CN-122026759-A - Error compensation method, device and storage medium for motor control

CN122026759ACN 122026759 ACN122026759 ACN 122026759ACN-122026759-A

Abstract

The embodiment of the invention discloses an error compensation method, device and storage medium for motor control, which are used for determining a compensation voltage according to a target current command and a sampled three-phase current of a motor, and compensating an initial control voltage by adopting the compensation voltage to obtain the target control voltage, so that nonlinear errors of the control voltage can be compensated, current harmonics of the motor can be reduced, and the control precision and stability can be improved. In addition, the error compensation method provided by the embodiment of the invention can compensate nonlinear errors in real time, and has higher efficiency compared with an off-line test compensation mode. Furthermore, according to the technical scheme provided by the embodiment of the invention, the compensation voltage is determined according to the sampled three-phase current and the target current instruction of the motor, and the determination of the compensation voltage is not influenced by the parameters of the power device and the parameters of the motor body. And moreover, the polarity of the current does not need to be detected, so that the influence of zero current clamping on the accuracy of the determination of the compensation voltage is avoided.

Inventors

ZUO MENGNAN
WANG JIACHENG
LU FEI

Assignees

耐世特汽车系统（苏州）有限公司

Dates

Publication Date: 20260512
Application Date: 20241111

Claims (10)

1. A method of error compensation for motor control, comprising: determining a compensation voltage based on the target current command and the sampled three-phase current of the motor; And compensating the initial control voltage according to the compensation voltage to obtain a target control voltage, and sending a driving signal to a driving circuit of the motor according to the target control voltage, wherein the initial control voltage corresponds to the target current instruction.
2. The method of claim 1, wherein determining the compensation voltage based on the target current command and the sampled three-phase current of the motor comprises: processing the sampled three-phase current by using a lead-lag filter to obtain an actual three-phase current matched with the moment of receiving the target current instruction; And determining the compensation voltage according to the target current command and the actual three-phase current.
3. The method of claim 2, further comprising, before said processing said sampled three-phase current with a lead-lag filter to obtain an actual three-phase current that matches the time instant at which said target current command was received: and adjusting parameters of the lead-lag filter based on the current frequencies corresponding to the sampled three-phase current and the target current command.
4. The motor control error compensation method according to claim 2, wherein the determining the compensation voltage according to the target current command and the actual three-phase current includes: determining a target three-phase current according to the target current instruction; and determining the compensation voltage based on a preset proportional-integral control algorithm according to the difference value of each phase current of the target three-phase current and the actual three-phase current.
5. The method of claim 4, wherein the target current command includes a d-axis current command and a q-axis current command in a dq rotation coordinate system, and wherein determining the target three-phase current based on the target current command comprises: And carrying out coordinate transformation processing on the d-axis current instruction and the q-axis current instruction to obtain the target three-phase current.
6. The error compensation method of motor control according to claim 1, wherein compensating an initial control voltage according to the compensation voltage to obtain a target control voltage, and transmitting a driving signal to a driving circuit of the motor according to the target control voltage to drive the motor, comprises: determining a sum of the compensation voltage and the initial control voltage as the target control voltage; and sending a driving signal to a driving circuit of the motor according to the target control voltage.
7. The error compensation method for motor control according to claim 1, characterized by further comprising, before said compensating an initial control voltage according to said compensation voltage to obtain a target control voltage and transmitting a drive signal to a drive circuit of said motor according to said target control voltage: An initial control voltage is determined based on the target current command.
8. The method of claim 1, wherein the motor is configured to perform vehicle braking, and wherein prior to determining the compensation voltage based on the target current command and the sampled three-phase current of the motor, further comprising: And determining the corresponding target current command based on the received target braking command.
9. An error compensation device for motor control, comprising: The determining module is used for determining a compensation voltage based on the target current command and the sampled three-phase current of the motor; And the compensation module is used for compensating the initial control voltage according to the compensation voltage to obtain a target control voltage, and sending a driving signal to a driving circuit of the motor according to the target control voltage, wherein the initial control voltage corresponds to the target current instruction.
10. A computer readable storage medium storing computer instructions for causing a processor to execute the error compensation method of motor control according to any one of claims 1-7.

Description

Error compensation method, device and storage medium for motor control Technical Field The embodiment of the invention relates to the technical field of vehicles, in particular to an error compensation method, device and storage medium for motor control. Background Brake-by-wire actuators are widely used for vehicle braking. In the prior art, when a brake-by-wire actuator is adopted to brake a vehicle, dead zone effect occurs in a motor drive circuit due to the dead zone time of a power device in the motor drive circuit. In addition, the power device is turned on to generate the tube voltage drop loss, and the reverse freewheeling of the diode also generates the tube voltage drop loss when the power device is turned off. Both dead zone effects and loss of tube drop can result in errors in the control voltage output by the motor controller, which are commonly referred to as non-linear errors. The nonlinear error can generate harmonic current, so that the control effect is affected, and the control precision and stability are reduced. Disclosure of Invention The invention provides an error compensation method, device and storage medium for motor control, which are used for compensating control voltage output by a motor controller, further compensating nonlinear errors and improving control precision and stability. In a first aspect, an embodiment of the present invention provides a method for compensating an error in motor control, including: determining a compensation voltage based on the target current command and the sampled three-phase current of the motor; And compensating the initial control voltage according to the compensation voltage to obtain a target control voltage, and sending a driving signal to a driving circuit of the motor according to the target control voltage, wherein the initial control voltage corresponds to the target current instruction. Optionally, determining the compensation voltage based on the target current command and the sampled three-phase current of the motor includes: processing the sampled three-phase current by using a lead-lag filter to obtain an actual three-phase current matched with the moment when the target current command is received; and determining the compensation voltage according to the target current command and the actual three-phase current. Optionally, before processing the sampled three-phase current with the lead-lag filter to obtain an actual three-phase current that matches the time when the target current command is received, the method further includes: Parameters of the lead-lag filter are adjusted based on the sampled three-phase current and the current frequency corresponding to the target current command. Optionally, determining the compensation voltage according to the target current command and the actual three-phase current includes: Determining a target three-phase current according to the target current instruction; and determining the compensation voltage based on a preset proportional-integral control algorithm according to the difference value of each phase current of the target three-phase current and the actual three-phase current. Optionally, the target current command comprises a d-axis current command and a q-axis current command in a dq rotation coordinate system, and determining the target three-phase current according to the target current command comprises: and performing coordinate transformation processing on the d-axis current command and the q-axis current command to obtain a target three-phase current. Optionally, compensating the initial control voltage according to the compensation voltage to obtain a target control voltage, and sending a driving signal to a driving circuit of the motor according to the target control voltage to drive the motor, including: determining the sum of the compensation voltage and the initial control voltage as a target control voltage; A drive signal is sent to a drive circuit of the motor according to the target control voltage. Optionally, before compensating the initial control voltage according to the compensation voltage to obtain the target control voltage and sending a driving signal to the driving circuit of the motor according to the target control voltage, the method further includes: An initial control voltage is determined based on the target current command. Optionally, the motor is used for braking the vehicle, and before determining the compensation voltage based on the target current command and the sampled three-phase current of the motor, the method further comprises: and determining a corresponding target current command based on the received target brake command. In a second aspect, an embodiment of the present invention further provides an error compensation apparatus for motor control, including: The determining module is used for determining a compensation voltage based on the target current command and the sampled three-phase current of the motor; And the compensation modu