流程如下所示：As shown in FIG. 2, the present embodiment provides a control method for electrical equipment, and the implementation process of the method is as follows:

步骤200、获取电气设备的运行参数的角度信息，按照预设角度集合中各个预设角度与所述角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度；Step 200: Obtain angle information of operating parameters of the electrical equipment, and filter out a plurality of the preset angles from the preset angle set according to the difference between each preset angle in the preset angle set and the angle information;

在一些实施例中，本实施例中的运行参数包括但不限于：转速、三相交流电中的至少一种，角度信息包括但不限于：转速对应的角速度或角度、三相交流电包含的任意一路直流电对应的角速度或角度中的至少一种。In some embodiments, the operating parameters in this embodiment include, but are not limited to, at least one of rotational speed and three-phase alternating current, and the angle information includes, but is not limited to: the angular velocity or angle corresponding to the rotational speed, and any path included in the three-phase alternating current. At least one of angular velocity or angle corresponding to direct current.

在一些实施例中，本实施例中预设角度集合中包含了多个预设角度，任意一个预设角度包括但不限于：转速对应的角速度或角度、三相交流电包含的任意一路直流电对应的角速度或角度中的至少一种。本实施例中的角度信息和所述预设角度属于同一运行参数对应的角速度或角度。In some embodiments, the preset angle set in this embodiment includes a plurality of preset angles, and any preset angle includes, but is not limited to: the angular velocity or angle corresponding to the rotational speed, and the angle corresponding to any direct current included in the three-phase alternating current. At least one of angular velocity or angle. The angle information and the preset angle in this embodiment belong to the angular velocity or angle corresponding to the same operating parameter.

在一些实施例中，本实施例通过如下方式从所述预设角度集合中筛选出多个所述预设角度：In some embodiments, this embodiment selects a plurality of the preset angles from the preset angle set in the following manner:

计算预设角度集合中各个预设角度与所述角度信息的差距，选择最小的多个差距对应的预设角度，例如选取各个差距中最小的3个差距对应的预设角度，得到3个预设角度，即选取3个和角度信息差距最小的预设角度。其中，多个预设角度包括两个预设角度或两个以上的预设角度。Calculate the gap between each preset angle in the preset angle set and the angle information, and select the preset angles corresponding to the smallest multiple gaps, for example, select the preset angles corresponding to the smallest three gaps in each gap, and obtain three preset angles. Set the angle, that is, select 3 preset angles with the smallest gap with the angle information. Wherein, the plurality of preset angles include two preset angles or more than two preset angles.

步骤201、根据预先建立的所述预设角度和标准值的对应关系，确定多个所述预设角度分别对应的所述标准值；Step 201, according to the pre-established correspondence between the preset angle and the standard value, determine the standard values corresponding to a plurality of the preset angles respectively;

在一些实施例中，预先建立预设角度和标准值的对应关系，每一个预设角度都具有唯一对应的标准值，可选的，根据基于三角函数如正弦函数或余弦函数建立预设角度和标准值的对应关系，也可以根据其他需要计算该角度信息的函数值的函数算法，建立预设角度和标准值的对应关系，具体可以根据实际需求确定，本实施例对此不作过多限定。In some embodiments, the corresponding relationship between the preset angle and the standard value is established in advance, and each preset angle has a unique corresponding standard value. Optionally, the preset angle and The corresponding relationship of the standard value can also be established according to other function algorithms that need to calculate the function value of the angle information. The corresponding relationship between the preset angle and the standard value can be determined according to actual needs, which is not limited in this embodiment.

在一些实施例中，可以通过如下方式预先建立所述预设角度和所述标准值的对应关系：In some embodiments, the corresponding relationship between the preset angle and the standard value may be pre-established in the following manner:

(1)将任意一个周期内的标准函数的角度区间划分成多个子区间，按设定间隔对任意一个所述子区间包含的角度进行采样，得到各个所述预设角度，其中所述标准函数包括正弦函数或余弦函数；(1) Divide the angle interval of the standard function in any cycle into a plurality of sub-intervals, and sample the angles contained in any one of the sub-intervals at set intervals to obtain each of the preset angles, wherein the standard function including sine or cosine functions;

需要说明的是，由于正弦函数或余弦函数都属于三角函数，而除正弦函数或余弦函数以外的三角函数，都和正弦函数或余弦函数具有转换关系，因此，本实施例中标准函数的保护范围涉及正弦函数或余弦函数，以及可以转换为正弦函数或余弦函数的其他三角函数。It should be noted that since both the sine function and the cosine function belong to trigonometric functions, and the trigonometric functions other than the sine function or the cosine function have a conversion relationship with the sine function or the cosine function, therefore, the protection scope of the standard function in this embodiment is Involves sine or cosine functions, and other trigonometric functions that can be converted to sine or cosine functions.

容易理解的是，正弦函数或余弦函数都具有周期性，不同周期内的函数值的变化规律相同，同一周期内的函数值也具有一定的规律性和重复性，因此，本实施例基于正弦函数或余弦函数在一个周期内的变化规律，选取一个周期对应的角度区间中的一个子区间，通过该子区间内的函数值的变化规律，以及角度转换就能够表示整个标准函数的变化规律。It is easy to understand that both the sine function and the cosine function have periodicity, the function values in different periods change in the same way, and the function values in the same period also have certain regularity and repeatability. Therefore, this embodiment is based on the sine function. Or the change law of the cosine function in a cycle, select a sub-range in the angle interval corresponding to a cycle, and the change law of the entire standard function can be represented by the change law of the function value in the sub-range and the angle conversion.

在一些实施例中，选取的任意一个子区间满足如下任一种条件：In some embodiments, any one of the selected sub-intervals satisfies any of the following conditions:

条件1)任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；其中，标准值为预设角度的正弦值或余弦值。Condition 1) any one of the sub-intervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the sub-interval is greater than or equal to zero; wherein, the standard value is the sine of a preset angle value or cosine.

条件2)任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零；其中，标准值为预设角度的正弦值或余弦值。Condition 2) any one of the sub-intervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the sub-interval is less than or equal to zero; wherein, the standard value is the sine of a preset angle value or cosine.

条件3)任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；其中，标准值为预设角度的正弦值或余弦值。Condition 3) any one of the sub-intervals is a monotonically decreasing interval of the standard function, and the standard value of the standard function corresponding to the sub-interval is greater than or equal to zero; wherein, the standard value is the sine of a preset angle value or cosine.

条件4)任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零。其中，标准值为预设角度的正弦值或余弦值。Condition 4) Any one of the sub-intervals is a monotonically decreasing interval of the standard function, and the standard values of the standard function corresponding to the sub-intervals are all less than or equal to zero. The standard value is the sine or cosine of the preset angle.

上述任一条件能够保证选取的子区间中正弦函数或余弦函数的单调性一致，并且根据正弦函数或余弦函数的规律，保证选取的子区间为角度区间的1/4区间。实施中，可以将角度区间均分为4个子区间，并保证每个子区间内正弦函数或余弦函数单调性一致，即每个子区间内标准函数单调递增或单调递减。Any of the above conditions can ensure that the monotonicity of the sine function or cosine function in the selected sub-interval is consistent, and according to the law of the sine function or cosine function, the selected sub-interval is guaranteed to be 1/4 of the angle interval. In implementation, the angle interval can be divided into 4 subintervals, and the monotonicity of the sine function or cosine function in each subinterval can be guaranteed to be consistent, that is, the standard function in each subinterval is monotonically increasing or monotonically decreasing.

以正弦函数为例，实施中，以角度区间[0，2π]为例，将角度区间划分成4个子区间，分别是[0，π/2]、[π/2，π]、[π，3π/2]、[3π/2，2π]；以设定间隔在子区间[0，π/2]内进行采样，得到多个预设角度，例如采样得到16个采样点，得到[0，π/2]内的16个预设角度。Taking the sine function as an example, in the implementation, taking the angle interval [0, 2π] as an example, the angle interval is divided into 4 sub-intervals, which are [0, π/2], [π/2, π], [π, 3π/2], [3π/2, 2π]; sampling in the sub-interval [0, π/2] at set intervals to obtain multiple preset angles, for example, sampling to obtain 16 sampling points, obtaining [0, 16 preset angles within π/2].

(2)根据各个所述预设角度和所述标准函数，确定各个所述预设角度分别对应的所述标准值；(2) according to each of the preset angles and the standard function, determine the standard values corresponding to each of the preset angles respectively;

其中，如果标准函数为正弦函数，则标准值为各个预设角度的正弦值，如果标准函数为余弦函数，则标准值为各个预设角度的余弦值，如果标准函数为其他的三角函数，则标准值为其他三角函数对应的函数值。Among them, if the standard function is a sine function, the standard value is the sine value of each preset angle; if the standard function is a cosine function, the standard value is the cosine value of each preset angle; if the standard function is other trigonometric functions, then The standard value is the function value corresponding to other trigonometric functions.

(3)根据各个所述预设角度分别对应的所述标准值，建立所述预设角度和所述标准值的对应关系。(3) Establish a corresponding relationship between the preset angle and the standard value according to the standard values corresponding to the preset angles respectively.

在一些实施例中，可以建立预设角度和标准值的映射表格，并将该映射表进行存储，以用于在自动化计算角度信息的函数值时，可以直接从存储的映射表中查找与角度信息最接近的多个预设角度分别对应的标准值。In some embodiments, a mapping table of preset angles and standard values may be established, and the mapping table may be stored, so that when the function value of the angle information is automatically calculated, the corresponding angle can be directly searched from the stored mapping table. Standard values corresponding to multiple preset angles with the closest information.

在一些实施例中，为了将实施例的方法能够具备通用性，便于科学计算和工程应用的广泛使用，还可以对预设角度进行归一化处理，并建立归一化处理后的预设角度和标准值的对应关系。In some embodiments, in order to make the method of the embodiment universal and to facilitate the wide use of scientific computing and engineering applications, the preset angle may also be normalized, and a normalized preset angle may be established. Correspondence with the standard value.

在一些实施例中，如果对预设角度进行归一化处理，得到归一化处理后的预设角度，则获取电气设备的运行参数的角度信息之后，对获取的所述角度信息进行归一化处理，得到所述归一化处理后的所述角度信息，以按照各个所述预设角度与归一化处理后的预设角度信息的差距，从预设角度集合中筛选出多个预设角度。实施中，将预设角度和角度信息都进行归一化处理后，能够提高应用的通用性，便于移植到各种控制系统。In some embodiments, if the preset angle is normalized to obtain the normalized preset angle, after obtaining the angle information of the operating parameters of the electrical equipment, the obtained angle information is normalized to obtain the normalized angle information, so as to filter out a plurality of preset angles from the preset angle set according to the difference between each preset angle and the normalized preset angle information. Set the angle. In implementation, after normalizing both the preset angle and the angle information, the versatility of the application can be improved, and it is easy to transplant to various control systems.

步骤202、根据所述预设角度和所述标准值的关系曲线，确定所述关系曲线上所述角度信息对应的函数值，其中所述关系曲线用于表征多个所述预设角度分别对应的所述标准值的变化趋势；Step 202 : Determine the function value corresponding to the angle information on the relationship curve according to the relationship curve between the preset angle and the standard value, wherein the relationship curve is used to represent that a plurality of the preset angles respectively correspond to each other. The change trend of the standard value of ;

步骤203、根据所述函数值控制所述电气设备的运行。Step 203: Control the operation of the electrical device according to the function value.

在一些实施例中，本实施例通过确定所述预设角度和所述标准值的关系曲线的原理是，基于插值基函数，利用插值法，实现任意角度正/余弦函数值计算的同时，有效减少芯片存储空间，提高计算精度。其中，可以使用拉格朗日插值法构建关系曲线，拉格朗日插值公式指在节点上给出节点基函数，然后做基函数的线性组合，组合系数为节点函数值的一种插值多项式，最终构建一个基函数为标准函数(正/余弦函数)的多项式函数。In some embodiments, the principle of determining the relationship curve between the preset angle and the standard value in this embodiment is that, based on the interpolation basis function, the interpolation method is used to realize the calculation of the sine/cosine function value of any angle, and at the same time, the effective Reduce chip storage space and improve calculation accuracy. Among them, the Lagrangian interpolation method can be used to construct the relationship curve. The Lagrangian interpolation formula refers to the node basis function is given on the node, and then a linear combination of the basis functions is performed. The combination coefficient is an interpolation polynomial of the node function value. Finally, a polynomial function whose basis function is a standard function (sine/cosine function) is constructed.

在一些实施例中，通过如下步骤确定所述关系曲线：In some embodiments, the relationship is determined by the steps of:

步骤(1)构建多个初始曲线函数；Step (1) constructs a plurality of initial curve functions;

其中，所述初始曲线函数与初始坐标点对应，即一个初始坐标点确定一个初始曲线函数；任意一个初始曲线函数经过对应的初始坐标点，任意一个初始坐标点的横坐标表示角度，纵坐标表示角度对应的正弦函数值或余弦函数值；Wherein, the initial curve function corresponds to the initial coordinate point, that is, an initial coordinate point determines an initial curve function; any initial curve function passes through the corresponding initial coordinate point, the abscissa of any initial coordinate point represents the angle, and the ordinate represents the angle The sine function value or cosine function value corresponding to the angle;

实施中，以三个初始坐标点为例，对构建初始曲线函数的过程进行说明：In the implementation, three initial coordinate points are taken as examples to illustrate the process of constructing the initial curve function:

已知曲线过三个初始坐标点(x₁,f(x₁))，(x₂,f(x₂))，(x₃,f(x₃))，构造二次函数f(x)＝ax²+bx+c满足公式(1)：It is known that the curve passes through three initial coordinate points (x₁ , f(x₁ )), (x₂ , f(x₂ )), (x₃ , f(x₃ )), and constructs a quadratic function f(x) =ax² +bx+c satisfies formula (1):

可以通过解方程组来，求出二次函数表达式。The quadratic function expression can be obtained by solving the system of equations.

步骤(2)对多个初始曲线函数进行多项式组合，得到经过多个所述初始坐标点的多项式函数；Step (2) carries out a polynomial combination to a plurality of initial curve functions, and obtains a polynomial function passing through a plurality of the initial coordinate points;

在一些实施例中，通过拉格朗日插值法可知，可以由三根二次曲线进行组合得到多项式函数，其中三根二次曲线分别为：In some embodiments, it can be known from the Lagrangian interpolation method that a polynomial function can be obtained by combining three quadratic curves, wherein the three quadratic curves are:

第一根曲线f₁(x)，f₁(x)在x₁处取值为1，其余两点取值为0；The first curve f₁ (x), f₁ (x) takes the value of 1 at x₁ , and the other two points take the value of 0;

第二根曲线f₂(x)，f₂(x)在x₂处取值为1，其余两点取值为0；The second curve f₂ (x), f₂ (x) takes the value of 1 at x₂ , and the other two points take the value of 0;

第三根曲线f₃(x)，f₃(x)在x₃处取值为1，其余两点取值为0。The third curve f₃ (x), f₃ (x) takes the value of 1 at x₃ , and the other two points take the value of 0.

令y₁＝f(x₁)，y₂＝f(x₂)，y₃＝f(x₃)，于是可以保证：Let y₁ =f(x₁ ), y₂ =f(x₂ ), y₃ =f(x₃ ), then it can be guaranteed that:

y₁f₁(x)在x₁处取值为y₁，其余两点取值为0；y₁ f₁ (x) takes the value of y₁ at x₁ , and the other two points take the value of 0;

y₂f₂(x)在x₂处取值为y₂，其余两点取值为0；y₂ f₂ (x) takes the value of y₂ at x₂ , and the other two points take the value of 0;

y₃f₃(x)在x₃处取值为y₃，其余两点取值为0。y₃ f₃ (x) takes the value of y₃ at x₃ and the value of 0 at the other two points.

从而，二次函数可以满足经过三个初始坐标点(x₁,f(x₁))，(x₂,f(x₂))，(x₃,f(x₃))，如公式(2)所示：Therefore, the quadratic function can satisfy the requirement of passing through three initial coordinate points (x₁ , f(x₁ )), (x₂ , f(x₂ )), (x₃ , f(x₃ )), such as formula (2) ) as shown:

f(x)＝y₁f₁(x)+y₂f₂(x)+y₃f₃(x) 公式(2)；f(x)=y₁ f₁ (x)+y₂ f₂ (x)+y₃ f₃ (x) Formula (2);

由f₁(x)在x₁处取值为1，其余两点取值为0，构造函数f₁(x)：By f₁ (x) taking the value of 1 at x₁ , and the other two points taking the value of 0, the constructor f₁ (x):

同理得到：Similarly get:

将公式(3)、公式(4)、公式(5)代入公式(2)得到多项式函数f(x)：Substitute formula (3), formula (4), and formula (5) into formula (2) to obtain the polynomial function f(x):

其中，公式(6)中，经过三个初始坐标点分别是(x₁,f(x₁))，(x₂,f(x₂))，(x₃,f(x₃))。Among them, in formula (6), the three initial coordinate points are respectively (x₁ , f(x₁ )), (x₂ , f(x₂ )), (x₃ , f(x₃ )).

步骤(3)根据多个所述预设角度、多个所述预设角度分别对应的所述标准值以及所述多项式函数，确定所述关系曲线。Step (3) Determine the relationship curve according to the plurality of preset angles, the standard values corresponding to the plurality of preset angles respectively, and the polynomial function.

在一些实施例中，具体通过如下方式确定所述关系曲线：In some embodiments, the relationship curve is determined in the following manner:

根据多个所述预设角度和多个所述预设角度分别对应的所述标准值，确定多个已知坐标点；将所述多项式函数中的多个所述初始坐标点替换为多个所述已知坐标点，得到所述关系曲线。Determine a plurality of known coordinate points according to the plurality of preset angles and the standard values corresponding to the plurality of preset angles respectively; and replace the plurality of the initial coordinate points in the polynomial function with a plurality of From the known coordinate points, the relationship curve is obtained.

实施中，可以将公式(6)中的三个初始坐标点分别是(x₁,f(x₁))，(x₂,f(x₂))，(x₃,f(x₃))分别替换为三个已知坐标点，从而确定出经过该三个已知坐标点的关系曲线(即多项式函数)。In implementation, the three initial coordinate points in formula (6) can be respectively (x₁ , f(x₁ )), (x₂ , f(x₂ )), (x₃ , f(x₃ )) They are respectively replaced with three known coordinate points, so as to determine the relationship curve (ie, a polynomial function) passing through the three known coordinate points.

如图3所示，实施中，以选取正弦函数的角度区间的1/4角度区间中的16个预设角度为例，对多项式函数的进一步演化进行说明，其中，在1/4正弦函数的横坐标[0,π/2]取值范围内均匀选取16个预设角度，并确定16个预设角度的正弦值，最终得到16个坐标点。则任意角度的正弦值，可通过与该任意角度临近的三个预设角度和对应的正弦值精准估算。估算开始之前，预先根据选取的16个预设角度和对应的正弦值，确定16组预设角度和正弦值的对应关系，并进行归一化处理，将[0,π/2]内选取的16个预设角度转化为[0,1]范围内数值。则公式(6)可以变换为公式(7)，如下所示：As shown in FIG. 3 , in the implementation, taking 16 preset angles in the 1/4 angle interval of the angle interval of the sine function as an example, the further evolution of the polynomial function will be described. 16 preset angles are uniformly selected within the value range of the abscissa [0, π/2], and the sine values of the 16 preset angles are determined, and finally 16 coordinate points are obtained. Then, the sine value of any angle can be accurately estimated by three preset angles adjacent to the arbitrary angle and the corresponding sine value. Before the estimation starts, according to the selected 16 preset angles and the corresponding sine values, determine the corresponding relationship between 16 groups of preset angles and sine values, and perform normalization processing. 16 preset angles are converted to values in the range [0,1]. Then formula (6) can be transformed into formula (7) as follows:

由于，f(x)＝sin(x)，因此公式(7)进一步化简得到公式(8)：Since, f(x)=sin(x), formula (7) is further simplified to obtain formula (8):

f(x)＝128(x-x₂)(x-x₃)sin(x₁)-256(x-x₁)(x-x₃)sin(x₂)+128(x-x₁)(x-x₂)sin(x₃) 公式(8)；f(x)=128(xx₂ )(xx₃ )sin(x₁ )-256(xx₁ )(xx₃ )sin(x₂ )+128(xx₁ )(xx₂ )sin(x₃ ) formula (8);

其中，(x₁,f(x₁))，(x₂,f(x₂))，(x₃,f(x₃))为与x相关的三个初始坐标点，根据输入角度范围，转化为相应[0,π/2]范围内正弦值进行计算。Among them, (x₁ ,f(x₁ )), (x₂ ,f(x₂ )), (x₃ ,f(x₃ )) are the three initial coordinate points related to x, according to the input angle range, Convert to the corresponding sine value in the range of [0, π/2] for calculation.

在一些实施例中，由于本实施例中只选取了标准函数的子区间即1/4角度区间进行计算，因此，如果选取的预设角度超出该子区间，根据标准函数的转换公式，需要将选取的预设角度转换到子区间内。In some embodiments, since only the sub-interval of the standard function, that is, the 1/4 angle interval, is selected for calculation in this embodiment, if the selected preset angle exceeds the sub-interval, according to the conversion formula of the standard function, it is necessary to convert the The selected preset angle is converted into the subrange.

在一些实施例中，通过如下任一种方式进行转换：In some embodiments, the conversion is performed in any of the following ways:

方式1)若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度；Manner 1) If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, perform an operation on any one of the preset angles. angle conversion, to obtain the preset angle after the angle conversion;

方式2)若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度，以及对所述角度转换后的所述预设角度对应的所述标准值的符号进行转换。Method 2) If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, then any one of the preset angles is determined. The preset angle is converted into an angle to obtain the preset angle after the angle conversion, and the sign of the standard value corresponding to the preset angle after the angle conversion is converted.

方式3)若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，则对所述角度信息进行角度转换，得到角度转换后的角度信息；Mode 3) if the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on the angle information to obtain angle information after angle conversion;

方式4)若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对所述角度信息进行角度转换，得到角度转换后的角度信息，以及对所述角度信息对应的函数值的符号进行转换。Mode 4) if the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, the angle information is subjected to angle conversion to obtain the angle information after the angle conversion, and converting the sign of the function value corresponding to the angle information.

实施中，以角度范围在[0,π/2]，标准值为正弦值时，角度转换关系如下:In implementation, when the angle range is [0, π/2] and the standard value is a sine value, the angle conversion relationship is as follows:

实施中，以角度范围在[0,π/2]，标准值为余弦值时，角度转换关系如下:In the implementation, when the angle range is [0, π/2] and the standard value is the cosine value, the angle conversion relationship is as follows:

通过角度转换关系，能够保证在1/4正弦函数的横坐标[0,π/2]取值范围内计算函数值，进而得到任意角度的正/余弦函数值。本实施例中的控制方法能够提供基于数字化实现的高效正/余弦函数计算方法，利用1/4正弦函数的横坐标[0,π/2]取值范围内均匀选取16组数据，推算任意角度正/余弦函数，提升运算速度的同时，达到了高精度计算。实施中，可以通过制定少量数据量的数据表格，减少芯片存储空间；根据多组数据，选定区间内多组数据进行插值计算，实现高精度计算；并且可以对角度进行归一化处理，可用于多种场合，方便移植，通用性强。Through the angle conversion relationship, it can be guaranteed that the function value is calculated within the value range of the abscissa [0, π/2] of the 1/4 sine function, and then the sine/cosine function value of any angle can be obtained. The control method in this embodiment can provide an efficient sine/cosine function calculation method based on digital implementation, and uses 16 sets of data to be uniformly selected within the value range of the abscissa [0, π/2] of the 1/4 sine function to calculate any angle The sine/cosine function achieves high-precision calculation while improving the operation speed. In the implementation, the chip storage space can be reduced by formulating a data table with a small amount of data; according to multiple sets of data, multiple sets of data in the selected interval can be interpolated to achieve high-precision calculation; and the angle can be normalized, available In many occasions, it is convenient to transplant and has strong versatility.

在一些实施例中，若所述电气设备包括三相交流电机设备，则所述根据所述函数值控制所述电气设备的运行，包括：In some embodiments, if the electrical equipment includes a three-phase AC motor equipment, the controlling the operation of the electrical equipment according to the function value includes:

对所述三相交流电机设备的三相交流信号对应的坐标系进行旋转变换，并根据所述函数值，确定旋转变换的变换矩阵；根据所述变换矩阵，控制所述三相交流信号对应的所述运行参数。其中，旋转变换包括但不限于Clark变换或Park变换等。能够简化控制系统，实现转速、电流等的控制，以保证三相交流电机可靠运行。Perform rotational transformation on the coordinate system corresponding to the three-phase AC signal of the three-phase AC motor device, and determine the transformation matrix of the rotation transformation according to the function value; control the corresponding coordinate system of the three-phase AC signal according to the transformation matrix. the operating parameters. The rotation transformation includes but is not limited to Clark transformation or Park transformation. It can simplify the control system and realize the control of speed and current, so as to ensure the reliable operation of the three-phase AC motor.

如图4所示，以正弦函数为例，本实施例提供一种详细的电气设备的控制方法，该方法的实施流程如下所示：As shown in FIG. 4 , taking a sine function as an example, this embodiment provides a detailed control method for an electrical device. The implementation process of the method is as follows:

步骤400、获取电气设备的运行参数的角度信息，对角度信息进行归一化处理，得到归一化处理后的角度信息；Step 400: Obtain the angle information of the operating parameters of the electrical equipment, normalize the angle information, and obtain the normalized angle information;

其中，如果角度信息超出预设角度集合中各个所述预设角度确定的角度范围，对所述角度信息进行角度转换，得到角度转换后的角度信息；或，Wherein, if the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on the angle information to obtain the angle information after the angle conversion; or,

如果角度信息超出预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，对所述角度信息进行角度转换，得到角度转换后的角度信息，以及对之后计算得到的角度信息对应的函数值的符号进行转换。If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, angle conversion is performed on the angle information to obtain the angle information after the angle conversion, and the angle information calculated after the angle information is obtained. The sign of the corresponding function value is converted.

步骤401、根据预设角度集合中各个预设角度和角度信息的差距，选取最小的三个差距对应的预设角度；Step 401: According to the gap between each preset angle and the angle information in the preset angle set, select the preset angles corresponding to the smallest three gaps;

其中，如果3个预设角度信息中任意一个预设角度，超出预设角度集合中各个预设角度确定的角度范围，则对任意一个预设角度进行角度转换，得到角度转换后的预设角度；或，Wherein, if any preset angle in the 3 preset angle information exceeds the angle range determined by each preset angle in the preset angle set, angle conversion is performed on any preset angle to obtain the preset angle after the angle conversion ;or,

如果3个预设角度信息中任意一个预设角度，超出预设角度集合中各个预设角度确定的角度范围，且超出角度阈值，则对任意一个预设角度进行角度转换，得到角度转换后的预设角度，以及对角度转换后的预设角度对应的正弦值的符号进行转换。If any preset angle in the 3 preset angle information exceeds the angle range determined by each preset angle in the preset angle set and exceeds the angle threshold, the angle conversion is performed on any preset angle, and the converted angle is obtained. The preset angle, and the sign of the sine value corresponding to the preset angle after the angle conversion is converted.

其中，预设角度为归一化处理后的预设角度。The preset angle is a normalized preset angle.

步骤402、确定三个预设角度的正弦值；Step 402, determine the sine values of three preset angles;

步骤403、根据三个预设角度和对应的正弦值，确定三个已知坐标点；Step 403: Determine three known coordinate points according to the three preset angles and the corresponding sine values;

步骤404、根据三个已知坐标点构建经过该三个已知坐标点的关系曲线；Step 404, constructing a relationship curve passing through the three known coordinate points according to the three known coordinate points;

步骤405、确定关系曲线上角度信息对应的函数值；Step 405: Determine the function value corresponding to the angle information on the relationship curve;

步骤406、根据函数值控制电气设备的运行。Step 406: Control the operation of the electrical equipment according to the function value.

在一些实施例中，本实施例基于上述计算角度信息函数值的方法，在Matlab平台建立仿真模型并运行。如图5所示，本实施例提供的一种计算角度信息正弦值的函数曲线示意图，如图6所示，提供了一种本实施例计算角度信息函数值与matlab自带正弦函数值的曲线作差得到的精确度对比图，两者计算结果几乎重合，由图6中的纵坐标可知，最大误差在0.0006％左右，因此，本实施例提供的控制方法能够实现高精度计算，并且利用1/4正弦函数的横坐标[0,π/2]取值范围内均匀选取16组数据，推算任意角度正/余弦函数，提升运算速度的同时，达到了高精度计算。In some embodiments, based on the above-mentioned method for calculating the angle information function value, a simulation model is established and run on the Matlab platform. As shown in FIG. 5 , a schematic diagram of a function curve for calculating the sine value of angle information provided by this embodiment, as shown in FIG. 6 , provides a curve between the function value of angle information calculated by this embodiment and the sine function value that comes with matlab In the accuracy comparison chart obtained by making the difference, the calculation results of the two almost overlap. It can be seen from the ordinate in Figure 6 that the maximum error is about 0.0006%. Therefore, the control method provided in this embodiment can realize high-precision calculation, anduse 1 16 sets of data are evenly selected within the value range of the abscissa [0, π/2] of the /4 sine function, and the sine/cosine function at any angle is calculated, which not only improves the operation speed, but also achieves high-precision calculation.

实施例2、基于相同的发明构思，本发明实施例还提供了一种电气设备的控制设备，由于该控制设备即是本发明实施例中的方法中的控制设备，并且该控制设备解决问题的原理与该方法相似，因此该控制设备的实施可以参见方法的实施，重复之处不再赘述。Embodiment 2. Based on the same inventive concept, the embodiment of the present invention also provides a control device for electrical equipment, because the control device is the control device in the method in the embodiment of the present invention, and the control device solves the problem. The principle is similar to the method, so the implementation of the control device can refer to the implementation of the method, and the repetition will not be repeated.

如图7所示，该设备包括处理器700和存储器701，所述存储器701用于存储所述处理器700可执行的程序，所述处理器700用于读取所述存储器701中的程序并执行如下步骤：As shown in FIG. 7 , the device includes aprocessor 700 and amemory 701, thememory 701 is used for storing programs executable by theprocessor 700, theprocessor 700 is used for reading the programs in thememory 701 and Perform the following steps:

获取电气设备的运行参数的角度信息，按照预设角度集合中各个预设角度与所述角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度；Obtaining angle information of operating parameters of the electrical equipment, and filtering out a plurality of the preset angles from the preset angle set according to the difference between each preset angle in the preset angle set and the angle information;

根据预先建立的所述预设角度和标准值的对应关系，确定多个所述预设角度分别对应的所述标准值；According to the pre-established correspondence between the preset angle and the standard value, determine the standard values corresponding to a plurality of the preset angles respectively;

根据所述预设角度和所述标准值的关系曲线，确定所述关系曲线上所述角度信息对应的函数值，其中所述关系曲线用于表征多个所述预设角度分别对应的所述标准值的变化趋势；According to the relationship curve between the preset angle and the standard value, the function value corresponding to the angle information on the relationship curve is determined, wherein the relationship curve is used to represent the corresponding values of the preset angles respectively. Change trend of standard value;

根据所述函数值控制所述电气设备的运行。The operation of the electrical device is controlled according to the function value.

作为一种可选的实施方式，所述处理器700具体被配置为通过如下方式预先建立所述预设角度和所述标准值的对应关系：As an optional implementation manner, theprocessor 700 is specifically configured to pre-establish the corresponding relationship between the preset angle and the standard value in the following manner:

将任意一个周期内的标准函数的角度区间划分成多个子区间，按设定间隔对任意一个所述子区间包含的角度进行采样，得到各个所述预设角度，其中所述标准函数包括正弦函数或余弦函数；Divide the angle interval of the standard function in any cycle into a plurality of sub-intervals, and sample the angles included in any one of the sub-intervals at set intervals to obtain each of the preset angles, wherein the standard function includes a sine function or cosine function;

根据各个所述预设角度和所述标准函数，确定各个所述预设角度分别对应的所述标准值；According to each of the preset angles and the standard function, determine the standard values corresponding to each of the preset angles respectively;

根据各个所述预设角度分别对应的所述标准值，建立所述预设角度和所述标准值的对应关系。The corresponding relationship between the preset angle and the standard value is established according to the standard value corresponding to each of the preset angles.

作为一种可选的实施方式，As an optional implementation,

任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；或，Any one of the subintervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is greater than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零；或，Any one of the subintervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is less than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；或，Any one of the subintervals is a monotonically decreasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is greater than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零。Any one of the sub-intervals is a monotonically decreasing interval of the standard function, and the standard values of the standard function corresponding to the sub-intervals are all less than or equal to zero.

作为一种可选的实施方式，所述预设角度为归一化处理后的所述预设角度，则所述获取电气设备的运行参数的角度信息之后，所述处理器700具体还被配置为执行：As an optional implementation manner, the preset angle is the preset angle after normalization processing, and after acquiring the angle information of the operating parameters of the electrical equipment, theprocessor 700 is further configured To execute:

对获取的所述角度信息进行归一化处理，得到所述归一化处理后的所述角度信息，以按照各个所述预设角度与所述归一化处理后的所述预设角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度。Normalizing the acquired angle information to obtain the normalized angle information, so as to obtain the normalized angle information according to each of the preset angles and the normalized preset angle information The gap is selected from the preset angle set to filter out a plurality of the preset angles.

作为一种可选的实施方式，所述处理器700具体还被配置为执行：As an optional implementation manner, theprocessor 700 is further configured to execute:

若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，则对所述角度信息进行角度转换，得到角度转换后的角度信息；或，If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on the angle information to obtain angle information after angle conversion; or,

若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对所述角度信息进行角度转换，得到角度转换后的角度信息，以及对所述角度信息对应的函数值的符号进行转换；或，If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, angle conversion is performed on the angle information to obtain the angle information after angle conversion, and the Convert the sign of the function value corresponding to the angle information; or,

若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度；或，If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on any one of the preset angles, obtaining the preset angle after the angle conversion; or,

若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度，以及对所述角度转换后的所述预设角度对应的所述标准值的符号进行转换。If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, then any one of the preset angles The angle is converted into an angle to obtain the preset angle after the angle conversion, and the sign of the standard value corresponding to the preset angle after the angle conversion is converted.

作为一种可选的实施方式，所述处理器700具体被配置为通过如下方式确定所述关系曲线：As an optional implementation manner, theprocessor 700 is specifically configured to determine the relationship curve in the following manner:

构建多个初始曲线函数，其中所述初始曲线函数与初始坐标点对应，任意一个所述初始曲线函数经过对应的所述初始坐标点，任意一个所述初始坐标点的横坐标表示角度，纵坐标表示所述角度对应的正弦函数值或余弦函数值；Build a plurality of initial curve functions, wherein the initial curve functions correspond to the initial coordinate points, any one of the initial curve functions passes through the corresponding initial coordinate points, the abscissa of any of the initial coordinate points represents the angle, and the ordinate represents the sine function value or cosine function value corresponding to the angle;

对多个所述初始曲线函数进行多项式组合，得到经过多个所述初始坐标点的多项式函数；performing a polynomial combination on a plurality of the initial curve functions to obtain a polynomial function passing through a plurality of the initial coordinate points;

根据多个所述预设角度、多个所述预设角度分别对应的所述标准值以及所述多项式函数，确定所述关系曲线。The relationship curve is determined according to the plurality of preset angles, the standard values corresponding to the plurality of preset angles respectively, and the polynomial function.

作为一种可选的实施方式，所述处理器700具体被配置为执行：As an optional implementation manner, theprocessor 700 is specifically configured to execute:

根据多个所述预设角度和多个所述预设角度分别对应的所述标准值，确定多个已知坐标点；determining a plurality of known coordinate points according to a plurality of the preset angles and the standard values corresponding to the plurality of the preset angles respectively;

将所述多项式函数中的多个所述初始坐标点替换为多个所述已知坐标点，得到所述关系曲线。The relationship curve is obtained by replacing a plurality of the initial coordinate points in the polynomial function with a plurality of the known coordinate points.

作为一种可选的实施方式，若所述电气设备包括三相交流电机设备，所述处理器700具体被配置为执行：As an optional implementation manner, if the electrical device includes a three-phase AC motor device, theprocessor 700 is specifically configured to execute:

对所述三相交流电机设备的三相交流信号对应的坐标系进行旋转变换，并根据所述函数值，确定旋转变换的变换矩阵；Perform rotational transformation on the coordinate system corresponding to the three-phase AC signal of the three-phase AC motor device, and determine the transformation matrix of the rotational transformation according to the function value;

根据所述变换矩阵，控制所述三相交流信号对应的所述运行参数。According to the transformation matrix, the operating parameter corresponding to the three-phase AC signal is controlled.

实施例3、基于相同的发明构思，本发明实施例还提供了一种电气设备的控制装置，由于该控制装置即是本发明实施例中的方法中的控制装置，并且该控制装置解决问题的原理与该方法相似，因此该控制装置的实施可以参见方法的实施，重复之处不再赘述。Embodiment 3. Based on the same inventive concept, the embodiment of the present invention also provides a control device for electrical equipment, because the control device is the control device in the method in the embodiment of the present invention, and the control device solves the problem. The principle is similar to the method, so the implementation of the control device can refer to the implementation of the method, and the repetition will not be repeated.

如图8所示，该装置包括：As shown in Figure 8, the device includes:

获取角度单元800，用于获取电气设备的运行参数的角度信息，按照预设角度集合中各个预设角度与所述角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度；Theangle obtaining unit 800 is configured to obtain the angle information of the operating parameters of the electrical equipment, and according to the difference between each preset angle in the preset angle set and the angle information, filter out a plurality of the preset angles from the preset angle set. set angle

确定标准值单元801，用于根据预先建立的所述预设角度和标准值的对应关系，确定多个所述预设角度分别对应的所述标准值；A standardvalue determining unit 801, configured to determine the standard values corresponding to a plurality of the preset angles according to the pre-established correspondence between the preset angle and the standard value;

确定函数值单元802，用于根据所述预设角度和所述标准值的关系曲线，确定所述关系曲线上所述角度信息对应的函数值，其中所述关系曲线用于表征多个所述预设角度分别对应的所述标准值的变化趋势；A functionvalue determination unit 802, configured to determine a function value corresponding to the angle information on the relationship curve according to the relationship curve between the preset angle and the standard value, wherein the relationship curve is used to represent a plurality of the Change trends of the standard values corresponding to the preset angles respectively;

控制设备运行单元803，用于根据所述函数值控制所述电气设备的运行。A controldevice operation unit 803, configured to control the operation of the electrical device according to the function value.

作为一种可选的实施方式，所述确定标准值单元801具体用于通过如下方式预先建立所述预设角度和所述标准值的对应关系：As an optional implementation manner, the standardvalue determining unit 801 is specifically configured to pre-establish the corresponding relationship between the preset angle and the standard value in the following manner:

将任意一个周期内的标准函数的角度区间划分成多个子区间，按设定间隔对任意一个所述子区间包含的角度进行采样，得到各个所述预设角度，其中所述标准函数包括正弦函数或余弦函数；Divide the angle interval of the standard function in any cycle into a plurality of sub-intervals, and sample the angles contained in any one of the sub-intervals at set intervals to obtain each of the preset angles, wherein the standard function includes a sine function or cosine function;

根据各个所述预设角度和所述标准函数，确定各个所述预设角度分别对应的所述标准值；According to each of the preset angles and the standard function, determine the standard values corresponding to each of the preset angles respectively;

根据各个所述预设角度分别对应的所述标准值，建立所述预设角度和所述标准值的对应关系。The corresponding relationship between the preset angle and the standard value is established according to the standard value corresponding to each of the preset angles.

作为一种可选的实施方式，As an optional implementation,

任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；或，Any one of the subintervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is greater than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零；或，Any one of the subintervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is less than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；或，Any one of the subintervals is a monotonically decreasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is greater than or equal to zero; or,

任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零。Any one of the sub-intervals is a monotonically decreasing interval of the standard function, and the standard values of the standard function corresponding to the sub-intervals are all less than or equal to zero.

作为一种可选的实施方式，所述预设角度为归一化处理后的所述预设角度，则所述获取电气设备的运行参数的角度信息之后，还包括归一化处理单元用于：As an optional implementation manner, the preset angle is the preset angle after normalization processing, and after acquiring the angle information of the operating parameters of the electrical equipment, further includes a normalization processing unit for :

对获取的所述角度信息进行归一化处理，得到所述归一化处理后的所述角度信息，以按照各个所述预设角度与所述归一化处理后的所述预设角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度。Normalizing the acquired angle information to obtain the normalized angle information, so as to obtain the normalized angle information according to each of the preset angles and the normalized preset angle information The gap is selected from the preset angle set to filter out a plurality of the preset angles.

作为一种可选的实施方式，还包括转换单元具体用于：As an optional embodiment, it also includes a conversion unit that is specifically used for:

若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，则对所述角度信息进行角度转换，得到角度转换后的角度信息；或，If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, perform angle conversion on the angle information to obtain angle information after angle conversion; or,

若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对所述角度信息进行角度转换，得到角度转换后的角度信息，以及对所述角度信息对应的函数值的符号进行转换；或，If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, angle conversion is performed on the angle information to obtain the angle information after angle conversion, and the Convert the sign of the function value corresponding to the angle information; or,

若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度；或，If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on any one of the preset angles, obtain the preset angle after angle conversion; or,

若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度，以及对所述角度转换后的所述预设角度对应的所述标准值的符号进行转换。If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, then any one of the preset angles The angle is converted into an angle to obtain the preset angle after the angle conversion, and the sign of the standard value corresponding to the preset angle after the angle conversion is converted.

作为一种可选的实施方式，所述确定函数值单元802具体用于通过如下方式确定所述关系曲线：As an optional implementation manner, the determiningfunction value unit 802 is specifically configured to determine the relationship curve in the following manner:

构建多个初始曲线函数，其中所述初始曲线函数与初始坐标点对应，任意一个所述初始曲线函数经过对应的所述初始坐标点，任意一个所述初始坐标点的横坐标表示角度，纵坐标表示所述角度对应的正弦函数值或余弦函数值；Build a plurality of initial curve functions, wherein the initial curve functions correspond to the initial coordinate points, any one of the initial curve functions passes through the corresponding initial coordinate points, the abscissa of any of the initial coordinate points represents the angle, and the ordinate represents the sine function value or cosine function value corresponding to the angle;

对多个所述初始曲线函数进行多项式组合，得到经过多个所述初始坐标点的多项式函数；performing a polynomial combination on a plurality of the initial curve functions to obtain a polynomial function passing through a plurality of the initial coordinate points;

根据多个所述预设角度、多个所述预设角度分别对应的所述标准值以及所述多项式函数，确定所述关系曲线。The relationship curve is determined according to the plurality of preset angles, the standard values corresponding to the plurality of preset angles respectively, and the polynomial function.

作为一种可选的实施方式，所述确定函数值单元802具体用于：As an optional implementation manner, the determiningfunction value unit 802 is specifically configured to:

根据多个所述预设角度和多个所述预设角度分别对应的所述标准值，确定多个已知坐标点；determining a plurality of known coordinate points according to a plurality of the preset angles and the standard values corresponding to the plurality of the preset angles respectively;

将所述多项式函数中的多个所述初始坐标点替换为多个所述已知坐标点，得到所述关系曲线。The relationship curve is obtained by replacing a plurality of the initial coordinate points in the polynomial function with a plurality of the known coordinate points.

作为一种可选的实施方式，若所述电气设备包括三相交流电机设备，则控制设备运行单元803具体用于：As an optional implementation manner, if the electrical equipment includes a three-phase AC motor equipment, the controlequipment operation unit 803 is specifically configured to:

对所述三相交流电机设备的三相交流信号对应的坐标系进行旋转变换，并根据所述函数值，确定旋转变换的变换矩阵；Perform rotational transformation on the coordinate system corresponding to the three-phase AC signal of the three-phase AC motor device, and determine the transformation matrix of the rotational transformation according to the function value;

根据所述变换矩阵，控制所述三相交流信号对应的所述运行参数。According to the transformation matrix, the operating parameter corresponding to the three-phase AC signal is controlled.

基于相同的发明构思，本发明实施例还提供了一种计算机存储介质，其上存储有计算机程序，该程序被处理器执行时实现如下步骤：Based on the same inventive concept, an embodiment of the present invention also provides a computer storage medium on which a computer program is stored, and when the program is executed by a processor, the following steps are implemented:

获取电气设备的运行参数的角度信息，按照预设角度集合中各个预设角度与所述角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度；Obtaining angle information of operating parameters of the electrical equipment, and filtering out a plurality of the preset angles from the preset angle set according to the difference between each preset angle in the preset angle set and the angle information;

根据预先建立的所述预设角度和标准值的对应关系，确定多个所述预设角度分别对应的所述标准值；According to the pre-established correspondence between the preset angle and the standard value, determine the standard values corresponding to a plurality of the preset angles respectively;

根据所述预设角度和所述标准值的关系曲线，确定所述关系曲线上所述角度信息对应的函数值，其中所述关系曲线用于表征多个所述预设角度分别对应的所述标准值的变化趋势；According to the relationship curve between the preset angle and the standard value, the function value corresponding to the angle information on the relationship curve is determined, wherein the relationship curve is used to represent the corresponding values of the preset angles respectively. Change trend of standard value;

根据所述函数值控制所述电气设备的运行。The operation of the electrical device is controlled according to the function value.

本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including but not limited to disk storage, optical storage, and the like.

本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的设备。The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce A device that implements the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令设备的制造品，该指令设备实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising the instruction apparatus, the instructions The device implements the functions specified in the flow or flows of the flowcharts and/or the block or blocks of the block diagrams.

这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims (10)

Translated fromChinese

1.一种电气设备的控制方法，其特征在于，该方法包括：1. A control method for electrical equipment, characterized in that the method comprises:获取电气设备的运行参数的角度信息，按照预设角度集合中各个预设角度与所述角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度；Obtaining angle information of operating parameters of the electrical equipment, and filtering out a plurality of the preset angles from the preset angle set according to the difference between each preset angle in the preset angle set and the angle information;根据预先建立的所述预设角度和标准值的对应关系，确定多个所述预设角度分别对应的所述标准值；According to the pre-established correspondence between the preset angle and the standard value, determine the standard values corresponding to a plurality of the preset angles respectively;根据所述预设角度和所述标准值的关系曲线，确定所述关系曲线上所述角度信息对应的函数值，其中所述关系曲线用于表征多个所述预设角度分别对应的所述标准值的变化趋势；According to the relationship curve between the preset angle and the standard value, the function value corresponding to the angle information on the relationship curve is determined, wherein the relationship curve is used to represent the corresponding values of the preset angles respectively. Change trend of standard value;根据所述函数值控制所述电气设备的运行。The operation of the electrical device is controlled according to the function value.2.根据权利要求1所述的方法，其特征在于，通过如下方式预先建立所述预设角度和所述标准值的对应关系：2. The method according to claim 1, wherein the corresponding relationship between the preset angle and the standard value is established in advance in the following manner:将任意一个周期内的标准函数的角度区间划分成多个子区间，按设定间隔对任意一个所述子区间包含的角度进行采样，得到各个所述预设角度，其中所述标准函数包括正弦函数或余弦函数；Divide the angle interval of the standard function in any cycle into a plurality of sub-intervals, and sample the angles contained in any one of the sub-intervals at set intervals to obtain each of the preset angles, wherein the standard function includes a sine function or cosine function;根据各个所述预设角度和所述标准函数，确定各个所述预设角度分别对应的所述标准值；According to each of the preset angles and the standard function, determine the standard values corresponding to each of the preset angles respectively;根据各个所述预设角度分别对应的所述标准值，建立所述预设角度和所述标准值的对应关系。The corresponding relationship between the preset angle and the standard value is established according to the standard value corresponding to each of the preset angles.3.根据权利要求2所述的方法，其特征在于，3. The method of claim 2, wherein任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；或，Any one of the subintervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is greater than or equal to zero; or,任意一个所述子区间为所述标准函数的单调增区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零；或，Any one of the subintervals is a monotonically increasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is less than or equal to zero; or,任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均大于或等于零；或，Any one of the subintervals is a monotonically decreasing interval of the standard function, and the standard value of the standard function corresponding to the subinterval is greater than or equal to zero; or,任意一个所述子区间为所述标准函数的单调减区间，且所述子区间对应的所述标准函数的所述标准值均小于或等于零。Any one of the sub-intervals is a monotonically decreasing interval of the standard function, and the standard values of the standard function corresponding to the sub-intervals are all less than or equal to zero.4.根据权利要求1所述的方法，其特征在于，所述预设角度为归一化处理后的所述预设角度，则所述获取电气设备的运行参数的角度信息之后，还包括：4 . The method according to claim 1 , wherein the preset angle is the preset angle after normalization processing, and after obtaining the angle information of the operating parameters of the electrical equipment, the method further comprises: 5 .对获取的所述角度信息进行归一化处理，得到所述归一化处理后的所述角度信息，以按照各个所述预设角度与所述归一化处理后的所述预设角度信息的差距，从所述预设角度集合中筛选出多个所述预设角度。Normalizing the acquired angle information to obtain the normalized angle information, so as to obtain the normalized angle information according to each of the preset angles and the normalized preset angle information The gap is selected from the preset angle set to filter out a plurality of the preset angles.5.根据权利要求1～4任一所述的方法，其特征在于，还包括：5. The method according to any one of claims 1 to 4, characterized in that, further comprising:若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，则对所述角度信息进行角度转换，得到角度转换后的角度信息；或，If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on the angle information to obtain angle information after angle conversion; or,若所述角度信息超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对所述角度信息进行角度转换，得到角度转换后的角度信息，以及对所述角度信息对应的函数值的符号进行转换；或，If the angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, angle conversion is performed on the angle information, the angle information after angle conversion is obtained, and the angle information is obtained after the angle conversion. Convert the sign of the function value corresponding to the angle information; or,若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度；或，If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, angle conversion is performed on any one of the preset angles, obtaining the preset angle after the angle conversion; or,若多个所述预设角度信息中任意一个所述预设角度，超出所述预设角度集合中各个所述预设角度确定的角度范围，且超出角度阈值，则对任意一个所述预设角度进行角度转换，得到角度转换后的所述预设角度，以及对所述角度转换后的所述预设角度对应的所述标准值的符号进行转换。If any one of the preset angles in the plurality of preset angle information exceeds the angle range determined by each of the preset angles in the preset angle set, and exceeds the angle threshold, then any one of the preset angles The angle is converted into an angle to obtain the preset angle after the angle conversion, and the sign of the standard value corresponding to the preset angle after the angle conversion is converted.6.根据权利要求1～4任一所述的方法，其特征在于，通过如下方式确定所述关系曲线：6. The method according to any one of claims 1 to 4, wherein the relationship curve is determined in the following manner:构建多个初始曲线函数，其中所述初始曲线函数与初始坐标点对应，任意一个所述初始曲线函数经过对应的所述初始坐标点，任意一个所述初始坐标点的横坐标表示角度，纵坐标表示所述角度对应的正弦函数值或余弦函数值；Build a plurality of initial curve functions, wherein the initial curve functions correspond to the initial coordinate points, any one of the initial curve functions passes through the corresponding initial coordinate points, the abscissa of any of the initial coordinate points represents the angle, and the ordinate represents the sine function value or cosine function value corresponding to the angle;对多个所述初始曲线函数进行多项式组合，得到经过多个所述初始坐标点的多项式函数；performing a polynomial combination on a plurality of the initial curve functions to obtain a polynomial function passing through a plurality of the initial coordinate points;根据多个所述预设角度、多个所述预设角度分别对应的所述标准值以及所述多项式函数，确定所述关系曲线。The relationship curve is determined according to the plurality of preset angles, the standard values corresponding to the plurality of preset angles respectively, and the polynomial function.7.根据权利要求6所述的方法，其特征在于，所述根据多个所述预设角度、多个所述预设角度分别对应的所述标准值以及所述多项式函数，确定所述关系曲线，包括：7 . The method according to claim 6 , wherein the relationship is determined according to a plurality of the preset angles, the standard values corresponding to the plurality of preset angles respectively, and the polynomial function. 8 . Curves, including:根据多个所述预设角度和多个所述预设角度分别对应的所述标准值，确定多个已知坐标点；determining a plurality of known coordinate points according to a plurality of the preset angles and the standard values corresponding to the plurality of the preset angles respectively;将所述多项式函数中的多个所述初始坐标点替换为多个所述已知坐标点，得到所述关系曲线。The relationship curve is obtained by replacing a plurality of the initial coordinate points in the polynomial function with a plurality of the known coordinate points.8.根据权利要求1～4和7任一所述的方法，其特征在于，若所述电气设备包括三相交流电机设备，则所述根据所述函数值控制所述电气设备的运行，包括：8. The method according to any one of claims 1 to 4 and 7, wherein if the electrical equipment includes a three-phase AC motor equipment, the controlling the operation of the electrical equipment according to the function value comprises: :对所述三相交流电机设备的三相交流信号对应的坐标系进行旋转变换，并根据所述函数值，确定旋转变换的变换矩阵；Perform rotational transformation on the coordinate system corresponding to the three-phase AC signal of the three-phase AC motor device, and determine the transformation matrix of the rotational transformation according to the function value;根据所述变换矩阵，控制所述三相交流信号对应的所述运行参数。According to the transformation matrix, the operating parameter corresponding to the three-phase AC signal is controlled.9.一种电气设备的控制设备，其特征在于，该设备包括处理器和存储器，所述存储器用于存储所述处理器可执行的程序，所述处理器用于读取所述存储器中的程序并执行权利要求1～8任一所述方法的步骤。9. A control device for an electrical device, characterized in that the device comprises a processor and a memory, the memory is used to store a program executable by the processor, and the processor is used to read the program in the memory and execute the steps of any one of the methods of claims 1-8.10.一种计算机存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1～8任一所述方法的步骤。10. A computer storage medium on which a computer program is stored, characterized in that, when the program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

Images