Measurement and control method, device, and electronic equipment for motor current and speed

A measurement and control method for motor current and speed, comprising:

• obtaining an input speed and an input current of a motor;
• obtaining a motor measurement and control model, inputting the input speed and the input current into the motor measurement and control model for measurement operation to obtain a current motor speed, wherein the measurement operation comprises deviation definition, correction, and designing a cost function;
• obtaining a motor explicit control rate, and conducting a current calculating based on the current motor speed and the input speed under the motor explicit control rate to obtain a reference current;
• conducting a current calculating based on the reference current and the input current to obtain a current value of the current, and controlling the motor based on the current value of the current;
• wherein, obtaining the motor explicit control rate, and conducting the current calculating based on the current motor speed and the input speed under the motor explicit control rate to obtain the reference current, comprising:
• the motor measurement control model performing Laplace transform on motor torque equation to obtain a transfer function of the current motor speed and quadrature-axis current of the input current;
• discretizing the transfer function to obtain a difference equation for preliminary calculation of quadrature-axis current of the reference current;
• constructing the cost function according to the current motor speed and the quadrature-axis current of the reference current;
• performing one step prediction to obtain an optimal quadrature-axis current by the cost function;
• and
• by using direct-axis current of the reference current as zero control, obtaining quadrature-axis and direct-axis currents serves as the reference current for current prediction control based on the optimal quadrature-axis current and the motor explicit control rate;
• the formula for calculating the explicit control rate of the motor is as follows:
• Δ
• ⁢
• i
• q
• (
• k
• )
• =
• -
• λ
• ⁢
• a
• λ
• ⁢
• a
• 2
• +
• μ
• [
• (
• 1
• -
• b
• )
• ⁢
• ω
• m
• (
• k
• )
• +
• b
• ⁢
• ω
• m
• (
• k
• -
• 1
• )
• +
• ω
• m
• ∼
• (
• k
• )
• -
• ω
• *
• (
• k
• +
• 1
• )
• ]
• ;
• where, Δ iq is the current increment at the current moment, k is the moment, λ is the weight of the current motor speed, a is the first coefficient of the subsequent differential equation, b is the second coefficient of the subsequent differential equation, ωm is the current motor speed, ωm˜ is a predicted deviation of the current motor speed, ω* is the input speed, and is the weight of the current increment at the current moment;
• wherein, the motor measurement and control model comprises a current model controller;
• the current model controller is used for Deadbeat Tracking Control based on the current value of the current to obtain an output of the current controller;
• modulating the output of the current model controller based on a SVPWM algorithm to obtain a control signal, and control the motor by applying the control signal to an inverter electrically connected to the current model controller.