A permanent magnet synchronous motor decoupling control method, device, equipment and storage medium

Abstract

The application discloses a permanent magnet synchronous motor decoupling control method and device, equipment and storage medium, wherein a d-axis disturbance value, a q-axis disturbance value, a preset resistance value, a preset d-axis inductance and a preset q-axis inductance are input into a permanent magnet synchronous motor stator voltage equation to obtain a d-axis and q-axis current change rate equation; a d-axis controlled function and a q-axis controlled function are obtained according to the d-axis current change rate equation, the q-axis current change rate equation, a d-axis control function and a q-axis control function; a closed-loop transfer function is obtained according to a d-axis adjustment function, a q-axis adjustment function, the d-axis controlled function and the q-axis controlled function; and the permanent magnet synchronous motor is controlled according to the closed-loop transfer function. In the application, the closed-loop transfer function is represented by determined parameters, so that when the environment changes, the controller parameters do not need to be reset, and the decoupling efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a decoupling control method, device, equipment and storage medium for a permanent magnet synchronous motor. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) have been widely used in industries such as metallurgy, ceramics, rubber, and petroleum due to their high reliability, small size, and simple control. To improve the performance of PMSM control systems, researchers have proposed various control strategies for PMSM control.

[0003] In existing technologies, the parameters of proportional-integral (PI) controllers are usually designed according to the parameters of a typical first-order system in automatic control theory. Decoupling can only be achieved when the actual parameters of the permanent magnet synchronous motor match the parameters of the PI controller. At the same time, the tuning methods of the PI controller are mostly based on experience and require repeated trial and error.

[0004] Decoupling can only be achieved when the actual parameters of the permanent magnet synchronous motor (PMSM) match the parameters of the PI controller. If the environment changes, the actual parameters of the PMSM will change due to environmental influences, leading to a mismatch between the actual parameters of the PMSM and the PI controller parameters, thus preventing complete decoupling. In other words, the matching relationship between the PI controller parameters and the actual parameters of the motor is easily affected by environmental factors. When the environment changes, the PI controller parameters need to be readjusted, resulting in low decoupling efficiency. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a decoupling control method, apparatus, device, and storage medium for permanent magnet synchronous motors.

[0006] The embodiments of this application disclose the following technical solutions:

[0007] This application provides a decoupling control method for a permanent magnet synchronous motor, including:

[0008] The d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor are input into the extended state observer equation to obtain the d-axis disturbance value and q-axis disturbance value;

[0009] The d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance are input into the stator voltage equation of the permanent magnet synchronous motor to obtain the d-axis current change rate equation and the q-axis current change rate equation.

[0010] Based on the d-axis current rate of change equation, the q-axis current rate of change equation, the d-axis control function, and the q-axis control function, the d-axis controlled function and the q-axis controlled function are obtained.

[0011] Based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function, the closed-loop transfer function is obtained;

[0012] The permanent magnet synchronous motor is controlled according to the closed-loop transfer function.

[0013] Further, obtaining the closed-loop transfer function based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function includes:

[0014] The first difference is obtained based on the actual d-axis current value and the d-axis reference current value;

[0015] The second difference is obtained by comparing the actual q-axis current value with the q-axis reference current value.

[0016] Based on the first difference, the second difference, the bandwidth of the d-axis controller, the bandwidth of the q-axis controller, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance, the d-axis adjustment function and the q-axis adjustment function are obtained.

[0017] The closed-loop transfer function is obtained based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function.

[0018] Further, the step of inputting the d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance into the stator voltage equation of the permanent magnet synchronous motor to obtain the d-axis current change rate equation and the q-axis current change rate equation includes:

[0019] The stator voltage equation of the permanent magnet synchronous motor is transformed by equivalent transformation to obtain the transformed d-axis stator voltage equation and the transformed q-axis stator voltage equation;

[0020] The d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance are input into the transformed d-axis stator voltage equation and the transformed q-axis stator voltage equation to obtain the d-axis current change rate equation and the q-axis current change rate equation.

[0021] Further, obtaining the d-axis controlled function and the q-axis controlled function based on the d-axis current rate of change equation, the q-axis current rate of change equation, the d-axis control function, and the q-axis control function includes:

[0022] Based on the d-axis current change rate equation, the q-axis current change rate equation, the d-axis control function, and the q-axis control function, the d-axis unperturbed value equation and the q-axis unperturbed value equation are obtained.

[0023] Perform a Laplace transform on the d-axis unperturbed value equation and the q-axis unperturbed value equation to obtain the d-axis controlled function and the q-axis controlled function.

[0024] Further, the step of inputting the d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor into the extended state observer equation to obtain the d-axis disturbance value and q-axis disturbance value includes:

[0025] Based on the d-axis current change rate equation, the q-axis current change rate equation, and the state-space state model, the extended state observer equation is obtained.

[0026] The d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor are input into the extended state observer equation to obtain the d-axis disturbance value and the q-axis disturbance value.

[0027] Further, obtaining the extended state observer equation based on the d-axis current rate of change equation, the q-axis current rate of change equation, and the state-space state model includes:

[0028] Based on the d-axis current rate of change equation, the q-axis current rate of change equation, and the state-space state model, the extended state observer model is obtained.

[0029] The gain vector is determined based on the bandwidth, preset resistance value, preset d-axis inductance, and preset q-axis inductance of the extended state observer;

[0030] Based on the gain vector and the extended state observer model, the extended state observer equation is obtained.

[0031] This application provides a decoupling control device for a permanent magnet synchronous motor, comprising: a first acquisition module, a second acquisition module, a third acquisition module, a fourth acquisition module, and a control module;

[0032] The first obtaining module is used to input the d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor into the extended state observer equation to obtain the d-axis disturbance value and the q-axis disturbance value;

[0033] The second obtaining module is used to input the d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance into the stator voltage equation of the permanent magnet synchronous motor to obtain the d-axis current change rate equation and the q-axis current change rate equation.

[0034] The third obtaining module is used to obtain the d-axis controlled function and the q-axis controlled function based on the d-axis current change rate equation, the q-axis current change rate equation, the d-axis control function, and the q-axis control function;

[0035] The fourth obtaining module is used to obtain the closed-loop transfer function based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function;

[0036] The control module is used to control the permanent magnet synchronous motor according to the closed-loop transfer function.

[0037] Furthermore, the fourth obtaining module includes: a first obtaining unit, a second obtaining unit, a third obtaining unit, and a fourth obtaining unit;

[0038] The first obtaining unit is used to obtain a first difference based on the actual d-axis current value and the d-axis reference current value;

[0039] The second obtaining unit is used to obtain a second difference based on the actual q-axis current value and the q-axis reference current value;

[0040] The third obtaining unit is used to obtain the d-axis adjustment function and the q-axis adjustment function based on the first difference, the second difference, the bandwidth of the d-axis controller, the bandwidth of the q-axis controller, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance.

[0041] The fourth obtaining unit is used to obtain the closed-loop transfer function based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function.

[0042] Further, the second obtaining module is used to perform an equivalent transformation on the stator voltage equation of the permanent magnet synchronous motor to obtain the transformed d-axis stator voltage equation and the transformed q-axis stator voltage equation; inputting the d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance into the transformed d-axis stator voltage equation and the transformed q-axis stator voltage equation to obtain the d-axis current change rate equation and the q-axis current change rate equation.

[0043] Furthermore, the third obtaining module is used to obtain the d-axis unperturbed value equation and the q-axis unperturbed value equation based on the d-axis current change rate equation, the q-axis current change rate equation, the d-axis control function, and the q-axis control function; and to perform a Laplace transform on the d-axis unperturbed value equation and the q-axis unperturbed value equation to obtain the d-axis controlled function and the q-axis controlled function.

[0044] Further, the first obtaining module includes:

[0045] The fifth and sixth acquisition units;

[0046] The fifth obtaining unit is used to obtain the extended state observer equation based on the d-axis current change rate equation, the q-axis current change rate equation, and the state space state model.

[0047] The sixth obtaining unit is used to input the d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor into the extended state observer equation to obtain the d-axis disturbance value and the q-axis disturbance value.

[0048] Furthermore, the fifth obtaining unit is used for:

[0049] Based on the d-axis current rate of change equation, the q-axis current rate of change equation, and the state-space state model, the extended state observer model is obtained; based on the bandwidth, preset resistance value, preset d-axis inductance, and preset q-axis inductance of the extended state observer, the gain vector is determined; based on the gain vector and the extended state observer model, the extended state observer equation is obtained.

[0050] This application provides a computer device, which includes a processor and a memory:

[0051] The memory is used to store program code and transmit the program code to the processor;

[0052] The processor is used to execute the steps of a permanent magnet synchronous motor decoupling control method as described above, according to the instructions in the program code.

[0053] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of a permanent magnet synchronous motor decoupling control method as described above.

[0054] Compared with the prior art, this application has the following beneficial effects:

[0055] This application obtains the d-axis current rate of change equation and the q-axis current rate of change equation by inputting the d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance into the stator voltage equation of a permanent magnet synchronous motor. Based on the d-axis current rate of change equation, the q-axis current rate of change equation, the d-axis control function, and the q-axis control function, the d-axis controlled function and the q-axis controlled function are obtained. Based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function, a closed-loop transfer function composed of known parameters is obtained. The permanent magnet synchronous motor is controlled based on the closed-loop transfer function. This application uses unknown parameters as disturbance values, estimates them through an extended state observer, and eliminates them to obtain a closed-loop transfer function composed of known parameters. This simplifies the parameter configuration of the PI controller, eliminates the need to change the PI controller parameters when the environment changes, and also achieves decoupling control, improving decoupling efficiency. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 A block diagram of decoupling control for a permanent magnet synchronous motor provided in this application embodiment;

[0058] Figure 2 A flowchart of a decoupling control method for a permanent magnet synchronous motor provided in this application embodiment;

[0059] Figure 3 This is a schematic diagram of a decoupling control device for a permanent magnet synchronous motor provided in an embodiment of this application. Detailed Implementation

[0060] As described above, improving the decoupling efficiency of permanent magnet synchronous motors has become a technical problem that urgently needs to be solved by those skilled in the art.

[0061] The inventors discovered through research that, according to the stator voltage equations of a permanent magnet synchronous motor (PMSM) in a synchronous rotating coordinate system, the stator voltage equations of the d-axis and q-axis exhibit cross-coupling. Using existing decoupling control methods, decoupling can only be achieved when the actual parameters of the PMSM match the parameters of the PI controller. However, the actual parameters of the PMSM are affected by environmental factors, leading to a mismatch between the actual parameters of the PMSM and the PI controller, thus preventing complete decoupling. Furthermore, existing technologies require empirical tuning of the PI controller parameters to achieve matching, necessitating repeated trial and error, resulting in low matching efficiency. Therefore, existing decoupling control methods require retuning of the PI controller parameters when the environment changes, further reducing decoupling efficiency.

[0062] Based on this, the embodiments of this application treat unknown parameters as disturbance values. The d-axis and q-axis disturbance values ​​are estimated using an extended state observer. These disturbance values, along with preset resistance, d-axis inductance, and q-axis inductance, are input into the stator voltage equation of the permanent magnet synchronous motor to obtain the d-axis and q-axis current change rate equations. Based on these equations, the d-axis and q-axis control functions, the controlled functions for the d and q axes are obtained. Finally, based on these functions, a closed-loop transfer function eliminating unknown parameters is obtained. This closed-loop transfer function enables decoupling control of the permanent magnet synchronous motor. Since the unknown parameters are treated as disturbance values ​​and estimated using an extended state observer, resulting in a closed-loop transfer function composed of known parameters, the parameters in the closed-loop transfer function do not change with environmental variations. Therefore, when the environment changes, it is not necessary to change the PI controller parameters, thus achieving decoupling control and improving decoupling efficiency.

[0063] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0064] This application provides a decoupling control method for a permanent magnet synchronous motor. See also... Figure 1 This figure is a block diagram of a decoupling control for a permanent magnet synchronous motor provided in an embodiment of this application. Figure 2 The flowchart of a decoupling control method for a permanent magnet synchronous motor provided in the embodiments of this application includes steps 101 to 105.

[0065] Step 101: Input the d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor into the extended state observer equation to obtain the d-axis disturbance value and q-axis disturbance value.

[0066] The d-axis and q-axis perturbation values ​​are estimated using an extended state observer so that they can be eliminated later.

[0067] Step 102: Input the d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance into the stator voltage equation of the permanent magnet synchronous motor to obtain the d-axis current change rate equation and the q-axis current change rate equation.

[0068] Based on the field orientation theory, neglecting the magnetic tape loss of PMSM, the stator voltage equation of the permanent magnet synchronous motor in the synchronous rotating coordinate system can be expressed by equation (1):

[0069]

[0070] In equation (1), U d U q These are the d-axis output voltage and the q-axis output voltage, respectively; i d i q These are the d-axis stator current and the q-axis stator current, respectively; R is the stator resistance. It is a permanent magnet flux linkage; ω e It is the electric angular velocity; L d L q These are the d-axis inductance and the q-axis inductance, respectively. Where R and L... d L q ω e It will change with changes in the environment.

[0071] The mathematical model of a first-order single-input single-output system is shown in equation (2):

[0072]

[0073] In equation (2), y is the system's output variable, u is the system's input variable, w is the external disturbance, and parameters a and b are unknown. If a0≈a and b0≈b, then equation (2) can be transformed into equation (3):

[0074]

[0075] If we take [(-a+a0)y+(b-b0)u+w] as the total disturbance f, we can transform equation (3) into equation (4):

[0076]

[0077] Equation (4) is a typical first-order system model, and it consists of fixed parameters. The control system designed based on this is more stable.

[0078] Inputting the d-axis disturbance value, q-axis disturbance value, preset resistance value, preset d-axis inductance, and preset q-axis inductance into equation (1) yields the d-axis current change rate equation and q-axis current change rate equation, which are identical in form to equation (4), as shown in equation (5):

[0079]

[0080] In equation (5), R0 is the preset resistance value and R0≈R; L d0 and L q0 These are the preset d-axis inductance and the preset q-axis inductance, respectively, and L d0 ≈L d L q0 ≈L q ;f d and f q These are the d-axis perturbation values ​​and the q-axis perturbation values, respectively.

[0081] By inputting the d-axis disturbance value, q-axis disturbance value, preset resistance value, preset d-axis inductance and preset q-axis inductance into the stator voltage equation of the permanent magnet synchronous motor, the d-axis current change rate equation and q-axis current change rate equation with unknown parameters are obtained. It can be seen from equation (5) that the permanent magnet synchronous motor can be designed as a typical first-order system with fixed parameters. Since the response of a typical first-order system is deterministic and stable, the control system of the permanent magnet synchronous motor designed based on the typical first-order system is also more stable.

[0082] Step 103: Based on the d-axis current rate of change equation, the q-axis current rate of change equation, the d-axis control function, and the q-axis control function, obtain the d-axis controlled function and the q-axis controlled function.

[0083] The control function can be configured as shown in equation (6):

[0084]

[0085] In equation (6), u0 is the adjustment function.

[0086] Based on equations (6) and (4), the controlled function can be obtained as shown in equation (7):

[0087]

[0088] Based on the d-axis current rate of change equation and the q-axis current rate of change equation, which are the same as those in equation (4), and the d-axis control function and the q-axis control function, which are the same as those in equation (6), the d-axis controlled function and the q-axis controlled function can be obtained.

[0089] Step 104: Obtain the closed-loop transfer function based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function.

[0090] The adjustment function is designed as shown in equation (8):

[0091] u0=(k p +sk i )e (8)

[0092] In equation (8), k p k is the proportional adjustment coefficient. i is the integral adjustment coefficient, and e is the difference.

[0093] Based on equations (8) and (7), the closed-loop transfer function expressed by the determined parameters is obtained.

[0094] Similar to the steps above, in the decoupling control system of permanent magnet synchronous motor, the closed-loop transfer function represented by determined parameters can be obtained based on the d-axis adjustment function and q-axis adjustment function with the same form as Equation (8), and the d-axis controlled function and q-axis controlled function with the same form as Equation (7).

[0095] Step 105: Control the permanent magnet synchronous motor according to the closed-loop transfer function.

[0096] The closed-loop transfer function obtained through steps 101 to 104 is represented by determined parameters, which can be used to control the permanent magnet synchronous motor, making the system more stable.

[0097] In summary, the embodiments of this application treat unknown parameters as disturbance values ​​and estimate them through an extended state observer. After eliminating the disturbance values, the permanent magnet synchronous motor can be designed as a typical first-order system with fixed parameters, resulting in a closed-loop transfer function composed of known parameters. The parameters in the closed-loop transfer function do not change due to environmental changes. Therefore, when the environment changes, it is not necessary to change the PI controller parameters, which can also achieve decoupling control and improve decoupling efficiency.

[0098] Furthermore, step 104 can be implemented through steps 201 to 204.

[0099] Step 201: Obtain the first difference based on the actual d-axis current value and the d-axis reference current value.

[0100] Step 202: Obtain the second difference based on the actual q-axis current value and the q-axis reference current value.

[0101] Step 203: Based on the first difference, the second difference, the bandwidth of the d-axis controller, the bandwidth of the q-axis controller, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance, obtain the d-axis adjustment function and the q-axis adjustment function.

[0102] In equation (8), let the d-axis scaling factor k pd =ω cd d-axis integral adjustment coefficient k id =ω cd ×a 0d e d This represents the first difference. Where ω cd For the bandwidth of the d-axis controller,

[0103] Let the q-axis proportional adjustment coefficient k pq =ω cq q-axis integral adjustment coefficient k iq =ω cq ×a 0q e q This represents the second difference. Where ω cq The bandwidth of the q-axis controller.

[0104] Step 204: Obtain the closed-loop transfer function based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function.

[0105] For the d-axis, the closed-loop transfer function is shown in equation (9).

[0106]

[0107] In equation (9), b 0d =1 / L d0 .

[0108] For the q-axis, the closed-loop transfer function is shown in equation (10).

[0109]

[0110] In equation (10), b 0q =1 / L q0 .

[0111] Furthermore, step 102 can be implemented through steps 301 to 302.

[0112] Step 301: Perform an equivalent transformation on the stator voltage equation of the permanent magnet synchronous motor to obtain the transformed d-axis stator voltage equation and the transformed q-axis stator voltage equation;

[0113] Equation (1) is transformed by equivalent transformation to obtain the transformed d-axis stator voltage equation and the transformed q-axis stator voltage equation, as shown in equation (11):

[0114]

[0115] Step 302: Input the d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance into the transformed d-axis stator voltage equation and the transformed q-axis stator voltage equation to obtain the d-axis current change rate equation and the q-axis current change rate equation.

[0116] Input the d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance and the preset q-axis inductance into equation (11) to obtain the d-axis current change rate equation and the q-axis current change rate equation, as shown in equation (5).

[0117] Furthermore, step 103 can be implemented through steps 401 to 402.

[0118] Step 401: Based on the d-axis current change rate equation, the q-axis current change rate equation, the d-axis control function, and the q-axis control function, obtain the d-axis unperturbed value equation and the q-axis unperturbed value equation.

[0119] Taking the derivation process from equation (6) to equation (7) as an example, ignoring the estimation error, equation (4) is transformed according to equation (6) to obtain equation (12):

[0120]

[0121] Based on the d-axis control function and q-axis control function which are the same as those in equation (6), the d-axis current rate of change equation and q-axis current rate of change equation which are the same as those in equation (4) are transformed to obtain the d-axis undisturbed value equation and q-axis undisturbed value equation which are the same as those in equation (12).

[0122] Step 402: Perform a Laplace transform on the d-axis unperturbed value equation and the q-axis unperturbed value equation to obtain the d-axis controlled function and the q-axis controlled function.

[0123] Perform a Laplace transform on the d-axis unperturbed value equation and the q-axis unperturbed value equation to obtain the d-axis controlled function and the q-axis controlled function with the same form as equation (7).

[0124] The resulting d-axis controlled function and q-axis controlled function are both represented by definite parameters. By applying these parameters to the system, the system stability is improved.

[0125] Furthermore, step 101 is implemented through steps 501 to 502.

[0126] Step 501: Obtain the extended state observer equation based on the d-axis current change rate equation, the q-axis current change rate equation, and the state-space state model.

[0127] Taking the mathematical model of a first-order single-input single-output system as an example, according to the state-space state model, equation (4) can be expressed as equation (13):

[0128]

[0129] In equation (13), C = [1 0].

[0130] The extended state observer equation is obtained, as shown in equation (14):

[0131]

[0132] In equation (14), L is the gain vector of the extended state observer.

[0133] Based on the d-axis current rate of change equation and the q-axis current rate of change equation, which are the same as those in equation (4), and the state-space state model, the extended state observer equation can be obtained.

[0134] Step 502: Input the d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor into the extended state observer equation to obtain the d-axis disturbance value and the q-axis disturbance value.

[0135] By using the extended state observer equation, the d-axis and q-axis perturbation values ​​are obtained, thereby eliminating the unknown parameters in the closed-loop transfer function.

[0136] Furthermore, step 501 can be implemented through steps 601 to 603.

[0137] Step 601: Obtain the extended state observer model based on the d-axis current change rate equation, the q-axis current change rate equation, and the state space state model.

[0138] Taking the mathematical model of a first-order single-input single-output system as an example, based on equation (4) and the state-space state model, the extended state observer model is obtained as shown in equation (15):

[0139]

[0140] Step 602: Determine the gain vector based on the bandwidth, preset resistance value, preset d-axis inductance, and preset q-axis inductance of the extended state observer.

[0141] In equation (15), let ω0 is the bandwidth of the extended state observer and ω0 > 0.

[0142] In permanent magnet synchronous motors, for the d-axis, a0 is represented by a. 0d This means that for the q-axis, a0 is represented by a. 0q express.

[0143] Step 603: Obtain the extended state observer equation based on the gain vector and the extended state observer model.

[0144] By obtaining the extended state observer equation, the unknown parameters can be estimated as disturbance values ​​and eliminated, thereby obtaining the d-axis controlled function and the q-axis controlled function represented by the determined parameters.

[0145] This application provides a decoupling control device for a permanent magnet synchronous motor. See [link to relevant documentation]. Figure 3 The figure is a schematic diagram of a decoupling control device for a permanent magnet synchronous motor provided in an embodiment of this application. Its specific implementation method and the achieved technical effects are consistent with those described in the embodiments of the above method, and some details will not be repeated here.

[0146] A decoupling control device for a permanent magnet synchronous motor includes: a first acquisition module 1101, a second acquisition module 1102, a third acquisition module 1103, a fourth acquisition module 1104, and a control module 1105.

[0147] The first obtaining module 1101 is used to input the d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor into the extended state observer equation to obtain the d-axis disturbance value and the q-axis disturbance value;

[0148] The second obtaining module 1102 is used to input the d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance and the preset q-axis inductance into the stator voltage equation of the permanent magnet synchronous motor to obtain the d-axis current change rate equation and the q-axis current change rate equation.

[0149] The third obtaining module 1103 is used to obtain the d-axis controlled function and the q-axis controlled function based on the d-axis current change rate equation, the q-axis current change rate equation, the d-axis control function and the q-axis control function;

[0150] The fourth obtaining module 1104 is used to obtain the closed-loop transfer function based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function;

[0151] The control module 1105 is used to control the permanent magnet synchronous motor according to the closed-loop transfer function.

[0152] In summary, the device provided in this application embodiment can treat unknown parameters as disturbance values ​​and estimate them through an extended state observer. This allows the permanent magnet synchronous motor to be designed as a typical first-order system with fixed parameters, obtaining a closed-loop transfer function composed of known parameters. The parameters in the closed-loop transfer function do not change due to environmental changes. Therefore, when the environment changes, it is not necessary to change the PI controller parameters, and decoupling control can be achieved, improving decoupling efficiency.

[0153] Furthermore, the fourth obtaining module 1104 includes: a first obtaining unit 1201, a second obtaining unit 1202, a third obtaining unit 1203, and a fourth obtaining unit 1204;

[0154] The first obtaining unit 1201 is used to obtain a first difference based on the actual d-axis current value and the d-axis reference current value;

[0155] The second obtaining unit 1202 is used to obtain a second difference based on the actual q-axis current value and the q-axis reference current value;

[0156] The third obtaining unit 1203 is used to obtain the d-axis adjustment function and the q-axis adjustment function based on the first difference, the second difference, the bandwidth of the d-axis controller, the bandwidth of the q-axis controller, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance.

[0157] The fourth obtaining unit 1204 is used to obtain the closed-loop transfer function based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function.

[0158] Further, the second obtaining module 1102 is used to perform an equivalent transformation on the stator voltage equation of the permanent magnet synchronous motor to obtain the transformed d-axis stator voltage equation and the transformed q-axis stator voltage equation; inputting the d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance into the transformed d-axis stator voltage equation and the transformed q-axis stator voltage equation to obtain the d-axis current change rate equation and the q-axis current change rate equation.

[0159] Furthermore, the third obtaining module 1103 is used to obtain the d-axis unperturbed value equation and the q-axis unperturbed value equation based on the d-axis current change rate equation, the q-axis current change rate equation, the d-axis control function, and the q-axis control function; and to perform a Laplace transform on the d-axis unperturbed value equation and the q-axis unperturbed value equation to obtain the d-axis controlled function and the q-axis controlled function.

[0160] Further, the first obtaining module 1101 includes:

[0161] The fifth acquisition unit 1301 and the sixth acquisition unit 1302;

[0162] The fifth obtaining unit 1301 is used to obtain the extended state observer equation based on the d-axis current change rate equation, the q-axis current change rate equation, and the state space state model.

[0163] The sixth obtaining unit 1302 is used to input the d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor into the extended state observer equation to obtain the d-axis disturbance value and the q-axis disturbance value.

[0164] Furthermore, the fifth obtaining unit 1301 is used for:

[0165] Based on the d-axis current rate of change equation, the q-axis current rate of change equation, and the state-space state model, the extended state observer model is obtained; based on the bandwidth, preset resistance value, preset d-axis inductance, and preset q-axis inductance of the extended state observer, the gain vector is determined; based on the gain vector and the extended state observer model, the extended state observer equation is obtained.

[0166] This application provides a computer device, which includes a processor and a memory:

[0167] The memory is used to store program code and transmit the program code to the processor;

[0168] The processor is used to execute the steps of a permanent magnet synchronous motor decoupling control method as described above, according to the instructions in the program code.

[0169] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of a permanent magnet synchronous motor decoupling control method as described above.

[0170] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the embodiments of apparatus, devices, and storage media, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The apparatus, devices, and storage media embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components indicated as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0171] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A decoupling control method for a permanent magnet synchronous motor, characterized in that, include: The d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor are input into the extended state observer equation to obtain the d-axis disturbance value and q-axis disturbance value; The d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance are input into the stator voltage equation of the permanent magnet synchronous motor to obtain the d-axis current change rate equation and the q-axis current change rate equation. Based on the d-axis current rate of change equation, the q-axis current rate of change equation, the d-axis control function, and the q-axis control function, the d-axis controlled function and the q-axis controlled function are obtained. The forms of the d-axis control function and the q-axis control function are shown in equation (6), where equation (6) is... , Represents the control function. Let f represent the adjustment function, and let f represent the total disturbance. Indicates an unknown parameter; The forms of the d-axis controlled function and the q-axis controlled function are shown in equation (7), where equation (7) is... , It is the system's output variable. Indicates an unknown parameter; Based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function, the closed-loop transfer function is obtained; The forms of the d-axis adjustment function and the q-axis adjustment function are shown in equation (8), where equation (8) is... , This is the proportional adjustment coefficient. Here, e is the integral adjustment coefficient, and e is the difference. The permanent magnet synchronous motor is controlled according to the closed-loop transfer function.

2. The method according to claim 1, characterized in that, The step of obtaining the closed-loop transfer function based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function includes: The first difference is obtained based on the actual d-axis current value and the d-axis reference current value; The second difference is obtained by comparing the actual q-axis current value with the q-axis reference current value. Based on the first difference, the second difference, the bandwidth of the d-axis controller, the bandwidth of the q-axis controller, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance, the d-axis adjustment function and the q-axis adjustment function are obtained. The closed-loop transfer function is obtained based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function.

3. The method according to claim 1, characterized in that, The step of inputting the d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance into the stator voltage equation of the permanent magnet synchronous motor to obtain the d-axis current change rate equation and the q-axis current change rate equation includes: The stator voltage equation of the permanent magnet synchronous motor is transformed by equivalent transformation to obtain the transformed d-axis stator voltage equation and the transformed q-axis stator voltage equation; The d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance are input into the transformed d-axis stator voltage equation and the transformed q-axis stator voltage equation to obtain the d-axis current change rate equation and the q-axis current change rate equation.

4. The method according to claim 1, characterized in that, The step of obtaining the d-axis controlled function and the q-axis controlled function based on the d-axis current change rate equation, the q-axis current change rate equation, the d-axis control function, and the q-axis control function includes: Based on the d-axis current change rate equation, the q-axis current change rate equation, the d-axis control function, and the q-axis control function, the d-axis unperturbed value equation and the q-axis unperturbed value equation are obtained. Perform a Laplace transform on the d-axis unperturbed value equation and the q-axis unperturbed value equation to obtain the d-axis controlled function and the q-axis controlled function.

5. The method according to claim 1, characterized in that, The step of inputting the d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor into the extended state observer equation to obtain the d-axis disturbance value and q-axis disturbance value includes: Based on the d-axis current change rate equation, the q-axis current change rate equation, and the state-space state model, the extended state observer equation is obtained. The d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor are input into the extended state observer equation to obtain the d-axis disturbance value and the q-axis disturbance value.

6. The method according to claim 5, characterized in that, The step of obtaining the extended state observer equation based on the d-axis current change rate equation, the q-axis current change rate equation, and the state-space state model includes: Based on the d-axis current rate of change equation, the q-axis current rate of change equation, and the state-space state model, the extended state observer model is obtained. The gain vector is determined based on the bandwidth, preset resistance value, preset d-axis inductance, and preset q-axis inductance of the extended state observer; Based on the gain vector and the extended state observer model, the extended state observer equation is obtained.

7. A decoupling control device for a permanent magnet synchronous motor, characterized in that, include: The module includes a first acquisition module, a second acquisition module, a third acquisition module, a fourth acquisition module, and a control module. The first obtaining module is used to input the d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor into the extended state observer equation to obtain the d-axis disturbance value and the q-axis disturbance value; The second obtaining module is used to input the d-axis disturbance value, the q-axis disturbance value, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance into the stator voltage equation of the permanent magnet synchronous motor to obtain the d-axis current change rate equation and the q-axis current change rate equation. The third obtaining module is used to obtain the d-axis controlled function and the q-axis controlled function based on the d-axis current change rate equation, the q-axis current change rate equation, the d-axis control function, and the q-axis control function; The forms of the d-axis control function and the q-axis control function are shown in equation (6), where equation (6) is... , Represents the control function. Let f represent the adjustment function, and let f represent the total disturbance. Indicates an unknown parameter; The forms of the d-axis controlled function and the q-axis controlled function are shown in equation (7), where equation (7) is... , It is the system's output variable. Indicates an unknown parameter; The fourth obtaining module is used to obtain the closed-loop transfer function based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function; The forms of the d-axis adjustment function and the q-axis adjustment function are shown in equation (8), where equation (8) is... , This is the proportional adjustment coefficient. Here, e is the integral adjustment coefficient, and e is the difference. The control module is used to control the permanent magnet synchronous motor according to the closed-loop transfer function.

8. The apparatus according to claim 7, characterized in that, The fourth obtaining module includes: a first obtaining unit, a second obtaining unit, a third obtaining unit, and a fourth obtaining unit; The first obtaining unit is used to obtain a first difference based on the actual d-axis current value and the d-axis reference current value; The second obtaining unit is used to obtain a second difference based on the actual q-axis current value and the q-axis reference current value; The third obtaining unit is used to obtain the d-axis adjustment function and the q-axis adjustment function based on the first difference, the second difference, the bandwidth of the d-axis controller, the bandwidth of the q-axis controller, the preset resistance value, the preset d-axis inductance, and the preset q-axis inductance. The fourth obtaining unit is used to obtain the closed-loop transfer function based on the d-axis adjustment function, the q-axis adjustment function, the d-axis controlled function, and the q-axis controlled function.

9. A computer device, characterized in that, The computer device includes a processor and memory: The memory is used to store program code and transmit the program code to the processor; The processor is configured to execute the steps of the permanent magnet synchronous motor decoupling control method as described in any one of claims 1-6 according to the instructions in the program code.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a decoupling control method for a permanent magnet synchronous motor as described in any one of claims 1-6.

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