技术领域Technical Field
本发明涉及电机技术领域，尤其是涉及感应电机的控制方法及系统。The present invention relates to the field of motor technology, and in particular to a control method and system for an induction motor.
背景技术Background Art
感应电机作为一种常见的工业电机，广泛应用于各种机电设备中。目前，感应电机的驱动方案主要包括：V/F控制、启动电容直接启动以及无感FOC(Field-OrientedControl，磁场定向控制)全闭环启动；其中，V/F控制和启动电容直接启动无法获知外界负载，当负载较大时，将会造成启动失败，或者转速无法达到目标值，长期无法启动将烧毁感应电机。As a common industrial motor, induction motor is widely used in various electromechanical equipment. At present, the driving schemes of induction motor mainly include: V/F control, direct starting of starting capacitor and sensorless FOC (Field-Oriented Control) full closed loop starting; among them, V/F control and direct starting of starting capacitor cannot know the external load. When the load is large, it will cause starting failure, or the speed cannot reach the target value. If it cannot start for a long time, it will burn the induction motor.
此外，对于无感FOC全闭环启动，主要存在以下缺陷：当感应电机未启动时，由于外界干扰导致感应电机已经旋转，此时，无感观测器无法获取到正确的角度和转速，从而造成感应电机启动失败；此外，使用的观测器增益矩阵计算量较大，不利于在实际应用中使用；以及，电流环设计参数导致系统稳定性缺失，从而降低了感应电机的控制效果。In addition, the sensorless FOC full-closed-loop starting has the following main defects: when the induction motor is not started, the induction motor has already rotated due to external interference. At this time, the sensorless observer cannot obtain the correct angle and speed, resulting in the failure of the induction motor to start; in addition, the observer gain matrix used has a large amount of calculation, which is not conducive to use in practical applications; and the current loop design parameters lead to a lack of system stability, thereby reducing the control effect of the induction motor.
发明内容Summary of the invention
有鉴于此，本发明的目的在于提供感应电机的控制方法及系统，以缓解上述至少部分技术问题。In view of this, an object of the present invention is to provide a control method and system for an induction motor to alleviate at least part of the above technical problems.
第一方面，本发明实施例提供了一种感应电机的控制方法，该方法包括：当感应电机处于预设的定位阶段时，控制感应电机按照给定转速运行，并获取感应电机运行时的三相电流值；其中，定位阶段用于表征感应电机在上电后、启动前的时段；根据三相电流值和预设电流阈值，判断感应电机是否发生缺相故障；其中，预设电流阈值为q轴电流环给定值的一半；若否，基于磁场定向控制FOC控制算法控制感应电机启动运行；以及，在运行过程中，通过配置有目标状态增益矩阵的全阶观测器观测感应电机的运行参数；其中，目标状态增益矩阵根据感应电机的转子电感和漏感系数确定，运行参数包括转子磁链和转子转速。In a first aspect, an embodiment of the present invention provides a control method for an induction motor, the method comprising: when the induction motor is in a preset positioning stage, controlling the induction motor to run at a given speed, and obtaining a three-phase current value when the induction motor is running; wherein the positioning stage is used to characterize the period after the induction motor is powered on and before starting; judging whether a phase failure occurs in the induction motor according to the three-phase current value and a preset current threshold; wherein the preset current threshold is half of a given value of a q-axis current loop; if not, controlling the induction motor to start and run based on a field-oriented control (FOC) control algorithm; and, during operation, observing the operating parameters of the induction motor through a full-order observer configured with a target state gain matrix; wherein the target state gain matrix is determined according to the rotor inductance and leakage inductance coefficient of the induction motor, and the operating parameters include rotor flux and rotor speed.
上述感应电机的控制方法，通过在启动前加入定位阶段，并控制感应电机按照给定转速运行，以消除现有方案中未启动时导致感应电机已经旋转的外界干扰；同时，在定位阶段，还根据三相电流值判断感应电机是否发生缺相故障，避免了缺相故障导致启动失败，从而保证了感应电机的启动运行；以及，在全阶观测器设置基于转子电感和漏感系数确定的目标状态增益矩阵，提高了计算效率，从而便于在实际应用中推广实施。The control method of the induction motor adds a positioning stage before starting and controls the induction motor to run at a given speed, so as to eliminate the external interference that causes the induction motor to rotate before starting in the existing scheme; at the same time, in the positioning stage, it is also judged whether the induction motor has a phase loss fault according to the three-phase current value, thereby avoiding the starting failure caused by the phase loss fault, thereby ensuring the starting operation of the induction motor; and, in the full-order observer, a target state gain matrix determined based on the rotor inductance and the leakage inductance coefficient is set, thereby improving the calculation efficiency, so as to facilitate the promotion and implementation in practical applications.
优选地，上述根据三相电流值和预设电流阈值，判断感应电机是否发生缺相故障的步骤，包括：判断三相电流值是否均不小于预设电流阈值；若是，则判定感应电机未发生缺相故障。Preferably, the step of determining whether a phase loss fault occurs in the induction motor based on the three-phase current values and the preset current threshold comprises: determining whether the three-phase current values are all not less than the preset current threshold; if so, determining that the induction motor does not have a phase loss fault.
优选地，上述方法还包括：若三相电流值中存在至少一相电流值小于预设电流阈值，判定感应电机发生缺相故障，并控制感应电机停机。Preferably, the method further comprises: if at least one phase current value among the three-phase current values is less than a preset current threshold, determining that a phase failure occurs in the induction motor, and controlling the induction motor to shut down.
优选地，上述目标状态增益矩阵的表达式如下：Preferably, the expression of the above target state gain matrix is as follows:
其中，G3表示目标状态增益矩阵，b表示常数，λ表示漏感系数，Lr表示转子电感。Among them, G3 represents the target state gain matrix, b represents a constant, λ represents the leakage inductance coefficient, and Lr represents the rotor inductance.
优选地，上述通过配置有目标状态增益矩阵的全阶观测器观测感应电机的运行参数的步骤，包括：向感应电机和全阶观测器分别输入指定电压，以获取感应电机在指定电压的实际运行电流值和全阶观测器在指定电压下的电流估算值；根据实际运行电流值和电流估算值计算得到电流误差值；将电流误差值输入至转速自适应率进行计算，并将计算结果反馈至全阶观测器，以使全阶观测器根据计算结果输出运行参数。Preferably, the step of observing the operating parameters of the induction motor through a full-order observer configured with a target state gain matrix includes: inputting specified voltages to the induction motor and the full-order observer respectively to obtain an actual operating current value of the induction motor at the specified voltage and a current estimation value of the full-order observer at the specified voltage; calculating a current error value according to the actual operating current value and the current estimation value; inputting the current error value into a speed adaptation rate for calculation, and feeding back the calculation result to the full-order observer, so that the full-order observer outputs the operating parameters according to the calculation result.
优选地，上述在控制感应电机按照给定转速运行的步骤之前，该方法还包括：控制q轴电流环按照q轴电流环给定值闭环启动，并控制d轴电流环按照d轴电流环给定值启动；其中，d轴电流环给定值为0A。Preferably, before the above step of controlling the induction motor to run at a given speed, the method further includes: controlling the q-axis current loop to start in a closed loop according to a given value of the q-axis current loop, and controlling the d-axis current loop to start according to a given value of the d-axis current loop; wherein the given value of the d-axis current loop is 0A.
第二方面，本发明实施例还提供一种感应电机的控制系统，该系统包括：控制器以及电机驱动装置；控制器，用于利用上述第一方面的感应电机的控制方法控制电机驱动装置驱动感应电机，以使感应电机启动运行。In a second aspect, an embodiment of the present invention further provides a control system for an induction motor, the system comprising: a controller and a motor drive device; the controller is used to control the motor drive device to drive the induction motor using the control method for the induction motor of the first aspect above, so that the induction motor starts running.
优选地，电机驱动装置包括：采样变换模块、q轴电流环、d轴电流环、转换模块和驱动模块；采样变换模块，用于采集感应电机的三相电流值，并对三相电流值进行转换得到q轴电流和d轴电流；以及，将q轴电流发送至q轴电流环，并将d轴电流发送至d轴电流环；q轴电流环，用于根据q轴电流和q轴电流给定值输出q轴电压值,并将q轴电压值发送至转换模块；d轴电流环，用于根据d轴电流和d轴电流给定值输出d轴电压值，并将d轴电压值发送至转换模块；转换模块，用于对q轴电压值和d轴电压值进行转换处理，得到第一电压值和第二电压值，并将第一电压值和第二电压值发送至驱动模块；驱动模块，用于根据第一电压值和第二电压值生成对应的驱动信号，并根据驱动信号驱动感应电机运行。Preferably, the motor drive device includes: a sampling and transformation module, a q-axis current loop, a d-axis current loop, a conversion module and a driving module; the sampling and transformation module is used to collect the three-phase current values of the induction motor, and convert the three-phase current values to obtain the q-axis current and the d-axis current; and send the q-axis current to the q-axis current loop, and send the d-axis current to the d-axis current loop; the q-axis current loop is used to output the q-axis voltage value according to the q-axis current and the q-axis current given value, and send the q-axis voltage value to the conversion module; the d-axis current loop is used to output the d-axis voltage value according to the d-axis current and the d-axis current given value, and send the d-axis voltage value to the conversion module; the conversion module is used to convert the q-axis voltage value and the d-axis voltage value to obtain a first voltage value and a second voltage value, and send the first voltage value and the second voltage value to the driving module; the driving module is used to generate a corresponding driving signal according to the first voltage value and the second voltage value, and drive the induction motor to operate according to the driving signal.
优选地，采样变换模块，还用于对三相电流值进行Clark变换，得到第一变换结果；以及，对第一变换结果进行派克Park变换，得到第二变换结果；其中，第二变换结果包括：q轴电流和d轴电流。Preferably, the sampling transformation module is further used to perform Clark transformation on the three-phase current values to obtain a first transformation result; and to perform Park transformation on the first transformation result to obtain a second transformation result; wherein the second transformation result includes: q-axis current and d-axis current.
优选地，驱动模块包括空间矢量脉宽调制SVPWM单元和IPM单元；SVPWM单元，用于根据第一电压值和第二电压值生成对应的驱动信号，并将驱动信号发送至IPM单元；IPM单元，用于根据驱动信号驱动感应电机运行。Preferably, the driving module includes a space vector pulse width modulation SVPWM unit and an IPM unit; the SVPWM unit is used to generate a corresponding driving signal according to the first voltage value and the second voltage value, and send the driving signal to the IPM unit; the IPM unit is used to drive the induction motor to operate according to the driving signal.
本发明实施例带来了以下有益效果：The embodiments of the present invention bring the following beneficial effects:
本发明实施例提供了感应电机的控制方法及系统，通过在启动前加入定位阶段，并控制感应电机按照给定转速运行，以消除现有方案中未启动时导致感应电机已经旋转的外界干扰；同时，在定位阶段，还根据三相电流值判断感应电机是否发生缺相故障，避免了缺相故障导致启动失败，从而保证了感应电机的启动运行；以及，在全阶观测器设置基于转子电感和漏感系数确定的目标状态增益矩阵，提高了计算效率，从而便于在实际应用中推广实施。The embodiment of the present invention provides a control method and system for an induction motor, which adds a positioning stage before starting and controls the induction motor to run at a given speed, so as to eliminate external interference that causes the induction motor to rotate before starting in the existing solution; at the same time, in the positioning stage, it is also determined whether the induction motor has a phase loss fault according to the three-phase current value, thereby avoiding the starting failure caused by the phase loss fault, thereby ensuring the starting operation of the induction motor; and, in the full-order observer, a target state gain matrix determined based on the rotor inductance and the leakage inductance coefficient is set, thereby improving the calculation efficiency, thereby facilitating promotion and implementation in practical applications.
本发明的其他特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点在说明书以及附图中所特别指出的结构来实现和获得。Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.
为使本发明的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
图1为本发明实施例提供的一种感应电机的控制方法的流程图；FIG1 is a flow chart of a method for controlling an induction motor provided by an embodiment of the present invention;
图2为本发明实施例提供的一种感应电机的控制过程示意图；FIG2 is a schematic diagram of a control process of an induction motor provided by an embodiment of the present invention;
图3为本发明实施例提供的一种感应电机的控制原理图；FIG3 is a control principle diagram of an induction motor provided by an embodiment of the present invention;
图4为本发明实施例提供的一种全阶观测器的运行原理图；FIG4 is a schematic diagram of the operation principle of a full-order observer provided by an embodiment of the present invention;
图5为本发明实施例提供的一种PI(Proportional-Integral)控制环路示意图。FIG5 is a schematic diagram of a PI (Proportional-Integral) control loop provided by an embodiment of the present invention.
具体实施方式DETAILED DESCRIPTION
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例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他实施例，都属于本发明保护的范围。In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.
为便于对本实施例进行理解，下面对本发明实施例进行详细介绍。To facilitate understanding of this embodiment, the embodiment of the present invention is described in detail below.
实施例一：Embodiment 1:
本发明实施例提供了一种感应电机的控制方法，如图1所示，该方法包括以下步骤：An embodiment of the present invention provides a control method for an induction motor, as shown in FIG1 , the method comprises the following steps:
步骤S102，当感应电机处于预设的定位阶段时，控制感应电机按照给定转速运行，并获取感应电机运行时的三相电流值；Step S102, when the induction motor is in a preset positioning stage, controlling the induction motor to run at a given speed, and obtaining three-phase current values when the induction motor is running;
在实际应用中，感应电机从启动到停止的整个控制过程主要分为：上电、偏置检测、自举充电、启动、运行和停止共六个阶段，本发明实施例在现有控制过程的基础上，在启动之前增设了定位阶段，如图2所示，为了便于阐述，这里定位阶段用于表征感应电机在上电后、启动前的时段，具体定位阶段是在自举充电和启动之间。In practical applications, the entire control process of the induction motor from starting to stopping is mainly divided into six stages: power-on, bias detection, bootstrap charging, starting, running and stopping. The embodiment of the present invention adds a positioning stage before starting on the basis of the existing control process, as shown in Figure 2. For the sake of convenience, the positioning stage is used to characterize the period after the induction motor is powered on and before starting. Specifically, the positioning stage is between bootstrap charging and starting.
其中，如图2所示，对于控制过程的各个阶段，分别介绍如下：As shown in Figure 2, each stage of the control process is introduced as follows:
①上电；用于对感应电机进行供电；① Power on; used to supply power to the induction motor;
②偏置检测；在该阶段，如图3所示，关闭对感应电机提供的PWM(Pulse WidthModulation，脉宽调制)信号，并检测IPM(Intelligent Power Module，智能功率模块)模块电流检测引脚的输入电压偏差值是否超过25％，超过则认为检测不通过，并故障停机；其中，IPM模块包括三个半桥，通过控制三个半桥的上桥和下桥的导通和关断，实现感应电机的驱动控制，具体IPM模块的结构可以参考现有技术，本发明实施例在此不再详细赘述。② Bias detection: In this stage, as shown in FIG3 , the PWM (Pulse Width Modulation) signal provided to the induction motor is turned off, and the input voltage deviation value of the current detection pin of the IPM (Intelligent Power Module) module is detected to see if it exceeds 25%. If it exceeds 25%, the detection is considered to have failed, and the machine is shut down due to a fault. The IPM module includes three half-bridges, and the drive control of the induction motor is achieved by controlling the conduction and disconnection of the upper and lower bridges of the three half-bridges. The specific structure of the IPM module can refer to the prior art, and the embodiments of the present invention will not be described in detail herein.
③自举充电；在该阶段，仅开通IPM下桥的PWM，让上桥的自举电容电压达到MOS(Metal Oxide Semiconductor Field Effect Transistor，金属氧化物半导体型场效应管)管开通电压15V后关闭PWM；③ Bootstrap charging: In this stage, only the PWM of the IPM lower bridge is turned on, and the voltage of the bootstrap capacitor of the upper bridge reaches the MOS (Metal Oxide Semiconductor Field Effect Transistor) tube turn-on voltage of 15V, and then the PWM is turned off;
④定位；在该阶段，如图3所示，在位置估算模块，自建转子虚拟坐标系以提供转子角度θ与转子转速即给定转速，并控制感应电机按照给定转速运行，同时获取感应电机运行时的三相电流值(Ia,Ib,Ic)。④ Positioning; In this stage, as shown in FIG3 , in the position estimation module, a rotor virtual coordinate system is built to provide the rotor angle θ and the rotor speed, i.e., a given speed, and the induction motor is controlled to run at the given speed, and the three-phase current values (Ia , Ib , Ic ) of the induction motor are obtained when the induction motor is running.
由于感应电机在逆转启动前，容易受外界干扰发生逆风转动，导致运行失败无法启动，因此，这里在启动前的定位阶段，控制感应电机按照给定转速运行，可以抵消外界干扰导致的逆风转速，从而消除现有方案中未启动时导致感应电机已经旋转的外界干扰，使得感应电机重新达到静止状态，此时，控制感应电机进入无感FOC闭环启动将不会出现故障，保证了感应电机的正常启动。Because the induction motor is easily affected by external interference and rotates against the wind before reverse start, resulting in failure to start, therefore, in the positioning stage before starting, controlling the induction motor to run at a given speed can offset the headwind speed caused by external interference, thereby eliminating the external interference that causes the induction motor to rotate before starting in the existing solution, allowing the induction motor to reach a stationary state again. At this time, controlling the induction motor to enter the sensorless FOC closed-loop start will not cause any failure, ensuring the normal starting of the induction motor.
需要说明的是，感应电机仅在逆转启动时出现外界干扰导致启动失败，正转启动则不会，故本发明实施例主要针对感应电机逆转启动时，在启动前设置定位阶段，以实现感应电机的逆转启动。It should be noted that the induction motor will fail to start due to external interference only during reverse start, but not during forward start. Therefore, the embodiments of the present invention mainly provide a positioning stage before starting the induction motor to achieve reverse start of the induction motor.
⑤启动；控制感应电机按照目标转速300RPM运行10s，并进入⑥运行和⑦停止，实现感应电机的启动运行。⑤ Start: Control the induction motor to run at the target speed of 300RPM for 10s, and enter ⑥ Run and ⑦ Stop to start the induction motor.
步骤S104，根据三相电流值和预设电流阈值，判断感应电机是否发生缺相故障；Step S104, judging whether a phase failure occurs in the induction motor according to the three-phase current value and the preset current threshold;
上述获取到三相电流值(Ia,Ib,Ic)后，还根据三相电流值和预设电流阈值判断感应电机是否发生缺相故障，避免了缺相故障导致启动失败，从而保证了感应电机的启动运行。其中，预设电流阈值为q轴电流环给定值的一半。After the three-phase current values (Ia , Ib , Ic ) are obtained, it is also determined whether the induction motor has a phase failure according to the three-phase current values and the preset current threshold, thereby avoiding the start failure caused by the phase failure, thereby ensuring the start-up operation of the induction motor. Among them, the preset current threshold is half of the given value of the q-axis current loop.
步骤S106，若否，基于磁场定向控制FOC控制算法控制感应电机启动运行；以及，在运行过程中，通过配置有目标状态增益矩阵的全阶观测器观测感应电机的运行参数。Step S106, if not, control the induction motor to start running based on the field oriented control (FOC) control algorithm; and during the running process, observe the operating parameters of the induction motor through a full-order observer configured with a target state gain matrix.
其中，运行参数包括转子磁链和转子转速，目标状态增益矩阵根据感应电机的转子电感和漏感系数确定，与现有观测器增益矩阵相比，明显降低了计算量，提高了计算效率，从而便于在实际应用中推广实施。Among them, the operating parameters include rotor flux and rotor speed. The target state gain matrix is determined according to the rotor inductance and leakage inductance coefficient of the induction motor. Compared with the existing observer gain matrix, it significantly reduces the amount of calculation and improves the calculation efficiency, which is convenient for promotion and implementation in practical applications.
本发明实施例提供的感应电机的控制方法，通过在启动前加入定位阶段，并控制感应电机按照给定转速运行，以消除现有方案中未启动时导致感应电机已经旋转的外界干扰；同时，在定位阶段，还根据三相电流值判断感应电机是否发生缺相故障，避免了缺相故障导致启动失败，从而保证了感应电机的启动运行；以及，在全阶观测器设置基于转子电感和漏感系数确定的目标状态增益矩阵，提高了计算效率，从而便于在实际应用中推广实施。The control method for an induction motor provided by an embodiment of the present invention adds a positioning stage before starting and controls the induction motor to run at a given speed, so as to eliminate the external interference that causes the induction motor to rotate before starting in the existing solution; at the same time, in the positioning stage, it is also determined whether the induction motor has a phase loss fault according to the three-phase current value, thereby avoiding the starting failure caused by the phase loss fault, thereby ensuring the starting operation of the induction motor; and, in the full-order observer, a target state gain matrix determined based on the rotor inductance and the leakage inductance coefficient is set, thereby improving the calculation efficiency, thereby facilitating promotion and implementation in practical applications.
在一种实施方式中，在控制感应电机按照给定转速运行的步骤之前，该方法还包括：控制q轴电流环按照q轴电流环给定值闭环启动，并控制d轴电流环按照d轴电流环给定值启动；其中，d轴电流环给定值为0A。In one embodiment, before the step of controlling the induction motor to run at a given speed, the method further includes: controlling the q-axis current loop to start in a closed loop according to a given value of the q-axis current loop, and controlling the d-axis current loop to start according to a given value of the d-axis current loop; wherein the given value of the d-axis current loop is 0A.
具体地，在定位阶段，控制q轴电流环按照q轴电流环给定值闭环启动，同时，控制d轴电流环按照d轴电流环给定值0A启动，以便实时检测感应电机UVW三相电流值即(Ia,Ib,Ic)，并根据(Ia,Ib,Ic)和q轴电流环给定值判断感应电机是否发生缺相故障，从而避免了缺相故障导致的启动失败。Specifically, in the positioning stage, the q-axis current loop is controlled to start in a closed loop according to the q-axis current loop given value. At the same time, the d-axis current loop is controlled to start according to the d-axis current loop given value 0A, so as to detect the UVW three-phase current values of the induction motor, namely (Ia , Ib , Ic ) in real time, and judge whether the induction motor has a phase loss fault according to (Ia , Ib , Ic ) and the q-axis current loop given value, thereby avoiding starting failure caused by phase loss fault.
在一种实施方式中，上述根据三相电流值和预设电流阈值，判断感应电机是否发生缺相故障的步骤，包括：判断三相电流值是否均不小于预设电流阈值；若是，则判定感应电机未发生缺相故障。In one embodiment, the step of determining whether a phase loss fault occurs in the induction motor based on the three-phase current values and a preset current threshold comprises: determining whether the three-phase current values are all not less than the preset current threshold; if so, determining that the induction motor does not have a phase loss fault.
具体地，由于d轴电流环给定值为0A，当q轴电流环达到给定值后，q轴电流环给定值即为abc轴电流的峰值。因此，对于三相电流值(Ia,Ib,Ic)，若Ia,Ib和Ic均不小于预设电流阈值(即此时定位阶段q轴电流环给定值的一半)，则可以判定感应电机未发生缺相故障，并在一定时长如10s后进入闭环启动运行阶段。Specifically, since the given value of the d-axis current loop is 0A, when the q-axis current loop reaches the given value, the given value of the q-axis current loop is the peak value of the abc-axis current. Therefore, for the three-phase current values (Ia ,Ib ,Ic ), ifIa ,Ib andIc are not less than the preset current threshold (i.e., half of the given value of the q-axis current loop in the positioning stage at this time), it can be determined that the induction motor has no phase failure and enters the closed-loop startup operation stage after a certain period of time, such as 10s.
此外，若三相电流值中存在至少一相电流值小于预设电流阈值，若Ia,Ib和Ic中存在至少一个电流值小于预设电流阈值，则判定感应电机发生缺相故障，并控制感应电机停机。In addition, if at least one of the three-phase current values is less than a preset current threshold, and if at least one of Ia , Ib and Ic is less than a preset current threshold, it is determined that a phase failure occurs in the induction motor, and the induction motor is controlled to shut down.
综上，在定位阶段，不仅控制感应电机按照给定转速运行，以消除现有方案中未启动时导致感应电机已经旋转的外界干扰；还根据三相电流值(Ia,Ib,Ic)判断感应电机是否发生缺相故障，从而避免了缺相故障导致的启动失败，进而通过定位阶段实现了感应电机的逆转启动运行。In summary, in the positioning stage, not only is the induction motor controlled to run at a given speed to eliminate external interference that causes the induction motor to rotate before starting in the existing solution, but it is also determined whether a phase loss fault occurs in the induction motor based on the three-phase current values (Ia , Ib , Ic ), thereby avoiding starting failure caused by a phase loss fault, and further realizing the reverse starting operation of the induction motor through the positioning stage.
在一种实施方式中，对于运行阶段，给定该阶段的目标转速，并基于FOC控制算法控制感应电机启动运行，即控制感应电机按照无感FOC方案运行。该阶段主要包含以下过程：In one embodiment, for the operation phase, a target speed is given for the phase, and the induction motor is controlled to start operation based on the FOC control algorithm, that is, the induction motor is controlled to operate according to the sensorless FOC scheme. This phase mainly includes the following processes:
(1)通过配置有目标状态增益矩阵的全阶观测器观测感应电机的运行参数；其中，运行参数包括但不仅限于转子磁链和转子转速，还可以观测转子角度等；具体可以根据实际情况进行设置。(1) The operating parameters of the induction motor are observed by a full-order observer configured with a target state gain matrix; the operating parameters include but are not limited to rotor flux and rotor speed, and the rotor angle can also be observed; the specific parameters can be set according to actual conditions.
其中，对于全阶观测器，以定子磁链与定子电流为状态变量，在两相静止坐标系下根据异步电机的数学模型可构建全阶观测器的表达式如下：Among them, for the full-order observer, the stator flux and stator current are taken as state variables. The expression of the full-order observer can be constructed according to the mathematical model of the asynchronous motor in the two-phase stationary coordinate system as follows:
其中，p表示微分算子，表示定子电流估算值，表示定子电流α轴分量估算值，表示定子电流β轴分量估算值，表示定子磁链估算值，表示定子磁链α轴分量估算值，表示定子磁链β轴分量估算值，λ表示漏感系数，Rs表示定子电阻，Lr表示转子电感，Rr表示转子电阻，Ls表示定子电感，Lm表示互感，ωr表示转子转速，Usα表示电压Us的α轴分量，Usβ表示电压Us的β轴分量，isα表示采样电流is的α轴分量，isβ表示采样电流is的β轴分量，G表示反馈矩阵。Where p represents the differential operator, represents the estimated value of stator current, represents the estimated value of the α-axis component of the stator current, represents the estimated value of the β-axis component of the stator current, represents the estimated value of stator flux, represents the estimated value of the α-axis component of the stator flux, represents the estimated value of the β-axis component of the stator flux, λ represents the leakage inductance coefficient,Rs represents the stator resistance,Lr represents the rotor inductance,Rr represents the rotor resistance,Ls represents the stator inductance,Lm represents the mutual inductance,ωr represents the rotor speed,Usα represents the α-axis component of the voltageUs ,Usβ represents the β-axis component of the voltageUs ,isα represents the α-axis component of the sampled currentis ,isβ represents the β-axis component of the sampled currentis , and G represents the feedback matrix.
对于上述反馈矩阵G的求解，可以将全阶观测器的极点设置为感应电机极点左侧，以提高全阶观测器的稳定性。因此，可以将全阶观测器的极点向左移b个单位，以提高全阶观测器的收敛速度和稳定性。具体地，令ωr→0，可以得到一组计算简单，并且依然能够保持稳定性要求的解即目标状态增益矩阵G3。For the solution of the above feedback matrix G, the poles of the full-order observer can be set to the left of the induction motor poles to improve the stability of the full-order observer. Therefore, the poles of the full-order observer can be moved to the left by b units to improve the convergence speed and stability of the full-order observer. Specifically, by setting ωr →0, a set of solutions that are simple to calculate and still meet the stability requirements, namely the target state gain matrix G3, can be obtained.
其中，目标状态增益矩阵G3的表达式如下：Among them, the expression of the target state gain matrixG3 is as follows:
其中，G3表示目标状态增益矩阵，b表示常数，λ表示漏感系数，Lr表示转子电感。Among them, G3 represents the target state gain matrix, b represents a constant, λ represents the leakage inductance coefficient, and Lr represents the rotor inductance.
因此，根据上述公式(2)，可以快速计算得到目标状态增益矩阵G3，与现有观测器的增益矩阵相比，不仅提高了计算效率，还提高了全阶观测器的收敛速度和稳定性。Therefore, according to the above formula (2), the target state gain matrix G3 can be quickly calculated. Compared with the gain matrix of the existing observer, it not only improves the calculation efficiency, but also improves the convergence speed and stability of the full-order observer.
此外，对于配置有目标状态增益矩阵G3的全阶观测器，利用重构的输入电压Us作为输入，以感应电机的输出电流is和自身的定子电流估算值的之差作为校正项，其状态变化量将逐步收敛至与系统真实值相同，此时即可获得定子磁链的估计值In addition, for the full-order observer configured with the target state gain matrixG3 , the reconstructed input voltageUs is used as input, the output current is of the induction motor and its own stator current estimation value The difference between It will gradually converge to the same value as the true value of the system, and then the estimated value of the stator flux can be obtained
具体地，如图4所示，优选地，上述通过配置有目标状态增益矩阵的全阶观测器观测感应电机的运行参数的过程如下：Specifically, as shown in FIG4 , preferably, the process of observing the operating parameters of the induction motor by a full-order observer configured with a target state gain matrix is as follows:
①向感应电机和全阶观测器分别输入指定电压，以获取感应电机在指定电压的实际运行电流值和全阶观测器在指定电压下的电流估算值；即利用IPM模块向感应电机(如三相感应电机模型)输出一定的电压Us，并检测感应电机在指定电压的实际运行电流值is，以及，在Us下运行全阶观测器得到电流估算值① Input the specified voltage to the induction motor and the full-order observer respectively to obtain the actual operating current value of the induction motor at the specified voltage and the current estimation value of the full-order observer at the specified voltage; that is, use the IPM module to output a certain voltage Us to the induction motor (such as a three-phase induction motor model), and detect the actual operating current value is of the induction motor at the specified voltage, and run the full-order observer under Us Get the current estimate
②根据实际运行电流值和电流估算值计算得到电流误差值；即计算实际运行电流值is和电流估算值之间的差值，得到电流误差值Δis；② Calculate the current error value based on the actual operating current value and the current estimated value; that is, calculate the actual operating current valueis and the current estimated value The difference between them is used to obtain the current error value Δis ;
③将电流误差值输入至转速自适应率进行计算，并将计算结果反馈至全阶观测器，以使全阶观测器根据计算结果输出运行参数。③ Input the current error value into the speed adaptation rate for calculation, and feed the calculation result back to the full-order observer so that the full-order observer outputs the operating parameters according to the calculation result.
计算得到上述电流误差值Δis后，将电流误差值Δis输入至转速自适应率中进行计算，其中，转速自适应率的计算公式如下：After the current error valueΔis is calculated, the current error valueΔis is input into the speed adaptation rate for calculation, wherein the speed adaptation rate is calculated as follows:
其中，表示转速自适应率的估算值，△is表示电流误差值，λ表示漏感系数，Lr表示转子电感，表示定子磁链估算值，表示定子电流估算值，k1表示常数，表示直积计算。in, represents the estimated value of the speed adaptation rate, △is represents the current error value, λ represents the leakage inductance coefficient,Lr represents the rotor inductance, represents the estimated value of stator flux, represents the estimated value of the stator current,k1 represents a constant, Represents direct product calculation.
将上述公式(3)的计算结果代入到公式(1)中，以更新全阶观测器中矩阵A中的转子转速，直至状态变化量将逐步收敛至与系统真实值相同，此时，全阶观测器即可输出定子磁链的估计值Substitute the calculation result of the above formula (3) into formula (1) to update the rotor speed in the matrix A in the full-order observer until the state change is It will gradually converge to the same value as the true value of the system. At this time, the full-order observer can output the estimated value of the stator flux
(2)速度环获取需求转矩，转换为需求电流环给定；(2) The speed loop obtains the required torque and converts it into the required current loop setting;
具体地，速度环的输入为当前估算转速ωr与目标转速的差值，计算比例与积分后为当前所需的转矩Te。根据感应电机力矩控制原理，在转子磁链ψr恒定时，转矩仅与定子q轴电流相关，且，转换关系为：Specifically, the input of the speed loop is the difference between the current estimated speed ωr and the target speed, and the current required torque Te is calculated after the proportion and integration. According to the induction motor torque control principle, when the rotor flux ψr is constant, the torque is only related to the stator q-axis current, and the conversion relationship is:
其中，Te表示电磁转矩，ψr表示转子磁链，P表示极对数，Lr表示转子电感，Lm表示互感。Among them,Te represents the electromagnetic torque,ψr represents the rotor flux, P represents the number of pole pairs,Lr represents the rotor inductance, andLm represents the mutual inductance.
此外，电磁转矩与转速存在以下关系：In addition, the electromagnetic torque and speed have the following relationship:
其中，Te表示电磁转矩，Jm表示电机转动惯量，ωr表示转子转速。Among them,Te represents the electromagnetic torque,Jm represents the motor moment of inertia, andωr represents the rotor speed.
因此，构建如图5所示的PI控制环路，可以得到闭环传递函数如下：Therefore, by constructing the PI control loop as shown in Figure 5, the closed-loop transfer function can be obtained as follows:
其中，H(s)表示系统传递函数，Jm表示电机转动惯量，ψr表示转子磁链，P表示极对数，Lr表示转子电感，Lm表示互感，Kp表示PI控制中的比例系数，Ki表示PI控制中的积分系数，s表示拉普拉斯变换后的值。Wherein, H(s) represents the system transfer function,Jm represents the motor moment of inertia,ψr represents the rotor flux, P represents the number of pole pairs,Lr represents the rotor inductance,Lm represents the mutual inductance,Kp represents the proportional coefficient in PI control,Ki represents the integral coefficient in PI control, and s represents the value after Laplace transformation.
对比如下所示的标准二阶系统：Compare this to a standard second-order system shown below:
其中，δ表示阻尼系数，ω表示系统带宽。Where δ represents the damping coefficient and ω represents the system bandwidth.
可以得到：You can get:
其中，Kp表示PI控制中的比例系数，Ki表示PI控制中的积分系数，δ表示阻尼系数，ω表示系统带宽，Jm表示电机转动惯量，ψr表示转子磁链，P表示极对数，Lr表示转子电感，Lm表示互感。Among them,Kp represents the proportional coefficient in PI control,Ki represents the integral coefficient in PI control, δ represents the damping coefficient, ω represents the system bandwidth,Jm represents the motor moment of inertia,ψr represents the rotor flux, P represents the number of pole pairs,Lr represents the rotor inductance, andLm represents the mutual inductance.
(3)q轴电流环通过消除反电动势，解耦后输出q轴电压参考值；(3) The q-axis current loop eliminates the back electromotive force and outputs the q-axis voltage reference value after decoupling;
具体地，q轴电流环需要通过反电动势解耦后才可以进行PID控制，因此，将反电动势解耦项设置为：Specifically, the q-axis current loop needs to be decoupled by back-EMF before PID control can be performed. Therefore, the back-EMF decoupling term is set to:
其中，表示定子d轴反电动势分量，表示定子q轴反电动势分量，ωe表示同步旋转磁场转速，ωr表示转子转速，Lr表示转子电感，Lm表示互感，Ls表示定子电感，ψr表示转子磁链，表示定子q轴电流，表示定子d轴电流。in, represents the stator d-axis back EMF component, represents the stator q-axis back electromotive force component, ωe represents the synchronous rotating magnetic field speed, ωr represents the rotor speed, Lr represents the rotor inductance, Lm represents the mutual inductance, Ls represents the stator inductance, ψr represents the rotor flux, represents the stator q-axis current, Represents the stator d-axis current.
解耦后的q轴电流环如下：The decoupled q-axis current loop is as follows:
其中，k表示常数，s表示拉普拉斯变换后的值。Here, k represents a constant, and s represents the value after Laplace transformation.
因此，q轴电流环的PI控制参数如下：Therefore, the PI control parameters of the q-axis current loop are as follows:
Kp＝k*σ*Ls,Ki＝k*Rs (11)Kp ＝k*σ*Ls ,Ki ＝k*Rs (11)
其中，Kp表示PI控制中的比例系数，Ki表示PI控制中的积分系数，Ls表示定子电感，Rs表示定子电阻，k表示常数。Among them,Kp represents the proportional coefficient in PI control,Ki represents the integral coefficient in PI control,Ls represents the stator inductance,Rs represents the stator resistance, and k represents a constant.
其中，k为电流环带宽的常数，其计算公式如下：Where k is the constant of the current loop bandwidth, which is calculated as follows:
其中，Tsc表示系统载频，Rs表示定子电阻，Ls表示定子电感。Wherein, Tsc represents the system carrier frequency,Rs represents the stator resistance, andLs represents the stator inductance.
因此，通过上述方式设计q轴电流环的PI控制参数，从而提高了感应电机的控制系统稳定性。Therefore, the PI control parameters of the q-axis current loop are designed in the above manner, thereby improving the control system stability of the induction motor.
(4)d轴电流环通过给定转子磁链输出d轴电压参考值；需要说明的是，d轴电流环同q轴电流环的设计过程相同，具体可以参考q轴电流环的设计过程，本发明实施例在此不再详细赘述；(4) The d-axis current loop outputs a d-axis voltage reference value by giving a given rotor flux. It should be noted that the design process of the d-axis current loop is the same as that of the q-axis current loop. For details, reference may be made to the design process of the q-axis current loop, which will not be described in detail in the embodiment of the present invention.
(5)通过SVPWM(Space Vector Pulse Width Modulation，空间矢量脉宽调制)输出相应占空比至IPM模块，以驱动感应电机运行。(5) Output the corresponding duty cycle to the IPM module through SVPWM (Space Vector Pulse Width Modulation) to drive the induction motor to operate.
综上，上述感应电机的控制方法，具有以下优点：①通过在启动前加入定位阶段，并控制感应电机按照给定转速运行，以消除现有方案中未启动时导致感应电机已经旋转的外界干扰；同时，在定位阶段，还根据三相电流值判断感应电机是否发生缺相故障，避免了缺相故障导致启动失败，从而保证了感应电机的启动运行；②在全阶观测器设置基于转子电感和漏感系数确定的目标状态增益矩阵，提高了计算效率，从而便于在实际应用中推广实施；③优化了电流环的PI控制参数的设计过程，提高了感应电机的控制系统稳定性。In summary, the control method of the induction motor has the following advantages: ① By adding a positioning stage before starting and controlling the induction motor to run at a given speed, the external interference that causes the induction motor to rotate before starting in the existing scheme is eliminated; at the same time, in the positioning stage, it is also determined whether the induction motor has a phase failure based on the three-phase current value, thereby avoiding the failure of starting caused by the phase failure, thereby ensuring the starting operation of the induction motor; ② The target state gain matrix determined based on the rotor inductance and the leakage inductance coefficient is set in the full-order observer, which improves the calculation efficiency and facilitates the implementation in practical applications; ③ The design process of the PI control parameters of the current loop is optimized, and the stability of the control system of the induction motor is improved.
实施例二：Embodiment 2:
在上述感应电机的控制方法的基础上，本发明实施例还提供了一种感应电机的控制系统，该系统包括：控制器以及电机驱动装置；其中，控制器用于利用上述感应电机的控制方法控制电机驱动装置驱动感应电机，以使感应电机启动运行。Based on the above-mentioned control method of the induction motor, an embodiment of the present invention further provides a control system of an induction motor, which includes: a controller and a motor drive device; wherein the controller is used to control the motor drive device to drive the induction motor using the above-mentioned control method of the induction motor, so that the induction motor starts running.
其中，电机驱动装置包括：采样变换模块、q轴电流环、d轴电流环、转换模块和驱动模块；具体各个部分的功能如下：The motor drive device includes: a sampling conversion module, a q-axis current loop, a d-axis current loop, a conversion module and a drive module; the specific functions of each part are as follows:
(1)采样变换模块，用于采集感应电机的三相电流值，并对三相电流值进行转换得到q轴电流和d轴电流；以及，将q轴电流发送至q轴电流环，并将d轴电流发送至d轴电流环；(1) a sampling and conversion module, used to collect the three-phase current values of the induction motor, and convert the three-phase current values to obtain the q-axis current and the d-axis current; and send the q-axis current to the q-axis current loop, and send the d-axis current to the d-axis current loop;
具体地，采样变换模块还用于对三相电流值进行Clark变换，得到第一变换结果；以及，对第一变换结果进行派克Park变换，得到第二变换结果；其中，第二变换结果包括：q轴电流和d轴电流。Specifically, the sampling transformation module is also used to perform Clark transformation on the three-phase current value to obtain a first transformation result; and to perform Park transformation on the first transformation result to obtain a second transformation result; wherein the second transformation result includes: q-axis current and d-axis current.
如图3所示，采样变换模块采集到感应电机的三相电流值(Ia,Ib,Ic)后，首先按照下式对三相电流值进行Clark变换，得到第一变换结果；其中，第一变换结果包括：Iα和Iβ，Clark变换的公式如下：As shown in FIG3 , after the sampling and transformation module collects the three-phase current values (Ia , Ib , Ic ) of the induction motor, it first performs Clark transformation on the three-phase current values according to the following formula to obtain a first transformation result; wherein the first transformation result includes: Iα and Iβ , and the formula of Clark transformation is as follows:
然后，对第一变换结果进行Park变换，得到包括q轴电流Iq和d轴电流Id的第二变换结果；其中，Park变换的公式如下：Then, the first transformation result is subjected to Park transformation to obtain a second transformation result including the q-axis currentIq and the d-axis currentId ; wherein the formula of Park transformation is as follows:
其中，θ表示转子当前转动角度，可以通过角度传感器测量得到。Among them, θ represents the current rotation angle of the rotor, which can be measured by an angle sensor.
(2)q轴电流环，用于根据q轴电流和q轴电流给定值输出q轴电压值,并将q轴电压值发送至转换模块；(2) a q-axis current loop, which is used to output a q-axis voltage value according to the q-axis current and a q-axis current given value, and send the q-axis voltage value to a conversion module;
具体地，q轴电流环根据q轴电流Iq和q轴电流给定值，以及对应的PI控制参数进行比例积分控制，并输出q轴电压值uqref；以及，将q轴电压值uqref发送至转换模块(即Park逆变换模块)。Specifically, the q-axis current loop performs proportional-integral control according to theq -axis current Iq and the q-axis current given value and the corresponding PI control parameters, and outputs the q-axis voltage valueuqref ; and sends the q-axis voltage valueuqref to the conversion module (ie, Park inverse transformation module).
(3)d轴电流环，用于根据d轴电流Id和d轴电流给定值输出d轴电压值,并将d轴电压值发送至转换模块；(3) a d-axis current loop, used to output a d-axis voltage value according to the d-axis current Id and a given d-axis current value, and send the d-axis voltage value to a conversion module;
同理，d轴电流环根据d轴电流和d轴电流给定值，以及对应的PI控制参数进行比例积分控制，并输出d轴电压值udref；以及，将d轴电压值udref发送至转换模块(即Park逆变换模块)。Similarly, the d-axis current loop performs proportional-integral control according to the d-axis current and the d-axis current given value and the corresponding PI control parameters, and outputs the d-axis voltage value udref ; and sends the d-axis voltage value udref to the conversion module (ie, Park inverse conversion module).
(4)转换模块，用于对q轴电压值uqref和d轴电压值udref进行转换处理，得到第一电压值uα和第二电压值uβ，并将第一电压值uα和第二电压值uβ发送至驱动模块；具体Park逆变换公式可以参考现有Park逆变换公式，本发明实施例在此不再详细赘述。(4) a conversion module, used for converting the q-axis voltage value uqref and the d-axis voltage value udref to obtain a first voltage value uα and a second voltage value uβ , and sending the first voltage value uα and the second voltage value uβ to the driving module; the specific Park inverse transformation formula can refer to the existing Park inverse transformation formula, and the embodiment of the present invention will not be described in detail here.
(5)驱动模块，用于根据第一电压值和第二电压值生成对应的驱动信号，并根据驱动信号驱动感应电机运行。(5) A driving module, configured to generate a corresponding driving signal according to the first voltage value and the second voltage value, and drive the induction motor to operate according to the driving signal.
具体地，驱动模块包括空间矢量脉宽调制SVPWM单元和IPM单元(即IPM模块)；其中，SVPWM单元用于根据第一电压值和第二电压值生成对应的驱动信号即PWM信号，如PWMA信号或者PWMB信号或者PWMC信号，并将驱动信号发送至IPM单元；IPM单元则用于根据驱动信号驱动感应电机运行。Specifically, the driving module includes a space vector pulse width modulation SVPWM unit and an IPM unit (i.e., an IPM module); wherein the SVPWM unit is used to generate a corresponding driving signal, i.e., a PWM signal, such as a PWMA signal, a PWMB signal, or a PWMC signal, according to a first voltage value and a second voltage value, and send the driving signal to the IPM unit; the IPM unit is used to drive the induction motor to operate according to the driving signal.
其中，IPM单元包括三相功率逆变器，用于将母线上的直流电逆变后驱动感应电机，该三相功率逆变器由六个功率开关元件组成，即：U相上桥臂的功率开关元件、V相上桥臂的功率开关元件、W相上桥臂的功率开关元件、U相下桥臂的功率开关元件、V相下桥臂的功率开关元件、W相下桥臂的功率开关元件；具体根据PWM信号三相功率逆变器的过程可以参考现有技术，本发明实施例在此不再详细赘述。Among them, the IPM unit includes a three-phase power inverter, which is used to invert the DC power on the bus and drive the induction motor. The three-phase power inverter is composed of six power switching elements, namely: the power switching element of the U-phase upper bridge arm, the power switching element of the V-phase upper bridge arm, the power switching element of the W-phase upper bridge arm, the power switching element of the U-phase lower bridge arm, the power switching element of the V-phase lower bridge arm, and the power switching element of the W-phase lower bridge arm; the specific process of the three-phase power inverter according to the PWM signal can refer to the prior art, and the embodiments of the present invention will not be described in detail here.
本发明实施例提供的感应电机的控制系统，与上述实施例提供的感应电机的控制方法具有相同的技术特征，所以也能解决相同的技术问题，达到相同的技术效果。The control system of the induction motor provided in the embodiment of the present invention has the same technical features as the control method of the induction motor provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.
本发明实施例还提供一种控制器，包括处理器和存储器，存储器存储有能够被处理器执行的机器可执行指令，处理器执行机器可执行指令以实现上述感应电机的控制方法。An embodiment of the present invention further provides a controller, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the above-mentioned control method of the induction motor.
本实施例还提供一种机器可读存储介质，机器可读存储介质存储有机器可执行指令，机器可执行指令在被处理器调用和执行时，机器可执行指令促使处理器实现上述感应电机的控制方法。This embodiment also provides a machine-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the above-mentioned control method for the induction motor.
本发明实施例所提供的感应电机的控制方法及系统的计算机程序产品，包括存储了程序代码的计算机可读存储介质，所述程序代码包括的指令可用于执行前面方法实施例中所述的方法，具体实现可参见方法实施例，在此不再赘述。The computer program product of the control method and system of the induction motor provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method described in the previous method embodiments. The specific implementation can be referred to the method embodiments, which will not be repeated here.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统和装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.
另外，在本发明实施例的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个处理器可执行的非易失的计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
最后应说明的是：以上所述实施例，仅为本发明的具体实施方式，用以说明本发明的技术方案，而非对其限制，本发明的保护范围并不局限于此，尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的精神和范围，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应所述以权利要求的保护范围为准。Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
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