A stator parameter identification method of a long primary segmented dual three-phase linear motor

Abstract

The application discloses a stator parameter identification method of a long primary segmented double three-phase linear motor, current is fed into a motor stator segment in a no-load state, phase current and voltage information of the motor are measured, phase voltage and phase current are converted to an alpha-beta axis fundamental subspace coordinate system and a z1z2 harmonic subspace coordinate system, integrals of voltage and current with respect to time are respectively calculated, a voltage integral matrix and a current integral matrix are obtained, and a matrix equation is solved to calculate phase resistance and an inductance matrix of a segmented long primary double three-phase linear motor stator segment. The method does not require additional hardware, can identify three-phase imbalance of inductance of the linear motor, and does not require additional injection of a high-frequency test signal into the winding, and is simple and practical.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of motor and motor control, and particularly relates to a stator parameter identification method of a long-primary segmented double three-phase linear motor. BACKGROUND

[0002] When the magnetic circuit of the linear motor is open and the winding is connected to a symmetrical voltage source, the phase current contains a negative sequence component, and the air gap magnetic field has a reverse magnetic field and a pulsating magnetic field, which are inherent static longitudinal end effects of the linear motor. The segmented power supply linear motor has unpowered stator cores outside the powered stator segments, which leads to different boundary conditions of the end magnetic field of the linear motor, and aggravates the static longitudinal end effect. The static longitudinal end effect causes inductance imbalance, increases the difficulty of motor control and motor parameter calculation. The conventional motor parameter identification method is to establish a T-type equivalent circuit model of the motor. This method is suitable for rotary motors or linear motors with weak static longitudinal end effects, and cannot calculate the asymmetric inductance matrix of the motor. The inter-phase mutual inductance identification method based on single-phase power supply test can calculate the unbalanced inductance matrix, but this method is complex in test, and the more the number of motor phases, the more the test times. In addition, this method needs to disconnect the unpowered winding, and frequent wiring is not suitable for implementation on site. SUMMARY

[0003] To solve the above technical problems, the application provides a stator parameter identification method of a long-primary segmented double three-phase linear motor, which meets the stator parameter calculation of the linear motor.

[0004] To solve the above technical problems, the application adopts the following technical scheme:

[0005] A stator parameter identification method of a long-primary segmented double three-phase linear motor, comprising the following steps:

[0006] Step 1, according to the winding structure development drawing, the six-phase winding of the double three-phase motor is named, if the motor adopts single-layer winding, from the first slot on the left, from left to right, the six-phase winding is named as A+, B+, C-, D-, E+, F+, A-, B-, C+, D+, E-, F- according to the order of the first appearance of the six-phase winding in the slot, wherein AEC is a 3-phase, BFD is another 3-phase, A+ represents that the A-phase winding is in the slot, the current direction of the conductor in the slot is perpendicular to the paper surface below the phase, A- represents that the A-phase winding is in the slot, and the current direction of the conductor is perpendicular to the paper surface above the phase; if the motor adopts double-layer winding, the six-phase winding is named according to the side winding of the upper slot; the phase angle of the six-phase winding is determined according to the motor winding phase relationship diagram, and is denoted as θ A , θ B , θ C , θ D , θ E , θ F ;

[0007] Step 2, calculate the phase angle θ of the two-phase stationary coordinate system αβ axis α and θ β :

[0008]

[0009] Step 3, measure the phase voltage and phase current of the motor when the mover plate is not coupled with the stator, measure the voltage and current data at n time points, the measurement interval is T s , express the phase voltage and phase current data as phase voltage matrix U and phase current matrix I;

[0010]

[0011] In the formula, U A , U B , U C , U D , U E and U F respectively represent six-phase voltage matrix, I A , I B , I C , I D , I E and I F respectively represent six-phase current matrix, six-phase voltage and six-phase current matrix are column matrixes of n x 1, n represents the data measured at n time points;

[0012] Step 4, perform vector space decomposition on U and I, convert the phase voltage and phase current to αβ axis fundamental subspace coordinate system and z1z2 harmonic subspace coordinate system, and obtain the αβz1z2 axis voltage and current data matrix U αβz1z2 and I αβz1z2 ;

[0013]

[0014] In the formula, U α , U β , U z1 and U z2 respectively represent n x 1 data matrix of αβz1z2 axis voltage; I α , I β , I z1 and I z2 respectively represent n x 1 data matrix of αβz1z2 axis current;

[0015] The calculation formula of U αβz1z2 and I αβz1z2 is as follows:

[0016]

[0017] In the formula T clark It is the coordinate transformation matrix used for vector space decomposition, called the generalized Clark coordinate transformation matrix, (T clark ) T It is T clark The transpose of the matrix;

[0018] Step 5: Calculate the time matrix t, using U αβz1z2 and I αβz1z2 Calculate the integrals of voltage and current with respect to time to obtain the voltage integral matrix ψ. u and the current integral matrix ψ i The calculation formula is as follows;

[0019] t(k)={kT s}, k=(1,2…n)(30)

[0020] In the formula, t is the time matrix, and t(k) represents the k-th element of t;

[0021]

[0022] In the formula ψ iα ψ iβ ψ iz1 and ψ iz2 It is the integral matrix of the αβz1z2 axis currents, ψ iα (k) represents ψ iα The k-th element, I α (k) represents I α The kth element, k = (1, 2, ..., n);

[0023]

[0024] In the formula ψ uα ψ uβ ψ uz1 and ψ uz2 It is the integral matrix of the voltages along the αβz1z2 axes, ψ uα (k) represents ψ uα The kth element, U α (k) represents U α The kth element, k = (1, 2, ..., n);

[0025] Step 6: Solve formula (17) to obtain the estimated values ​​of the parameter matrix.

[0026]

[0027] In the formula, argmin{f(x)} represents the variable value x that minimizes the objective function f(x); I is calculated from formulas (26), (28) and (30) α I β , t, ψ iα ψ iβ Composition, 0 n×1 It is an n×1 column matrix where all elements are 0. n×1 It is an n×1 column matrix where all elements are 1. ψ is obtained from formula (29) uα ψ uβ composition;

[0028] Step 7: Solve equations (19) and (21) to obtain the estimated values ​​of the parameter matrix.

[0029]

[0030]

[0031] In the formula I is calculated by formulas (26) and (30) α I β I z1 I z2 Composed of t, 0 n×1 It is an n×1 column matrix where all elements are 0. n×1 It is an n×1 column matrix where all elements are 1; The calculation results ψ from formulas (28), (29) and (17) iz2 ψ uz2 and Calculated; The calculation results ψ from formulas (28), (29) and (17) iz1 ψ uz1 and Calculations show that yes The first element;

[0032] Step 8, according to and Resistance estimate and inductance matrix estimate as follows:

[0033]

[0034] Furthermore, the phase angle θ of the αβ axis in the two-phase stationary coordinate system is calculated based on the winding structure and winding phase relationship of the motor. α and θ β This allows for the vector space decomposition of phase voltage and phase current, i.e., the generalized Clark coordinate transformation.

[0035] Furthermore, first solve formula (17) to identify the resistance and some inductance parameters, and then use the resistance identification results. Solve formulas (19) and (21) to identify the remaining inductance parameters.

[0036] Beneficial effects:

[0037] This invention uses the current fed into the windings during motor operation to calculate stator parameters, eliminating the need for additional signal injection and simplifying the method. It also reduces the number of parameters in the unbalanced inductor matrix, lowering the difficulty of identifying and modeling the inductor matrix of a dual-three-phase linear motor. Furthermore, the inductor parameters estimated by the proposed method can fit the current imbalance caused by inductor asymmetry in a dual-three-phase linear motor, and can be applied to six-phase linear motor modeling and model-based control algorithms, reducing the complexity of control algorithms. Attached Figure Description

[0038] Figure 1 This is a stator winding layout diagram of a long primary linear induction motor;

[0039] Figure 2 This is a schematic diagram of a dual three-phase permanent magnet synchronous motor.

[0040] Figure 3 A two-dimensional analysis model of a long primary double three-phase linear motor;

[0041] Figure 4 The winding vector diagram is for a dual three-phase motor with two sets of windings 30° out of phase.

[0042] Figure 5 The spatial phase relationship between the aβ axis and the 6-phase winding;

[0043] Figure 6 To estimate the fitting results of the parameters to the phase current;

[0044] Figure 7 This represents the error between the fitted value and the measured value of the phase current. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0046] like Figure 1 and Figure 2 As shown, the winding symmetry phenomenon in a dual three-phase linear motor is introduced.

[0047] Figure 1 This is a stator winding layout diagram for a long primary linear induction motor. The stator has 24 slots, with 2 slots per pole per phase, and each slot contains only one layer of winding. "A+" indicates that the slot contains the A-phase winding, with the current direction perpendicular to the paper and inwards; "A-" indicates that the slot contains the A-phase winding, with the current direction perpendicular to the paper and outwards. The slots are numbered from left to right, with the first slot from the left being slot 1 and the last slot being slot 24. The A-phase windings are arranged in slots 1, 2, 13, and 14, and the F-phase windings are arranged in slots 11, 12, 23, and 24. The linear motor stator is symmetrical, with slots 1 and 24, 2 and 23, 13 and 12, and 14 and 11 all symmetrical. Therefore, the A-phase and F-phase windings are symmetrical and have the same self-inductance. Similarly, the B-phase and E-phase, and C-phase and D-phase windings are symmetrical. The AEC three-phase winding is Y-connected, and the FBD three-phase winding is Y-connected, so the AEC three-phase and FBD three-phase are symmetrical from left to right.

[0048] Figure 2 This is a schematic diagram of a dual three-phase permanent magnet synchronous motor. The leftmost and rightmost slots are single-layer windings, while the remaining slots are double-layer windings. Winding A1 is located in slots 1, 2, and 3 from the left, and winding C2 is located in slots 1, 2, and 3 from the right. Because the linear motor stator is symmetrical, windings A1 and C2 have the same winding structure, as do windings A2 and C1, and windings B1 and B2. Windings A1, B1, and C1 are connected in a three-phase Y-connection, as are windings A2, B2, and C2. Therefore, the three-phase windings A1, B1, and C1 and A2, B2, and C2 are symmetrical.

[0049] Because the two sets of windings of the dual three-phase linear motor are symmetrical, the current and voltage equations of the linear motor can be simplified, thereby simplifying the difficulty of identifying the parameters of the linear motor, especially the identification of the unbalanced inductance matrix.

[0050] The current and voltage equations for a dual three-phase linear motor are introduced below, and these equations are simplified.

[0051] Figure 3 This is a two-dimensional analysis model of a dual three-phase linear motor. For ease of description later, the windings are named A, B, C, D, E, and F according to their first appearance in the stator slots. A superscript "+" indicates that the conductor current direction is perpendicular to the paper and inwards, while a superscript "-" indicates that the conductor current direction is perpendicular to the paper and outwards; p represents the number of pole pairs in a single stator segment, and τ represents the stator segment pole pitch. When the mover plate is not coupled to the stator, the current-voltage equations of the stator of the dual three-phase linear motor can be written as:

[0052]

[0053] U 6=[u a u b u c u d u e u f ] T (2)

[0054] I 6 =[i a i b i c i d i e i f ] T (3)

[0055] R = r s I6 (4)

[0056]

[0057] In the formula U 6 It is a 6-phase voltage matrix, with the superscript "T" indicating the transpose of the matrix within []. 6 It is a 6-phase current matrix. R is the differential matrix of the phase current matrix with respect to time, L is the phase resistance matrix, and L is the phase inductance matrix. s It is the resistance of one phase winding, u a u b u c u d u e and u f i represents the phase voltage of windings a, b, c, d, e, and f, respectively. a i b i c i d i e and i f L represents the phase currents of the windings a, b, c, d, e, and f, respectively. xy It is the mutual inductance between the x-phase and y-phase windings, L xx I represents the self-inductance of phase x winding, where x and y represent winding numbers, which can be a, b, c, d, e, and f. I6 is a 6th-order identity matrix.

[0058] The mutual inductance of the windings satisfies the following relationship:

[0059] L xy =L yx (6)

[0060] In the formula, x and y represent the winding numbers, which can be a, b, c, d, e, and f.

[0061] Figure 3The two sets of windings of the dual three-phase motor are Y-connected, with phases A, E, and C connected in Y and phases B, F, and D connected in Y. The phase current of the motor satisfies the following formula:

[0062]

[0063] Figure 3 The winding structures of phase A and phase F are the same; the winding structures of phase B and phase E are the same; and the winding structures of phase C and phase D are the same. Therefore, the winding inductance satisfies the following relationship:

[0064] L aa =L ff ,L ab =L fe ,L ac =L fd ,L ad =L fc ,L ae =L bf ,

[0065] L bb =L ee ,L bc =L ed ,L bd =L ec (8)

[0066] L cc =L dd

[0067] Substituting equations (6) and (8) into equation (5), the phase inductance matrix L can be simplified to the following form:

[0068]

[0069] Figure 4 This is a diagram showing the phase relationship of a motor winding when there is a 30° electrical angle difference between two sets of three-phase windings. Within the same set of three-phase windings, any two phases differ by 120°, and the two sets of windings differ by 30°. In the diagram, phases AB, CD, and EF differ by 30°, while phases AC, AE, EC, BF, BD, and DF differ by 120°. Since phases AF, BE, and CD are three pairs of windings with identical structures, they can be considered to have the following characteristics: Figure 4 The winding structure of the two-phase three-phase linear motor with the winding phase relationship shown is related to... Figure 4 The dashed line is symmetrical. Define the dashed line as the α-axis, with the β-axis leading the α-axis by π / 2. The calculation formula is as follows:

[0070]

[0071] In the formula θ α and θ βIt is the αβ axis phase angle, θ A θ B θ C θ D θ E θ F It is the phase angle of the 6-phase winding.

[0072] The phase voltage and phase current of a dual three-phase motor are decomposed into vector space (or generalized Clark coordinate transformation), transforming the phase current and phase voltage to the αβz1z2 axes, where the αβ axes are the fundamental subspace coordinate system and z1z2 are the harmonic subspace coordinate system; the generalized Clark coordinate transformation matrix T clark It is expressed as follows:

[0073]

[0074] Substituting equations (9), (10), and (11) into equation (1), the stator current-voltage equation can be transformed into:

[0075]

[0076] In the formula pinv(T) clark ) is T clark The pseudo-inverse matrix, i α and i β Representing the α and β axis currents respectively, i z1 and i z2 Represents the currents along the z1 and z2 axes; u α and u β Representing the α and β axis voltages respectively, u z1 and u z2 Represents the voltages along the z1 and z2 axes, R 4×4 It is the resistance matrix of the αβz1z2 axis current-voltage equations, L 4×4 It is the inductance matrix of the αβz1z2 axis current-voltage equations, I4 is the 4th order identity matrix, r s It is the resistance of one phase winding.

[0077] L 4×4 The inductance matrix is ​​shown in formula (13). The inductance matrix has only 6 parameters, which reduces the difficulty of identifying unbalanced inductance matrices.

[0078]

[0079] Integrating both sides of equation (12) yields:

[0080]

[0081] and They are u α uβ u z1 and u z2 Integral over time; and They are i α i β i z1 and i z2 Integral over time, C 4×1 and D 4×1 It is a 4×1 constant coefficient matrix, where t represents the current time.

[0082] u α u β It is the fundamental component, u z1 u z2 It mainly consists of harmonic components. α u β Typically much larger than u z1 u z2 In the current matrix, i α and i β Typically much larger than i z1 and i z2 Formula (14) can be further simplified as follows:

[0083]

[0084]

[0085] and It is a parameter matrix;

[0086] The parameter identification method based on formulas (15) and (16) can be divided into two steps. The first step is to solve formula (17) using the least squares method or other methods to obtain the parameter identification result. The estimated value The solution based on the least squares method is given in formula (18);

[0087]

[0088]

[0089] In the formula It is a data matrix composed of α and β axis voltage integrals. It is a data matrix consisting of the αβ-axis current integral, the αβ-axis current, and time. α (k) and i β (k) is the αβ axis current value calculated at the k-th sampling time, where n represents the total number of data points used; t(k) is the time of the k-th sampling time. and It is the integral of the αβ-axis current calculated at the k-th sampling time; and It is the integral of the αβ-axis voltage calculated at the k-th sampling time; yes The estimated value.

[0090] The second step is based on the resistance identification results from the first step. Solving formula (19) using the least squares method or other methods yields the following results. The estimated value Solving formula (21) yields The estimated value The solution based on the least squares method is given in formulas (20) and (22);

[0091]

[0092]

[0093] In the formula It is a data matrix composed of the z2-axis voltage integral and the current integral. It is a data matrix consisting of α-axis current, z2-axis current, and time, i z2 (k) is the z2-axis current value calculated at the kth sampling time; and It is the integral of the z2-axis voltage and current calculated at the k-th sampling time; It is the parameter matrix to be identified. It is the estimated parameter matrix.

[0094]

[0095]

[0096] In the formula It is a data matrix composed of the voltage integral and current integral along the z1 axis. It is a data matrix consisting of β-axis current, z1-axis current, and time; i z1 (k) is the z1-axis current value calculated at the kth sampling time; and It is the integral of the z1-axis voltage and current calculated at the k-th sampling time; It is the parameter matrix to be identified. It is the estimated parameter matrix.

[0097] L 4×4 Identification results of inductor matrix and resistor Represented as:

[0098]

[0099] Specifically, taking a long primary double three-phase linear induction motor as an example, Figure 3 This is a two-dimensional analytical model of the stator of a long primary double three-phase linear induction motor. Figure 4 This is a winding phase relationship diagram. The two sets of windings in a dual three-phase motor are 30° out of phase. The steps for calculating the stator resistance and mutual inductance matrix parameters are as follows:

[0100] Step 1, according to Figure 4 Calculate the electrical angle θ required for the coordinate transformation along the αβ axis. α and θ β The phase relationship between the αβ axis and the six-phase winding is as follows: Figure 5 As shown:

[0101]

[0102] Step 2: Measure the phase voltage and phase current of the motor when the mover plate and stator are not coupled. The measurement interval is T. s Data was measured at n time points, and the phase voltage and phase current data were represented as phase voltage matrix U and phase current matrix I.

[0103]

[0104] In the formula U A U B U C U D U E and U F They represent six-phase voltage matrices, I A I B I C I D I E and I F These represent the six-phase current matrix, the six-phase voltage matrix, and the six-phase current matrix, both of which are n×1 column matrices, where n represents the total number of measurement data sets.

[0105] Step 3: Perform vector space decomposition (generalized Clark transformation) on U and I, transforming the phase voltage and phase current to the αβ-axis fundamental wavelet subspace coordinate system and the z1z2 harmonic subspace coordinate system, to obtain the αβz1z2 axis voltage and current data matrix U. αβz1z2 and I αβz1z2 ;

[0106]

[0107] In the formula U α U β U z1 and U z2 The n×1 data matrices represent the voltages along the α, β, z1, and z2 axes, respectively; Iα I β I z1 and I z2 These are n×1 data matrices representing the currents along the α, β, z1, and z2 axes, respectively.

[0108] U αβz1z2 and I αβz1z2 The calculation formula is as follows:

[0109]

[0110] In the formula T clark It is the coordinate transformation matrix used for vector space decomposition, also known as the generalized Clark coordinate transformation matrix, (T clark ) T It is T clark The transpose of the matrix;

[0111] Step 4: Calculate the time matrix t n×1 , use U αβz1z2 and I αβz1z2 Calculate the voltage integral matrix ψ u and the current integral matrix ψ i The calculation formula is as follows;

[0112]

[0113] In the formula ψ iα ψ iβ ψ iz1 and ψ iz2 It is the integral matrix of the αβz1z2 axis currents, ψ iα (k) represents ψ iα The k-th element, I α (k) represents I α The k-th element, k = (1, 2, ..., n), is an n×1 column matrix;

[0114]

[0115] In the formula ψ uα ψ uβ ψ uz1 and ψ uz2 It is the integral matrix of the voltages along the αβz1z2 axes, ψ uα (k) represents ψ uα The kth element, U α (k) represents U α The k-th element, k = (1, 2, ..., n), is an n×1 column matrix;

[0116] t(k)={kT s}, k=(1,2…n)(30)

[0117] In the formula, t is the time matrix, t(k) represents the k-th element of t, and the matrix is ​​an n×1 column matrix;

[0118] Step 5: Calculate the parameter matrix estimate.

[0119]

[0120] In the formula I is calculated by formulas (26), (28) and (30) α I β ψ iα ψ iβ Composed of t, 0 n×1 It is an n×1 column matrix where all elements are 0. n×1 It is an n×1 column matrix where all elements are 1. ψ is calculated by formula (29) uα ψ uβ composition;

[0121] Step 6: Calculate the estimated values ​​of the parameter matrix.

[0122]

[0123]

[0124] In the formula I is calculated by formulas (26) and (30) α I β I z1 I z2 Composed of t, 0 n×1 It is an n×1 column matrix where all elements are 0. n×1 It is an n×1 column matrix where all elements are 1; The calculation results ψ from formulas (28), (29) and (31) iz2 ψ uz2 and Calculated; The calculation results ψ from formulas (28), (29) and (31) iz1 ψ uz1 and Calculations show that yes The first element;

[0125] Step 7, according to and Resistance estimate and inductance matrix estimate For example:

[0126]

[0127] Figure 6 The figure shows the fitting results of the estimated parameters to the phase current after implementing the multi-parameter identification algorithm of the dual three-phase linear induction motor proposed in this invention. In the figure, Ia, Ib, Ic, Id, Ie, and If represent the 6-phase current. The 6-phase current obtained by fitting has different amplitudes in the 6 phases, indicating that the estimated parameters can reflect the influence of the unbalanced inductance matrix.

[0128] Figure 7 The error between the phase current fitting value and the phase current measurement value after implementing the multi-parameter identification algorithm for the dual three-phase linear induction motor proposed in this invention is: Ia_err, Ib_err, Ic_err, Id_err, Ie_err, and If_err represent the fitting error of the 6-phase current. The maximum phase current fitting error does not exceed 750A, which is much lower than the amplitude of 5300A of the phase current, indicating a good fitting effect.

[0129] In summary, the multi-parameter identification algorithm for dual three-phase linear induction motors of this invention can obtain the motor's unbalanced inductance matrix and resistance, and the estimated parameters can fit the motor current very well. According to this invention, it can be applied to other multiphase induction motors, multiphase linear synchronous motors, and motors with other electromagnetic structures.

[0130] Although the illustrative specific embodiments of the present invention have been described above to enable those skilled in the art to understand the invention, it should be understood that the invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes will be obvious as long as they are within the spirit and scope of the invention as defined and determined by the appended claims, and all inventions utilizing the concept of the present invention are protected.

Claims

1. A method for identifying stator parameters of a long primary segmented double three-phase linear motor, characterized in that, Includes the following steps: Step 1: Name the six-phase windings of the dual three-phase motor according to the winding structure development diagram. If the motor uses a single-layer winding, starting from the first slot from the left, name the six-phase windings sequentially from left to right according to the order in which they first appear in the slot: A+, B+, C-, D-, E+, F+, A-, B-, C+, D+, E-, F-. Here, AEC represents one 3-phase winding, and BFD represents another 3-phase winding. A+ indicates that the slot contains the A-phase winding, and the conductor current direction is perpendicular to the paper and downwards. A- indicates that the slot contains the A-phase winding, and the conductor current direction is perpendicular to the paper and upwards. If the motor uses a double-layer winding, name them sequentially according to the upper layer edge windings of the slot. Determine the phase angle of the six-phase windings according to the motor winding phase relationship diagram, denoted as . , , , , , ; Step 2: Calculate the two-phase stationary coordinate system Phase angle of the axis and : (10) Step 3: Measure the phase voltage and phase current of the motor when the mover plate and stator are not coupled. Measure the voltage and current data at n time points, with measurement intervals of [missing information]. The phase voltage and phase current data are represented as a phase voltage matrix. and phase current matrix ; (25) In the formula , , , , and These represent six-phase voltage matrices respectively. , , , , and These represent the six-phase current matrix, the six-phase voltage matrix, and the six-phase current matrix, respectively. A column matrix, where n represents the data measured at n time points; Step 4, for and Perform vector space decomposition to convert phase voltage and phase current to Axial basis wavelet space coordinate system and The harmonic subspace coordinate system is obtained. Axis voltage and current data matrix and ; (26) In the formula , , and Represent shaft voltage Data matrix; , , and Represent shaft current Data matrix; and The calculation formula is as follows: (27) In the formula It is the coordinate transformation matrix used for vector space decomposition, called the generalized Clark coordinate transformation matrix. yes The transpose of the matrix; Step 5: Calculate the time matrix ,use and Calculate the integrals of voltage and current with respect to time to obtain the voltage integral matrix. and current integral matrix The calculation formula is as follows; (30) In the formula It is a time matrix. represent The kth element; (28) In the formula , , and yes The integral matrix of the shaft current. represent The kth element, represent The kth element, ; (29) In the formula , , and yes The integral matrix of the axis voltage. represent The kth element, represent The kth element, ; Step 6: Solve formula (17) to obtain the estimated value of the parameter matrix. ; (17) In the formula This indicates that the objective function The variable value that takes the minimum value ; It is calculated from formulas (26), (28) and (30). , , , , composition, It is a set of elements that are all 0. Column matrix It is a set of elements that are all 1. Column matrix It is obtained from formula (29) , composition; Step 7: Solve equations (19) and (21) to obtain the estimated values ​​of the parameter matrix. , ; (19) (21) In the formula, in the formula yes The data matrix formed by the integral of the axis voltages yes Axis current integral, A data matrix consisting of shaft current and time. and Calculated at the kth sampling time The axis current value, where n represents the total number of data points used (n time intervals). It is the time of the kth sampling moment; and It is calculated at the kth sampling time. Integral of shaft current; and It is calculated at the kth sampling time. Integral of axis voltage; yes The estimated value; , It is calculated using formulas (26) and (30). , , , and composition, It is a set of elements that are all 1. Column matrix; The calculation results from formulas (28), (29) and (17) , and Calculated; The calculation results from formulas (28), (29) and (17) , and Calculations show that yes The first element; yes The data matrix consisting of the axis voltage integral and the current integral, yes shaft current, A data matrix consisting of axis current and time; It is calculated at the kth sampling time. Shaft current value; and It is calculated at the kth sampling time. Integrals of shaft voltage and current; It is the parameter matrix to be identified. It is the estimated parameter matrix; Step 8, according to , and Resistance estimate and inductance matrix estimate as follows: (34)。 2. The stator parameter identification method for a long primary segmented double three-phase linear motor according to claim 1, characterized in that: Calculate the two-phase stationary coordinate system based on the winding structure and winding phase relationship of the motor. Phase angle of the axis and This allows for the vector space decomposition of phase voltage and phase current, i.e., the generalized Clark coordinate transformation.

3. The stator parameter identification method for a long primary segmented double three-phase linear motor according to claim 1, characterized in that, First, solve formula (17) to identify the resistance and some inductance parameters, and then use the resistance identification results. Solve formulas (19) and (21) to identify the remaining inductance parameters.

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