A permanent magnet synchronous motor parameter correction method and device based on model reference

Abstract

The present invention provides a permanent magnet synchronous motor parameter correction method and device based on model reference, obtaining a first dynamic parameter table, building an adjustable model according to the first dynamic parameter table; obtaining a bench calibration table, building a reference model according to the bench calibration table; selecting n number of working points, determining a first adjustment precision parameter and a first combination parameter, obtaining a first parameter of the adjustable model and a second parameter of the reference model; obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter and the first adjustment precision parameter; determining adjustment parameters according to optimization adjustment rules through the adjustment amount information and the adjustment ratio information, and optimizing according to the adjustment parameters. The method solves the technical problems of low efficiency and low precision in the process of permanent magnet synchronous motor parameter correction in the prior art.

Description

Technical Field

[0001] The present invention relates to the field related to permanent magnet synchronous motors of electric vehicles, and in particular to a method and device for correcting parameters of permanent magnet synchronous motors based on model reference. Background Art

[0002] With the popularity of electric vehicles and the superiority of permanent magnet synchronous motors, their applications are becoming more and more extensive. The model-based torque control method of AC permanent magnet synchronous motors is complex and diverse, with a large amount of calculations, and the development and verification process is time-consuming and labor-intensive. The ideal verification process is real vehicle testing, followed by motor bench verification, which is very inefficient and sometimes not available under the conditions.

[0003] However, in the process of correcting the parameters of the permanent magnet synchronous motor in the prior art, there are technical problems of low efficiency and low precision. Summary of the invention

[0004] The embodiment of the present invention provides a permanent magnet synchronous motor parameter correction method and device based on model reference, which solves the technical problems of low efficiency and low precision in the process of permanent magnet synchronous motor parameter correction in the prior art. The design and verification based on the model can accelerate the progress of product development, greatly shorten the vehicle development cycle, expose problems and shortcomings in advance, feedback and correct design errors, reduce the waste of subsequent resources, and achieve the technical effect of improving the efficiency and accuracy of parameter correction.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a permanent magnet synchronous motor parameter correction method based on model reference, the method comprising: obtaining a first dynamic parameter table, and constructing an adjustable model according to the first dynamic parameter table; obtaining a bench calibration table, and constructing a reference model according to the bench calibration table; selecting n number of working points, and determining a first adjustment precision parameter and a first combination parameter, wherein n is a positive integer greater than or equal to 2; obtaining a first parameter of the adjustable model and a second parameter of the reference model according to the n number of working points; obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter and the first adjustment precision parameter; determining an adjustment parameter according to an optimization adjustment rule through the adjustment amount information and the adjustment ratio information, and optimizing according to the adjustment parameter.

[0007] On the other hand, an embodiment of the present invention further provides a permanent magnet synchronous motor parameter correction device based on model reference, the device comprising: a first acquisition unit, the first acquisition unit is used to obtain a first dynamic parameter table, and construct an adjustable model according to the first dynamic parameter table; a second acquisition unit, the second acquisition unit is used to obtain a bench calibration table, and construct a reference model according to the bench calibration table; a first determination unit, the first determination unit is used to select n number of working points, determine a first adjustment precision parameter and a first combination parameter, wherein n is a positive integer greater than or equal to 2; a third acquisition unit, the third acquisition unit is used to obtain the first parameter of the adjustable model and the second parameter of the reference model according to the n number of working points; a fourth acquisition unit, the fourth acquisition unit is used to obtain the adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter and the first adjustment precision parameter; a first optimization unit, the first optimization unit is used to determine the adjustment parameter according to the optimization adjustment rule through the adjustment amount information and the adjustment ratio information, and optimize according to the adjustment parameter.

[0008] In a third aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the first aspect when executing the program.

[0009] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the method described above when executed by a processor.

[0010] The beneficial effects of the present invention are:

[0011] The above scheme adopts a method of constructing an adjustable model by obtaining a dynamic parameter table calculated by software or calibrated by a bench, constructing a reference model by using a bench calibration table, deducing the torque deviation between the adjustable model and the reference model by using the magnetic flux and electromagnetic torque equations, and using a PID (Proportion Integral Differential, PID algorithm) method that satisfies system stability for adaptation. The parameter table is fine-tuned online, and the parameters to be adjusted and the adjustment amounts are determined according to the adjustment amounts and adjustment ratios of each adjustable parameter. Model-based design and verification can speed up the progress of product development, significantly shorten the vehicle development cycle, expose problems and shortcomings in advance, correct design errors through feedback, reduce the waste of subsequent resources, and achieve the technical effect of improving the efficiency and accuracy of parameter correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1A schematic flow chart of a method for correcting parameters of a permanent magnet synchronous motor based on model reference provided by an embodiment of the present invention;

[0013] Figure 2 A schematic diagram of a flow chart of obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in a permanent magnet synchronous motor parameter correction method based on model reference provided by an embodiment of the present invention;

[0014] Figure 3 A schematic diagram of a flow chart of determining adjustment parameters of a permanent magnet synchronous motor parameter correction method based on model reference provided in an embodiment of the present invention;

[0015] Figure 4 A schematic diagram of a flow chart of adjusting control parameters of a permanent magnet synchronous motor parameter correction method based on model reference provided by an embodiment of the present invention;

[0016] Figure 5 A schematic diagram of the structure of a permanent magnet synchronous motor parameter correction device based on model reference provided by an embodiment of the present invention;

[0017] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] The embodiment of the present invention solves the technical problems of low efficiency and low precision in the process of permanent magnet synchronous motor parameter correction in the prior art by providing a permanent magnet synchronous motor parameter correction method and device based on model reference. The design and verification based on the model can accelerate the progress of product development, greatly shorten the vehicle development cycle, expose problems and shortcomings in advance, feedback and correct design errors, reduce the waste of subsequent resources, and achieve the technical effect of improving the efficiency and precision of parameter correction.

[0020] Embodiment 1

[0021] like Figure 1 As shown, an embodiment of the present invention provides a permanent magnet synchronous motor parameter correction method based on model reference, the method comprising:

[0022] Step S100: obtaining a first dynamic parameter table, and constructing an adjustable model according to the first dynamic parameter table;

[0023] Step S200: obtaining a bench calibration table, and constructing a reference model according to the bench calibration table;

[0024] Furthermore, the horizontal and vertical coordinates of the first dynamic parameter table are consistent with those of the bench calibration table.

[0025] Specifically, the adjustable model and the reference model are PMSM (permanent-magnet synchronous motor) models in the dq coordinate system, and the first dynamic parameter table is a dynamic parameter table L calculated by acquisition software or calibrated by the bench. d , L q ,Ψ f The horizontal and vertical coordinates of the first dynamic parameter table can be the AC and DC axis current i d ,i q Or the total current i s and electrical angle θ r , and an adjustable model is established accordingly.

[0026] Furthermore, the horizontal and vertical coordinates of the bench calibration table are consistent with the horizontal and vertical coordinates of the first dynamic parameter table, that is, when the horizontal and vertical coordinates of the first dynamic parameter table are the cross-axis current i d ,i q , then the horizontal and vertical coordinates of the bench calibration table are also the AC and DC axis current i d ,i q When the horizontal and vertical coordinates of the first dynamic parameter table are the total current i s and electrical angle θ r , then the horizontal and vertical coordinates of the bench calibration table are also the total current i s and electrical angle θ r . A reference model is constructed according to the bench calibration table.

[0027] Step S300: selecting n number of working points, and determining a first adjustment precision parameter and a first combination parameter, wherein n is a positive integer greater than or equal to 2;

[0028] Specifically, a flux equation and a torque equation are constructed, and based on the flux equation and the torque equation, a torque deviation calculation formula between the adjustable model and the reference model is obtained: Te-T * e=3 / 2np(L d i d i q -L q i d i q +Ψ f i q ), where L d is the equivalent inductance of the stator winding d, L q is the equivalent inductance of the stator around the q axis, ψf is the rotor flux, and L d , L q , f is the adjustable parameter in the first dynamic parameter table, and the relationship between the torque deviation and the parameter model can be obtained from Ld , L q , f Three degrees of freedom are considered for adjustment.

[0029] Use the PID method that meets the system stability to perform self-adaptation and fine-tune the parameter table online. The torque error between the adjustable model and the reference model is the objective function of the optimization adjustment, which directly quantifies the influence of the parameters on the error. Then, according to the weight influence and error requirements, directly construct the PID feedback link, and adjust the parameters separately or in combination.

[0030] A certain number of working points, namely, the n number of working points, are selected, wherein n is a positive integer greater than or equal to 2, and the first adjustment accuracy parameter is a preset adjustment accuracy, for example, it can be 5%; the first combination parameter is preferably determined (i d i q )combination.

[0031] Step S400: obtaining a first parameter of the adjustable model and a second parameter of the reference model according to the n number of working points;

[0032] Specifically, the first parameter is the electromagnetic torque parameter of the adjustable model, and the second parameter is the electromagnetic torque parameter of the reference model, wherein the first parameter is identified by Te and the second parameter is identified by T * e mark. The calculation formula is: Te = 3 / 2np (Ψ d i q -Ψ q i d ), d ,Ψ q is the stator flux d, q-axis component, i d ,i q is the stator current d, q axis component. According to the torque deviation calculation formula of the adjustable model and the reference model: Te-T * e=3 / 2np(L d i d i q -L q i d i q +Ψ f i q ) to calculate the torque deviation.

[0033] Step S500: obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter and the first adjustment precision parameter;

[0034] Step S600: determining adjustment parameters according to the adjustment amount information and the adjustment ratio information and optimizing adjustment rules, and performing optimization according to the adjustment parameters.

[0035] Specifically, according to the above example, the first adjustment accuracy parameter is set to 5%. * When e is less than -5%, it is quantified to L according to the torque deviation calculation formula d , L q , f , find out the adjustment amount of each adjustable parameter that satisfies the first adjustment accuracy parameter.

[0036] When Te-T * When e is greater than 5%, it is quantified to L according to the torque deviation calculation formula d , L q , f , find out the adjustment amount of each adjustable parameter that satisfies the first adjustment accuracy parameter.

[0037] When Te-T * When e is less than 5% and greater than -5%, no adjustment is calculated.

[0038] According to the quantitative adjustment of all working points to the first adjustment accuracy parameter, the adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table are obtained. The optimization adjustment rule is a rule for the adjustment value and ratio distribution of each adjustment parameter. For example, if the adjustment ratio of one parameter is significantly smaller than the other two parameters, such as less than 10%, then this parameter is selected as the only adjustment amount; if the adjustment ratio of two of the parameters is significantly smaller than the third parameter, such as less than 10%, but the adjustment ratio between the two parameters does not meet the previous one, then the first two parameters are selected as the adjustment amount; otherwise, all three parameters are used as the adjustment amount. The adjustment amount of each parameter is calculated according to the optimization adjustment rule, and the enabling control and control parameters of each adjustment amount are controlled respectively. Model-based design and verification can speed up the progress of product development, greatly shorten the vehicle development cycle, expose problems and shortcomings in advance, feedback and correct design errors, reduce the waste of subsequent resources, and achieve the technical effect of improving the efficiency and accuracy of parameter correction.

[0039] Furthermore, in the embodiment of the present invention, step S500 further includes:

[0040] Step S510: Under open-loop conditions, the first parameter Te of the adjustable model and the second parameter T of the reference model are calculated by the formula using the data of the n number of working points selected. * e, the calculation formula is as follows:

[0041] Te=3 / 2np(Ψ d iq -Ψ q i d )

[0042] Where np is the number of motor pole pairs, Ψ d is the d-axis component of the stator flux, Ψ q is the q-axis component of the stator flux, i d Stator current d-axis component, i q is the q-axis component of the stator current, and (i d ,i q ) is the first combined parameter;

[0043] Step S520: Obtain the first parameter and the second parameter to obtain a first control parameter, and obtain adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the first control parameter and the first adjustment precision parameter.

[0044] Furthermore, in the embodiment of the present invention, step S500 further includes:

[0045] Step S530: Obtain the torque deviation calculation formula through the flux linkage and electromagnetic torque equation:

[0046] Te-T * e=3 / 2np(L d i d i q -L q i d i q +Ψ f i q )

[0047] Among them, L d is the equivalent inductance of the stator winding d, L q is the equivalent inductance of the stator around the q axis, ψf is the rotor flux, and L d , L q , f is an adjustable parameter in the first dynamic parameter table;

[0048] Step S540: performing L calculation based on the torque deviation calculation formula according to the comparison result of the first control parameter and the first adjustment accuracy parameter. d , L q , f quantification, and obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the quantization result.

[0049] Specifically, under open-loop conditions, that is, without feedback, the first parameter Te of the adjustable model and the second parameter T of the reference model are calculated based on the formula by selecting the data of the n number of working points. * e,Te=3 / 2np(Ψ d i q -Ψ q i d ), where np is the number of motor pole pairs, Ψ d is the d-axis component of the stator flux, Ψ q is the q-axis component of the stator flux, i d Stator current d-axis component, i q is the q-axis component of the stator current, and (i d ,i q ) is the first combination parameter, where Ψ d , q It is calculated according to the magnetic flux equation. The calculation formula is as follows: d =L d i d +Ψ f ,Ψ q =L q i q Based on the above formula, the torque deviation calculation formula Te-T is derived * e=3 / 2np(L d i d i q -L q i d i q +Ψ f i q ). Based on the torque deviation calculation formula, L is calculated according to the comparison result of the first control parameter and the first adjustment accuracy parameter. d , L q , f quantification, and obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the quantization result.

[0050] Further, such as Figure 2 As shown, step S540 in the embodiment of the present invention further includes:

[0051] Step S541: when the first control parameter is within the first adjustment precision parameter range, the adjustment amount information is not calculated;

[0052] Step S542: when the first control parameter is not within the first adjustment precision parameter range, calculating and obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table.

[0053] Specifically, when the first adjustment precision parameter is set to 5% as in the above example, the first adjustment precision parameter range is (-5%, 5%). When the first control parameter is within the first adjustment precision parameter range, the adjustment amount information is not calculated. That is, when Te-T * When e is less than 5% and greater than -5%, the adjustment amount is not calculated; when the first control parameter is not within the first adjustment accuracy parameter range, the adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table are calculated, that is, when Te-T * When e is less than -5%, it is quantified to L according to the torque deviation calculation formula d , L q , f , find the adjustment amount of each adjustable parameter to meet the first adjustment accuracy parameter. * When e is greater than 5%, it is quantified to L according to the torque deviation calculation formula d , L q , f , find the adjustment amount of each adjustable parameter to meet the first adjustment accuracy parameter. According to the calculation results, L d , L q , f The adjustment amount and adjustment ratio of the three parameters.

[0054] Further, such as Figure 3 As shown, step S540 in the embodiment of the present invention further includes:

[0055] Step S543: obtaining a first predetermined adjustment ratio. When the adjustment ratio of the first adjustment parameter to the second adjustment parameter and the third adjustment parameter in the adjustment parameters satisfies the first predetermined adjustment ratio and the first predetermined condition is satisfied, the first adjustment parameter is used as the only adjustment amount.

[0056] Step S544: when the adjustment ratio of the first adjustment parameter to the third adjustment parameter satisfies the first predetermined adjustment ratio, the adjustment ratio of the second adjustment parameter to the third adjustment parameter satisfies the first predetermined adjustment ratio, and the first adjustment parameter and the second adjustment parameter do not satisfy the first predetermined condition, the second predetermined condition is satisfied at this time, and the first adjustment parameter and the second adjustment parameter are used as adjustment amounts;

[0057] Step S545: When neither the first predetermined condition nor the second predetermined condition is satisfied, the first adjustment parameter, the second adjustment parameter, and the third adjustment parameter are all used as adjustment amounts.

[0058] Specifically, the first predetermined adjustment ratio is a pre-set ratio for comparison reference. For example, it can be set to 10%. When the adjustment ratio of one of the three adjustment parameters is significantly smaller than that of the other two parameters, that is, the first predetermined adjustment ratio of 10% is met, the first predetermined condition is met, and this parameter (the first adjustment parameter) is selected as the only adjustment amount.

[0059] When the adjustment ratio of the first adjustment parameter is significantly smaller than the adjustment ratio of the third adjustment parameter, that is, the first predetermined adjustment ratio is satisfied, and at the same time the adjustment ratio of the second adjustment parameter is significantly smaller than the adjustment ratio of the third adjustment parameter, that is, the first predetermined adjustment ratio is satisfied, and the adjustment ratios of the first adjustment parameter, the second adjustment parameter and the third adjustment parameter do not satisfy the first predetermined adjustment ratio, and the adjustment ratios of the second adjustment parameter, the first adjustment parameter and the third adjustment parameter do not satisfy the first predetermined adjustment ratio, then the second predetermined condition is satisfied, and the first adjustment parameter and the second adjustment parameter are used as adjustment amounts.

[0060] When the relationship among the three parameters satisfies neither the first predetermined condition nor the second predetermined condition, the first adjustment parameter, the second adjustment parameter and the third adjustment parameter are all used as adjustment amounts.

[0061] Further, such as Figure 4 As shown, step S540 in the embodiment of the present invention further includes:

[0062] Step S546: when the parameters in the n number of working points all meet the first predetermined condition, the first adjustment parameter is used as the adjustment parameter;

[0063] Step S547: when the parameters in the n number of working points all meet the second predetermined condition, the first adjustment parameter and the second adjustment parameter are used as adjustment amounts, and the control parameter is adjusted according to the mean of the adjustment amount ratio;

[0064] Step S548: When the parameters in the n working points do not all satisfy the first predetermined condition or when the parameters in the n working points do not all satisfy the second predetermined condition, the first adjustment parameter, the second adjustment parameter, and the third adjustment parameter are all used as adjustment amounts, and the control parameters are adjusted according to the mean of the adjustment amount ratios.

[0065] Specifically, according to the adjustment amount calculated according to the above optimization principle, the enabling control and control parameters of each adjustment amount are controlled respectively. If all of the n working points meet the first predetermined condition, the control of the corresponding adjustment amount is enabled, and the first adjustment parameter is used as the adjustment parameter, and the control of the non-adjustment amount is shielded. If all of the n working points meet the second preset condition, the control of the corresponding adjustment amount is enabled, that is, the first adjustment parameter and the second adjustment parameter are used as the adjustment amount, and the control parameter is adjusted according to the mean of the adjustment amount ratio, and the control of the non-adjustment amount is shielded. When it is not the above two situations, all three parameters are used as adjustment amounts, the control of the three parameters is enabled, and the control parameter is adjusted according to the mean of the adjustment amount ratio.

[0066] In summary, the method and device for correcting parameters of a permanent magnet synchronous motor based on model reference provided by the embodiments of the present invention have the following technical effects:

[0067] The adjustable model is constructed by obtaining a dynamic parameter table calculated by software or calibrated on a test bench, a reference model is constructed through a test bench calibration table, the torque deviation of the adjustable model and the reference model is deduced through the magnetic flux and electromagnetic torque equations, and the PID method that satisfies the system stability is used for adaptation. The parameter table is fine-tuned online, and the parameters to be adjusted and the adjustment amounts are determined according to the adjustment amounts and adjustment ratios of each adjustable parameter. Model-based design and verification can speed up the progress of product development, significantly shorten the vehicle development cycle, expose problems and shortcomings in advance, correct design errors through feedback, reduce the waste of subsequent resources, and achieve the technical effect of improving the efficiency and accuracy of parameter correction.

[0068] Embodiment 2

[0069] Based on the same inventive concept as the permanent magnet synchronous motor parameter correction method based on model reference in the aforementioned embodiment, the present invention also provides a permanent magnet synchronous motor parameter correction device based on model reference, such as Figure 5 As shown, the device comprises:

[0070] A first obtaining unit 11, the first obtaining unit 11 is used to obtain a first dynamic parameter table, and construct an adjustable model according to the first dynamic parameter table;

[0071] A second obtaining unit 12, the second obtaining unit 12 is used to obtain a bench calibration table, and construct a reference model according to the bench calibration table;

[0072] A first determining unit 13, the first determining unit 13 is used to select n number of working points to determine a first adjustment accuracy parameter and a first combination parameter, wherein n is a positive integer greater than or equal to 2;

[0073] A third obtaining unit 14, the third obtaining unit 14 is used to obtain the first parameter of the adjustable model and the second parameter of the reference model according to the n number of working points;

[0074] a fourth obtaining unit 15, the fourth obtaining unit 15 being configured to obtain adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter and the first adjustment precision parameter;

[0075] The first optimization unit 16 is used to determine the adjustment parameters according to the optimization adjustment rules through the adjustment amount information and the adjustment ratio information, and perform optimization according to the adjustment parameters.

[0076] Furthermore, the device also includes:

[0077] A fifth obtaining unit, the fifth obtaining unit is used to calculate the first parameter Te of the adjustable model and the second parameter T of the reference model by formula using the data of the selected n number of working points under open loop conditions * e, the calculation formula is as follows:

[0078] Te=3 / 2np(Ψ d i q -Ψ q i d )

[0079] Where np is the number of motor pole pairs, Ψ d is the d-axis component of the stator flux, Ψ q is the q-axis component of the stator flux, i d Stator current d-axis component, i q is the q-axis component of the stator current, and (i d ,i q ) is the first combined parameter;

[0080] The sixth obtaining unit is used to obtain the first parameter and the second parameter to obtain the first control parameter, and obtain the adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the first control parameter and the first adjustment accuracy parameter.

[0081] Furthermore, the device also includes:

[0082] The seventh obtaining unit is used to obtain a torque deviation calculation formula through a flux linkage and an electromagnetic torque equation:

[0083] Te-T * e=3 / 2np(L d id i q -L q i d i q +Ψ f i q )

[0084] Among them, L d is the equivalent inductance of the stator winding d, L q is the equivalent inductance of the stator around the q axis, ψf is the rotor flux, and L d , L q , f is an adjustable parameter in the first dynamic parameter table;

[0085] A first calculation unit is used to calculate the torque deviation according to the comparison result of the first control parameter and the first adjustment precision parameter based on the torque deviation calculation formula. d , L q , f quantification, and obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the quantization result.

[0086] Furthermore, the device also includes:

[0087] a second calculation unit, configured to not calculate the adjustment amount information when the first control parameter is within the first adjustment accuracy parameter range;

[0088] A third calculation unit is used for calculating and obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table when the first control parameter is not within the first adjustment accuracy parameter range.

[0089] Furthermore, the device also includes:

[0090] an eighth obtaining unit, the eighth obtaining unit being used to obtain a first predetermined adjustment ratio, when an adjustment ratio of a first adjustment parameter to a second adjustment parameter and a third adjustment parameter among the adjustment parameters satisfies the first predetermined adjustment ratio and a first predetermined condition is satisfied, the first adjustment parameter is used as the only adjustment amount;

[0091] A ninth obtaining unit, wherein the ninth obtaining unit is used for taking the first adjustment parameter and the second adjustment parameter as adjustment amounts when the adjustment ratio of the first adjustment parameter to the third adjustment parameter satisfies the first predetermined adjustment ratio, the adjustment ratio of the second adjustment parameter to the third adjustment parameter satisfies the first predetermined adjustment ratio, and the first adjustment parameter and the second adjustment parameter do not satisfy the first preset condition and the second predetermined condition is satisfied.

[0092] A tenth obtaining unit, wherein the tenth obtaining unit is configured to use the first adjustment parameter, the second adjustment parameter, and the third adjustment parameter as adjustment amounts when neither the first predetermined condition nor the second predetermined condition is satisfied.

[0093] Furthermore, the device also includes:

[0094] an eleventh obtaining unit, the eleventh obtaining unit being configured to use the first adjustment parameter as the adjustment parameter when all parameters in the n number of working points satisfy the first predetermined condition;

[0095] a twelfth obtaining unit, wherein the twelfth obtaining unit is configured to use the first adjustment parameter and the second adjustment parameter as adjustment amounts, and adjust the control parameter according to a mean value of the adjustment amount ratio when all parameters in the n number of working points satisfy the second predetermined condition;

[0096] The thirteenth obtaining unit is used to adjust the control parameter according to the mean value of the adjustment amount ratio by using the first adjustment parameter, the second adjustment parameter and the third adjustment parameter as adjustment amounts when the parameters in the n number working points do not all satisfy the first predetermined condition or when the parameters in the n number working points do not all satisfy the second predetermined condition.

[0097] Furthermore, the device also includes:

[0098] A consistency unit, wherein the consistency unit is used to keep the horizontal and vertical coordinates of the first dynamic parameter table consistent with those of the bench calibration table.

[0099] The foregoing Figure 1 The various variations and specific examples of a permanent magnet synchronous motor parameter correction method based on model reference in Example 1 are also applicable to a permanent magnet synchronous motor parameter correction device based on model reference in this embodiment. Through the above detailed description of a permanent magnet synchronous motor parameter correction method based on model reference, technical personnel in this field can clearly know the implementation method of a permanent magnet synchronous motor parameter correction device based on model reference in this embodiment, so for the sake of brevity of the specification, it will not be described in detail here.

[0100] Exemplary Electronic Devices

[0101] Reference below Figure 6 The electronic device according to the embodiment of the present invention is described.

[0102] Figure 6 The figure shows a schematic structural diagram of an electronic device according to an embodiment of the present invention.

[0103] Based on the inventive concept of a permanent magnet synchronous motor parameter correction method based on model reference in the above-mentioned embodiment, the present invention also provides an electronic device, as follows, Figure 6 The electronic device according to the embodiment of the present invention is described. The electronic device may be a mobile device itself, or a stand-alone device independent of the mobile device, on which a computer program is stored, and when the program is executed by a processor, the steps of any of the above methods are implemented.

[0104] like Figure 6 As shown, the electronic device 50 includes one or more processors 51 and a memory 52 .

[0105] The processor 51 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 50 to perform desired functions.

[0106] The memory 52 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 51 may execute the program instructions to implement the methods of the various embodiments of the present invention described above and / or other desired functions.

[0107] In one example, the electronic device 50 may further include: an input device 53 and an output device 54, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0108] The embodiments of the present invention solve the technical problems of low efficiency and low precision in the process of permanent magnet synchronous motor parameter correction in the prior art. The design and verification based on the model can accelerate the progress of product development, greatly shorten the vehicle development cycle, expose problems and shortcomings in advance, correct design errors through feedback, reduce the waste of subsequent resources, and achieve the technical effect of improving the efficiency and precision of parameter correction.

[0109] Through the description of the above implementation mode, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions performed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present invention, software program implementation is a better implementation mode in most cases. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, etc., including a number of instructions to enable a computer device to execute the methods described in each embodiment of the present invention.

[0110] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0111] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from a computer-readable storage medium to another computer-readable storage medium, and the available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

[0112] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary personnel in this technical field, several improvements and modifications can be made without departing from the principles described in the present invention. These improvements and modifications are also within the scope of protection of the present invention.

Claims

1. A permanent magnet synchronous motor parameter correction method based on model reference, characterized in that: The method comprises: Obtaining a first dynamic parameter table, and constructing an adjustable model according to the first dynamic parameter table; Obtaining a bench calibration table, and constructing a reference model according to the bench calibration table; Select n number of working points to determine a first adjustment precision parameter and a first combination parameter, wherein n is a positive integer greater than or equal to 2; According to the n number of working points, obtaining a first parameter of the adjustable model and a second parameter of the reference model; Based on the first parameter, the second parameter, the first combination parameter and the first adjustment precision parameter, obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table; Determine adjustment parameters according to the adjustment amount information and the adjustment ratio information and optimization rules, and perform optimization according to the adjustment parameters; The step of determining adjustment parameters according to the optimization adjustment rules and performing optimization according to the adjustment parameters further includes: Obtaining a first predetermined adjustment ratio, when the adjustment ratio of the first adjustment parameter among the three adjustment parameters is significantly smaller than the adjustment ratios of the second adjustment parameter and the third adjustment parameter, and the adjustment ratio of the first adjustment parameter is smaller than the first predetermined adjustment ratio, at this time, the first predetermined condition is met, and the first adjustment parameter is used as the only adjustment amount; When the adjustment ratio of the first adjustment parameter is significantly smaller than the adjustment ratio of the third adjustment parameter, and the adjustment ratio of the first adjustment parameter is smaller than the first predetermined adjustment ratio, and at the same time, the adjustment ratio of the second adjustment parameter is significantly smaller than the adjustment ratio of the third adjustment parameter, and the adjustment ratio of the first adjustment parameter is smaller than the first predetermined adjustment ratio, and the first adjustment parameter, the second adjustment parameter, and the third adjustment parameter do not meet the first predetermined condition, at this time, the second predetermined condition is met, and the first adjustment parameter and the second adjustment parameter are used as adjustment amounts; When neither the first predetermined condition nor the second predetermined condition is satisfied, taking the first adjustment parameter, the second adjustment parameter, and the third adjustment parameter as adjustment amounts; The first predetermined adjustment ratio is a preset ratio for comparison reference.

2. The method according to claim 1, characterized in that The method further comprises: Under open-loop conditions, the first parameter Te of the adjustable model and the second parameter T of the reference model are calculated by the formula using the data of the n number of working points selected. * e, the calculation formula is as follows: Te=3 / 2np(Ψ d i q -Ψ q i d ) Where np is the number of motor pole pairs, Ψ d is the stator flux d-axis component, Ψ q is the q-axis component of the stator flux, i d Stator current d-axis component, i q is the q-axis component of the stator current, and (i d ,i q ) is the first combined parameter; The first parameter and the second parameter are obtained to obtain a first control parameter, and adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table are obtained according to the first control parameter and the first adjustment precision parameter.

3. The method according to claim 2, characterized in that The method further comprises: The torque deviation calculation formula is obtained through the flux linkage and electromagnetic torque equation: Te-T * e=3 / 2np(L d i d i q -L q i d i q +Ψ f i q ) Among them, L d is the equivalent inductance of the stator winding d, L q is the equivalent inductance of the stator around the q axis, ψf is the rotor flux, and L d , L q , f is an adjustable parameter in the first dynamic parameter table; Based on the torque deviation calculation formula, L is calculated according to the comparison result of the first control parameter and the first adjustment accuracy parameter. d , L q , f quantification, and obtaining adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table according to the quantization result.

4. The method according to claim 3, characterized in that The method further comprises: When the first control parameter is within the first adjustment accuracy parameter range, the adjustment amount information is not calculated; When the first control parameter is not within the first adjustment precision parameter range, the adjustment amount information and the adjustment ratio information of each adjustable parameter in the first dynamic parameter table are obtained by calculation.

5. The method according to claim 1, characterized in that The method further comprises: When the parameters in the n number of working points all meet the first predetermined condition, the first adjustment parameter is used as the adjustment parameter; When the parameters in the n number of working points all meet the second predetermined condition, the first adjustment parameter and the second adjustment parameter are used as adjustment amounts, and the control parameter is adjusted according to the mean of the adjustment amount ratio; When the parameters in the n number of working points do not all satisfy the first predetermined condition or when the parameters in the n number of working points do not all satisfy the second predetermined condition, the first adjustment parameter, the second adjustment parameter, and the third adjustment parameter are all used as adjustment amounts, and the control parameters are adjusted according to the mean of the adjustment amount ratios.

6. The method according to claim 1, characterized in that The horizontal and vertical coordinates of the first dynamic parameter table are consistent with those of the bench calibration table.

7. A permanent magnet synchronous motor parameter correction device based on model reference, characterized in that: The device comprises: A first obtaining unit, the first obtaining unit is used to obtain a first dynamic parameter table, and construct an adjustable model according to the first dynamic parameter table; A second obtaining unit, the second obtaining unit is used to obtain a bench calibration table, and construct a reference model according to the bench calibration table; A first determining unit, the first determining unit is used to select n number of working points to determine a first adjustment accuracy parameter and a first combination parameter, wherein n is a positive integer greater than or equal to 2; A third obtaining unit, the third obtaining unit is used to obtain a first parameter of the adjustable model and a second parameter of the reference model according to the n number of working points; a fourth obtaining unit, configured to obtain adjustment amount information and adjustment ratio information of each adjustable parameter in the first dynamic parameter table based on the first parameter, the second parameter, the first combination parameter, and the first adjustment precision parameter; A first optimization unit, the first optimization unit is used to determine an adjustment parameter according to the adjustment amount information and the adjustment ratio information and an optimization adjustment rule, and perform optimization according to the adjustment parameter; The device further comprises: an eighth obtaining unit, configured to obtain a first predetermined adjustment ratio, when the adjustment ratio of the first adjustment parameter among the three adjustment parameters is significantly smaller than the adjustment ratios of the second adjustment parameter and the third adjustment parameter, and the adjustment ratio of the first adjustment parameter is smaller than the first predetermined adjustment ratio, at this time, the first predetermined condition is met, and the first adjustment parameter is used as the only adjustment amount; a ninth obtaining unit, wherein when the adjustment ratio of the first adjustment parameter is significantly smaller than the adjustment ratio of the third adjustment parameter, and the adjustment ratio of the first adjustment parameter is smaller than the first predetermined adjustment ratio, and at the same time, the adjustment ratio of the second adjustment parameter is significantly smaller than the adjustment ratio of the third adjustment parameter, and the adjustment ratio of the first adjustment parameter is smaller than the first predetermined adjustment ratio, and the first adjustment parameter, the second adjustment parameter, and the third adjustment parameter all do not satisfy the first predetermined condition, at this time, the second predetermined condition is satisfied, and the first adjustment parameter and the second adjustment parameter are used as adjustment amounts; a tenth obtaining unit, configured to use the first adjustment parameter, the second adjustment parameter, and the third adjustment parameter as adjustment amounts when neither the first predetermined condition nor the second predetermined condition is satisfied; The first predetermined adjustment ratio is a preset ratio for comparison reference.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor; characterized in that: When the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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