A permanent magnet synchronous motor speed pulsation suppression system and method

Abstract

The present disclosure belongs to the technical field of motor control and provides a permanent magnet synchronous motor speed pulsation suppression system and method, comprising a speed control module, a current control module and an inverter, wherein the speed control module is provided with a speed adaptive harmonic expansion state observer; wherein the speed control module is used to convert the speed of the permanent magnet synchronous motor into the q-axis component of a stator current given signal; the speed adaptive harmonic expansion state observer is used to achieve synchronous estimation of DC and fundamental frequency AC states, and introduce an estimated value into the speed control module to compensate for the q-axis component of the stator current given signal; the current control module is used to receive the three-phase current signal of the permanent magnet synchronous motor and the q-axis component of the stator current given signal in the speed control module, and output a PWM wave signal for controlling the operation of the permanent magnet synchronous motor.

Description

Technical Field

[0001] The present disclosure belongs to the technical field of motor control, and in particular relates to a system and method for suppressing speed pulsation of a permanent magnet synchronous motor. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] Permanent Magnet Synchronous Motors (PMSMs) are widely used in new energy vehicle drives, electric ship propulsion, and high-precision machining spindles due to their high power density, high efficiency, and high power factor. Designing high-performance PMSM controllers is an important foundation and key technology for ensuring efficient PMSM operation. However, over long periods of operation, the sampling process inevitably experiences persistent drift in the sampling bias due to factors such as thermal drift, equipment aging, and electronic component errors. This can cause torque and speed pulsation in the PMSM, reducing overall performance. Therefore, PMSM controller design must be able to effectively suppress speed pulsation introduced by sampling bias errors and maintain a stable output speed.

[0004] According to the inventors' understanding, in the process of suppressing the speed pulsation of a permanent magnet synchronous motor, the sampling bias error fault is mainly reduced by regular or irregular manual bias adjustment. However, since the sampling bias error changes with the running time, this method is time-consuming and labor-intensive and cannot continuously achieve the optimal control effect. Therefore, it is more advantageous to suppress the influence of the sampling bias error by optimizing the control method.

[0005] Currently, in the field of permanent magnet synchronous motor control, there are two main types of controller design methods for mitigating the effects of sampling bias error. The first involves real-time sampling bias error estimation, designing a bias error estimator to directly compensate for the sampling bias to ensure sampling accuracy. This method is simple and widely used. The second type involves suppressing speed pulsation as a harmonic. These methods treat the sampling bias error as harmonic interference and design fundamental harmonic suppression control methods to improve the speed controller, suppress speed pulsation, and reduce the effects of sampling bias error. However, these methods do not compensate for the sampling error but directly suppress speed pulsation. Both methods can effectively reduce speed pulsation caused by sampling bias error.

[0006] In summary, at present, the controller design for the permanent magnet synchronous motor speed pulsation problem caused by sampling bias error has achieved certain research results at home and abroad, but there are still some shortcomings:

[0007] First, the existing permanent magnet synchronous motor controller has a long stabilization time for the speed control results when there is a bias error, and there is still room for improvement.

[0008] Second, the existing method for suppressing speed pulsation caused by sampling bias error of permanent magnet synchronous motors still needs to be improved, and the performance of suppressing speed pulsation needs to be further improved. Summary of the Invention

[0009] In order to solve the above problems, the present disclosure proposes a permanent magnet synchronous motor speed pulsation suppression system and method. Based on a simple structure, a permanent magnet synchronous motor speed pulsation suppression system with strong speed pulsation suppression capability is designed, which weakens the influence of sampling bias error and ensures the stability of the permanent magnet synchronous motor output speed.

[0010] According to some embodiments, a first solution of the present disclosure provides a permanent magnet synchronous motor speed pulsation suppression system, which adopts the following technical solutions:

[0011] A permanent magnet synchronous motor speed pulsation suppression system includes a speed control module, a current control module, and an inverter. The speed control module is equipped with a speed adaptive harmonic expansion state observer. The speed control module is used to convert the speed of the permanent magnet synchronous motor into the q-axis component of a stator current given signal. The speed adaptive harmonic expansion state observer is used to achieve synchronous estimation of DC and fundamental frequency AC states, and introduce the estimated value into the speed control module to compensate for the q-axis component of the stator current given signal. The current control module is used to receive the three-phase current signal of the permanent magnet synchronous motor and the q-axis component of the stator current given signal in the speed control module, and output a PWM wave signal for controlling the operation of the permanent magnet synchronous motor.

[0012] As a further technical limitation, the input end of the speed control module is connected to the permanent magnet synchronous motor, and its output end is connected to the first input end of the current control module; the second input end of the current control module is connected to the permanent magnet synchronous motor, and its output end is connected to the permanent magnet synchronous motor through the inverter.

[0013] As a further technical limitation, the speed control module also includes a speed setting unit, a speed input unit, a compensation angle setting unit, a first comparison unit and a control law operation unit; the first output end of the speed setting unit is connected to the first input end of the first comparison unit, the second input end of the first comparison unit is connected to the first output end of the speed input unit, the first output end and the second output end of the first comparison unit are respectively connected to the control law operation unit and the speed adaptive harmonic expanded state observer, the first input end of the speed adaptive harmonic expanded state observer is connected to the second output end of the first comparison unit, the second input end of the speed adaptive harmonic expanded state observer is connected to the second output end of the speed input unit, the third input end of the speed adaptive harmonic expanded state observer is connected to the output end of the compensation angle setting unit, and the fourth input end of the speed adaptive harmonic expanded state observer is connected to the first output end of the control law operation unit.

[0014] Furthermore, the current control module includes a second comparing unit, a third comparing unit, a first PI control unit, a second PI control unit, a PWM wave generating unit, a coordinate transforming unit and a current input unit.

[0015] Furthermore, the input end of the current input unit is connected to the permanent magnet synchronous motor, and the output end thereof is connected to the input end of the coordinate transformation unit; the first output end of the coordinate transformation unit is connected to the first input end of the third comparison unit, and the second output end thereof is connected to the first input end of the second comparison unit; the second input end of the third comparison unit is connected to the d-axis component of the current given signal The second input end of the second comparison unit is connected to the second output end of the control law operation; the output end of the second comparison unit is connected to the input end of the first PI control unit, and the output end of the third comparison unit is connected to the input end of the second PI control unit.

[0016] Furthermore, the first input end and the second input end of the PWM wave generating unit are respectively connected to the output end of the first PI control unit and the output end of the second PI control unit; the output end of the PWM wave generating unit is connected to the permanent magnet synchronous motor through the inverter.

[0017] As a further technical limitation, based on the control law operation unit, an AC estimated state is introduced as compensation for the q-axis current given component to obtain the q-axis component of the stator current given signal with AC compensation.

[0018] According to some embodiments, a second solution of the present disclosure provides a method for suppressing speed pulsation of a permanent magnet synchronous motor, which adopts the following technical solution:

[0019] A method for suppressing speed pulsation of a permanent magnet synchronous motor comprises the following steps:

[0020] Obtain status data of permanent magnet synchronous motor;

[0021] Based on the acquired state data, a mathematical model of the permanent magnet synchronous motor and a speed adaptive harmonic expansion state observer are constructed;

[0022] Based on the given signal and actual three-phase current signal of the permanent magnet synchronous motor, a PWM wave signal for controlling the operation of the permanent magnet synchronous motor is determined;

[0023] According to the determined PWM wave signal and the constructed permanent magnet synchronous motor mathematical model, the speed pulsation suppression control of the permanent magnet synchronous motor is performed.

[0024] As a further technical limitation, the given signal of the permanent magnet synchronous motor is a stator current including AC compensation.

[0025] As a further technical limitation, the mathematical model of the permanent magnet synchronous motor is constructed as follows:

[0026]

[0027] Among them, u d Represents the d-axis component of the stator voltage, u q represents the q-axis component of the stator voltage, i d represents the d-axis component of the stator current, i q represents the q-axis component of the stator current, ω r represents the rotor electrical angular velocity, R represents the stator resistance, B represents the friction coefficient, L d represents the d-axis component of the stator inductance, L q represents the q-axis component of the stator inductance, T L represents the load torque, p represents the number of pole pairs, represents permanent magnet flux and J represents moment of inertia.

[0028] As a further technical limitation, by adding a speed-adaptive resonant state estimation term to the speed-adaptive harmonic expanded state observer, the fundamental frequency AC harmonic state disturbance term introduced by the sampling bias error is estimated, thereby reducing the impact of the sampling bias error on the speed of the permanent magnet synchronous motor.

[0029] As a further technical limitation, the speed adaptive harmonic extended state observer is

[0030]

[0031] Among them, states z1, z2, z h They are the rotor electrical angular velocity ω r, the state estimation values of the DC state component f0 / b and the fundamental frequency speed harmonic state component f1 / b;

[0032] The actual values of states f0 / b, f1 / b, and b are expressed as

[0033]

[0034] Among them, β1, β2, k r is the coefficient of the speed adaptive harmonic extended state observer, i ce Represents the q-axis component of the sampling bias error current; ω r0 Represents the DC component of the rotor electrical angular velocity; ω r1 Represents the fundamental frequency component of the rotor electrical angular velocity; i d0 represents the DC component of the d-axis current; i q1 Represents the fundamental frequency component of the q-axis current;

[0035] Get the AC and DC state estimation value z2+z h .

[0036] According to some embodiments, a third solution of the present disclosure provides a computer-readable storage medium, which adopts the following technical solution:

[0037] A computer-readable storage medium stores a program, which, when executed by a processor, implements the steps of the method for suppressing speed pulsation of a permanent magnet synchronous motor as described in the first aspect of the present disclosure.

[0038] According to some embodiments, a fourth solution of the present disclosure provides an electronic device, which adopts the following technical solution:

[0039] An electronic device comprises a memory, a processor and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method for suppressing speed pulsation of a permanent magnet synchronous motor as described in the first aspect of the present disclosure are implemented.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. The present invention adopts a novel speed-adaptive harmonic expansion state observer. By adding a speed-adaptive resonant state estimation term, it simultaneously estimates the DC system state and the fundamental frequency AC harmonic state disturbance term introduced by the sampling bias error. This overcomes the problem of insufficient AC state estimation performance of existing state observers and has speed-adaptive characteristics.

[0042] 2. The permanent magnet synchronous motor speed controller disclosed in the present invention introduces the real-time estimation value of the speed adaptive harmonic expansion state observer to compensate for the current setting. The speed jitter is smaller during stable operation, and the speed jitter can be suppressed more quickly when the speed changes. Compared with the existing control method, the speed stability can be achieved in a shorter time, the speed control stability is improved, and the impact of sampling bias error on the operation of the permanent magnet synchronous motor is reduced.

[0043] 3. The speed controller disclosed in the present invention adopts a designed speed adaptive harmonic expanded state observer, which does not require a torque sensor, reduces the design cost of the permanent magnet synchronous motor control system, and at the same time reduces the dependence on precise motor parameters and enhances the robustness of the controller, thus being more conducive to the promotion and application of permanent magnet synchronous motor systems in practice. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which constitute a part of the present disclosure, are used to provide a further understanding of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation to the present disclosure.

[0045] Figure 1 1 is a schematic structural diagram of a permanent magnet synchronous motor controller in the first embodiment of the present disclosure;

[0046] Figure 2 Schematic diagram of the structure of the permanent magnet synchronous motor speed pulsation suppression system in the first embodiment of the present disclosure;

[0047] Figure 3 This is a simulation diagram comparing the speed control effect when the given speed is 200 r / min in the second embodiment of the present disclosure;

[0048] Figure 4 This is a simulation diagram comparing the speed control effect when the given speed is 500 r / min in the second embodiment of the present disclosure;

[0049] Figure 5 This is a simulation diagram comparing the control effects when the given speed in the second embodiment of the present disclosure suddenly changes from 200 r / min to 500 r / min. DETAILED DESCRIPTION

[0050] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0051] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present disclosure belongs.

[0052] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0053] In the absence of conflict, the embodiments of the present disclosure and the features thereof may be combined with each other.

[0054] Example 1

[0055] Embodiment 1 of the present disclosure introduces a system for suppressing speed pulsation of a permanent magnet synchronous motor.

[0056] like Figure 1 and Figure 2 A permanent magnet synchronous motor speed pulsation suppression system shown includes a speed control module, a current control module and an inverter;

[0057] Among them, the input end of the speed control module is connected to the permanent magnet synchronous motor, and its output end is connected to the first input end of the current control module; the second input end of the current control module is connected to the permanent magnet synchronous motor, and its output end is connected to the permanent magnet synchronous motor through the inverter; the speed control module is equipped with a speed adaptive harmonic expansion state observer.

[0058] Specifically, the permanent magnet synchronous motor speed pulsation suppression system includes a speed setting unit, a speed input unit, a comparison unit 1, a compensation angle setting unit, a control law operation unit, a speed adaptive harmonic expansion state observer, a comparison unit 2, a PI control unit 1, a comparison unit 3, a PI control unit 2, a current input unit, a coordinate transformation unit, a PWM wave generation unit and an inverter. The speed setting unit outputs a given value of the speed; the output end of the speed setting unit is connected to the comparison unit 1; the other input end of the comparison unit 1 is connected to the speed input unit; the output end of the comparison unit 1 is connected to the control law operation unit and the speed adaptive harmonic expansion state observer; the output end of the speed input unit is connected to the comparison unit 1 and the speed adaptive harmonic expansion state observer; the compensation angle setting unit is connected to one of the input ends of the speed adaptive harmonic expansion state observer; the other end of the control law operation unit receives the state estimation information output by the speed adaptive harmonic expansion state observer; the output of the control law operation unit is a q-axis current setting signal, and the output end is connected to the speed adaptive harmonic expansion state observer. The detector is connected to the comparison unit 2; the current input unit collects the current signal of the permanent magnet synchronous motor and outputs it to the coordinate transformation unit; the output of the coordinate transformation unit is the d-axis and q-axis current signals, which are respectively connected to the input ends of the comparison unit 2 and the comparison unit 3; the output of the comparison unit 2 is connected to the PI control unit 1; the output of the PI control unit 1 is connected to the PWM wave generating unit; the other input end of the comparison unit 3 inputs the d-axis current given signal, which is given to zero; the output of the comparison unit 3 is connected to the PI control unit 2; the output of the PI control unit 2 is connected to the other input end of the PWM wave generating unit; the output of the PWM wave generating unit is connected to the input end of the inverter; the output end of the inverter is connected to the permanent magnet synchronous motor to control its operation.

[0059] The speed setting unit, speed input unit, compensation angle setting unit, comparison unit 1, control law operation unit and speed adaptive harmonic expansion state observer together constitute a speed control unit, and the comparison unit 2, PI control unit 1, comparison unit 3, PI control unit 2, current input unit, coordinate transformation unit and PWM wave generation unit together constitute a current control unit.

[0060] Example 2

[0061] The second embodiment of the present disclosure introduces a method for suppressing speed pulsation of a permanent magnet synchronous motor, which adopts the speed pulsation suppression system of the permanent magnet synchronous motor introduced in the first embodiment.

[0062] A method for suppressing speed pulsation of a permanent magnet synchronous motor comprises the following steps:

[0063] Obtain status data of permanent magnet synchronous motor;

[0064] Based on the acquired state data, a mathematical model of the permanent magnet synchronous motor and a speed adaptive harmonic expansion state observer are constructed;

[0065] Based on the given signal and actual three-phase current signal of the permanent magnet synchronous motor, a PWM wave signal for controlling the operation of the permanent magnet synchronous motor is determined;

[0066] According to the determined PWM wave signal and the constructed permanent magnet synchronous motor mathematical model, the speed pulsation suppression control of the permanent magnet synchronous motor is performed.

[0067] Specifically, this embodiment introduces a method for suppressing speed pulsation of a permanent magnet synchronous motor targeting a sampling bias error. The permanent magnet synchronous motor satisfies the following mathematical model:

[0068]

[0069] Among them, u d Represents the d-axis component of the stator voltage, u q represents the q-axis component of the stator voltage, i d represents the d-axis component of the stator current, i q represents the q-axis component of the stator current, ω r represents the rotor electrical angular velocity, R represents the stator resistance, B represents the friction coefficient, L d represents the d-axis component of the stator inductance, L q represents the q-axis component of the stator inductance, T L represents the load torque, p represents the number of pole pairs, represents permanent magnet flux and J represents moment of inertia.

[0070] A. Design of speed control unit

[0071] The input signal of the speed control unit is the rotor electrical angular velocity ω of the permanent magnet synchronous motor r , and finally get the q-axis component of the stator current given signal As the input reference signal of the current control unit, it goes through the following steps:

[0072] A1. Design of speed setting unit

[0073] The output of the speed setting unit is the reference value of the rotor electrical angular velocity Satisfy the following formula

[0074]

[0075] n * Represents the reference value of the mechanical speed. The reference value of the rotor electrical angular velocity is calculated by giving the mechanical speed reference value.

[0076] A2. Design of speed input unit

[0077] The input signal of the speed input unit is the speed of the permanent magnet synchronous motor, and the output is the rotor electrical angular velocity ω of the permanent magnet synchronous motor. r .

[0078] A3. Comparison Unit 1 Design

[0079] The input signal of comparison unit 1 is the rotor electrical angular velocity reference value output by the speed setting unit And the rotor electrical angular velocity ω output by the speed input unit r , through the following formula:

[0080]

[0081] An output signal s of the comparison unit 1 is obtained.

[0082] A4. Design of compensation angle setting unit

[0083] The output of the compensation angle setting unit is the compensation phase angle reference value of the speed adaptive harmonic expansion state observer

[0084] A5. Design of Speed Adaptive Harmonic Expansion State Observer

[0085] A new speed adaptive harmonic state observation method is designed. The input signal of the speed adaptive harmonic expansion state observer is the rotor electrical angular velocity ω of the speed input unit. r , the output signal s of the comparison unit 1, the output signal of the compensation angle setting unit and the output signal of the control law operation unit The designed speed adaptive harmonic expansion state observer is expressed as follows:

[0086]

[0087] Among them, states z1, z2, z h They are the rotor electrical angular velocity ω r , DC state component f0 / b, fundamental frequency speed harmonic state component f1 / b state estimation value, the actual value of state f0 / b, f1 / b, b is expressed as

[0088]

[0089] β1, β2, k r is the coefficient of the speed adaptive harmonic expansion state observer;

[0090] i ce Represents the q-axis component of the sampling bias error current; ω r0Represents the DC component of the rotor electrical angular velocity; ω r1 Represents the fundamental frequency component of the rotor electrical angular velocity; i d0 represents the DC component of the d-axis current; i q1 Represents the fundamental frequency component of the q-axis current;

[0091] Get the AC and DC state estimation value z2+z h .

[0092] A6. Design of control law operation unit

[0093] The input signals of the control law operation unit are the output signal s of the comparison unit 1 and the state estimation value z2+z h , through the following formula

[0094]

[0095] a and d are the parameters of the control law operation unit;

[0096] The difference from the existing method is that the AC estimation state z is introduced h Compensate the q-axis current given component to obtain the q-axis component of the stator current given signal with AC compensation

[0097] B. Design of current control unit

[0098] The input signal of the current control unit is the q-axis component of the stator current given signal output by the speed control unit. and the actual three-phase current signal of the permanent magnet synchronous motor, and finally obtain the PWM wave signal that controls the operation of the permanent magnet synchronous motor. The specific steps are as follows:

[0099] B1. Design of current input unit

[0100] The current input unit completes the sampling of the actual three-phase current signal of the permanent magnet synchronous motor. During the sampling process, sampling bias error is generated due to factors such as thermal drift, equipment aging, and electronic component errors. The sampling process is based on the following sampling relationship:

[0101]

[0102] i a 、i b 、i c is the actual three-phase current value; Δi ao , Δi bo , Δi co is the three-phase sampling bias error;

[0103] Output the sampled three-phase current signal i am 、ibm 、i cm .

[0104] B2. Design of coordinate transformation unit

[0105] The input signal of the coordinate transformation unit is the three-phase current signal i sampled by the current input unit am 、i bm 、i cm , through the following formula:

[0106]

[0107] Get the d-axis component i of the current d and the q-axis component i q .

[0108] B3. Design of Comparison Unit 2

[0109] The input signal of comparison unit 2 is the q-axis component of the stator current given signal and the q-axis component i of the current signal output by the coordinate transformation unit q , through the following formula:

[0110]

[0111] The tracking error e1 of the q-axis component of the stator current is obtained.

[0112] B4. Design of PI control unit 1

[0113] The input signal of PI control unit 1 is the stator current q-axis component tracking error e1 output by comparison unit 2, which is expressed by the following formula:

[0114]

[0115] k p1 、k i1 are the proportional and integral coefficients of PI control unit 1;

[0116] Get the q-axis component of the voltage given

[0117] B5. Comparison Unit 3 Design

[0118] The input signal of comparison unit 3 is the d-axis component of the current given signal and the d-axis component i of the current signal output by the coordinate transformation unit d , through the following formula:

[0119]

[0120] The tracking error e2 of the d-axis component of the stator current is obtained.

[0121] B6. Design of PI control unit 2

[0122] The input signal of the PI control unit 2 is the stator current d-axis component tracking error e2 output by the comparison unit 3, which is expressed by the following formula:

[0123]

[0124] Among them, k p2 、k i2 are the proportional and integral coefficients of PI control unit 2;

[0125] Get the d-axis component of the voltage given

[0126] B7. Design of PWM wave generating unit

[0127] The input signal of the PWM wave generating unit is the q-axis component of the voltage given by the PI control unit 1 output The d-axis component of the rotor voltage given by the PI control unit 2 Convert it into PWM wave and output it.

[0128] The permanent magnet synchronous motor model is shown in equations (1) and (2). The specific model parameters are: R = 2.88Ω, L d =6.4mH, L q =6.4mH, p=4, J=1.82×10 -4 kg·m 2 ,

[0129] The controller parameters used in the simulation experiment are: a=0.15,d=0.025,k r =6, β1=5360, β2=850, k p1 =12,k i1 =880,k p2 =12,k i2 =550, in the three-phase current sampling bias Δi a =0.1A, Δi b =0.1A, Δi c =-0.1A, constant torque 1.5N·m load to verify the effectiveness of the controller; the simulation results are as follows Figure 3 、 Figure 4 and Figure 5 shown.

[0130] Figure 3 This is a simulation diagram comparing the speed control effect when the given speed is 200r / min. Figure 4The simulation diagram shows the speed control effect comparison when the speed is given to be 500r / min. It can be seen that under the existing PI control method, the speed has obvious fundamental frequency fluctuations, while under the designed control method, the speed output remains constant and is less affected by the sampling bias error. Figure 5 This is a simulation diagram comparing the control effects when the given speed suddenly changes from 200r / min to 500r / min. The speed control effects of the designed control method are compared with the existing proportional integral resonant control method (PIR). It can be seen that under the action of the designed controller, the speed rise process is smoother and the speed fundamental frequency jitter is significantly smaller.

[0131] The simulation results show that the proposed permanent magnet synchronous motor speed pulsation suppression method can ensure a more stable output speed when there is a sampling bias error, while making the speed change process smoother, thereby improving the system operation stability and reliability.

[0132] Example 3

[0133] A third embodiment of the present disclosure provides a computer-readable storage medium.

[0134] A computer-readable storage medium stores a program, which, when executed by a processor, implements the steps of the method for suppressing speed pulsation of a permanent magnet synchronous motor as described in the second embodiment of the present disclosure.

[0135] The detailed steps are the same as those of the method for suppressing speed pulsation of a permanent magnet synchronous motor provided in Example 2, and will not be repeated here.

[0136] Example 4

[0137] A fourth embodiment of the present disclosure provides an electronic device.

[0138] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps of the method for suppressing speed pulsation of a permanent magnet synchronous motor as described in the second embodiment of the present disclosure are implemented.

[0139] The detailed steps are the same as those of the method for suppressing speed pulsation of a permanent magnet synchronous motor provided in Example 2, and will not be repeated here.

[0140] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Those skilled in the art should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A permanent magnet synchronous motor speed pulsation suppression system, characterized in that: The invention comprises a speed control module, a current control module and an inverter, wherein the speed control module is provided with a speed adaptive harmonic expansion state observer; wherein the speed control module is used to convert the speed of the permanent magnet synchronous motor into a stator current given signal. q axis component; the speed adaptive harmonic expansion state observer is used to realize the synchronous estimation of the DC and fundamental frequency AC states, and the estimated value is introduced into the speed control module to compensate for the q-axis component of the stator current given signal; the current control module is used to receive the three-phase current signal of the permanent magnet synchronous motor and the q-axis component of the stator current given signal in the speed control module, and output a PWM wave signal for controlling the operation of the permanent magnet synchronous motor; The speed control module also includes a speed setting unit, a speed input unit, a compensation angle setting unit, a first comparison unit and a control law operation unit; the first output end of the speed setting unit is connected to the first input end of the first comparison unit, the second input end of the first comparison unit is connected to the first output end of the speed input unit, the first output end and the second output end of the first comparison unit are respectively connected to the control law operation unit and the speed adaptive harmonic expanded state observer, the first input end of the speed adaptive harmonic expanded state observer is connected to the second output end of the first comparison unit, the second input end of the speed adaptive harmonic expanded state observer is connected to the second output end of the speed input unit, the third input end of the speed adaptive harmonic expanded state observer is connected to the output end of the compensation angle setting unit, and the fourth input end of the speed adaptive harmonic expanded state observer is connected to the first output end of the control law operation unit; the output end of the speed adaptive harmonic expanded state observer is connected to the input end of the control law operation unit; the current control module includes a second comparison unit, a third comparison unit, a first PI Control unit, second PI control unit, PWM wave generating unit, coordinate transforming unit and current input unit; The speed adaptive harmonic expansion state observer is: Among them, the status z 1. z 2. z h The rotor electrical angular velocity is , DC state component f 0 / b , fundamental frequency speed harmonic state component f 1 / b The estimated value of the state; Indicates the stator current q Axis component; Represents the output signal of the compensation angle setting unit; s represents the output signal of the first comparison unit; state f 0 / b、f 1 / b、b The actual value of is expressed as: in, β 1. β 2. k r is the coefficient of the speed adaptive harmonic extended state observer, i ce Represents the sampling bias error current q Axis component; ω r0 Represents the DC component of the rotor electrical angular velocity; ω r1 Represents the fundamental frequency component of the rotor electrical angular velocity; represents the permanent magnet flux; represents the friction coefficient; The stator inductance d Axis component; The stator inductance q Axis component; represents the moment of inertia; represents the load torque, p stands for pole pair; Get AC and DC state estimates .

2. A permanent magnet synchronous motor speed pulsation suppression system as claimed in claim 1, characterized in that: Based on the control law operation unit, the AC estimated state is introduced as q Compensation of the shaft current given component to obtain the stator current given signal with AC compensation q Axis component.

3. A method for suppressing speed pulsation of a permanent magnet synchronous motor, using the permanent magnet synchronous motor speed pulsation suppression system according to any one of claims 1 to 2, characterized in that: The following steps are involved: Obtain status data of permanent magnet synchronous motor; Based on the acquired state data, a mathematical model of the permanent magnet synchronous motor and a speed adaptive harmonic expansion state observer are constructed; Based on the given signal and actual three-phase current signal of the permanent magnet synchronous motor, the control of the permanent magnet synchronous motor operation is determined. PWM wave signal; According to the determined PWM The speed pulsation suppression control of the permanent magnet synchronous motor is carried out based on the wave signal and the constructed mathematical model of the permanent magnet synchronous motor.

4. A method for suppressing speed pulsation of a permanent magnet synchronous motor as claimed in claim 3, characterized in that: The given signal of the permanent magnet synchronous motor is the stator current including AC compensation.

5. A method for suppressing speed pulsation of a permanent magnet synchronous motor as claimed in claim 3, characterized in that: The mathematical model of the permanent magnet synchronous motor is constructed as follows: in, Represents the stator voltage d Axis component, Represents the stator voltage q Axis component, Represents the stator current d Axis component, Represents the stator current q Axis component, represents the rotor electrical angular velocity, represents the stator resistance, B represents the friction coefficient, Represents the stator inductance d Axis component, Represents the stator inductance q Axis component, Represents the load torque, p represents the number of pole pairs, represents permanent magnet flux linkage, J Represents the moment of inertia.

6. A method for suppressing speed pulsation of a permanent magnet synchronous motor as claimed in claim 3, characterized in that: By adding a speed-adaptive resonant state estimation term into the speed-adaptive harmonic extended state observer, the fundamental frequency AC harmonic state disturbance term introduced by the sampling bias error is estimated, thereby reducing the influence of the sampling bias error on the speed of the permanent magnet synchronous motor.

7. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method for suppressing speed pulsation of a permanent magnet synchronous motor as described in any one of claims 3 to 6 are implemented.

8. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method for suppressing speed pulsation of a permanent magnet synchronous motor as described in any one of claims 3 to 6 are implemented.

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