CN-117691917-B - Motor control method, device, equipment and computer readable storage medium

CN117691917BCN 117691917 BCN117691917 BCN 117691917BCN-117691917-B

Abstract

The invention discloses a motor control method, a device, equipment and a computer readable storage medium, belonging to the motor control field, considering that the voltage integral value of a specified phase can be changed by adjusting the triggering time of a thyristor so as to adjust the current effective value of the specified phase, therefore, when three-phase voltage is unbalanced, the invention takes one phase with the minimum current effective value as a reference phase, and determining a trigger time adjustment value for the next thyristor to be triggered of each non-reference phase, then superposing the trigger time adjustment value on the original trigger time of the corresponding thyristor to be triggered to obtain a target trigger time, and finally triggering the thyristor to be triggered at the target trigger time, so that the voltage integral value of the non-reference phase in the next half current period is consistent with the reference phase, the balance of three-phase current effective values is realized, the fluctuation of motor torque is restrained, and the service life and user experience of the motor are improved.

Inventors

WANG YUNKUN
ZHAO SHOUHUA
SUN DANAN
ZHOU YONGXIN
CHEN ZHIXUE

Assignees

中车株洲电机有限公司

Dates

Publication Date: 20260508
Application Date: 20231220

Claims (9)

1. A motor control method, characterized by being applied to a controller of a three-phase asynchronous motor, comprising: When the three-phase voltages of the three-phase asynchronous motor are unbalanced, taking a phase with the smallest current effective value as a reference phase; Taking the equality of the front section integral value in the target integral values of the reference phases as a target, and respectively determining a front section adjustment value corresponding to each non-reference phase; taking the equality of the rear-stage integral value in the target integral values of the reference phases as a target, and respectively determining a rear-stage adjustment value corresponding to each non-reference phase; The sum of the front-stage adjustment value and the rear-stage adjustment value of the single non-reference phase is used as a trigger time adjustment value corresponding to the non-reference phase, wherein the target integral value is a voltage integral value in a current continuous period of half a current period, and the target integral value is divided into the front-stage integral value and the rear-stage integral value by a voltage zero-crossing point; For each non-reference phase, superposing the trigger time adjustment value corresponding to the non-reference at the original trigger time of the next thyristor to be triggered to obtain a target trigger time; And triggering the thyristor to be triggered of the non-reference phase at the target triggering moment of the thyristor to be triggered.
2. The method according to claim 1, wherein for each of the non-reference phases, superimposing the trigger time adjustment value corresponding to the non-reference at an original trigger time of a next thyristor to be triggered, and obtaining a target trigger time includes: for each non-reference phase, taking the sum of the original turn-off angles of the next thyristors to be triggered and the trigger time adjustment values corresponding to the non-reference phases as the target turn-off angle of the thyristors to be triggered; The triggering the thyristor to be triggered of the non-reference phase at the target trigger time of the thyristor to be triggered includes: Triggering the thyristor to be triggered of the non-reference phase at the target off angle after the occurrence of the tube voltage drop rising edge of the thyristor to be triggered.
3. The motor control method according to claim 2, characterized in that the motor control method further includes, after determining each non-reference corresponding previous stage adjustment value, respectively, with equality of previous stage integration values among the target integration values of the reference phases as targets: In the first half current period of the three-phase voltage unbalance judgment, taking the front section adjusting value of a single non-reference phase as a trigger time initial adjusting value corresponding to the non-reference phase; For each non-reference phase, determining the original trigger time of an initial thyristor to be triggered in the first half current period of the three-phase voltage unbalance, and taking the sum of the initial adjustment values of the trigger time corresponding to the non-reference phase as the target trigger time of the initial thyristor; Triggering the initial thyristor of the non-reference phase at the target trigger instant of the initial thyristor.
4. The motor control method according to claim 1, wherein when the three-phase voltages of the three-phase asynchronous motor are unbalanced, the step of taking a phase having the smallest current effective value as a reference phase includes: And when the complex voltage unbalance of the three-phase asynchronous motor is larger than a preset threshold value, taking a phase with the smallest current effective value as a reference phase.
5. The motor control method according to claim 4, characterized in that the motor control method further comprises: When the current complex voltage unbalance is larger than the preset threshold value, if the non-reference phase with the trigger time adjustment value of zero exists, the alarm is controlled to alarm.
6. The motor control method according to any one of claims 1 to 5, characterized in that the step of taking, as a reference phase, a phase having a smallest current effective value when the three-phase voltages of the three-phase asynchronous motor are unbalanced, includes: When the three-phase voltage of the three-phase asynchronous motor is unbalanced in the soft starting process, taking a phase with the smallest voltage effective value or a phase with the smallest current effective value as a reference phase; When the three-phase voltages of the three-phase asynchronous motor are unbalanced after starting, a phase with the smallest current effective value is used as a reference phase.
7. A motor control device, characterized by being applied to a controller of a three-phase asynchronous motor, comprising: the first determining module is used for taking a phase with the smallest current effective value as a reference phase when the three-phase voltage of the three-phase asynchronous motor is unbalanced; The second determining module is used for respectively determining front-stage adjustment values corresponding to each non-reference by taking the equality of front-stage integral values in the target integral values of the reference phases as targets, respectively determining rear-stage adjustment values corresponding to each non-reference by taking the equality of rear-stage integral values in the target integral values of the reference phases as targets, and taking the sum of the front-stage adjustment values and the rear-stage adjustment values of the single non-reference phases as trigger moment adjustment values corresponding to the non-reference, wherein the target integral values are voltage integral values in a current continuous period of half current period, and the target integral values are divided into the front-stage integral values and the rear-stage integral values by voltage zero crossing points; the calculation module is used for superposing the trigger time adjustment value corresponding to the non-reference on the original trigger time of the next thyristor to be triggered for each non-reference phase to obtain a target trigger time; and the action module is used for triggering the thyristor to be triggered of the non-reference phase at the target triggering moment of the thyristor to be triggered.
8. A motor control apparatus, characterized by comprising: A memory for storing a computer program; a processor for implementing the steps of the motor control method according to any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the motor control method according to any one of claims 1 to 6.

Description

Motor control method, device, equipment and computer readable storage medium Technical Field The present invention relates to the field of motor control, and in particular, to a motor control method, and a motor control apparatus, a device, and a computer readable storage medium. Background Under ideal conditions, the three-phase voltages of the three-phase asynchronous motor are balanced (symmetrical), so that the effective values of the three-phase currents of the three-phase asynchronous motor are equal, the torque of the three-phase asynchronous motor is stable, however, once the three-phase voltages of the three-phase asynchronous motor are unbalanced, the unbalance among the effective values of the three-phase currents of the three-phase asynchronous motor can be caused, the fluctuation of the torque of the motor is caused, the service life of the motor is prolonged, and the user experience is influenced. Therefore, how to provide a solution to the above technical problem is a problem that a person skilled in the art needs to solve at present. Disclosure of Invention The invention aims to provide a motor control method, a motor control device, motor control equipment and a computer readable storage medium, wherein a phase with the smallest current effective value is used as a reference phase, and the balance of three-phase current effective values is realized by controlling the mode that the voltage integral value of a non-reference phase in a current continuous period is equal to the reference phase, so that torque fluctuation is reduced, and the service life and user experience of a motor are improved. In order to solve the technical problems, the invention provides a motor control method, which is applied to a controller of a three-phase asynchronous motor and comprises the following steps: When the three-phase voltages of the three-phase asynchronous motor are unbalanced, taking a phase with the smallest current effective value as a reference phase; Respectively determining a trigger time adjustment value corresponding to each non-reference phase by taking the target integral value equal to the reference phase as a target, wherein the target integral value is a voltage integral value in a current continuous period of a current half current period; For each non-reference phase, superposing the trigger time adjustment value corresponding to the non-reference at the original trigger time of the next thyristor to be triggered to obtain a target trigger time; And triggering the thyristor to be triggered of the non-reference phase at the target triggering moment of the thyristor to be triggered. On the other hand, for each non-reference phase, superposing the trigger time adjustment value corresponding to the non-reference on the original trigger time of the next thyristor to be triggered, and obtaining the target trigger time includes: for each non-reference phase, taking the sum of the original turn-off angles of the next thyristors to be triggered and the trigger time adjustment values corresponding to the non-reference phases as a target turn-off angle 'of the thyristors to be triggered' The triggering the thyristor to be triggered of the non-reference phase at the target trigger time of the thyristor to be triggered includes: Triggering the thyristor to be triggered of the non-reference phase at the target off angle after the occurrence of the tube voltage drop rising edge of the thyristor to be triggered. On the other hand, the determining the trigger time adjustment value corresponding to each non-reference respectively, with the target integral value equal to the reference phase as the target, includes: The front section integral value in the target integral value of the reference phase is equal as a target, and the front section adjustment value 'corresponding to each non-reference phase is respectively determined' Taking the equality of the rear-stage integral value in the target integral values of the reference phases as a target, and respectively determining a rear-stage adjustment value corresponding to each non-reference phase; taking the sum of the front section adjustment value and the rear section adjustment value of the single non-reference phase as a trigger time adjustment value corresponding to the non-reference phase; The target integral value is a voltage integral value in a current continuous period of a current half current period, and the target integral value is divided into the front-stage integral value and the rear-stage integral value by a voltage zero-crossing point. In another aspect, the motor control method further includes, after determining each of the non-reference corresponding previous stage adjustment values, respectively, with the previous stage integration value being equal to the previous stage integration value of the target integration values of the reference phases as a target: In the first half current period of the three-phase voltage unbalance judgment,